From a3274cc50b2a81fce08f09dd4a208d2e482c5731 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 16 Jan 2022 21:28:14 +0100
Subject: [PATCH 001/559] Start of new version

---
 res/config/6.00/info.xml               | 1175 +++++++
 res/config/6.00/parameters_appconf.xml | 4244 ++++++++++++++++++++++
 res/config/6.00/parameters_mcconf.xml  | 4490 ++++++++++++++++++++++++
 res_config.qrc                         |    3 +
 vesc_tool.pro                          |    4 +-
 5 files changed, 9914 insertions(+), 2 deletions(-)
 create mode 100644 res/config/6.00/info.xml
 create mode 100644 res/config/6.00/parameters_appconf.xml
 create mode 100644 res/config/6.00/parameters_mcconf.xml

diff --git a/res/config/6.00/info.xml b/res/config/6.00/info.xml
new file mode 100644
index 000000000..036cd5cda
--- /dev/null
+++ b/res/config/6.00/info.xml
@@ -0,0 +1,1175 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ConfigParams>
+    <Params>
+        <fw_version>
+            <longName>Firmware Version</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The firmware version(s) that this version of VESC Tool supports.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <valInt>0</valInt>
+            <enumNames>6.00</enumNames>
+        </fw_version>
+        <help_battery_cutoff>
+            <longName>Soft Battery Cutoff Calculator</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Parameters for a soft battery cutoff can be calculated here. To do that, select the battery type and amount of cells. When the battery voltage is at the start value, the battery current will start to get reduced. At the end value battery current draw (and thus motor current) is disabled completely. In between the current is limited proportionally to where between the start and end values the input voltage is.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Notice that braking always is possible, even when the battery current is limited. That is because braking does not draw any current from the battery, it only charges the battery.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </help_battery_cutoff>
+        <help_bldc_detect>
+            <longName>Detect BLDC Parameters</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Spin up the motor in delay commutation mode and try to measure the following parameters:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Cycle Integrator Limit&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;BEMF Coupling&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall Sensor Table&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The settings mean the following:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Current (I)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The current to use for spinning up the motor.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;ERPM (ω)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The minimum speed for the delay commutation mode to start the motor.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Duty (D)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The duty cycle to measure the BEMF coupling at. This value should be as low as possible, but not so low that the motor cannot spin at the end of the detection sequence.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;If the motor is not able to spin up properly these settings can be tweaked. Symptoms:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-style:italic;&quot;&gt;The motor starts to spin, but is too weak to reach enough speed.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto'; font-style:italic;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Increase the current setting.&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-style:italic;&quot;&gt;The motor cogs and is unable to spin up.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto'; font-style:italic;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Roboto'; font-style:italic;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-style:normal;&quot;&gt;Increase or decrease the current.&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If the motor has high inertia decrease ERPM. E-bike hub motors tend to have high inertia.&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If the motor has low inertia increase ERPM.&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-style:italic;&quot;&gt;The motor spins up properly, but does not spin at the end of the detection.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto'; font-style:italic;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Increase the duty and try again. This is usually needed for low KV motor when using low voltage, such as ebike motors.&lt;/li&gt;&lt;/ul&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </help_bldc_detect>
+        <help_foc_detect>
+            <longName>Detect FOC Parameters</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
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+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Detect and calculate the necessary FOC motor and control parameters. The procedure is the following:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ol style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Measure &lt;span style=&quot; font-weight:600;&quot;&gt;R&lt;/span&gt; and &lt;span style=&quot; font-weight:600;&quot;&gt;L&lt;/span&gt; and wait for the detection result. When the detection result arrives, &lt;span style=&quot; font-weight:600;&quot;&gt;KP&lt;/span&gt;, &lt;span style=&quot; font-weight:600;&quot;&gt;KI&lt;/span&gt; and &lt;span style=&quot; font-weight:600;&quot;&gt;Observer Gain&lt;/span&gt; will be calculated.&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Measure &lt;span style=&quot; font-weight:600;&quot;&gt;λ&lt;/span&gt; and wait for the detection result. If the detections fails, tweak &lt;span style=&quot; font-weight:600;&quot;&gt;I&lt;/span&gt;, &lt;span style=&quot; font-weight:600;&quot;&gt;D&lt;/span&gt; and &lt;span style=&quot; font-weight:600;&quot;&gt;ω &lt;/span&gt;as described below and try again until it works.&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use the &lt;span style=&quot; font-weight:600;&quot;&gt;Apply&lt;/span&gt; button to apply the measured and calculated parameters.&lt;/li&gt;&lt;/ol&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The following parameters are measured:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Resistance (R)&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Inductance (L)&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Flux Linkage (λ)&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The following parameter are calculated from &lt;span style=&quot; font-weight:600;&quot;&gt;R&lt;/span&gt; and &lt;span style=&quot; font-weight:600;&quot;&gt;L&lt;/span&gt;:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Proportional gain for the current controller (KP)&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Integral gain for the current controller (KI)&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Gain for the observer&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;For measuring resistance and inductance, signals are injected into the motor. Nothing requires configuration for doing that and the motor does not need to spin up.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;For measuring the flux linkage the motor needs to spin up, which is controlled by the &lt;span style=&quot; font-weight:600;&quot;&gt;I&lt;/span&gt;, &lt;span style=&quot; font-weight:600;&quot;&gt;D&lt;/span&gt; and &lt;span style=&quot; font-weight:600;&quot;&gt;ω&lt;/span&gt; startup settings. Notice that the resistance has to be measured first. The startup settings mean the following:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current (I)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The current to use for spinning up the motor.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Duty (D)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The duty cycle where to measure the flux linkage.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ERPM (ω)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The minimum speed for the delay commutation mode to start the motor.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If the motor is not able to spin up properly these settings can be tweaked. Symptoms:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-style:italic;&quot;&gt;The motor starts to spin, but is too weak to reach enough speed.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-style:italic;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Increase the current setting.&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If the load increases with speed (e.g. a propeller) you can decrease the duty cycle. This makes the detection slightly less accurate, but that does not matter in general.&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-style:italic;&quot;&gt;The motor cogs and is unable to spin up.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-style:italic;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-style:italic;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-style:normal;&quot;&gt;Increase or decrease the current.&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If the motor has high inertia decrease ERPM. E-bike hub motors tend to have high inertia.&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If the motor has low inertia increase ERPM.&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;After measuring the motor parameters, gain factors for the current PI control loop and the observer gain should be calculated. KP and KI are calculated based on a desired time constant of the current controller and the motor parameters R and L, which have to be measured first. The observer gain is calculated based on the motor inductance, which also has to be measured first.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </help_foc_detect>
+        <help_foc_encoder_detect>
+            <longName>Detect FOC Encoder Parameters</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Detect the following encoder parameters:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Offset&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Ratio&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Inverted&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;To do that, the motor is turned slowly in open loop while the encoder output is sampled, once for the ratio and once for the offset. This is done in both directions for one full mechanical revolution to get rid off possible offsets and nonlinearities.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </help_foc_encoder_detect>
+        <help_foc_hall_detect>
+            <longName>Detect FOC Hall Sensor Parameters</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Detect the hall sensor table. To do that, the motor is turned slowly in open loop while the hall sensor outputs are sampled. This is done in both directions to get rid of offsets.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </help_foc_hall_detect>
+        <help_imu_calibration>
+            <longName>Detect IMU Calibration </longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Calibrate the IMU. This will set the curent IMU orientation to level. If your Pitch/Roll axes don't end up in the desired orientation, you can supply a yaw value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </help_imu_calibration>
+        <help_nrf_pair>
+            <longName>NRF Pairing</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Set the VESC in NRF pairing mode for the amount of time specified in the Time box (default 10 seconds). Afer that, you should put the device to pair in pairing mode before the time runs out. A popup should appear and show that pairing was successful, or that it timed out. After a sucessful pairing, the NRF settings will be updated according to the unique ID of the paired NRF device and stored to the VESC.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;NRF Nunchuk&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;For pairing the NRF nunchuk, set the VESC in pairing mode and switch on a nunchuk (that was switched off previously) before the pairing time runs out.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Notice that the unique ID of the NRF nunchuk is based on a hashed version of its microcontroller UUID, so the pairing should still be valid even after updating firmware. The chance of collisions between NRF nunchuks is practically non-existent.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </help_nrf_pair>
+        <help_can_forward>
+            <longName>CAN Forwarding</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;When CAN forwarding is enabled, all communication will be forwarded over CAN bus to the VESC with the ID selected in the ID box in the connection page.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </help_can_forward>
+        <help_rt_logging>
+            <longName>RT data logging</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;VESC Tool (mobile and desktop) can log realtime data to CSV files. The output directory has to be chosen, which is where the log files are stored. Each time the logging checkbox is checked, a new CSV file with the current date and time is created in the output directory. This means that toggling the box will store the current file create a new one, which can be convenient to split the logs.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The output format is as follows:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;ms_today;v_in;temp_mos;temp_mos_1;temp_mos_2;temp_mos_3;&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;temp_motor;current_motor;current_in;id;iq;rpm;duty_now;amp_hours;&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;amp_hours_charged;watt_hours;watt_hours_charged;tachometer;&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;tachometer_abs;position;fault_code;vesc_id&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The values mean the following:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;ms_today&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Time today in milliseconds. This time is sampled in VESC Tool, so it can contain jitter compared to the data values depending in transmission latency.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;temp_mos&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;MOSFET temperature in °C.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;temp_mos_1, temp_mos_2, temp_mos_3&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Individual MOSFET temperatures for the legs in the power stage in &lt;/span&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;°C. Only available on hardware with individual temperature sensors, such as the VESC 75/300.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;temp_motor&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Motor temperature in °C.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;current_motor&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Motor current in A. The sign is the same as the input current, thus positive when the motor is driving and negative when the motor is generating.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;current_in&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Input current in A.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;id, iq&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;D-axis and Q-axis current of the motor. Only available in FOC mode.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;rpm&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Motor speed in electrical rouds per minute. Has to be divided by the number of pole pairs to get the mechanical speed.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;duty_now&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Modulation, range -1.0 to 1.0&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;amp_hours&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Ampere hours consumed from the input.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;amp_hours_charged&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Ampere hours fed back to the input.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;watt_hours&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Watt hours consumed from the input.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;watt_hours_charged&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Watt hours fed back to the input.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;tachometer&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;1/6 electrical revolution counter. Will count 6 steps for every electrical revolution of the motor. Has to be multiplied by the number of pole pairs to get 6 times the counts per mechanical revolution. Will count backwards when the motor is turning backwards.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;tachometer_abs&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Same as &lt;/span&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;tachometer&lt;/span&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;, but couts the absolute value&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;position&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Motor position in degrees. It is the mechanical position when using an encoder, the electrical position otherwise. In sensorless mode the position is not valid when the motor is not turning.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;fault_code&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current fault code.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;vesc_id&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;CAN ID of this VESC.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </help_rt_logging>
+        <motor_setting_description>
+            <longName>Motor Setting Description</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Motor Settings&lt;/span&gt;&lt;/p&gt;
+&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This is where you can edit your motor settings. It is &lt;span style=&quot; color:#00A1E4;&quot;&gt;very important&lt;/span&gt; to setup your VESC every time you connect a different motor, otherwise the VESC and/or the motor are likely to get damaged. The easiest way to set up your VESC for your motor is to use the &lt;span style=&quot; font-weight:600;&quot;&gt;Motor Setup Wizard&lt;/span&gt;. This wizard can be accessed from the welcome page, from the help menu or using the button at the bottom of this page.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The motor settings are stored in their own configuration structure. Every time you make changes to the motor configuration you have to write the configuration to the VESC in order to apply the new settings. Reading/writing the motor configuration can be done using the buttons on the toolbar to the right. The functions of these toolbar buttons are the following:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/18336.PNG;base64,i
+VBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAA4WlDQ1BzUkdCAAAYlWNgYDzNAARMDgwMu
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+vpgCKEALFSrIt3BCDAYk6wB84BAHjgEbqr4HfD66uqo4xvxDxCS2gMcR6zcAAAAAElFTkSuQmCC&quot; width=&quot;24&quot; height=&quot;24&quot; /&gt;&lt;br /&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Read Motor Configuration&lt;/span&gt;. This button will read the current motor configuration from the VESC to VESC Tool.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; color:#00A1E4;&quot;&gt;Warning&lt;/span&gt;: All of the motor settings currently in VESC Tool will be overwritten by pressing this button.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/15613.PNG;base64,i
+VBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAA4WlDQ1BzUkdCAAAYlWNgYDzNAARMDgwMu
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+QYX2nV3TP2uXi8LUcfVdfVGdk2nMn1CPZV9n/ztP0jkbAp5op5XR9VJ9Z76Q51Tu8sCShr6MyAJo+qiu
+paKbqgv1HPFydQB9aZ66C8Bw8kzWDpztRcYoHmzVtsV6qADAH4B7oGeIcdpjWQAAAAASUVORK5CYII=&quot; width=&quot;24&quot; height=&quot;24&quot; /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Read Default Motor Configuration&lt;/span&gt;. This button will read the default motor configuration from the VESC to VESC Tool. The default configuration is hard-coded in firmware, and is how the VESC is configured right after uploading new firmware.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; color:#00A1E4;&quot;&gt;Warning&lt;/span&gt;: All of the motor settings currently in VESC Tool will be overwritten by pressing this button.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/2057.PNG;base64,i
+VBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAA4WlDQ1BzUkdCAAAYlWNgYDzNAARMDgwMu
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+itYTNI1PJ6rVZV/2eAGutjZxPP4gfutvAf4hYvYgZvjmv9lUFUfccHw7mueS83NGs37hjs4g0dV9W6Sw
+dwYrYfT2It7VbU8ofYS3uPhpOYTSbKQ5HOS+RGtl+T1lLrl9oc2bgNVtZLkSFWtj8jP8GnKbE+0fj8zZ
+mye3xJypFIwh222AAAAAElFTkSuQmCC&quot; width=&quot;24&quot; height=&quot;24&quot; /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Write Motor Configuration&lt;/span&gt;. This button will write the motor configuration that currently is in VESC Tool to the VESC. Every time you make a change to the motor configuration in VESC Tool you must use this button to apply the new settings. The new settings will be used as soon as you write them to the VESC, and they will be stored in the flash memory of the VESC persistently.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Every motor setting has three small buttons to the right of its value. They have the following functions:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/29987.PNG;base64,i
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+OWFigAAAABJRU5ErkJggg==&quot; width=&quot;20&quot; height=&quot;20&quot; /&gt;&lt;br /&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Read Current Value&lt;/span&gt;. This button will read the current value for this setting from the VESC.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/2982.PNG;base64,i
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Read Default Value&lt;/span&gt;. This button will read the default value for this setting from the VESC.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/3626.PNG;base64,i
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+X+zYP8lfgOHlZEKN7DBYwAAAABJRU5ErkJggg==&quot; width=&quot;20&quot; height=&quot;20&quot; /&gt;&lt;br /&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Show Help&lt;/span&gt;. This button will show a help dialog describing what this setting does. If you are not sure about a setting the help dialog can be very useful.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The full motor configuration, including the notes you make on the &lt;span style=&quot; font-weight:600;&quot;&gt;Description&lt;/span&gt; page, can also be written to and read from XML files using the &lt;span style=&quot; font-weight:600;&quot;&gt;File&lt;/span&gt; menu. This is a good way to keep your settings when going between different VESC Tool versions, to share your settings and to store your configuration in general.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Notice that uploading new firmware to the VESC will reset all its settings to their default values for that firmware. This means that after uploading firmware to the VESC you have to perform the motor configuration again.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </motor_setting_description>
+        <app_setting_description>
+            <longName>App Setting Description</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;App Settings&lt;/span&gt;&lt;/p&gt;
+&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This is where you can edit your app settings. The VESC can run one or more apps, and the apps are used to enable different functions on the communication interfaces of the VESC. If you are going to use your VESC with USB or CAN-bus you don't have to change the app configuration since these interfaces always are active. If you want to use conventional input devices such as nunchuks, ebike throttles or RC remote controllers you have to configure the apps accordingly.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The easiest way to configure your VESC for conventional input devices is to use the &lt;span style=&quot; font-weight:600;&quot;&gt;Input Setup Wizard&lt;/span&gt;. This wizard can be accessed from the welcome page, from the help menu or using the button at the bottom of this page.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The app settings are stored in their own configuration structure. Every time you make changes to the app configuration you have to write the configuration to the VESC in order to apply the new settings. Reading/writing the app configuration can be done using the buttons on the toolbar to the right. The functions of these toolbar buttons are the following:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/7220.PNG;base64,i
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+wrxK88BKyGE/TRPhQrl8QHWazO2mBBwJwAAAABJRU5ErkJggg==&quot; width=&quot;24&quot; height=&quot;24&quot; /&gt;&lt;br /&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Read App Configuration&lt;/span&gt;. This button will read the current app configuration from the VESC to VESC Tool.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; color:#00A1E4;&quot;&gt;Warning&lt;/span&gt;: All of the app settings currently in VESC Tool will be overwritten by pressing this button.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/863.PNG;base64,i
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+90UppBfSZTT+9DAGgIAAAAASUVORK5CYII=&quot; width=&quot;24&quot; height=&quot;24&quot; /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Read Default App Configuration&lt;/span&gt;. This button will read the default app configuration from the VESC to VESC Tool. The default configuration is hard-coded in firmware, and is how the VESC is configured right after uploading new firmware.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; color:#00A1E4;&quot;&gt;Warning&lt;/span&gt;: All of the app settings currently in VESC Tool will be overwritten by pressing this button.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/17702.PNG;base64,i
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+jAAAAAASUVORK5CYII=&quot; width=&quot;24&quot; height=&quot;24&quot; /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Write App Configuration&lt;/span&gt;. This button will write the app configuration that currently is in VESC Tool to the VESC. Every time you make a change to the app configuration in VESC Tool you must use this button to apply the new settings. The new settings will be used as soon as you write them to the VESC, and they will be stored in the flash memory of the VESC persistently.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Every app setting has three small buttons to the right of its value. They have the following functions:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/19309.PNG;base64,i
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+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Read Default Value&lt;/span&gt;. This button will read the default value for this setting from the VESC.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/29590.PNG;base64,i
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+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The full app configuration can also be written to and read from XML files using the &lt;span style=&quot; font-weight:600;&quot;&gt;File&lt;/span&gt; menu. This is a good way to keep your settings when going between different VESC Tool versions, to share your settings and to store your configuration in general.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Notice that uploading new firmware to the VESC will reset all its settings to their default values for that firmware. This means that after uploading firmware to the VESC you have to perform the app configuration again.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </app_setting_description>
+        <data_analysis_description>
+            <longName>Data Analysis Description</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Data Analysis&lt;/span&gt;&lt;/p&gt;
+&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Here you can stream and plot data from the VESC to analyze what is going on. Next to all plots the following buttons are available:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If this button is toggled active (blue), scolling with the mouse on the graph will zoom the graph horizontally.&lt;/p&gt;
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If this button is toggled active (blue), scolling with the mouse on the graph will zoom the graph vertically. Often it is useful to deactivate this button and only zoom in the horizontal direction because the sampled data can be squeezed together horizontally for long sampling sequences.&lt;/p&gt;
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This is the auto fit button. If the toggle verion of the button is active (blue), new realtime data that drops in will cause a rezoom in the graph to fit all data. Deactivating this button can be useful of you want to zoom in on the realtime data manually while samples are dropping in.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This is the non-toggle version of the auto fit button. Pressing it will zoom the plots so that all data fits in them.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Realtime Data&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The realtime data page can be used to stream and plot filtered data continuously, which can be useful for visualizing things in real time while they are happening. For example, if you run a motor and put some load on it, you can see that reflected right away in the current and RPM graphs. Tuning the position and speed PID control parameters is also a lot easier when looking at the step response in a graph.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;In ordet to stream realtime data, the &lt;span style=&quot; font-style:italic;&quot;&gt;Stream realtime data&lt;/span&gt; button in the main toolbar to the right has to be activated:&lt;/p&gt;
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+II=&quot; width=&quot;32&quot; height=&quot;32&quot; /&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Sampled Data&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The sampled data page can be used to sample data at high rate internally on the VESC and send it back for plotting after that. This page can be used to visualize all samples taken by the ADCs to analyze the current and voltage waveforms in detail. Since this data is sampled at such a high rate it cannot be streamed in real time, which is why sampling and plotting has to be toggled manually. There are two buttons for starting the sampling in the lower toolbar in this page:&lt;/p&gt;
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sample data now and send it when this is done.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/22333.PNG;base64,i
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+Z6fygf3f6rVX1TOmrF1AAAAAElFTkSuQmCC&quot; width=&quot;32&quot; height=&quot;32&quot; /&gt; &lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sample data the next time the motor starts moving. This can be useful to analyze the startup behaviour in real time.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;There are also options to apply filters to the sampled data and/or to plot a FFT of all samples if desired.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </data_analysis_description>
+        <app_adc.info>
+            <longName>App ADC Information</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The cruise control button will maintain the current speed while pressed when current control is used and no throttle is given. The reverse button is used to reverse the throttle when one of the corresponding control modes is used.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;When only the ADC app is used, the TX pin is used for the cruise control button and the RX pin is used for the reverse button. When the ADC and UART apps are used at the same time, the servo input will be used as the button. In this case it will be used for the reverse button when a control mode with button is selected, otherwise it will be used for the cruise control button.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </app_adc.info>
+        <app_chuk.info>
+            <longName>Chuk Info</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This app has been tested with the wireless Nyko Kama nunchuk. The receiver can be connected directly to the I2C port on the ESC. The y-axis on the joystick is used for acceleration/braking. The buttons have the following functions:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;C-Button:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Cruise control. If the C-button is pressed, the ESC will maintail the current speed with a PID control loop. The joystick can still be used to accelerate and brake, but as soon as it is returned to the center position the new speed will be maintained, as long as the C-button remains pressed.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Z-Button:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The Z-button is used to change the direction of the motor if reverse is activated. Without reverse, Z has no effect.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;There is also a safety function. If nothing received from the nunchuk (including the accelerometers) changes for longer than the timeout value in the &lt;span style=&quot; font-style:italic;&quot;&gt;APP General&lt;/span&gt; page, the timeout function will be activated and either release the motor or brake with the current specified next to the timeout value.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </app_chuk.info>
+        <app_ppm_mapping_help>
+            <longName>PPM Pulselength Mapping</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;PPM pulselength mapping is used to map the minimum and maximum throttle values from the PPM remote to the minimum and maximum throttle values of the VESC. The following procedure can be used:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ol style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Activate the PPM app and reboot the VESC.&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Set the PPM control mode to disabled to avoid motor movement and write the configuration.&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Connect the remote.&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Activate app realtime data streaming in the main toolbar. The input display should show the decoded input value and pulse length if the remote is connected and on.&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Move the throttle between the minimum and maximum values to get them sampled.&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Apply the result.&lt;/li&gt;&lt;/ol&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Input mapping should also be usable for those oneshot pulselengths that are popular for some multirotor flight controllers that don't have support for proper ESC communication such as CAN-bus or UART.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </app_ppm_mapping_help>
+        <app_adc_mapping_help>
+            <longName>ADC Voltage Mapping</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;ADC voltage mapping is used to map the minimum and maximum throttle values from the analog throttle to the minimum and maximum throttle values of the VESC. The following procedure can be used:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ol style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Activate the ADC app and write the app configuration to the VESC.&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Set the ADC control mode to disabled to avoid motor movement and write the configuration.&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Connect the throttle(s).&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Activate realtime &lt;span style=&quot; font-weight:600;&quot;&gt;app&lt;/span&gt; data streaming in the main toolbar. The input displays should show the decoded input value and voltage if the throttle is connected.&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Move the throttle between the minimum and maximum values to get them sampled.&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Apply the result.&lt;/li&gt;&lt;/ol&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </app_adc_mapping_help>
+        <wizard_startup_intro>
+            <longName>Welcome to VESC® Tool</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Welcome to &lt;span style=&quot; font-weight:600;&quot;&gt;VESC&lt;/span&gt; &lt;span style=&quot; font-weight:600;&quot;&gt;Tool&lt;/span&gt;. Since this is the first time you start this version of VESC Tool, the introduction is shown. Please read all instructions carefully for your own safety.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </wizard_startup_intro>
+        <wizard_startup_usage>
+            <longName>Usage</longName>
+            <type>3</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif'; font-weight:600;&quot;&gt;VESC® Tool&lt;/span&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt; and the &lt;/span&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif'; font-weight:600;&quot;&gt;VESC® firmware&lt;/span&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt; are experimental software designed to develop and test electrical systems incorporating electric motors or actuators. Electrical systems can cause danger to humans, property and nature; therefore precautions shall be taken to avoid any risk. Under no circumstances shall the software be used where humans or property are put to risk without &lt;/span&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;thoroughly&lt;/span&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt; validating and testing the whole system. Software and hardware interact in various ways, and software developers cannot foresee all possible combinations of hardware used together with their software, nor problems that can occur in these different combinations.&lt;/span&gt; &lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;Things that can happen, even when using the correct settings, are&lt;/span&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'arial,helvetica,sans-serif';&quot; style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;electrical failure&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;fire&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; font-family:'arial,helvetica,sans-serif';&quot; style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;electric shock&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;hazardous smoke&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;overheating motors and actuators&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;overstrained power sources, causing fire or explosions (e.g. Lithium Ion Batteries)&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;motors or actuators stopping from spinning/moving&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;motors or actuators locking in, acting like a brake (full stop)&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; font-family:'arial,helvetica,sans-serif';&quot; style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;motors or actuators losing control over torque production (uncontrolled acceleration or braking)&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;interferences with other systems&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;other non-intended or unforeseeable behavior of the system&lt;/span&gt;&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;VESC Tool and the VESC firmware are developer tools that for safety reasons may only be used&lt;/span&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'arial,helvetica,sans-serif';&quot; style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;by experts and experienced users, knowing exactly what they do.&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;following safety standards applicable in the area of usage.&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;under safe conditions where software or hardware malfunction will not lead to death, injuries or severe property damage.&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;keeping in mind that software and hardware failures can happen. Although we design our products to minimize such issues, you should always operate with the understanding that a failure can occur at any point of time and without warning. As such, you shall take the appropriate precautions to minimize danger in case of failure.&lt;/span&gt; &lt;/li&gt;&lt;/ul&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <valString>Important usage information</valString>
+        </wizard_startup_usage>
+        <wizard_startup_warranty>
+            <longName>Warranty</longName>
+            <type>3</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;LIMITED WARRANTY STATEMENT &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;1. Warranty&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;1.1 THERE IS NO WARRANTY FOR THE VESC® SOFTWARE (VESC TOOL AND THE VESC FIRMWARE - PROGRAM FOR SHORT) TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM AS IS WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;1.2 Benjamin Vedder and contributors (the publisher(s) for short) shall not be liable for any defects that are caused by neglect, misuse or mistreatment by the Customer, including improper installation or testing, or for any products that have been altered or modified in any way by the Customer. Moreover, the publisher(s) shall not be liable for any defects that result from the Customers design, specifications or instructions for such products. Testing and other quality control techniques are used to the extent the publisher(s) deems necessary. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;1.3 The Customer agrees that prior to using any systems that include Open Source VESC® Software, the Customer will test such systems and the functionality of the products as used in such systems. The publisher(s) may provide technical, applications or design advice, quality characterization, reliability data or other services. The Customer acknowledges and agrees that providing these services shall not expand or otherwise alter the publisher(s) warranties, as set forth above, and that no additional obligations or liabilities shall arise from the publisher(s) providing such services. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;1.4 VESC® software products are not authorized for use in safety-critical applications where a failure of the Open Source VESC® software would reasonably be expected to cause severe personal injury or death. Safety-critical applications include, without limitation, life support devices and systems, equipment or systems for the operation of nuclear facilities and weapons systems. Open Source VESC® software is neither designed nor intended for use in military or aerospace applications or environments, nor for automotive applications or the automotive environment. The Customer acknowledges and agrees that any such use of VESC® software is solely at the Customer's risk, and that the Customer is solely responsible for compliance with all legal and regulatory requirements in connection with such use. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;1.5 The Customer acknowledges and agrees that the Customer is solely responsible for compliance with all legal, regulatory and safety-related requirements concerning the products and any use of the publisher(s) softwrae  products in the Customer's applications, not withstanding any applications-related information or support that may be provided by the publisher(s). &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;2. Limitation of Liability &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS THE PROGRAM AS PERMITTED THROUGH THE GNU GENERAL PUBLIC LICENSE (GNU GPL), BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;This section will survive the termination of the warranty period. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;3. Consequential Damages Waiver.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;In no event shall the publisher(s) be liable to the Customer or any third parties for any special, collateral, indirect, punitive, incidental, consequential or exemplary damages in connection with or arising out of the products provided hereunder, regardless of whether the publisher(s) has been advised of the possibility of such damages. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;This section will survive the termination of the warranty period. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;4. Changes to Specifications.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;The publisher(s) may make changes to specifications and product descriptions at any time, without notice. The Customer must not rely on the absence or characteristics of any features or instructions marked, reserved or undefined. The publisher(s) reserves these for future definition and shall have no responsibility whatsoever for conflicts or incompatibilities arising from future changes to them. The product information on the Web Site or Materials is subject to change without notice. Do not finalize a design with this information. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;5. Statutory laws. *&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;(i) some countries, regions, states or provinces do not allow the exclusion or limitation of remedies or of incidental, punitive, or consequential damages, or the applicable time periods, so the above limitations or exclusions may not apply.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;(ii) except to the extent lawfully permitted, this limited warranty does not exclude, restrict or modify statutory rights applicable to where the product is sold but, rather, is in addition to these rights.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;(*) European Consumer Centres provide information on EU-wide consumer laws as well as consumer laws for specific countries: http://ec.europa.eu/consumers/ecc/contact_en.htm &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Times New Roman,serif';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;The LIMITED WARRANTY STATEMENT is released as Creative Commons Attribution ShareAlike 3.0. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;This means you can use it on your own derived works, in part or completely, as long as you also adopt the same license. You find the complete text of the license at https://creativecommons.org/licenses/by-sa/3.0/legalcode&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <valString>LIMITED WARRANTY STATEMENT</valString>
+        </wizard_startup_warranty>
+        <wizard_startup_conclusion>
+            <longName>Conclusion</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;You are now ready to start using VESC Tool. If you have any questions, visit &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;a href=&quot;http://vesc-project.com/forum&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; text-decoration: underline; color:#5555ff;&quot;&gt;http://vesc-project.com/forum&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </wizard_startup_conclusion>
+        <gpl_text>
+            <longName>License</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;GNU GENERAL PUBLIC LICENSE&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Version 3, 29 June 2007&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Copyright © 2007 Free Software Foundation, Inc. &amp;lt;&lt;/span&gt;&lt;a href=&quot;https://fsf.org/&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; text-decoration: underline; color:#0000ff;&quot;&gt;https://fsf.org/&lt;/span&gt;&lt;/a&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;&amp;gt;&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;Preamble&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The GNU General Public License is a free, copyleft license for software and other kinds of works.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The licenses for most software and other practical works are designed to take away your freedom to share and change the works. By contrast, the GNU General Public License is intended to guarantee your freedom to share and change all versions of a program--to make sure it remains free software for all its users. We, the Free Software Foundation, use the GNU General Public License for most of our software; it applies also to any other work released this way by its authors. You can apply it to your programs, too.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;When we speak of free software, we are referring to freedom, not price. Our General Public Licenses are designed to make sure that you have the freedom to distribute copies of free software (and charge for them if you wish), that you receive source code or can get it if you want it, that you can change the software or use pieces of it in new free programs, and that you know you can do these things.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;To protect your rights, we need to prevent others from denying you these rights or asking you to surrender the rights. Therefore, you have certain responsibilities if you distribute copies of the software, or if you modify it: responsibilities to respect the freedom of others.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;For example, if you distribute copies of such a program, whether gratis or for a fee, you must pass on to the recipients the same freedoms that you received. You must make sure that they, too, receive or can get the source code. And you must show them these terms so they know their rights.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Developers that use the GNU GPL protect your rights with two steps: (1) assert copyright on the software, and (2) offer you this License giving you legal permission to copy, distribute and/or modify it.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;For the developers' and authors' protection, the GPL clearly explains that there is no warranty for this free software. For both users' and authors' sake, the GPL requires that modified versions be marked as changed, so that their problems will not be attributed erroneously to authors of previous versions.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Some devices are designed to deny users access to install or run modified versions of the software inside them, although the manufacturer can do so. This is fundamentally incompatible with the aim of protecting users' freedom to change the software. The systematic pattern of such abuse occurs in the area of products for individuals to use, which is precisely where it is most unacceptable. Therefore, we have designed this version of the GPL to prohibit the practice for those products. If such problems arise substantially in other domains, we stand ready to extend this provision to those domains in future versions of the GPL, as needed to protect the freedom of users.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Finally, every program is threatened constantly by software patents. States should not allow patents to restrict development and use of software on general-purpose computers, but in those that do, we wish to avoid the special danger that patents applied to a free program could make it effectively proprietary. To prevent this, the GPL assures that patents cannot be used to render the program non-free.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The precise terms and conditions for copying, distribution and modification follow.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;TERMS AND CONDITIONS&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;0. Definitions.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;“&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;This License” refers to version 3 of the GNU General Public License.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;“&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Copyright” also means copyright-like laws that apply to other kinds of works, such as semiconductor masks.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;“&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The Program” refers to any copyrightable work licensed under this License. Each licensee is addressed as “you”. “Licensees” and “recipients” may be individuals or organizations.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;To “modify” a work means to copy from or adapt all or part of the work in a fashion requiring copyright permission, other than the making of an exact copy. The resulting work is called a “modified version” of the earlier work or a work “based on” the earlier work.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;A “covered work” means either the unmodified Program or a work based on the Program.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;To “propagate” a work means to do anything with it that, without permission, would make you directly or secondarily liable for infringement under applicable copyright law, except executing it on a computer or modifying a private copy. Propagation includes copying, distribution (with or without modification), making available to the public, and in some countries other activities as well.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;To “convey” a work means any kind of propagation that enables other parties to make or receive copies. Mere interaction with a user through a computer network, with no transfer of a copy, is not conveying.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;An interactive user interface displays “Appropriate Legal Notices” to the extent that it includes a convenient and prominently visible feature that (1) displays an appropriate copyright notice, and (2) tells the user that there is no warranty for the work (except to the extent that warranties are provided), that licensees may convey the work under this License, and how to view a copy of this License. If the interface presents a list of user commands or options, such as a menu, a prominent item in the list meets this criterion.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;1. Source Code.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The “source code” for a work means the preferred form of the work for making modifications to it. “Object code” means any non-source form of a work.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;A “Standard Interface” means an interface that either is an official standard defined by a recognized standards body, or, in the case of interfaces specified for a particular programming language, one that is widely used among developers working in that language.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The “System Libraries” of an executable work include anything, other than the work as a whole, that (a) is included in the normal form of packaging a Major Component, but which is not part of that Major Component, and (b) serves only to enable use of the work with that Major Component, or to implement a Standard Interface for which an implementation is available to the public in source code form. A “Major Component”, in this context, means a major essential component (kernel, window system, and so on) of the specific operating system (if any) on which the executable work runs, or a compiler used to produce the work, or an object code interpreter used to run it.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The “Corresponding Source” for a work in object code form means all the source code needed to generate, install, and (for an executable work) run the object code and to modify the work, including scripts to control those activities. However, it does not include the work's System Libraries, or general-purpose tools or generally available free programs which are used unmodified in performing those activities but which are not part of the work. For example, Corresponding Source includes interface definition files associated with source files for the work, and the source code for shared libraries and dynamically linked subprograms that the work is specifically designed to require, such as by intimate data communication or control flow between those subprograms and other parts of the work.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The Corresponding Source need not include anything that users can regenerate automatically from other parts of the Corresponding Source.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The Corresponding Source for a work in source code form is that same work.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;2. Basic Permissions.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;All rights granted under this License are granted for the term of copyright on the Program, and are irrevocable provided the stated conditions are met. This License explicitly affirms your unlimited permission to run the unmodified Program. The output from running a covered work is covered by this License only if the output, given its content, constitutes a covered work. This License acknowledges your rights of fair use or other equivalent, as provided by copyright law.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You may make, run and propagate covered works that you do not convey, without conditions so long as your license otherwise remains in force. You may convey covered works to others for the sole purpose of having them make modifications exclusively for you, or provide you with facilities for running those works, provided that you comply with the terms of this License in conveying all material for which you do not control copyright. Those thus making or running the covered works for you must do so exclusively on your behalf, under your direction and control, on terms that prohibit them from making any copies of your copyrighted material outside their relationship with you.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Conveying under any other circumstances is permitted solely under the conditions stated below. Sublicensing is not allowed; section 10 makes it unnecessary.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;3. Protecting Users' Legal Rights From Anti-Circumvention Law.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;No covered work shall be deemed part of an effective technological measure under any applicable law fulfilling obligations under article 11 of the WIPO copyright treaty adopted on 20 December 1996, or similar laws prohibiting or restricting circumvention of such measures.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;When you convey a covered work, you waive any legal power to forbid circumvention of technological measures to the extent such circumvention is effected by exercising rights under this License with respect to the covered work, and you disclaim any intention to limit operation or modification of the work as a means of enforcing, against the work's users, your or third parties' legal rights to forbid circumvention of technological measures.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;4. Conveying Verbatim Copies.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You may convey verbatim copies of the Program's source code as you receive it, in any medium, provided that you conspicuously and appropriately publish on each copy an appropriate copyright notice; keep intact all notices stating that this License and any non-permissive terms added in accord with section 7 apply to the code; keep intact all notices of the absence of any warranty; and give all recipients a copy of this License along with the Program.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You may charge any price or no price for each copy that you convey, and you may offer support or warranty protection for a fee.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;5. Conveying Modified Source Versions.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You may convey a work based on the Program, or the modifications to produce it from the Program, in the form of source code under the terms of section 4, provided that you also meet all of these conditions:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; a) The work must carry prominent notices stating that you modified it, and giving a relevant date.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; b) The work must carry prominent notices stating that it is released under this License and any conditions added under section 7. This requirement modifies the requirement in section 4 to “keep intact all notices”.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; c) You must license the entire work, as a whole, under this License to anyone who comes into possession of a copy. This License will therefore apply, along with any applicable section 7 additional terms, to the whole of the work, and all its parts, regardless of how they are packaged. This License gives no permission to license the work in any other way, but it does not invalidate such permission if you have separately received it.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; d) If the work has interactive user interfaces, each must display Appropriate Legal Notices; however, if the Program has interactive interfaces that do not display Appropriate Legal Notices, your work need not make them do so.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;A compilation of a covered work with other separate and independent works, which are not by their nature extensions of the covered work, and which are not combined with it such as to form a larger program, in or on a volume of a storage or distribution medium, is called an “aggregate” if the compilation and its resulting copyright are not used to limit the access or legal rights of the compilation's users beyond what the individual works permit. Inclusion of a covered work in an aggregate does not cause this License to apply to the other parts of the aggregate.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;6. Conveying Non-Source Forms.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You may convey a covered work in object code form under the terms of sections 4 and 5, provided that you also convey the machine-readable Corresponding Source under the terms of this License, in one of these ways:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; a) Convey the object code in, or embodied in, a physical product (including a physical distribution medium), accompanied by the Corresponding Source fixed on a durable physical medium customarily used for software interchange.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; b) Convey the object code in, or embodied in, a physical product (including a physical distribution medium), accompanied by a written offer, valid for at least three years and valid for as long as you offer spare parts or customer support for that product model, to give anyone who possesses the object code either (1) a copy of the Corresponding Source for all the software in the product that is covered by this License, on a durable physical medium customarily used for software interchange, for a price no more than your reasonable cost of physically performing this conveying of source, or (2) access to copy the Corresponding Source from a network server at no charge.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; c) Convey individual copies of the object code with a copy of the written offer to provide the Corresponding Source. This alternative is allowed only occasionally and noncommercially, and only if you received the object code with such an offer, in accord with subsection 6b.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; d) Convey the object code by offering access from a designated place (gratis or for a charge), and offer equivalent access to the Corresponding Source in the same way through the same place at no further charge. You need not require recipients to copy the Corresponding Source along with the object code. If the place to copy the object code is a network server, the Corresponding Source may be on a different server (operated by you or a third party) that supports equivalent copying facilities, provided you maintain clear directions next to the object code saying where to find the Corresponding Source. Regardless of what server hosts the Corresponding Source, you remain obligated to ensure that it is available for as long as needed to satisfy these requirements.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; e) Convey the object code using peer-to-peer transmission, provided you inform other peers where the object code and Corresponding Source of the work are being offered to the general public at no charge under subsection 6d.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;A separable portion of the object code, whose source code is excluded from the Corresponding Source as a System Library, need not be included in conveying the object code work.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;A “User Product” is either (1) a “consumer product”, which means any tangible personal property which is normally used for personal, family, or household purposes, or (2) anything designed or sold for incorporation into a dwelling. In determining whether a product is a consumer product, doubtful cases shall be resolved in favor of coverage. For a particular product received by a particular user, “normally used” refers to a typical or common use of that class of product, regardless of the status of the particular user or of the way in which the particular user actually uses, or expects or is expected to use, the product. A product is a consumer product regardless of whether the product has substantial commercial, industrial or non-consumer uses, unless such uses represent the only significant mode of use of the product.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;“&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Installation Information” for a User Product means any methods, procedures, authorization keys, or other information required to install and execute modified versions of a covered work in that User Product from a modified version of its Corresponding Source. The information must suffice to ensure that the continued functioning of the modified object code is in no case prevented or interfered with solely because modification has been made.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If you convey an object code work under this section in, or with, or specifically for use in, a User Product, and the conveying occurs as part of a transaction in which the right of possession and use of the User Product is transferred to the recipient in perpetuity or for a fixed term (regardless of how the transaction is characterized), the Corresponding Source conveyed under this section must be accompanied by the Installation Information. But this requirement does not apply if neither you nor any third party retains the ability to install modified object code on the User Product (for example, the work has been installed in ROM).&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The requirement to provide Installation Information does not include a requirement to continue to provide support service, warranty, or updates for a work that has been modified or installed by the recipient, or for the User Product in which it has been modified or installed. Access to a network may be denied when the modification itself materially and adversely affects the operation of the network or violates the rules and protocols for communication across the network.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Corresponding Source conveyed, and Installation Information provided, in accord with this section must be in a format that is publicly documented (and with an implementation available to the public in source code form), and must require no special password or key for unpacking, reading or copying.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;7. Additional Terms.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;“&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Additional permissions” are terms that supplement the terms of this License by making exceptions from one or more of its conditions. Additional permissions that are applicable to the entire Program shall be treated as though they were included in this License, to the extent that they are valid under applicable law. If additional permissions apply only to part of the Program, that part may be used separately under those permissions, but the entire Program remains governed by this License without regard to the additional permissions.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;When you convey a copy of a covered work, you may at your option remove any additional permissions from that copy, or from any part of it. (Additional permissions may be written to require their own removal in certain cases when you modify the work.) You may place additional permissions on material, added by you to a covered work, for which you have or can give appropriate copyright permission.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Notwithstanding any other provision of this License, for material you add to a covered work, you may (if authorized by the copyright holders of that material) supplement the terms of this License with terms:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; a) Disclaiming warranty or limiting liability differently from the terms of sections 15 and 16 of this License; or&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; b) Requiring preservation of specified reasonable legal notices or author attributions in that material or in the Appropriate Legal Notices displayed by works containing it; or&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; c) Prohibiting misrepresentation of the origin of that material, or requiring that modified versions of such material be marked in reasonable ways as different from the original version; or&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; d) Limiting the use for publicity purposes of names of licensors or authors of the material; or&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; e) Declining to grant rights under trademark law for use of some trade names, trademarks, or service marks; or&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; f) Requiring indemnification of licensors and authors of that material by anyone who conveys the material (or modified versions of it) with contractual assumptions of liability to the recipient, for any liability that these contractual assumptions directly impose on those licensors and authors.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;All other non-permissive additional terms are considered “further restrictions” within the meaning of section 10. If the Program as you received it, or any part of it, contains a notice stating that it is governed by this License along with a term that is a further restriction, you may remove that term. If a license document contains a further restriction but permits relicensing or conveying under this License, you may add to a covered work material governed by the terms of that license document, provided that the further restriction does not survive such relicensing or conveying.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If you add terms to a covered work in accord with this section, you must place, in the relevant source files, a statement of the additional terms that apply to those files, or a notice indicating where to find the applicable terms.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Additional terms, permissive or non-permissive, may be stated in the form of a separately written license, or stated as exceptions; the above requirements apply either way.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;8. Termination.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You may not propagate or modify a covered work except as expressly provided under this License. Any attempt otherwise to propagate or modify it is void, and will automatically terminate your rights under this License (including any patent licenses granted under the third paragraph of section 11).&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;However, if you cease all violation of this License, then your license from a particular copyright holder is reinstated (a) provisionally, unless and until the copyright holder explicitly and finally terminates your license, and (b) permanently, if the copyright holder fails to notify you of the violation by some reasonable means prior to 60 days after the cessation.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Moreover, your license from a particular copyright holder is reinstated permanently if the copyright holder notifies you of the violation by some reasonable means, this is the first time you have received notice of violation of this License (for any work) from that copyright holder, and you cure the violation prior to 30 days after your receipt of the notice.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Termination of your rights under this section does not terminate the licenses of parties who have received copies or rights from you under this License. If your rights have been terminated and not permanently reinstated, you do not qualify to receive new licenses for the same material under section 10.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;9. Acceptance Not Required for Having Copies.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You are not required to accept this License in order to receive or run a copy of the Program. Ancillary propagation of a covered work occurring solely as a consequence of using peer-to-peer transmission to receive a copy likewise does not require acceptance. However, nothing other than this License grants you permission to propagate or modify any covered work. These actions infringe copyright if you do not accept this License. Therefore, by modifying or propagating a covered work, you indicate your acceptance of this License to do so.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;10. Automatic Licensing of Downstream Recipients.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Each time you convey a covered work, the recipient automatically receives a license from the original licensors, to run, modify and propagate that work, subject to this License. You are not responsible for enforcing compliance by third parties with this License.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;An “entity transaction” is a transaction transferring control of an organization, or substantially all assets of one, or subdividing an organization, or merging organizations. If propagation of a covered work results from an entity transaction, each party to that transaction who receives a copy of the work also receives whatever licenses to the work the party's predecessor in interest had or could give under the previous paragraph, plus a right to possession of the Corresponding Source of the work from the predecessor in interest, if the predecessor has it or can get it with reasonable efforts.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You may not impose any further restrictions on the exercise of the rights granted or affirmed under this License. For example, you may not impose a license fee, royalty, or other charge for exercise of rights granted under this License, and you may not initiate litigation (including a cross-claim or counterclaim in a lawsuit) alleging that any patent claim is infringed by making, using, selling, offering for sale, or importing the Program or any portion of it.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;11. Patents.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;A “contributor” is a copyright holder who authorizes use under this License of the Program or a work on which the Program is based. The work thus licensed is called the contributor's “contributor version”.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;A contributor's “essential patent claims” are all patent claims owned or controlled by the contributor, whether already acquired or hereafter acquired, that would be infringed by some manner, permitted by this License, of making, using, or selling its contributor version, but do not include claims that would be infringed only as a consequence of further modification of the contributor version. For purposes of this definition, “control” includes the right to grant patent sublicenses in a manner consistent with the requirements of this License.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Each contributor grants you a non-exclusive, worldwide, royalty-free patent license under the contributor's essential patent claims, to make, use, sell, offer for sale, import and otherwise run, modify and propagate the contents of its contributor version.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;In the following three paragraphs, a “patent license” is any express agreement or commitment, however denominated, not to enforce a patent (such as an express permission to practice a patent or covenant not to sue for patent infringement). To “grant” such a patent license to a party means to make such an agreement or commitment not to enforce a patent against the party.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If you convey a covered work, knowingly relying on a patent license, and the Corresponding Source of the work is not available for anyone to copy, free of charge and under the terms of this License, through a publicly available network server or other readily accessible means, then you must either (1) cause the Corresponding Source to be so available, or (2) arrange to deprive yourself of the benefit of the patent license for this particular work, or (3) arrange, in a manner consistent with the requirements of this License, to extend the patent license to downstream recipients. “Knowingly relying” means you have actual knowledge that, but for the patent license, your conveying the covered work in a country, or your recipient's use of the covered work in a country, would infringe one or more identifiable patents in that country that you have reason to believe are valid.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If, pursuant to or in connection with a single transaction or arrangement, you convey, or propagate by procuring conveyance of, a covered work, and grant a patent license to some of the parties receiving the covered work authorizing them to use, propagate, modify or convey a specific copy of the covered work, then the patent license you grant is automatically extended to all recipients of the covered work and works based on it.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;A patent license is “discriminatory” if it does not include within the scope of its coverage, prohibits the exercise of, or is conditioned on the non-exercise of one or more of the rights that are specifically granted under this License. You may not convey a covered work if you are a party to an arrangement with a third party that is in the business of distributing software, under which you make payment to the third party based on the extent of your activity of conveying the work, and under which the third party grants, to any of the parties who would receive the covered work from you, a discriminatory patent license (a) in connection with copies of the covered work conveyed by you (or copies made from those copies), or (b) primarily for and in connection with specific products or compilations that contain the covered work, unless you entered into that arrangement, or that patent license was granted, prior to 28 March 2007.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Nothing in this License shall be construed as excluding or limiting any implied license or other defenses to infringement that may otherwise be available to you under applicable patent law.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;12. No Surrender of Others' Freedom.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If conditions are imposed on you (whether by court order, agreement or otherwise) that contradict the conditions of this License, they do not excuse you from the conditions of this License. If you cannot convey a covered work so as to satisfy simultaneously your obligations under this License and any other pertinent obligations, then as a consequence you may not convey it at all. For example, if you agree to terms that obligate you to collect a royalty for further conveying from those to whom you convey the Program, the only way you could satisfy both those terms and this License would be to refrain entirely from conveying the Program.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;13. Use with the GNU Affero General Public License.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Notwithstanding any other provision of this License, you have permission to link or combine any covered work with a work licensed under version 3 of the GNU Affero General Public License into a single combined work, and to convey the resulting work. The terms of this License will continue to apply to the part which is the covered work, but the special requirements of the GNU Affero General Public License, section 13, concerning interaction through a network will apply to the combination as such.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;14. Revised Versions of this License.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The Free Software Foundation may publish revised and/or new versions of the GNU General Public License from time to time. Such new versions will be similar in spirit to the present version, but may differ in detail to address new problems or concerns.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Each version is given a distinguishing version number. If the Program specifies that a certain numbered version of the GNU General Public License “or any later version” applies to it, you have the option of following the terms and conditions either of that numbered version or of any later version published by the Free Software Foundation. If the Program does not specify a version number of the GNU General Public License, you may choose any version ever published by the Free Software Foundation.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If the Program specifies that a proxy can decide which future versions of the GNU General Public License can be used, that proxy's public statement of acceptance of a version permanently authorizes you to choose that version for the Program.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Later license versions may give you additional or different permissions. However, no additional obligations are imposed on any author or copyright holder as a result of your choosing to follow a later version.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;15. Disclaimer of Warranty.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM “AS IS” WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;16. Limitation of Liability.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;17. Interpretation of Sections 15 and 16.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If the disclaimer of warranty and limitation of liability provided above cannot be given local legal effect according to their terms, reviewing courts shall apply local law that most closely approximates an absolute waiver of all civil liability in connection with the Program, unless a warranty or assumption of liability accompanies a copy of the Program in return for a fee.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;END OF TERMS AND CONDITIONS&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;How to Apply These Terms to Your New Programs&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If you develop a new program, and you want it to be of the greatest possible use to the public, the best way to achieve this is to make it free software which everyone can redistribute and change under these terms.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;To do so, attach the following notices to the program. It is safest to attach them to the start of each source file to most effectively state the exclusion of warranty; and each file should have at least the “copyright” line and a pointer to where the full notice is found.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;&amp;lt;one line to give the program's name and a brief idea of what it does.&amp;gt;&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;Copyright (C) &amp;lt;year&amp;gt; &amp;lt;name of author&amp;gt;&lt;/span&gt;&lt;br /&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;This program is free software: you can redistribute it and/or modify&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;it under the terms of the GNU General Public License as published by&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;the Free Software Foundation, either version 3 of the License, or&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;(at your option) any later version.&lt;/span&gt;&lt;br /&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;This program is distributed in the hope that it will be useful,&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;but WITHOUT ANY WARRANTY; without even the implied warranty of&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;GNU General Public License for more details.&lt;/span&gt;&lt;br /&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;You should have received a copy of the GNU General Public License&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;along with this program. If not, see &amp;lt;https://www.gnu.org/licenses/&amp;gt;.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Also add information on how to contact you by electronic and paper mail.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If the program does terminal interaction, make it output a short notice like this when it starts in an interactive mode:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;&amp;lt;program&amp;gt; Copyright (C) &amp;lt;year&amp;gt; &amp;lt;name of author&amp;gt;&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;This is free software, and you are welcome to redistribute it&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;under certain conditions; type `show c' for details.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The hypothetical commands `show w' and `show c' should show the appropriate parts of the General Public License. Of course, your program's commands might be different; for a GUI interface, you would use an “about box”.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You should also get your employer (if you work as a programmer) or school, if any, to sign a “copyright disclaimer” for the program, if necessary. For more information on this, and how to apply and follow the GNU GPL, see &amp;lt;&lt;/span&gt;&lt;a href=&quot;https://www.gnu.org/licenses/&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; text-decoration: underline; color:#0000ff;&quot;&gt;https://www.gnu.org/licenses/&lt;/span&gt;&lt;/a&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;&amp;gt;.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The GNU General Public License does not permit incorporating your program into proprietary programs. If your program is a subroutine library, you may consider it more useful to permit linking proprietary applications with the library. If this is what you want to do, use the GNU Lesser General Public License instead of this License. But first, please read &amp;lt;&lt;/span&gt;&lt;a href=&quot;https://www.gnu.org/licenses/why-not-lgpl.html&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; text-decoration: underline; color:#0000ff;&quot;&gt;https://www.gnu.org/licenses/why-not-lgpl.html&lt;/span&gt;&lt;/a&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;&amp;gt;.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </gpl_text>
+        <ios_license_text>
+            <longName>License</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This app is distributed under the Apple EULA for this platform. This license is issued by Benjamin Vedder, Benjamin@vedder.se. Distribution and maintenance of the application is managed by Jeffrey Friesen and questions and correspondence should be directed to Jfriesen222@gmail.com.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;All source code for this application is also available open-source under the GPLv3 license and is available for  compilation across many platforms here: &lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;a href=&quot;https://github.com/vedderb/vesc_tool&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#419cff;&quot;&gt;https://github.com/vedderb/vesc_tool&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; text-decoration: underline; color:#419cff;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;All libraries and appropriate licensing information can be found within this repository as well. &lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; text-decoration: underline; color:#419cff;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;More informati&lt;span style=&quot; color:#dcdcdc;&quot;&gt;on regarding the VESC®&lt;/span&gt; Project can be found here:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;a href=&quot;https://vesc-project.com/&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#419cff;&quot;&gt;https://vesc-project.com/&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; text-decoration: underline; color:#419cff;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#dcdcdc;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#dcdcdc;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </ios_license_text>
+    </Params>
+    <SerOrder/>
+    <Grouping/>
+</ConfigParams>
diff --git a/res/config/6.00/parameters_appconf.xml b/res/config/6.00/parameters_appconf.xml
new file mode 100644
index 000000000..42c1dcbc6
--- /dev/null
+++ b/res/config/6.00/parameters_appconf.xml
@@ -0,0 +1,4244 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ConfigParams>
+    <Params>
+        <controller_id>
+            <longName>VESC ID</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;VESC ID. Used to identify this VESC on the CAN-bus.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CONTROLLER_ID</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>74</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </controller_id>
+        <timeout_msec>
+            <longName>Timeout</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Switch off the motor when no input has beed received for this amount of time. Notice that VESC Tool will send alive packets while connected, so the timeout won't occur before you disconnect VESC Tool even if the input gets disconnected.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_TIMEOUT_MSEC</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>30000000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>1000</valInt>
+            <suffix> ms</suffix>
+            <vTx>5</vTx>
+        </timeout_msec>
+        <timeout_brake_current>
+            <longName>Timeout Brake Current</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Apply brake with this amount of current after a timeout.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_TIMEOUT_BRAKE_CURRENT</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </timeout_brake_current>
+        <send_can_status>
+            <longName>Can Status Message Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Send a status message on the CAN bus with a periodic interval. Useful for letting other VESCs know which VESCs are on the CAN-bus. This is required by some apps to function with multiple VESCs. The master VESC of the app does not need this option checked.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_SEND_CAN_STATUS</cDefine>
+            <valInt>0</valInt>
+            <enumNames>CAN_STATUS_DISABLED</enumNames>
+            <enumNames>CAN_STATUS_1</enumNames>
+            <enumNames>CAN_STATUS_1_2</enumNames>
+            <enumNames>CAN_STATUS_1_2_3</enumNames>
+            <enumNames>CAN_STATUS_1_2_3_4</enumNames>
+            <enumNames>CAN_STATUS_1_2_3_4_5</enumNames>
+        </send_can_status>
+        <send_can_status_rate_hz>
+            <longName>Can Status Rate</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Rate at which CAN status messages are sent on the CAN-bus.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_SEND_CAN_STATUS_RATE_HZ</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>50</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </send_can_status_rate_hz>
+        <can_baud_rate>
+            <longName>CAN Baud Rate</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The baud rate of the CAN-Bus. Note that all devices on the bus must have the same baud rate.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CAN_BAUD_RATE</cDefine>
+            <valInt>2</valInt>
+            <enumNames>CAN_BAUD_125K</enumNames>
+            <enumNames>CAN_BAUD_250K</enumNames>
+            <enumNames>CAN_BAUD_500K</enumNames>
+            <enumNames>CAN_BAUD_1M</enumNames>
+            <enumNames>CAN_BAUD_10K</enumNames>
+            <enumNames>CAN_BAUD_20K</enumNames>
+            <enumNames>CAN_BAUD_50K</enumNames>
+            <enumNames>CAN_BAUD_75K</enumNames>
+            <enumNames>CAN_BAUD_100K</enumNames>
+        </can_baud_rate>
+        <pairing_done>
+            <longName>Pairing Done</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Pairing done flag. If this flag is set, a bluetooth connection can only be made if the VESC Tool instance making the connection has been paired to this VESC. The pairing is done by storing the UUID of the VESC in the pairing list.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAIRING_DONE</cDefine>
+            <valInt>0</valInt>
+        </pairing_done>
+        <permanent_uart_enabled>
+            <longName>Enable Permanent UART</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Enable the permanent UART port (if the hardware has one). This port can be connected to e.g. the NRF51 for providing a BLE link. You may want to disable this to prevent access to your VESC over BLE.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PERMANENT_UART_ENABLED</cDefine>
+            <valInt>1</valInt>
+        </permanent_uart_enabled>
+        <shutdown_mode>
+            <longName>Shutdown Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Shutdown mode for hardware that supports it (such as the VESC HD). Determines how the VESC shuts itself off, which eliminates the need for an external switch.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;NOTE:&lt;/span&gt; Most VESCs with this feature also support push to start, which means that the VESC will switch on as soon as the motor is turned at a minimum speed.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The available modes are:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ALWAYS_OFF&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC power is only determined by the inverted state of the shutdown input.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ALWAYS_ON&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on ofter being powered.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TOGGLE_BUTTON_ONLY&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutfown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;OFF_AFTER_x&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware suports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_SHUTDOWN_MODE</cDefine>
+            <valInt>7</valInt>
+            <enumNames>ALWAYS_OFF</enumNames>
+            <enumNames>ALWAYS_ON</enumNames>
+            <enumNames>TOGGLE_BUTTON_ONLY</enumNames>
+            <enumNames>OFF_AFTER_10S</enumNames>
+            <enumNames>OFF_AFTER_1M</enumNames>
+            <enumNames>OFF_AFTER_5M</enumNames>
+            <enumNames>OFF_AFTER_10M</enumNames>
+            <enumNames>OFF_AFTER_30M</enumNames>
+            <enumNames>OFF_AFTER_1H</enumNames>
+            <enumNames>OFF_AFTER_5H</enumNames>
+        </shutdown_mode>
+        <can_mode>
+            <longName>CAN Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;CAN-bus mode.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;VESC&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Default VESC CAN-bus. Required for CAN forwarding and configuring multiple VESCs using VESC Tool.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;UAVCAN&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Basic implementation of UAVCAN. Currently needs some work.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Comm Brigde&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Bridge CAN-bus to commands. Useful for using the VESC as a generic CAN interface.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CAN_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>VESC</enumNames>
+            <enumNames>UAVCAN</enumNames>
+            <enumNames>Comm Bridge</enumNames>
+        </can_mode>
+        <uavcan_esc_index>
+            <longName>UAVCAN ESC Index</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;ESC index in UAVCAN messages.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_UAVCAN_ESC_INDEX</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>0</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </uavcan_esc_index>
+        <uavcan_raw_mode>
+            <longName>UAVCAN Raw Throttle Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Drive mode for the raw throttle command in UAVCAN.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current Control&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The raw command corresponds to a fraction of the configured current limit. 1.0 is maximum current forwards and -1.0 is maximum current reverse.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current No Reverse Brake&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as current control, but negative values only give braking and don't start the motor in the other direction.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Duty Cycle Control&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty cycle control.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;RPM Control&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;RPM control. Use the raw command times the maximum configured ERPM value. Negative values will run the motor in reverse. Note that this will set the value in ERPM, so the RPM will be scaled by the number of pole pairs.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_UAVCAN_RAW_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Current Control</enumNames>
+            <enumNames>Current No Reverse Brake</enumNames>
+            <enumNames>Duty Cycle Control</enumNames>
+            <enumNames>RPM Control</enumNames>
+        </uavcan_raw_mode>
+        <uavcan_raw_rpm_max>
+            <longName>UAVCAN Raw RPM Max</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum ERPM for the RPM mode of the raw command.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_UAVCAN_RAW_RPM_MAX</cDefine>
+            <editorDecimalsDouble>0</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>400000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>50000</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </uavcan_raw_rpm_max>
+        <servo_out_enable>
+            <longName>Enable Servo Output</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Enable servo output on PPM-port when PPM-app is disabled.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_SERVO_OUT_ENABLE</cDefine>
+            <valInt>0</valInt>
+        </servo_out_enable>
+        <kill_sw_mode>
+            <longName>Kill Switch Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Kill switch input. When this input is active the motor is disabled and optionally braking if timeout_brake_current is greater than 0. The kill switch overrides all other inputs and can be used as an emergency stop.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The following modes can be used:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Disabled&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;No kill switch is used.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PPM Low&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The kill switch is active when the PPM input goes low.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PPM High&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The kill switch is active when the PPM input goes high.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ADC2 Low&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The kill switch is active when the ADC2 input goes low.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ADC2 High&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The kill switch is active when the ADC2 input goes high.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_KILL_SW_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Disabled</enumNames>
+            <enumNames>PPM Low</enumNames>
+            <enumNames>PPM High</enumNames>
+            <enumNames>ADC2 Low</enumNames>
+            <enumNames>ADC2 High</enumNames>
+        </kill_sw_mode>
+        <app_to_use>
+            <longName>APP to Use</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The APP to use. With multiple VESC connected over CAN only the master needs to have an app to use set up. Notice that using the NRF nunchuk needs the NRF app.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_APP_TO_USE</cDefine>
+            <valInt>3</valInt>
+            <enumNames>No App</enumNames>
+            <enumNames>PPM</enumNames>
+            <enumNames>ADC</enumNames>
+            <enumNames>UART</enumNames>
+            <enumNames>PPM and UART</enumNames>
+            <enumNames>ADC and UART</enumNames>
+            <enumNames>Nunchuk (I2C, Nyko Kama)</enumNames>
+            <enumNames>NRF</enumNames>
+            <enumNames>Custom User App</enumNames>
+            <enumNames>Balance</enumNames>
+            <enumNames>PAS</enumNames>
+            <enumNames>ADC and PAS</enumNames>
+        </app_to_use>
+        <app_ppm_conf.ctrl_type>
+            <longName>Control Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Off&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The output is switched off regardless of the input.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Current&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it it starts in the reverse direction.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Current No Reverse&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current control. The output is off when the input is at minimum.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Current No Reverse With Brake&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current control. The output is off when the input is centered.  Input less than center brakes until the motor stops, but not further.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Duty Cycle&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current control. The output is off when the input is centered. Input less than center gives negative duty cycle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Duty Cycle No Reverse&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Duty cycle control. The output is off when the input is at minimum.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;PID Speed Control&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;PID speed control.  The output is off when the input is centered. Input less than center gives negative set speed.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;PID Speed Control No Reverse&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Duty cycle control. The output is off when the input is at minimum.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Current Hyst Reverse With Brake&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current Hyst Reverse With Brake. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it starts in the reverse direction, but if Max dir switch ERPM is enabled it will stop the reverse when it reaches the Max ERPM for direction switch.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Current Smart Reverse&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Similar to the &lt;/span&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Current No Reverse With Brake &lt;/span&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;mode, but&lt;/span&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt; holding full brake will switch to duty cycle mode in the reverse direction when the speed is so low that not enough brake torque can be produced. This is useful when trying to stop downhill where you normally would roll forwards slowly even at full brake. Instead, the board will start to go reverse slowly in duty cycle mode if this mode is activated.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto'; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_CTRL_TYPE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Off</enumNames>
+            <enumNames>Current</enumNames>
+            <enumNames>Current No Reverse</enumNames>
+            <enumNames>Current No Reverse With Brake</enumNames>
+            <enumNames>Duty Cycle</enumNames>
+            <enumNames>Duty Cycle No Reverse</enumNames>
+            <enumNames>PID Speed Control</enumNames>
+            <enumNames>PID Speed Control No Reverse</enumNames>
+            <enumNames>Current Hyst Reverse With Brake</enumNames>
+            <enumNames>Current Smart Reverse</enumNames>
+        </app_ppm_conf.ctrl_type>
+        <app_ppm_conf.pid_max_erpm>
+            <longName>PID Max ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The ERPM setpoint corresponding to max input when using PID Speed Control.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_PID_MAX_ERPM</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>15000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.pid_max_erpm>
+        <app_ppm_conf.hyst>
+            <longName>Input Deadband</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; ;&quot;&gt;Deadband region for the input.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_HYST</cDefine>
+            <editorDecimalsDouble>0</editorDecimalsDouble>
+            <editorScale>100</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0.15</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> %</suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.hyst>
+        <app_ppm_conf.pulse_start>
+            <longName>Pulselength Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The shortest pulse length for the PPM input &lt;/span&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;in milliseconds&lt;/span&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;. Can be checked by enabling display and giving the minimum input.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_PULSE_START</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> ms</suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.pulse_start>
+        <app_ppm_conf.pulse_end>
+            <longName>Pulselength End</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The longest pulse length for the PPM input &lt;/span&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;in milliseconds&lt;/span&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;. Can be checked by enabling display and giving the maximum input.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_PULSE_END</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>2</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> ms</suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.pulse_end>
+        <app_ppm_conf.pulse_center>
+            <longName>Pulselength Center</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The PPM input in milliseconds at which the throttle is centered. Can be checked by enabling display and leaving the throttle centered. This setting has no effect in control modes where the output is not off when the stick is centered.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_PULSE_CENTER</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>1.5</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> ms</suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.pulse_center>
+        <app_ppm_conf.median_filter>
+            <longName>Median Filter</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use a median filter on the decoded pulses. Will delay the signal slightly, but rejects outliers caused by noise.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_MEDIAN_FILTER</cDefine>
+            <valInt>1</valInt>
+        </app_ppm_conf.median_filter>
+        <app_ppm_conf.safe_start>
+            <longName>Safe Start</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Prevent motor from starting in some unsafe conditions. Modes:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Disabled&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Motor can always start.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Regular&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Only allow starting the motor when the input has beed zero for long enough after boot, after configuration updates and after faults.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;No Faults&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as regular, but the motor can start directly after fault codes are cleared.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_SAFE_START</cDefine>
+            <valInt>1</valInt>
+            <enumNames>Disabled</enumNames>
+            <enumNames>Regular</enumNames>
+            <enumNames>No Fault</enumNames>
+        </app_ppm_conf.safe_start>
+        <app_ppm_conf.throttle_exp>
+            <longName>Throttle Expo</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Exponential gain for the throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Zero (0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Linear throttle&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Negative (&amp;lt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle is softer close to 0 and increases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Positive (&amp;gt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle reacts fast around 0 and decreases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_THROTTLE_EXP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>-5</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.throttle_exp>
+        <app_ppm_conf.throttle_exp_brake>
+            <longName>Throttle Expo Brake</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Exponential gain for the throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Zero (0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Linear throttle&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Negative (&amp;lt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle is softer close to 0 and increases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Positive (&amp;gt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle reacts fast around 0 and decreases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_THROTTLE_EXP_BRAKE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>-5</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.throttle_exp_brake>
+        <app_ppm_conf.throttle_exp_mode>
+            <longName>Throttle Expo Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The throttle curve mode.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Exponential&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = x^(1 + c)&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Natural&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = (e^(cx) - 1) / (e^c - 1)&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Polynomial&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = x / (1 + c(1 - x))&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;where&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;y:&lt;/span&gt; output&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;x:&lt;/span&gt; input&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;c:&lt;/span&gt; curve&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The curve parameter, offsets and signs are mapped accordingly for each mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_THROTTLE_EXP_MODE</cDefine>
+            <valInt>2</valInt>
+            <enumNames>Exponential</enumNames>
+            <enumNames>Natural</enumNames>
+            <enumNames>Polynomial</enumNames>
+        </app_ppm_conf.throttle_exp_mode>
+        <app_ppm_conf.ramp_time_pos>
+            <longName>Positive Ramping Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Positive ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from zero to full output.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_RAMP_TIME_POS</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0.4</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.ramp_time_pos>
+        <app_ppm_conf.ramp_time_neg>
+            <longName>Negative Ramping Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Negative ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from full output (acceleration or braking) back to zero.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_RAMP_TIME_NEG</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0.2</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.ramp_time_neg>
+        <app_ppm_conf.multi_esc>
+            <longName>Multiple VESCs Over CAN</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_MULTI_ESC</cDefine>
+            <valInt>1</valInt>
+        </app_ppm_conf.multi_esc>
+        <app_ppm_conf.tc>
+            <longName>Traction Control</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Enable traction control between multiple VESCs connected over CAN-bus. This is only is only used for current control modes.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_TC</cDefine>
+            <valInt>0</valInt>
+        </app_ppm_conf.tc>
+        <app_ppm_conf.tc_max_diff>
+            <longName>TC Max ERPM Difference</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The ERPM difference at which the fastest motor gets swtiched off completely. If the difference in ERPM is lower than that the current to faster motors is scaled down proportionally to the difference.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_TC_MAX_DIFF</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>3000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.tc_max_diff>
+        <app_ppm_conf.max_erpm_for_dir>
+            <longName>Max ERPM for direction switch</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The Max ERPM where the direction can be switched to reverse by braking 2 times.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_MAX_ERPM_FOR_DIR</cDefine>
+            <editorDecimalsDouble>0</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>30000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>10</stepDouble>
+            <valDouble>4000</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </app_ppm_conf.max_erpm_for_dir>
+        <app_ppm_conf.smart_rev_max_duty>
+            <longName>Smart Reverse Max Duty Cycle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Maximum duty cycle to use in smart reverse mode.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_SMART_REV_MAX_DUTY</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.07</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.smart_rev_max_duty>
+        <app_ppm_conf.smart_rev_ramp_time>
+            <longName>Smart Reverse Ramp Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Time to ramp to maximum duty cycle in smart reverse mode.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_SMART_REV_RAMP_TIME</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>3</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.smart_rev_ramp_time>
+        <app_adc_conf.ctrl_type>
+            <longName>Control Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Off&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The output is switched off regardless of the input.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is at minimum.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current Reverse Center&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it it starts in the reverse direction.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current Reverse Button&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control with a button for reversing the throttle. The output is off when the input is at minimum.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current Reverse ADC2 Brake Button&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control with a button for reversing the throttle. The output is off when the input is at minimum. The second ADC channel acs as a brake.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ADC_CTRL_TYPE_CURRENT_REV_BUTTON_BRAKE_CENTER&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control with a button for reversing throttle. The output is off when the input is centered.  Input less than center brakes until the motor stops, but not further.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current No Reverse Brake Center&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is centered.  Input less than center brakes until the motor stops, but not further.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current No Reverse Brake Button&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control with a button for turning the throttle into a brake. The output is off when the input is at minimum.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current No Reverse Brake ADC2&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control with one separate throttle connected to ADC2 for braking.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Duty Cycle&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty cycle control. The output is off when the input is at minimum.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Duty Cycle Reverse Center&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is centered. Input less than center gives negative duty cycle.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Duty Cycle Reverse Button&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty cycle control with a button on UART RX for inverting the throttle. The output is off when the input is at minimum.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PID Speed&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PID speed control. The speed setpoint is mapped between 0 and the configured maximum motor speed limit.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PID Speed Reverse Center&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PID speed control. The output is mapped between the minimum and maximum motor speed limits. Throttle center corresponds to 0 speed.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PID Speed Reverse Button&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PID speed control with a button for reversing the throttle. The speed setpoint is mapped between 0 and the configured maximum motor speed limit, or between 0 and the minimum motor speed limit when the UART RX input is high.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_CTRL_TYPE</cDefine>
+            <valInt>8</valInt>
+            <enumNames>Off</enumNames>
+            <enumNames>Current</enumNames>
+            <enumNames>Current Reverse Center</enumNames>
+            <enumNames>Current Reverse Button</enumNames>
+            <enumNames>Current Reverse ADC2 Brake Button</enumNames>
+            <enumNames>Current Reverse Button Brake Center</enumNames>
+            <enumNames>Current No Reverse Brake Center</enumNames>
+            <enumNames>Current No Reverse Brake Button</enumNames>
+            <enumNames>Current No Reverse Brake ADC2</enumNames>
+            <enumNames>Duty Cycle</enumNames>
+            <enumNames>Duty Cycle Reverse Center</enumNames>
+            <enumNames>Duty Cycle Reverse Button</enumNames>
+            <enumNames>PID Speed</enumNames>
+            <enumNames>PID Speed Reverse Center</enumNames>
+            <enumNames>PID Speed Reverse Button</enumNames>
+        </app_adc_conf.ctrl_type>
+        <app_adc_conf.hyst>
+            <longName>Input Deadband</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Deadband region for the input.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_HYST</cDefine>
+            <editorDecimalsDouble>0</editorDecimalsDouble>
+            <editorScale>100</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0.05</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> %</suffix>
+            <vTx>9</vTx>
+        </app_adc_conf.hyst>
+        <app_adc_conf.voltage_start>
+            <longName>ADC1 Min Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; ;&quot;&gt;Input voltage at the start of the throttle range for ADC1. Can be checked by enabling display and giving the minimum input. If &lt;/span&gt;&lt;span style=&quot; ; font-weight:600;&quot;&gt;Control Type&lt;/span&gt;&lt;span style=&quot; ;&quot;&gt; is set to off while doing that the motor won't turn.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE_START</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.6</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </app_adc_conf.voltage_start>
+        <app_adc_conf.voltage_end>
+            <longName>ADC1 Max Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; ;&quot;&gt;Input voltage at the end of the throttle range for ADC1. Can be checked by enabling display and giving the maximum input. If &lt;/span&gt;&lt;span style=&quot; ; font-weight:600;&quot;&gt;Control Type&lt;/span&gt;&lt;span style=&quot; ;&quot;&gt; is set to off while doing that the motor won't turn.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE_END</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>2.54</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </app_adc_conf.voltage_end>
+        <app_adc_conf.voltage_center>
+            <longName>ADC1 Center Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Input voltage at the center of the throttle range for ADC1. Can be checked by enabling display and centering the input. If &lt;span style=&quot; font-weight:600;&quot;&gt;Control Type&lt;/span&gt; is set to off while doing that the motor won't turn.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Notice that this parameter only is used for the contered control types. For the other types the voltage will always be mapped linearly between start and end.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE_CENTER</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.6</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </app_adc_conf.voltage_center>
+        <app_adc_conf.voltage2_start>
+            <longName>ADC2 Min Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Input voltage at the start of the throttle range for ADC2. Can be checked by enabling display and giving the minimum input. If &lt;span style=&quot; font-weight:600;&quot;&gt;Control Type&lt;/span&gt; is set to off while doing that the motor won't turn.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE2_START</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </app_adc_conf.voltage2_start>
+        <app_adc_conf.voltage2_end>
+            <longName>ADC2 Max Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Input voltage at the end of the throttle range for ADC2. Can be checked by enabling display and giving the maximum input. If &lt;span style=&quot; font-weight:600;&quot;&gt;Control Type&lt;/span&gt; is set to off while doing that the motor won't turn.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE2_END</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>2</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </app_adc_conf.voltage2_end>
+        <app_adc_conf.use_filter>
+            <longName>Use Filter</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use a low-pass filter to reject noise. This will introduce a slight delay.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_USE_FILTER</cDefine>
+            <valInt>1</valInt>
+        </app_adc_conf.use_filter>
+        <app_adc_conf.safe_start>
+            <longName>Safe Start</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Prevent motor from starting in some unsafe conditions. Modes:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Disabled&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Motor can always start.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Regular&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Only allow starting the motor when the input has beed zero for long enough after boot, after configuration updates and after faults.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;No Faults&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as regular, but the motor can start directly after fault codes are cleared.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_SAFE_START</cDefine>
+            <valInt>1</valInt>
+            <enumNames>Disabled</enumNames>
+            <enumNames>Regular</enumNames>
+            <enumNames>No Fault</enumNames>
+        </app_adc_conf.safe_start>
+        <app_adc_conf.cc_button_inverted>
+            <longName>Invert Cruise Control Button</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Invert the cruise control button. For supporting both normally-closed and normally-open buttons.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_CC_BUTTON_INVERTED</cDefine>
+            <valInt>1</valInt>
+        </app_adc_conf.cc_button_inverted>
+        <app_adc_conf.rev_button_inverted>
+            <longName>Invert Reverse Button</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Invert the reverse button. For supporting both normally-closed and normally-open buttons.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_REV_BUTTON_INVERTED</cDefine>
+            <valInt>0</valInt>
+        </app_adc_conf.rev_button_inverted>
+        <app_adc_conf.voltage_inverted>
+            <longName>Invert ADC1 Voltage</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Invert the voltage from ADC1.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE_INVERTED</cDefine>
+            <valInt>0</valInt>
+        </app_adc_conf.voltage_inverted>
+        <app_adc_conf.voltage2_inverted>
+            <longName>Invert ADC2 Voltage</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Invert the voltage from ADC2.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE2_INVERTED</cDefine>
+            <valInt>1</valInt>
+        </app_adc_conf.voltage2_inverted>
+        <app_adc_conf.throttle_exp>
+            <longName>Throttle Expo</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Exponential gain for the throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Zero (0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Linear throttle&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Negative (&amp;lt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle is softer close to 0 and increases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Positive (&amp;gt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle reacts fast around 0 and decreases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_THROTTLE_EXP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>-5</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>-0.5</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_adc_conf.throttle_exp>
+        <app_adc_conf.throttle_exp_brake>
+            <longName>Throttle Expo Brake</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Exponential gain for the throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Zero (0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Linear throttle&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Negative (&amp;lt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle is softer close to 0 and increases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Positive (&amp;gt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle reacts fast around 0 and decreases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_THROTTLE_EXP_BRAKE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>-5</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_adc_conf.throttle_exp_brake>
+        <app_adc_conf.throttle_exp_mode>
+            <longName>Throttle Expo Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The throttle curve mode.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Exponential&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = x^(1 + c)&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Natural&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = (e^(cx) - 1) / (e^c - 1)&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Polynomial&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = x / (1 + c(1 - x))&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;where&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;y:&lt;/span&gt; output&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;x:&lt;/span&gt; input&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;c:&lt;/span&gt; curve&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The curve parameter, offsets and signs are mapped accordingly for each mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_THROTTLE_EXP_MODE</cDefine>
+            <valInt>2</valInt>
+            <enumNames>Exponential</enumNames>
+            <enumNames>Natural</enumNames>
+            <enumNames>Polynomial</enumNames>
+        </app_adc_conf.throttle_exp_mode>
+        <app_adc_conf.ramp_time_pos>
+            <longName>Positive Ramping Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Positive ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from zero to full output.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_RAMP_TIME_POS</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0.3</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>9</vTx>
+        </app_adc_conf.ramp_time_pos>
+        <app_adc_conf.ramp_time_neg>
+            <longName>Negative Ramping Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Negative ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from full output (acceleration or braking) back to zero.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_RAMP_TIME_NEG</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0.1</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>9</vTx>
+        </app_adc_conf.ramp_time_neg>
+        <app_adc_conf.multi_esc>
+            <longName>Multiple VESCs Over CAN</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_MULTI_ESC</cDefine>
+            <valInt>1</valInt>
+        </app_adc_conf.multi_esc>
+        <app_adc_conf.tc>
+            <longName>Traction Control</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Enable traction control between multiple VESCs connected over CAN-bus. This is only is only used for current control modes.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_TC</cDefine>
+            <valInt>0</valInt>
+        </app_adc_conf.tc>
+        <app_adc_conf.tc_max_diff>
+            <longName>TC Max ERPM Difference</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The ERPM difference at which the fastest motor gets swtiched off completely. If the difference in ERPM is lower than that the current to faster motors is scaled down proportionally to the difference.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_TC_MAX_DIFF</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>3000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_adc_conf.tc_max_diff>
+        <app_adc_conf.update_rate_hz>
+            <longName>Update Rate</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Rate at which the input is sampled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_UPDATE_RATE_HZ</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>100000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>500</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </app_adc_conf.update_rate_hz>
+        <app_uart_baudrate>
+            <longName>Baudrate</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;UART Baudrate.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_UART_BAUDRATE</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>20000000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>115200</valInt>
+            <suffix> bps</suffix>
+            <vTx>5</vTx>
+        </app_uart_baudrate>
+        <app_chuk_conf.ctrl_type>
+            <longName>Control Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Off&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The output is switched off regardless of the input.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Current&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current control. The output is off when the joystick is centered. Positive input gives acceleration and negative input braking. To go reverse the Z button can be used to toggle direction.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Current No Reverse&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current control. The output is off when the joystick is centered. Positive input gives acceleration and negative input braking. The reverse function of the Z button is disabled.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Current Bidirectional&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current control. The output is off when the joystick is centered. Positive input always gives forward current and negative current always gives reverse current. This means that when current is applied through 0 speed, the motor will accelerate in the other direction.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_CTRL_TYPE</cDefine>
+            <valInt>1</valInt>
+            <enumNames>Off</enumNames>
+            <enumNames>Current</enumNames>
+            <enumNames>Current No Reverse</enumNames>
+            <enumNames>Current Bidirectional</enumNames>
+        </app_chuk_conf.ctrl_type>
+        <app_chuk_conf.hyst>
+            <longName>Input Deadband</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Deadband region for the input.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_HYST</cDefine>
+            <editorDecimalsDouble>0</editorDecimalsDouble>
+            <editorScale>100</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0.15</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> %</suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.hyst>
+        <app_chuk_conf.ramp_time_pos>
+            <longName>Positive Ramping Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Positive ramping time constant. This filters the joystick input with ramping. This constant represents the amount of secods it takes to ramp from zero to full output.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_RAMP_TIME_POS</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0.4</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.ramp_time_pos>
+        <app_chuk_conf.ramp_time_neg>
+            <longName>Negative Ramping Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Negative ramping time constant. This filters the joystick input with ramping. This constant represents the amount of secods it takes to ramp from full output (acceleration or braking) back to zero.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_RAMP_TIME_NEG</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0.2</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.ramp_time_neg>
+        <app_chuk_conf.stick_erpm_per_s_in_cc>
+            <longName>ERPM Per Second Cruise Control</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The amount of ERPM per second the setpoint changes when giving full joystick input with criuse control activated.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_STICK_ERPM_PER_S_IN_CC</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>500</stepDouble>
+            <valDouble>3000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.stick_erpm_per_s_in_cc>
+        <app_chuk_conf.throttle_exp>
+            <longName>Throttle Expo</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Exponential gain for the throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Zero (0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Linear throttle&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Negative (&amp;lt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle is softer close to 0 and increases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Positive (&amp;gt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle reacts fast around 0 and decreases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_THROTTLE_EXP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>-5</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.throttle_exp>
+        <app_chuk_conf.throttle_exp_brake>
+            <longName>Throttle Expo Brake</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Exponential gain for the throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Zero (0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Linear throttle&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Negative (&amp;lt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle is softer close to 0 and increases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Positive (&amp;gt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle reacts fast around 0 and decreases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_THROTTLE_EXP_BRAKE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>-5</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.throttle_exp_brake>
+        <app_chuk_conf.throttle_exp_mode>
+            <longName>Throttle Expo Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The throttle curve mode.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Exponential&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = x^(1 + c)&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Natural&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = (e^(cx) - 1) / (e^c - 1)&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Polynomial&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = x / (1 + c(1 - x))&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;where&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;y:&lt;/span&gt; output&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;x:&lt;/span&gt; input&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;c:&lt;/span&gt; curve&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The curve parameter, offsets and signs are mapped accordingly for each mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_THROTTLE_EXP_MODE</cDefine>
+            <valInt>2</valInt>
+            <enumNames>Exponential</enumNames>
+            <enumNames>Natural</enumNames>
+            <enumNames>Polynomial</enumNames>
+        </app_chuk_conf.throttle_exp_mode>
+        <app_chuk_conf.multi_esc>
+            <longName>Multiple VESCs Over CAN</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_MULTI_ESC</cDefine>
+            <valInt>1</valInt>
+        </app_chuk_conf.multi_esc>
+        <app_chuk_conf.tc>
+            <longName>Traction Control</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Enable traction control between multiple VESCs connected over CAN-bus. This is only is only used for current control modes.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_TC</cDefine>
+            <valInt>0</valInt>
+        </app_chuk_conf.tc>
+        <app_chuk_conf.tc_max_diff>
+            <longName>TC Max ERPM Difference</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The ERPM difference at which the fastest motor gets swtiched off completely. If the difference in ERPM is lower than that the current to faster motors is scaled down proportionally to the difference.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_TC_MAX_DIFF</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>3000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.tc_max_diff>
+        <app_chuk_conf.use_smart_rev>
+            <longName>Use Smart Reverse</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Use smart reverse function. If enabled, holding full brake will switch to duty cycle mode in the reverse direction when the speed is so low that not enough brake torque can be produced.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;This is useful when trying to stop downhill where you normally would roll forwards slowly even at full brake. Instead, the board will start to go reverse slowly in duty cycle mode if this mode is activated.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_USE_SMART_REV</cDefine>
+            <valInt>1</valInt>
+        </app_chuk_conf.use_smart_rev>
+        <app_chuk_conf.smart_rev_max_duty>
+            <longName>Smart Reverse Max Duty Cycle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Maximum duty cycle to use in smart reverse mode.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_SMART_REV_MAX_DUTY</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.07</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.smart_rev_max_duty>
+        <app_chuk_conf.smart_rev_ramp_time>
+            <longName>Smart Reverse Ramp Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Time to ramp to maximum duty cycle in smart reverse mode.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_SMART_REV_RAMP_TIME</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>3</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.smart_rev_ramp_time>
+        <app_nrf_conf.speed>
+            <longName>Speed</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The air bit rate.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_SPEED</cDefine>
+            <valInt>1</valInt>
+            <enumNames>250 Kbit/s</enumNames>
+            <enumNames>1 MBit/s</enumNames>
+            <enumNames>2 MBit/s</enumNames>
+        </app_nrf_conf.speed>
+        <app_nrf_conf.power>
+            <longName>TX Power</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Transmit power or power off setting.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_POWER</cDefine>
+            <valInt>3</valInt>
+            <enumNames>-18 dBm</enumNames>
+            <enumNames>-12 dBm</enumNames>
+            <enumNames>-6 dBm</enumNames>
+            <enumNames>0 dBm</enumNames>
+            <enumNames>OFF</enumNames>
+        </app_nrf_conf.power>
+        <app_nrf_conf.crc_type>
+            <longName>CRC</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;CRC checksum type.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_CRC</cDefine>
+            <valInt>1</valInt>
+            <enumNames>Disabled</enumNames>
+            <enumNames>1 Byte</enumNames>
+            <enumNames>2 Byte</enumNames>
+        </app_nrf_conf.crc_type>
+        <app_nrf_conf.retry_delay>
+            <longName>Retry Delay</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Delay between retries when no ack is received. If the speed is lower than 2MBit, at least 500 µS should be used.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_RETR_DELAY</cDefine>
+            <valInt>0</valInt>
+            <enumNames>250 µS</enumNames>
+            <enumNames>500 µS</enumNames>
+            <enumNames>750 µS</enumNames>
+            <enumNames>1000 µS</enumNames>
+            <enumNames>1250 µS</enumNames>
+            <enumNames>1500 µS</enumNames>
+            <enumNames>1750 µS</enumNames>
+            <enumNames>2000 µS</enumNames>
+            <enumNames>2250 µS</enumNames>
+            <enumNames>2500 µS</enumNames>
+            <enumNames>2750 µS</enumNames>
+            <enumNames>3000 µS</enumNames>
+            <enumNames>3250 µS</enumNames>
+            <enumNames>3500 µS</enumNames>
+            <enumNames>3750 µS</enumNames>
+            <enumNames>4000 µS</enumNames>
+        </app_nrf_conf.retry_delay>
+        <app_nrf_conf.retries>
+            <longName>Retries</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum number of retries when no ack is received before giving up on the current packet.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_RETRIES</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>15</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>3</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </app_nrf_conf.retries>
+        <app_nrf_conf.channel>
+            <longName>Radio Channel</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Radio channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_CHANNEL</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>125</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>76</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </app_nrf_conf.channel>
+        <app_nrf_conf.address__0>
+            <longName>Address 0</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Address byte 0.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_ADDR_B0</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>198</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </app_nrf_conf.address__0>
+        <app_nrf_conf.address__1>
+            <longName>Address 1</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Address byte 1.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_ADDR_B1</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>199</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </app_nrf_conf.address__1>
+        <app_nrf_conf.address__2>
+            <longName>Address 2</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Address byte 2.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_ADDR_B2</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>0</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </app_nrf_conf.address__2>
+        <app_nrf_conf.send_crc_ack>
+            <longName>Send ACK</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Send ACK when valid packets are received.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_SEND_CRC_ACK</cDefine>
+            <valInt>1</valInt>
+        </app_nrf_conf.send_crc_ack>
+        <app_balance_conf.kp>
+            <longName>P</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;P value for the PID balance loop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KP</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.kp>
+        <app_balance_conf.ki>
+            <longName>I</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;I value for the PID balance loop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KI</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.ki>
+        <app_balance_conf.kd>
+            <longName>D</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D value for the PID balance loop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KD</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.kd>
+        <app_balance_conf.hertz>
+            <longName>Loop Hertz</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Loop Hertz.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_HERTZ</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>4000</maxInt>
+            <minInt>50</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>100</stepInt>
+            <valInt>1000</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.hertz>
+        <app_balance_conf.loop_time_filter>
+            <longName>Loop Time Correction Filter</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Filter overshoot and correct for it.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_LOOP_TIME_FILTER</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>1000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>0</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.loop_time_filter>
+        <app_balance_conf.fault_pitch>
+            <longName>Pitch Axis Fault Cutoff</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Angle to turn off driving (on the pitch axis).&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_PITCH</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>180</maxDouble>
+            <minDouble>-180</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>20</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.fault_pitch>
+        <app_balance_conf.fault_roll>
+            <longName>Roll Axis Fault Cutoff</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Angle to turn off driving (on the roll axis).&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_ROLL</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>180</maxDouble>
+            <minDouble>-180</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>45</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.fault_roll>
+        <app_balance_conf.fault_duty>
+            <longName>Duty Cycle Fault Cutoff</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Duty cycle value to trigger a safety cutoff 0-1% (This cutoff will lock the app untill another fault occurs).&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_DUTY</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.9</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.fault_duty>
+        <app_balance_conf.fault_adc1>
+            <longName>ADC1 Switch Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Voltage below this value will trigger a fault. To disable this switch set this value to 0. Hint: consider a pulldown resisitor!&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_ADC1</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.fault_adc1>
+        <app_balance_conf.fault_adc2>
+            <longName>ADC2 Switch Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Voltage below this value will trigger a fault. To disable this switch set this value to 0. Hint: consider a pulldown resisitor!&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_ADC2</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.fault_adc2>
+        <app_balance_conf.fault_delay_pitch>
+            <longName>Pitch Fault Delay</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Pitch fault cutoff time delay in ms.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_DELAY_PITCH</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>0</valInt>
+            <suffix> ms</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.fault_delay_pitch>
+        <app_balance_conf.fault_delay_roll>
+            <longName>Roll Fault Delay</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Roll fault cutoff time delay in ms.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_DELAY_ROLL</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>0</valInt>
+            <suffix> ms</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.fault_delay_roll>
+        <app_balance_conf.fault_delay_duty>
+            <longName>Duty Fault Delay</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty cycle cutoff time delay in ms.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_DELAY_DUTY</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>0</valInt>
+            <suffix> ms</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.fault_delay_duty>
+        <app_balance_conf.fault_delay_switch_half>
+            <longName>Half Switch Fault Delay</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Half switch cutoff time delay in ms.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_DELAY_SWITCH_HALF</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>0</valInt>
+            <suffix> ms</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.fault_delay_switch_half>
+        <app_balance_conf.fault_delay_switch_full>
+            <longName>Full Switch Fault Delay</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Full switch cutoff time delay in ms.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_DELAY_SWITCH_FULL</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>0</valInt>
+            <suffix> ms</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.fault_delay_switch_full>
+        <app_balance_conf.fault_adc_half_erpm>
+            <longName>ADC Half State Fault ERPM</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM (absoulte value) below which a half state on the ADC switches will be considered a fault.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_ADC_HALF_ERPM</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>100000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>1000</valInt>
+            <suffix> ERPM</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.fault_adc_half_erpm>
+        <app_balance_conf.tiltback_duty_angle>
+            <longName>Angle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Angle of rise for duty cycle tiltback.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_DUTY_ANGLE</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>45</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>10</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.tiltback_duty_angle>
+        <app_balance_conf.tiltback_duty_speed>
+            <longName>Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed at which vehicle is being tilted back when exceeding duty cycle limit (fast tiltback can be dangerous!).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_DUTY_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>3</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.tiltback_duty_speed>
+        <app_balance_conf.tiltback_duty>
+            <longName>Duty Cycle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty cycle threshold to trigger a safety tiltback (Tiltback raises the nose of the vehicle informing you to slow down).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_DUTY</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.75</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.tiltback_duty>
+        <app_balance_conf.tiltback_hv_angle>
+            <longName>Angle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Angle of rise for high voltage tiltback.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_HV_ANGLE</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>45</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>10</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.tiltback_hv_angle>
+        <app_balance_conf.tiltback_hv_speed>
+            <longName>Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed at which vehicle is being tilted back when exceeding high voltage limit (fast tiltback can be dangerous!).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_HV_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>3</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.tiltback_hv_speed>
+        <app_balance_conf.tiltback_hv>
+            <longName>High Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;High voltage threshold to trigger a safety tiltback (Tiltback raises the nose of the vehicle to alert you). High voltage tiltback is most likely to be triggered when braking or going downhill on a full battery, sometimes resulting in a tail drag on board shaped vehicles. &lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_HV</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>100</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.tiltback_hv>
+        <app_balance_conf.tiltback_lv_angle>
+            <longName>Angle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Angle of rise for low voltage tiltback.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_LV_ANGLE</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>45</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>10</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.tiltback_lv_angle>
+        <app_balance_conf.tiltback_lv_speed>
+            <longName>Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed at which vehicle is being tilted back when below low voltage threshold (fast tiltback can be dangerous and further contribute to voltage sag!).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_LV_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>3</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.tiltback_lv_speed>
+        <app_balance_conf.tiltback_lv>
+            <longName>Low Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Low voltage threshold to trigger a safety tiltback (Tiltback raises the nose of the vehicle informing you to slow down). &lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_LV</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.tiltback_lv>
+        <app_balance_conf.tiltback_return_speed>
+            <longName>Return To Level Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed at which vehicle is being returned back to normal after a tiltback condition has been cleared (should be equal to or slower than slowest tiltback speed).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_RETURN_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.tiltback_return_speed>
+        <app_balance_conf.tiltback_constant>
+            <longName>Constant Tiltback</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Tiltback that will be applied above a configurable minimum ERPM. AKA nose angle adjustment, can be downwards too.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_CONSTANT</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>80</maxDouble>
+            <minDouble>-80</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.tiltback_constant>
+        <app_balance_conf.tiltback_constant_erpm>
+            <longName>Constant Tiltback ERPM</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; APPCONF_BALANCE_FAULT_ADC_HALF_ERPMmargin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM (absolute value) above which constant tiltback will be applied.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_CONSTANT_ERPM</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>100000</maxInt>
+            <minInt>200</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>100</stepInt>
+            <valInt>500</valInt>
+            <suffix> ERPM</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.tiltback_constant_erpm>
+        <app_balance_conf.tiltback_variable>
+            <longName>Variable Tiltback</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Nose angle adjustment that will be applied depending on speed, specified in degrees per 1000 erpm, applied linearly up to a maximum set in Variable Tiltback Maximum. Can be downwards (negative) too. Applies in addition to constant tiltback.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_VARIABLE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>-1</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °/1000 ERPM</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.tiltback_variable>
+        <app_balance_conf.tiltback_variable_max>
+            <longName>Variable Tiltback Maximum</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum angle which variable tiltback is permitted to add (in addition to constant tiltback). Does not affect or prevent alert tiltbacks.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_VARIABLE_MAX</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>80</maxDouble>
+            <minDouble>-80</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.tiltback_variable_max>
+        <app_balance_conf.noseangling_speed>
+            <longName>Nose Angling Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed at which vehicle will tilt to the desired angle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_NOSEANGLING_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>5</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.noseangling_speed>
+        <app_balance_conf.startup_pitch_tolerance>
+            <longName>Startup Pitch Axis Angle Tolerance</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Angle at which balancing will start (on the main axis). Measured in degrees from upright (0).&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_STARTUP_PITCH_TOLERANCE</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>80</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>20</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.startup_pitch_tolerance>
+        <app_balance_conf.startup_roll_tolerance>
+            <longName>Startup Roll Axis Angle Tolerance</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Angle at which balancing will start (on the cross axis). Measured in degrees from upright (0).&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_STARTUP_ROLL_TOLERANCE</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>80</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>8</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.startup_roll_tolerance>
+        <app_balance_conf.startup_speed>
+            <longName>Startup Centering Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed at which wheel will center itself on startup.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_STARTUP_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>30</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.startup_speed>
+        <app_balance_conf.deadzone>
+            <longName>Deadzone</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Deadzone disables balancing at center.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_DEADZONE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.deadzone>
+        <app_balance_conf.multi_esc>
+            <longName>Multiple VESCs Over CAN</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_MULTI_ESC</cDefine>
+            <valInt>0</valInt>
+        </app_balance_conf.multi_esc>
+        <app_balance_conf.yaw_kp>
+            <longName>Yaw P</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;P value for yaw PID stabilization.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_YAW_KP</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>-10000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.yaw_kp>
+        <app_balance_conf.yaw_ki>
+            <longName>Yaw I</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;I value for yaw PID stabilization.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_YAW_KI</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>-10000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.yaw_ki>
+        <app_balance_conf.yaw_kd>
+            <longName>Yaw D</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D value for yaw PID stabilization.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_YAW_KD</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>-10000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.yaw_kd>
+        <app_balance_conf.roll_steer_kp>
+            <longName>Roll Steer KP</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Roll angle to yaw setpoint adjustment proportion. This is a constant turning speed regardless of forward travel speed. It will turn tighter at low speeds&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_ROLL_STEER_KP</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>-10000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.roll_steer_kp>
+        <app_balance_conf.roll_steer_erpm_kp>
+            <longName>Roll Steer ERPM KP</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Roll angle multiplied by ERPM to yaw setpoint adjustment proportion. Scaling turn speed by erpm will give a constant turning radius at all speeds, like a normal vehicle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_ROLL_STEER_ERPM_KP</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>-10000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0001</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.roll_steer_erpm_kp>
+        <app_balance_conf.brake_current>
+            <longName>Brake Current</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Breaking current to be applied when balance app is not actively balancing.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_BRAKE_CURRENT</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>2</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.brake_current>
+        <app_balance_conf.brake_timeout>
+            <longName>Brake Timeout</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Turn off the brake after this many seconds. It will automatically reactivate if the motor moves. 0 = Disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_BRAKE_TIMEOUT</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>5</stepInt>
+            <valInt>10</valInt>
+            <suffix> s</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.brake_timeout>
+        <app_balance_conf.yaw_current_clamp>
+            <longName>Yaw Current Clamp</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum current to be applied to yaw motions. This lets you overpower the pid traction.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_YAW_CURRENT_CLAMP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.yaw_current_clamp>
+        <app_balance_conf.kd_pt1_lowpass_frequency>
+            <longName>D term PT1 Low Pass Filter</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D term filter above this frequency. 0 = Disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KD_PT1_LOWPASS_FREQUENCY</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>4000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>0</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.kd_pt1_lowpass_frequency>
+        <app_balance_conf.kd_pt1_highpass_frequency>
+            <longName>D term PT1 High Pass Filter</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D term filter below this frequency. 0 = Disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KD_PT1_HIGHPASS_FREQUENCY</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>4000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>0</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.kd_pt1_highpass_frequency>
+        <app_balance_conf.kd_biquad_lowpass>
+            <longName>D term Biquad Low Pass Filter</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D term filter above this frequency. 0 = Disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KD_BIQUAD_LOWPASS</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> Hz</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.kd_biquad_lowpass>
+        <app_balance_conf.kd_biquad_highpass>
+            <longName>D term Biquad High Pass Filter</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D term filter below this frequency. 0 = Disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KD_BIQUAD_HIGHPASS</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> Hz</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.kd_biquad_highpass>
+        <app_balance_conf.booster_angle>
+            <longName>Start Angle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Angle at which booster is applied (actually measued as absolute deviation from setpoint).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_BOOSTER_ANGLE</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>80</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>8</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.booster_angle>
+        <app_balance_conf.booster_ramp>
+            <longName>Ramp Up</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Degrees over which booster will ramp from 0A to the Configured Current, starting at start Angle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_BOOSTER_RAMP</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>80</maxDouble>
+            <minDouble>1</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.booster_ramp>
+        <app_balance_conf.booster_current>
+            <longName>Current Boost</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Extra current to be applied when booster angle is reached.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_BOOSTER_CURRENT</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.booster_current>
+        <app_balance_conf.torquetilt_start_current>
+            <longName>Start Current Threshold</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum output current threshold for torque tiltback to start applying.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TORQUETILT_START_CURRENT</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>2</stepDouble>
+            <valDouble>10</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.torquetilt_start_current>
+        <app_balance_conf.torquetilt_angle_limit>
+            <longName>Tilitback Angle Limit</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Max angle to which torque tiltback will tilt.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TORQUETILT_ANGLE_LIMIT</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>80</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>5</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.torquetilt_angle_limit>
+        <app_balance_conf.torquetilt_on_speed>
+            <longName>Max Tiltback Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Max speed at which torque tiltback will tilt to the desired angle (tilt will be slower if current increases slowly).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TORQUETILT_ON_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>5</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.torquetilt_on_speed>
+        <app_balance_conf.torquetilt_off_speed>
+            <longName>Max Tiltback Release Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Max speed at which torque tiltback will release to the desired angle back to 0 (tilt will be slower if current decreases slowly).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TORQUETILT_OFF_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>3</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.torquetilt_off_speed>
+        <app_balance_conf.torquetilt_strength>
+            <longName>Strength</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;How much tiltback should be applied based on output current.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TORQUETILT_STRENGTH</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °/A</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.torquetilt_strength>
+        <app_balance_conf.torquetilt_filter>
+            <longName>Current Filter</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Biquad Low pass filter on the current used for calculating the torquetilt. This smooths out spikes in the current, and prevents torquetilt from being twitchy.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TORQUETILT_FILTER</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>2</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> Hz</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.torquetilt_filter>
+        <app_balance_conf.turntilt_strength>
+            <longName>Strength</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;How much tiltback should be applied based on the sine of the roll angle. A strength value of N will give N degrees of tiltback when the vehicle is rolled to 90 degrees.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TURNTILT_STRENGTH</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>90</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> </suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.turntilt_strength>
+        <app_balance_conf.turntilt_angle_limit>
+            <longName>Tilitback Angle Limit</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Max angle to which turn tiltback will tilt. This wont change the power curve, only stop it at the limit.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TURNTILT_ANGLE_LIMIT</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>30</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>5</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.turntilt_angle_limit>
+        <app_balance_conf.turntilt_start_angle>
+            <longName>Roll Angle Threshold</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Min angle threshold to apply turntilt. Similar to a deadzone, except after reaching the angle, it will apply as if it started from 0.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TURNTILT_START_ANGLE</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>45</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.turntilt_start_angle>
+        <app_balance_conf.turntilt_start_erpm>
+            <longName>ERPM Threshold</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM threshold to apply turntilt.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TURNTILT_START_ERPM</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>100000</maxInt>
+            <minInt>100</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>100</stepInt>
+            <valInt>100</valInt>
+            <suffix> ERPM</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.turntilt_start_erpm>
+        <app_balance_conf.turntilt_speed>
+            <longName>Max Tiltback Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Max speed at which turntilt will tilt to the desired angle (tilt will be slower if roll angle increases slowly).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TURNTILT_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>5</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.turntilt_speed>
+        <app_balance_conf.turntilt_erpm_boost>
+            <longName>Speed Boost %</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Increase the strength based on ERPM. Boost percent is added linearly from 0 erpm (0% boost) to max erpm (Full configured boost % is applied).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TURNTILT_ERPM_BOOST</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>5</stepInt>
+            <valInt>20</valInt>
+            <suffix> %</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.turntilt_erpm_boost>
+        <app_balance_conf.turntilt_erpm_boost_end>
+            <longName>Speed Boost Max ERPM</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM (absolute value) to end boosting the turn tilt effect, above this erpm there will be constant boost % (at your configured boost %).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TURNTILT_ERPM_BOOST_END</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>100000</maxInt>
+            <minInt>100</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>100</stepInt>
+            <valInt>20000</valInt>
+            <suffix> ERPM</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.turntilt_erpm_boost_end>
+        <app_pas_conf.ctrl_type>
+            <longName>Control Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Off&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The output is switched off regardless of the input.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Cadence&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Cadence control. The output is proportional to the pedalling speed, off when there is no pedalling.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Constant Torque&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Constant Torque control. Pedalling provides constant output, off when no pedalling. Suited for gearless setup.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_CTRL_TYPE</cDefine>
+            <valInt>1</valInt>
+            <enumNames>Off</enumNames>
+            <enumNames>Cadence</enumNames>
+            <enumNames>Constant Torque</enumNames>
+        </app_pas_conf.ctrl_type>
+        <app_pas_conf.sensor_type>
+            <longName>Sensor Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Quadrature&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This interface provides 2 signals that can be decoded to know the pedalling direction (forward of backwards).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_SENSOR_TYPE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Quadrature</enumNames>
+        </app_pas_conf.sensor_type>
+        <app_pas_conf.pedal_rpm_start>
+            <longName>Pedal RPM Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Pedal RPM at which the assist starts. Below this value the output current is zero.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_PEDAL_RPM_START</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>200</maxDouble>
+            <minDouble>1</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>10</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </app_pas_conf.pedal_rpm_start>
+        <app_pas_conf.pedal_rpm_end>
+            <longName>Pedal RPM End</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Pedal RPM at which the assist stops increasing. Above this pedal speed the assist output will stay at its maximum.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_PEDAL_RPM_END</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>300</maxDouble>
+            <minDouble>1</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>120</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </app_pas_conf.pedal_rpm_end>
+        <app_pas_conf.invert_pedal_direction>
+            <longName>Invert Pedal Direction</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Inverts pedal direction&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_INVERT_PEDAL_DIRECTION</cDefine>
+            <valInt>0</valInt>
+        </app_pas_conf.invert_pedal_direction>
+        <app_pas_conf.magnets>
+            <longName>Sensor Magnets</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;How many magnets the PAS sensor assembly has. 24 magnets would provide 24 pulses per pedal revolution.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;12 and 24 magnet setups are typical.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_MAGNETS</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>128</maxInt>
+            <minInt>6</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>6</stepInt>
+            <valInt>24</valInt>
+            <suffix></suffix>
+            <vTx>3</vTx>
+        </app_pas_conf.magnets>
+        <app_pas_conf.use_filter>
+            <longName>Use Filter</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use a low pass filter in the PAS input signal&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_USE_FILTER</cDefine>
+            <valInt>1</valInt>
+        </app_pas_conf.use_filter>
+        <app_pas_conf.current_scaling>
+            <longName>PAS Max Current</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum PAS output current will be limited to this percentage of the global output current.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_CURRENT_SCALING</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>0.08</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </app_pas_conf.current_scaling>
+        <app_pas_conf.ramp_time_pos>
+            <longName>Positive Ramping Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Positive ramping time constant. This filters the PAS input with ramping and represents the amount of secods it takes to ramp from zero to full output.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_RAMP_TIME_POS</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>0.2</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>0.3</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>7</vTx>
+        </app_pas_conf.ramp_time_pos>
+        <app_pas_conf.ramp_time_neg>
+            <longName>Negative Ramping Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Negative ramping time constant. This filters the PAS input with ramping and represents the amount of secods it takes to ramp from full to zero output.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_RAMP_TIME_NEG</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>0.2</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>0.2</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>7</vTx>
+        </app_pas_conf.ramp_time_neg>
+        <app_pas_conf.update_rate_hz>
+            <longName>Update Rate</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Frequency at which the PAS control loop is executed&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_UPDATE_RATE_HZ</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>1000</maxInt>
+            <minInt>10</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>500</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </app_pas_conf.update_rate_hz>
+        <imu_conf.type>
+            <longName>IMU Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;IMU type. The internal IMU is only available if the hardware supports it. External IMUs can be connected to the SDA and SCL pins. If using an external IMU, make sure that no app that uses the same pins is selected.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_TYPE</cDefine>
+            <valInt>1</valInt>
+            <enumNames>IMU_TYPE_OFF</enumNames>
+            <enumNames>IMU_TYPE_INTERNAL</enumNames>
+            <enumNames>IMU_TYPE_EXTERNAL_MPU9X50</enumNames>
+            <enumNames>IMU_TYPE_EXTERNAL_ICM20948</enumNames>
+            <enumNames>IMU_TYPE_EXTERNAL_BMI160</enumNames>
+            <enumNames>IMU_TYPE_EXTERNAL_LSM6DS3</enumNames>
+        </imu_conf.type>
+        <imu_conf.mode>
+            <longName>IMU AHRS Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use the Madgwick or Mahony AHRS filter.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_AHRS_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>AHRS_MODE_MADGWICK</enumNames>
+            <enumNames>AHRS_MODE_MAHONY</enumNames>
+            <enumNames>AHRS_MODE_MADGWICK_FUSION</enumNames>
+        </imu_conf.mode>
+        <imu_conf.sample_rate_hz>
+            <longName>Sample Rate</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;IMU sample rate. Higher sample rates use more CPU cycles, but perform better.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_SAMPLE_RATE_HZ</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>1000</maxInt>
+            <minInt>1</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>200</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </imu_conf.sample_rate_hz>
+        <imu_conf.accel_confidence_decay>
+            <longName>Accelerometer Confidence Decay</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This factor sets how fast the accelerometer confidence will be decreased if the acceleration vector differs from 1.0.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_ACCEL_CONFIDENCE_DECAY</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>999</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </imu_conf.accel_confidence_decay>
+        <imu_conf.mahony_kp>
+            <longName>Mahony KP</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;KP for Mahony filter. Decides how much the accelerometer is used for attitude estimation. Increasing this value helps against gyro offsets, but makes the output noisier.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_MAHONY_KP</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>999</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0.3</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </imu_conf.mahony_kp>
+        <imu_conf.mahony_ki>
+            <longName>Mahony KI</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;KI for Mahony filter. Integrates gyro offsets over time.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_MAHONY_KI</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>999</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </imu_conf.mahony_ki>
+        <imu_conf.madgwick_beta>
+            <longName>Madgwick Beta</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Beta for Madgwick filter. Decides how much the accelerometer is used for attitude estimation. Increasing this value helps against gyro offsets, but makes the output noisier.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_MADGWICK_BETA</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>999</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.1</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </imu_conf.madgwick_beta>
+        <imu_conf.rot_roll>
+            <longName>Imu Rotation Roll</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Roll rotation of IMU. Can be adjusted if the IMU is not aligned with the vehicle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_ROT_ROLL</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>360</maxDouble>
+            <minDouble>-360</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </imu_conf.rot_roll>
+        <imu_conf.rot_pitch>
+            <longName>Imu Rotation Pitch</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Pitch rotation of IMU. Can be adjusted if the IMU is not aligned with the vehicle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_ROT_PITCH</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>360</maxDouble>
+            <minDouble>-360</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </imu_conf.rot_pitch>
+        <imu_conf.rot_yaw>
+            <longName>Imu Rotation Yaw</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Yaw rotation of IMU. Can be adjusted if the IMU is not aligned with the vehicle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_ROT_YAW</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>360</maxDouble>
+            <minDouble>-360</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </imu_conf.rot_yaw>
+        <imu_conf.accel_offsets__0>
+            <longName>Accel Offset X</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Accelerometer offset X.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_A_OFFSET_0</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>16</maxDouble>
+            <minDouble>-16</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> G</suffix>
+            <vTx>9</vTx>
+        </imu_conf.accel_offsets__0>
+        <imu_conf.accel_offsets__1>
+            <longName>Accel Offset Y</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Accelerometer offset Y.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_A_OFFSET_1</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>16</maxDouble>
+            <minDouble>-16</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> G</suffix>
+            <vTx>9</vTx>
+        </imu_conf.accel_offsets__1>
+        <imu_conf.accel_offsets__2>
+            <longName>Accel Offset Z</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Accelerometer offset Z.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_A_OFFSET_2</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>16</maxDouble>
+            <minDouble>-16</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> G</suffix>
+            <vTx>9</vTx>
+        </imu_conf.accel_offsets__2>
+        <imu_conf.gyro_offsets__0>
+            <longName>Gyro Offset X</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Gyro offset (drift) X.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_G_OFFSET_0</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>-1000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>9</vTx>
+        </imu_conf.gyro_offsets__0>
+        <imu_conf.gyro_offsets__1>
+            <longName>Gyro Offset Y</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Gyro offset (drift) Y.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_G_OFFSET_1</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>-1000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>9</vTx>
+        </imu_conf.gyro_offsets__1>
+        <imu_conf.gyro_offsets__2>
+            <longName>Gyro Offset Z</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Gyro offset (drift) Z.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_G_OFFSET_2</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>-1000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>9</vTx>
+        </imu_conf.gyro_offsets__2>
+    </Params>
+    <SerOrder>
+        <ser>controller_id</ser>
+        <ser>timeout_msec</ser>
+        <ser>timeout_brake_current</ser>
+        <ser>send_can_status</ser>
+        <ser>send_can_status_rate_hz</ser>
+        <ser>can_baud_rate</ser>
+        <ser>pairing_done</ser>
+        <ser>permanent_uart_enabled</ser>
+        <ser>shutdown_mode</ser>
+        <ser>can_mode</ser>
+        <ser>uavcan_esc_index</ser>
+        <ser>uavcan_raw_mode</ser>
+        <ser>uavcan_raw_rpm_max</ser>
+        <ser>servo_out_enable</ser>
+        <ser>kill_sw_mode</ser>
+        <ser>app_to_use</ser>
+        <ser>app_ppm_conf.ctrl_type</ser>
+        <ser>app_ppm_conf.pid_max_erpm</ser>
+        <ser>app_ppm_conf.hyst</ser>
+        <ser>app_ppm_conf.pulse_start</ser>
+        <ser>app_ppm_conf.pulse_end</ser>
+        <ser>app_ppm_conf.pulse_center</ser>
+        <ser>app_ppm_conf.median_filter</ser>
+        <ser>app_ppm_conf.safe_start</ser>
+        <ser>app_ppm_conf.throttle_exp</ser>
+        <ser>app_ppm_conf.throttle_exp_brake</ser>
+        <ser>app_ppm_conf.throttle_exp_mode</ser>
+        <ser>app_ppm_conf.ramp_time_pos</ser>
+        <ser>app_ppm_conf.ramp_time_neg</ser>
+        <ser>app_ppm_conf.multi_esc</ser>
+        <ser>app_ppm_conf.tc</ser>
+        <ser>app_ppm_conf.tc_max_diff</ser>
+        <ser>app_ppm_conf.max_erpm_for_dir</ser>
+        <ser>app_ppm_conf.smart_rev_max_duty</ser>
+        <ser>app_ppm_conf.smart_rev_ramp_time</ser>
+        <ser>app_adc_conf.ctrl_type</ser>
+        <ser>app_adc_conf.hyst</ser>
+        <ser>app_adc_conf.voltage_start</ser>
+        <ser>app_adc_conf.voltage_end</ser>
+        <ser>app_adc_conf.voltage_center</ser>
+        <ser>app_adc_conf.voltage2_start</ser>
+        <ser>app_adc_conf.voltage2_end</ser>
+        <ser>app_adc_conf.use_filter</ser>
+        <ser>app_adc_conf.safe_start</ser>
+        <ser>app_adc_conf.cc_button_inverted</ser>
+        <ser>app_adc_conf.rev_button_inverted</ser>
+        <ser>app_adc_conf.voltage_inverted</ser>
+        <ser>app_adc_conf.voltage2_inverted</ser>
+        <ser>app_adc_conf.throttle_exp</ser>
+        <ser>app_adc_conf.throttle_exp_brake</ser>
+        <ser>app_adc_conf.throttle_exp_mode</ser>
+        <ser>app_adc_conf.ramp_time_pos</ser>
+        <ser>app_adc_conf.ramp_time_neg</ser>
+        <ser>app_adc_conf.multi_esc</ser>
+        <ser>app_adc_conf.tc</ser>
+        <ser>app_adc_conf.tc_max_diff</ser>
+        <ser>app_adc_conf.update_rate_hz</ser>
+        <ser>app_uart_baudrate</ser>
+        <ser>app_chuk_conf.ctrl_type</ser>
+        <ser>app_chuk_conf.hyst</ser>
+        <ser>app_chuk_conf.ramp_time_pos</ser>
+        <ser>app_chuk_conf.ramp_time_neg</ser>
+        <ser>app_chuk_conf.stick_erpm_per_s_in_cc</ser>
+        <ser>app_chuk_conf.throttle_exp</ser>
+        <ser>app_chuk_conf.throttle_exp_brake</ser>
+        <ser>app_chuk_conf.throttle_exp_mode</ser>
+        <ser>app_chuk_conf.multi_esc</ser>
+        <ser>app_chuk_conf.tc</ser>
+        <ser>app_chuk_conf.tc_max_diff</ser>
+        <ser>app_chuk_conf.use_smart_rev</ser>
+        <ser>app_chuk_conf.smart_rev_max_duty</ser>
+        <ser>app_chuk_conf.smart_rev_ramp_time</ser>
+        <ser>app_nrf_conf.speed</ser>
+        <ser>app_nrf_conf.power</ser>
+        <ser>app_nrf_conf.crc_type</ser>
+        <ser>app_nrf_conf.retry_delay</ser>
+        <ser>app_nrf_conf.retries</ser>
+        <ser>app_nrf_conf.channel</ser>
+        <ser>app_nrf_conf.address__0</ser>
+        <ser>app_nrf_conf.address__1</ser>
+        <ser>app_nrf_conf.address__2</ser>
+        <ser>app_nrf_conf.send_crc_ack</ser>
+        <ser>app_balance_conf.kp</ser>
+        <ser>app_balance_conf.ki</ser>
+        <ser>app_balance_conf.kd</ser>
+        <ser>app_balance_conf.hertz</ser>
+        <ser>app_balance_conf.loop_time_filter</ser>
+        <ser>app_balance_conf.fault_pitch</ser>
+        <ser>app_balance_conf.fault_roll</ser>
+        <ser>app_balance_conf.fault_duty</ser>
+        <ser>app_balance_conf.fault_adc1</ser>
+        <ser>app_balance_conf.fault_adc2</ser>
+        <ser>app_balance_conf.fault_delay_pitch</ser>
+        <ser>app_balance_conf.fault_delay_roll</ser>
+        <ser>app_balance_conf.fault_delay_duty</ser>
+        <ser>app_balance_conf.fault_delay_switch_half</ser>
+        <ser>app_balance_conf.fault_delay_switch_full</ser>
+        <ser>app_balance_conf.fault_adc_half_erpm</ser>
+        <ser>app_balance_conf.tiltback_duty_angle</ser>
+        <ser>app_balance_conf.tiltback_duty_speed</ser>
+        <ser>app_balance_conf.tiltback_duty</ser>
+        <ser>app_balance_conf.tiltback_hv_angle</ser>
+        <ser>app_balance_conf.tiltback_hv_speed</ser>
+        <ser>app_balance_conf.tiltback_hv</ser>
+        <ser>app_balance_conf.tiltback_lv_angle</ser>
+        <ser>app_balance_conf.tiltback_lv_speed</ser>
+        <ser>app_balance_conf.tiltback_lv</ser>
+        <ser>app_balance_conf.tiltback_return_speed</ser>
+        <ser>app_balance_conf.tiltback_constant</ser>
+        <ser>app_balance_conf.tiltback_constant_erpm</ser>
+        <ser>app_balance_conf.tiltback_variable</ser>
+        <ser>app_balance_conf.tiltback_variable_max</ser>
+        <ser>app_balance_conf.noseangling_speed</ser>
+        <ser>app_balance_conf.startup_pitch_tolerance</ser>
+        <ser>app_balance_conf.startup_roll_tolerance</ser>
+        <ser>app_balance_conf.startup_speed</ser>
+        <ser>app_balance_conf.deadzone</ser>
+        <ser>app_balance_conf.multi_esc</ser>
+        <ser>app_balance_conf.yaw_kp</ser>
+        <ser>app_balance_conf.yaw_ki</ser>
+        <ser>app_balance_conf.yaw_kd</ser>
+        <ser>app_balance_conf.roll_steer_kp</ser>
+        <ser>app_balance_conf.roll_steer_erpm_kp</ser>
+        <ser>app_balance_conf.brake_current</ser>
+        <ser>app_balance_conf.brake_timeout</ser>
+        <ser>app_balance_conf.yaw_current_clamp</ser>
+        <ser>app_balance_conf.kd_pt1_lowpass_frequency</ser>
+        <ser>app_balance_conf.kd_pt1_highpass_frequency</ser>
+        <ser>app_balance_conf.kd_biquad_lowpass</ser>
+        <ser>app_balance_conf.kd_biquad_highpass</ser>
+        <ser>app_balance_conf.booster_angle</ser>
+        <ser>app_balance_conf.booster_ramp</ser>
+        <ser>app_balance_conf.booster_current</ser>
+        <ser>app_balance_conf.torquetilt_start_current</ser>
+        <ser>app_balance_conf.torquetilt_angle_limit</ser>
+        <ser>app_balance_conf.torquetilt_on_speed</ser>
+        <ser>app_balance_conf.torquetilt_off_speed</ser>
+        <ser>app_balance_conf.torquetilt_strength</ser>
+        <ser>app_balance_conf.torquetilt_filter</ser>
+        <ser>app_balance_conf.turntilt_strength</ser>
+        <ser>app_balance_conf.turntilt_angle_limit</ser>
+        <ser>app_balance_conf.turntilt_start_angle</ser>
+        <ser>app_balance_conf.turntilt_start_erpm</ser>
+        <ser>app_balance_conf.turntilt_speed</ser>
+        <ser>app_balance_conf.turntilt_erpm_boost</ser>
+        <ser>app_balance_conf.turntilt_erpm_boost_end</ser>
+        <ser>app_pas_conf.ctrl_type</ser>
+        <ser>app_pas_conf.sensor_type</ser>
+        <ser>app_pas_conf.current_scaling</ser>
+        <ser>app_pas_conf.pedal_rpm_start</ser>
+        <ser>app_pas_conf.pedal_rpm_end</ser>
+        <ser>app_pas_conf.invert_pedal_direction</ser>
+        <ser>app_pas_conf.magnets</ser>
+        <ser>app_pas_conf.use_filter</ser>
+        <ser>app_pas_conf.ramp_time_pos</ser>
+        <ser>app_pas_conf.ramp_time_neg</ser>
+        <ser>app_pas_conf.update_rate_hz</ser>
+        <ser>imu_conf.type</ser>
+        <ser>imu_conf.mode</ser>
+        <ser>imu_conf.sample_rate_hz</ser>
+        <ser>imu_conf.accel_confidence_decay</ser>
+        <ser>imu_conf.mahony_kp</ser>
+        <ser>imu_conf.mahony_ki</ser>
+        <ser>imu_conf.madgwick_beta</ser>
+        <ser>imu_conf.rot_roll</ser>
+        <ser>imu_conf.rot_pitch</ser>
+        <ser>imu_conf.rot_yaw</ser>
+        <ser>imu_conf.accel_offsets__0</ser>
+        <ser>imu_conf.accel_offsets__1</ser>
+        <ser>imu_conf.accel_offsets__2</ser>
+        <ser>imu_conf.gyro_offsets__0</ser>
+        <ser>imu_conf.gyro_offsets__1</ser>
+        <ser>imu_conf.gyro_offsets__2</ser>
+    </SerOrder>
+    <Grouping>
+        <group>
+            <groupName>General</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>app_to_use</param>
+                    <param>controller_id</param>
+                    <param>timeout_msec</param>
+                    <param>timeout_brake_current</param>
+                    <param>send_can_status</param>
+                    <param>send_can_status_rate_hz</param>
+                    <param>can_baud_rate</param>
+                    <param>pairing_done</param>
+                    <param>permanent_uart_enabled</param>
+                    <param>shutdown_mode</param>
+                    <param>can_mode</param>
+                    <param>uavcan_esc_index</param>
+                    <param>uavcan_raw_mode</param>
+                    <param>uavcan_raw_rpm_max</param>
+                    <param>servo_out_enable</param>
+                    <param>kill_sw_mode</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>PPM</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>app_ppm_conf.ctrl_type</param>
+                    <param>app_ppm_conf.median_filter</param>
+                    <param>app_ppm_conf.safe_start</param>
+                    <param>app_ppm_conf.pid_max_erpm</param>
+                    <param>app_ppm_conf.ramp_time_pos</param>
+                    <param>app_ppm_conf.ramp_time_neg</param>
+                    <param>app_ppm_conf.max_erpm_for_dir</param>
+                    <param>app_ppm_conf.smart_rev_max_duty</param>
+                    <param>app_ppm_conf.smart_rev_ramp_time</param>
+                    <param>::sep::Multiple VESCs over CAN</param>
+                    <param>app_ppm_conf.multi_esc</param>
+                    <param>app_ppm_conf.tc</param>
+                    <param>app_ppm_conf.tc_max_diff</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Mapping</subgroupName>
+                <subgroupParams>
+                    <param>app_ppm_conf.pulse_start</param>
+                    <param>app_ppm_conf.pulse_end</param>
+                    <param>app_ppm_conf.pulse_center</param>
+                    <param>app_ppm_conf.hyst</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Throttle Curve</subgroupName>
+                <subgroupParams>
+                    <param>app_ppm_conf.throttle_exp</param>
+                    <param>app_ppm_conf.throttle_exp_brake</param>
+                    <param>app_ppm_conf.throttle_exp_mode</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>ADC</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>app_adc_conf.ctrl_type</param>
+                    <param>app_adc_conf.use_filter</param>
+                    <param>app_adc_conf.safe_start</param>
+                    <param>app_adc_conf.cc_button_inverted</param>
+                    <param>app_adc_conf.rev_button_inverted</param>
+                    <param>app_adc_conf.update_rate_hz</param>
+                    <param>app_adc_conf.ramp_time_pos</param>
+                    <param>app_adc_conf.ramp_time_neg</param>
+                    <param>::sep::Multiple VESCs over CAN-bus</param>
+                    <param>app_adc_conf.multi_esc</param>
+                    <param>app_adc_conf.tc</param>
+                    <param>app_adc_conf.tc_max_diff</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Mapping</subgroupName>
+                <subgroupParams>
+                    <param>app_adc_conf.hyst</param>
+                    <param>::sep::ADC 1</param>
+                    <param>app_adc_conf.voltage_start</param>
+                    <param>app_adc_conf.voltage_end</param>
+                    <param>app_adc_conf.voltage_center</param>
+                    <param>app_adc_conf.voltage_inverted</param>
+                    <param>::sep::ADC 2</param>
+                    <param>app_adc_conf.voltage2_start</param>
+                    <param>app_adc_conf.voltage2_end</param>
+                    <param>app_adc_conf.voltage2_inverted</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Throttle Curve</subgroupName>
+                <subgroupParams>
+                    <param>app_adc_conf.throttle_exp</param>
+                    <param>app_adc_conf.throttle_exp_brake</param>
+                    <param>app_adc_conf.throttle_exp_mode</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>UART</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>app_uart_baudrate</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>VESC Remote</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>app_chuk_conf.ctrl_type</param>
+                    <param>app_chuk_conf.ramp_time_pos</param>
+                    <param>app_chuk_conf.ramp_time_neg</param>
+                    <param>app_chuk_conf.stick_erpm_per_s_in_cc</param>
+                    <param>app_chuk_conf.hyst</param>
+                    <param>app_chuk_conf.use_smart_rev</param>
+                    <param>app_chuk_conf.smart_rev_max_duty</param>
+                    <param>app_chuk_conf.smart_rev_ramp_time</param>
+                    <param>::sep::Multiple VESCs over CAN-bus</param>
+                    <param>app_chuk_conf.multi_esc</param>
+                    <param>app_chuk_conf.tc</param>
+                    <param>app_chuk_conf.tc_max_diff</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Throttle Curve</subgroupName>
+                <subgroupParams>
+                    <param>app_chuk_conf.throttle_exp</param>
+                    <param>app_chuk_conf.throttle_exp_brake</param>
+                    <param>app_chuk_conf.throttle_exp_mode</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>NRF</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>::sep::Radio</param>
+                    <param>app_nrf_conf.power</param>
+                    <param>app_nrf_conf.speed</param>
+                    <param>app_nrf_conf.channel</param>
+                    <param>::sep::Integrity</param>
+                    <param>app_nrf_conf.crc_type</param>
+                    <param>app_nrf_conf.send_crc_ack</param>
+                    <param>app_nrf_conf.retry_delay</param>
+                    <param>app_nrf_conf.retries</param>
+                    <param>::sep::Address</param>
+                    <param>app_nrf_conf.address__0</param>
+                    <param>app_nrf_conf.address__1</param>
+                    <param>app_nrf_conf.address__2</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>Balance</groupName>
+            <subgroup>
+                <subgroupName>Tune</subgroupName>
+                <subgroupParams>
+                    <param>::sep::PID</param>
+                    <param>app_balance_conf.kp</param>
+                    <param>app_balance_conf.ki</param>
+                    <param>app_balance_conf.kd</param>
+                    <param>::sep::Main Loop</param>
+                    <param>app_balance_conf.hertz</param>
+                    <param>app_balance_conf.loop_time_filter</param>
+                    <param>::sep::Filters</param>
+                    <param>app_balance_conf.kd_pt1_lowpass_frequency</param>
+                    <param>app_balance_conf.kd_pt1_highpass_frequency</param>
+                    <param>app_balance_conf.kd_biquad_lowpass</param>
+                    <param>app_balance_conf.kd_biquad_highpass</param>
+                    <param>::sep::Experimental</param>
+                    <param>app_balance_conf.deadzone</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Tune Modifiers</subgroupName>
+                <subgroupParams>
+                    <param>::sep::Nose Angling</param>
+                    <param>app_balance_conf.tiltback_constant</param>
+                    <param>app_balance_conf.tiltback_constant_erpm</param>
+                    <param>app_balance_conf.tiltback_variable</param>
+                    <param>app_balance_conf.tiltback_variable_max</param>
+                    <param>app_balance_conf.noseangling_speed</param>
+                    <param>::sep::Booster</param>
+                    <param>app_balance_conf.booster_angle</param>
+                    <param>app_balance_conf.booster_ramp</param>
+                    <param>app_balance_conf.booster_current</param>
+                    <param>::sep::Torque Tiltback</param>
+                    <param>app_balance_conf.torquetilt_strength</param>
+                    <param>app_balance_conf.torquetilt_start_current</param>
+                    <param>app_balance_conf.torquetilt_angle_limit</param>
+                    <param>app_balance_conf.torquetilt_on_speed</param>
+                    <param>app_balance_conf.torquetilt_off_speed</param>
+                    <param>app_balance_conf.torquetilt_filter</param>
+                    <param>::sep::Turn/Roll Tiltback</param>
+                    <param>app_balance_conf.turntilt_strength</param>
+                    <param>app_balance_conf.turntilt_angle_limit</param>
+                    <param>app_balance_conf.turntilt_start_angle</param>
+                    <param>app_balance_conf.turntilt_start_erpm</param>
+                    <param>app_balance_conf.turntilt_speed</param>
+                    <param>app_balance_conf.turntilt_erpm_boost</param>
+                    <param>app_balance_conf.turntilt_erpm_boost_end</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Startup</subgroupName>
+                <subgroupParams>
+                    <param>::sep::Tolerances</param>
+                    <param>app_balance_conf.startup_pitch_tolerance</param>
+                    <param>app_balance_conf.startup_roll_tolerance</param>
+                    <param>::sep::Centering</param>
+                    <param>app_balance_conf.startup_speed</param>
+                    <param>::sep::Holding</param>
+                    <param>app_balance_conf.brake_current</param>
+                    <param>app_balance_conf.brake_timeout</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Tiltback</subgroupName>
+                <subgroupParams>
+                    <param>::sep::General Config</param>
+                    <param>app_balance_conf.tiltback_return_speed</param>
+                    <param>::sep::Duty Cycle Tiltback</param>
+                    <param>app_balance_conf.tiltback_duty</param>
+                    <param>app_balance_conf.tiltback_duty_angle</param>
+                    <param>app_balance_conf.tiltback_duty_speed</param>
+                    <param>::sep::High Voltage Tiltback</param>
+                    <param>app_balance_conf.tiltback_hv</param>
+                    <param>app_balance_conf.tiltback_hv_angle</param>
+                    <param>app_balance_conf.tiltback_hv_speed</param>
+                    <param>::sep::Low Voltage Tiltback</param>
+                    <param>app_balance_conf.tiltback_lv</param>
+                    <param>app_balance_conf.tiltback_lv_angle</param>
+                    <param>app_balance_conf.tiltback_lv_speed</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Fault</subgroupName>
+                <subgroupParams>
+                    <param>::sep::Angle Faults</param>
+                    <param>app_balance_conf.fault_pitch</param>
+                    <param>app_balance_conf.fault_delay_pitch</param>
+                    <param>app_balance_conf.fault_roll</param>
+                    <param>app_balance_conf.fault_delay_roll</param>
+                    <param>::sep::Speed Faults</param>
+                    <param>app_balance_conf.fault_duty</param>
+                    <param>app_balance_conf.fault_delay_duty</param>
+                    <param>::sep::Switches</param>
+                    <param>app_balance_conf.fault_adc1</param>
+                    <param>app_balance_conf.fault_adc2</param>
+                    <param>app_balance_conf.fault_delay_switch_half</param>
+                    <param>app_balance_conf.fault_delay_switch_full</param>
+                    <param>app_balance_conf.fault_adc_half_erpm</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Multi ESC</subgroupName>
+                <subgroupParams>
+                    <param>::sep::Multi ESC</param>
+                    <param>app_balance_conf.multi_esc</param>
+                    <param>::sep::Stabilization PID</param>
+                    <param>app_balance_conf.yaw_kp</param>
+                    <param>app_balance_conf.yaw_ki</param>
+                    <param>app_balance_conf.yaw_kd</param>
+                    <param>::sep::Steering</param>
+                    <param>app_balance_conf.roll_steer_kp</param>
+                    <param>app_balance_conf.roll_steer_erpm_kp</param>
+                    <param>app_balance_conf.yaw_current_clamp</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>IMU</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>imu_conf.type</param>
+                    <param>imu_conf.sample_rate_hz</param>
+                    <param>::sep::Filters</param>
+                    <param>imu_conf.mode</param>
+                    <param>imu_conf.accel_confidence_decay</param>
+                    <param>imu_conf.mahony_kp</param>
+                    <param>imu_conf.mahony_ki</param>
+                    <param>imu_conf.madgwick_beta</param>
+                    <param>::sep::Rotation</param>
+                    <param>imu_conf.rot_roll</param>
+                    <param>imu_conf.rot_pitch</param>
+                    <param>imu_conf.rot_yaw</param>
+                    <param>::sep::Offsets</param>
+                    <param>imu_conf.accel_offsets__0</param>
+                    <param>imu_conf.accel_offsets__1</param>
+                    <param>imu_conf.accel_offsets__2</param>
+                    <param>imu_conf.gyro_offsets__0</param>
+                    <param>imu_conf.gyro_offsets__1</param>
+                    <param>imu_conf.gyro_offsets__2</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>PAS</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>app_pas_conf.ctrl_type</param>
+                    <param>app_pas_conf.sensor_type</param>
+                    <param>app_pas_conf.pedal_rpm_start</param>
+                    <param>app_pas_conf.pedal_rpm_end</param>
+                    <param>app_pas_conf.invert_pedal_direction</param>
+                    <param>app_pas_conf.magnets</param>
+                    <param>app_pas_conf.use_filter</param>
+                    <param>app_pas_conf.current_scaling</param>
+                    <param>app_pas_conf.ramp_time_pos</param>
+                    <param>app_pas_conf.ramp_time_neg</param>
+                    <param>app_pas_conf.update_rate_hz</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+    </Grouping>
+</ConfigParams>
diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
new file mode 100644
index 000000000..51c010e63
--- /dev/null
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -0,0 +1,4490 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ConfigParams>
+    <Params>
+        <pwm_mode>
+            <longName>PWM Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The PWM mode to use for BLDC motors. Synchronous is the most tested and recommended mode. The others are likely to cause problems.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_PWM_MODE</cDefine>
+            <valInt>1</valInt>
+            <enumNames>Nonsynchronous HISW</enumNames>
+            <enumNames>Synchronous</enumNames>
+            <enumNames>Bipolar</enumNames>
+        </pwm_mode>
+        <comm_mode>
+            <longName>Commutation Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Delay&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This is what most cheap hobby ESCs use, which is detecting a BEMF zero crossing and adding a delay&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Integrate&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The back-EMF is sampled continuously after a zero crossing and the area under it is integrated. This is more robust and works better at low speed. For this mode the BEMF coupling and integration limit has to be know. The detect function can be used to measure these parameters.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_COMM_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Integrate</enumNames>
+            <enumNames>Delay</enumNames>
+        </comm_mode>
+        <motor_type>
+            <longName>Motor Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;BLDC&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Trapezoidal commutation mode for PMSM motors.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;DC&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;DC motor. A DC motor is connected to phase 1 and phase 3.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;FOC&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Field Oriented Control (FOC) for PMSM (or BLDC) motors. The motor is commutated with sine waves instead of a trapezoidal waveform as is the case for BLDC commutation. FOC runs the motors more quietly (especially at low speed and high load), is slightly more efficient and provides automatic optimal timing.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;GPD&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;General Purpose Drive between phase 1 and 3. Should be used with a custom application on the VESC, or on the computer with the VESC Tool backend providing samples.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_DEFAULT_MOTOR_TYPE</cDefine>
+            <valInt>2</valInt>
+            <enumNames>BLDC</enumNames>
+            <enumNames>DC</enumNames>
+            <enumNames>FOC</enumNames>
+            <enumNames>GPD</enumNames>
+        </motor_type>
+        <sensor_mode>
+            <longName>Sensor Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sensor mode for BLDC commutation. Hybrid means that sensors will be used at low speed and sensorless at high speed.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SENSOR_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Sensorless</enumNames>
+            <enumNames>Sensored</enumNames>
+            <enumNames>Hybrid</enumNames>
+        </sensor_mode>
+        <l_current_max>
+            <longName>Motor Current Max</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Maximum motor current.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_CURRENT_MAX</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>60</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </l_current_max>
+        <l_current_min>
+            <longName>Motor Current Max Brake</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Maximum (braking) motor current. The is the maximum current that will be fed back to the VESC and when braking, thus negative. The energy from the braking current will be fed back to the battery.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_CURRENT_MIN</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>0</maxDouble>
+            <minDouble>-1000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>-60</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </l_current_min>
+        <l_in_current_max>
+            <longName>Battery Current Max</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The maximum current that can be drawn from the battery. The battery current is always lower than or equal to the motor current.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_IN_CURRENT_MAX</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>99</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </l_in_current_max>
+        <l_in_current_min>
+            <longName>Battery Current Max Regen</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The maximum regenerative current that can be fed to the battery (thus negative). The battery current is always lower than or equal to the motor current.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_IN_CURRENT_MIN</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>0</maxDouble>
+            <minDouble>-1000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>-60</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </l_in_current_min>
+        <l_abs_current_max>
+            <longName>Absolute Maximum Current</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The current magnitute above which all output will be switched off and a fault code thrown. Usually the current control loops take care of limiting the current, but in some conditions short current spikes can appear very quickly. The system can handle them quite well in most cased, so this value can be set relatively high compared to the other current values to avoid cutouts.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_MAX_ABS_CURRENT</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>150</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </l_abs_current_max>
+        <l_min_erpm>
+            <longName>Max ERPM Reverse</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The maximum reverse electrical RPM.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_RPM_MIN</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>0</maxDouble>
+            <minDouble>-1e+06</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>-100000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </l_min_erpm>
+        <l_max_erpm>
+            <longName>Max ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The maximum electrical RPM.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_RPM_MAX</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>100000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </l_max_erpm>
+        <l_erpm_start>
+            <longName>ERPM Limit Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Start to reduce the current at this fraction of the ERPM limit. Lowering this number will make the ERPM limit softer.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_RPM_START</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.8</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </l_erpm_start>
+        <l_max_erpm_fbrake>
+            <longName>Max ERPM Full Brake</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The maximum ERPM at which a full brake is allowed (BLDC Only).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_CURR_MAX_RPM_FBRAKE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>300</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </l_max_erpm_fbrake>
+        <l_max_erpm_fbrake_cc>
+            <longName>Max ERPM Full Brake Current Control</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The ERPM below which a direction change is allowed in current control (BLDC Only).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_CURR_MAX_RPM_FBRAKE_CC</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>1500</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </l_max_erpm_fbrake_cc>
+        <l_min_vin>
+            <longName>Minimum Input Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The input voltage below which a fault code is thrown.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_MIN_VOLTAGE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>8</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </l_min_vin>
+        <l_max_vin>
+            <longName>Maximum Input Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The input voltage above which a fault code is thrown.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_MAX_VOLTAGE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>57</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </l_max_vin>
+        <l_battery_cut_start>
+            <longName>Battery Voltage Cutoff Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The input voltage where current starts to get reduced. There is still full braking current available as braking only charges the battery.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_BATTERY_CUT_START</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>10</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </l_battery_cut_start>
+        <l_battery_cut_end>
+            <longName>Battery Voltage Cutoff End</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The input voltage below which current draw is not allowed anymore. There is still full braking current available as braking only charges the battery.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_BATTERY_CUT_END</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>8</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </l_battery_cut_end>
+        <l_slow_abs_current>
+            <longName>Slow ABS Current Limit</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use the filtered current for the ABS max fault code. Will not trigger as easily on very short spikes.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_SLOW_ABS_OVERCURRENT</cDefine>
+            <valInt>1</valInt>
+        </l_slow_abs_current>
+        <l_temp_fet_start>
+            <longName>MOSFET Temp Cutoff Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The MOSFET temperature at which motor current starts to get reduced.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_LIM_TEMP_FET_START</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>190</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>85</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix> °C</suffix>
+            <vTx>7</vTx>
+        </l_temp_fet_start>
+        <l_temp_fet_end>
+            <longName>MOSFET Temp Cutoff End</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The MOSFET temperature above which motor current is not allowed and a fault is thrown.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_LIM_TEMP_FET_END</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>190</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>100</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix> °C</suffix>
+            <vTx>7</vTx>
+        </l_temp_fet_end>
+        <l_temp_motor_start>
+            <longName>Motor Temp Cutoff Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The motor temperature at which motor current starts to get reduced.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_LIM_TEMP_MOTOR_START</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>190</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>85</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix> °C</suffix>
+            <vTx>7</vTx>
+        </l_temp_motor_start>
+        <l_temp_motor_end>
+            <longName>Motor Temp Cutoff End</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The motor temperature above which motor current is not allowed and a fault is thrown.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_LIM_TEMP_MOTOR_END</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>190</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>100</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix> °C</suffix>
+            <vTx>7</vTx>
+        </l_temp_motor_end>
+        <l_temp_accel_dec>
+            <longName>Acceleration Temperature Decrease</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Decrease the motor and MOSFET temperature limits by this amount during acceleration. This is useful to still have braking torque left when the components get warm. A decrease of 0 % means that the acceleration temperature limits are the same as the braking temperature limits, and a decrease of 100 % meanse that the acceleration temperature limits are at 25 °C.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_LIM_TEMP_ACCEL_DEC</cDefine>
+            <editorDecimalsDouble>0</editorDecimalsDouble>
+            <editorScale>100</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0.15</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> %</suffix>
+            <vTx>7</vTx>
+        </l_temp_accel_dec>
+        <l_min_duty>
+            <longName>Minimum Duty Cycle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Minimum allowed duty cycle.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_MIN_DUTY</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>100</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0.005</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> %</suffix>
+            <vTx>7</vTx>
+        </l_min_duty>
+        <l_max_duty>
+            <longName>Maximum Duty Cycle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Maximum allowed duty cycle.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_MAX_DUTY</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>100</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0.95</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> %</suffix>
+            <vTx>7</vTx>
+        </l_max_duty>
+        <l_watt_max>
+            <longName>Maximum Wattage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum allowed wattage output. If your region has laws that only allow a limited wattage, this parameter can be useful. However, keep in mind that limiting the wattage does not make much sense in practise since torque, heat losses, mechanical wear and component load are all current dependent.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Notice that setting this parameter to a very high value essentially disables it, which is why the default value is high. The other limits will still apply.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_WATT_MAX</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>1.5e+06</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> W</suffix>
+            <vTx>9</vTx>
+        </l_watt_max>
+        <l_watt_min>
+            <longName>Maximum Braking Wattage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum allowed braking wattage (thus negative). There usuallt aren't any laws limiting how much braking is allowed, and limiting the wattage does not make much sense in general, so this parameter is present mostly for the sake of completeness. There might be some applications where limiting the braking wattage is useful though.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Notice that setting this parameter to a very high value essentially disables it, which is why the default value is high. The other limits will still apply.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_WATT_MIN</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>0</maxDouble>
+            <minDouble>-2e+06</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>-1.5e+06</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> W</suffix>
+            <vTx>9</vTx>
+        </l_watt_min>
+        <l_current_max_scale>
+            <longName>Max Current Scale</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Maximum current scale. This value is multiplied with the maximum current. It is a convenient method to scale the current limits without forgetting the actual maximum value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_CURRENT_MAX_SCALE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </l_current_max_scale>
+        <l_current_min_scale>
+            <longName>Min Current Scale</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Minimum current scale. This value is multiplied with the minimum current. It is a convenient method to scale the current limits without forgetting the actual maximum value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_CURRENT_MIN_SCALE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </l_current_min_scale>
+        <l_duty_start>
+            <longName>Duty Cycle Current Limit Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Start to reduce the current at this duty cycle. Lowering this number will make the motor limit the torque softly when reaching max speed, however, it will also decrease the top speed a bit.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_DUTY_START</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </l_duty_start>
+        <sl_min_erpm>
+            <longName>Minimum ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum sensorless ERPM (BLDC Only). Run the motor in open loop when the estimated ERPM is below this value.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SL_MIN_RPM</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>150</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </sl_min_erpm>
+        <sl_min_erpm_cycle_int_limit>
+            <longName>Minimum ERPM Integrator</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The minimum ERPM for which the integrator limit is calculated. Setting this too low will make the coupling compensation too large at low speed resulting in bad startup.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SL_MIN_ERPM_CYCLE_INT_LIMIT</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>1100</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </sl_min_erpm_cycle_int_limit>
+        <sl_max_fullbreak_current_dir_change>
+            <longName>Max Brake Current at Direction Change</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Only allow motor direction change below this current.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SL_MAX_FB_CURR_DIR_CHANGE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>10</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </sl_max_fullbreak_current_dir_change>
+        <sl_cycle_int_limit>
+            <longName>Cycle Integrator Limit</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Cycle ingegrator limit. This is how much area will be integrated under the back EMF after a zero crossing before doing a commutation. A too low value will cause a too early commutation, and a too high value will cause a too late commutation. A too late commutation will cause more problems than too early commutations.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SL_CYCLE_INT_LIMIT</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>62</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </sl_cycle_int_limit>
+        <sl_phase_advance_at_br>
+            <longName>Phase Advance at BR ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Phase (timing) advance at the BR ERPM value. Below that value the advance will be less proportional to the current ERPM.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SL_PHASE_ADVANCE_AT_BR</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>0.8</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </sl_phase_advance_at_br>
+        <sl_cycle_int_rpm_br>
+            <longName>BR ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The ERPM at which phase advance (timing) is the maximum.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SL_CYCLE_INT_BR</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>80000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </sl_cycle_int_rpm_br>
+        <sl_bemf_coupling_k>
+            <longName>BEMF Coupling</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;BEMF coupling. Roughly describes how much of the input voltage is seen on the BEMF at low modulation. Compensating for that at low speed helps the startup a lot.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SL_BEMF_COUPLING_K</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>5000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>600</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </sl_bemf_coupling_k>
+        <hall_table__0>
+            <longName>Hall Table [0]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 0.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_HALL_TAB_0</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>6</maxInt>
+            <minInt>-1</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>-1</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </hall_table__0>
+        <hall_table__1>
+            <longName>Hall Table [1]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 1.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_HALL_TAB_1</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>6</maxInt>
+            <minInt>-1</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>1</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </hall_table__1>
+        <hall_table__2>
+            <longName>Hall Table [2]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 2.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_HALL_TAB_2</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>6</maxInt>
+            <minInt>-1</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>3</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </hall_table__2>
+        <hall_table__3>
+            <longName>Hall Table [3]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 3.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_HALL_TAB_3</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>6</maxInt>
+            <minInt>-1</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>2</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </hall_table__3>
+        <hall_table__4>
+            <longName>Hall Table [4]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 4.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <editorScale>1</editorScale>
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+            <stepInt>1</stepInt>
+            <valInt>5</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </hall_table__4>
+        <hall_table__5>
+            <longName>Hall Table [5]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 5.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <suffix></suffix>
+            <vTx>2</vTx>
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+        <hall_table__6>
+            <longName>Hall Table [6]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
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+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 6.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <suffix></suffix>
+            <vTx>2</vTx>
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+        <hall_table__7>
+            <longName>Hall Table [7]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
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+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 7.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_HALL_TAB_7</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>6</maxInt>
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+            <stepInt>1</stepInt>
+            <valInt>-1</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </hall_table__7>
+        <hall_sl_erpm>
+            <longName>Sensorless ERPM Hybrid</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
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+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM above which sensorless commutation is used in hybrid mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <editorDecimalsDouble>2</editorDecimalsDouble>
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+            <stepDouble>100</stepDouble>
+            <valDouble>2000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </hall_sl_erpm>
+        <foc_current_kp>
+            <longName>Current KP</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
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+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current controller proportional gain.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_CURRENT_KP</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
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+            <stepDouble>0.01</stepDouble>
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+            <vTxDoubleScale>100000</vTxDoubleScale>
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+            <vTx>9</vTx>
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+        <foc_current_ki>
+            <longName>Current KI</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current controller integral gain.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_CURRENT_KI</cDefine>
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+            <stepDouble>0.01</stepDouble>
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+            <vTxDoubleScale>100000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_current_ki>
+        <foc_f_zv>
+            <longName>Zero Vector Frequency</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The frequency at which the output toggles between the zero vectors (V0 and V7) in the space vector modulation.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The controllers and estimators run at half of this frequency. If the option &lt;span style=&quot; font-weight:600;&quot;&gt;Sample in V0 and V7&lt;/span&gt; is active the controllers and estimators run at the full zero vector frequency, but this option is only available on hardware with phase shunts.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;NOTE&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;There has been some confusion on what the zero vector frequency is referring to. It is the rate between the zero vectors V0 (when all low-side switches are on) and V7 (when all high-side switches are on).&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If you scope one of the phases you will see a signal at half the set frequency, which is what the timer runs at. That is because the motor phases will be shorted both when the signal is low and when it is high. This is one of the core concepts of space-vector modulation and how you can effectively double the switching frequency with the same amount of switching.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;There is also some frequency content at half of this frequency depending on the modulated vector, but it is mainly at the set switching frequency and this is also what matters when e.g. calculating ripple current due to motor inductance.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Some links to discussions about this:&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;https://vesc-project.com/node/3278&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;https://github.com/vedderb/bldc/pull/397&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <stepDouble>1</stepDouble>
+            <valDouble>25000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> kHz</suffix>
+            <vTx>9</vTx>
+        </foc_f_zv>
+        <foc_dt_us>
+            <longName>Dead Time Compensation</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
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+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Compensation for dead time distortion. Makes some difference at low speed.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <editorDecimalsDouble>3</editorDecimalsDouble>
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+            <valDouble>0.12</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix> µS</suffix>
+            <vTx>9</vTx>
+        </foc_dt_us>
+        <foc_encoder_inverted>
+            <longName>Encoder Inverted</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
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+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The encoder is inverted if it counts backwards while the motor is turning forwards.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_ENCODER_INVERTED</cDefine>
+            <valInt>0</valInt>
+        </foc_encoder_inverted>
+        <foc_encoder_offset>
+            <longName>Encoder Offset</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Offset between the encoder zero and motor zero points.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <editorDecimalsDouble>2</editorDecimalsDouble>
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+            <stepDouble>1</stepDouble>
+            <valDouble>180</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_encoder_offset>
+        <foc_encoder_ratio>
+            <longName>Encoder Ratio</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Ratio between encoder and motor. E.g. a 14 pole motor with a directly attached encoder has ratio 7.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <stepDouble>1</stepDouble>
+            <valDouble>7</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
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+        <foc_encoder_sin_gain>
+            <longName>Sin/Cos Sine Gain Compensation</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
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+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Sin/Cos Encoder Sine gain compensation to reduce nonlinearity errors in the signal path.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_encoder_sin_gain>
+        <foc_encoder_cos_gain>
+            <longName>Sin/Cos Cosine Gain Compensation</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
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+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Sin/Cos Encoder Cosine gain compensation to reduce nonlinearity errors in the signal path.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_ENCODER_COS_GAIN</cDefine>
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+            <valDouble>1</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_encoder_cos_gain>
+        <foc_encoder_sin_offset>
+            <longName>Sin/Cos Sine Offset</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Sin/Cos Encoder Sine Offset.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_ENCODER_SIN_OFFSET</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>1.65</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_encoder_sin_offset>
+        <foc_encoder_cos_offset>
+            <longName>Sin/Cos Cosine Offset</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Sin/Cos Encoder Sine Offset.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_ENCODER_COS_OFFSET</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>1.65</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_encoder_cos_offset>
+        <foc_encoder_sincos_filter_constant>
+            <longName>Sin/Cos Filter Constant</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Sin/Cos Encoder low pass filter constant. &lt;/span&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Will affect the ratio between lag and noise on the encoder position feedback. Range 0 to 1, where 0 has the lowest noise and most phase lag, and 1 has no lag and unfiltered noise.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_ENCODER_SINCOS_FILTER</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.5</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_encoder_sincos_filter_constant>
+        <foc_sensor_mode>
+            <longName>Sensor Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sensor mode for the motor.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Sensorless&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Don't use any position sensor on the motor and only rely on the observer and starting algorithm. Works well for most applications (not position control), but the start can be a bit delayed.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use an encoder on the motor shaft. Works well for position control applications such as CNC mills.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Hall Sensors&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use hall sensors with 60 or 120 degree spacing in the motor. Gives starts without any delay at all, but does not work that well for most position control applications.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;HFI&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;High Frequency Injection. Track the position down to 0 speed by injecting voltage pulses and analyzing the response of the motor. Works on most motors that have enough difference in D-axis and Q-axis inductance.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;VSS&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Vedder Sensorless Start. Use HFI just after starting the motor to resolve the initial position and set the observer state to that position. This can help the observer track the motor correctly from 0 speed. As this also is based on saturation it can help start some motors with low saliency.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;NOTE:&lt;/span&gt; HFI and VSS only work when the FOC switching frequency is at or below 30 KHz. &lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SENSOR_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Sensorless</enumNames>
+            <enumNames>Encoder</enumNames>
+            <enumNames>Hall Sensors</enumNames>
+            <enumNames>HFI</enumNames>
+            <enumNames>VSS</enumNames>
+        </foc_sensor_mode>
+        <foc_pll_kp>
+            <longName>Speed Tracker Kp</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed tracker proportional gain. The speed tracker estimates the motor speed by tracking the phase angle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_PLL_KP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>2000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_pll_kp>
+        <foc_pll_ki>
+            <longName>Speed Tracker Ki</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed tracker integral gain. The speed tracker estimates the motor speed by tracking the phase angle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_PLL_KI</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>30000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_pll_ki>
+        <foc_motor_l>
+            <longName>Motor Inductance (L)</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The average of LD and LQ inductance.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_MOTOR_L</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1e+06</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>7e-06</valDouble>
+            <vTxDoubleScale>1e+08</vTxDoubleScale>
+            <suffix> µH</suffix>
+            <vTx>9</vTx>
+        </foc_motor_l>
+        <foc_motor_ld_lq_diff>
+            <longName>Motor Inductance Difference (Ld - Lq)</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The difference between Ld and Lq inductance. It represents the motor saliency. This can be measured using the &lt;span style=&quot; font-style:italic;&quot;&gt;measure_ind&lt;/span&gt; terminal command, but the regular detection interface does not print it yet.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_MOTOR_LD_LQ_DIFF</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1e+06</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1e+08</vTxDoubleScale>
+            <suffix> µH</suffix>
+            <vTx>9</vTx>
+        </foc_motor_ld_lq_diff>
+        <foc_motor_r>
+            <longName>Motor Resistance (R)</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The motor winding resistance. Should be half of what is measured between two motor wires.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_MOTOR_R</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1000</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0.015</valDouble>
+            <vTxDoubleScale>100000</vTxDoubleScale>
+            <suffix> mΩ</suffix>
+            <vTx>9</vTx>
+        </foc_motor_r>
+        <foc_motor_flux_linkage>
+            <longName>Motor Flux Linkage (λ)</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The flux linkage of the motor (λ) [mWb]&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_MOTOR_FLUX_LINKAGE</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1000</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.00245</valDouble>
+            <vTxDoubleScale>100000</vTxDoubleScale>
+            <suffix> mWb</suffix>
+            <vTx>9</vTx>
+        </foc_motor_flux_linkage>
+        <foc_observer_gain>
+            <longName>Observer Gain (x1M)</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The observer gain. If the motor does not run smoothly with the calculated value, this value can be tweaked. Try with doubling or halving it in that case.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OBSERVER_GAIN</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1e-06</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2e+10</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>9e+07</valDouble>
+            <vTxDoubleScale>0.01</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_observer_gain>
+        <foc_observer_gain_slow>
+            <longName>Observer Gain At Minimum Duty</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The observer gain scaled at minimum duty cycle. Decreasing this parameter will make observer gain lower at lower modulation, which can help tracking the motor. Setting this parameter to 1 will make the observer gain constant at all modulations.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OBSERVER_GAIN_SLOW</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.05</valDouble>
+            <vTxDoubleScale>0.01</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_observer_gain_slow>
+        <foc_observer_offset>
+            <longName>Observer Offset</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Observer offset in switching cycles.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;There is some delay between when the current ant voltage measurements are taken and when the output is applied. This will cause the observer phase to lag behind the motor phase at high speed when the zero vector frequency is low in comparison.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This parameter adds an offset to the observer phase in multiples of the zero vector frequency to compensate for that delay. The default value should be good for most hardwares, but if needed this value can be fine-tuned using and encoder and/or a power analyzer.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Important Note&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Before changing this value, make sure that any phase delay is not caused by incorrect motor parameters or incorrect measurements. Only change this value if you have excluded other possible causes and you know what you are doing.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OBSERVER_OFFSET</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>-5</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>-1</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </foc_observer_offset>
+        <foc_duty_dowmramp_kp>
+            <longName>Duty Downramp Kp</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The proportional gain for the duty downramp controller. This controller is used in duty cycle mode when the duty cycle is decreased. Since this is done by limiting the modulation, very large current spikes can be caused. By using a controller these current spikes can be limited.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_DUTY_DOWNRAMP_KP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>10</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_duty_dowmramp_kp>
+        <foc_duty_dowmramp_ki>
+            <longName>Duty Downramp Ki</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The integral gain for the duty downramp controller. This controller is used in duty cycle mode when the duty cycle is decreased. Since this is done by limiting the modulation, very large current spikes can be caused. By using a controller these current spikes can be limited.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_DUTY_DOWNRAMP_KI</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>200</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_duty_dowmramp_ki>
+        <foc_openloop_rpm>
+            <longName>Openloop ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM below which openloop commutation is used when running sensorless. Can be tweaked for the best startup depending on e.g. the load inertia.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OPENLOOP_RPM</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>400</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_openloop_rpm>
+        <foc_openloop_rpm_low>
+            <longName>Openloop ERPM at Min Current</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The openloop ERPM is scaled with the set motor current. This is the fraction of Openloop ERPM at the minimum current.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OPENLOOP_RPM_LOW</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.1</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </foc_openloop_rpm_low>
+        <foc_d_gain_scale_start>
+            <longName>D Axis Gain Scaling Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Start decreasing the D axis current controller gain at this modulation.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_D_GAIN_SCALE_START</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.9</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_d_gain_scale_start>
+        <foc_d_gain_scale_max_mod>
+            <longName>D Axis Gain Scaling at Max Mod</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;D axis current controller gain at maximum modulation.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_D_GAIN_SCALE_MAX_MOD</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.2</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_d_gain_scale_max_mod>
+        <foc_sl_openloop_hyst>
+            <longName>Openloop Hysteresis</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Go to openloop mode if the ERPM has been below the openloop RPM for this amount of time.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SL_OPENLOOP_HYST</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>0.1</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> S</suffix>
+            <vTx>7</vTx>
+        </foc_sl_openloop_hyst>
+        <foc_sl_openloop_time_lock>
+            <longName>Openloop Lock Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Lock motor for this amount of time in the beginning of the open loop sequence.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SL_OPENLOOP_T_LOCK</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> S</suffix>
+            <vTx>7</vTx>
+        </foc_sl_openloop_time_lock>
+        <foc_sl_openloop_time_ramp>
+            <longName>Openloop Ramp Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Ramp up the openloop speed in the openloop sequence for this amount of time.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SL_OPENLOOP_T_RAMP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> S</suffix>
+            <vTx>7</vTx>
+        </foc_sl_openloop_time_ramp>
+        <foc_sl_openloop_time>
+            <longName>Openloop Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Stay in openloop for this amount of time after finishing the ramp.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SL_OPENLOOP_TIME</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>0.1</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> S</suffix>
+            <vTx>7</vTx>
+        </foc_sl_openloop_time>
+        <foc_hall_table__0>
+            <longName>Hall Table [0]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 0.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HALL_TAB_0</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>255</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </foc_hall_table__0>
+        <foc_hall_table__1>
+            <longName>Hall Table [1]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 1.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HALL_TAB_1</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>255</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </foc_hall_table__1>
+        <foc_hall_table__2>
+            <longName>Hall Table [2]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 2.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HALL_TAB_2</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>255</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </foc_hall_table__2>
+        <foc_hall_table__3>
+            <longName>Hall Table [3]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 3.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HALL_TAB_3</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>255</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </foc_hall_table__3>
+        <foc_hall_table__4>
+            <longName>Hall Table [4]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 4.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HALL_TAB_4</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>255</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </foc_hall_table__4>
+        <foc_hall_table__5>
+            <longName>Hall Table [5]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 5.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HALL_TAB_5</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>255</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </foc_hall_table__5>
+        <foc_hall_table__6>
+            <longName>Hall Table [6]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 6.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HALL_TAB_6</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>255</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </foc_hall_table__6>
+        <foc_hall_table__7>
+            <longName>Hall Table [7]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 7.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HALL_TAB_7</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>255</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </foc_hall_table__7>
+        <foc_hall_interp_erpm>
+            <longName>Hall Interpolation ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;ERPM above which hall sensors are interpolated.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HALL_INTERP_ERPM</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>10</stepDouble>
+            <valDouble>500</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_hall_interp_erpm>
+        <foc_sl_erpm>
+            <longName>Sensorless ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM above which sensorless commutation is used in sensored modes.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SL_ERPM</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>2500</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_sl_erpm>
+        <foc_sample_v0_v7>
+            <longName>Sample in V0 and V7</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Sample currents and voltages in both V0 and V7 of the space vector modulation, and run the control loop at twice the rate. Can be useful for high speed motors at limited switching frequency, or in order to decrease the modulation noise. Notice that this option will require twice the amount of computational power for a given switching frequency.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Note&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;This option is only valid for hardware with phase shunts, such as the VESC Six. For other shunt configurations it is ignored.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SAMPLE_V0_V7</cDefine>
+            <valInt>0</valInt>
+        </foc_sample_v0_v7>
+        <foc_sample_high_current>
+            <longName>High Current Sampling Mode</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Choose the lowest currents during sampling to derive the highest current. Since the motor currents are balanced and sum to 0, two of the phase currents can be used to derive the third one. Enabling this option will make the current measurement compare all motor currents and derive the highest one from the two lower currents. This way higher currents can be measured than the ADC gain allows by a factor of 2 / sqrt(3), or roughly 1.15. For example, for the VESC6 this increases the current measurement capability from 165A to roughly 190A.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Note&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;This option is only valid for hardware with three shunts, such as the VESC Six. For other shunt configurations it is ignored.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SAMPLE_HIGH_CURRENT</cDefine>
+            <valInt>0</valInt>
+        </foc_sample_high_current>
+        <foc_sat_comp>
+            <longName>Stator Saturation Compensation</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Stator saturation compensation.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;When using high currents the stator of the motor can get saturated. This will change the motor parameters, making it difficult for the sensorless observer to track the rotor position. The effect is most noticeable when running the motor with high current at low speed - it will get stuck and then &amp;quot;cog&amp;quot; when open loop operation tries to restart the motor. If you observe this behavior you can try to increase this parameter. This parameter attempts to compensate for effects of stator saturation, making it possible to run motors sensorlessly even at high current and low speed.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Reasonable values for this parameters are 15 % or less. If going higher than that gives good results something else is most likely wrong in your configuration.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Consider the following:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Motors that run at low speed and high torque tend to get saturated, such as e-bike direct drive hub motors.&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Coreless motors should in theory never get saturated.&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The effect of this parameter is proportional to the maximum motor current limit, meaning that this parameter has no effect at zero current and full effect at full current. If you change the maximum motor current limit you have to adapt this parameter accordingly.&lt;/li&gt;&lt;/ul&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SAT_COMP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </foc_sat_comp>
+        <foc_temp_comp>
+            <longName>Temp Comp</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use temperature compensation for the motor resistance used by the observer. Should help at low speed when the motor temperature is far away from the temperature at which the resistance was measured.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_TEMP_COMP</cDefine>
+            <valInt>0</valInt>
+        </foc_temp_comp>
+        <foc_temp_comp_base_temp>
+            <longName>Temp Comp Base Temp</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Motor temperature at which the motor resistance was measured.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_TEMP_COMP_BASE_TEMP</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>120</maxDouble>
+            <minDouble>-120</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>25</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °C</suffix>
+            <vTx>7</vTx>
+        </foc_temp_comp_base_temp>
+        <foc_current_filter_const>
+            <longName>Current Filter Constant</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Constant for the filtered current in the FOC implementation. Will affect how fast the slow abs max current fault triggers. Range 0 to 1, where 0 is the slowest and 1 is no filtering.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_CURRENT_FILTER_CONST</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.1</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </foc_current_filter_const>
+        <foc_cc_decoupling>
+            <longName>Current Controller Decoupling</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;FOC current controller decoupling using feed forward. This will make the current controller perform better during transient conditions; it may also introduce some noise. The available modes are:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_CC_DECOUPLING_DISABLED&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Decoupling is disabled&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_CC_DECOUPLING_CROSS&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Cross decoupling between the D and Q axes is enabled.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_CC_DECOUPLING_BEMF&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Back EMF decoupling on the Q axis is enabled. This improves perfomance significantly if the motor speed changes rapidly, but makes the current controller depend on the speed tracker.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_CC_DECOUPLING_CROSS_BEMF&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Both options above are enabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_CC_DECOUPLING</cDefine>
+            <valInt>2</valInt>
+            <enumNames>FOC_CC_DECOUPLING_DISABLED</enumNames>
+            <enumNames>FOC_CC_DECOUPLING_CROSS</enumNames>
+            <enumNames>FOC_CC_DECOUPLING_BEMF</enumNames>
+            <enumNames>FOC_CC_DECOUPLING_CROSS_BEMF</enumNames>
+        </foc_cc_decoupling>
+        <foc_observer_type>
+            <longName>Observer Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Type of rotor position observer for field oriented control (FOC). The options are:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_OBSERVER_ORTEGA_ORIGINAL&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The observer described here:&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;a href=&quot;http://cas.ensmp.fr/~praly/Telechargement/Journaux/2010-IEEE_TPEL-Lee-Hong-Nam-Ortega-Praly-Astolfi.pdf&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;http://cas.ensmp.fr/~praly/Telechargement/Journaux/2010-IEEE_TPEL-Lee-Hong-Nam-Ortega-Praly-Astolfi.pdf&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OBSERVER_TYPE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>FOC_OBSERVER_ORTEGA_ORIGINAL</enumNames>
+        </foc_observer_type>
+        <foc_hfi_voltage_start>
+            <longName>HFI Start Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;HFI voltage at start to resolve ambiguity. This voltage has to cause a current that is high enough to see signs of saturation in the motor.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HFI_VOLTAGE_START</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>20</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </foc_hfi_voltage_start>
+        <foc_hfi_voltage_run>
+            <longName>HFI Run Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;HFI voltage during operation, after ambiguity has been resolved.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HFI_VOLTAGE_RUN</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>4</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </foc_hfi_voltage_run>
+        <foc_hfi_voltage_max>
+            <longName>HFI Max Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;HFI voltage during operation, at maximum current. Increasing the voltage at higher currents helps with tracking. A higher voltage makes HFI noisier and wastes more power, which is why this option allows increasing it at high motor currents when it is needed.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The HFI voltage is mapped between voltage_run and voltage_max, relative to the motor current.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HFI_VOLTAGE_MAX</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>10</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </foc_hfi_voltage_max>
+        <foc_sl_erpm_hfi>
+            <longName>Sensorless ERPM HFI</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;ERPM below which HFI is used.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SL_ERPM_HFI</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>2000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_sl_erpm_hfi>
+        <foc_hfi_start_samples>
+            <longName>HFI Start Samples</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Number of HFI samples to resolve ambiguity at start. Every sample takes a bit more than 0.5 ms, and no throttle can be applied during this time. The default value is barely noticeable.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HFI_START_SAMPLES</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>60000</maxInt>
+            <minInt>2</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>65</valInt>
+            <suffix></suffix>
+            <vTx>3</vTx>
+        </foc_hfi_start_samples>
+        <foc_hfi_obs_ovr_sec>
+            <longName>HFI Observer Override Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Override HFI position with observer position for this amount of time after dropping below the HFI ERPM threshold. This can prevent oscillating between the two at a transition. Settings this value too high can make HFI catch the motor 180 electrical degrees off, as the observer position might degrade too much.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HFI_OBS_OVR_SEC</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1000</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>5000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0.001</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> ms</suffix>
+            <vTx>9</vTx>
+        </foc_hfi_obs_ovr_sec>
+        <foc_hfi_samples>
+            <longName>HFI Samples</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Number of HFI samples for each motor revolution. This can't be an arbitrary number as the size of fourier transforms and sine tables depends on it.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Fewer samples will give noisier measurements, but allows estimating the position at a higher rate. The noise can be reduced by increasing the HFI voltage.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HFI_SAMPLES</cDefine>
+            <valInt>1</valInt>
+            <enumNames>8</enumNames>
+            <enumNames>16</enumNames>
+            <enumNames>32</enumNames>
+        </foc_hfi_samples>
+        <foc_offsets_cal_on_boot>
+            <longName>Run calibration at boot</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Run calibration every boot.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_CAL_ON_BOOT</cDefine>
+            <valInt>1</valInt>
+        </foc_offsets_cal_on_boot>
+        <foc_offsets_current__0>
+            <longName>Current Offset 0</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current channel 0 offset in ADC counts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_CURRENT_0</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>8192</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>2048</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_offsets_current__0>
+        <foc_offsets_current__1>
+            <longName>Current Offset 1</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current channel 1 offset in ADC counts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_CURRENT_1</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>8192</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>2048</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_offsets_current__1>
+        <foc_offsets_current__2>
+            <longName>Current Offset 2</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current channel 2 offset in ADC counts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_CURRENT_2</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>8192</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>2048</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_offsets_current__2>
+        <foc_offsets_voltage__0>
+            <longName>Voltage Offset 0</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage channel 0 offset. This is at the ADC input, so it is not scaled with the voltage dividers.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_VOLTAGE_0</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2</maxDouble>
+            <minDouble>-2</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0005</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </foc_offsets_voltage__0>
+        <foc_offsets_voltage__1>
+            <longName>Voltage Offset 1</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage channel 1 offset. This is at the ADC input, so it is not scaled with the voltage dividers.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_VOLTAGE_1</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2</maxDouble>
+            <minDouble>-2</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0005</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </foc_offsets_voltage__1>
+        <foc_offsets_voltage__2>
+            <longName>Voltage Offset 2</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage channel 2 offset. This is at the ADC input, so it is not scaled with the voltage dividers.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_VOLTAGE_2</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2</maxDouble>
+            <minDouble>-2</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0005</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </foc_offsets_voltage__2>
+        <foc_offsets_voltage_undriven__0>
+            <longName>Voltage Offset Undriven 0</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage channel 0 offset when the motor is undriven. This is at the ADC input, so it is not scaled with the voltage dividers.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_VOLTAGE_UNDRIVEN_0</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2</maxDouble>
+            <minDouble>-2</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0005</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </foc_offsets_voltage_undriven__0>
+        <foc_offsets_voltage_undriven__1>
+            <longName>Voltage Offset Undriven 1</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage channel 1 offset when the motor is undriven. This is at the ADC input, so it is not scaled with the voltage dividers.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_VOLTAGE_UNDRIVEN_1</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2</maxDouble>
+            <minDouble>-2</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0005</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </foc_offsets_voltage_undriven__1>
+        <foc_offsets_voltage_undriven__2>
+            <longName>Voltage Offset Undriven 2</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage channel 2 offset when the motor is undriven. This is at the ADC input, so it is not scaled with the voltage dividers.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_VOLTAGE_UNDRIVEN_2</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2</maxDouble>
+            <minDouble>-2</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0005</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </foc_offsets_voltage_undriven__2>
+        <foc_phase_filter_enable>
+            <longName>Enable Phase Filters</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This enables the use of phase voltage filters on hardware that supports it. Instead of calculating the phase voltage from the input voltage and modulation, it is measured directly by low-pass filtering the power stage output. The advantage of doing so is that it eliminates dead-time distortion, which helps track the motor at very low speeds. It should also be very useful on hardware with an IGBT output stage, as it compensated for the effect of IGBT voltage drop too.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_PHASE_FILTER_ENABLE</cDefine>
+            <valInt>1</valInt>
+        </foc_phase_filter_enable>
+        <foc_phase_filter_max_erpm>
+            <longName>Maximum ERPM for phase filters</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use the filtered phase voltage up until this ERPM, then use the value derived from the input voltage and the modilation. The delay and attenuation from the phase filters increases with the motor speed, while the dead-time distortion becomes less significant. The delay and attenuation is partly compensated for, but at some point it is still better to derive the phase voltages from the input voltage and modulation. This parameter sets that point.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_PHASE_FILTER_MAX_ERPM</cDefine>
+            <editorDecimalsDouble>0</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>10</stepDouble>
+            <valDouble>10000</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> ERPM</suffix>
+            <vTx>9</vTx>
+        </foc_phase_filter_max_erpm>
+        <foc_mtpa_mode>
+            <longName>MTPA Algorithm Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This parameter will enable the Maximum Torque Per Amp (MTPA) algorithm that injects a negative d axis current to follow the optimum torque trajectory. This is specially valuable on Interior Permanent Magnet (IPM) motors because they have large saliency and can yield a substantial torque increase.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The available modes are:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Disabled&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This disables the MTPA algorithm.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;IQ Target&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The D-axis current is based on the set Q-axis current. This makes the target value less noisy, but relies on the current controller keeping keeping the Q-axis current close to the set value. This mode does not work well with duty cycle control.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;IQ Measured&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The D-axis current is based on the measured Q-axis current. The commanded D-axis current will be more affected by noise, but it does not rely on the Q-axis current controller to keep the current at the set value.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Note:&lt;/span&gt; Only enable this feature if you know very well what you are doing. IPM motors are not popular and injecting negative id current can increase the motor speed. If id current suddenly collapses (under a fault condition for example) the DC Bus voltage can increase well beyond the powerstage rating causing a fire and maximum braking power at the motor shaft.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_MTPA_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Disabled</enumNames>
+            <enumNames>IQ Target</enumNames>
+            <enumNames>IQ Measured</enumNames>
+        </foc_mtpa_mode>
+        <foc_fw_current_max>
+            <longName>Field Weakening Current Max</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Maximum field weakening (FW) current.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_FW_CURRENT_MAX</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </foc_fw_current_max>
+        <foc_fw_duty_start>
+            <longName>Field Weakening Duty Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Start field weakening at this fraction of maximum duty cycle. &lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_FW_DUTY_START</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>100</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0.9</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> %</suffix>
+            <vTx>7</vTx>
+        </foc_fw_duty_start>
+        <foc_fw_q_current_factor>
+            <longName>Q Axis Current Factor</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Give the q axis current this much of the field weakening current as braking current (opposite to the current direction). This helps slow the motor down when commanding 0 current in case the position has an offset and the field weakening current contributes with torque.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_FW_Q_CURRENT_FACTOR</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>100</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0.02</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> %</suffix>
+            <vTx>7</vTx>
+        </foc_fw_q_current_factor>
+        <foc_fw_ramp_time>
+            <longName>Field Weakening Ramp Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum time to ramp the field weakening current. Setting this to 0 will make the field weakening respond instantly (limited by the D axis current controller).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_FW_RAMP_TIME</cDefine>
+            <editorDecimalsDouble>0</editorDecimalsDouble>
+            <editorScale>1000</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>30</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>10</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> ms</suffix>
+            <vTx>7</vTx>
+        </foc_fw_ramp_time>
+        <gpd_buffer_notify_left>
+            <longName>Buffer Notification Length</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Send notification when the sample fifo buffer has less than this amount of samples left.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_GPD_BUFFER_NOTIFY_LEFT</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>2048</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>200</valInt>
+            <suffix></suffix>
+            <vTx>4</vTx>
+        </gpd_buffer_notify_left>
+        <gpd_buffer_interpol>
+            <longName>Buffer Sampling Interpolation</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Interpolate buffer samples, meaning that they are used for several pwm cycles. This number defines for how many samples a sample is reused. 0 means that a new sample is picked every cycle, 1 means that one sample is used twice etc.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_GPD_BUFFER_INTERPOL</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>2048</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>0</valInt>
+            <suffix></suffix>
+            <vTx>4</vTx>
+        </gpd_buffer_interpol>
+        <gpd_current_filter_const>
+            <longName>Current Filter Constant</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Constant for the filtered current in the GPD implementation. Will affect how fast the slow abs max current fault triggers. Range 0 to 1, where 0 is the slowest and 1 is no filtering.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_GPD_CURRENT_FILTER_CONST</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.1</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </gpd_current_filter_const>
+        <gpd_current_kp>
+            <longName>Current KP</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current controller proportional gain.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_GPD_CURRENT_KP</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.03</valDouble>
+            <vTxDoubleScale>100000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </gpd_current_kp>
+        <gpd_current_ki>
+            <longName>Current KI</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current controller integral gain.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_GPD_CURRENT_KI</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>50</valDouble>
+            <vTxDoubleScale>100000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </gpd_current_ki>
+        <sp_pid_loop_rate>
+            <longName>PID Loop Rate</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Rate at which the position and speed controllers run.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SP_PID_LOOP_RATE</cDefine>
+            <valInt>5</valInt>
+            <enumNames>25 Hz</enumNames>
+            <enumNames>50 Hz</enumNames>
+            <enumNames>100 Hz</enumNames>
+            <enumNames>250 Hz</enumNames>
+            <enumNames>500 Hz</enumNames>
+            <enumNames>1000 Hz</enumNames>
+            <enumNames>2500 Hz</enumNames>
+            <enumNames>5000 Hz</enumNames>
+            <enumNames>10000 Hz</enumNames>
+        </sp_pid_loop_rate>
+        <s_pid_kp>
+            <longName>Speed PID Kp</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Proportional gain for the speed controller. FOC and BLDC need different parameters because their speed controllers differ.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_S_PID_KP</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0001</stepDouble>
+            <valDouble>0.004</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </s_pid_kp>
+        <s_pid_ki>
+            <longName>Speed PID Ki</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Integral gain for the speed controller. FOC and BLDC need different parameters because their speed controllers differ.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_S_PID_KI</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0001</stepDouble>
+            <valDouble>0.004</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </s_pid_ki>
+        <s_pid_kd>
+            <longName>Speed PID Kd</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Derivative gain for the speed controller. FOC and BLDC need different parameters because their speed controllers differ.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_S_PID_KD</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0001</stepDouble>
+            <valDouble>0.0001</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </s_pid_kd>
+        <s_pid_kd_filter>
+            <longName>Speed PID Kd Filter</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Filter on derivative term for speed controller. The range is 0 to 1, where 0 is the maximum amount of filtering (infinite) and 1 is no filtering.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_S_PID_KD_FILTER</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.2</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </s_pid_kd_filter>
+        <s_pid_min_erpm>
+            <longName>Minimum ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM below which the speed controller is disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_S_PID_MIN_RPM</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>900</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </s_pid_min_erpm>
+        <s_pid_allow_braking>
+            <longName>Allow Braking</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Allow the speed controller to to apply braking current. In general this option should be enabled, but for some applications it might make sense to disable braking during speed control.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_S_PID_ALLOW_BRAKING</cDefine>
+            <valInt>1</valInt>
+        </s_pid_allow_braking>
+        <s_pid_ramp_erpms_s>
+            <longName>Ramp eRPMs per second</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;This allows to control how fast the input of the speed command is allowed to increase each second. If user does not want to use this ramp, just apply a negative value such as -1.0. Only positive values are considered.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_S_PID_RAMP_ERPMS_S</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>-1</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>25000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </s_pid_ramp_erpms_s>
+        <p_pid_kp>
+            <longName>Position PID Kp</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Proportional gain for the position controller.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_P_PID_KP</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.001</stepDouble>
+            <valDouble>0.03</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </p_pid_kp>
+        <p_pid_ki>
+            <longName>Position PID Ki</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Integral gain for the position controller.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_P_PID_KI</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.001</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </p_pid_ki>
+        <p_pid_kd>
+            <longName>Position PID Kd</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Derivative gain for the position controller.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_P_PID_KD</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0001</stepDouble>
+            <valDouble>0.0004</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </p_pid_kd>
+        <p_pid_offset>
+            <longName>Position PID Offset Angle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Angle offset for the position controller.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_P_PID_OFFSET</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>360</maxDouble>
+            <minDouble>-360</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </p_pid_offset>
+        <p_pid_kd_proc>
+            <longName>Position PID Kd Process</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Derivative gain for the position controller. This derivative term is applied on the process variable (position_now) only and not on the error term (position_set - position_now). This way oscillations can be dampened without amplifying control signal input.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_P_PID_KD_PROC</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0001</stepDouble>
+            <valDouble>0.0004</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </p_pid_kd_proc>
+        <p_pid_kd_filter>
+            <longName>Position PID Kd Filter</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Filter on derivative term for position controller. The range is 0 to 1, where 0 is the maximum amount of filtering (infinite) and 1 is no filtering.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_P_PID_KD_FILTER</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.2</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </p_pid_kd_filter>
+        <p_pid_ang_div>
+            <longName>Position Angle Division</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Angle division for the position controller. Can be used to map one control rotation to several motor rotations.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_P_PID_ANG_DIV</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>100000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </p_pid_ang_div>
+        <p_pid_gain_dec_angle>
+            <longName>Gain Decrease Angle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Decrease position PID-gains when the erros is below this angle in electrical degrees. Helps at low speed when using low resolution encoders, such as hall sensors. A value of around 300 seems to work ok with hall sensors.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_P_PID_GAIN_DEC_ANGLE</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>7</vTx>
+        </p_pid_gain_dec_angle>
+        <cc_startup_boost_duty>
+            <longName>Startup boost</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Startup boost in current control. Essentially defines the lowest duty cycle to be used in current control mode, to give a bit more punch when starting.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_CC_STARTUP_BOOST_DUTY</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.005</stepDouble>
+            <valDouble>0.01</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </cc_startup_boost_duty>
+        <cc_min_current>
+            <longName>Minimum Current</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum current used by the current controller. Commanded currents below this value will release the motor.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_CC_MIN_CURRENT</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0.05</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </cc_min_current>
+        <cc_gain>
+            <longName>Current Controller Gain</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Gain for the BLDC and DC current controller. Should be lower for low inductance motors.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_CC_GAIN</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0005</stepDouble>
+            <valDouble>0.0046</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </cc_gain>
+        <cc_ramp_step_max>
+            <longName>Current Control Ramp Step Max</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum duty cycle ramp step in current control mode for DC and BLDC motors.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_CC_RAMP_STEP</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.005</stepDouble>
+            <valDouble>0.04</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </cc_ramp_step_max>
+        <m_fault_stop_time_ms>
+            <longName>Fault Stop Time</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Amount of time to leave the motor disabled after a fault code.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_FAULT_STOP_TIME</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>30000000</maxInt>
+            <minInt>-1</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>500</stepInt>
+            <valInt>500</valInt>
+            <suffix> ms</suffix>
+            <vTx>6</vTx>
+        </m_fault_stop_time_ms>
+        <m_duty_ramp_step>
+            <longName>Duty Ramp Step Max</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum duty cycle ramp step for DC and BLDC motors.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_RAMP_STEP</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.005</stepDouble>
+            <valDouble>0.02</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </m_duty_ramp_step>
+        <m_current_backoff_gain>
+            <longName>Current Backoff Gain</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Gain for the BLDC and DC current backoff. Used to limit the current in duty cycle mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_CURRENT_BACKOFF_GAIN</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>50</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.5</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </m_current_backoff_gain>
+        <m_encoder_counts>
+            <longName>ABI Encoder Counts</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Number of counts for the A-B-Index encoder. This usually is the encoder resolution times 4, since every edge in the quadrature signal is counted. This setting only matters when using an ABI encoder.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_ENCODER_COUNTS</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>30000000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>8192</valInt>
+            <suffix></suffix>
+            <vTx>5</vTx>
+        </m_encoder_counts>
+        <m_sensor_port_mode>
+            <longName>Sensor Port Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Mode for the sensor port. Can be changed for compatibility with different rotor position sensors. Notice that this setting does not have any impact when running sensorless. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The modes are:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Hall Sensors&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The motor has hall sensors built in which give a position resolution of 120 degrees.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;ABI Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;A rotary encoder with A-B-Index output. Notice that this encoder does not help until the index pulse is found, so when running FOC open loop mode will be used for up to one mechanical revolution to find the index position when trying to run a motor for the first time after a power cycle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Notice that you also have to set the number of encoder counts in order to use this type of encoder. This usually is the number of pulses per revolution times 4, since every edge of both pulse trains is counted.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;AS5047 Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;An AS5047 magnetic encoder connected over SPI. This one provides absolute positions from start, but tends to have a bit of nonlinearity.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;SIN/COS Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;A Sin/Cos encoder is a position feedback device similar to a quadrature encoder, except instead of outputting digital pulses, it outputs analog voltages with sinusoidal shapes offset by 90°. Provides absolute positions from the start, but its sensitive to EMI and requires special filtering,  transient protections and shielded wiring.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;TS5700N8501 Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;This encoder uses RS485, so it has to be connected to the COMM port. A RS485-transceiver such as the &lt;/span&gt;&lt;span style=&quot; font-family:'sans-serif';&quot;&gt;ADM485 is required, where RX and TX are used as the data lines. ADC1 is used to trigger between RX and TX, which is needed as the communication is half duplex. To use this encoder, you have to make sure that no app uses UART or ADC1.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'sans-serif';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;TS5700N8501 Encoder Multiturn&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Same as above, but uses the multiturn function. The angle is divided by 10000, thus can be used for up to 10000 revolutions. The position PID parameters need to be increased by a factor of around 10000 for this to work similarly to the single turn mode. Note that this is not a good implementation and needs improvement in the future. 180 degrees PID setpoint corresponds to multiturn position 0.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'sans-serif';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;MT6816 Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;A magnetic encoder using a high speed SPI communication. Provides absolute position from start. It has to be connected to a hardware-based SPI peripheral.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_SENSOR_PORT_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Hall Sensors</enumNames>
+            <enumNames>ABI Encoder</enumNames>
+            <enumNames>AS5047 Encoder</enumNames>
+            <enumNames>AD2S1205 Resolver</enumNames>
+            <enumNames>Sin/Cos Encoder</enumNames>
+            <enumNames>TS5700N8501 Encoder</enumNames>
+            <enumNames>TS5700N8501 Encoder (Multiturn)</enumNames>
+            <enumNames>MT6816 Encoder (SPI)</enumNames>
+        </m_sensor_port_mode>
+        <m_invert_direction>
+            <longName>Invert Motor Direction</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Invert the motor direction. This option can be used to make the motor turn in the opposite direction. All state and control commands in &lt;span style=&quot; font-weight:600;&quot;&gt;mc_interface&lt;/span&gt; will respect this setting, so it should work as well as swithcing two motor cables for all applications.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_INVERT_DIRECTION</cDefine>
+            <valInt>0</valInt>
+        </m_invert_direction>
+        <m_drv8301_oc_mode>
+            <longName>DRV8301 OC Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The mode for the over current protection feature of the DRV8301. The over current protection in the DRV8301 works by measuring the voltage drop across the MOSFETs and shuts them off of it exceeds a configurable limit.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Notice&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This setting only has impact on hardware with the DRV8301&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_DRV8301_OC_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Current Limit</enumNames>
+            <enumNames>OC Latch Shutdown</enumNames>
+            <enumNames>Report Only</enumNames>
+            <enumNames>Disabled</enumNames>
+        </m_drv8301_oc_mode>
+        <m_drv8301_oc_adj>
+            <longName>DRV8301 OC Adjustment</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The threshold for the over current protection feature of the DRV8301. Lower values correspond to lower currents. See the datasheet for more imformation about this setting.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Notice&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This setting only has impact on hardware with the DRV8301&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_DRV8301_OC_ADJ</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>31</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>16</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </m_drv8301_oc_adj>
+        <m_bldc_f_sw_min>
+            <longName>Minimum Switching Frequency</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The minimum switching frequency in BLDC mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_BLDC_F_SW_MIN</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>0.001</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>40000</maxDouble>
+            <minDouble>3000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>3000</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> kHz</suffix>
+            <vTx>9</vTx>
+        </m_bldc_f_sw_min>
+        <m_bldc_f_sw_max>
+            <longName>Maximum Switching Frequency</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The maximum switching frequency in BLDC mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_BLDC_F_SW_MAX</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>0.001</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>40000</maxDouble>
+            <minDouble>3000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>35000</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> kHz</suffix>
+            <vTx>9</vTx>
+        </m_bldc_f_sw_max>
+        <m_dc_f_sw>
+            <longName>Switching Frequency</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The switching frequency in DC mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_DC_F_SW</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>0.001</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>25000</maxDouble>
+            <minDouble>3000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>25000</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> kHz</suffix>
+            <vTx>9</vTx>
+        </m_dc_f_sw>
+        <m_ntc_motor_beta>
+            <longName>Beta Value for Motor Thermistor</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Beta Value for Motor Thermistor.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_NTC_MOTOR_BETA</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>100</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>3380</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> K</suffix>
+            <vTx>9</vTx>
+        </m_ntc_motor_beta>
+        <m_out_aux_mode>
+            <longName>Auxiliary Output Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Auxiliary output mode. Can be used to e.g. activate a relay after a certain delay for bus capacitor precharging.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_OUT_AUX_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Off</enumNames>
+            <enumNames>On after 2 seconds</enumNames>
+            <enumNames>On after 5 seconds</enumNames>
+            <enumNames>On after 10 seconds</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>On when running</enumNames>
+            <enumNames>On when not running</enumNames>
+            <enumNames>Temp motor &gt; 50 C</enumNames>
+            <enumNames>Temp mosfet &gt; 50 C</enumNames>
+            <enumNames>Temp motor &gt; 70 C</enumNames>
+            <enumNames>Temp mosfet &gt; 70 C</enumNames>
+            <enumNames>Temp motor or mosfet &gt; 50 C</enumNames>
+            <enumNames>Temp motor or mosfet &gt; 70 C</enumNames>
+        </m_out_aux_mode>
+        <m_motor_temp_sens_type>
+            <longName>Motor Temperature Sensor Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Motor temperature sensor type. Most small hobby motors have a 10K NTC thermistor, whereas some larger motors have 1K PTC thermistors (such as the KTY84).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_MOTOR_TEMP_SENS_TYPE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>NTC 10K at 25°C</enumNames>
+            <enumNames>PTC 1K at 100 °C</enumNames>
+            <enumNames>KTY83/122</enumNames>
+            <enumNames>NTC 100K at 25°C</enumNames>
+            <enumNames>KTY84/130</enumNames>
+        </m_motor_temp_sens_type>
+        <m_ptc_motor_coeff>
+            <longName>Coefficient for PTC Motor Thermistor</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Coefficient for PTC Motor Thermistor. Unit: %/K&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_PTC_MOTOR_COEFF</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0.05</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.61</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> %/K</suffix>
+            <vTx>9</vTx>
+        </m_ptc_motor_coeff>
+        <m_hall_extra_samples>
+            <longName>Hall Sensor Extra Samples</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Read the hall sensor port this many extra samples and use a median filter. Increasing this number will reduce noise on the hall sensor readings, but makes the motor control interrupt take longer and thus limits the maximum switching frequency.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_HALL_EXTRA_SAMPLES</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>99</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>1</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </m_hall_extra_samples>
+        <si_motor_poles>
+            <longName>Motor Poles</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Motor pole count. Most outrunners have 14 poles. Inrunners usually have 2 or 4 poles. The motor pole count is required for speed and travel distance calculation.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SI_MOTOR_POLES</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>254</maxInt>
+            <minInt>2</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>2</stepInt>
+            <valInt>14</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </si_motor_poles>
+        <si_gear_ratio>
+            <longName>Gear Ratio</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Gear ratio. For example, if the motor has a 12 tooth pulley and the wheel has a 36 tooth pulley, the gear ratio is:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;36 / 12 = &lt;span style=&quot; font-weight:600;&quot;&gt;3.0&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SI_GEAR_RATIO</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>9999</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>3</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </si_gear_ratio>
+        <si_wheel_diameter>
+            <longName>Wheel Diameter</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Wheel diameter, in mm.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SI_WHEEL_DIAMETER</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1000</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>9999</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0.083</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> mm</suffix>
+            <vTx>9</vTx>
+        </si_wheel_diameter>
+        <si_battery_type>
+            <longName>Battery Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Battery Type&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;BATTERY_TYPE_LIION_3_0__4_2&lt;/span&gt;,&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Lithoium ion, voltage range: 3.0 to 4.2&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;BATTERY_TYPE_LIIRON_2_6__3_6&lt;/span&gt;,&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Lithoium iron phosphate, voltage range: 2.6 to 3.6&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;BATTERY_TYPE_LEAD_ACID&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Lead Acic, voltage range: 2.1 to 2.36&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SI_BATTERY_TYPE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>BATTERY_TYPE_LIION_3_0__4_2</enumNames>
+            <enumNames>BATTERY_TYPE_LIIRON_2_6__3_6</enumNames>
+            <enumNames>BATTERY_TYPE_LEAD_ACID</enumNames>
+        </si_battery_type>
+        <si_battery_cells>
+            <longName>Battery Cells Series</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Battery cells in series.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SI_BATTERY_CELLS</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>1</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>3</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </si_battery_cells>
+        <si_battery_ah>
+            <longName>Battery Capacity</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Battery capacity in ampere hours.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SI_BATTERY_AH</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>6</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> Ah</suffix>
+            <vTx>9</vTx>
+        </si_battery_ah>
+        <si_motor_nl_current>
+            <longName>Motor No Load Current</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;No load current for the motor. Can be measured by running the motor at around 50% duty cycle without load and noting the motor current draw.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The no load current can be used in the motor comparison tool for calculating efficiencies and comparing different motors, gear ratios etc.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SI_MOTOR_NL_CURRENT</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>999</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </si_motor_nl_current>
+        <motor_brand>
+            <longName>Motor Brand</longName>
+            <type>3</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The motor brand, e.g. Turnigy.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <valString>Unnamed</valString>
+        </motor_brand>
+        <motor_model>
+            <longName>Motor Model</longName>
+            <type>3</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The motor model, e.g. 6374 168KV.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <valString>Not Specified</valString>
+        </motor_model>
+        <motor_weight>
+            <longName>Motor Weight</longName>
+            <type>1</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The weight of the motor in grams.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> g</suffix>
+            <vTx>9</vTx>
+        </motor_weight>
+        <motor_sensor_type>
+            <longName>Position Sensor</longName>
+            <type>4</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Does this motor come with some kind of position sensor?&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <valInt>0</valInt>
+            <enumNames>No sensor</enumNames>
+            <enumNames>Hall Sensors</enumNames>
+            <enumNames>ABI Encoder</enumNames>
+            <enumNames>AS5047 Encoder</enumNames>
+            <enumNames>Other Sensor</enumNames>
+        </motor_sensor_type>
+        <motor_description>
+            <longName>Motor Description</longName>
+            <type>3</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;This is an editor where a description can be stored for your motor configuration. Images can also be inserted. Notice that this information is not written to the VESC, so it has to be stored in an XML file.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <valString>A motor description can be edited here.</valString>
+        </motor_description>
+        <motor_quality_bearings>
+            <longName>Bearing Quality</longName>
+            <type>2</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Motor bearing quality. 0 is neutral/unknown, negative is bad and positive is good.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>5</maxInt>
+            <minInt>-5</minInt>
+            <showDisplay>1</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>0</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </motor_quality_bearings>
+        <motor_quality_magnets>
+            <longName>Magnet Quality</longName>
+            <type>2</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Motor magnet quality. 0 is neutral/unknown, negative is bad and positive is good.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>5</maxInt>
+            <minInt>-5</minInt>
+            <showDisplay>1</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>0</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </motor_quality_magnets>
+        <motor_quality_construction>
+            <longName>Construction Quality</longName>
+            <type>2</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Motor construction quality. 0 is neutral/unknown, negative is bad and positive is good.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>5</maxInt>
+            <minInt>-5</minInt>
+            <showDisplay>1</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>0</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </motor_quality_construction>
+        <motor_quality_description>
+            <longName>Quality Description</longName>
+            <type>3</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A text summary of the motor quality.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <valString>Some comments about the motor quality. Images can be added as well.</valString>
+        </motor_quality_description>
+        <bms.type>
+            <longName>BMS Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Type of BMS. This determines how BMS-related messages on the CAN-bus are interpreted. Options are:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;None&lt;/span&gt;:&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;No BMS is used. All messages on the CAN-bus are ignored by the BMS module.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;VESC BMS:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC BMS is used.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_BMS_TYPE</cDefine>
+            <valInt>1</valInt>
+            <enumNames>None</enumNames>
+            <enumNames>VESC BMS</enumNames>
+        </bms.type>
+        <bms.t_limit_start>
+            <longName>Temperature Limit Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The battery temperature above which battery current starts to get reduced.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;If there is more than one BMS on the CAN-bus, the one with the highest value will be ued.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_BMS_T_LIMIT_START</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>99</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>45</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °C</suffix>
+            <vTx>7</vTx>
+        </bms.t_limit_start>
+        <bms.t_limit_end>
+            <longName>Temperature Limit End</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The battery temperature above which battery current is not allowed and a fault is thrown.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;If there is more than one BMS on the CAN-bus, the one with the highest value will be ued.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_BMS_T_LIMIT_END</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>99</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>65</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °C</suffix>
+            <vTx>7</vTx>
+        </bms.t_limit_end>
+        <bms.soc_limit_start>
+            <longName>SOC Limit Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The battery state of charge (SOC) below which battery current starts to get reduced.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;If there is more than one BMS on the CAN-bus, the one with the lowest value will be ued.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_BMS_SOC_LIMIT_START</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.05</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </bms.soc_limit_start>
+        <bms.soc_limit_end>
+            <longName>SOC Limit End</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The battery state of charge (SOC) below which battery current is not allowed anymore.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;If there is more than one BMS on the CAN-bus, the one with the lowest value will be ued.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_BMS_SOC_LIMIT_END</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </bms.soc_limit_end>
+        <bms.fwd_can_mode>
+            <longName>Forward CAN to Local</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Forward CAN-frames to local device as they are received. This is useful when many BMSes are connected on a CAN-bus to avoid polling the state from each one of them.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;This can cause a lot of data if there are many BMSes on the CAN-bus, so it is recommended to only do it over the USB-connection.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Options:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Disabled&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;This function is disabled.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;USB Only&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Only forward frames to device connected over USB.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Any Interface&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Forward frames to device connected using any interface.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_BMS_FWD_CAN_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Disabled</enumNames>
+            <enumNames>USB Only</enumNames>
+            <enumNames>Any Interface</enumNames>
+        </bms.fwd_can_mode>
+    </Params>
+    <SerOrder>
+        <ser>pwm_mode</ser>
+        <ser>comm_mode</ser>
+        <ser>motor_type</ser>
+        <ser>sensor_mode</ser>
+        <ser>l_current_max</ser>
+        <ser>l_current_min</ser>
+        <ser>l_in_current_max</ser>
+        <ser>l_in_current_min</ser>
+        <ser>l_abs_current_max</ser>
+        <ser>l_min_erpm</ser>
+        <ser>l_max_erpm</ser>
+        <ser>l_erpm_start</ser>
+        <ser>l_max_erpm_fbrake</ser>
+        <ser>l_max_erpm_fbrake_cc</ser>
+        <ser>l_min_vin</ser>
+        <ser>l_max_vin</ser>
+        <ser>l_battery_cut_start</ser>
+        <ser>l_battery_cut_end</ser>
+        <ser>l_slow_abs_current</ser>
+        <ser>l_temp_fet_start</ser>
+        <ser>l_temp_fet_end</ser>
+        <ser>l_temp_motor_start</ser>
+        <ser>l_temp_motor_end</ser>
+        <ser>l_temp_accel_dec</ser>
+        <ser>l_min_duty</ser>
+        <ser>l_max_duty</ser>
+        <ser>l_watt_max</ser>
+        <ser>l_watt_min</ser>
+        <ser>l_current_max_scale</ser>
+        <ser>l_current_min_scale</ser>
+        <ser>l_duty_start</ser>
+        <ser>sl_min_erpm</ser>
+        <ser>sl_min_erpm_cycle_int_limit</ser>
+        <ser>sl_max_fullbreak_current_dir_change</ser>
+        <ser>sl_cycle_int_limit</ser>
+        <ser>sl_phase_advance_at_br</ser>
+        <ser>sl_cycle_int_rpm_br</ser>
+        <ser>sl_bemf_coupling_k</ser>
+        <ser>hall_table__0</ser>
+        <ser>hall_table__1</ser>
+        <ser>hall_table__2</ser>
+        <ser>hall_table__3</ser>
+        <ser>hall_table__4</ser>
+        <ser>hall_table__5</ser>
+        <ser>hall_table__6</ser>
+        <ser>hall_table__7</ser>
+        <ser>hall_sl_erpm</ser>
+        <ser>foc_current_kp</ser>
+        <ser>foc_current_ki</ser>
+        <ser>foc_f_zv</ser>
+        <ser>foc_dt_us</ser>
+        <ser>foc_encoder_inverted</ser>
+        <ser>foc_encoder_offset</ser>
+        <ser>foc_encoder_ratio</ser>
+        <ser>foc_encoder_sin_gain</ser>
+        <ser>foc_encoder_cos_gain</ser>
+        <ser>foc_encoder_sin_offset</ser>
+        <ser>foc_encoder_cos_offset</ser>
+        <ser>foc_encoder_sincos_filter_constant</ser>
+        <ser>foc_sensor_mode</ser>
+        <ser>foc_pll_kp</ser>
+        <ser>foc_pll_ki</ser>
+        <ser>foc_motor_l</ser>
+        <ser>foc_motor_ld_lq_diff</ser>
+        <ser>foc_motor_r</ser>
+        <ser>foc_motor_flux_linkage</ser>
+        <ser>foc_observer_gain</ser>
+        <ser>foc_observer_gain_slow</ser>
+        <ser>foc_observer_offset</ser>
+        <ser>foc_duty_dowmramp_kp</ser>
+        <ser>foc_duty_dowmramp_ki</ser>
+        <ser>foc_openloop_rpm</ser>
+        <ser>foc_openloop_rpm_low</ser>
+        <ser>foc_d_gain_scale_start</ser>
+        <ser>foc_d_gain_scale_max_mod</ser>
+        <ser>foc_sl_openloop_hyst</ser>
+        <ser>foc_sl_openloop_time_lock</ser>
+        <ser>foc_sl_openloop_time_ramp</ser>
+        <ser>foc_sl_openloop_time</ser>
+        <ser>foc_hall_table__0</ser>
+        <ser>foc_hall_table__1</ser>
+        <ser>foc_hall_table__2</ser>
+        <ser>foc_hall_table__3</ser>
+        <ser>foc_hall_table__4</ser>
+        <ser>foc_hall_table__5</ser>
+        <ser>foc_hall_table__6</ser>
+        <ser>foc_hall_table__7</ser>
+        <ser>foc_hall_interp_erpm</ser>
+        <ser>foc_sl_erpm</ser>
+        <ser>foc_sample_v0_v7</ser>
+        <ser>foc_sample_high_current</ser>
+        <ser>foc_sat_comp</ser>
+        <ser>foc_temp_comp</ser>
+        <ser>foc_temp_comp_base_temp</ser>
+        <ser>foc_current_filter_const</ser>
+        <ser>foc_cc_decoupling</ser>
+        <ser>foc_observer_type</ser>
+        <ser>foc_hfi_voltage_start</ser>
+        <ser>foc_hfi_voltage_run</ser>
+        <ser>foc_hfi_voltage_max</ser>
+        <ser>foc_sl_erpm_hfi</ser>
+        <ser>foc_hfi_start_samples</ser>
+        <ser>foc_hfi_obs_ovr_sec</ser>
+        <ser>foc_hfi_samples</ser>
+        <ser>foc_offsets_cal_on_boot</ser>
+        <ser>foc_offsets_current__0</ser>
+        <ser>foc_offsets_current__1</ser>
+        <ser>foc_offsets_current__2</ser>
+        <ser>foc_offsets_voltage__0</ser>
+        <ser>foc_offsets_voltage__1</ser>
+        <ser>foc_offsets_voltage__2</ser>
+        <ser>foc_offsets_voltage_undriven__0</ser>
+        <ser>foc_offsets_voltage_undriven__1</ser>
+        <ser>foc_offsets_voltage_undriven__2</ser>
+        <ser>foc_phase_filter_enable</ser>
+        <ser>foc_phase_filter_max_erpm</ser>
+        <ser>foc_mtpa_mode</ser>
+        <ser>foc_fw_current_max</ser>
+        <ser>foc_fw_duty_start</ser>
+        <ser>foc_fw_ramp_time</ser>
+        <ser>foc_fw_q_current_factor</ser>
+        <ser>gpd_buffer_notify_left</ser>
+        <ser>gpd_buffer_interpol</ser>
+        <ser>gpd_current_filter_const</ser>
+        <ser>gpd_current_kp</ser>
+        <ser>gpd_current_ki</ser>
+        <ser>sp_pid_loop_rate</ser>
+        <ser>s_pid_kp</ser>
+        <ser>s_pid_ki</ser>
+        <ser>s_pid_kd</ser>
+        <ser>s_pid_kd_filter</ser>
+        <ser>s_pid_min_erpm</ser>
+        <ser>s_pid_allow_braking</ser>
+        <ser>s_pid_ramp_erpms_s</ser>
+        <ser>p_pid_kp</ser>
+        <ser>p_pid_ki</ser>
+        <ser>p_pid_kd</ser>
+        <ser>p_pid_kd_proc</ser>
+        <ser>p_pid_kd_filter</ser>
+        <ser>p_pid_ang_div</ser>
+        <ser>p_pid_gain_dec_angle</ser>
+        <ser>p_pid_offset</ser>
+        <ser>cc_startup_boost_duty</ser>
+        <ser>cc_min_current</ser>
+        <ser>cc_gain</ser>
+        <ser>cc_ramp_step_max</ser>
+        <ser>m_fault_stop_time_ms</ser>
+        <ser>m_duty_ramp_step</ser>
+        <ser>m_current_backoff_gain</ser>
+        <ser>m_encoder_counts</ser>
+        <ser>m_sensor_port_mode</ser>
+        <ser>m_invert_direction</ser>
+        <ser>m_drv8301_oc_mode</ser>
+        <ser>m_drv8301_oc_adj</ser>
+        <ser>m_bldc_f_sw_min</ser>
+        <ser>m_bldc_f_sw_max</ser>
+        <ser>m_dc_f_sw</ser>
+        <ser>m_ntc_motor_beta</ser>
+        <ser>m_out_aux_mode</ser>
+        <ser>m_motor_temp_sens_type</ser>
+        <ser>m_ptc_motor_coeff</ser>
+        <ser>m_hall_extra_samples</ser>
+        <ser>si_motor_poles</ser>
+        <ser>si_gear_ratio</ser>
+        <ser>si_wheel_diameter</ser>
+        <ser>si_battery_type</ser>
+        <ser>si_battery_cells</ser>
+        <ser>si_battery_ah</ser>
+        <ser>si_motor_nl_current</ser>
+        <ser>bms.type</ser>
+        <ser>bms.t_limit_start</ser>
+        <ser>bms.t_limit_end</ser>
+        <ser>bms.soc_limit_start</ser>
+        <ser>bms.soc_limit_end</ser>
+        <ser>bms.fwd_can_mode</ser>
+    </SerOrder>
+    <Grouping>
+        <group>
+            <groupName>General</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>motor_type</param>
+                    <param>m_invert_direction</param>
+                    <param>m_sensor_port_mode</param>
+                    <param>m_encoder_counts</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Current</subgroupName>
+                <subgroupParams>
+                    <param>::sep::Motor</param>
+                    <param>l_current_max</param>
+                    <param>l_current_min</param>
+                    <param>l_abs_current_max</param>
+                    <param>l_slow_abs_current</param>
+                    <param>l_current_max_scale</param>
+                    <param>l_current_min_scale</param>
+                    <param>::sep::Battery</param>
+                    <param>l_in_current_max</param>
+                    <param>l_in_current_min</param>
+                    <param>::sep::DRV8301</param>
+                    <param>m_drv8301_oc_mode</param>
+                    <param>m_drv8301_oc_adj</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Voltage</subgroupName>
+                <subgroupParams>
+                    <param>l_battery_cut_start</param>
+                    <param>l_battery_cut_end</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>RPM</subgroupName>
+                <subgroupParams>
+                    <param>l_max_erpm</param>
+                    <param>l_min_erpm</param>
+                    <param>l_erpm_start</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Wattage</subgroupName>
+                <subgroupParams>
+                    <param>l_watt_max</param>
+                    <param>l_watt_min</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Temperature</subgroupName>
+                <subgroupParams>
+                    <param>::sep::General</param>
+                    <param>l_temp_accel_dec</param>
+                    <param>::sep::MOSFET</param>
+                    <param>l_temp_fet_start</param>
+                    <param>l_temp_fet_end</param>
+                    <param>::sep::Motor</param>
+                    <param>l_temp_motor_start</param>
+                    <param>l_temp_motor_end</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>BMS</subgroupName>
+                <subgroupParams>
+                    <param>bms.type</param>
+                    <param>bms.t_limit_start</param>
+                    <param>bms.t_limit_end</param>
+                    <param>bms.soc_limit_start</param>
+                    <param>bms.soc_limit_end</param>
+                    <param>bms.fwd_can_mode</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Advanced</subgroupName>
+                <subgroupParams>
+                    <param>l_min_vin</param>
+                    <param>l_max_vin</param>
+                    <param>l_min_duty</param>
+                    <param>l_max_duty</param>
+                    <param>cc_min_current</param>
+                    <param>m_fault_stop_time_ms</param>
+                    <param>m_out_aux_mode</param>
+                    <param>m_motor_temp_sens_type</param>
+                    <param>m_ntc_motor_beta</param>
+                    <param>m_ptc_motor_coeff</param>
+                    <param>l_duty_start</param>
+                    <param>m_hall_extra_samples</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>BLDC</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>sensor_mode</param>
+                    <param>comm_mode</param>
+                    <param>cc_startup_boost_duty</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Sensorless</subgroupName>
+                <subgroupParams>
+                    <param>sl_cycle_int_limit</param>
+                    <param>sl_min_erpm</param>
+                    <param>sl_min_erpm_cycle_int_limit</param>
+                    <param>sl_bemf_coupling_k</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Sensors</subgroupName>
+                <subgroupParams>
+                    <param>hall_sl_erpm</param>
+                    <param>hall_table__0</param>
+                    <param>hall_table__1</param>
+                    <param>hall_table__2</param>
+                    <param>hall_table__3</param>
+                    <param>hall_table__4</param>
+                    <param>hall_table__5</param>
+                    <param>hall_table__6</param>
+                    <param>hall_table__7</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Advanced</subgroupName>
+                <subgroupParams>
+                    <param>sl_phase_advance_at_br</param>
+                    <param>sl_cycle_int_rpm_br</param>
+                    <param>l_max_erpm_fbrake</param>
+                    <param>pwm_mode</param>
+                    <param>cc_gain</param>
+                    <param>cc_ramp_step_max</param>
+                    <param>m_duty_ramp_step</param>
+                    <param>m_current_backoff_gain</param>
+                    <param>m_bldc_f_sw_min</param>
+                    <param>m_bldc_f_sw_max</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>DC</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>cc_gain</param>
+                    <param>cc_ramp_step_max</param>
+                    <param>m_duty_ramp_step</param>
+                    <param>m_current_backoff_gain</param>
+                    <param>m_dc_f_sw</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>FOC</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>foc_sensor_mode</param>
+                    <param>foc_motor_r</param>
+                    <param>foc_motor_l</param>
+                    <param>foc_motor_ld_lq_diff</param>
+                    <param>foc_motor_flux_linkage</param>
+                    <param>foc_current_kp</param>
+                    <param>foc_current_ki</param>
+                    <param>foc_observer_gain</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Sensorless</subgroupName>
+                <subgroupParams>
+                    <param>foc_openloop_rpm</param>
+                    <param>foc_openloop_rpm_low</param>
+                    <param>foc_sl_openloop_hyst</param>
+                    <param>foc_sl_openloop_time_lock</param>
+                    <param>foc_sl_openloop_time_ramp</param>
+                    <param>foc_sl_openloop_time</param>
+                    <param>foc_sat_comp</param>
+                    <param>foc_temp_comp</param>
+                    <param>foc_temp_comp_base_temp</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Hall Sensors</subgroupName>
+                <subgroupParams>
+                    <param>foc_sl_erpm</param>
+                    <param>foc_hall_interp_erpm</param>
+                    <param>foc_hall_table__0</param>
+                    <param>foc_hall_table__1</param>
+                    <param>foc_hall_table__2</param>
+                    <param>foc_hall_table__3</param>
+                    <param>foc_hall_table__4</param>
+                    <param>foc_hall_table__5</param>
+                    <param>foc_hall_table__6</param>
+                    <param>foc_hall_table__7</param>
+                    <param>m_hall_extra_samples</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Encoder</subgroupName>
+                <subgroupParams>
+                    <param>foc_sl_erpm</param>
+                    <param>foc_encoder_offset</param>
+                    <param>foc_encoder_ratio</param>
+                    <param>foc_encoder_inverted</param>
+                    <param>foc_encoder_sin_gain</param>
+                    <param>foc_encoder_sin_offset</param>
+                    <param>foc_encoder_cos_gain</param>
+                    <param>foc_encoder_cos_offset</param>
+                    <param>foc_encoder_sincos_filter_constant</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>HFI</subgroupName>
+                <subgroupParams>
+                    <param>foc_hfi_samples</param>
+                    <param>foc_hfi_voltage_start</param>
+                    <param>foc_hfi_voltage_run</param>
+                    <param>foc_hfi_voltage_max</param>
+                    <param>foc_sl_erpm_hfi</param>
+                    <param>foc_hfi_start_samples</param>
+                    <param>foc_hfi_obs_ovr_sec</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>VSS</subgroupName>
+                <subgroupParams>
+                    <param>foc_hfi_samples</param>
+                    <param>foc_hfi_voltage_start</param>
+                    <param>foc_hfi_start_samples</param>
+                    <param>foc_openloop_rpm</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Filters</subgroupName>
+                <subgroupParams>
+                    <param>foc_phase_filter_enable</param>
+                    <param>foc_phase_filter_max_erpm</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Offsets</subgroupName>
+                <subgroupParams>
+                    <param>foc_offsets_cal_on_boot</param>
+                    <param>::sep::Current</param>
+                    <param>foc_offsets_current__0</param>
+                    <param>foc_offsets_current__1</param>
+                    <param>foc_offsets_current__2</param>
+                    <param>::sep::Voltage</param>
+                    <param>foc_offsets_voltage__0</param>
+                    <param>foc_offsets_voltage__1</param>
+                    <param>foc_offsets_voltage__2</param>
+                    <param>::sep::Voltage Undriven</param>
+                    <param>foc_offsets_voltage_undriven__0</param>
+                    <param>foc_offsets_voltage_undriven__1</param>
+                    <param>foc_offsets_voltage_undriven__2</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Field Weakening</subgroupName>
+                <subgroupParams>
+                    <param>foc_fw_current_max</param>
+                    <param>foc_fw_duty_start</param>
+                    <param>foc_fw_ramp_time</param>
+                    <param>foc_fw_q_current_factor</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Advanced</subgroupName>
+                <subgroupParams>
+                    <param>foc_f_zv</param>
+                    <param>foc_dt_us</param>
+                    <param>foc_pll_kp</param>
+                    <param>foc_pll_ki</param>
+                    <param>foc_duty_dowmramp_kp</param>
+                    <param>foc_duty_dowmramp_ki</param>
+                    <param>foc_sample_v0_v7</param>
+                    <param>foc_sample_high_current</param>
+                    <param>foc_observer_gain_slow</param>
+                    <param>foc_current_filter_const</param>
+                    <param>foc_cc_decoupling</param>
+                    <param>foc_observer_type</param>
+                    <param>foc_d_gain_scale_start</param>
+                    <param>foc_d_gain_scale_max_mod</param>
+                    <param>foc_mtpa_mode</param>
+                    <param>foc_observer_offset</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>GPD</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>pwm_mode</param>
+                    <param>gpd_buffer_notify_left</param>
+                    <param>gpd_buffer_interpol</param>
+                    <param>gpd_current_filter_const</param>
+                    <param>gpd_current_kp</param>
+                    <param>gpd_current_ki</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>PID Controllers</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>::sep::Common</param>
+                    <param>sp_pid_loop_rate</param>
+                    <param>::sep::Speed Controller</param>
+                    <param>s_pid_kp</param>
+                    <param>s_pid_ki</param>
+                    <param>s_pid_kd</param>
+                    <param>s_pid_kd_filter</param>
+                    <param>s_pid_min_erpm</param>
+                    <param>s_pid_allow_braking</param>
+                    <param>s_pid_ramp_erpms_s</param>
+                    <param>::sep::Position Controller</param>
+                    <param>p_pid_kp</param>
+                    <param>p_pid_ki</param>
+                    <param>p_pid_kd</param>
+                    <param>p_pid_kd_proc</param>
+                    <param>p_pid_kd_filter</param>
+                    <param>p_pid_ang_div</param>
+                    <param>p_pid_gain_dec_angle</param>
+                    <param>p_pid_offset</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>Additional Info</groupName>
+            <subgroup>
+                <subgroupName>Setup</subgroupName>
+                <subgroupParams>
+                    <param>si_motor_poles</param>
+                    <param>si_gear_ratio</param>
+                    <param>si_wheel_diameter</param>
+                    <param>si_battery_type</param>
+                    <param>si_battery_cells</param>
+                    <param>si_battery_ah</param>
+                    <param>si_motor_nl_current</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>motor_brand</param>
+                    <param>motor_model</param>
+                    <param>motor_weight</param>
+                    <param>motor_sensor_type</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Quality</subgroupName>
+                <subgroupParams>
+                    <param>motor_quality_bearings</param>
+                    <param>motor_quality_magnets</param>
+                    <param>motor_quality_construction</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+    </Grouping>
+</ConfigParams>
diff --git a/res_config.qrc b/res_config.qrc
index dc988333e..b5fa06689 100755
--- a/res_config.qrc
+++ b/res_config.qrc
@@ -58,5 +58,8 @@
         <file>res/config/5.03/info.xml</file>
         <file>res/config/5.03/parameters_appconf.xml</file>
         <file>res/config/5.03/parameters_mcconf.xml</file>
+        <file>res/config/6.00/info.xml</file>
+        <file>res/config/6.00/parameters_appconf.xml</file>
+        <file>res/config/6.00/parameters_mcconf.xml</file>
     </qresource>
 </RCC>
diff --git a/vesc_tool.pro b/vesc_tool.pro
index 64e42a1e7..daa68d914 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -5,12 +5,12 @@
 #-------------------------------------------------
 
 # Version
-VT_VERSION = 3.01
+VT_VERSION = 4.00
 VT_INTRO_VERSION = 1
 VT_CONFIG_VERSION = 2
 
 # Set to 0 for stable versions and to test version number for development versions.
-VT_IS_TEST_VERSION = 0
+VT_IS_TEST_VERSION = 1
 
 VT_ANDROID_VERSION_ARMV7 = 98
 VT_ANDROID_VERSION_ARM64 = 99

From fb861792817632d064286f052ebcd03dab505919 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 18 Jan 2022 19:41:05 +0100
Subject: [PATCH 002/559] Added firmware compression support + updated
 bootloaders

---
 heatshrink/LICENSE                            |  14 +
 heatshrink/README.md                          | 138 ++++
 heatshrink/heatshrink.pri                     |  12 +
 heatshrink/heatshrink_common.h                |  20 +
 heatshrink/heatshrink_config.h                |  26 +
 heatshrink/heatshrink_decoder.c               | 367 +++++++++++
 heatshrink/heatshrink_decoder.h               | 108 ++++
 heatshrink/heatshrink_encoder.c               | 604 ++++++++++++++++++
 heatshrink/heatshrink_encoder.h               | 117 ++++
 heatshrink/heatshrinkif.cpp                   | 113 ++++
 heatshrink/heatshrinkif.h                     |  23 +
 ...0_o_47_o_48_o_410_o_411_o_412_o_DAS_RS.bin | Bin 4272 -> 5728 bytes
 ...0_o_75_300_R3_o_60_MK4_o_60_MK5_o_HD75.bin | Bin 4288 -> 5744 bytes
 res/bootloaders/generic.bin                   | Bin 3792 -> 5248 bytes
 vesc_tool.pro                                 |   1 +
 vescinterface.cpp                             |  22 +-
 16 files changed, 1564 insertions(+), 1 deletion(-)
 create mode 100644 heatshrink/LICENSE
 create mode 100644 heatshrink/README.md
 create mode 100644 heatshrink/heatshrink.pri
 create mode 100644 heatshrink/heatshrink_common.h
 create mode 100644 heatshrink/heatshrink_config.h
 create mode 100644 heatshrink/heatshrink_decoder.c
 create mode 100644 heatshrink/heatshrink_decoder.h
 create mode 100644 heatshrink/heatshrink_encoder.c
 create mode 100644 heatshrink/heatshrink_encoder.h
 create mode 100644 heatshrink/heatshrinkif.cpp
 create mode 100644 heatshrink/heatshrinkif.h

diff --git a/heatshrink/LICENSE b/heatshrink/LICENSE
new file mode 100644
index 000000000..6b6963415
--- /dev/null
+++ b/heatshrink/LICENSE
@@ -0,0 +1,14 @@
+Copyright (c) 2013-2015, Scott Vokes <vokes.s@gmail.com>
+All rights reserved.
+ 
+Permission to use, copy, modify, and/or distribute this software for any
+purpose with or without fee is hereby granted, provided that the above
+copyright notice and this permission notice appear in all copies.
+ 
+THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
diff --git a/heatshrink/README.md b/heatshrink/README.md
new file mode 100644
index 000000000..617c64b37
--- /dev/null
+++ b/heatshrink/README.md
@@ -0,0 +1,138 @@
+# heatshrink
+
+A data compression/decompression library for embedded/real-time systems.
+
+
+## Key Features:
+
+- **Low memory usage (as low as 50 bytes)**
+    It is useful for some cases with less than 50 bytes, and useful
+    for many general cases with < 300 bytes.
+- **Incremental, bounded CPU use**
+    You can chew on input data in arbitrarily tiny bites.
+    This is a useful property in hard real-time environments.
+- **Can use either static or dynamic memory allocation**
+    The library doesn't impose any constraints on memory management.
+- **ISC license**
+    You can use it freely, even for commercial purposes.
+
+
+## Getting Started:
+
+There is a standalone command-line program, `heatshrink`, but the
+encoder and decoder can also be used as libraries, independent of each
+other. To do so, copy `heatshrink_common.h`, `heatshrink_config.h`, and
+either `heatshrink_encoder.c` or `heatshrink_decoder.c` (and their
+respective header) into your project. For projects that use both,
+static libraries are built that use static and dynamic allocation.
+
+Dynamic allocation is used by default, but in an embedded context, you
+probably want to statically allocate the encoder/decoder. Set
+`HEATSHRINK_DYNAMIC_ALLOC` to 0 in `heatshrink_config.h`.
+
+
+### Basic Usage
+
+1. Allocate a `heatshrink_encoder` or `heatshrink_decoder` state machine
+using their `alloc` function, or statically allocate one and call their
+`reset` function to initialize them. (See below for configuration
+options.)
+
+2. Use `sink` to sink an input buffer into the state machine. The
+`input_size` pointer argument will be set to indicate how many bytes of
+the input buffer were actually consumed. (If 0 bytes were conusmed, the
+buffer is full.)
+
+3. Use `poll` to move output from the state machine into an output
+buffer. The `output_size` pointer argument will be set to indicate how
+many bytes were output, and the function return value will indicate
+whether further output is available. (The state machine may not output
+any data until it has received enough input.)
+
+Repeat steps 2 and 3 to stream data through the state machine. Since
+it's doing data compression, the input and output sizes can vary
+significantly. Looping will be necessary to buffer the input and output
+as the data is processed.
+
+4. When the end of the input stream is reached, call `finish` to notify
+the state machine that no more input is available. The return value from
+`finish` will indicate whether any output remains. if so, call `poll` to
+get more.
+
+Continue calling `finish` and `poll`ing to flush remaining output until
+`finish` indicates that the output has been exhausted.
+
+Sinking more data after `finish` has been called will not work without
+calling `reset` on the state machine.
+
+
+## Configuration
+
+heatshrink has a couple configuration options, which impact its resource
+usage and how effectively it can compress data. These are set when
+dynamically allocating an encoder or decoder, or in `heatshrink_config.h`
+if they are statically allocated.
+
+- `window_sz2`, `-w` in the CLI: Set the window size to 2^W bytes.
+
+The window size determines how far back in the input can be searched for
+repeated patterns. A `window_sz2` of 8 will only use 256 bytes (2^8),
+while a `window_sz2` of 10 will use 1024 bytes (2^10). The latter uses
+more memory, but may also compress more effectively by detecting more
+repetition.
+
+The `window_sz2` setting currently must be between 4 and 15.
+
+- `lookahead_sz2`, `-l` in the CLI: Set the lookahead size to 2^L bytes.
+
+The lookahead size determines the max length for repeated patterns that
+are found. If the `lookahead_sz2` is 4, a 50-byte run of 'a' characters
+will be represented as several repeated 16-byte patterns (2^4 is 16),
+whereas a larger `lookahead_sz2` may be able to represent it all at
+once. The number of bits used for the lookahead size is fixed, so an
+overly large lookahead size can reduce compression by adding unused
+size bits to small patterns.
+
+The `lookahead_sz2` setting currently must be between 3 and the
+`window_sz2` - 1.
+
+- `input_buffer_size` - How large an input buffer to use for the
+decoder. This impacts how much work the decoder can do in a single
+step, and a larger buffer will use more memory. An extremely small
+buffer (say, 1 byte) will add overhead due to lots of suspend/resume
+function calls, but should not change how well data compresses.
+
+
+### Recommended Defaults
+
+For embedded/low memory contexts, a `window_sz2` in the 8 to 10 range is
+probably a good default, depending on how tight memory is. Smaller or
+larger window sizes may make better trade-offs in specific
+circumstances, but should be checked with representative data.
+
+The `lookahead_sz2` should probably start near the `window_sz2`/2, e.g.
+-w 8 -l 4 or -w 10 -l 5. The command-line program can be used to measure
+how well test data works with different settings.
+
+
+## More Information and Benchmarks:
+
+heatshrink is based on [LZSS], since it's particularly suitable for
+compression in small amounts of memory. It can use an optional, small
+[index] to make compression significantly faster, but otherwise can run
+in under 100 bytes of memory. The index currently adds 2^(window size+1)
+bytes to memory usage for compression, and temporarily allocates 512
+bytes on the stack during index construction (if the index is enabled).
+
+For more information, see the [blog post] for an overview, and the
+`heatshrink_encoder.h` / `heatshrink_decoder.h` header files for API
+documentation.
+
+[blog post]: http://spin.atomicobject.com/2013/03/14/heatshrink-embedded-data-compression/
+[index]: http://spin.atomicobject.com/2014/01/13/lightweight-indexing-for-embedded-systems/
+[LZSS]: http://en.wikipedia.org/wiki/Lempel-Ziv-Storer-Szymanski
+
+
+## Build Status
+
+  [![Build Status](https://travis-ci.org/atomicobject/heatshrink.png)](http://travis-ci.org/atomicobject/heatshrink)
diff --git a/heatshrink/heatshrink.pri b/heatshrink/heatshrink.pri
new file mode 100644
index 000000000..364f82243
--- /dev/null
+++ b/heatshrink/heatshrink.pri
@@ -0,0 +1,12 @@
+HEADERS += \
+    $$PWD/heatshrink_common.h \
+    $$PWD/heatshrink_config.h \
+    $$PWD/heatshrink_decoder.h \
+    $$PWD/heatshrink_encoder.h \
+    $$PWD/heatshrinkif.h
+
+SOURCES += \
+    $$PWD/heatshrink_decoder.c \
+    $$PWD/heatshrink_encoder.c \
+    $$PWD/heatshrinkif.cpp
+
diff --git a/heatshrink/heatshrink_common.h b/heatshrink/heatshrink_common.h
new file mode 100644
index 000000000..243f44702
--- /dev/null
+++ b/heatshrink/heatshrink_common.h
@@ -0,0 +1,20 @@
+#ifndef HEATSHRINK_H
+#define HEATSHRINK_H
+
+#define HEATSHRINK_AUTHOR "Scott Vokes <vokes.s@gmail.com>"
+#define HEATSHRINK_URL "https://github.com/atomicobject/heatshrink"
+
+/* Version 0.4.1 */
+#define HEATSHRINK_VERSION_MAJOR 0
+#define HEATSHRINK_VERSION_MINOR 4
+#define HEATSHRINK_VERSION_PATCH 1
+
+#define HEATSHRINK_MIN_WINDOW_BITS 4
+#define HEATSHRINK_MAX_WINDOW_BITS 15
+
+#define HEATSHRINK_MIN_LOOKAHEAD_BITS 3
+
+#define HEATSHRINK_LITERAL_MARKER 0x01
+#define HEATSHRINK_BACKREF_MARKER 0x00
+
+#endif
diff --git a/heatshrink/heatshrink_config.h b/heatshrink/heatshrink_config.h
new file mode 100644
index 000000000..3daa79608
--- /dev/null
+++ b/heatshrink/heatshrink_config.h
@@ -0,0 +1,26 @@
+#ifndef HEATSHRINK_CONFIG_H
+#define HEATSHRINK_CONFIG_H
+
+/* Should functionality assuming dynamic allocation be used? */
+#ifndef HEATSHRINK_DYNAMIC_ALLOC
+#define HEATSHRINK_DYNAMIC_ALLOC 0
+#endif
+
+#if HEATSHRINK_DYNAMIC_ALLOC
+    /* Optional replacement of malloc/free */
+    #define HEATSHRINK_MALLOC(SZ) malloc(SZ)
+    #define HEATSHRINK_FREE(P, SZ) free(P)
+#else
+    /* Required parameters for static configuration */
+    #define HEATSHRINK_STATIC_INPUT_BUFFER_SIZE 32
+    #define HEATSHRINK_STATIC_WINDOW_BITS 13
+    #define HEATSHRINK_STATIC_LOOKAHEAD_BITS 5
+#endif
+
+/* Turn on logging for debugging. */
+#define HEATSHRINK_DEBUGGING_LOGS 0
+
+/* Use indexing for faster compression. (This requires additional space.) */
+#define HEATSHRINK_USE_INDEX 1
+
+#endif
diff --git a/heatshrink/heatshrink_decoder.c b/heatshrink/heatshrink_decoder.c
new file mode 100644
index 000000000..0f118cf98
--- /dev/null
+++ b/heatshrink/heatshrink_decoder.c
@@ -0,0 +1,367 @@
+#include <stdlib.h>
+#include <string.h>
+#include "heatshrink_decoder.h"
+
+/* States for the polling state machine. */
+typedef enum {
+    HSDS_TAG_BIT,               /* tag bit */
+    HSDS_YIELD_LITERAL,         /* ready to yield literal byte */
+    HSDS_BACKREF_INDEX_MSB,     /* most significant byte of index */
+    HSDS_BACKREF_INDEX_LSB,     /* least significant byte of index */
+    HSDS_BACKREF_COUNT_MSB,     /* most significant byte of count */
+    HSDS_BACKREF_COUNT_LSB,     /* least significant byte of count */
+    HSDS_YIELD_BACKREF,         /* ready to yield back-reference */
+} HSD_state;
+
+#if HEATSHRINK_DEBUGGING_LOGS
+#include <stdio.h>
+#include <ctype.h>
+#include <assert.h>
+#define LOG(...) fprintf(stderr, __VA_ARGS__)
+#define ASSERT(X) assert(X)
+static const char *state_names[] = {
+    "tag_bit",
+    "yield_literal",
+    "backref_index_msb",
+    "backref_index_lsb",
+    "backref_count_msb",
+    "backref_count_lsb",
+    "yield_backref",
+};
+#else
+#define LOG(...) /* no-op */
+#define ASSERT(X) /* no-op */
+#endif
+
+typedef struct {
+    uint8_t *buf;               /* output buffer */
+    size_t buf_size;            /* buffer size */
+    size_t *output_size;        /* bytes pushed to buffer, so far */
+} output_info;
+
+#define NO_BITS ((uint16_t)-1)
+
+/* Forward references. */
+static uint16_t get_bits(heatshrink_decoder *hsd, uint8_t count);
+static void push_byte(heatshrink_decoder *hsd, output_info *oi, uint8_t byte);
+
+#if HEATSHRINK_DYNAMIC_ALLOC
+heatshrink_decoder *heatshrink_decoder_alloc(uint16_t input_buffer_size,
+                                             uint8_t window_sz2,
+                                             uint8_t lookahead_sz2) {
+    if ((window_sz2 < HEATSHRINK_MIN_WINDOW_BITS) ||
+        (window_sz2 > HEATSHRINK_MAX_WINDOW_BITS) ||
+        (input_buffer_size == 0) ||
+        (lookahead_sz2 < HEATSHRINK_MIN_LOOKAHEAD_BITS) ||
+        (lookahead_sz2 >= window_sz2)) {
+        return NULL;
+    }
+    size_t buffers_sz = (1 << window_sz2) + input_buffer_size;
+    size_t sz = sizeof(heatshrink_decoder) + buffers_sz;
+    heatshrink_decoder *hsd = HEATSHRINK_MALLOC(sz);
+    if (hsd == NULL) { return NULL; }
+    hsd->input_buffer_size = input_buffer_size;
+    hsd->window_sz2 = window_sz2;
+    hsd->lookahead_sz2 = lookahead_sz2;
+    heatshrink_decoder_reset(hsd);
+    LOG("-- allocated decoder with buffer size of %zu (%zu + %u + %u)\n",
+        sz, sizeof(heatshrink_decoder), (1 << window_sz2), input_buffer_size);
+    return hsd;
+}
+
+void heatshrink_decoder_free(heatshrink_decoder *hsd) {
+    size_t buffers_sz = (1 << hsd->window_sz2) + hsd->input_buffer_size;
+    size_t sz = sizeof(heatshrink_decoder) + buffers_sz;
+    HEATSHRINK_FREE(hsd, sz);
+    (void)sz;   /* may not be used by free */
+}
+#endif
+
+void heatshrink_decoder_reset(heatshrink_decoder *hsd) {
+    size_t buf_sz = 1 << HEATSHRINK_DECODER_WINDOW_BITS(hsd);
+    size_t input_sz = HEATSHRINK_DECODER_INPUT_BUFFER_SIZE(hsd);
+    memset(hsd->buffers, 0, buf_sz + input_sz);
+    hsd->state = HSDS_TAG_BIT;
+    hsd->input_size = 0;
+    hsd->input_index = 0;
+    hsd->bit_index = 0x00;
+    hsd->current_byte = 0x00;
+    hsd->output_count = 0;
+    hsd->output_index = 0;
+    hsd->head_index = 0;
+}
+
+/* Copy SIZE bytes into the decoder's input buffer, if it will fit. */
+HSD_sink_res heatshrink_decoder_sink(heatshrink_decoder *hsd,
+        uint8_t *in_buf, size_t size, size_t *input_size) {
+    if ((hsd == NULL) || (in_buf == NULL) || (input_size == NULL)) {
+        return HSDR_SINK_ERROR_NULL;
+    }
+
+    size_t rem = HEATSHRINK_DECODER_INPUT_BUFFER_SIZE(hsd) - hsd->input_size;
+    if (rem == 0) {
+        *input_size = 0;
+        return HSDR_SINK_FULL;
+    }
+
+    size = rem < size ? rem : size;
+    LOG("-- sinking %zd bytes\n", size);
+    /* copy into input buffer (at head of buffers) */
+    memcpy(&hsd->buffers[hsd->input_size], in_buf, size);
+    hsd->input_size += size;
+    *input_size = size;
+    return HSDR_SINK_OK;
+}
+
+
+/*****************
+ * Decompression *
+ *****************/
+
+#define BACKREF_COUNT_BITS(HSD) (HEATSHRINK_DECODER_LOOKAHEAD_BITS(HSD))
+#define BACKREF_INDEX_BITS(HSD) (HEATSHRINK_DECODER_WINDOW_BITS(HSD))
+
+// States
+static HSD_state st_tag_bit(heatshrink_decoder *hsd);
+static HSD_state st_yield_literal(heatshrink_decoder *hsd,
+    output_info *oi);
+static HSD_state st_backref_index_msb(heatshrink_decoder *hsd);
+static HSD_state st_backref_index_lsb(heatshrink_decoder *hsd);
+static HSD_state st_backref_count_msb(heatshrink_decoder *hsd);
+static HSD_state st_backref_count_lsb(heatshrink_decoder *hsd);
+static HSD_state st_yield_backref(heatshrink_decoder *hsd,
+    output_info *oi);
+
+HSD_poll_res heatshrink_decoder_poll(heatshrink_decoder *hsd,
+        uint8_t *out_buf, size_t out_buf_size, size_t *output_size) {
+    if ((hsd == NULL) || (out_buf == NULL) || (output_size == NULL)) {
+        return HSDR_POLL_ERROR_NULL;
+    }
+    *output_size = 0;
+
+    output_info oi;
+    oi.buf = out_buf;
+    oi.buf_size = out_buf_size;
+    oi.output_size = output_size;
+
+    while (1) {
+        LOG("-- poll, state is %d (%s), input_size %d\n",
+            hsd->state, state_names[hsd->state], hsd->input_size);
+        uint8_t in_state = hsd->state;
+        switch (in_state) {
+        case HSDS_TAG_BIT:
+            hsd->state = st_tag_bit(hsd);
+            break;
+        case HSDS_YIELD_LITERAL:
+            hsd->state = st_yield_literal(hsd, &oi);
+            break;
+        case HSDS_BACKREF_INDEX_MSB:
+            hsd->state = st_backref_index_msb(hsd);
+            break;
+        case HSDS_BACKREF_INDEX_LSB:
+            hsd->state = st_backref_index_lsb(hsd);
+            break;
+        case HSDS_BACKREF_COUNT_MSB:
+            hsd->state = st_backref_count_msb(hsd);
+            break;
+        case HSDS_BACKREF_COUNT_LSB:
+            hsd->state = st_backref_count_lsb(hsd);
+            break;
+        case HSDS_YIELD_BACKREF:
+            hsd->state = st_yield_backref(hsd, &oi);
+            break;
+        default:
+            return HSDR_POLL_ERROR_UNKNOWN;
+        }
+        
+        /* If the current state cannot advance, check if input or output
+         * buffer are exhausted. */
+        if (hsd->state == in_state) {
+            if (*output_size == out_buf_size) { return HSDR_POLL_MORE; }
+            return HSDR_POLL_EMPTY;
+        }
+    }
+}
+
+static HSD_state st_tag_bit(heatshrink_decoder *hsd) {
+    uint32_t bits = get_bits(hsd, 1);  // get tag bit
+    if (bits == NO_BITS) {
+        return HSDS_TAG_BIT;
+    } else if (bits) {
+        return HSDS_YIELD_LITERAL;
+    } else if (HEATSHRINK_DECODER_WINDOW_BITS(hsd) > 8) {
+        return HSDS_BACKREF_INDEX_MSB;
+    } else {
+        hsd->output_index = 0;
+        return HSDS_BACKREF_INDEX_LSB;
+    }
+}
+
+static HSD_state st_yield_literal(heatshrink_decoder *hsd,
+        output_info *oi) {
+    /* Emit a repeated section from the window buffer, and add it (again)
+     * to the window buffer. (Note that the repetition can include
+     * itself.)*/
+    if (*oi->output_size < oi->buf_size) {
+        uint16_t byte = get_bits(hsd, 8);
+        if (byte == NO_BITS) { return HSDS_YIELD_LITERAL; } /* out of input */
+        uint8_t *buf = &hsd->buffers[HEATSHRINK_DECODER_INPUT_BUFFER_SIZE(hsd)];
+        uint16_t mask = (1 << HEATSHRINK_DECODER_WINDOW_BITS(hsd))  - 1;
+        uint8_t c = byte & 0xFF;
+        LOG("-- emitting literal byte 0x%02x ('%c')\n", c, isprint(c) ? c : '.');
+        buf[hsd->head_index++ & mask] = c;
+        push_byte(hsd, oi, c);
+        return HSDS_TAG_BIT;
+    } else {
+        return HSDS_YIELD_LITERAL;
+    }
+}
+
+static HSD_state st_backref_index_msb(heatshrink_decoder *hsd) {
+    uint8_t bit_ct = BACKREF_INDEX_BITS(hsd);
+    ASSERT(bit_ct > 8);
+    uint16_t bits = get_bits(hsd, bit_ct - 8);
+    LOG("-- backref index (msb), got 0x%04x (+1)\n", bits);
+    if (bits == NO_BITS) { return HSDS_BACKREF_INDEX_MSB; }
+    hsd->output_index = bits << 8;
+    return HSDS_BACKREF_INDEX_LSB;
+}
+
+static HSD_state st_backref_index_lsb(heatshrink_decoder *hsd) {
+    uint8_t bit_ct = BACKREF_INDEX_BITS(hsd);
+    uint16_t bits = get_bits(hsd, bit_ct < 8 ? bit_ct : 8);
+    LOG("-- backref index (lsb), got 0x%04x (+1)\n", bits);
+    if (bits == NO_BITS) { return HSDS_BACKREF_INDEX_LSB; }
+    hsd->output_index |= bits;
+    hsd->output_index++;
+    uint8_t br_bit_ct = BACKREF_COUNT_BITS(hsd);
+    hsd->output_count = 0;
+    return (br_bit_ct > 8) ? HSDS_BACKREF_COUNT_MSB : HSDS_BACKREF_COUNT_LSB;
+}
+
+static HSD_state st_backref_count_msb(heatshrink_decoder *hsd) {
+    uint8_t br_bit_ct = BACKREF_COUNT_BITS(hsd);
+    ASSERT(br_bit_ct > 8);
+    uint16_t bits = get_bits(hsd, br_bit_ct - 8);
+    LOG("-- backref count (msb), got 0x%04x (+1)\n", bits);
+    if (bits == NO_BITS) { return HSDS_BACKREF_COUNT_MSB; }
+    hsd->output_count = bits << 8;
+    return HSDS_BACKREF_COUNT_LSB;
+}
+
+static HSD_state st_backref_count_lsb(heatshrink_decoder *hsd) {
+    uint8_t br_bit_ct = BACKREF_COUNT_BITS(hsd);
+    uint16_t bits = get_bits(hsd, br_bit_ct < 8 ? br_bit_ct : 8);
+    LOG("-- backref count (lsb), got 0x%04x (+1)\n", bits);
+    if (bits == NO_BITS) { return HSDS_BACKREF_COUNT_LSB; }
+    hsd->output_count |= bits;
+    hsd->output_count++;
+    return HSDS_YIELD_BACKREF;
+}
+
+static HSD_state st_yield_backref(heatshrink_decoder *hsd,
+        output_info *oi) {
+    size_t count = oi->buf_size - *oi->output_size;
+    if (count > 0) {
+        size_t i = 0;
+        if (hsd->output_count < count) count = hsd->output_count;
+        uint8_t *buf = &hsd->buffers[HEATSHRINK_DECODER_INPUT_BUFFER_SIZE(hsd)];
+        uint16_t mask = (1 << HEATSHRINK_DECODER_WINDOW_BITS(hsd)) - 1;
+        uint16_t neg_offset = hsd->output_index;
+        LOG("-- emitting %zu bytes from -%u bytes back\n", count, neg_offset);
+        ASSERT(neg_offset <= mask + 1);
+        ASSERT(count <= (size_t)(1 << BACKREF_COUNT_BITS(hsd)));
+
+        for (i=0; i<count; i++) {
+            uint8_t c = buf[(hsd->head_index - neg_offset) & mask];
+            push_byte(hsd, oi, c);
+            buf[hsd->head_index & mask] = c;
+            hsd->head_index++;
+            LOG("  -- ++ 0x%02x\n", c);
+        }
+        hsd->output_count -= count;
+        if (hsd->output_count == 0) { return HSDS_TAG_BIT; }
+    }
+    return HSDS_YIELD_BACKREF;
+}
+
+/* Get the next COUNT bits from the input buffer, saving incremental progress.
+ * Returns NO_BITS on end of input, or if more than 15 bits are requested. */
+static uint16_t get_bits(heatshrink_decoder *hsd, uint8_t count) {
+    uint16_t accumulator = 0;
+    int i = 0;
+    if (count > 15) { return NO_BITS; }
+    LOG("-- popping %u bit(s)\n", count);
+
+    /* If we aren't able to get COUNT bits, suspend immediately, because we
+     * don't track how many bits of COUNT we've accumulated before suspend. */
+    if (hsd->input_size == 0) {
+        if (hsd->bit_index < (1 << (count - 1))) { return NO_BITS; }
+    }
+
+    for (i = 0; i < count; i++) {
+        if (hsd->bit_index == 0x00) {
+            if (hsd->input_size == 0) {
+                LOG("  -- out of bits, suspending w/ accumulator of %u (0x%02x)\n",
+                    accumulator, accumulator);
+                return NO_BITS;
+            }
+            hsd->current_byte = hsd->buffers[hsd->input_index++];
+            LOG("  -- pulled byte 0x%02x\n", hsd->current_byte);
+            if (hsd->input_index == hsd->input_size) {
+                hsd->input_index = 0; /* input is exhausted */
+                hsd->input_size = 0;
+            }
+            hsd->bit_index = 0x80;
+        }
+        accumulator <<= 1;
+        if (hsd->current_byte & hsd->bit_index) {
+            accumulator |= 0x01;
+            if (0) {
+                LOG("  -- got 1, accumulator 0x%04x, bit_index 0x%02x\n",
+                accumulator, hsd->bit_index);
+            }
+        } else {
+            if (0) {
+                LOG("  -- got 0, accumulator 0x%04x, bit_index 0x%02x\n",
+                accumulator, hsd->bit_index);
+            }
+        }
+        hsd->bit_index >>= 1;
+    }
+
+    if (count > 1) { LOG("  -- accumulated %08x\n", accumulator); }
+    return accumulator;
+}
+
+HSD_finish_res heatshrink_decoder_finish(heatshrink_decoder *hsd) {
+    if (hsd == NULL) { return HSDR_FINISH_ERROR_NULL; }
+    switch (hsd->state) {
+    case HSDS_TAG_BIT:
+        return hsd->input_size == 0 ? HSDR_FINISH_DONE : HSDR_FINISH_MORE;
+
+    /* If we want to finish with no input, but are in these states, it's
+     * because the 0-bit padding to the last byte looks like a backref
+     * marker bit followed by all 0s for index and count bits. */
+    case HSDS_BACKREF_INDEX_LSB:
+    case HSDS_BACKREF_INDEX_MSB:
+    case HSDS_BACKREF_COUNT_LSB:
+    case HSDS_BACKREF_COUNT_MSB:
+        return hsd->input_size == 0 ? HSDR_FINISH_DONE : HSDR_FINISH_MORE;
+
+    /* If the output stream is padded with 0xFFs (possibly due to being in
+     * flash memory), also explicitly check the input size rather than
+     * uselessly returning MORE but yielding 0 bytes when polling. */
+    case HSDS_YIELD_LITERAL:
+        return hsd->input_size == 0 ? HSDR_FINISH_DONE : HSDR_FINISH_MORE;
+
+    default:
+        return HSDR_FINISH_MORE;
+    }
+}
+
+static void push_byte(heatshrink_decoder *hsd, output_info *oi, uint8_t byte) {
+    LOG(" -- pushing byte: 0x%02x ('%c')\n", byte, isprint(byte) ? byte : '.');
+    oi->buf[(*oi->output_size)++] = byte;
+    (void)hsd;
+}
diff --git a/heatshrink/heatshrink_decoder.h b/heatshrink/heatshrink_decoder.h
new file mode 100644
index 000000000..63211e417
--- /dev/null
+++ b/heatshrink/heatshrink_decoder.h
@@ -0,0 +1,108 @@
+#ifndef HEATSHRINK_DECODER_H
+#define HEATSHRINK_DECODER_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "heatshrink_common.h"
+#include "heatshrink_config.h"
+
+typedef enum {
+    HSDR_SINK_OK,               /* data sunk, ready to poll */
+    HSDR_SINK_FULL,             /* out of space in internal buffer */
+    HSDR_SINK_ERROR_NULL=-1,    /* NULL argument */
+} HSD_sink_res;
+
+typedef enum {
+    HSDR_POLL_EMPTY,            /* input exhausted */
+    HSDR_POLL_MORE,             /* more data remaining, call again w/ fresh output buffer */
+    HSDR_POLL_ERROR_NULL=-1,    /* NULL arguments */
+    HSDR_POLL_ERROR_UNKNOWN=-2,
+} HSD_poll_res;
+
+typedef enum {
+    HSDR_FINISH_DONE,           /* output is done */
+    HSDR_FINISH_MORE,           /* more output remains */
+    HSDR_FINISH_ERROR_NULL=-1,  /* NULL arguments */
+} HSD_finish_res;
+
+#if HEATSHRINK_DYNAMIC_ALLOC
+#define HEATSHRINK_DECODER_INPUT_BUFFER_SIZE(BUF) \
+    ((BUF)->input_buffer_size)
+#define HEATSHRINK_DECODER_WINDOW_BITS(BUF) \
+    ((BUF)->window_sz2)
+#define HEATSHRINK_DECODER_LOOKAHEAD_BITS(BUF) \
+    ((BUF)->lookahead_sz2)
+#else
+#define HEATSHRINK_DECODER_INPUT_BUFFER_SIZE(_) \
+    HEATSHRINK_STATIC_INPUT_BUFFER_SIZE
+#define HEATSHRINK_DECODER_WINDOW_BITS(_) \
+    (HEATSHRINK_STATIC_WINDOW_BITS)
+#define HEATSHRINK_DECODER_LOOKAHEAD_BITS(BUF) \
+    (HEATSHRINK_STATIC_LOOKAHEAD_BITS)
+#endif
+
+typedef struct {
+    uint16_t input_size;        /* bytes in input buffer */
+    uint16_t input_index;       /* offset to next unprocessed input byte */
+    uint16_t output_count;      /* how many bytes to output */
+    uint16_t output_index;      /* index for bytes to output */
+    uint16_t head_index;        /* head of window buffer */
+    uint8_t state;              /* current state machine node */
+    uint8_t current_byte;       /* current byte of input */
+    uint8_t bit_index;          /* current bit index */
+
+#if HEATSHRINK_DYNAMIC_ALLOC
+    /* Fields that are only used if dynamically allocated. */
+    uint8_t window_sz2;         /* window buffer bits */
+    uint8_t lookahead_sz2;      /* lookahead bits */
+    uint16_t input_buffer_size; /* input buffer size */
+
+    /* Input buffer, then expansion window buffer */
+    uint8_t buffers[];
+#else
+    /* Input buffer, then expansion window buffer */
+    uint8_t buffers[(1 << HEATSHRINK_DECODER_WINDOW_BITS(_))
+        + HEATSHRINK_DECODER_INPUT_BUFFER_SIZE(_)];
+#endif
+} heatshrink_decoder;
+
+#if HEATSHRINK_DYNAMIC_ALLOC
+/* Allocate a decoder with an input buffer of INPUT_BUFFER_SIZE bytes,
+ * an expansion buffer size of 2^WINDOW_SZ2, and a lookahead
+ * size of 2^lookahead_sz2. (The window buffer and lookahead sizes
+ * must match the settings used when the data was compressed.)
+ * Returns NULL on error. */
+heatshrink_decoder *heatshrink_decoder_alloc(uint16_t input_buffer_size,
+    uint8_t expansion_buffer_sz2, uint8_t lookahead_sz2);
+
+/* Free a decoder. */
+void heatshrink_decoder_free(heatshrink_decoder *hsd);
+#endif
+
+/* Reset a decoder. */
+void heatshrink_decoder_reset(heatshrink_decoder *hsd);
+
+/* Sink at most SIZE bytes from IN_BUF into the decoder. *INPUT_SIZE is set to
+ * indicate how many bytes were actually sunk (in case a buffer was filled). */
+HSD_sink_res heatshrink_decoder_sink(heatshrink_decoder *hsd,
+    uint8_t *in_buf, size_t size, size_t *input_size);
+
+/* Poll for output from the decoder, copying at most OUT_BUF_SIZE bytes into
+ * OUT_BUF (setting *OUTPUT_SIZE to the actual amount copied). */
+HSD_poll_res heatshrink_decoder_poll(heatshrink_decoder *hsd,
+    uint8_t *out_buf, size_t out_buf_size, size_t *output_size);
+
+/* Notify the dencoder that the input stream is finished.
+ * If the return value is HSDR_FINISH_MORE, there is still more output, so
+ * call heatshrink_decoder_poll and repeat. */
+HSD_finish_res heatshrink_decoder_finish(heatshrink_decoder *hsd);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/heatshrink/heatshrink_encoder.c b/heatshrink/heatshrink_encoder.c
new file mode 100644
index 000000000..edf4abebc
--- /dev/null
+++ b/heatshrink/heatshrink_encoder.c
@@ -0,0 +1,604 @@
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+#include "heatshrink_encoder.h"
+
+typedef enum {
+    HSES_NOT_FULL,              /* input buffer not full enough */
+    HSES_FILLED,                /* buffer is full */
+    HSES_SEARCH,                /* searching for patterns */
+    HSES_YIELD_TAG_BIT,         /* yield tag bit */
+    HSES_YIELD_LITERAL,         /* emit literal byte */
+    HSES_YIELD_BR_INDEX,        /* yielding backref index */
+    HSES_YIELD_BR_LENGTH,       /* yielding backref length */
+    HSES_SAVE_BACKLOG,          /* copying buffer to backlog */
+    HSES_FLUSH_BITS,            /* flush bit buffer */
+    HSES_DONE,                  /* done */
+} HSE_state;
+
+#if HEATSHRINK_DEBUGGING_LOGS
+#include <stdio.h>
+#include <ctype.h>
+#include <assert.h>
+#define LOG(...) fprintf(stderr, __VA_ARGS__)
+#define ASSERT(X) assert(X)
+static const char *state_names[] = {
+    "not_full",
+    "filled",
+    "search",
+    "yield_tag_bit",
+    "yield_literal",
+    "yield_br_index",
+    "yield_br_length",
+    "save_backlog",
+    "flush_bits",
+    "done",
+};
+#else
+#define LOG(...) /* no-op */
+#define ASSERT(X) /* no-op */
+#endif
+
+// Encoder flags
+enum {
+    FLAG_IS_FINISHING = 0x01,
+};
+
+typedef struct {
+    uint8_t *buf;               /* output buffer */
+    size_t buf_size;            /* buffer size */
+    size_t *output_size;        /* bytes pushed to buffer, so far */
+} output_info;
+
+#define MATCH_NOT_FOUND ((uint16_t)-1)
+
+static uint16_t get_input_offset(heatshrink_encoder *hse);
+static uint16_t get_input_buffer_size(heatshrink_encoder *hse);
+static uint16_t get_lookahead_size(heatshrink_encoder *hse);
+static void add_tag_bit(heatshrink_encoder *hse, output_info *oi, uint8_t tag);
+static int can_take_byte(output_info *oi);
+static int is_finishing(heatshrink_encoder *hse);
+static void save_backlog(heatshrink_encoder *hse);
+
+/* Push COUNT (max 8) bits to the output buffer, which has room. */
+static void push_bits(heatshrink_encoder *hse, uint8_t count, uint8_t bits,
+    output_info *oi);
+static uint8_t push_outgoing_bits(heatshrink_encoder *hse, output_info *oi);
+static void push_literal_byte(heatshrink_encoder *hse, output_info *oi);
+
+#if HEATSHRINK_DYNAMIC_ALLOC
+heatshrink_encoder *heatshrink_encoder_alloc(uint8_t window_sz2,
+        uint8_t lookahead_sz2) {
+    if ((window_sz2 < HEATSHRINK_MIN_WINDOW_BITS) ||
+        (window_sz2 > HEATSHRINK_MAX_WINDOW_BITS) ||
+        (lookahead_sz2 < HEATSHRINK_MIN_LOOKAHEAD_BITS) ||
+        (lookahead_sz2 >= window_sz2)) {
+        return NULL;
+    }
+    
+    /* Note: 2 * the window size is used because the buffer needs to fit
+     * (1 << window_sz2) bytes for the current input, and an additional
+     * (1 << window_sz2) bytes for the previous buffer of input, which
+     * will be scanned for useful backreferences. */
+    size_t buf_sz = (2 << window_sz2);
+
+    heatshrink_encoder *hse = HEATSHRINK_MALLOC(sizeof(*hse) + buf_sz);
+    if (hse == NULL) { return NULL; }
+    hse->window_sz2 = window_sz2;
+    hse->lookahead_sz2 = lookahead_sz2;
+    heatshrink_encoder_reset(hse);
+
+#if HEATSHRINK_USE_INDEX
+    size_t index_sz = buf_sz*sizeof(uint16_t);
+    hse->search_index = HEATSHRINK_MALLOC(index_sz + sizeof(struct hs_index));
+    if (hse->search_index == NULL) {
+        HEATSHRINK_FREE(hse, sizeof(*hse) + buf_sz);
+        return NULL;
+    }
+    hse->search_index->size = index_sz;
+#endif
+
+    LOG("-- allocated encoder with buffer size of %zu (%u byte input size)\n",
+        buf_sz, get_input_buffer_size(hse));
+    return hse;
+}
+
+void heatshrink_encoder_free(heatshrink_encoder *hse) {
+    size_t buf_sz = (2 << HEATSHRINK_ENCODER_WINDOW_BITS(hse));
+#if HEATSHRINK_USE_INDEX
+    size_t index_sz = sizeof(struct hs_index) + hse->search_index->size;
+    HEATSHRINK_FREE(hse->search_index, index_sz);
+    (void)index_sz;
+#endif
+    HEATSHRINK_FREE(hse, sizeof(heatshrink_encoder) + buf_sz);
+    (void)buf_sz;
+}
+#endif
+
+void heatshrink_encoder_reset(heatshrink_encoder *hse) {
+    size_t buf_sz = (2 << HEATSHRINK_ENCODER_WINDOW_BITS(hse));
+    memset(hse->buffer, 0, buf_sz);
+    hse->input_size = 0;
+    hse->state = HSES_NOT_FULL;
+    hse->match_scan_index = 0;
+    hse->flags = 0;
+    hse->bit_index = 0x80;
+    hse->current_byte = 0x00;
+    hse->match_length = 0;
+
+    hse->outgoing_bits = 0x0000;
+    hse->outgoing_bits_count = 0;
+
+    #ifdef LOOP_DETECT
+    hse->loop_detect = (uint32_t)-1;
+    #endif
+}
+
+HSE_sink_res heatshrink_encoder_sink(heatshrink_encoder *hse,
+        uint8_t *in_buf, size_t size, size_t *input_size) {
+    if ((hse == NULL) || (in_buf == NULL) || (input_size == NULL)) {
+        return HSER_SINK_ERROR_NULL;
+    }
+
+    /* Sinking more content after saying the content is done, tsk tsk */
+    if (is_finishing(hse)) { return HSER_SINK_ERROR_MISUSE; }
+
+    /* Sinking more content before processing is done */
+    if (hse->state != HSES_NOT_FULL) { return HSER_SINK_ERROR_MISUSE; }
+
+    uint16_t write_offset = get_input_offset(hse) + hse->input_size;
+    uint16_t ibs = get_input_buffer_size(hse);
+    uint16_t rem = ibs - hse->input_size;
+    uint16_t cp_sz = rem < size ? rem : size;
+
+    memcpy(&hse->buffer[write_offset], in_buf, cp_sz);
+    *input_size = cp_sz;
+    hse->input_size += cp_sz;
+
+    LOG("-- sunk %u bytes (of %zu) into encoder at %d, input buffer now has %u\n",
+        cp_sz, size, write_offset, hse->input_size);
+    if (cp_sz == rem) {
+        LOG("-- internal buffer is now full\n");
+        hse->state = HSES_FILLED;
+    }
+
+    return HSER_SINK_OK;
+}
+
+
+/***************
+ * Compression *
+ ***************/
+
+static uint16_t find_longest_match(heatshrink_encoder *hse, uint16_t start,
+    uint16_t end, const uint16_t maxlen, uint16_t *match_length);
+static void do_indexing(heatshrink_encoder *hse);
+
+static HSE_state st_step_search(heatshrink_encoder *hse);
+static HSE_state st_yield_tag_bit(heatshrink_encoder *hse,
+    output_info *oi);
+static HSE_state st_yield_literal(heatshrink_encoder *hse,
+    output_info *oi);
+static HSE_state st_yield_br_index(heatshrink_encoder *hse,
+    output_info *oi);
+static HSE_state st_yield_br_length(heatshrink_encoder *hse,
+    output_info *oi);
+static HSE_state st_save_backlog(heatshrink_encoder *hse);
+static HSE_state st_flush_bit_buffer(heatshrink_encoder *hse,
+    output_info *oi);
+
+HSE_poll_res heatshrink_encoder_poll(heatshrink_encoder *hse,
+        uint8_t *out_buf, size_t out_buf_size, size_t *output_size) {
+    if ((hse == NULL) || (out_buf == NULL) || (output_size == NULL)) {
+        return HSER_POLL_ERROR_NULL;
+    }
+    if (out_buf_size == 0) {
+        LOG("-- MISUSE: output buffer size is 0\n");
+        return HSER_POLL_ERROR_MISUSE;
+    }
+    *output_size = 0;
+
+    output_info oi;
+    oi.buf = out_buf;
+    oi.buf_size = out_buf_size;
+    oi.output_size = output_size;
+
+    while (1) {
+        LOG("-- polling, state %u (%s), flags 0x%02x\n",
+            hse->state, state_names[hse->state], hse->flags);
+
+        uint8_t in_state = hse->state;
+        switch (in_state) {
+        case HSES_NOT_FULL:
+            return HSER_POLL_EMPTY;
+        case HSES_FILLED:
+            do_indexing(hse);
+            hse->state = HSES_SEARCH;
+            break;
+        case HSES_SEARCH:
+            hse->state = st_step_search(hse);
+            break;
+        case HSES_YIELD_TAG_BIT:
+            hse->state = st_yield_tag_bit(hse, &oi);
+            break;
+        case HSES_YIELD_LITERAL:
+            hse->state = st_yield_literal(hse, &oi);
+            break;
+        case HSES_YIELD_BR_INDEX:
+            hse->state = st_yield_br_index(hse, &oi);
+            break;
+        case HSES_YIELD_BR_LENGTH:
+            hse->state = st_yield_br_length(hse, &oi);
+            break;
+        case HSES_SAVE_BACKLOG:
+            hse->state = st_save_backlog(hse);
+            break;
+        case HSES_FLUSH_BITS:
+            hse->state = st_flush_bit_buffer(hse, &oi);
+        case HSES_DONE:
+            return HSER_POLL_EMPTY;
+        default:
+            LOG("-- bad state %s\n", state_names[hse->state]);
+            return HSER_POLL_ERROR_MISUSE;
+        }
+
+        if (hse->state == in_state) {
+            /* Check if output buffer is exhausted. */
+            if (*output_size == out_buf_size) return HSER_POLL_MORE;
+        }
+    }
+}
+
+HSE_finish_res heatshrink_encoder_finish(heatshrink_encoder *hse) {
+    if (hse == NULL) { return HSER_FINISH_ERROR_NULL; }
+    LOG("-- setting is_finishing flag\n");
+    hse->flags |= FLAG_IS_FINISHING;
+    if (hse->state == HSES_NOT_FULL) { hse->state = HSES_FILLED; }
+    return hse->state == HSES_DONE ? HSER_FINISH_DONE : HSER_FINISH_MORE;
+}
+
+static HSE_state st_step_search(heatshrink_encoder *hse) {
+    uint16_t window_length = get_input_buffer_size(hse);
+    uint16_t lookahead_sz = get_lookahead_size(hse);
+    uint16_t msi = hse->match_scan_index;
+    LOG("## step_search, scan @ +%d (%d/%d), input size %d\n",
+        msi, hse->input_size + msi, 2*window_length, hse->input_size);
+
+    bool fin = is_finishing(hse);
+    if (msi > hse->input_size - (fin ? 1 : lookahead_sz)) {
+        /* Current search buffer is exhausted, copy it into the
+         * backlog and await more input. */
+        LOG("-- end of search @ %d\n", msi);
+        return fin ? HSES_FLUSH_BITS : HSES_SAVE_BACKLOG;
+    }
+
+    uint16_t input_offset = get_input_offset(hse);
+    uint16_t end = input_offset + msi;
+    uint16_t start = end - window_length;
+
+    uint16_t max_possible = lookahead_sz;
+    if (hse->input_size - msi < lookahead_sz) {
+        max_possible = hse->input_size - msi;
+    }
+    
+    uint16_t match_length = 0;
+    uint16_t match_pos = find_longest_match(hse,
+        start, end, max_possible, &match_length);
+    
+    if (match_pos == MATCH_NOT_FOUND) {
+        LOG("ss Match not found\n");
+        hse->match_scan_index++;
+        hse->match_length = 0;
+        return HSES_YIELD_TAG_BIT;
+    } else {
+        LOG("ss Found match of %d bytes at %d\n", match_length, match_pos);
+        hse->match_pos = match_pos;
+        hse->match_length = match_length;
+        ASSERT(match_pos <= 1 << HEATSHRINK_ENCODER_WINDOW_BITS(hse) /*window_length*/);
+
+        return HSES_YIELD_TAG_BIT;
+    }
+}
+
+static HSE_state st_yield_tag_bit(heatshrink_encoder *hse,
+        output_info *oi) {
+    if (can_take_byte(oi)) {
+        if (hse->match_length == 0) {
+            add_tag_bit(hse, oi, HEATSHRINK_LITERAL_MARKER);
+            return HSES_YIELD_LITERAL;
+        } else {
+            add_tag_bit(hse, oi, HEATSHRINK_BACKREF_MARKER);
+            hse->outgoing_bits = hse->match_pos - 1;
+            hse->outgoing_bits_count = HEATSHRINK_ENCODER_WINDOW_BITS(hse);
+            return HSES_YIELD_BR_INDEX;
+        }
+    } else {
+        return HSES_YIELD_TAG_BIT; /* output is full, continue */
+    }
+}
+
+static HSE_state st_yield_literal(heatshrink_encoder *hse,
+        output_info *oi) {
+    if (can_take_byte(oi)) {
+        push_literal_byte(hse, oi);
+        return HSES_SEARCH;
+    } else {
+        return HSES_YIELD_LITERAL;
+    }
+}
+
+static HSE_state st_yield_br_index(heatshrink_encoder *hse,
+        output_info *oi) {
+    if (can_take_byte(oi)) {
+        LOG("-- yielding backref index %u\n", hse->match_pos);
+        if (push_outgoing_bits(hse, oi) > 0) {
+            return HSES_YIELD_BR_INDEX; /* continue */
+        } else {
+            hse->outgoing_bits = hse->match_length - 1;
+            hse->outgoing_bits_count = HEATSHRINK_ENCODER_LOOKAHEAD_BITS(hse);
+            return HSES_YIELD_BR_LENGTH; /* done */
+        }
+    } else {
+        return HSES_YIELD_BR_INDEX; /* continue */
+    }
+}
+
+static HSE_state st_yield_br_length(heatshrink_encoder *hse,
+        output_info *oi) {
+    if (can_take_byte(oi)) {
+        LOG("-- yielding backref length %u\n", hse->match_length);
+        if (push_outgoing_bits(hse, oi) > 0) {
+            return HSES_YIELD_BR_LENGTH;
+        } else {
+            hse->match_scan_index += hse->match_length;
+            hse->match_length = 0;
+            return HSES_SEARCH;
+        }
+    } else {
+        return HSES_YIELD_BR_LENGTH;
+    }
+}
+
+static HSE_state st_save_backlog(heatshrink_encoder *hse) {
+    LOG("-- saving backlog\n");
+    save_backlog(hse);
+    return HSES_NOT_FULL;
+}
+
+static HSE_state st_flush_bit_buffer(heatshrink_encoder *hse,
+        output_info *oi) {
+    if (hse->bit_index == 0x80) {
+        LOG("-- done!\n");
+        return HSES_DONE;
+    } else if (can_take_byte(oi)) {
+        LOG("-- flushing remaining byte (bit_index == 0x%02x)\n", hse->bit_index);
+        oi->buf[(*oi->output_size)++] = hse->current_byte;
+        LOG("-- done!\n");
+        return HSES_DONE;
+    } else {
+        return HSES_FLUSH_BITS;
+    }
+}
+
+static void add_tag_bit(heatshrink_encoder *hse, output_info *oi, uint8_t tag) {
+    LOG("-- adding tag bit: %d\n", tag);
+    push_bits(hse, 1, tag, oi);
+}
+
+static uint16_t get_input_offset(heatshrink_encoder *hse) {
+    return get_input_buffer_size(hse);
+}
+
+static uint16_t get_input_buffer_size(heatshrink_encoder *hse) {
+    return (1 << HEATSHRINK_ENCODER_WINDOW_BITS(hse));
+    (void)hse;
+}
+
+static uint16_t get_lookahead_size(heatshrink_encoder *hse) {
+    return (1 << HEATSHRINK_ENCODER_LOOKAHEAD_BITS(hse));
+    (void)hse;
+}
+
+static void do_indexing(heatshrink_encoder *hse) {
+#if HEATSHRINK_USE_INDEX
+    /* Build an index array I that contains flattened linked lists
+     * for the previous instances of every byte in the buffer.
+     * 
+     * For example, if buf[200] == 'x', then index[200] will either
+     * be an offset i such that buf[i] == 'x', or a negative offset
+     * to indicate end-of-list. This significantly speeds up matching,
+     * while only using sizeof(uint16_t)*sizeof(buffer) bytes of RAM.
+     *
+     * Future optimization options:
+     * 1. Since any negative value represents end-of-list, the other
+     *    15 bits could be used to improve the index dynamically.
+     *    
+     * 2. Likewise, the last lookahead_sz bytes of the index will
+     *    not be usable, so temporary data could be stored there to
+     *    dynamically improve the index.
+     * */
+    struct hs_index *hsi = HEATSHRINK_ENCODER_INDEX(hse);
+    int16_t last[256];
+    memset(last, 0xFF, sizeof(last));
+
+    uint8_t * const data = hse->buffer;
+    int16_t * const index = hsi->index;
+
+    const uint16_t input_offset = get_input_offset(hse);
+    const uint16_t end = input_offset + hse->input_size;
+
+    for (uint16_t i=0; i<end; i++) {
+        uint8_t v = data[i];
+        int16_t lv = last[v];
+        index[i] = lv;
+        last[v] = i;
+    }
+#else
+    (void)hse;
+#endif
+}
+
+static int is_finishing(heatshrink_encoder *hse) {
+    return hse->flags & FLAG_IS_FINISHING;
+}
+
+static int can_take_byte(output_info *oi) {
+    return *oi->output_size < oi->buf_size;
+}
+
+/* Return the longest match for the bytes at buf[end:end+maxlen] between
+ * buf[start] and buf[end-1]. If no match is found, return -1. */
+static uint16_t find_longest_match(heatshrink_encoder *hse, uint16_t start,
+        uint16_t end, const uint16_t maxlen, uint16_t *match_length) {
+    LOG("-- scanning for match of buf[%u:%u] between buf[%u:%u] (max %u bytes)\n",
+        end, end + maxlen, start, end + maxlen - 1, maxlen);
+    uint8_t *buf = hse->buffer;
+
+    uint16_t match_maxlen = 0;
+    uint16_t match_index = MATCH_NOT_FOUND;
+
+    uint16_t len = 0;
+    uint8_t * const needlepoint = &buf[end];
+#if HEATSHRINK_USE_INDEX
+    struct hs_index *hsi = HEATSHRINK_ENCODER_INDEX(hse);
+    int16_t pos = hsi->index[end];
+
+    while (pos - (int16_t)start >= 0) {
+        uint8_t * const pospoint = &buf[pos];
+        len = 0;
+
+        /* Only check matches that will potentially beat the current maxlen.
+         * This is redundant with the index if match_maxlen is 0, but the
+         * added branch overhead to check if it == 0 seems to be worse. */
+        if (pospoint[match_maxlen] != needlepoint[match_maxlen]) {
+            pos = hsi->index[pos];
+            continue;
+        }
+
+        for (len = 1; len < maxlen; len++) {
+            if (pospoint[len] != needlepoint[len]) break;
+        }
+
+        if (len > match_maxlen) {
+            match_maxlen = len;
+            match_index = pos;
+            if (len == maxlen) { break; } /* won't find better */
+        }
+        pos = hsi->index[pos];
+    }
+#else    
+    for (int16_t pos=end - 1; pos - (int16_t)start >= 0; pos--) {
+        uint8_t * const pospoint = &buf[pos];
+        if ((pospoint[match_maxlen] == needlepoint[match_maxlen])
+            && (*pospoint == *needlepoint)) {
+            for (len=1; len<maxlen; len++) {
+                if (0) {
+                    LOG("  --> cmp buf[%d] == 0x%02x against %02x (start %u)\n",
+                        pos + len, pospoint[len], needlepoint[len], start);
+                }
+                if (pospoint[len] != needlepoint[len]) { break; }
+            }
+            if (len > match_maxlen) {
+                match_maxlen = len;
+                match_index = pos;
+                if (len == maxlen) { break; } /* don't keep searching */
+            }
+        }
+    }
+#endif
+    
+    const size_t break_even_point =
+      (1 + HEATSHRINK_ENCODER_WINDOW_BITS(hse) +
+          HEATSHRINK_ENCODER_LOOKAHEAD_BITS(hse));
+
+    /* Instead of comparing break_even_point against 8*match_maxlen,
+     * compare match_maxlen against break_even_point/8 to avoid
+     * overflow. Since MIN_WINDOW_BITS and MIN_LOOKAHEAD_BITS are 4 and
+     * 3, respectively, break_even_point/8 will always be at least 1. */
+    if (match_maxlen > (break_even_point / 8)) {
+        LOG("-- best match: %u bytes at -%u\n",
+            match_maxlen, end - match_index);
+        *match_length = match_maxlen;
+        return end - match_index;
+    }
+    LOG("-- none found\n");
+    return MATCH_NOT_FOUND;
+}
+
+static uint8_t push_outgoing_bits(heatshrink_encoder *hse, output_info *oi) {
+    uint8_t count = 0;
+    uint8_t bits = 0;
+    if (hse->outgoing_bits_count > 8) {
+        count = 8;
+        bits = hse->outgoing_bits >> (hse->outgoing_bits_count - 8);
+    } else {
+        count = hse->outgoing_bits_count;
+        bits = hse->outgoing_bits;
+    }
+
+    if (count > 0) {
+        LOG("-- pushing %d outgoing bits: 0x%02x\n", count, bits);
+        push_bits(hse, count, bits, oi);
+        hse->outgoing_bits_count -= count;
+    }
+    return count;
+}
+
+/* Push COUNT (max 8) bits to the output buffer, which has room.
+ * Bytes are set from the lowest bits, up. */
+static void push_bits(heatshrink_encoder *hse, uint8_t count, uint8_t bits,
+        output_info *oi) {
+    ASSERT(count <= 8);
+    LOG("++ push_bits: %d bits, input of 0x%02x\n", count, bits);
+
+    /* If adding a whole byte and at the start of a new output byte,
+     * just push it through whole and skip the bit IO loop. */
+    if (count == 8 && hse->bit_index == 0x80) {
+        oi->buf[(*oi->output_size)++] = bits;
+    } else {
+        for (int i=count - 1; i>=0; i--) {
+            bool bit = bits & (1 << i);
+            if (bit) { hse->current_byte |= hse->bit_index; }
+            if (0) {
+                LOG("  -- setting bit %d at bit index 0x%02x, byte => 0x%02x\n",
+                    bit ? 1 : 0, hse->bit_index, hse->current_byte);
+            }
+            hse->bit_index >>= 1;
+            if (hse->bit_index == 0x00) {
+                hse->bit_index = 0x80;
+                LOG(" > pushing byte 0x%02x\n", hse->current_byte);
+                oi->buf[(*oi->output_size)++] = hse->current_byte;
+                hse->current_byte = 0x00;
+            }
+        }
+    }
+}
+
+static void push_literal_byte(heatshrink_encoder *hse, output_info *oi) {
+    uint16_t processed_offset = hse->match_scan_index - 1;
+    uint16_t input_offset = get_input_offset(hse) + processed_offset;
+    uint8_t c = hse->buffer[input_offset];
+    LOG("-- yielded literal byte 0x%02x ('%c') from +%d\n",
+        c, isprint(c) ? c : '.', input_offset);
+    push_bits(hse, 8, c, oi);
+}
+
+static void save_backlog(heatshrink_encoder *hse) {
+    size_t input_buf_sz = get_input_buffer_size(hse);
+    
+    uint16_t msi = hse->match_scan_index;
+    
+    /* Copy processed data to beginning of buffer, so it can be
+     * used for future matches. Don't bother checking whether the
+     * input is less than the maximum size, because if it isn't,
+     * we're done anyway. */
+    uint16_t rem = input_buf_sz - msi; // unprocessed bytes
+    uint16_t shift_sz = input_buf_sz + rem;
+
+    memmove(&hse->buffer[0],
+        &hse->buffer[input_buf_sz - rem],
+        shift_sz);
+        
+    hse->match_scan_index = 0;
+    hse->input_size -= input_buf_sz - rem;
+}
diff --git a/heatshrink/heatshrink_encoder.h b/heatshrink/heatshrink_encoder.h
new file mode 100644
index 000000000..d9d2ad427
--- /dev/null
+++ b/heatshrink/heatshrink_encoder.h
@@ -0,0 +1,117 @@
+#ifndef HEATSHRINK_ENCODER_H
+#define HEATSHRINK_ENCODER_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "heatshrink_common.h"
+#include "heatshrink_config.h"
+
+typedef enum {
+    HSER_SINK_OK,               /* data sunk into input buffer */
+    HSER_SINK_ERROR_NULL=-1,    /* NULL argument */
+    HSER_SINK_ERROR_MISUSE=-2,  /* API misuse */
+} HSE_sink_res;
+
+typedef enum {
+    HSER_POLL_EMPTY,            /* input exhausted */
+    HSER_POLL_MORE,             /* poll again for more output  */
+    HSER_POLL_ERROR_NULL=-1,    /* NULL argument */
+    HSER_POLL_ERROR_MISUSE=-2,  /* API misuse */
+} HSE_poll_res;
+
+typedef enum {
+    HSER_FINISH_DONE,           /* encoding is complete */
+    HSER_FINISH_MORE,           /* more output remaining; use poll */
+    HSER_FINISH_ERROR_NULL=-1,  /* NULL argument */
+} HSE_finish_res;
+
+#if HEATSHRINK_DYNAMIC_ALLOC
+#define HEATSHRINK_ENCODER_WINDOW_BITS(HSE) \
+    ((HSE)->window_sz2)
+#define HEATSHRINK_ENCODER_LOOKAHEAD_BITS(HSE) \
+    ((HSE)->lookahead_sz2)
+#define HEATSHRINK_ENCODER_INDEX(HSE) \
+    ((HSE)->search_index)
+struct hs_index {
+    uint16_t size;
+    int16_t index[];
+};
+#else
+#define HEATSHRINK_ENCODER_WINDOW_BITS(_) \
+    (HEATSHRINK_STATIC_WINDOW_BITS)
+#define HEATSHRINK_ENCODER_LOOKAHEAD_BITS(_) \
+    (HEATSHRINK_STATIC_LOOKAHEAD_BITS)
+#define HEATSHRINK_ENCODER_INDEX(HSE) \
+    (&(HSE)->search_index)
+struct hs_index {
+    uint16_t size;
+    int16_t index[2 << HEATSHRINK_STATIC_WINDOW_BITS];
+};
+#endif
+
+typedef struct {
+    uint16_t input_size;        /* bytes in input buffer */
+    uint16_t match_scan_index;
+    uint16_t match_length;
+    uint16_t match_pos;
+    uint16_t outgoing_bits;     /* enqueued outgoing bits */
+    uint8_t outgoing_bits_count;
+    uint8_t flags;
+    uint8_t state;              /* current state machine node */
+    uint8_t current_byte;       /* current byte of output */
+    uint8_t bit_index;          /* current bit index */
+#if HEATSHRINK_DYNAMIC_ALLOC
+    uint8_t window_sz2;         /* 2^n size of window */
+    uint8_t lookahead_sz2;      /* 2^n size of lookahead */
+#if HEATSHRINK_USE_INDEX
+    struct hs_index *search_index;
+#endif
+    /* input buffer and / sliding window for expansion */
+    uint8_t buffer[];
+#else
+    #if HEATSHRINK_USE_INDEX
+        struct hs_index search_index;
+    #endif
+    /* input buffer and / sliding window for expansion */
+    uint8_t buffer[2 << HEATSHRINK_ENCODER_WINDOW_BITS(_)];
+#endif
+} heatshrink_encoder;
+
+#if HEATSHRINK_DYNAMIC_ALLOC
+/* Allocate a new encoder struct and its buffers.
+ * Returns NULL on error. */
+heatshrink_encoder *heatshrink_encoder_alloc(uint8_t window_sz2,
+    uint8_t lookahead_sz2);
+
+/* Free an encoder. */
+void heatshrink_encoder_free(heatshrink_encoder *hse);
+#endif
+
+/* Reset an encoder. */
+void heatshrink_encoder_reset(heatshrink_encoder *hse);
+
+/* Sink up to SIZE bytes from IN_BUF into the encoder.
+ * INPUT_SIZE is set to the number of bytes actually sunk (in case a
+ * buffer was filled.). */
+HSE_sink_res heatshrink_encoder_sink(heatshrink_encoder *hse,
+    uint8_t *in_buf, size_t size, size_t *input_size);
+
+/* Poll for output from the encoder, copying at most OUT_BUF_SIZE bytes into
+ * OUT_BUF (setting *OUTPUT_SIZE to the actual amount copied). */
+HSE_poll_res heatshrink_encoder_poll(heatshrink_encoder *hse,
+    uint8_t *out_buf, size_t out_buf_size, size_t *output_size);
+
+/* Notify the encoder that the input stream is finished.
+ * If the return value is HSER_FINISH_MORE, there is still more output, so
+ * call heatshrink_encoder_poll and repeat. */
+HSE_finish_res heatshrink_encoder_finish(heatshrink_encoder *hse);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/heatshrink/heatshrinkif.cpp b/heatshrink/heatshrinkif.cpp
new file mode 100644
index 000000000..db3eebf32
--- /dev/null
+++ b/heatshrink/heatshrinkif.cpp
@@ -0,0 +1,113 @@
+#include "heatshrinkif.h"
+
+#include <QFile>
+#include <QDebug>
+#include <cstring>
+
+HeatshrinkIf::HeatshrinkIf()
+{
+    hse = new heatshrink_encoder;
+    hsd = new heatshrink_decoder;
+
+    test("/home/benjamin/Nextcloud/Dokument/ARM/STM_Eclipse/BLDC_4_ChibiOS/build/BLDC_4_ChibiOS.bin");
+}
+
+HeatshrinkIf::~HeatshrinkIf()
+{
+    delete hse;
+    delete hsd;
+}
+
+QByteArray HeatshrinkIf::encode(QByteArray in)
+{
+    heatshrink_encoder_reset(hse);
+
+    size_t input_size = in.size();
+    size_t comp_sz = input_size + (input_size/2) + 4;
+    uint8_t *comp = new uint8_t[comp_sz];
+    uint8_t *input = (uint8_t*)in.data();
+
+    memset(comp, 0, comp_sz);
+
+    size_t count = 0;
+    uint32_t sunk = 0;
+    uint32_t polled = 0;
+
+    while (sunk < input_size) {
+        heatshrink_encoder_sink(hse, &input[sunk], input_size - sunk, &count);
+        sunk += count;
+        if (sunk == input_size) {
+            heatshrink_encoder_finish(hse);
+        }
+
+        HSE_poll_res pres;
+        do {
+            pres = heatshrink_encoder_poll(hse, &comp[polled], comp_sz - polled, &count);
+            polled += count;
+        } while (pres == HSER_POLL_MORE);
+
+        if (sunk == input_size) {
+            heatshrink_encoder_finish(hse);
+        }
+    }
+
+    QByteArray res = QByteArray((char*)comp, polled);
+    delete[] comp;
+
+    return res;
+}
+
+QByteArray HeatshrinkIf::decode(QByteArray in)
+{
+    heatshrink_decoder_reset(hsd);
+
+    uint32_t compressed_size = in.size();
+    size_t count = 0;
+    uint32_t sunk = 0;
+    uint32_t polled = 0;
+    uint8_t *input = (uint8_t*)in.data();
+    QByteArray res;
+
+    while (sunk < compressed_size) {
+        heatshrink_decoder_sink(hsd, &input[sunk], compressed_size - sunk, &count);
+        sunk += count;
+        if (sunk == compressed_size) {
+            heatshrink_decoder_finish(hsd);
+        }
+
+        HSD_poll_res pres;
+        do {
+            uint8_t chunk[16];
+            pres = heatshrink_decoder_poll(hsd, chunk, 16, &count);
+            res.append((char*)chunk, count);
+            polled += count;
+        } while (pres == HSDR_POLL_MORE);
+        if (sunk == compressed_size) {
+            heatshrink_decoder_finish(hsd);
+        }
+    }
+
+    return res;
+}
+
+void HeatshrinkIf::test(QString fileName)
+{
+    qDebug() << sizeof(heatshrink_encoder) << sizeof(heatshrink_decoder);
+
+    QFile file(fileName);
+    if (!file.open(QIODevice::ReadOnly)) {
+        qWarning() << "Could not open" << fileName;
+        return;
+    }
+    auto dataIn = file.readAll();
+    file.close();
+
+    auto comp = encode(dataIn);
+
+    qDebug() << "In:" << dataIn.size() << "Out:" << comp.size() << "Final size:"
+             << (100.0 * double(comp.size()) / double(dataIn.size())) << "%";
+
+    auto decomp = decode(comp);
+    qDebug() << "DecompSz:" <<  decomp.size();
+    qDebug() << "Compare:" << decomp.compare(dataIn);
+}
diff --git a/heatshrink/heatshrinkif.h b/heatshrink/heatshrinkif.h
new file mode 100644
index 000000000..3f5136789
--- /dev/null
+++ b/heatshrink/heatshrinkif.h
@@ -0,0 +1,23 @@
+#ifndef HEATSHRINKIF_H
+#define HEATSHRINKIF_H
+
+#include "heatshrink_encoder.h"
+#include "heatshrink_decoder.h"
+#include <QString>
+
+class HeatshrinkIf
+{
+public:
+    HeatshrinkIf();
+    ~HeatshrinkIf();
+
+    QByteArray encode(QByteArray in);
+    QByteArray decode(QByteArray in);
+    void test(QString fileName);
+
+private:
+    heatshrink_encoder *hse;
+    heatshrink_decoder *hsd;
+};
+
+#endif // HEATSHRINKIF_H
diff --git a/res/bootloaders/40_o_47_o_48_o_410_o_411_o_412_o_DAS_RS.bin b/res/bootloaders/40_o_47_o_48_o_410_o_411_o_412_o_DAS_RS.bin
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z_Tq454isG+zBH>5n~aT^(l=tnx?-}zb!HA`WYi8K>5{%GXh6ufmd%%ga1KsG<KQy}
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zhe=ROM>sc9g(>umhkgu4a|PACuI<rKb=xBa=fWDVAU?eF^43>8OvEG7qFCa#|1IA5
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z$eHT!Hy+IZ-&Q`IFMUPb-x8n7xo=u$L{5i5+r2$us+@1xr7Q$h7wj7<3rLJ++;n*B
zg}9ce*2EFv-njZa12vCg3cTe0tO>R5&^VcXXaiSngd#Uar74W`Vdi~zX1())zgKG@
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zZByqo`6iSD-3IcM-zDp@XtoqF+_BKn?8Y>>svMh~%~c~}xpPx$^tF_;na4D8l06<P
zL<YJWN5pOYk|`@hZrL7PmE1HJ7Oaxr3L}AzSre%x%lnW*IS=ZTC@OUhydAC{)D)Xa
z39p_#a5Q1ot=6Lir_~PWW}}3e_FQAud#=&z&1GSa5@oQ7p}vbs(U8uPH85AO3rq!C
xASlfJ$$tAh^^MPzS-cEJOljy%Te!eWT;;z^-plGmwhBnN9KW>$XL_<Q{V&{bky-!%

delta 1997
zcmb_ceQXnD7=Q2HYkTdw_V%USrsKLcbG6_;AY%bDOFOPxyHSE;2?mneoXM47(kO|4
zwz8=Z5)dyYxW>d73=oIufGvK_!AOk!p=pOp#$aZG5uBO4qcgp&mGij`6cYYf^pfX&
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z*Uh6>n0cECkxY)ZHz>3fk@~;TS+=?&_3>7m>`<7^AA08}o4~_ez5+bl%t6qeClsoj
z7ZBOKtjngT4FleV6t*KCkxkJYA|y)z)a5>(r`XR@kY9|7KN*m{`s-+vic{+;nTpF^
zWts)8yIDjgvpPU?fUaa2K(_(?ki~#*0=k?<qi7DzAeQzZWML7aJ)U9+hFG@8VquQ}
zscY*fwEW0ROto=iODt_X*bvw#yLI+xO|Z80us3gf%4ce>B$#IE%bG)EXPr-B%4Kgh
z<qGzK)D;*ndz=)JuB;>Ifb`AdlRmDQCm1oce8ASc1MD>)z23#t)4>XeVR|G6vTM@*
zD1@-J+uGF3`|5y~8Q0o++&|!5x>DR;0$*?3d-SWCIiy0x9O4f`)f?_W<p`>UYps!L
z1r9Qe5*%~`cr$ckfU>X;)4f~ZW2GZ|_5J!TSj&BkY%(OuPfFAaC&hQZa7e#Ox5Pc7
zTSP=ux`+92LY^@AX_7Bjunjb4kvoAQi+ltaZ;`)co9JY|tT#5%Gx@S$tS`HeuT29X
zb0EL<Md?tOJ8y3LMS4oyCCcv^t8`9Ct5_Z}uF)MHw79ME&&Cp=TXcxLuv;t^xe?r=
zX0EHhL!z3d2gbOP@X8q(;@TY2C*d-wQe^B@RR>&%UWFImQXHK8ys0u8@u-=%ztK!<
z@0&Ib6}P*k0Wf)1r0hFIQ0GwPM^c}{^PhI1nR2OLI^fMtz9jvdhML)@-Uy$W@4@|E
z`l=36>Qn8)sqo0{M)2SHh<_#+56g<9Hg8bPT$ZOzMa|U#S1?3k+d~VUEnH8jSS0xf
zg^Pg44Y`RTiEqJV5hHt%cuee-iip{oO<}3L)wd8^kHtLcIL=MT&O8aT9Ul2;UP(=e
zSj{xSma%lqFqXckA4_j3LC&%CrNR)Qj3I*A+L@%nC)~3b`({n@l{{b6g0a}jmL{WU
z7@a|(*&`Ne149frjtU56rI+xMc?qZIl7_WoSCfkKfi3oRU%WMPn;d<xC<v*Uru$2?
zG6QyqvWFHBEXbD%tQ>h`QH8T_u?Nl%7GE1)UNYOmQ>%7Plk><Pt14(Okmt-kUc0T)
zzKVZz$WU*>_7!rindYjB+KU77_WVs9I6+3J>THS?)XWK0d($ra!)BWOvBAiB<F>6f
z<lq#_eJO2qc6&~F8<axs%~|Y-pG~K1Lged+pA{nhghl=-e}_!C&Sy+NPD$f>YC^|H
z{8LgPxnspiJzxsx8q9>Y7LOWuR(`dhE_&fCPV7+_?T>T+i45t5UFRrQO_Fw*N1++}
zVb=TA%r%v*cBWw8!j1*c>+UXB*zR+6!5dMq8@P|qxWf0GhG5q2E;TczYEpVxx}p^s
bF+;(_;Atuu83`@K==~XaP2u3V2xRp)l(bp?

diff --git a/res/bootloaders/60_o_75_300_o_HD60_o_UAVC_OMEGA_o_75_300_R2_o_60_MK3_o_100_250_o_75_300_R3_o_60_MK4_o_60_MK5_o_HD75.bin b/res/bootloaders/60_o_75_300_o_HD60_o_UAVC_OMEGA_o_75_300_R2_o_60_MK3_o_100_250_o_75_300_R3_o_60_MK4_o_60_MK5_o_HD75.bin
index d53db114be133bb274171e5c3a771867c8d76641..ae5fa1658dfc966c5e897c9b7aac9490aeb881b9 100755
GIT binary patch
delta 2401
zcmcIke{2)?6@T9!XJ1I-xOJKZNa5@wt-+x)33Q!N!MWHMRFa}GsD!F*DYO$}YU{$J
zv81Zcq?(*|MO4>zg|r<CtP^Uh#!lD@TIx)QZmZhr99J|MoAA^hhGtCPOQAbF2k(1{
zyH)Hjgm%(<?|a|x=e_rN@80*uy{sh;B1o$Qm-v|D`s4wpOZ0NNUcYPb@f!_rgZ}Xw
zuHeQ9#ILjMz@L>D*ruOu?Ct8kr|;fFJp;qN8~eK3dL(tB4|##HlD)!wHC<Zhle~Tv
z*k`44)?`BRA|IBQ_Y1dg@88i6&G=YwXB<Bd%y|_bqiS#`u$fue^<IExma%vQHIH5%
z|7Jpknb$RF*=_`P;z6(47y<T&*+ewVUe#V60rpsVMgsOk86-R9$?~>tNQ-{KbX8Sl
zyQ5vk8Vgt3CvTMP{maIwCSU`a=>Lg<xL+tfi`Jja(qGWQu6uOF@fXO@LDWWdI;bnw
zUqudCJ`1dl%iTOtr2CxJm;%;W7R;t9YQiq;U2EaGIRZSqkv$eA##W22Jrp%3S8>8V
zbzuZ}ln+YnO&g4TO_?m^Z{-rOPfKCmnfSyk$hWFQKd7FuU>FY~9SxG{Dzq&^UOPHn
zg>BH}Ecov_O9l@{x}r5%Z=M{Y$LzKqEs6eImK-{1qPklmHCeZhyjDAnk?r%@?63(7
zF8sN!_!Rqnp(|Q%OiU85O~vHNe?6Cc^y;Va0^wV4@vT=%0$+{r)xlED24JsVEfgSq
zv;Y~n2zj754B!%Dt9b|zMG$d#bG=I}x2!_TxDD5XbT7A1d7f0;KL_Grggl%LhuU-B
z;XMg+xz@(7-S~gKheKl%!Pc9uB@+K1M()tXiJDg7KR_C~GC^BKW5U^#xyeFnfeXr2
zCyCah#yTM*uJGiZc0Oacd96<wr%XyF7M=YXR?Drj@LGvWUx9|Eawzmwlq(a}dmBh>
z<KB+g(|h}4bKxrO(@XeEd}da^L^dplHSo5&LHhA(U8Qe3p5-_8CCA7D;bw$~J^B*I
zo!Ic`_i;1s(f4zc_vr69*5Lyl-Qiq^4|{ag*@`uf-s^k;L%n{pcpqjSeV4eMn~@L1
zA@qIgxS%$uGg2L&n{CDYDZzw?(3;1WTwHux1m#B+(eN*<x6o2x?-u88ku@et*4S4c
zTRe`un=U~Quti0C!agdNx&Ea1AlFxlBl{P)5RTRBuT*c2vr$-v`($-r>U3{|x>>v*
z?og<S=wP}r)4>q=xq|nwY@^D47wdE;A5BG*k2L)zEkso9;l9(mf2+`pqG3(DE$sVS
zVbho8J@ZIDqm{>fT$zzDRl!>u1lCvtSx)Ro$a`dMhjv8!IIg+J{tLE!@+s^1iPT7n
zCO<SK0cUURLA<i(6@TUy)uGm|mLe<ErE2+~KPt8*1Ccfjq`P~pu}!QToY(dURC3Q7
zKd>_zEC-g;AOOtJ`0uj)MHS>fS`du)_fqv6s!MeQVCEg|+<C%!pL2WZx4VGK{ktbE
zfbqq{MU924#?G?@mXGX~lb#cDUtQplDZwjoB0nhGb-$?m&;U&2yk;Zh6VF|#2|_@d
zc|jBBP+b)iuxGT7lZ_oH2tGm1$F-q3hxw37CFGqIaL70^2X)AYIf|1BT8nlWL&;Ig
zF@At|#H~_uB{EXY1K>k>`}|kaHNxpHY6M~;SNHdLh55@{<bhLP)DYDA{+8wewC0WU
z0i`){K0B0jFVfQS!y5S8vxhn7@A9fTP5`g)$%4RjqF`71L;=n5zj$@N%6}N(Uw`TG
zHxWOx6aG>WrsQN>rCxm2-hZ$#UvsYFbIF*afPIniG-{I*`>d5<`+{#<dlTpAW?P1K
zzg=)}*UkdrI#RH|XRPy4h9JU!cpFmvy+VLaLK1?F86?FzZJEc6{Jr`U#K-t&&JJVC
z5?Ha$csET{oUb>_tMAGY3k6<wT3ON(n0h}Q{ak3SYvDTDFm=>)JJ(kcQ*t<_oejiv
zW90(fs$9TZ-K}ZG%2HNG(YHtonRa?=r<SNbm4?U))uQ(oCw)tOj9}X8iBLvpOX^SF
dbW?<<TKtmoudIDj>Q$niE_{6qM~qsA{|&7jHtPTY

delta 936
zcmbu6O=uHA6vy98HrvV4jH!mw_{DAniBS7tQ3BNxLK>U2B`P78BE<SZz^fp5*-Cm6
z55j<;3q1%5y%mEZ9yA9pf<pFE3Tg-nqKGmZ+p=L->+989$iV---{Jq>yf-6<>xKyo
zbR)poC8ax^4{|nu>bCAbzu9Yp9_!7XH|T8uv&&}(JjcJw!pv-LE|<?29+s<Xx!L^u
zWLeL~;=};?&D$l4^u>$Cbt91l+4OXS#OaY^)q)JNMT`)-TqUc?iuvAE?xDdat7<k`
z0r}Q{zEvMpvI`q9QfwqE#2U{IWk5dmm(yo$kdEKhN9V@oLHfSp3~8zZ*Qs&RrF%e5
z{9%bhc5yn;D7wm|HQnAgjrDE)VCHD%jRRLfe)bcws7nrjyolaD`-z#}wgU#}AkX+9
ze|rRp`7a#8)@&SYiCBYqkyby#YhsZJB8Vl@?k9$>Ef3@eFNh?O);$I32a@dtkiH_l
z^WZ16K%prB&Qejl1sDTHQ#UwgE2y1eI!;7?aGN&&3PqjK>JiQ$0(vGYO6n{1HvZ0C
zrMACsFQLH22s=e}F0NsUaIu1EjEi+PMO$Gp7@DFoEJ~phv=J6}Lig!8F5+5=rntDJ
zEn=!QwMXPIdq#}HCX_+Gba&Uj+1bIk+_{4BL8sR2=Y-a|_!YkJbf86QOZz1K2lgND
ADgXcg

diff --git a/res/bootloaders/generic.bin b/res/bootloaders/generic.bin
index 1cc4f5bcc293ebe46aa26b773486f812b7f95ca9..cc6796e6ced0c5558c186d04bee357b979f2f834 100755
GIT binary patch
delta 2294
zcmcgsYitx%6h8McyR)>kyKTh+1-3gD7q*b4Emd1B?Q}auEY=5@pivt@gC;@){vbfu
zsi;|e1vB_ujRer7KD!I3HI&6*eMOVmR!s{ks~87tFn0>*w6<OEbc_1K#55Xja?Y9D
z`<=&k&$*+|Qs;$11aFe&h#tq}1UYlW_b2J|H#x$SPW(4P{zZ)N<XHc=$$9SZB(D(o
zT5yInueomRvbERWb?r%Of7_ESJ39)M@)qH8kZ?QJfXyAn?NkY_1Lhf(ay|=)iOX0x
zbn7x|rpvPv%?!Dk8MriAP{KF#1=rzdu~HZUc537yd1<oKgj}Bv?6I*yFR<svz>AB4
zeL2>&9O9y1Fmqh4<no3}eX)hJ?30hj?EMS+v7%@k1^oS@f3A*}+^PrHy<-5ohexSd
ze$t{bV4KDSv&cnFxEB{!TR0cktKo6y?~?5eL|<vq>gOBGzD2wspE5lJJpJmC`l6mB
zu<awY3NSJXB{=$(1s&w6b_HoDN(NkLRfxQ{f53%p#FSC+SDqlz=R!>l*~xh+@;q(#
z^Zl9;(chmW(f3T0J1aCj>GqM=rVd~fww($`J4~2z=6LS#BkUuCK0~AV%QX3euOUIB
zsGMpvs>#+jhmEENLGSK+*RXxQ9sS10S_<s=Xomsu*9}Mjh$5VYRBHt<9CE~TT7cDg
zIbsEubm<~gTL9iW__y7{2bH>?faEh0Cif+4tLl1h<lJky{NFZwF=1_0S5L6a^N)qN
ztIqahmkEF1Xw^^;Efe(~XHmjqp=#iQdb1)#ZBbeqAtBDs?|szyxb9|zJfa^nDe0MU
z;!o^?YPENfg{!?>wi>jmzZX?q3^UY|wVAYDx4FLc(ak$r?Qq&|Jcb=(+HSIRidw+0
z(hc7GE3_ZU5yv9_kgj$dc$MZMeAJ^I5h`)Yqy55-?$H)HDlzkDcROnE9*_14Hys}B
zM@Jdn<<Vw1pT_PyE$+MpL!LH8Ty2~6;`eu0hXiGsGU(0a-8P4whzTa#g%)p{eRk&D
z5K0}CMcqHWz(RBQkPc^FfYl{>tuDL2_7V@F;^y<v0xUjckMf4$G}qgP*K+;ju(sY+
zgVj9kP1j9fb`UPZTP5XzSofA`%1z>Juu!HZqS1I^qMjl0n2a~EWTC<iw>CN>8)6NS
z^+j*Tg^;4&x3zoYJ2FkkDpu9GwZ89+=3mmAGDv$OGs}HQ9`s_WK=ITdpY~ypq_#C}
z(k4k=qwZ5rg;jUgpJ3Z16|)X?#ty`2<O|a);N+|p#ECs6`xBQa4rOYEH#A?FqojW=
z|E)X{2$iegy{5(LYG&zRM%#_gq@K`zU|*>)4_L1X0bshy|6z5{Dj<DqK`^{y3so*v
zaui1Z20v6!o+fO|Zg(-gstKsHV`HBMaCBzJu*zy(U8h+amiBFwBKe)t*4)7QexcaQ
z3%N6G^L|#oTL(;}lxicS&fP=VK?taWPpjfMs%ZiR>~Zx}q_7?Z!6!(mu)25LArn%b
z2w6D+uG067Lmko{j^f1xtr_>~dm{%e$I)H<M%)TD7a%=WvJ-qLWuL!1kS%nd%NB@<
za+crD8Ky3*kaiwBmrYRF=POEfqQ!5-cgZDfr;~dl?ip%4yhjCpU2+ev`DV_lz7sgZ
z2MvMiHp6DS-9Y2@pB>Av{8<P8lJnc%Lj255_>wI2OOf&kzW9W_zt+fb?w#;CuaB32
zeW9aqR4%nWU@ZXK7ksPgig=A~wqozbBZh;!HX4NMkYV?;wQ&PO5aPeLrLi4bgaGY>
z2m}ig$lKazO9pdb#PtK>WBjnQUSBaA=GW+-#)*Pc1!lV9%3fljz>7{RNlF9#pT`@1
z5=wGQxo()&zu$B_m$-=ObvOo`(}?ND@)^2PK7&`f%i^+?q%4=BD@Z9BaOO|#pRM>5
zT1Dn77QJn_&o{@%2&QHEA<76XjeSxaFADKgGhdK@OWH4`Kp{%E@z*gtkji5Ccj0a5
AAOHXW

delta 830
zcmb_Y&ubG=5T1G2jjx->Ce<8bZOaCc{uDPxil<mY60{X7rS#BKkRC#N_of>#e?VkF
z54lM_^dd^I1rHUa&`T*Bym(L=yp*ECOQ>Z-Le}TKm&Fdud~^8b`(~y*;f^@K!TQ8Z
zj#{v6DgL{FGiP`>fsM})`40^z*wyE2uDqRqF9a3WkLALRd3(-&kh*v1?N^@{pS?{K
z(nWm?uHq&V$bJ_$^@3djdE8weozH89^jEutwTVI^2Xe1l$xbyuUh1_iCwc$StCm5I
z^t4vO&|9$1lD9n;1-aDY<3o*C`H;KhX;Ult_Lo~qqHPW5uH|-Hum&>JGk$6i_wWkH
zCyE_vyw3hn!cG_Oplg@5kMJedj5*4le1nfz!!#1sDC>Rybp*gU{D#ZT**I7LCa(yS
z`_n1(eI4GYo;I{TGkx07?;5UYa)^PIi_@vT6Hcn9O>6ZJ;fu&(f(|asFk4WV&oE0+
zM!~G0$2`Migtiobpi_R6H6t`R@PZWueI8h54+RYwkN&|^<Hsm}kI97-D1uz{)H*WS
d@l_q}tg4#o&`u=7TtWTFVm%gZV!b*j*<aoOoc;g+

diff --git a/vesc_tool.pro b/vesc_tool.pro
index daa68d914..4a2b7aa5e 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -245,6 +245,7 @@ include(widgets/widgets.pri)
 include(mobile/mobile.pri)
 include(map/map.pri)
 include(lzokay/lzokay.pri)
+include(heatshrink/heatshrink.pri)
 include(QCodeEditor/qcodeeditor.pri)
 
 RESOURCES += res.qrc \
diff --git a/vescinterface.cpp b/vescinterface.cpp
index 8027c6f99..5399b5d89 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -31,6 +31,7 @@
 #include "lzokay/lzokay.hpp"
 #include "vescinterface.h"
 #include "utility.h"
+#include "heatshrink/heatshrinkif.h"
 
 #ifdef HAS_SERIALPORT
 #include <QSerialPortInfo>
@@ -1377,11 +1378,30 @@ bool VescInterface::fwUpload(QByteArray &newFirmware, bool isBootloader, bool fw
     int nonCompChunks = 0;
     int skipChunks = 0;
 
+    HeatshrinkIf hs;
+    bool useHeatshrink = false;
+    if (szTot > 393208) {
+        useHeatshrink = true;
+        qDebug() << "Firmware is big, using heatshrink compression library";
+        int szOld = szTot;
+        newFirmware = hs.encode(newFirmware);
+        szTot = newFirmware.size();
+        qDebug() << "New size:" << szTot << "(" << 100.0 * (double)szTot / (double)szOld << "%)";
+        supportsLzo = false;
+    }
+
     if (!isBootloader) {
         quint16 crc = Packet::crc16((const unsigned char*)newFirmware.constData(),
                                     uint32_t(newFirmware.size()));
         VByteArray sizeCrc;
-        sizeCrc.vbAppendInt32(szTot);
+        if (useHeatshrink) {
+            uint32_t szShift = 0xCC;
+            szShift <<= 24;
+            szShift |= szTot;
+            sizeCrc.vbAppendUint32(szShift);
+        } else {
+            sizeCrc.vbAppendUint32(szTot);
+        }
         sizeCrc.vbAppendUint16(crc);
         newFirmware.prepend(sizeCrc);
     }

From 2cbcb853a0811c534f984e7d8991802e2130f81b Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 18 Jan 2022 20:38:31 +0100
Subject: [PATCH 003/559] Added warning when the firmware is too big.

---
 vescinterface.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/vescinterface.cpp b/vescinterface.cpp
index 5399b5d89..b31f3e8f1 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -1388,6 +1388,13 @@ bool VescInterface::fwUpload(QByteArray &newFirmware, bool isBootloader, bool fw
         szTot = newFirmware.size();
         qDebug() << "New size:" << szTot << "(" << 100.0 * (double)szTot / (double)szOld << "%)";
         supportsLzo = false;
+
+        if (szTot > 393208) {
+            emitMessageDialog(tr("Firmware too big"),
+                              tr("The firmware you are trying to upload is too large for the "
+                                 "bootloader even after compression."), false);
+            return false;
+        }
     }
 
     if (!isBootloader) {

From e874ede66f548daddac3a40d17cf626d9c18f267 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 18 Jan 2022 21:06:49 +0100
Subject: [PATCH 004/559] Removed test test code

---
 heatshrink/heatshrinkif.cpp | 2 --
 vescinterface.cpp           | 2 +-
 2 files changed, 1 insertion(+), 3 deletions(-)

diff --git a/heatshrink/heatshrinkif.cpp b/heatshrink/heatshrinkif.cpp
index db3eebf32..b704401ba 100644
--- a/heatshrink/heatshrinkif.cpp
+++ b/heatshrink/heatshrinkif.cpp
@@ -8,8 +8,6 @@ HeatshrinkIf::HeatshrinkIf()
 {
     hse = new heatshrink_encoder;
     hsd = new heatshrink_decoder;
-
-    test("/home/benjamin/Nextcloud/Dokument/ARM/STM_Eclipse/BLDC_4_ChibiOS/build/BLDC_4_ChibiOS.bin");
 }
 
 HeatshrinkIf::~HeatshrinkIf()
diff --git a/vescinterface.cpp b/vescinterface.cpp
index b31f3e8f1..8dbfe6810 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -1378,12 +1378,12 @@ bool VescInterface::fwUpload(QByteArray &newFirmware, bool isBootloader, bool fw
     int nonCompChunks = 0;
     int skipChunks = 0;
 
-    HeatshrinkIf hs;
     bool useHeatshrink = false;
     if (szTot > 393208) {
         useHeatshrink = true;
         qDebug() << "Firmware is big, using heatshrink compression library";
         int szOld = szTot;
+        HeatshrinkIf hs;
         newFirmware = hs.encode(newFirmware);
         szTot = newFirmware.size();
         qDebug() << "New size:" << szTot << "(" << 100.0 * (double)szTot / (double)szOld << "%)";

From 7eab8cc0d02ed162faa51feb46071bb7471e627c Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 19 Jan 2022 15:41:37 +0100
Subject: [PATCH 005/559] Support larger firmware files

---
 build_all              | 1 +
 build_test_versions    | 2 ++
 mobile/fwhelper.cpp    | 2 +-
 pages/pagefirmware.cpp | 2 +-
 4 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/build_all b/build_all
index 015b6f5a8..f7da1cb7f 100755
--- a/build_all
+++ b/build_all
@@ -11,4 +11,5 @@ rm /storage/mnt_webserver/web/ubercart_downloads/vesc_tool_*
 mv build/lin/vesc_tool_* /storage/mnt_webserver/web/ubercart_downloads/
 mv build/win/vesc_tool_* /storage/mnt_webserver/web/ubercart_downloads/
 mv build/android/vesc_tool_* /storage/mnt_webserver/web/ubercart_downloads/
+cp build/macos/vesc_tool_* /storage/mnt_webserver/web/ubercart_downloads/
 
diff --git a/build_test_versions b/build_test_versions
index 28c011182..9d10cf324 100755
--- a/build_test_versions
+++ b/build_test_versions
@@ -2,6 +2,8 @@
 
 set -e
 
+touch build/test_all/"Build Date $(date '+%Y-%m-%d')"
+
 # Linux
 export PATH=/opt/Qt/5.12-static/bin:$PATH
 rm -rf build/lin/*
diff --git a/mobile/fwhelper.cpp b/mobile/fwhelper.cpp
index e0cb84a98..75d29f1b0 100644
--- a/mobile/fwhelper.cpp
+++ b/mobile/fwhelper.cpp
@@ -132,7 +132,7 @@ bool FwHelper::uploadFirmware(QString filename, VescInterface *vesc,
         return false;
     }
 
-    if (file.size() > 400000) {
+    if (file.size() > 700000) {
         vesc->emitMessageDialog(tr("Upload Error"),
                                 tr("The selected file is too large to be a firmware."),
                                 false);
diff --git a/pages/pagefirmware.cpp b/pages/pagefirmware.cpp
index 1458cd9b9..f0d182e70 100755
--- a/pages/pagefirmware.cpp
+++ b/pages/pagefirmware.cpp
@@ -462,7 +462,7 @@ void PageFirmware::uploadFw(bool allOverCan)
             }
         }
 
-        if (file.size() > 400000 && !(file.fileName().toLower().endsWith(".hex"))) {
+        if (file.size() > 700000 && !(file.fileName().toLower().endsWith(".hex"))) {
             QMessageBox::critical(this,
                                   tr("Upload Error"),
                                   tr("The selected file is too large to be a firmware."));

From 24d5ff47c572963383f637b5a660be77b5f10b07 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 20 Jan 2022 02:00:06 +0100
Subject: [PATCH 006/559] Only replot graphs when visible and queue replots
 until they become visible otherwise

---
 pages/pageappbalance.cpp      |  2 +-
 pages/pageappimu.cpp          |  6 +++---
 pages/pageappnunchuk.cpp      |  2 +-
 pages/pageappppm.cpp          |  2 +-
 pages/pagebms.cpp             |  4 ++--
 pages/pageexperiments.cpp     |  4 ++--
 pages/pageimu.cpp             |  8 ++++----
 pages/pageloganalysis.cpp     |  4 ++--
 pages/pagemotorcomparison.cpp |  6 +++---
 pages/pagertdata.cpp          | 22 +++++++++++-----------
 pages/pagesampleddata.cpp     | 18 +++++++++---------
 res/CHANGELOG                 |  4 ++++
 widgets/qcustomplot.h         | 19 +++++++++++++++++++
 13 files changed, 62 insertions(+), 39 deletions(-)

diff --git a/pages/pageappbalance.cpp b/pages/pageappbalance.cpp
index 4b19868d6..d497b9074 100644
--- a/pages/pageappbalance.cpp
+++ b/pages/pageappbalance.cpp
@@ -167,7 +167,7 @@ void PageAppBalance::timerSlot()
 
         ui->balancePlot->rescaleAxes();
 
-        ui->balancePlot->replot();
+        ui->balancePlot->replotWhenVisible();
 
         updateTextOutput();
     }
diff --git a/pages/pageappimu.cpp b/pages/pageappimu.cpp
index 1a2e47dd2..1710ab578 100644
--- a/pages/pageappimu.cpp
+++ b/pages/pageappimu.cpp
@@ -190,9 +190,9 @@ void PageAppImu::timerSlot()
         ui->accelPlot->rescaleAxes();
         ui->gyroPlot->rescaleAxes();
 
-        ui->rpyPlot->replot();
-        ui->accelPlot->replot();
-        ui->gyroPlot->replot();
+        ui->rpyPlot->replotWhenVisible();
+        ui->accelPlot->replotWhenVisible();
+        ui->gyroPlot->replotWhenVisible();
     }
 }
 
diff --git a/pages/pageappnunchuk.cpp b/pages/pageappnunchuk.cpp
index 4d122ff45..6cf392cb9 100644
--- a/pages/pageappnunchuk.cpp
+++ b/pages/pageappnunchuk.cpp
@@ -108,7 +108,7 @@ void PageAppNunchuk::paramChangedDouble(QObject *src, QString name, double newPa
         }
         ui->throttlePlot->graph()->setData(x, y);
         ui->throttlePlot->rescaleAxes();
-        ui->throttlePlot->replot();
+        ui->throttlePlot->replotWhenVisible();
     }
 }
 
diff --git a/pages/pageappppm.cpp b/pages/pageappppm.cpp
index 0eb0a9f0f..df85cbdc4 100644
--- a/pages/pageappppm.cpp
+++ b/pages/pageappppm.cpp
@@ -99,7 +99,7 @@ void PageAppPpm::paramChangedDouble(QObject *src, QString name, double newParam)
         }
         ui->throttlePlot->graph()->setData(x, y);
         ui->throttlePlot->rescaleAxes();
-        ui->throttlePlot->replot();
+        ui->throttlePlot->replotWhenVisible();
     }
 }
 
diff --git a/pages/pagebms.cpp b/pages/pagebms.cpp
index 0ae0b68ff..0594481bb 100644
--- a/pages/pagebms.cpp
+++ b/pages/pagebms.cpp
@@ -83,7 +83,7 @@ void PageBms::bmsValuesRx(BMS_VALUES val)
     }
 
     ui->plotCells->xAxis->setTicker(textTicker);
-    ui->plotCells->replot();
+    ui->plotCells->replotWhenVisible();
 
     // Temps
 
@@ -113,7 +113,7 @@ void PageBms::bmsValuesRx(BMS_VALUES val)
     }
 
     ui->plotTemp->xAxis->setTicker(textTicker2);
-    ui->plotTemp->replot();
+    ui->plotTemp->replotWhenVisible();
 
     // Value table
     ui->valTable->item(0, 0)->setText(QString("%1 V").arg(val.v_tot, 0, 'f', 2));
diff --git a/pages/pageexperiments.cpp b/pages/pageexperiments.cpp
index 4b163078e..ec325684b 100644
--- a/pages/pageexperiments.cpp
+++ b/pages/pageexperiments.cpp
@@ -597,7 +597,7 @@ void PageExperiments::plotSamples(bool exportFormat)
         ui->plot->rescaleAxes();
     }
 
-    ui->plot->replot();
+    ui->plot->replotWhenVisible();
 }
 
 void PageExperiments::victronGetCurrent()
@@ -625,7 +625,7 @@ void PageExperiments::victronGetVoltage()
 void PageExperiments::on_rescaleButton_clicked()
 {
     ui->plot->rescaleAxes();
-    ui->plot->replot();
+    ui->plot->replotWhenVisible();
 }
 
 void PageExperiments::on_zoomHButton_toggled(bool checked)
diff --git a/pages/pageimu.cpp b/pages/pageimu.cpp
index 7e163e711..c4b76c763 100644
--- a/pages/pageimu.cpp
+++ b/pages/pageimu.cpp
@@ -206,10 +206,10 @@ void PageImu::timerSlot()
         ui->gyroPlot->rescaleAxes();
         ui->magPlot->rescaleAxes();
 
-        ui->rpyPlot->replot();
-        ui->accelPlot->replot();
-        ui->gyroPlot->replot();
-        ui->magPlot->replot();
+        ui->rpyPlot->replotWhenVisible();
+        ui->accelPlot->replotWhenVisible();
+        ui->gyroPlot->replotWhenVisible();
+        ui->magPlot->replotWhenVisible();
     }
 }
 
diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index 58278f76b..a6a61a88a 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -773,7 +773,7 @@ void PageLogAnalysis::updateGraphs()
         mVerticalLine->setVisible(true);
     }
 
-    ui->plot->replot();
+    ui->plot->replotWhenVisible();
 }
 
 void PageLogAnalysis::updateStats()
@@ -910,7 +910,7 @@ void PageLogAnalysis::updateDataAndPlot(double time)
     x[1] = time; y[1] = ui->plot->yAxis->range().upper;
     mVerticalLine->setData(x, y);
     mVerticalLine->setVisible(true);
-    ui->plot->replot();
+    ui->plot->replotWhenVisible();
 
     LOG_DATA d = getLogSample(int(time * 1000));
     mVerticalLineMsLast = d.valTime;
diff --git a/pages/pagemotorcomparison.cpp b/pages/pagemotorcomparison.cpp
index 5d66b4683..1175b028b 100644
--- a/pages/pagemotorcomparison.cpp
+++ b/pages/pagemotorcomparison.cpp
@@ -75,7 +75,7 @@ PageMotorComparison::PageMotorComparison(QWidget *parent) :
     connect(ui->rescaleButton, &QPushButton::clicked, [this]() {
         on_testRunButton_clicked();
         ui->plot->rescaleAxes();
-        ui->plot->replot();
+        ui->plot->replotWhenVisible();
     });
 
     connect(ui->m1ConfLocalButton, &QRadioButton::toggled, [this]() {
@@ -399,7 +399,7 @@ void PageMotorComparison::updateDataAndPlot(double posx, double yMin, double yMa
     x[1] = posx; y[1] = yMax;
     mVerticalLine->setData(x, y);
     mVerticalLine->setVisible(true);
-    ui->plot->replot();
+    ui->plot->replotWhenVisible();
     mVerticalLinePosLast = posx;
     mVerticalLineYLast.first = yMin;
     mVerticalLineYLast.second = yMax;
@@ -672,7 +672,7 @@ void PageMotorComparison::on_testRunButton_clicked()
             ui->plot->rescaleAxes();
         }
 
-        ui->plot->replot();
+        ui->plot->replotWhenVisible();
     };
 
     auto plotTorqueSweep = [this, updateData, updateGraphs](QTableWidget *table,
diff --git a/pages/pagertdata.cpp b/pages/pagertdata.cpp
index 310f6a15c..ca3c10252 100644
--- a/pages/pagertdata.cpp
+++ b/pages/pagertdata.cpp
@@ -338,10 +338,10 @@ void PageRtData::timerSlot()
             ui->focPlot->rescaleAxes();
         }
 
-        ui->currentPlot->replot();
-        ui->tempPlot->replot();
-        ui->rpmPlot->replot();
-        ui->focPlot->replot();
+        ui->currentPlot->replotWhenVisible();
+        ui->tempPlot->replotWhenVisible();
+        ui->rpmPlot->replotWhenVisible();
+        ui->focPlot->replotWhenVisible();
 
         mUpdateValPlot = false;
     }
@@ -359,7 +359,7 @@ void PageRtData::timerSlot()
             ui->posPlot->rescaleAxes();
         }
 
-        ui->posPlot->replot();
+        ui->posPlot->replotWhenVisible();
 
         mUpdatePosPlot = false;
     }
@@ -399,7 +399,7 @@ void PageRtData::timerSlot()
             ui->experimentPlot->rescaleAxes();
         }
 
-        ui->experimentPlot->replot();
+        ui->experimentPlot->replotWhenVisible();
         mExperimentReplot = false;
     }
 }
@@ -546,11 +546,11 @@ void PageRtData::on_rescaleButton_clicked()
     ui->focPlot->rescaleAxes();
     ui->posPlot->rescaleAxes();
 
-    ui->currentPlot->replot();
-    ui->tempPlot->replot();
-    ui->rpmPlot->replot();
-    ui->focPlot->replot();
-    ui->posPlot->replot();
+    ui->currentPlot->replotWhenVisible();
+    ui->tempPlot->replotWhenVisible();
+    ui->rpmPlot->replotWhenVisible();
+    ui->focPlot->replotWhenVisible();
+    ui->posPlot->replotWhenVisible();
 }
 
 void PageRtData::on_posInductanceButton_clicked()
diff --git a/pages/pagesampleddata.cpp b/pages/pagesampleddata.cpp
index 3e4717037..374fd22dc 100644
--- a/pages/pagesampleddata.cpp
+++ b/pages/pagesampleddata.cpp
@@ -197,8 +197,8 @@ void PageSampledData::timerSlot()
             ui->filterResponsePlot->rescaleAxes();
         }
 
-        ui->filterPlot->replot();
-        ui->filterResponsePlot->replot();
+        ui->filterPlot->replotWhenVisible();
+        ui->filterResponsePlot->replotWhenVisible();
 
         mDoFilterReplot = false;
     }
@@ -480,8 +480,8 @@ void PageSampledData::timerSlot()
                 ui->voltagePlot->rescaleAxes();
             }
 
-            ui->currentPlot->replot();
-            ui->voltagePlot->replot();
+            ui->currentPlot->replotWhenVisible();
+            ui->voltagePlot->replotWhenVisible();
 
         }
 
@@ -625,16 +625,16 @@ void PageSampledData::on_zoomVButton_toggled(bool checked)
 void PageSampledData::on_rescaleButton_clicked()
 {
     ui->currentPlot->rescaleAxes();
-    ui->currentPlot->replot();
+    ui->currentPlot->replotWhenVisible();
 
     ui->voltagePlot->rescaleAxes();
-    ui->voltagePlot->replot();
+    ui->voltagePlot->replotWhenVisible();
 
     ui->filterPlot->rescaleAxes();
-    ui->filterPlot->replot();
+    ui->filterPlot->replotWhenVisible();
 
     ui->filterResponsePlot->rescaleAxes();
-    ui->filterResponsePlot->replot();
+    ui->filterResponsePlot->replotWhenVisible();
 }
 
 void PageSampledData::clearBuffers()
@@ -673,7 +673,7 @@ void PageSampledData::on_filterLogScaleBox_toggled(bool checked)
     }
 
     ui->filterResponsePlot->rescaleAxes();
-    ui->filterResponsePlot->replot();
+    ui->filterResponsePlot->replotWhenVisible();
 }
 
 
diff --git a/res/CHANGELOG b/res/CHANGELOG
index c4057c8d9..8b15ca138 100644
--- a/res/CHANGELOG
+++ b/res/CHANGELOG
@@ -1,3 +1,7 @@
+== 4.00 <dev> ==
+* Added support for compressed firmware upload.
+* Reduce CPU usage by only plotting RT data when the plot is visible.
+
 == 3.01 ==
 * Fixed simultaneous CAN FW upload when other devices (such as BMS) are on the CAN-bus.
 * Fixed configuration backup and restore over CAN-bus.
diff --git a/widgets/qcustomplot.h b/widgets/qcustomplot.h
index 100b30d09..53b225144 100644
--- a/widgets/qcustomplot.h
+++ b/widgets/qcustomplot.h
@@ -3909,6 +3909,14 @@ class QCP_LIB_DECL QCustomPlot : public QWidget
   
   QCPAxis *xAxis, *yAxis, *xAxis2, *yAxis2;
   QCPLegend *legend;
+
+  void replotWhenVisible() {
+      if (isVisible()) {
+          replot(rpQueuedReplot);
+      } else {
+          doReplotOnShow = true;
+      }
+  }
   
 signals:
   void mouseDoubleClick(QMouseEvent *event);
@@ -3932,6 +3940,17 @@ class QCP_LIB_DECL QCustomPlot : public QWidget
   void afterReplot();
   
 protected:
+  bool doReplotOnShow;
+
+  virtual void showEvent(QShowEvent *event) override
+  {
+      (void)event;
+      if (doReplotOnShow) {
+          replot(rpQueuedReplot);
+          doReplotOnShow = false;
+      }
+  }
+
   // property members:
   QRect mViewport;
   double mBufferDevicePixelRatio;

From f3cf310baf23038c31b40cf3db17380f013242e0 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 24 Jan 2022 00:37:31 +0100
Subject: [PATCH 007/559] Added custom motor temperature sensors

---
 res/config/6.00/parameters_mcconf.xml | 50 +++++++++++++++++++++++++++
 1 file changed, 50 insertions(+)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index 51c010e63..1fa5940a3 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -3450,6 +3450,8 @@ p, li { white-space: pre-wrap; }
             <enumNames>KTY83/122</enumNames>
             <enumNames>NTC 100K at 25°C</enumNames>
             <enumNames>KTY84/130</enumNames>
+            <enumNames>NTC Custom</enumNames>
+            <enumNames>PTC Custom</enumNames>
         </m_motor_temp_sens_type>
         <m_ptc_motor_coeff>
             <longName>Coefficient for PTC Motor Thermistor</longName>
@@ -3473,6 +3475,50 @@ p, li { white-space: pre-wrap; }
             <suffix> %/K</suffix>
             <vTx>9</vTx>
         </m_ptc_motor_coeff>
+        <m_ntcx_ptcx_res>
+            <longName>Custom NTC/PTC Resistance</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Resistance of custom NTC/PTC resistor.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_NTCX_PTCX_RES</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>0.001</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>200000</maxDouble>
+            <minDouble>100</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>10000</valDouble>
+            <vTxDoubleScale>0.1</vTxDoubleScale>
+            <suffix> kΩ</suffix>
+            <vTx>7</vTx>
+        </m_ntcx_ptcx_res>
+        <m_ntcx_ptcx_temp_base>
+            <longName>Custom NTC/PTC Base Temperature</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Base temperature of custom NTC/PTC resistor.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_NTCX_PTCX_BASE_TEMP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500</maxDouble>
+            <minDouble>-274</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>25</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix> °C</suffix>
+            <vTx>7</vTx>
+        </m_ntcx_ptcx_temp_base>
         <m_hall_extra_samples>
             <longName>Hall Sensor Extra Samples</longName>
             <type>2</type>
@@ -4106,6 +4152,8 @@ p, li { white-space: pre-wrap; }
         <ser>m_out_aux_mode</ser>
         <ser>m_motor_temp_sens_type</ser>
         <ser>m_ptc_motor_coeff</ser>
+        <ser>m_ntcx_ptcx_res</ser>
+        <ser>m_ntcx_ptcx_temp_base</ser>
         <ser>m_hall_extra_samples</ser>
         <ser>si_motor_poles</ser>
         <ser>si_gear_ratio</ser>
@@ -4210,6 +4258,8 @@ p, li { white-space: pre-wrap; }
                     <param>m_motor_temp_sens_type</param>
                     <param>m_ntc_motor_beta</param>
                     <param>m_ptc_motor_coeff</param>
+                    <param>m_ntcx_ptcx_res</param>
+                    <param>m_ntcx_ptcx_temp_base</param>
                     <param>l_duty_start</param>
                     <param>m_hall_extra_samples</param>
                 </subgroupParams>

From f563f27da11f0df344f9240f8e1ab9818947fc49 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 29 Jan 2022 03:30:51 +0100
Subject: [PATCH 008/559] Stared integrating lisp scripting support

---
 QCodeEditor/include/LispHighlighter           |   3 +
 QCodeEditor/include/QLispCompleter            |   3 +
 .../include/internal/LispHighlighter.hpp      |  36 +
 QCodeEditor/include/internal/QCodeEditor.hpp  |   9 +
 .../include/internal/QLispCompleter.hpp       |  18 +
 QCodeEditor/qcodeeditor.pri                   |   4 +
 QCodeEditor/resources/languages/lisp.xml      |  23 +
 .../resources/qcodeeditor_resources.qrc       |   1 +
 QCodeEditor/src/internal/LispHighlighter.cpp  |  94 +++
 QCodeEditor/src/internal/QCodeEditor.cpp      |  33 +-
 QCodeEditor/src/internal/QLispCompleter.cpp   | 101 +++
 commands.cpp                                  |  78 ++
 commands.h                                    |  12 +
 datatypes.h                                   |  33 +
 mainwindow.cpp                                |   8 +-
 mainwindow.h                                  |   2 +
 pages/pagelisp.cpp                            | 665 ++++++++++++++++++
 pages/pagelisp.h                              |  75 ++
 pages/pagelisp.ui                             | 472 +++++++++++++
 pages/pages.pri                               |   3 +
 pages/pagescripting.cpp                       |  47 +-
 pages/pagescripting.h                         |  10 +-
 pages/pagescripting.ui                        |   6 +-
 res/CHANGELOG                                 |   6 +
 res/Lisp/Examples/aux.lisp                    |  17 +
 res/Lisp/Examples/can_pos_follow.lisp         |  16 +
 .../Examples/control_servo_from_duty.lisp     |  24 +
 .../Examples/control_servo_from_encoder.lisp  |  10 +
 res/Lisp/Examples/duty.lisp                   |  22 +
 res/Lisp/Examples/ppm_read.lisp               |   9 +
 res/Lisp/Examples/print_bms_data.lisp         |  35 +
 res/Lisp/Examples/speed_test.lisp             |  53 ++
 res/qml/Examples/RpmSlider.qml                | 117 +++
 res_lisp.qrc                                  |  12 +
 res_qml.qrc                                   |   1 +
 vesc_tool.pro                                 |   3 +-
 widgets/qmleditor.h                           |  50 --
 widgets/{qmleditor.cpp => scripteditor.cpp}   |  85 ++-
 widgets/scripteditor.h                        |  72 ++
 widgets/{qmleditor.ui => scripteditor.ui}     |  16 +-
 widgets/widgets.pri                           |   6 +-
 41 files changed, 2165 insertions(+), 125 deletions(-)
 create mode 100644 QCodeEditor/include/LispHighlighter
 create mode 100644 QCodeEditor/include/QLispCompleter
 create mode 100644 QCodeEditor/include/internal/LispHighlighter.hpp
 create mode 100644 QCodeEditor/include/internal/QLispCompleter.hpp
 create mode 100644 QCodeEditor/resources/languages/lisp.xml
 create mode 100644 QCodeEditor/src/internal/LispHighlighter.cpp
 create mode 100644 QCodeEditor/src/internal/QLispCompleter.cpp
 create mode 100644 pages/pagelisp.cpp
 create mode 100644 pages/pagelisp.h
 create mode 100644 pages/pagelisp.ui
 create mode 100644 res/Lisp/Examples/aux.lisp
 create mode 100644 res/Lisp/Examples/can_pos_follow.lisp
 create mode 100644 res/Lisp/Examples/control_servo_from_duty.lisp
 create mode 100644 res/Lisp/Examples/control_servo_from_encoder.lisp
 create mode 100644 res/Lisp/Examples/duty.lisp
 create mode 100644 res/Lisp/Examples/ppm_read.lisp
 create mode 100644 res/Lisp/Examples/print_bms_data.lisp
 create mode 100644 res/Lisp/Examples/speed_test.lisp
 create mode 100644 res/qml/Examples/RpmSlider.qml
 create mode 100644 res_lisp.qrc
 delete mode 100644 widgets/qmleditor.h
 rename widgets/{qmleditor.cpp => scripteditor.cpp} (64%)
 create mode 100644 widgets/scripteditor.h
 rename widgets/{qmleditor.ui => scripteditor.ui} (94%)

diff --git a/QCodeEditor/include/LispHighlighter b/QCodeEditor/include/LispHighlighter
new file mode 100644
index 000000000..36699bb44
--- /dev/null
+++ b/QCodeEditor/include/LispHighlighter
@@ -0,0 +1,3 @@
+#pragma once
+
+#include <internal/LispHighlighter.hpp>
diff --git a/QCodeEditor/include/QLispCompleter b/QCodeEditor/include/QLispCompleter
new file mode 100644
index 000000000..665c21ba2
--- /dev/null
+++ b/QCodeEditor/include/QLispCompleter
@@ -0,0 +1,3 @@
+#pragma once
+
+#include <internal/QLispCompleter.hpp>
diff --git a/QCodeEditor/include/internal/LispHighlighter.hpp b/QCodeEditor/include/internal/LispHighlighter.hpp
new file mode 100644
index 000000000..0bd59b7a9
--- /dev/null
+++ b/QCodeEditor/include/internal/LispHighlighter.hpp
@@ -0,0 +1,36 @@
+#pragma once
+
+// QCodeEditor
+#include <QStyleSyntaxHighlighter> // Required for inheritance
+#include <QHighlightRule>
+
+// Qt
+#include <QRegularExpression>
+#include <QVector>
+
+class QSyntaxStyle;
+
+/**
+ * @brief Class, that describes C++ code
+ * highlighter.
+ */
+class LispHighlighter : public QStyleSyntaxHighlighter
+{
+    Q_OBJECT
+public:
+
+    /**
+     * @brief Constructor.
+     * @param document Pointer to document.
+     */
+    explicit LispHighlighter(QTextDocument* document=nullptr);
+
+protected:
+    void highlightBlock(const QString& text) override;
+
+private:
+    QVector<QHighlightRule> m_highlightRules;
+    QRegularExpression m_keyRegex;
+
+};
+
diff --git a/QCodeEditor/include/internal/QCodeEditor.hpp b/QCodeEditor/include/internal/QCodeEditor.hpp
index 4e6e790ed..8db737878 100755
--- a/QCodeEditor/include/internal/QCodeEditor.hpp
+++ b/QCodeEditor/include/internal/QCodeEditor.hpp
@@ -51,6 +51,11 @@ class QCodeEditor : public QTextEdit
     void searchPreviousResult();
     void searchSetCaseSensitive(bool isCaseSensitive);
 
+    QString getCommentStr() const;
+    void setCommentStr(const QString &commentStr);
+
+    void setIndentStrs(const QString &start, const QString &end);
+
 signals:
     void saveTriggered();
     void runEmbeddedTriggered();
@@ -210,5 +215,9 @@ public Q_SLOTS:
     bool m_autoParentheses;
     bool m_replaceTab;
     QString m_tabReplace;
+    QString m_commentStr;
+    QString m_indentStartStr;
+    QString m_indentEndStr;
+
 };
 
diff --git a/QCodeEditor/include/internal/QLispCompleter.hpp b/QCodeEditor/include/internal/QLispCompleter.hpp
new file mode 100644
index 000000000..327e615ce
--- /dev/null
+++ b/QCodeEditor/include/internal/QLispCompleter.hpp
@@ -0,0 +1,18 @@
+#pragma once
+
+#include <QCompleter>
+
+class QLispCompleter : public QCompleter
+{
+    Q_OBJECT
+
+public:
+    explicit QLispCompleter(QObject* parent=nullptr);
+
+protected:
+    QStringList splitPath(const QString &path) const override;
+    QString pathFromIndex(const QModelIndex &index) const override;
+
+};
+
+
diff --git a/QCodeEditor/qcodeeditor.pri b/QCodeEditor/qcodeeditor.pri
index 1907f5ca2..1575c8ced 100644
--- a/QCodeEditor/qcodeeditor.pri
+++ b/QCodeEditor/qcodeeditor.pri
@@ -1,4 +1,5 @@
 HEADERS += \
+    $$PWD/include/internal/LispHighlighter.hpp \
     $$PWD/include/internal/QCodeEditor.hpp \
     $$PWD/include/internal/QCXXHighlighter.hpp \
     $$PWD/include/internal/QFramedTextAttribute.hpp \
@@ -9,6 +10,7 @@ HEADERS += \
     $$PWD/include/internal/QJSONHighlighter.hpp \
     $$PWD/include/internal/QLanguage.hpp \
     $$PWD/include/internal/QLineNumberArea.hpp \
+    $$PWD/include/internal/QLispCompleter.hpp \
     $$PWD/include/internal/QLuaCompleter.hpp \
     $$PWD/include/internal/QLuaHighlighter.hpp \
     $$PWD/include/internal/QPythonCompleter.hpp \
@@ -20,6 +22,7 @@ HEADERS += \
     $$PWD/include/internal/QVescCompleter.hpp
 
 SOURCES += \
+    $$PWD/src/internal/LispHighlighter.cpp \
     $$PWD/src/internal/QCodeEditor.cpp \
     $$PWD/src/internal/QCXXHighlighter.cpp \
     $$PWD/src/internal/QFramedTextAttribute.cpp \
@@ -28,6 +31,7 @@ SOURCES += \
     $$PWD/src/internal/QJSONHighlighter.cpp \
     $$PWD/src/internal/QLanguage.cpp \
     $$PWD/src/internal/QLineNumberArea.cpp \
+    $$PWD/src/internal/QLispCompleter.cpp \
     $$PWD/src/internal/QLuaCompleter.cpp \
     $$PWD/src/internal/QLuaHighlighter.cpp \
     $$PWD/src/internal/QPythonCompleter.cpp \
diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
new file mode 100644
index 000000000..9219513e1
--- /dev/null
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root>
+    <section name="Keyword">
+        <name>define</name>
+        <name>lambda</name>
+        <name>car</name>
+        <name>cons</name>
+        <name>cdr</name>
+        <name>let</name>
+        <name>progn</name>
+        <name>if</name>
+        <name>match</name>
+        <name>_</name>
+    </section>
+    <section name="PrimitiveType">
+        <name>nil</name>
+        <name>list</name>
+    </section>
+    <section name="Type">
+        <name>print</name>
+        <name>yield</name>
+    </section>
+</root>
diff --git a/QCodeEditor/resources/qcodeeditor_resources.qrc b/QCodeEditor/resources/qcodeeditor_resources.qrc
index be40d7353..68740c9a2 100644
--- a/QCodeEditor/resources/qcodeeditor_resources.qrc
+++ b/QCodeEditor/resources/qcodeeditor_resources.qrc
@@ -7,5 +7,6 @@
         <file>languages/python.xml</file>
         <file>languages/qml.xml</file>
         <file>default_style.xml</file>
+        <file>languages/lisp.xml</file>
     </qresource>
 </RCC>
diff --git a/QCodeEditor/src/internal/LispHighlighter.cpp b/QCodeEditor/src/internal/LispHighlighter.cpp
new file mode 100644
index 000000000..e687986d8
--- /dev/null
+++ b/QCodeEditor/src/internal/LispHighlighter.cpp
@@ -0,0 +1,94 @@
+// QCodeEditor
+#include <LispHighlighter>
+#include <QSyntaxStyle>
+#include <QLanguage>
+
+// Qt
+#include <QFile>
+
+
+LispHighlighter::LispHighlighter(QTextDocument* document) :
+    QStyleSyntaxHighlighter(document),
+    m_highlightRules(),
+    m_keyRegex(R"(("[^\r\n:]+?")\s*:)")
+{
+    Q_INIT_RESOURCE(qcodeeditor_resources);
+    QFile fl(":/languages/lisp.xml");
+
+    if (!fl.open(QIODevice::ReadOnly))
+    {
+        return;
+    }
+
+    QLanguage language(&fl);
+
+    if (!language.isLoaded())
+    {
+        return;
+    }
+
+    auto keys = language.keys();
+    for (auto&& key : keys)
+    {
+        auto names = language.names(key);
+        for (auto&& name : names)
+        {
+            m_highlightRules.append({
+                QRegularExpression(QString(R"(\b%1\b)").arg(name)),
+                key
+            });
+        }
+    }
+
+    // Numbers
+    m_highlightRules.append({
+        QRegularExpression(R"((?<=\b|\s|^)(?i)(?:(?:(?:(?:(?:\d+(?:'\d+)*)?\.(?:\d+(?:'\d+)*)(?:e[+-]?(?:\d+(?:'\d+)*))?)|(?:(?:\d+(?:'\d+)*)\.(?:e[+-]?(?:\d+(?:'\d+)*))?)|(?:(?:\d+(?:'\d+)*)(?:e[+-]?(?:\d+(?:'\d+)*)))|(?:0x(?:[0-9a-f]+(?:'[0-9a-f]+)*)?\.(?:[0-9a-f]+(?:'[0-9a-f]+)*)(?:p[+-]?(?:\d+(?:'\d+)*)))|(?:0x(?:[0-9a-f]+(?:'[0-9a-f]+)*)\.?(?:p[+-]?(?:\d+(?:'\d+)*))))[lf]?)|(?:(?:(?:[1-9]\d*(?:'\d+)*)|(?:0[0-7]*(?:'[0-7]+)*)|(?:0x[0-9a-f]+(?:'[0-9a-f]+)*)|(?:0b[01]+(?:'[01]+)*))(?:u?l{0,2}|l{0,2}u?)))(?=\b|\s|$))"),
+        "Number"
+    });
+
+    // Strings
+    m_highlightRules.append({
+        QRegularExpression(R"("[^\n"]*")"),
+        "String"
+    });
+
+    // Single line
+    m_highlightRules.append({
+        QRegularExpression(R"(;[^\n]*)"),
+        "Comment"
+    });
+}
+
+
+void LispHighlighter::highlightBlock(const QString& text)
+{
+    for (auto&& rule : m_highlightRules)
+    {
+        auto matchIterator = rule.pattern.globalMatch(text);
+
+        while (matchIterator.hasNext())
+        {
+            auto match = matchIterator.next();
+
+            setFormat(
+                match.capturedStart(),
+                match.capturedLength(),
+                syntaxStyle()->getFormat(rule.formatName)
+            );
+        }
+    }
+
+    // Special treatment for key regex
+    auto matchIterator = m_keyRegex.globalMatch(text);
+
+    while (matchIterator.hasNext())
+    {
+        auto match = matchIterator.next();
+
+        setFormat(
+            match.capturedStart(1),
+            match.capturedLength(1),
+            syntaxStyle()->getFormat("Keyword")
+        );
+    }
+}
diff --git a/QCodeEditor/src/internal/QCodeEditor.cpp b/QCodeEditor/src/internal/QCodeEditor.cpp
index f82f7cd35..d2c756a4a 100755
--- a/QCodeEditor/src/internal/QCodeEditor.cpp
+++ b/QCodeEditor/src/internal/QCodeEditor.cpp
@@ -39,7 +39,10 @@ QCodeEditor::QCodeEditor(QWidget* widget) :
     m_autoIndentation(true),
     m_autoParentheses(true),
     m_replaceTab(true),
-    m_tabReplace(QString(4, ' '))
+    m_tabReplace(QString(4, ' ')),
+    m_commentStr("//"),
+    m_indentStartStr("{"),
+    m_indentEndStr("}")
 {
 
     initFont();
@@ -515,10 +518,10 @@ void QCodeEditor::keyPressEvent(QKeyEvent* e) {
                         auto line2 = line;
                         line2.replace(" ", "");
                         line2.replace("\t", "");
-                        if (line2.startsWith("//")) {
-                            line.replace(line.indexOf("/"), 2, "");
+                        if (line2.startsWith(m_commentStr)) {
+                            line.replace(line.indexOf(m_commentStr.at(0)), m_commentStr.size(), "");
                         } else {
-                            line.prepend("//");
+                            line.prepend(m_commentStr);
                         }
 
                         tc.insertText(line);
@@ -573,7 +576,7 @@ void QCodeEditor::keyPressEvent(QKeyEvent* e) {
         }
 
         // Auto-indent selected line or block
-        if (e->key() == Qt::Key_I && e->modifiers() == Qt::ControlModifier) {
+        if (!m_indentStartStr.isEmpty() && e->key() == Qt::Key_I && e->modifiers() == Qt::ControlModifier) {
             auto txtOld = toPlainText();
             int indentNow = 0;
             bool isComment = false;
@@ -615,7 +618,7 @@ void QCodeEditor::keyPressEvent(QKeyEvent* e) {
                 }
 
                 for (auto c: line) {
-                    if (c == '}') {
+                    if (c == m_indentEndStr) {
                         indentNow--;
                     }
 
@@ -647,7 +650,7 @@ void QCodeEditor::keyPressEvent(QKeyEvent* e) {
                 }
 
                 for (auto c: line) {
-                    if (c == '{') {
+                    if (c == m_indentStartStr) {
                         indentNow++;
                     }
                 }
@@ -1015,3 +1018,19 @@ QString QCodeEditor::getCompletionWordNow(int *linePosStart, int *linePosEnd)
 
     return res;
 }
+
+void QCodeEditor::setIndentStrs(const QString &start, const QString &end)
+{
+    m_indentStartStr = start;
+    m_indentEndStr = end;
+}
+
+QString QCodeEditor::getCommentStr() const
+{
+    return m_commentStr;
+}
+
+void QCodeEditor::setCommentStr(const QString &commentStr)
+{
+    m_commentStr = commentStr;
+}
diff --git a/QCodeEditor/src/internal/QLispCompleter.cpp b/QCodeEditor/src/internal/QLispCompleter.cpp
new file mode 100644
index 000000000..9c1fa4cd6
--- /dev/null
+++ b/QCodeEditor/src/internal/QLispCompleter.cpp
@@ -0,0 +1,101 @@
+/*
+    Copyright 2021 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#include <QLispCompleter>
+#include <QLanguage>
+#include <QStringListModel>
+#include <QFile>
+#include <QStandardItemModel>
+
+QLispCompleter::QLispCompleter(QObject *parent) :
+    QCompleter(parent)
+{
+    QStandardItemModel *model = new QStandardItemModel(this);
+    QVector<QStandardItem *> parents(10);
+    parents[0] = model->invisibleRootItem();
+    int level = 0;
+    QStringList level0Names;
+
+    auto addItem = [&](QString text) {
+        if (level == 0) {
+            if (level0Names.contains(text)) {
+                return;
+            }
+
+            level0Names.append(text);
+        }
+
+        QStandardItem *item = new QStandardItem;
+        item->setText(text);
+        parents[level]->appendRow(item);
+        parents[level + 1] = item;
+
+        if (parents.size() <= (level + 1)) {
+            parents.resize(parents.size() * 2);
+        }
+    };
+
+    addItem("set");
+    {
+        level++;
+        addItem("duty(dty)");
+        addItem("current(i)");
+        level--;
+    }
+
+    Q_INIT_RESOURCE(qcodeeditor_resources);
+    QFile fl(":/languages/lisp.xml");
+
+    if (fl.open(QIODevice::ReadOnly)) {
+        QLanguage language(&fl);
+
+        if (language.isLoaded()) {
+            auto keys = language.keys();
+            for (auto&& key : keys) {
+                for (auto name: language.names(key)) {
+                    addItem(name);
+                }
+            }
+        }
+
+        fl.close();
+    }
+
+    setCompletionMode(QCompleter::PopupCompletion);
+
+    setModel(model);
+    setModelSorting(QCompleter::UnsortedModel);
+    setCaseSensitivity(Qt::CaseInsensitive);
+    setWrapAround(true);
+}
+
+QStringList QLispCompleter::splitPath(const QString &path) const
+{
+    return path.split("-");
+}
+
+QString QLispCompleter::pathFromIndex(const QModelIndex &index) const
+{
+    QStringList dataList;
+    for (QModelIndex i = index; i.isValid(); i = i.parent()) {
+        dataList.prepend(model()->data(i, completionRole()).toString());
+    }
+
+    return dataList.join("-");
+}
diff --git a/commands.cpp b/commands.cpp
index d2e734c91..11cd154fa 100755
--- a/commands.cpp
+++ b/commands.cpp
@@ -952,6 +952,44 @@ void Commands::processPacket(QByteArray data)
         emit statsRx(values, mask);
     } break;
 
+    case COMM_LISP_READ_CODE: {
+        int qmlSize = vb.vbPopFrontInt32();
+        int offset = vb.vbPopFrontInt32();
+        emit lispReadCodeRx(qmlSize, offset, vb);
+    } break;
+
+    case COMM_LISP_ERASE_CODE:
+        emit lispEraseCodeRx(vb.at(0));
+        break;
+
+    case COMM_LISP_WRITE_CODE: {
+        bool ok = vb.vbPopFrontInt8();
+        quint32 offset = vb.vbPopFrontUint32();
+        emit lispWriteCodeRx(ok, offset);
+    } break;
+
+    case COMM_LISP_PRINT:
+        emit lispPrintReceived(QString::fromLatin1(vb));
+        break;
+
+    case COMM_LISP_GET_STATS: {
+        LISP_STATS stats;
+        stats.cpu_use = vb.vbPopFrontDouble16(1e2);
+        stats.heap_use = vb.vbPopFrontDouble16(1e2);
+        stats.mem_use = vb.vbPopFrontDouble16(1e2);
+        stats.stack_use = vb.vbPopFrontDouble16(1e2);
+        while (vb.size() > 0) {
+            auto name = vb.vbPopFrontString();
+            auto num = vb.vbPopFrontDouble32Auto();
+            stats.number_bindings.append(qMakePair(name, num));
+        }
+        emit lispStatsRx(stats);
+    } break;
+
+    case COMM_LISP_SET_RUNNING:
+        emit lispRunningResRx(vb.at(0));
+        break;
+
     default:
         break;
     }
@@ -1963,6 +2001,46 @@ void Commands::resetStats(bool sendAck)
     emitData(vb);
 }
 
+void Commands::lispReadCode(int len, int offset)
+{
+    VByteArray vb;
+    vb.vbAppendUint8(COMM_LISP_READ_CODE);
+    vb.vbAppendInt32(len);
+    vb.vbAppendInt32(offset);
+    emitData(vb);
+}
+
+void Commands::lispWriteCode(QByteArray data, quint32 offset)
+{
+    VByteArray vb;
+    vb.vbAppendUint8(COMM_LISP_WRITE_CODE);
+    vb.vbAppendUint32(offset);
+    vb.append(data);
+    emitData(vb);
+}
+
+void Commands::lispEraseCode()
+{
+    VByteArray vb;
+    vb.vbAppendUint8(COMM_LISP_ERASE_CODE);
+    emitData(vb);
+}
+
+void Commands::lispSetRunning(bool running)
+{
+    VByteArray vb;
+    vb.vbAppendUint8(COMM_LISP_SET_RUNNING);
+    vb.vbAppendInt8(running);
+    emitData(vb);
+}
+
+void Commands::lispGetStats()
+{
+    VByteArray vb;
+    vb.vbAppendUint8(COMM_LISP_GET_STATS);
+    emitData(vb);
+}
+
 void Commands::timerSlot()
 {
     if (mTimeoutFwVer > 0) mTimeoutFwVer--;
diff --git a/commands.h b/commands.h
index d40af1b2e..54725222e 100644
--- a/commands.h
+++ b/commands.h
@@ -131,6 +131,12 @@ class Commands : public QObject
     void writeQmluiResReceived(bool ok, quint32 offset);
     void ioBoardValRx(IO_BOARD_VALUES val);
     void statsRx(STAT_VALUES val, unsigned int mask);
+    void lispReadCodeRx(int lenQml, int ofsQml, QByteArray data);
+    void lispEraseCodeRx(bool ok);
+    void lispWriteCodeRx(bool ok, quint32 offset);
+    void lispPrintReceived(QString str);
+    void lispStatsRx(LISP_STATS stats);
+    void lispRunningResRx(bool ok);
 
 public slots:
     void processPacket(QByteArray data);
@@ -235,6 +241,12 @@ public slots:
     void getStats(unsigned int mask);
     void resetStats(bool sendAck);
 
+    void lispReadCode(int len, int offset);
+    void lispWriteCode(QByteArray data, quint32 offset);
+    void lispEraseCode();
+    void lispSetRunning(bool running);
+    void lispGetStats();
+
 private slots:
     void timerSlot();
 
diff --git a/datatypes.h b/datatypes.h
index 59554a8fb..ddfb925ea 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -937,6 +937,14 @@ typedef enum {
     COMM_GET_EXT_HUM_TMP,
     COMM_GET_STATS,
     COMM_RESET_STATS,
+
+    // Lisp
+    COMM_LISP_READ_CODE,
+    COMM_LISP_WRITE_CODE,
+    COMM_LISP_ERASE_CODE,
+    COMM_LISP_SET_RUNNING,
+    COMM_LISP_GET_STATS,
+    COMM_LISP_PRINT
 } COMM_PACKET_ID;
 
 // CAN commands
@@ -1076,4 +1084,29 @@ struct BALANCE_VALUES {
 
 Q_DECLARE_METATYPE(BALANCE_VALUES)
 
+struct LISP_STATS {
+    Q_GADGET
+
+public:
+    Q_PROPERTY(double cpu_use MEMBER cpu_use)
+    Q_PROPERTY(double heap_use MEMBER heap_use)
+    Q_PROPERTY(double mem_use MEMBER mem_use)
+    Q_PROPERTY(double stack_use MEMBER stack_use)
+
+    LISP_STATS() {
+        cpu_use = 0.0;
+        heap_use = 0.0;
+        mem_use = 0.0;
+        stack_use = 0.0;
+    }
+
+    double cpu_use;
+    double heap_use;
+    double mem_use;
+    double stack_use;
+    QVector<QPair<QString, double>> number_bindings;
+};
+
+Q_DECLARE_METATYPE(LISP_STATS)
+
 #endif // DATATYPES_H
diff --git a/mainwindow.cpp b/mainwindow.cpp
index df4ef2b50..ee3678acd 100755
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -422,6 +422,7 @@ MainWindow::MainWindow(QWidget *parent) :
         mPageFirmware->reloadParams();
         mPageCanAnalyzer->reloadParams();
         mPageScripting->reloadParams();
+        mPageLisp->reloadParams();
 
         updateMotortype();
         updateAppToUse();
@@ -1506,7 +1507,12 @@ void MainWindow::reloadPages()
     mPageScripting = new PageScripting(this);
     mPageScripting->setVesc(mVesc);
     ui->pageWidget->addWidget(mPageScripting);
-    mPageVESCDev->addTab(mPageScripting, QIcon(theme + "icons_textedit/Outdent-96.png"), tr("Scripting"));
+    mPageVESCDev->addTab(mPageScripting, QIcon(theme + "icons_textedit/Outdent-96.png"), tr("QML"));
+
+    mPageLisp = new PageLisp(this);
+    mPageLisp->setVesc(mVesc);
+    ui->pageWidget->addWidget(mPageLisp);
+    mPageVESCDev->addTab(mPageLisp, QIcon(theme + "icons_textedit/Outdent-96.png"), tr("Lisp"));
 
     mPageCanAnalyzer = new PageCanAnalyzer(this);
     mPageCanAnalyzer->setVesc(mVesc);
diff --git a/mainwindow.h b/mainwindow.h
index aa37b256f..1106afe6e 100644
--- a/mainwindow.h
+++ b/mainwindow.h
@@ -67,6 +67,7 @@
 #include "pages/pagecustomconfig.h"
 #include "pages/pagescripting.h"
 #include "pages/pagemotorcomparison.h"
+#include "pages/pagelisp.h"
 
 namespace Ui {
 class MainWindow;
@@ -209,6 +210,7 @@ private slots:
     PageCustomConfig *mPageCustomConfig1;
     PageCustomConfig *mPageCustomConfig2;
     PageScripting *mPageScripting;
+    PageLisp *mPageLisp;
     QTabWidget *mPageVESCDev;
     Preferences *mPreferences;
 
diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
new file mode 100644
index 000000000..9cf933949
--- /dev/null
+++ b/pages/pagelisp.cpp
@@ -0,0 +1,665 @@
+/*
+    Copyright 2022 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#include "pagelisp.h"
+#include "ui_pagelisp.h"
+#include "utility.h"
+
+PageLisp::PageLisp(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::PageLisp)
+{
+    ui->setupUi(this);
+    mVesc = nullptr;
+
+    Utility::setPlotColors(ui->bindingPlot);
+
+    ui->mainEdit->setModeLisp();
+    ui->mainEdit->codeEditor()->setCommentStr(";");
+    ui->mainEdit->codeEditor()->setIndentStrs("", "");
+
+    makeEditorConnections(ui->mainEdit);
+
+    QPushButton *plusButton = new QPushButton();
+    QString theme = Utility::getThemePath();
+    plusButton->setIcon(QIcon(theme +"icons/Plus Math-96.png"));
+    ui->runButton->setIcon(QIcon(theme +"icons/Circled Play-96.png"));
+    ui->stopButton->setIcon(QIcon(theme +"icons/Shutdown-96.png"));
+    ui->helpButton->setIcon(QIcon(theme +"icons/Help-96.png"));
+    ui->clearConsoleButton->setIcon(QIcon(theme +"icons/Delete-96.png"));
+    ui->openRecentButton->setIcon(QIcon(theme +"icons/Open Folder-96.png"));
+    ui->removeSelectedButton->setIcon(QIcon(theme +"icons/Delete-96.png"));
+    ui->clearRecentButton->setIcon(QIcon(theme +"icons/Delete-96.png"));
+    ui->openExampleButton->setIcon(QIcon(theme +"icons/Open Folder-96.png"));
+    ui->uploadButton->setIcon(QIcon(theme +"icons/Download-96.png"));
+    ui->readExistingButton->setIcon(QIcon(theme +"icons/Upload-96.png"));
+    ui->eraseButton->setIcon(QIcon(theme +"icons/Delete-96.png"));
+
+    plusButton->setFlat(true);
+    plusButton->setText("New Tab");
+    ui->fileTabs->setCornerWidget(plusButton);
+    connect(plusButton, &QPushButton::clicked, [this]() {
+        createEditorTab("", "");
+    });
+
+    connect(ui->mainEdit, &ScriptEditor::fileNameChanged, [this](QString fileName) {
+        QFileInfo f(fileName);
+        QString txt = "main";
+
+        if (f.exists()) {
+            txt = f.fileName() + " (main)";
+            mDirNow = f.path();
+        } else {
+            mDirNow = "";
+        }
+
+        ui->fileTabs->setTabText(0, txt);
+    });
+
+    QSettings set;
+    {
+        int size = set.beginReadArray("pagelisp/recentfiles");
+        for (int i = 0; i < size; ++i) {
+            set.setArrayIndex(i);
+            QString path = set.value("path").toString();
+            QFileInfo f(path);
+            if (f.exists()) {
+                mRecentFiles.append(path);
+            }
+        }
+        set.endArray();
+    }
+    {
+        int size = set.beginReadArray("pagelisp/recentopenfiles");
+        for (int i = 0; i < size; ++i) {
+            set.setArrayIndex(i);
+            QString path = set.value("path").toString();
+            QFileInfo f(path);
+            if (f.exists()) {
+                QFile file(path);
+                if (file.open(QIODevice::ReadOnly)) {
+                    if (ui->mainEdit->codeEditor()->toPlainText().isEmpty()) {
+                        ui->mainEdit->codeEditor()->setPlainText(file.readAll());
+                        ui->mainEdit->setFileNow(path);
+                    } else {
+                        createEditorTab(path, file.readAll());
+                    }
+                }
+            }
+        }
+        set.endArray();
+        ui->fileTabs->setCurrentIndex(0);
+    }
+
+    updateRecentList();
+
+    // Load examples
+    for (auto fi: QDir("://res/Lisp/Examples/").entryInfoList(QDir::NoFilter, QDir::Name)) {
+        QListWidgetItem *item = new QListWidgetItem;
+        item->setText(fi.fileName());
+        item->setData(Qt::UserRole, fi.filePath());
+        ui->exampleList->addItem(item);
+    }
+
+    // Add close button that clears the main editor
+    QPushButton *closeButton = new QPushButton();
+    closeButton->setIcon(QIcon(theme +"icons/Delete-96.png"));
+    closeButton->setFlat(true);
+    ui->fileTabs->tabBar()->setTabButton(0, QTabBar::RightSide, closeButton);
+
+    ScriptEditor *mainEditor = qobject_cast<ScriptEditor*>(ui->fileTabs->widget(0));
+    connect(closeButton, &QPushButton::clicked, [this, mainEditor]() {
+        // Clear main tab
+        removeEditor(mainEditor);
+    });
+
+    ui->splitter->setSizes(QList<int>({1000, 600}));
+    ui->splitter_2->setSizes(QList<int>({1000, 600}));
+
+    mPollTimer.start(100);
+    connect(&mPollTimer, &QTimer::timeout, [this]() {
+        if (ui->pollBox->isChecked()) {
+            if (mVesc) {
+                mVesc->commands()->lispGetStats();
+            }
+        }
+    });
+}
+
+PageLisp::~PageLisp()
+{
+    QSettings set;
+    {
+        set.remove("pagelisp/recentfiles");
+        set.beginWriteArray("pagelisp/recentfiles");
+        int ind = 0;
+        for (auto f: mRecentFiles) {
+            set.setArrayIndex(ind);
+            set.setValue("path", f);
+            ind++;
+        }
+        set.endArray();
+    }
+    {
+        set.remove("pagelisp/recentopenfiles");
+        set.beginWriteArray("pagelisp/recentopenfiles");
+        for (int i = 0;i < ui->fileTabs->count();i++) {
+            auto e = qobject_cast<ScriptEditor*>(ui->fileTabs->widget(i));
+            set.setArrayIndex(i);
+            set.setValue("path", e->fileNow());
+        }
+        set.endArray();
+    }
+
+    delete ui;
+}
+
+VescInterface *PageLisp::vesc() const
+{
+    return mVesc;
+}
+
+void PageLisp::setVesc(VescInterface *vesc)
+{
+    mVesc = vesc;
+
+    connect(mVesc->commands(), &Commands::lispPrintReceived, [this](QString str) {
+        ui->debugEdit->moveCursor(QTextCursor::End);
+        ui->debugEdit->insertPlainText(str + "\n");
+        ui->debugEdit->moveCursor(QTextCursor::End);
+    });
+
+    connect(mVesc->commands(), &Commands::lispRunningResRx, [this](bool ok) {
+        if (!ok) {
+            mVesc->emitMessageDialog(tr("Start/Stop Lisp"),
+                                     tr("Start/Stop Lisp failed. Did you forget to upload the code?"), false);
+        }
+    });
+
+    connect(mVesc->commands(), &Commands::lispStatsRx, [this](LISP_STATS stats) {
+        ui->cpuBar->setValue(stats.cpu_use);
+        ui->heapBar->setValue(stats.heap_use);
+        ui->memBar->setValue(stats.mem_use);
+        ui->stackBar->setValue(stats.stack_use);
+
+        ui->bindingTable->setColumnCount(2);
+        ui->bindingTable->setRowCount(stats.number_bindings.size());
+        int ind = 0;
+        for (auto b: stats.number_bindings) {
+            ui->bindingTable->setItem(ind, 0, new QTableWidgetItem(b.first));
+            ui->bindingTable->setItem(ind, 1, new QTableWidgetItem(QString::number(b.second, 'f')));
+            ind++;
+        }
+    });
+}
+
+void PageLisp::reloadParams()
+{
+
+}
+
+void PageLisp::updateRecentList()
+{
+    ui->recentList->clear();
+    for (auto f: mRecentFiles) {
+        ui->recentList->addItem(f);
+    }
+}
+
+void PageLisp::makeEditorConnections(ScriptEditor *editor)
+{
+    connect(editor->codeEditor(), &QCodeEditor::textChanged, [editor, this]() {
+       setEditorDirty(editor);
+    });
+    connect(editor->codeEditor(), &QCodeEditor::clearConsoleTriggered, [this]() {
+        ui->debugEdit->clear();
+    });
+    connect(editor, &ScriptEditor::fileOpened, [this](QString fileName) {
+        if (!mRecentFiles.contains(fileName)) {
+            mRecentFiles.append(fileName);
+            updateRecentList();
+        }
+    });
+    connect(editor, &ScriptEditor::fileSaved, [editor, this](QString fileName) {
+        if (mVesc) {
+            mVesc->emitStatusMessage("Saved " + fileName, true);
+        }
+
+        if (!mRecentFiles.contains(fileName)) {
+            mRecentFiles.append(fileName);
+            updateRecentList();
+        }
+
+        setEditorClean(editor);
+    });
+}
+
+void PageLisp::createEditorTab(QString fileName, QString content)
+{
+    ScriptEditor *editor = new ScriptEditor();
+    editor->setModeLisp();
+    editor->codeEditor()->setCommentStr(";");
+    editor->codeEditor()->setIndentStrs("", "");
+    int tabIndex = ui->fileTabs->addTab(editor, "");
+    ui->fileTabs->setCurrentIndex(tabIndex);
+
+    makeEditorConnections(editor);
+
+    connect(editor, &ScriptEditor::fileNameChanged, [this, editor](QString fileName) {
+        QFileInfo f(fileName);
+        QString txt = "Unnamed";
+
+        if (f.exists()) {
+            txt = f.fileName();
+        } else if (!fileName.isEmpty()) {
+            txt = fileName;
+        }
+
+        ui->fileTabs->setTabText(ui->fileTabs->indexOf(editor), txt);
+    });
+
+    editor->setFileNow(fileName);
+    editor->codeEditor()->setPlainText(content);
+    QString theme = Utility::getThemePath();
+
+    QPushButton *closeButton = new QPushButton();
+    closeButton->setIcon(QIcon(theme +"icons/Cancel-96.png"));
+    closeButton->setFlat(true);
+    ui->fileTabs->tabBar()->setTabButton(tabIndex, QTabBar::RightSide, closeButton);
+
+    connect(closeButton, &QPushButton::clicked, [this, editor]() {
+       removeEditor(editor);
+    });
+
+    // Do this at the end to make sure to account for the changes from loading the initial text
+    setEditorClean(editor);
+}
+
+void PageLisp::removeEditor(ScriptEditor *editor)
+{
+    bool shouldCloseTab = false;
+
+    // Check if tab is dirty
+    if (editor->isDirty == true) {
+        // Ask user for confirmation
+        QMessageBox::StandardButton answer = QMessageBox::question(
+             this,
+             tr("Delete the tab"),
+             tr("Do you want to delete the tab contents?"),
+             QMessageBox::Yes | QMessageBox::No
+        );
+
+        if (answer == QMessageBox::Yes) {
+           shouldCloseTab = true;
+        } else {
+           shouldCloseTab = false;
+        }
+
+    } else {
+        shouldCloseTab = true;
+    }
+
+    // Only close if appropriate
+    if (shouldCloseTab) {
+        // Get index for this tab
+        int tabIdx = ui->fileTabs->indexOf(editor);
+
+        // Special handling of tabIdx == 0
+        if (tabIdx == 0) {
+             editor->codeEditor()->clear();
+             editor->setFileNow("");
+        } else {
+            ui->fileTabs->removeTab(tabIdx);
+        }
+    }
+}
+
+void PageLisp::setEditorDirty(ScriptEditor *editor)
+{
+    // Check if the editor is not already dirty
+    if (editor->isDirty == false) {
+        // Set editor as dirty
+        editor->isDirty = true;
+
+        // Get editor index
+        int tabIdx = ui->fileTabs->indexOf(editor);
+
+        // Append a `*` to signify a dirty editor
+        QString tabText = ui->fileTabs->tabText(tabIdx);
+        ui->fileTabs->setTabText(tabIdx, tabText + "*");
+    }
+}
+
+void PageLisp::setEditorClean(ScriptEditor *editor)
+{
+    // Check if the editor is not already clean
+    if (editor->isDirty == true) {
+        // Set editor as clean
+        editor->isDirty = false;
+
+        // Get editor index
+        int tabIdx = ui->fileTabs->indexOf(editor);
+
+        // Get the tab's label
+        QString tabText = ui->fileTabs->tabText(tabIdx);
+
+        // Check if the final character is a `*`, which indicated it was a dirty file
+        if (tabText.back() == "*") {
+            // Remove the terminal `*`
+            tabText.chop(1);
+            ui->fileTabs->setTabText(tabIdx, tabText);
+        }
+    }
+}
+
+void PageLisp::openExample()
+{
+    QListWidgetItem *item = ui->exampleList->currentItem();
+
+    if (item) {
+        QFile file(item->data(Qt::UserRole).toString());
+
+        if (!file.open(QIODevice::ReadOnly)) {
+            QMessageBox::critical(this, "Open Lisp File",
+                                  "Could not open example for reading");
+            return;
+        }
+
+        if (ui->mainEdit->codeEditor()->toPlainText().isEmpty()) {
+            ui->mainEdit->codeEditor()->setPlainText(file.readAll());
+            ui->mainEdit->setFileNow("");
+
+            setEditorClean(ui->mainEdit);
+        } else {
+            createEditorTab("", file.readAll());
+        }
+
+        file.close();
+    } else {
+        QMessageBox::critical(this, "Open Example",
+                              "Please select one example.");
+    }
+}
+
+void PageLisp::openRecentList()
+{
+    auto *item = ui->recentList->currentItem();
+
+    if (item) {
+        QString fileName = item->text();
+        QFile file(fileName);
+
+        if (!file.open(QIODevice::ReadOnly)) {
+            QMessageBox::critical(this, "Open Lisp File",
+                                  "Could not open\n " + fileName + " for reading");
+            return;
+        }
+
+        if (ui->mainEdit->codeEditor()->toPlainText().isEmpty()) {
+            ui->mainEdit->codeEditor()->setPlainText(file.readAll());
+            ui->mainEdit->setFileNow(fileName);
+        } else {
+            createEditorTab(fileName, file.readAll());
+        }
+
+        file.close();
+    } else {
+        QMessageBox::critical(this, "Open Recent",
+                              "Please select a file.");
+    }
+}
+
+bool PageLisp::eraseCode()
+{
+    if (!mVesc) {
+        return false;
+    }
+
+    if (!mVesc->isPortConnected()) {
+        mVesc->emitMessageDialog(tr("Erase old code"), tr("Not Connected"), false);
+        return false;
+    }
+
+    QProgressDialog dialog("Erasing old script...", QString(), 0, 0, this);
+    dialog.setWindowModality(Qt::WindowModal);
+    dialog.show();
+
+    auto waitEraseRes = [this]() {
+        int res = -10;
+
+        QEventLoop loop;
+        QTimer timeoutTimer;
+        timeoutTimer.setSingleShot(true);
+        timeoutTimer.start(6000);
+        auto conn = connect(mVesc->commands(), &Commands::lispEraseCodeRx,
+                            [&res,&loop](bool erRes) {
+            res = erRes ? 1 : -1;
+            loop.quit();
+        });
+
+        connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
+        loop.exec();
+
+        disconnect(conn);
+        return res;
+    };
+
+    mVesc->commands()->lispEraseCode();
+
+    int erRes = waitEraseRes();
+    if (erRes != 1) {
+        QString msg = tr("Unknown failure");
+
+        if (erRes == -10) {
+            msg = tr("Erase timed out");
+        } else if (erRes == -1) {
+            msg = tr("Erasing Lisp Code failed");
+        }
+
+        dialog.close();
+        mVesc->emitMessageDialog(tr("Erase Lisp"), msg, false);
+        return false;
+    }
+
+    return true;
+}
+
+void PageLisp::on_openRecentButton_clicked()
+{
+    openRecentList();
+}
+
+void PageLisp::on_removeSelectedButton_clicked()
+{
+    auto *item = ui->recentList->currentItem();
+
+    if (item) {
+        QString fileName = item->text();
+        mRecentFiles.removeOne(fileName);
+        updateRecentList();
+    }
+}
+
+void PageLisp::on_clearRecentButton_clicked()
+{
+    auto res = QMessageBox::question(this, "Clear Recent Files",
+                                     "This will clear the list with recent files. Are you sure?");
+
+    if (res == QMessageBox::Yes) {
+        mRecentFiles.clear();
+        updateRecentList();
+    }
+}
+
+void PageLisp::on_recentList_doubleClicked()
+{
+    openRecentList();
+}
+
+void PageLisp::on_openExampleButton_clicked()
+{
+    openExample();
+}
+
+void PageLisp::on_exampleList_doubleClicked()
+{
+    openExample();
+}
+
+void PageLisp::on_runButton_clicked()
+{
+    mVesc->commands()->lispSetRunning(1);
+}
+
+void PageLisp::on_stopButton_clicked()
+{
+    mVesc->commands()->lispSetRunning(0);
+}
+
+void PageLisp::on_uploadButton_clicked()
+{
+    if (!eraseCode()) {
+        return;
+    }
+
+    auto waitWriteRes = [this]() {
+        int res = -10;
+
+        QEventLoop loop;
+        QTimer timeoutTimer;
+        timeoutTimer.setSingleShot(true);
+        timeoutTimer.start(1000);
+        auto conn = connect(mVesc->commands(), &Commands::lispWriteCodeRx,
+                            [&res,&loop](bool erRes, quint32 offset) {
+            (void)offset;
+            res = erRes ? 1 : -1;
+            loop.quit();
+        });
+
+        connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
+        loop.exec();
+
+        disconnect(conn);
+        return res;
+    };
+
+    QProgressDialog dialog(tr("Uploading..."), QString(), 0, 0, this);
+    dialog.setWindowModality(Qt::WindowModal);
+    dialog.show();
+
+    VByteArray vb;
+    vb.vbAppendUint16(0);
+    vb.append(ui->mainEdit->codeEditor()->toPlainText());
+
+    if (vb.at(vb.size() - 1) != '\0') {
+        vb.append('\0');
+    }
+
+    quint16 crc = Packet::crc16((const unsigned char*)vb.constData(), uint32_t(vb.size()));
+    VByteArray data;
+    data.vbAppendUint32(vb.size() - 2);
+    data.vbAppendUint16(crc);
+    data.append(vb);
+
+    if (data.size() > (1024 * 120)) {
+        ui->uploadButton->setEnabled(true);
+        mVesc->emitMessageDialog(tr("Upload Code"), tr("Not enough space"), false);
+        return;
+    }
+
+    quint32 offset = 0;
+    bool ok = true;
+    while (data.size() > 0) {
+        const int chunkSize = 384;
+        int sz = data.size() > chunkSize ? chunkSize : data.size();
+
+        mVesc->commands()->lispWriteCode(data.mid(0, sz), offset);
+        if (!waitWriteRes()) {
+            mVesc->emitMessageDialog(tr("Upload Code"), tr("Write failed"), false);
+            ok = false;
+            break;
+        }
+
+        offset += sz;
+        data.remove(0, sz);
+    }
+}
+
+void PageLisp::on_readExistingButton_clicked()
+{
+    QByteArray lispData;
+    int lenLispLast = 0;
+    auto conn = connect(mVesc->commands(), &Commands::lispReadCodeRx,
+                        [&](int lenLisp, int ofsLisp, QByteArray data) {
+        if (lispData.size() <= ofsLisp) {
+            lispData.append(data);
+        }
+        lenLispLast = lenLisp;
+    });
+
+    auto getLispChunk = [&](int size, int offset, int tries, int timeout) {
+        bool res = false;
+
+        for (int j = 0;j < tries;j++) {
+            mVesc->commands()->lispReadCode(size, offset);
+            res = Utility::waitSignal(mVesc->commands(), SIGNAL(lispReadCodeRx(int,int,QByteArray)), timeout);
+            if (res) {
+                break;
+            }
+        }
+        return res;
+    };
+
+    QProgressDialog dialog(tr("Reading Lisp..."), QString(), 0, 0, this);
+    dialog.setWindowModality(Qt::WindowModal);
+    dialog.show();
+
+    if (getLispChunk(10, 0, 5, 1500)) {
+        while (lispData.size() < lenLispLast) {
+            int dataLeft = lenLispLast - lispData.size();
+            if (!getLispChunk(dataLeft > 400 ? 400 : dataLeft, lispData.size(), 5, 1500)) {
+                break;
+            }
+        }
+
+        if (lispData.size() == lenLispLast) {
+            if (ui->mainEdit->codeEditor()->toPlainText().isEmpty()) {
+                ui->mainEdit->codeEditor()->setPlainText(lispData);
+                ui->fileTabs->setTabText(ui->fileTabs->indexOf(ui->mainEdit), "From VESC");
+            } else {
+                createEditorTab("From VESC", lispData);
+            }
+        } else {
+            mVesc->emitMessageDialog(tr("Get Lisp"),
+                                     tr("Could not read Lisp code"),
+                                     false);
+        }
+    } else {
+        mVesc->emitMessageDialog(tr("Get Lisp"),
+                                 tr("Could not read Lisp code"),
+                                 false);
+    }
+
+    disconnect(conn);
+}
+
+void PageLisp::on_eraseButton_clicked()
+{
+    eraseCode();
+}
diff --git a/pages/pagelisp.h b/pages/pagelisp.h
new file mode 100644
index 000000000..be12fa4a9
--- /dev/null
+++ b/pages/pagelisp.h
@@ -0,0 +1,75 @@
+/*
+    Copyright 2022 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#ifndef PAGELISP_H
+#define PAGELISP_H
+
+#include <QWidget>
+#include "vescinterface.h"
+#include "widgets/scripteditor.h"
+
+namespace Ui {
+class PageLisp;
+}
+
+class PageLisp : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit PageLisp(QWidget *parent = nullptr);
+    ~PageLisp();
+
+    VescInterface *vesc() const;
+    void setVesc(VescInterface *vesc);
+    void reloadParams();
+
+private slots:
+    void on_openRecentButton_clicked();
+    void on_removeSelectedButton_clicked();
+    void on_clearRecentButton_clicked();
+    void on_recentList_doubleClicked();
+    void on_openExampleButton_clicked();
+    void on_exampleList_doubleClicked();
+    void on_runButton_clicked();
+    void on_stopButton_clicked();
+    void on_uploadButton_clicked();
+    void on_readExistingButton_clicked();
+    void on_eraseButton_clicked();
+
+private:
+    Ui::PageLisp *ui;
+    VescInterface *mVesc;
+    QStringList mRecentFiles;
+    QString mDirNow;
+    QTimer mPollTimer;
+
+    void updateRecentList();
+    void makeEditorConnections(ScriptEditor *editor);
+    void createEditorTab(QString fileName, QString content);
+    void removeEditor(ScriptEditor *editor);
+    void setEditorDirty(ScriptEditor * editor);
+    void setEditorClean(ScriptEditor * editor);
+    void openExample();
+    void openRecentList();
+    bool eraseCode();
+
+};
+
+#endif // PAGELISP_H
diff --git a/pages/pagelisp.ui b/pages/pagelisp.ui
new file mode 100644
index 000000000..73244af2b
--- /dev/null
+++ b/pages/pagelisp.ui
@@ -0,0 +1,472 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>PageLisp</class>
+ <widget class="QWidget" name="PageLisp">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>1569</width>
+    <height>907</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout_10">
+   <item>
+    <widget class="QSplitter" name="splitter_2">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <widget class="QSplitter" name="splitter">
+      <property name="orientation">
+       <enum>Qt::Horizontal</enum>
+      </property>
+      <widget class="QWidget" name="layoutWidget">
+       <layout class="QVBoxLayout" name="verticalLayout">
+        <property name="spacing">
+         <number>2</number>
+        </property>
+        <item>
+         <layout class="QHBoxLayout" name="horizontalLayout">
+          <property name="spacing">
+           <number>12</number>
+          </property>
+          <item>
+           <widget class="QPushButton" name="eraseButton">
+            <property name="text">
+             <string>Erase</string>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Delete-96.png</normaloff>:/res/icons/Delete-96.png</iconset>
+            </property>
+            <property name="flat">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="uploadButton">
+            <property name="text">
+             <string>Upload</string>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Download-96.png</normaloff>:/res/icons/Download-96.png</iconset>
+            </property>
+            <property name="flat">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="readExistingButton">
+            <property name="toolTip">
+             <string>Read lisp code from connected VESC</string>
+            </property>
+            <property name="text">
+             <string>Read Existing</string>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
+            </property>
+            <property name="flat">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="runButton">
+            <property name="text">
+             <string>Run</string>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Circled Play-96.png</normaloff>:/res/icons/Circled Play-96.png</iconset>
+            </property>
+            <property name="flat">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="stopButton">
+            <property name="text">
+             <string>Stop</string>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Shutdown-96.png</normaloff>:/res/icons/Shutdown-96.png</iconset>
+            </property>
+            <property name="flat">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <spacer name="horizontalSpacer">
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>40</width>
+              <height>20</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
+          <item>
+           <widget class="QPushButton" name="helpButton">
+            <property name="toolTip">
+             <string>Show help</string>
+            </property>
+            <property name="text">
+             <string>Help</string>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
+            </property>
+            <property name="flat">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <widget class="QTabWidget" name="fileTabs">
+          <property name="tabShape">
+           <enum>QTabWidget::Triangular</enum>
+          </property>
+          <property name="currentIndex">
+           <number>0</number>
+          </property>
+          <widget class="ScriptEditor" name="mainEdit">
+           <attribute name="title">
+            <string>main</string>
+           </attribute>
+          </widget>
+         </widget>
+        </item>
+       </layout>
+      </widget>
+      <widget class="QWidget" name="">
+       <layout class="QVBoxLayout" name="verticalLayout_2">
+        <item>
+         <widget class="QCheckBox" name="pollBox">
+          <property name="text">
+           <string>Poll Status</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <layout class="QGridLayout" name="gridLayout">
+          <item row="0" column="1">
+           <widget class="QProgressBar" name="cpuBar">
+            <property name="value">
+             <number>0</number>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="0">
+           <widget class="QLabel" name="label_2">
+            <property name="text">
+             <string>Stack</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="0">
+           <widget class="QLabel" name="label">
+            <property name="text">
+             <string>CPU</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_3">
+            <property name="text">
+             <string>Heap</string>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="1">
+           <widget class="QProgressBar" name="stackBar">
+            <property name="value">
+             <number>0</number>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QProgressBar" name="heapBar">
+            <property name="value">
+             <number>0</number>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QProgressBar" name="memBar">
+            <property name="value">
+             <number>0</number>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QLabel" name="label_4">
+            <property name="text">
+             <string>Mem</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <widget class="QTableWidget" name="bindingTable">
+          <property name="editTriggers">
+           <set>QAbstractItemView::NoEditTriggers</set>
+          </property>
+          <property name="selectionBehavior">
+           <enum>QAbstractItemView::SelectRows</enum>
+          </property>
+          <attribute name="horizontalHeaderStretchLastSection">
+           <bool>true</bool>
+          </attribute>
+          <column>
+           <property name="text">
+            <string>Binding</string>
+           </property>
+          </column>
+          <column>
+           <property name="text">
+            <string>Value</string>
+           </property>
+          </column>
+         </widget>
+        </item>
+       </layout>
+      </widget>
+     </widget>
+     <widget class="QTabWidget" name="tabWidget">
+      <property name="tabPosition">
+       <enum>QTabWidget::West</enum>
+      </property>
+      <property name="tabShape">
+       <enum>QTabWidget::Triangular</enum>
+      </property>
+      <property name="currentIndex">
+       <number>0</number>
+      </property>
+      <widget class="QWidget" name="tab">
+       <attribute name="title">
+        <string>Console</string>
+       </attribute>
+       <layout class="QHBoxLayout" name="horizontalLayout_2">
+        <item>
+         <widget class="VTextBrowser" name="debugEdit">
+          <property name="font">
+           <font>
+            <family>DejaVu Sans Mono</family>
+           </font>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <layout class="QVBoxLayout" name="verticalLayout_3">
+          <item>
+           <widget class="QPushButton" name="clearConsoleButton">
+            <property name="text">
+             <string/>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Delete-96.png</normaloff>:/res/icons/Delete-96.png</iconset>
+            </property>
+           </widget>
+          </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>
+        </item>
+       </layout>
+      </widget>
+      <widget class="QWidget" name="tab_2">
+       <attribute name="title">
+        <string>Recent</string>
+       </attribute>
+       <layout class="QHBoxLayout" name="horizontalLayout_4">
+        <item>
+         <widget class="QListWidget" name="recentList"/>
+        </item>
+        <item>
+         <layout class="QVBoxLayout" name="verticalLayout_6">
+          <property name="spacing">
+           <number>3</number>
+          </property>
+          <item>
+           <widget class="QPushButton" name="openRecentButton">
+            <property name="toolTip">
+             <string>Open selected recent file</string>
+            </property>
+            <property name="text">
+             <string>Open</string>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="removeSelectedButton">
+            <property name="toolTip">
+             <string>Remove selected recent file from list (file will not be deleted from file system)</string>
+            </property>
+            <property name="text">
+             <string>Remove</string>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Delete-96.png</normaloff>:/res/icons/Delete-96.png</iconset>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="clearRecentButton">
+            <property name="toolTip">
+             <string>Clear recent file list (nothing will be deleted from file system)</string>
+            </property>
+            <property name="text">
+             <string>Clear</string>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Delete-96.png</normaloff>:/res/icons/Delete-96.png</iconset>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <spacer name="verticalSpacer_3">
+            <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>
+        </item>
+       </layout>
+      </widget>
+      <widget class="QWidget" name="tab_3">
+       <attribute name="title">
+        <string>Examples</string>
+       </attribute>
+       <layout class="QHBoxLayout" name="horizontalLayout_3">
+        <item>
+         <widget class="QListWidget" name="exampleList"/>
+        </item>
+        <item>
+         <layout class="QVBoxLayout" name="verticalLayout_4">
+          <item>
+           <widget class="QPushButton" name="openExampleButton">
+            <property name="text">
+             <string>Open</string>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <spacer name="verticalSpacer_2">
+            <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>
+        </item>
+       </layout>
+      </widget>
+      <widget class="QWidget" name="tab_4">
+       <attribute name="title">
+        <string>Plot</string>
+       </attribute>
+       <layout class="QVBoxLayout" name="verticalLayout_5">
+        <item>
+         <widget class="QCustomPlot" name="bindingPlot" native="true"/>
+        </item>
+       </layout>
+      </widget>
+     </widget>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>VTextBrowser</class>
+   <extends>QTextEdit</extends>
+   <header>widgets/vtextbrowser.h</header>
+  </customwidget>
+  <customwidget>
+   <class>ScriptEditor</class>
+   <extends>QWidget</extends>
+   <header>widgets/scripteditor.h</header>
+   <container>1</container>
+  </customwidget>
+  <customwidget>
+   <class>QCustomPlot</class>
+   <extends>QWidget</extends>
+   <header>widgets/qcustomplot.h</header>
+   <container>1</container>
+  </customwidget>
+ </customwidgets>
+ <resources>
+  <include location="../res.qrc"/>
+ </resources>
+ <connections>
+  <connection>
+   <sender>clearConsoleButton</sender>
+   <signal>clicked()</signal>
+   <receiver>debugEdit</receiver>
+   <slot>clear()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>1524</x>
+     <y>374</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>1456</x>
+     <y>379</y>
+    </hint>
+   </hints>
+  </connection>
+ </connections>
+</ui>
diff --git a/pages/pages.pri b/pages/pages.pri
index 8f3aef042..2d5b5486f 100644
--- a/pages/pages.pri
+++ b/pages/pages.pri
@@ -5,6 +5,7 @@ FORMS += \
     $$PWD/pagecananalyzer.ui \
     $$PWD/pageconnection.ui \
     $$PWD/pagecustomconfig.ui \
+    $$PWD/pagelisp.ui \
     $$PWD/pagemotor.ui \
     $$PWD/pagedebugprint.ui \
     $$PWD/pagebldc.ui \
@@ -43,6 +44,7 @@ HEADERS += \
     $$PWD/pagecananalyzer.h \
     $$PWD/pageconnection.h \
     $$PWD/pagecustomconfig.h \
+    $$PWD/pagelisp.h \
     $$PWD/pagemotor.h \
     $$PWD/pagedebugprint.h \
     $$PWD/pagebldc.h \
@@ -81,6 +83,7 @@ SOURCES += \
     $$PWD/pagecananalyzer.cpp \
     $$PWD/pageconnection.cpp \
     $$PWD/pagecustomconfig.cpp \
+    $$PWD/pagelisp.cpp \
     $$PWD/pagemotor.cpp \
     $$PWD/pagedebugprint.cpp \
     $$PWD/pagebldc.cpp \
diff --git a/pages/pagescripting.cpp b/pages/pagescripting.cpp
index 302a973a2..b5ce43702 100755
--- a/pages/pagescripting.cpp
+++ b/pages/pagescripting.cpp
@@ -41,6 +41,7 @@ PageScripting::PageScripting(QWidget *parent) :
     ui->qmlWidget->setResizeMode(QQuickWidget::SizeRootObjectToView);
     ui->qmlWidget->setClearColor(Utility::getAppQColor("normalBackground"));
 
+    ui->mainEdit->setModeQml();
     makeEditorConnections(ui->mainEdit);
 
     QPushButton *plusButton = new QPushButton();
@@ -72,7 +73,7 @@ PageScripting::PageScripting(QWidget *parent) :
         createEditorTab("", "");
     });
 
-    connect(ui->mainEdit, &QmlEditor::fileNameChanged, [this](QString fileName) {
+    connect(ui->mainEdit, &ScriptEditor::fileNameChanged, [this](QString fileName) {
         QFileInfo f(fileName);
         QString txt = "main";
 
@@ -137,7 +138,7 @@ PageScripting::PageScripting(QWidget *parent) :
     closeButton->setFlat(true);
     ui->fileTabs->tabBar()->setTabButton(0, QTabBar::RightSide, closeButton);
 
-    QmlEditor *mainQmlEditor = qobject_cast<QmlEditor*>(ui->fileTabs->widget(0));
+    ScriptEditor *mainQmlEditor = qobject_cast<ScriptEditor*>(ui->fileTabs->widget(0));
     connect(closeButton, &QPushButton::clicked, [this, mainQmlEditor]() {
         // Clear main tab
         removeEditor(mainQmlEditor);
@@ -164,7 +165,7 @@ PageScripting::~PageScripting()
         set.remove("pagescripting/recentopenfiles");
         set.beginWriteArray("pagescripting/recentopenfiles");
         for (int i = 0;i < ui->fileTabs->count();i++) {
-            auto e = qobject_cast<QmlEditor*>(ui->fileTabs->widget(i));
+            auto e = qobject_cast<ScriptEditor*>(ui->fileTabs->widget(i));
             set.setArrayIndex(i);
             set.setValue("path", e->fileNow());
         }
@@ -357,7 +358,7 @@ void PageScripting::updateRecentList()
     }
 }
 
-void PageScripting::makeEditorConnections(QmlEditor *editor)
+void PageScripting::makeEditorConnections(ScriptEditor *editor)
 {
     connect(editor->codeEditor(), &QCodeEditor::textChanged, [editor, this]() {
        setEditorDirty(editor);
@@ -374,13 +375,13 @@ void PageScripting::makeEditorConnections(QmlEditor *editor)
     connect(editor->codeEditor(), &QCodeEditor::clearConsoleTriggered, [this]() {
         ui->debugEdit->clear();
     });
-    connect(editor, &QmlEditor::fileOpened, [this](QString fileName) {
+    connect(editor, &ScriptEditor::fileOpened, [this](QString fileName) {
         if (!mRecentFiles.contains(fileName)) {
             mRecentFiles.append(fileName);
             updateRecentList();
         }
     });
-    connect(editor, &QmlEditor::fileSaved, [editor, this](QString fileName) {
+    connect(editor, &ScriptEditor::fileSaved, [editor, this](QString fileName) {
         if (mVesc) {
             mVesc->emitStatusMessage("Saved " + fileName, true);
         }
@@ -396,13 +397,14 @@ void PageScripting::makeEditorConnections(QmlEditor *editor)
 
 void PageScripting::createEditorTab(QString fileName, QString content)
 {
-    QmlEditor *editor = new QmlEditor();
+    ScriptEditor *editor = new ScriptEditor();
+    editor->setModeQml();
     int tabIndex = ui->fileTabs->addTab(editor, "");
     ui->fileTabs->setCurrentIndex(tabIndex);
 
     makeEditorConnections(editor);
 
-    connect(editor, &QmlEditor::fileNameChanged, [this, editor](QString fileName) {
+    connect(editor, &ScriptEditor::fileNameChanged, [this, editor](QString fileName) {
         QFileInfo f(fileName);
         QString txt = "Unnamed";
 
@@ -437,12 +439,12 @@ void PageScripting::createEditorTab(QString fileName, QString content)
  * @brief PageScripting::removeEditor Removes the editor (unless it is the 0th, in which case it simply clears it)
  * @param qmlEditor
  */
-void PageScripting::removeEditor(QmlEditor *qmlEditor)
+void PageScripting::removeEditor(ScriptEditor *editor)
 {
    bool shouldCloseTab = false;
 
    // Check if tab is dirty
-   if (qmlEditor->isDirty == true) {
+   if (editor->isDirty == true) {
        // Ask user for confirmation
        QMessageBox::StandardButton answer = QMessageBox::question(
             this,
@@ -464,17 +466,16 @@ void PageScripting::removeEditor(QmlEditor *qmlEditor)
    // Only close if appropriate
    if (shouldCloseTab) {
        // Get index for this tab
-       int tabIdx = ui->fileTabs->indexOf(qmlEditor);
+       int tabIdx = ui->fileTabs->indexOf(editor);
 
        // Special handling of tabIdx == 0
        if (tabIdx == 0) {
-            qmlEditor->codeEditor()->clear();
-            qmlEditor->setFileNow("");
+            editor->codeEditor()->clear();
+            editor->setFileNow("");
        } else {
            ui->fileTabs->removeTab(tabIdx);
        }
    }
-
 }
 
 
@@ -482,15 +483,15 @@ void PageScripting::removeEditor(QmlEditor *qmlEditor)
  * @brief PageScripting::setEditorDirtySet the editor as dirty, i.e. having text modifications
  * @param qmlEditor
  */
-void PageScripting::setEditorDirty(QmlEditor *qmlEditor)
+void PageScripting::setEditorDirty(ScriptEditor *editor)
 {
     // Check if the editor is not already dirty
-    if (qmlEditor->isDirty == false) {
+    if (editor->isDirty == false) {
         // Set editor as dirty
-        qmlEditor->isDirty = true;
+        editor->isDirty = true;
 
         // Get editor index
-        int tabIdx = ui->fileTabs->indexOf(qmlEditor);
+        int tabIdx = ui->fileTabs->indexOf(editor);
 
         // Append a `*` to signify a dirty editor
         QString tabText = ui->fileTabs->tabText(tabIdx);
@@ -503,15 +504,15 @@ void PageScripting::setEditorDirty(QmlEditor *qmlEditor)
  * @brief PageScripting::setEditorClean Set the editor as clean, i.e. having no text modifications
  * @param qmlEditor
  */
-void PageScripting::setEditorClean(QmlEditor *qmlEditor)
+void PageScripting::setEditorClean(ScriptEditor *editor)
 {
     // Check if the editor is not already clean
-    if (qmlEditor->isDirty == true) {
+    if (editor->isDirty == true) {
         // Set editor as clean
-        qmlEditor->isDirty = false;
+        editor->isDirty = false;
 
         // Get editor index
-        int tabIdx = ui->fileTabs->indexOf(qmlEditor);
+        int tabIdx = ui->fileTabs->indexOf(editor);
 
         // Get the tab's label
         QString tabText = ui->fileTabs->tabText(tabIdx);
@@ -547,7 +548,7 @@ bool PageScripting::exportCArray(QString name)
     QString filename;
     QString dir = ".";
 
-    auto editor = qobject_cast<QmlEditor*>(ui->fileTabs->widget(0));
+    auto editor = qobject_cast<ScriptEditor*>(ui->fileTabs->widget(0));
     QFileInfo fileNow = QFileInfo(editor->fileNow());
     if (fileNow.exists()) {
         dir = fileNow.path();
diff --git a/pages/pagescripting.h b/pages/pagescripting.h
index eb60e49c2..9c72c9e00 100644
--- a/pages/pagescripting.h
+++ b/pages/pagescripting.h
@@ -25,7 +25,7 @@
 
 #include "vescinterface.h"
 #include "mobile/qmlui.h"
-#include "widgets/qmleditor.h"
+#include "widgets/scripteditor.h"
 #include "utility.h"
 
 namespace Ui {
@@ -79,11 +79,11 @@ private slots:
     Utility mUtil;
 
     void updateRecentList();
-    void makeEditorConnections(QmlEditor *editor);
+    void makeEditorConnections(ScriptEditor *editor);
     void createEditorTab(QString fileName, QString content);
-    void removeEditor(QmlEditor *qmlEditor);
-    void setEditorDirty(QmlEditor * qmlEditor);
-    void setEditorClean(QmlEditor * qmlEditor);
+    void removeEditor(ScriptEditor *editor);
+    void setEditorDirty(ScriptEditor *editor);
+    void setEditorClean(ScriptEditor *editor);
     QString qmlToRun(bool importDir = true);
     bool exportCArray(QString name);
     bool eraseQml();
diff --git a/pages/pagescripting.ui b/pages/pagescripting.ui
index 7829c5c28..c4ffebb5f 100644
--- a/pages/pagescripting.ui
+++ b/pages/pagescripting.ui
@@ -135,7 +135,7 @@
           <property name="currentIndex">
            <number>0</number>
           </property>
-          <widget class="QmlEditor" name="mainEdit">
+          <widget class="ScriptEditor" name="mainEdit">
            <attribute name="title">
             <string>main</string>
            </attribute>
@@ -541,9 +541,9 @@
    <header>widgets/vtextbrowser.h</header>
   </customwidget>
   <customwidget>
-   <class>QmlEditor</class>
+   <class>ScriptEditor</class>
    <extends>QWidget</extends>
-   <header>widgets/qmleditor.h</header>
+   <header>widgets/scripteditor.h</header>
    <container>1</container>
   </customwidget>
  </customwidgets>
diff --git a/res/CHANGELOG b/res/CHANGELOG
index 8b15ca138..e7ef1782a 100644
--- a/res/CHANGELOG
+++ b/res/CHANGELOG
@@ -1,6 +1,12 @@
 == 4.00 <dev> ==
 * Added support for compressed firmware upload.
 * Reduce CPU usage by only plotting RT data when the plot is visible.
+* Lisp scripting editor and integration.
+ - Autocompletion.
+ - Syntax highlighting.
+ - Real-time binding, CPU and memory monitors.
+ - Console for printing
+ - Examples
 
 == 3.01 ==
 * Fixed simultaneous CAN FW upload when other devices (such as BMS) are on the CAN-bus.
diff --git a/res/Lisp/Examples/aux.lisp b/res/Lisp/Examples/aux.lisp
new file mode 100644
index 000000000..ec52e69dc
--- /dev/null
+++ b/res/Lisp/Examples/aux.lisp
@@ -0,0 +1,17 @@
+(define set-auxtime (lambda (port state time)
+  (progn
+    (set-aux port state)
+    (define aux-now (list port state time))
+    (yield (* 1000 time))
+)))
+
+(let ((f (lambda ()
+  (progn
+    (set-auxtime 1 1 1500)
+    (set-auxtime 1 0 500)
+    (set-auxtime 2 1 1500)
+    (set-auxtime 2 0 500)
+    (yield 1000000)
+    (f)
+)))) (f))
+
diff --git a/res/Lisp/Examples/can_pos_follow.lisp b/res/Lisp/Examples/can_pos_follow.lisp
new file mode 100644
index 000000000..4726c55bb
--- /dev/null
+++ b/res/Lisp/Examples/can_pos_follow.lisp
@@ -0,0 +1,16 @@
+(define itcnt 0)
+
+(define f (lambda ()
+   (progn
+     (define itcnt (+ itcnt 1))
+     (canset-pos 124 (get-encoder))
+     (define canc (canget-current-dir 124))
+     (set-servo (- 0.5 (* 0.02 canc)))
+     (set-brake (* 0.5 canc))
+     (timeout-reset)
+     (yield 2000)
+     (f)
+)))
+     
+(f)
+
diff --git a/res/Lisp/Examples/control_servo_from_duty.lisp b/res/Lisp/Examples/control_servo_from_duty.lisp
new file mode 100644
index 000000000..0e1f83e26
--- /dev/null
+++ b/res/Lisp/Examples/control_servo_from_duty.lisp
@@ -0,0 +1,24 @@
+(define servo-out 0.5)
+
+(define abs (lambda (x) (if (> x 0) x (- x))))
+
+(define update-servo (lambda ()
+  (progn
+    (define servo-out (+ servo-out (* (get-duty) 0.2)))
+    (if (> servo-out 1.0) (define servo-out 1.0) nil)
+    (if (< servo-out 0) (define servo-out 0) nil)
+    (set-servo servo-out)
+)))
+
+(define itcnt 0)
+
+(define f (lambda ()
+   (progn
+     (define itcnt (+ itcnt 1))
+     (if (> (abs (get-duty)) 0.005) (update-servo) nil)
+     (yield 10000)
+     (f)
+)))
+     
+(f)
+
diff --git a/res/Lisp/Examples/control_servo_from_encoder.lisp b/res/Lisp/Examples/control_servo_from_encoder.lisp
new file mode 100644
index 000000000..232693510
--- /dev/null
+++ b/res/Lisp/Examples/control_servo_from_encoder.lisp
@@ -0,0 +1,10 @@
+(define f (lambda ()
+   (progn
+     (define encval (get-encoder)) ; So that lisp_stats shows the value     
+     (set-servo (/ (- 360.0 encval) 360.0))
+     (yield 20000)
+     (f)
+)))
+     
+(f)
+
diff --git a/res/Lisp/Examples/duty.lisp b/res/Lisp/Examples/duty.lisp
new file mode 100644
index 000000000..b0108ad20
--- /dev/null
+++ b/res/Lisp/Examples/duty.lisp
@@ -0,0 +1,22 @@
+;;; This program will ramp the duty cycle up and down according
+;;; to the parameters below.
+
+(define rate 50) ; Update rate in hz
+(define ramptime 3.0) ; Motor ramp time
+
+(define rampstep (/ 1.0 (* rate ramptime)))
+(define upcnt rampstep)
+
+(let ((f (lambda (x)
+   (progn
+     (set-duty x)
+     (timeout-reset)
+     
+     (yield (/ 1000000 rate))
+     
+     (if (> x 1.0) (define upcnt (- rampstep) nil))
+     (if (< x -1.0) (define upcnt rampstep) nil)
+     
+     (f (+ x upcnt))
+)))) (f 0))
+
diff --git a/res/Lisp/Examples/ppm_read.lisp b/res/Lisp/Examples/ppm_read.lisp
new file mode 100644
index 000000000..6256441c9
--- /dev/null
+++ b/res/Lisp/Examples/ppm_read.lisp
@@ -0,0 +1,9 @@
+(let ((f (lambda ()
+   (progn
+     (define ppm (get-ppm)) ; So that lisp_stats shows the value
+     (set-duty ppm)
+     (timeout-reset)
+     (yield 20000)
+     (f)))))
+(f))
+
diff --git a/res/Lisp/Examples/print_bms_data.lisp b/res/Lisp/Examples/print_bms_data.lisp
new file mode 100644
index 000000000..7e9a5c90f
--- /dev/null
+++ b/res/Lisp/Examples/print_bms_data.lisp
@@ -0,0 +1,35 @@
+(define rate 2) ; Update rate in hz
+
+(define map (lambda (f xs)
+    (if (= xs nil)
+	nil
+  (cons (f (car xs)) (map f (cdr xs))))))
+  
+(define iota (lambda (n)
+  (let ((iacc (lambda (acc i)
+          (if (< i 0)
+          acc
+            (iacc (cons i acc) (- i 1))))))
+  (iacc nil n))))
+
+(define range (lambda (start end)
+   (map (lambda (x) (+ x start)) (iota (- end start))
+)))
+
+(define foldl (lambda (f i xs)
+  (if (= xs nil)
+    i
+	(foldl f (f i (car xs)) (cdr xs)))))
+
+(let ((f (lambda ()
+   (progn
+     (define v-cells (map (lambda (c)(get-bms-val "v_cell" c)) (range 0 (- (get-bms-val "cell_num") 1))))
+     (print (list "V Tot  : " (get-bms-val "v_tot")))
+     (print (list "V Cells: " v-cells))
+     (print (list "foldl  : " (foldl + 0 v-cells)))
+     (print (list "ADCs   : " (map (lambda (c)(get-adc c)) (iota 1))))
+     (print " ")
+     (yield (/ 1000000.0 rate))
+     (f)
+)))) (f))
+
diff --git a/res/Lisp/Examples/speed_test.lisp b/res/Lisp/Examples/speed_test.lisp
new file mode 100644
index 000000000..ad68a77b4
--- /dev/null
+++ b/res/Lisp/Examples/speed_test.lisp
@@ -0,0 +1,53 @@
+; Note: dec-cnt2 in C using a recursive function that takes
+; a volatile int as argument takes 0.2 seconds to finish. 
+; That is about 500x faster, which seems to be consistent
+; with a few other tests.
+
+; 12 seconds
+(define dec-cnt (lambda (x)
+  (if (= x 0) 0 (dec-cnt (- x 1)))
+))
+
+; 10 seconds
+(define dec-cnt2 (lambda (x)
+  (match x (0 0) (_ (dec-cnt2 (- x 1))))
+))
+
+; 4 seconds
+(define dec-cnt3 (lambda (x)
+  (if (> x 0) (dec-cnt3 (- (- (- (- (- (- (- x 1) 1) 1) 1) 1) 1) 1)) 0)
+))
+
+(define tak (lambda (x y z)
+  (if (not (< y x))
+      z
+    (tak
+     (tak (- x 1) y z)
+     (tak (- y 1) z x)
+     (tak (- z 1) x y)))))
+
+(define fib (lambda (n)
+  (if (< n 3) 1
+    (+ (fib (- n 1)) (fib (- n 2))))))
+    
+(define q2 (lambda (x y)
+  (if (or (< x 1) (< y 1)) 1
+    (+ (q2 (- x (q2 (- x 1) y)) y)
+       (q2 x (- y (q2 x (- y 1))))))))
+
+(define f (lambda ()
+   (progn
+     
+     (define start (systime))
+     ;(dec-cnt3 100000)
+     (define takres (tak 18 12 6))
+     ;(define fibres (fib 23))
+     ;(define q2res (q2 7 8))
+     (print (list "Seconds elapsed: " (secs-since start)))
+     
+     (yield 2000000)
+     (f)
+)))
+     
+(f)
+
diff --git a/res/qml/Examples/RpmSlider.qml b/res/qml/Examples/RpmSlider.qml
new file mode 100644
index 000000000..1e512816c
--- /dev/null
+++ b/res/qml/Examples/RpmSlider.qml
@@ -0,0 +1,117 @@
+/*
+    Copyright 2020 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+import QtQuick 2.7
+import QtQuick.Controls 2.0
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Material 2.2
+import Vedder.vesc.utility 1.0
+
+import Vedder.vesc.commands 1.0
+import Vedder.vesc.configparams 1.0
+import "qrc:/mobile"
+
+Item {
+    id: mainItem
+    anchors.fill: parent
+
+    property Commands mCommands: VescIf.commands()
+    property ConfigParams mMcConf: VescIf.mcConfig()
+
+    ColumnLayout {
+        id: gaugeColumn
+        anchors.fill: parent
+        RowLayout {
+            Layout.fillHeight: true
+            Layout.fillWidth: true
+            CustomGauge {
+                id: rpmGauge
+                Layout.fillWidth: true
+                Layout.preferredWidth: gaugeColumn.width * 0.45
+                Layout.preferredHeight: gaugeColumn.height * 0.45
+                maximumValue: 12000
+                minimumValue: 0
+                tickmarkScale: 0.001
+                tickmarkSuffix: "k"
+                labelStep: 1000
+                value: 0
+                unitText: "RPM"
+                typeText: "Speed"
+            }
+
+            CustomGauge {
+                id: voltageGauge
+                Layout.fillWidth: true
+                Layout.preferredWidth: gaugeColumn.width * 0.45
+                Layout.preferredHeight: gaugeColumn.height * 0.45
+                maximumValue: 100
+                minimumValue: 0
+                tickmarkScale: 1
+                tickmarkSuffix: ""
+                labelStep: 20
+                value: 0
+                unitText: "V"
+                typeText: "Motor\nVoltage"
+            }
+        }
+        
+        RowLayout {
+            Slider {
+                from: 0
+                to: 100
+                Layout.fillWidth: true
+                
+                onValueChanged: {
+                    if (activeBox.checked) {
+                        mCommands.setDutyCycle(value / 100)
+                    } else {
+                        value = 0
+                    }
+                }
+            }
+            
+            CheckBox {
+                id: activeBox
+                text: "Active"
+            }
+        }
+        
+        Timer {
+            running: true
+            repeat: true
+            interval: 50
+            
+            onTriggered: {
+                mCommands.getValues()
+                if (activeBox.checked) {
+                    mCommands.sendAlive()
+                }
+            }
+        }
+
+        Connections {
+            target: mCommands
+
+            onValuesReceived: {
+                rpmGauge.value = Math.abs(values.rpm) / 5
+                voltageGauge.value = Math.abs(values.v_in * values.duty_now)
+            }
+        }
+    }
+}
diff --git a/res_lisp.qrc b/res_lisp.qrc
new file mode 100644
index 000000000..f27cd1754
--- /dev/null
+++ b/res_lisp.qrc
@@ -0,0 +1,12 @@
+<RCC>
+    <qresource prefix="/">
+        <file>res/Lisp/Examples/aux.lisp</file>
+        <file>res/Lisp/Examples/can_pos_follow.lisp</file>
+        <file>res/Lisp/Examples/control_servo_from_duty.lisp</file>
+        <file>res/Lisp/Examples/control_servo_from_encoder.lisp</file>
+        <file>res/Lisp/Examples/duty.lisp</file>
+        <file>res/Lisp/Examples/ppm_read.lisp</file>
+        <file>res/Lisp/Examples/print_bms_data.lisp</file>
+        <file>res/Lisp/Examples/speed_test.lisp</file>
+    </qresource>
+</RCC>
diff --git a/res_qml.qrc b/res_qml.qrc
index 0cf511f27..cc8ed3297 100644
--- a/res_qml.qrc
+++ b/res_qml.qrc
@@ -22,5 +22,6 @@
         <file>res/qml/Examples/BrakeBench.qml</file>
         <file>res/qml/Examples/PositionControl.qml</file>
         <file>res/qml/Examples/GaugeTest.qml</file>
+        <file>res/qml/Examples/RpmSlider.qml</file>
     </qresource>
 </RCC>
diff --git a/vesc_tool.pro b/vesc_tool.pro
index 4a2b7aa5e..54635a370 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -10,7 +10,7 @@ VT_INTRO_VERSION = 1
 VT_CONFIG_VERSION = 2
 
 # Set to 0 for stable versions and to test version number for development versions.
-VT_IS_TEST_VERSION = 1
+VT_IS_TEST_VERSION = 2
 
 VT_ANDROID_VERSION_ARMV7 = 98
 VT_ANDROID_VERSION_ARM64 = 99
@@ -251,6 +251,7 @@ include(QCodeEditor/qcodeeditor.pri)
 RESOURCES += res.qrc \
     res_fw_bms.qrc \
     res_fw.qrc \
+    res_lisp.qrc \
     res_qml.qrc
 RESOURCES += res_config.qrc
 
diff --git a/widgets/qmleditor.h b/widgets/qmleditor.h
deleted file mode 100644
index d6f5e015d..000000000
--- a/widgets/qmleditor.h
+++ /dev/null
@@ -1,50 +0,0 @@
-#ifndef QMLEDITOR_H
-#define QMLEDITOR_H
-
-#include <QWidget>
-#include <QCodeEditor>
-
-namespace Ui {
-class QmlEditor;
-}
-
-class QmlEditor : public QWidget
-{
-    Q_OBJECT
-
-public:
-    explicit QmlEditor(QWidget *parent = nullptr);
-    ~QmlEditor();
-
-    QCodeEditor *codeEditor();
-    QString fileNow();
-    void setFileNow(QString fileName);
-
-    bool isDirty = false;
-
-protected:
-    void keyPressEvent(QKeyEvent *event);
-
-signals:
-    void fileOpened(QString fileName);
-    void fileSaved(QString fileName);
-    void fileNameChanged(QString newName);
-
-private slots:
-    void on_openFileButton_clicked();
-    void on_saveButton_clicked();
-    void on_saveAsButton_clicked();
-    void on_searchEdit_textChanged(const QString &arg1);
-    void on_searchPrevButton_clicked();
-    void on_searchNextButton_clicked();
-    void on_replaceThisButton_clicked();
-    void on_replaceAllButton_clicked();
-    void on_searchHideButton_clicked();
-    void on_searchCaseSensitiveBox_toggled(bool checked);
-
-private:
-    Ui::QmlEditor *ui;
-
-};
-
-#endif // QMLEDITOR_H
diff --git a/widgets/qmleditor.cpp b/widgets/scripteditor.cpp
similarity index 64%
rename from widgets/qmleditor.cpp
rename to widgets/scripteditor.cpp
index e5041623a..c7e1cc79a 100644
--- a/widgets/qmleditor.cpp
+++ b/widgets/scripteditor.cpp
@@ -1,17 +1,39 @@
-#include "qmleditor.h"
+/*
+    Copyright 2021 - 2022 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#include "scripteditor.h"
 #include "ui_qmleditor.h"
 
 #include <QmlHighlighter>
+#include <LispHighlighter>
 #include <QVescCompleter>
+#include <QLispCompleter>
 #include <QMessageBox>
 #include <QFileDialog>
 #include "utility.h"
 
-QmlEditor::QmlEditor(QWidget *parent) :
+ScriptEditor::ScriptEditor(QWidget *parent) :
     QWidget(parent),
-    ui(new Ui::QmlEditor)
+    ui(new Ui::ScriptEditor)
 {
     ui->setupUi(this);
+    mIsModeLisp = false;
 
     QString theme = Utility::getThemePath();
     ui->searchHideButton->setIcon(QPixmap(theme + "icons/Cancel-96.png"));
@@ -19,9 +41,6 @@ QmlEditor::QmlEditor(QWidget *parent) :
     ui->saveButton->setIcon(QPixmap(theme + "icons/Save-96.png"));
     ui->saveAsButton->setIcon(QPixmap(theme + "icons/Save as-96.png"));
     ui->searchWidget->setVisible(false);
-
-    ui->qmlEdit->setHighlighter(new QmlHighlighter);
-    ui->qmlEdit->setCompleter(new QVescCompleter);
     ui->qmlEdit->setTabReplaceSize(4);
 
     connect(ui->qmlEdit, &QCodeEditor::saveTriggered, [this]() {
@@ -38,28 +57,42 @@ QmlEditor::QmlEditor(QWidget *parent) :
     });
 }
 
-QmlEditor::~QmlEditor()
+ScriptEditor::~ScriptEditor()
 {
     delete ui;
 }
 
-QCodeEditor *QmlEditor::codeEditor()
+QCodeEditor *ScriptEditor::codeEditor()
 {
     return ui->qmlEdit;
 }
 
-QString QmlEditor::fileNow()
+QString ScriptEditor::fileNow()
 {
     return ui->fileNowLabel->text();
 }
 
-void QmlEditor::setFileNow(QString fileName)
+void ScriptEditor::setFileNow(QString fileName)
 {
     ui->fileNowLabel->setText(fileName);
     emit fileNameChanged(fileName);
 }
 
-void QmlEditor::keyPressEvent(QKeyEvent *event)
+void ScriptEditor::setModeQml()
+{
+    ui->qmlEdit->setHighlighter(new QmlHighlighter);
+    ui->qmlEdit->setCompleter(new QVescCompleter);
+    mIsModeLisp = false;
+}
+
+void ScriptEditor::setModeLisp()
+{
+    ui->qmlEdit->setHighlighter(new LispHighlighter);
+    ui->qmlEdit->setCompleter(new QLispCompleter);
+    mIsModeLisp = true;
+}
+
+void ScriptEditor::keyPressEvent(QKeyEvent *event)
 {
     if (event->key() == Qt::Key_Escape) {
         if (ui->searchEdit->hasFocus() || ui->replaceEdit->hasFocus()) {
@@ -68,11 +101,11 @@ void QmlEditor::keyPressEvent(QKeyEvent *event)
     }
 }
 
-void QmlEditor::on_openFileButton_clicked()
+void ScriptEditor::on_openFileButton_clicked()
 {
     QString fileName = QFileDialog::getOpenFileName(this,
                                                     tr("Open QML File"), "",
-                                                    tr("QML files (*.qml)"));
+                                                    mIsModeLisp ? tr("Lisp files (*.lisp)") : tr("QML files (*.qml)"));
 
     if (!fileName.isEmpty()) {
         QFile file(fileName);
@@ -92,7 +125,7 @@ void QmlEditor::on_openFileButton_clicked()
     }
 }
 
-void QmlEditor::on_saveButton_clicked()
+void ScriptEditor::on_saveButton_clicked()
 {
     QString fileName = ui->fileNowLabel->text();
 
@@ -116,15 +149,17 @@ void QmlEditor::on_saveButton_clicked()
     emit fileSaved(fileName);
 }
 
-void QmlEditor::on_saveAsButton_clicked()
+void ScriptEditor::on_saveAsButton_clicked()
 {
     QString fileName = QFileDialog::getSaveFileName(this,
                                                     tr("Save QML"), "",
-                                                    tr("QML Files (*.qml)"));
+                                                    mIsModeLisp ? tr("Lisp files (*.lisp)") : tr("QML files (*.qml)"));
+
+    QString ending = mIsModeLisp ? ".lisp" : ".qml";
 
     if (!fileName.isEmpty()) {
-        if (!fileName.toLower().endsWith(".qml")) {
-            fileName.append(".qml");
+        if (!fileName.toLower().endsWith(ending)) {
+            fileName.append(ending);
         }
 
         QFile file(fileName);
@@ -144,24 +179,24 @@ void QmlEditor::on_saveAsButton_clicked()
     }
 }
 
-void QmlEditor::on_searchEdit_textChanged(const QString &arg1)
+void ScriptEditor::on_searchEdit_textChanged(const QString &arg1)
 {
     ui->qmlEdit->searchForString(arg1);
 }
 
-void QmlEditor::on_searchPrevButton_clicked()
+void ScriptEditor::on_searchPrevButton_clicked()
 {
     ui->qmlEdit->searchPreviousResult();
     ui->qmlEdit->setFocus();
 }
 
-void QmlEditor::on_searchNextButton_clicked()
+void ScriptEditor::on_searchNextButton_clicked()
 {
     ui->qmlEdit->searchNextResult();
     ui->qmlEdit->setFocus();
 }
 
-void QmlEditor::on_replaceThisButton_clicked()
+void ScriptEditor::on_replaceThisButton_clicked()
 {
     if (ui->qmlEdit->textCursor().selectedText() == ui->searchEdit->text()) {
         ui->qmlEdit->textCursor().insertText(ui->replaceEdit->text());
@@ -169,7 +204,7 @@ void QmlEditor::on_replaceThisButton_clicked()
     }
 }
 
-void QmlEditor::on_replaceAllButton_clicked()
+void ScriptEditor::on_replaceAllButton_clicked()
 {
     ui->qmlEdit->searchNextResult();
     while (!ui->qmlEdit->textCursor().selectedText().isEmpty()) {
@@ -178,14 +213,14 @@ void QmlEditor::on_replaceAllButton_clicked()
     }
 }
 
-void QmlEditor::on_searchHideButton_clicked()
+void ScriptEditor::on_searchHideButton_clicked()
 {
     ui->searchWidget->setVisible(false);
     ui->qmlEdit->searchForString("");
     ui->qmlEdit->setFocus();
 }
 
-void QmlEditor::on_searchCaseSensitiveBox_toggled(bool checked)
+void ScriptEditor::on_searchCaseSensitiveBox_toggled(bool checked)
 {
     ui->qmlEdit->searchSetCaseSensitive(checked);
 }
diff --git a/widgets/scripteditor.h b/widgets/scripteditor.h
new file mode 100644
index 000000000..4e57cf0e4
--- /dev/null
+++ b/widgets/scripteditor.h
@@ -0,0 +1,72 @@
+/*
+    Copyright 2021 - 2022 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#ifndef QMLEDITOR_H
+#define QMLEDITOR_H
+
+#include <QWidget>
+#include <QCodeEditor>
+
+namespace Ui {
+class ScriptEditor;
+}
+
+class ScriptEditor : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit ScriptEditor(QWidget *parent = nullptr);
+    ~ScriptEditor();
+
+    QCodeEditor *codeEditor();
+    QString fileNow();
+    void setFileNow(QString fileName);
+    void setModeQml();
+    void setModeLisp();
+
+    bool isDirty = false;
+
+protected:
+    void keyPressEvent(QKeyEvent *event);
+
+signals:
+    void fileOpened(QString fileName);
+    void fileSaved(QString fileName);
+    void fileNameChanged(QString newName);
+
+private slots:
+    void on_openFileButton_clicked();
+    void on_saveButton_clicked();
+    void on_saveAsButton_clicked();
+    void on_searchEdit_textChanged(const QString &arg1);
+    void on_searchPrevButton_clicked();
+    void on_searchNextButton_clicked();
+    void on_replaceThisButton_clicked();
+    void on_replaceAllButton_clicked();
+    void on_searchHideButton_clicked();
+    void on_searchCaseSensitiveBox_toggled(bool checked);
+
+private:
+    Ui::ScriptEditor *ui;
+    bool mIsModeLisp;
+
+};
+
+#endif // QMLEDITOR_H
diff --git a/widgets/qmleditor.ui b/widgets/scripteditor.ui
similarity index 94%
rename from widgets/qmleditor.ui
rename to widgets/scripteditor.ui
index f1292280f..31a1abc7f 100644
--- a/widgets/qmleditor.ui
+++ b/widgets/scripteditor.ui
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <ui version="4.0">
- <class>QmlEditor</class>
- <widget class="QWidget" name="QmlEditor">
+ <class>ScriptEditor</class>
+ <widget class="QWidget" name="ScriptEditor">
   <property name="geometry">
    <rect>
     <x>0</x>
@@ -107,7 +107,7 @@
          <string/>
         </property>
         <property name="icon">
-         <iconset>
+         <iconset resource="../res.qrc">
           <normaloff>:/res/icons/Cancel-96.png</normaloff>:/res/icons/Cancel-96.png</iconset>
         </property>
         <property name="flat">
@@ -142,7 +142,7 @@
         <string>Open</string>
        </property>
        <property name="icon">
-        <iconset>
+        <iconset resource="../res.qrc">
          <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
        </property>
        <property name="flat">
@@ -156,7 +156,7 @@
         <string>Save</string>
        </property>
        <property name="icon">
-        <iconset>
+        <iconset resource="../res.qrc">
          <normaloff>:/res/icons/Save-96.png</normaloff>:/res/icons/Save-96.png</iconset>
        </property>
        <property name="flat">
@@ -170,7 +170,7 @@
         <string>Save As</string>
        </property>
        <property name="icon">
-        <iconset>
+        <iconset resource="../res.qrc">
          <normaloff>:/res/icons/Save as-96.png</normaloff>:/res/icons/Save as-96.png</iconset>
        </property>
        <property name="flat">
@@ -189,6 +189,8 @@
    <header>QCodeEditor</header>
   </customwidget>
  </customwidgets>
- <resources/>
+ <resources>
+  <include location="../res.qrc"/>
+ </resources>
  <connections/>
 </ui>
diff --git a/widgets/widgets.pri b/widgets/widgets.pri
index 2dfe8fcda..bcf8827ee 100644
--- a/widgets/widgets.pri
+++ b/widgets/widgets.pri
@@ -18,7 +18,7 @@ FORMS += \
     $$PWD/paramdialog.ui \
     $$PWD/detectallfocdialog.ui \
     $$PWD/dirsetup.ui \
-    $$PWD/qmleditor.ui
+    $$PWD/scripteditor.ui
 
 HEADERS += \
     $$PWD/batttempplot.h \
@@ -43,9 +43,9 @@ HEADERS += \
     $$PWD/detectimu.h \
     $$PWD/ppmmap.h \
     $$PWD/adcmap.h \
-    $$PWD/qmleditor.h \
     $$PWD/rtdatatext.h \
     $$PWD/nrfpair.h \
+    $$PWD/scripteditor.h \
     $$PWD/vtextbrowser.h \
     $$PWD/imagewidget.h \
     $$PWD/parameditstring.h \
@@ -80,9 +80,9 @@ SOURCES += \
     $$PWD/detectimu.cpp \
     $$PWD/ppmmap.cpp \
     $$PWD/adcmap.cpp \
-    $$PWD/qmleditor.cpp \
     $$PWD/rtdatatext.cpp \
     $$PWD/nrfpair.cpp \
+    $$PWD/scripteditor.cpp \
     $$PWD/vtextbrowser.cpp \
     $$PWD/imagewidget.cpp \
     $$PWD/parameditstring.cpp \

From 83e23c849ee4d4aba778a15db45c9f7bdc2f779e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 29 Jan 2022 03:55:03 +0100
Subject: [PATCH 009/559] Fixed include after renaming

---
 widgets/scripteditor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/widgets/scripteditor.cpp b/widgets/scripteditor.cpp
index c7e1cc79a..c71074e77 100644
--- a/widgets/scripteditor.cpp
+++ b/widgets/scripteditor.cpp
@@ -18,7 +18,7 @@
     */
 
 #include "scripteditor.h"
-#include "ui_qmleditor.h"
+#include "ui_scripteditor.h"
 
 #include <QmlHighlighter>
 #include <LispHighlighter>

From a41cbae761aa2b36051f046d14e0b84797645770 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 29 Jan 2022 11:27:05 +0100
Subject: [PATCH 010/559] Some lisp editor fixes

---
 pages/pagelisp.cpp       |  5 ----
 widgets/scripteditor.cpp | 60 +++++++++++++++++++++-------------------
 widgets/scripteditor.ui  |  2 +-
 3 files changed, 33 insertions(+), 34 deletions(-)

diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index 9cf933949..38b11e3fb 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -31,9 +31,6 @@ PageLisp::PageLisp(QWidget *parent) :
     Utility::setPlotColors(ui->bindingPlot);
 
     ui->mainEdit->setModeLisp();
-    ui->mainEdit->codeEditor()->setCommentStr(";");
-    ui->mainEdit->codeEditor()->setIndentStrs("", "");
-
     makeEditorConnections(ui->mainEdit);
 
     QPushButton *plusButton = new QPushButton();
@@ -254,8 +251,6 @@ void PageLisp::createEditorTab(QString fileName, QString content)
 {
     ScriptEditor *editor = new ScriptEditor();
     editor->setModeLisp();
-    editor->codeEditor()->setCommentStr(";");
-    editor->codeEditor()->setIndentStrs("", "");
     int tabIndex = ui->fileTabs->addTab(editor, "");
     ui->fileTabs->setCurrentIndex(tabIndex);
 
diff --git a/widgets/scripteditor.cpp b/widgets/scripteditor.cpp
index c71074e77..2c1124c7d 100644
--- a/widgets/scripteditor.cpp
+++ b/widgets/scripteditor.cpp
@@ -41,18 +41,18 @@ ScriptEditor::ScriptEditor(QWidget *parent) :
     ui->saveButton->setIcon(QPixmap(theme + "icons/Save-96.png"));
     ui->saveAsButton->setIcon(QPixmap(theme + "icons/Save as-96.png"));
     ui->searchWidget->setVisible(false);
-    ui->qmlEdit->setTabReplaceSize(4);
+    ui->codeEdit->setTabReplaceSize(4);
 
-    connect(ui->qmlEdit, &QCodeEditor::saveTriggered, [this]() {
+    connect(ui->codeEdit, &QCodeEditor::saveTriggered, [this]() {
         on_saveButton_clicked();
     });
-    connect(ui->qmlEdit, &QCodeEditor::searchTriggered, [this]() {
+    connect(ui->codeEdit, &QCodeEditor::searchTriggered, [this]() {
         ui->searchWidget->setVisible(true);
-        auto selected = ui->qmlEdit->textCursor().selectedText();
+        auto selected = ui->codeEdit->textCursor().selectedText();
         if (!selected.isEmpty()) {
             ui->searchEdit->setText(selected);
         }
-        ui->qmlEdit->searchForString(ui->searchEdit->text());
+        ui->codeEdit->searchForString(ui->searchEdit->text());
         ui->searchEdit->setFocus();
     });
 }
@@ -64,7 +64,7 @@ ScriptEditor::~ScriptEditor()
 
 QCodeEditor *ScriptEditor::codeEditor()
 {
-    return ui->qmlEdit;
+    return ui->codeEdit;
 }
 
 QString ScriptEditor::fileNow()
@@ -80,15 +80,19 @@ void ScriptEditor::setFileNow(QString fileName)
 
 void ScriptEditor::setModeQml()
 {
-    ui->qmlEdit->setHighlighter(new QmlHighlighter);
-    ui->qmlEdit->setCompleter(new QVescCompleter);
+    ui->codeEdit->setHighlighter(new QmlHighlighter);
+    ui->codeEdit->setCompleter(new QVescCompleter);
     mIsModeLisp = false;
 }
 
 void ScriptEditor::setModeLisp()
 {
-    ui->qmlEdit->setHighlighter(new LispHighlighter);
-    ui->qmlEdit->setCompleter(new QLispCompleter);
+    ui->codeEdit->setHighlighter(new LispHighlighter);
+    ui->codeEdit->setCompleter(new QLispCompleter);
+    ui->codeEdit->setCommentStr(";");
+    ui->codeEdit->setIndentStrs("", "");
+    ui->codeEdit->setAutoParentheses(false);
+    ui->codeEdit->setAutoIndentation(false);
     mIsModeLisp = true;
 }
 
@@ -115,7 +119,7 @@ void ScriptEditor::on_openFileButton_clicked()
             return;
         }
 
-        ui->qmlEdit->setPlainText(file.readAll());
+        ui->codeEdit->setPlainText(file.readAll());
         ui->fileNowLabel->setText(fileName);
         emit fileNameChanged(fileName);
 
@@ -143,7 +147,7 @@ void ScriptEditor::on_saveButton_clicked()
         return;
     }
 
-    file.write(ui->qmlEdit->toPlainText().toUtf8());
+    file.write(ui->codeEdit->toPlainText().toUtf8());
     file.close();
 
     emit fileSaved(fileName);
@@ -169,7 +173,7 @@ void ScriptEditor::on_saveAsButton_clicked()
             return;
         }
 
-        file.write(ui->qmlEdit->toPlainText().toUtf8());
+        file.write(ui->codeEdit->toPlainText().toUtf8());
         file.close();
 
         ui->fileNowLabel->setText(fileName);
@@ -181,46 +185,46 @@ void ScriptEditor::on_saveAsButton_clicked()
 
 void ScriptEditor::on_searchEdit_textChanged(const QString &arg1)
 {
-    ui->qmlEdit->searchForString(arg1);
+    ui->codeEdit->searchForString(arg1);
 }
 
 void ScriptEditor::on_searchPrevButton_clicked()
 {
-    ui->qmlEdit->searchPreviousResult();
-    ui->qmlEdit->setFocus();
+    ui->codeEdit->searchPreviousResult();
+    ui->codeEdit->setFocus();
 }
 
 void ScriptEditor::on_searchNextButton_clicked()
 {
-    ui->qmlEdit->searchNextResult();
-    ui->qmlEdit->setFocus();
+    ui->codeEdit->searchNextResult();
+    ui->codeEdit->setFocus();
 }
 
 void ScriptEditor::on_replaceThisButton_clicked()
 {
-    if (ui->qmlEdit->textCursor().selectedText() == ui->searchEdit->text()) {
-        ui->qmlEdit->textCursor().insertText(ui->replaceEdit->text());
-        ui->qmlEdit->searchNextResult();
+    if (ui->codeEdit->textCursor().selectedText() == ui->searchEdit->text()) {
+        ui->codeEdit->textCursor().insertText(ui->replaceEdit->text());
+        ui->codeEdit->searchNextResult();
     }
 }
 
 void ScriptEditor::on_replaceAllButton_clicked()
 {
-    ui->qmlEdit->searchNextResult();
-    while (!ui->qmlEdit->textCursor().selectedText().isEmpty()) {
-        ui->qmlEdit->textCursor().insertText(ui->replaceEdit->text());
-        ui->qmlEdit->searchNextResult();
+    ui->codeEdit->searchNextResult();
+    while (!ui->codeEdit->textCursor().selectedText().isEmpty()) {
+        ui->codeEdit->textCursor().insertText(ui->replaceEdit->text());
+        ui->codeEdit->searchNextResult();
     }
 }
 
 void ScriptEditor::on_searchHideButton_clicked()
 {
     ui->searchWidget->setVisible(false);
-    ui->qmlEdit->searchForString("");
-    ui->qmlEdit->setFocus();
+    ui->codeEdit->searchForString("");
+    ui->codeEdit->setFocus();
 }
 
 void ScriptEditor::on_searchCaseSensitiveBox_toggled(bool checked)
 {
-    ui->qmlEdit->searchSetCaseSensitive(checked);
+    ui->codeEdit->searchSetCaseSensitive(checked);
 }
diff --git a/widgets/scripteditor.ui b/widgets/scripteditor.ui
index 31a1abc7f..20beecf47 100644
--- a/widgets/scripteditor.ui
+++ b/widgets/scripteditor.ui
@@ -30,7 +30,7 @@
     <number>6</number>
    </property>
    <item>
-    <widget class="QCodeEditor" name="qmlEdit">
+    <widget class="QCodeEditor" name="codeEdit">
      <property name="autoFillBackground">
       <bool>false</bool>
      </property>

From 06e6249eb2b08494a56366e76dac549aadb859dc Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 29 Jan 2022 14:37:02 +0100
Subject: [PATCH 011/559] Added binding plot support

---
 pages/pagelisp.cpp | 117 +++++++++++++++++++-
 pages/pagelisp.h   |   2 +
 pages/pagelisp.ui  | 270 ++++++++++++++++++++++++++++++++++++++++-----
 3 files changed, 357 insertions(+), 32 deletions(-)

diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index 38b11e3fb..07d1bd046 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -17,6 +17,7 @@
     along with this program.  If not, see <http://www.gnu.org/licenses/>.
     */
 
+#include <QDateTime>
 #include "pagelisp.h"
 #include "ui_pagelisp.h"
 #include "utility.h"
@@ -47,6 +48,22 @@ PageLisp::PageLisp(QWidget *parent) :
     ui->uploadButton->setIcon(QIcon(theme +"icons/Download-96.png"));
     ui->readExistingButton->setIcon(QIcon(theme +"icons/Upload-96.png"));
     ui->eraseButton->setIcon(QIcon(theme +"icons/Delete-96.png"));
+    ui->rescaleButton->setIcon(QPixmap(theme + "icons/expand_off.png"));
+
+    QIcon mycon = QIcon(theme + "icons/expand_off.png");
+    mycon.addPixmap(QPixmap(theme + "icons/expand_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(QPixmap(theme + "icons/expand_off.png"), QIcon::Normal, QIcon::Off);
+    ui->zoomHButton->setIcon(mycon);
+
+    mycon = QIcon(theme + "icons/expand_v_off.png");
+    mycon.addPixmap(QPixmap(theme + "icons/expand_v_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(QPixmap(theme + "icons/expand_v_off.png"), QIcon::Normal, QIcon::Off);
+    ui->zoomVButton->setIcon(mycon);
+
+    mycon = QIcon(theme + "icons/size_off.png");
+    mycon.addPixmap(QPixmap(theme + "icons/size_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(QPixmap(theme + "icons/size_off.png"), QIcon::Normal, QIcon::Off);
+    ui->autoscaleButton->setIcon(mycon);
 
     plusButton->setFlat(true);
     plusButton->setText("New Tab");
@@ -129,7 +146,7 @@ PageLisp::PageLisp(QWidget *parent) :
     ui->splitter->setSizes(QList<int>({1000, 600}));
     ui->splitter_2->setSizes(QList<int>({1000, 600}));
 
-    mPollTimer.start(100);
+    mPollTimer.start(1000 / ui->pollRateBox->value());
     connect(&mPollTimer, &QTimer::timeout, [this]() {
         if (ui->pollBox->isChecked()) {
             if (mVesc) {
@@ -137,6 +154,32 @@ PageLisp::PageLisp(QWidget *parent) :
             }
         }
     });
+
+    connect(ui->pollRateBox, QOverload<int>::of(&QSpinBox::valueChanged), [this](int val) {
+        mPollTimer.setInterval(1000 / val);
+    });
+
+    auto updateZoom = [this]() {
+        Qt::Orientations plotOrientations = Qt::Orientations(
+                    ((ui->zoomHButton->isChecked() ? Qt::Horizontal : 0) |
+                     (ui->zoomVButton->isChecked() ? Qt::Vertical : 0)));
+
+        ui->bindingPlot->axisRect()->setRangeZoom(plotOrientations);
+    };
+
+    connect(ui->zoomHButton, &QPushButton::clicked, updateZoom);
+    connect(ui->zoomVButton, &QPushButton::clicked, updateZoom);
+    updateZoom();
+
+    QFont legendFont = font();
+    legendFont.setPointSize(9);
+    ui->bindingPlot->setInteractions(QCP::iRangeDrag | QCP::iRangeZoom);
+    ui->bindingPlot->legend->setVisible(true);
+    ui->bindingPlot->legend->setFont(legendFont);
+    ui->bindingPlot->axisRect()->insetLayout()->setInsetAlignment(0, Qt::AlignRight|Qt::AlignBottom);
+    ui->bindingPlot->xAxis->setLabel("Age (s)");
+    ui->bindingPlot->yAxis->setLabel("Value");
+    ui->bindingPlot->xAxis->setRangeReversed(true);
 }
 
 PageLisp::~PageLisp()
@@ -197,12 +240,67 @@ void PageLisp::setVesc(VescInterface *vesc)
 
         ui->bindingTable->setColumnCount(2);
         ui->bindingTable->setRowCount(stats.number_bindings.size());
+
+        QStringList selectedBindings;
+        qint64 maxAgeMs = 5000;
+        auto timeNow = QDateTime::currentMSecsSinceEpoch();
+
         int ind = 0;
         for (auto b: stats.number_bindings) {
             ui->bindingTable->setItem(ind, 0, new QTableWidgetItem(b.first));
-            ui->bindingTable->setItem(ind, 1, new QTableWidgetItem(QString::number(b.second, 'f')));
+            auto data = new QTableWidgetItem(QString::number(b.second, 'f'));
+            data->setData(Qt::UserRole, b.second);
+            ui->bindingTable->setItem(ind, 1, data);
+
+            if (ui->bindingTable->item(ind, 1)->isSelected()) {
+                selectedBindings.append(b.first);
+                if (!mBindingData.contains(b.first)) {
+                    mBindingData.insert(b.first, QVector<QPair<qint64, double>>());
+                }
+
+                mBindingData[b.first].append(qMakePair(timeNow, b.second));
+
+                // Remove old data points
+                while (!mBindingData[b.first].isEmpty() && mBindingData[b.first].at(0).first < (timeNow - maxAgeMs)) {
+                    mBindingData[b.first].removeFirst();
+                }
+            }
+
             ind++;
         }
+
+        // Remove bindings not selected
+        for (auto it = mBindingData.begin(); it != mBindingData.end();) {
+            if (!selectedBindings.contains(it.key())) {
+                it = mBindingData.erase(it);
+            } else {
+                ++it;
+            }
+        }
+
+        // Add graphs
+        ui->bindingPlot->clearGraphs();
+        int graphInd = 0;
+        for (auto it = mBindingData.begin(); it != mBindingData.end();++it) {
+            auto name = it.key();
+            QVector<double> xAxis, yAxis;
+            for (auto p: it.value()) {
+                xAxis.append(double(timeNow - p.first) / 1000.0);
+                yAxis.append(p.second);
+            }
+
+            ui->bindingPlot->addGraph();
+            ui->bindingPlot->graph()->setPen(QPen(Utility::getAppQColor(QString("plot_graph%1").arg(graphInd + 1))));
+            ui->bindingPlot->graph()->setName(name);
+            ui->bindingPlot->graph()->setData(xAxis, yAxis);
+            graphInd++;
+        }
+
+        if (ui->autoscaleButton->isChecked()) {
+            ui->bindingPlot->rescaleAxes();
+        }
+
+        ui->bindingPlot->replotWhenVisible();
     });
 }
 
@@ -594,10 +692,19 @@ void PageLisp::on_uploadButton_clicked()
         offset += sz;
         data.remove(0, sz);
     }
+
+    if (ok && ui->autoRunBox->isChecked()) {
+        on_runButton_clicked();
+    }
 }
 
 void PageLisp::on_readExistingButton_clicked()
 {
+    if (!mVesc->isPortConnected()) {
+        mVesc->emitMessageDialog(tr("Read code"), tr("Not Connected"), false);
+        return;
+    }
+
     QByteArray lispData;
     int lenLispLast = 0;
     auto conn = connect(mVesc->commands(), &Commands::lispReadCodeRx,
@@ -658,3 +765,9 @@ void PageLisp::on_eraseButton_clicked()
 {
     eraseCode();
 }
+
+void PageLisp::on_rescaleButton_clicked()
+{
+    ui->bindingPlot->rescaleAxes();
+    ui->bindingPlot->replotWhenVisible();
+}
diff --git a/pages/pagelisp.h b/pages/pagelisp.h
index be12fa4a9..03aad9b39 100644
--- a/pages/pagelisp.h
+++ b/pages/pagelisp.h
@@ -52,6 +52,7 @@ private slots:
     void on_uploadButton_clicked();
     void on_readExistingButton_clicked();
     void on_eraseButton_clicked();
+    void on_rescaleButton_clicked();
 
 private:
     Ui::PageLisp *ui;
@@ -59,6 +60,7 @@ private slots:
     QStringList mRecentFiles;
     QString mDirNow;
     QTimer mPollTimer;
+    QMap<QString, QVector<QPair<qint64, double> > > mBindingData;
 
     void updateRecentList();
     void makeEditorConnections(ScriptEditor *editor);
diff --git a/pages/pagelisp.ui b/pages/pagelisp.ui
index 73244af2b..156d9130c 100644
--- a/pages/pagelisp.ui
+++ b/pages/pagelisp.ui
@@ -6,14 +6,14 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1569</width>
-    <height>907</height>
+    <width>1487</width>
+    <height>870</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout_10">
+  <layout class="QVBoxLayout" name="verticalLayout_5">
    <item>
     <widget class="QSplitter" name="splitter_2">
      <property name="orientation">
@@ -31,7 +31,7 @@
         <item>
          <layout class="QHBoxLayout" name="horizontalLayout">
           <property name="spacing">
-           <number>12</number>
+           <number>0</number>
           </property>
           <item>
            <widget class="QPushButton" name="eraseButton">
@@ -79,29 +79,14 @@
            </widget>
           </item>
           <item>
-           <widget class="QPushButton" name="runButton">
-            <property name="text">
-             <string>Run</string>
-            </property>
-            <property name="icon">
-             <iconset resource="../res.qrc">
-              <normaloff>:/res/icons/Circled Play-96.png</normaloff>:/res/icons/Circled Play-96.png</iconset>
-            </property>
-            <property name="flat">
-             <bool>true</bool>
+           <widget class="QCheckBox" name="autoRunBox">
+            <property name="toolTip">
+             <string>Automatically run program on upload</string>
             </property>
-           </widget>
-          </item>
-          <item>
-           <widget class="QPushButton" name="stopButton">
             <property name="text">
-             <string>Stop</string>
-            </property>
-            <property name="icon">
-             <iconset resource="../res.qrc">
-              <normaloff>:/res/icons/Shutdown-96.png</normaloff>:/res/icons/Shutdown-96.png</iconset>
+             <string>AutoRun</string>
             </property>
-            <property name="flat">
+            <property name="checked">
              <bool>true</bool>
             </property>
            </widget>
@@ -158,11 +143,56 @@
       <widget class="QWidget" name="">
        <layout class="QVBoxLayout" name="verticalLayout_2">
         <item>
-         <widget class="QCheckBox" name="pollBox">
-          <property name="text">
-           <string>Poll Status</string>
-          </property>
-         </widget>
+         <layout class="QHBoxLayout" name="horizontalLayout_5">
+          <item>
+           <widget class="QPushButton" name="runButton">
+            <property name="text">
+             <string>Run</string>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Circled Play-96.png</normaloff>:/res/icons/Circled Play-96.png</iconset>
+            </property>
+            <property name="flat">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="stopButton">
+            <property name="text">
+             <string>Stop</string>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Shutdown-96.png</normaloff>:/res/icons/Shutdown-96.png</iconset>
+            </property>
+            <property name="flat">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QCheckBox" name="pollBox">
+            <property name="text">
+             <string>Poll Status</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QSpinBox" name="pollRateBox">
+            <property name="suffix">
+             <string> Hz</string>
+            </property>
+            <property name="minimum">
+             <number>1</number>
+            </property>
+            <property name="value">
+             <number>10</number>
+            </property>
+           </widget>
+          </item>
+         </layout>
         </item>
         <item>
          <layout class="QGridLayout" name="gridLayout">
@@ -418,10 +448,190 @@
        <attribute name="title">
         <string>Plot</string>
        </attribute>
-       <layout class="QVBoxLayout" name="verticalLayout_5">
+       <layout class="QHBoxLayout" name="horizontalLayout_6">
         <item>
          <widget class="QCustomPlot" name="bindingPlot" native="true"/>
         </item>
+        <item>
+         <widget class="QFrame" name="buttonFrame">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="frameShape">
+           <enum>QFrame::StyledPanel</enum>
+          </property>
+          <property name="frameShadow">
+           <enum>QFrame::Plain</enum>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout_7">
+           <property name="spacing">
+            <number>3</number>
+           </property>
+           <property name="leftMargin">
+            <number>2</number>
+           </property>
+           <property name="topMargin">
+            <number>2</number>
+           </property>
+           <property name="rightMargin">
+            <number>2</number>
+           </property>
+           <property name="bottomMargin">
+            <number>2</number>
+           </property>
+           <item>
+            <widget class="QToolButton" name="autoscaleButton">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="font">
+              <font>
+               <pointsize>3</pointsize>
+              </font>
+             </property>
+             <property name="toolTip">
+              <string>Autoscale plots with incoming samples</string>
+             </property>
+             <property name="text">
+              <string/>
+             </property>
+             <property name="icon">
+              <iconset resource="../res.qrc">
+               <normaloff>:/res/icons/size_off.png</normaloff>
+               <normalon>:/res/icons/size_on.png</normalon>:/res/icons/size_off.png</iconset>
+             </property>
+             <property name="iconSize">
+              <size>
+               <width>20</width>
+               <height>20</height>
+              </size>
+             </property>
+             <property name="checkable">
+              <bool>true</bool>
+             </property>
+             <property name="checked">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QToolButton" name="zoomHButton">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="font">
+              <font>
+               <pointsize>3</pointsize>
+              </font>
+             </property>
+             <property name="toolTip">
+              <string>Enable horizontal zoom</string>
+             </property>
+             <property name="text">
+              <string/>
+             </property>
+             <property name="icon">
+              <iconset resource="../res.qrc">
+               <normaloff>:/res/icons/expand_off.png</normaloff>
+               <normalon>:/res/icons/expand_on.png</normalon>:/res/icons/expand_off.png</iconset>
+             </property>
+             <property name="iconSize">
+              <size>
+               <width>20</width>
+               <height>20</height>
+              </size>
+             </property>
+             <property name="checkable">
+              <bool>true</bool>
+             </property>
+             <property name="checked">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QToolButton" name="zoomVButton">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="font">
+              <font>
+               <pointsize>3</pointsize>
+              </font>
+             </property>
+             <property name="toolTip">
+              <string>Enable vertical zoom</string>
+             </property>
+             <property name="text">
+              <string/>
+             </property>
+             <property name="icon">
+              <iconset resource="../res.qrc">
+               <normaloff>:/res/icons/expand_v_off.png</normaloff>
+               <normalon>:/res/icons/expand_v_on.png</normalon>:/res/icons/expand_v_off.png</iconset>
+             </property>
+             <property name="iconSize">
+              <size>
+               <width>20</width>
+               <height>20</height>
+              </size>
+             </property>
+             <property name="checkable">
+              <bool>true</bool>
+             </property>
+             <property name="checked">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QToolButton" name="rescaleButton">
+             <property name="toolTip">
+              <string>Rescale plots to fit</string>
+             </property>
+             <property name="text">
+              <string/>
+             </property>
+             <property name="icon">
+              <iconset resource="../res.qrc">
+               <normaloff>:/res/icons/size_off.png</normaloff>:/res/icons/size_off.png</iconset>
+             </property>
+             <property name="iconSize">
+              <size>
+               <width>20</width>
+               <height>20</height>
+              </size>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <spacer name="verticalSpacer_4">
+             <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>
        </layout>
       </widget>
      </widget>

From 94457244116c7e25c6aec1a19d2f164e797e493a Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 29 Jan 2022 21:27:31 +0100
Subject: [PATCH 012/559] Lisp status update

---
 commands.cpp       |  1 +
 datatypes.h        |  2 ++
 pages/pagelisp.cpp |  4 +++-
 pages/pagelisp.ui  | 56 +++++++++++++++++++++++++++++++---------------
 4 files changed, 44 insertions(+), 19 deletions(-)

diff --git a/commands.cpp b/commands.cpp
index 11cd154fa..69d218008 100755
--- a/commands.cpp
+++ b/commands.cpp
@@ -978,6 +978,7 @@ void Commands::processPacket(QByteArray data)
         stats.heap_use = vb.vbPopFrontDouble16(1e2);
         stats.mem_use = vb.vbPopFrontDouble16(1e2);
         stats.stack_use = vb.vbPopFrontDouble16(1e2);
+        stats.done_ctx_r = vb.vbPopFrontString();
         while (vb.size() > 0) {
             auto name = vb.vbPopFrontString();
             auto num = vb.vbPopFrontDouble32Auto();
diff --git a/datatypes.h b/datatypes.h
index ddfb925ea..f9d07b843 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -1092,6 +1092,7 @@ struct LISP_STATS {
     Q_PROPERTY(double heap_use MEMBER heap_use)
     Q_PROPERTY(double mem_use MEMBER mem_use)
     Q_PROPERTY(double stack_use MEMBER stack_use)
+    Q_PROPERTY(QString done_ctx_r MEMBER done_ctx_r)
 
     LISP_STATS() {
         cpu_use = 0.0;
@@ -1104,6 +1105,7 @@ struct LISP_STATS {
     double heap_use;
     double mem_use;
     double stack_use;
+    QString done_ctx_r;
     QVector<QPair<QString, double>> number_bindings;
 };
 
diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index 07d1bd046..2fb235b6a 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -233,10 +233,12 @@ void PageLisp::setVesc(VescInterface *vesc)
     });
 
     connect(mVesc->commands(), &Commands::lispStatsRx, [this](LISP_STATS stats) {
-        ui->cpuBar->setValue(stats.cpu_use);
+        ui->cpuBar->setValue(stats.cpu_use * 10);
+        ui->cpuBar->setFormat(QString("%1%").arg(stats.cpu_use, 0, 'f', 1));
         ui->heapBar->setValue(stats.heap_use);
         ui->memBar->setValue(stats.mem_use);
         ui->stackBar->setValue(stats.stack_use);
+        ui->doneCtxRLabel->setText(stats.done_ctx_r);
 
         ui->bindingTable->setColumnCount(2);
         ui->bindingTable->setRowCount(stats.number_bindings.size());
diff --git a/pages/pagelisp.ui b/pages/pagelisp.ui
index 156d9130c..309099d28 100644
--- a/pages/pagelisp.ui
+++ b/pages/pagelisp.ui
@@ -196,46 +196,66 @@
         </item>
         <item>
          <layout class="QGridLayout" name="gridLayout">
-          <item row="0" column="1">
-           <widget class="QProgressBar" name="cpuBar">
+          <item row="3" column="1">
+           <widget class="QProgressBar" name="stackBar">
             <property name="value">
              <number>0</number>
             </property>
            </widget>
           </item>
-          <item row="3" column="0">
-           <widget class="QLabel" name="label_2">
+          <item row="0" column="0">
+           <widget class="QLabel" name="label">
             <property name="text">
-             <string>Stack</string>
+             <string>CPU</string>
             </property>
            </widget>
           </item>
-          <item row="0" column="0">
-           <widget class="QLabel" name="label">
+          <item row="2" column="0">
+           <widget class="QLabel" name="label_4">
             <property name="text">
-             <string>CPU</string>
+             <string>Mem</string>
             </property>
            </widget>
           </item>
-          <item row="1" column="0">
-           <widget class="QLabel" name="label_3">
+          <item row="4" column="1">
+           <widget class="QLabel" name="doneCtxRLabel">
             <property name="text">
-             <string>Heap</string>
+             <string/>
             </property>
            </widget>
           </item>
-          <item row="3" column="1">
-           <widget class="QProgressBar" name="stackBar">
+          <item row="1" column="1">
+           <widget class="QProgressBar" name="heapBar">
             <property name="value">
              <number>0</number>
             </property>
            </widget>
           </item>
-          <item row="1" column="1">
-           <widget class="QProgressBar" name="heapBar">
+          <item row="0" column="1">
+           <widget class="QProgressBar" name="cpuBar">
+            <property name="maximum">
+             <number>1000</number>
+            </property>
             <property name="value">
              <number>0</number>
             </property>
+            <property name="format">
+             <string/>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="0">
+           <widget class="QLabel" name="label_2">
+            <property name="text">
+             <string>Stack</string>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="0">
+           <widget class="QLabel" name="label_7">
+            <property name="text">
+             <string>Result</string>
+            </property>
            </widget>
           </item>
           <item row="2" column="1">
@@ -245,10 +265,10 @@
             </property>
            </widget>
           </item>
-          <item row="2" column="0">
-           <widget class="QLabel" name="label_4">
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_3">
             <property name="text">
-             <string>Mem</string>
+             <string>Heap</string>
             </property>
            </widget>
           </item>

From b253b422cfc8561b7e6b9dd5e7c005bcdb0db5d8 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 29 Jan 2022 21:32:12 +0100
Subject: [PATCH 013/559] Added empty loop lisp example

---
 res/Lisp/Examples/loop.lisp | 11 +++++++++++
 res_lisp.qrc                |  1 +
 2 files changed, 12 insertions(+)
 create mode 100644 res/Lisp/Examples/loop.lisp

diff --git a/res/Lisp/Examples/loop.lisp b/res/Lisp/Examples/loop.lisp
new file mode 100644
index 000000000..870a8c8fa
--- /dev/null
+++ b/res/Lisp/Examples/loop.lisp
@@ -0,0 +1,11 @@
+(define rate 50) ; Update rate in hz
+
+(define f (lambda ()
+    (progn
+        ; Put your code here
+
+        (yield (/ 1000000 rate))
+        (f)
+)))
+
+(f)
diff --git a/res_lisp.qrc b/res_lisp.qrc
index f27cd1754..970ace1ce 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -8,5 +8,6 @@
         <file>res/Lisp/Examples/ppm_read.lisp</file>
         <file>res/Lisp/Examples/print_bms_data.lisp</file>
         <file>res/Lisp/Examples/speed_test.lisp</file>
+        <file>res/Lisp/Examples/loop.lisp</file>
     </qresource>
 </RCC>

From ecd42756e63f7fecdff5d2a0b29a70830d8b77f6 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 29 Jan 2022 23:25:23 +0100
Subject: [PATCH 014/559] re-enabled auto indentation for lisp

---
 widgets/scripteditor.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/widgets/scripteditor.cpp b/widgets/scripteditor.cpp
index 2c1124c7d..3375ec9a0 100644
--- a/widgets/scripteditor.cpp
+++ b/widgets/scripteditor.cpp
@@ -92,7 +92,6 @@ void ScriptEditor::setModeLisp()
     ui->codeEdit->setCommentStr(";");
     ui->codeEdit->setIndentStrs("", "");
     ui->codeEdit->setAutoParentheses(false);
-    ui->codeEdit->setAutoIndentation(false);
     mIsModeLisp = true;
 }
 

From c3d7b78a033074a2951ed0919af4c0c6fa4c4cde Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 30 Jan 2022 10:56:28 +0100
Subject: [PATCH 015/559] Renamed swdprog connect button

---
 pages/pageswdprog.ui | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pages/pageswdprog.ui b/pages/pageswdprog.ui
index b4dae2a52..a5f289274 100644
--- a/pages/pageswdprog.ui
+++ b/pages/pageswdprog.ui
@@ -349,7 +349,7 @@
         <string>Connect to internal NRF5x MCU</string>
        </property>
        <property name="text">
-        <string>Connect NRF5X</string>
+        <string>Connect Internal</string>
        </property>
        <property name="icon">
         <iconset resource="../res.qrc">

From e15f1749d9beaa35b9d46027340ec6040ab134d9 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 31 Jan 2022 20:04:59 +0100
Subject: [PATCH 016/559] Added start RPM (offset) to torque+exp mode in motor
 comparison tool

---
 pages/pagemotorcomparison.cpp | 14 +++++++-------
 pages/pagemotorcomparison.ui  |  2 +-
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/pages/pagemotorcomparison.cpp b/pages/pagemotorcomparison.cpp
index 1175b028b..c66686cc8 100644
--- a/pages/pagemotorcomparison.cpp
+++ b/pages/pagemotorcomparison.cpp
@@ -301,8 +301,6 @@ PageMotorComparison::PageMotorComparison(QWidget *parent) :
     addDataItemBoth("wh/mi", false);
     addDataItemBoth("KV (BLDC)", false);
     addDataItemBoth("KV Noload (BLDC)", false);
-
-
 }
 
 PageMotorComparison::~PageMotorComparison()
@@ -344,7 +342,7 @@ void PageMotorComparison::settingChanged()
 {
     ui->testTorqueBox->setEnabled(ui->testModeTorqueButton->isChecked() || ui->testModeRpmButton->isChecked());
     ui->testPowerBox->setEnabled(ui->testModeRpmPowerButton->isChecked() || ui->testModeExpButton->isChecked());
-    ui->testRpmStartBox->setEnabled(ui->testModeRpmPowerButton->isChecked());
+    ui->testRpmStartBox->setEnabled(ui->testModeRpmPowerButton->isChecked() || ui->testModeExpButton->isChecked());
     ui->testExpBox->setEnabled(ui->testModeExpButton->isChecked());
     ui->testExpBaseTorqueBox->setEnabled(ui->testModeExpButton->isChecked());
 
@@ -459,13 +457,14 @@ void PageMotorComparison::updateDataAndPlot(double posx, double yMin, double yMa
         md.update(mM2Config, posx, torque, getParamsUi(2));
         updateTable(md, ui->m2PlotTable);
     } else {
+        double rpm_start = ui->testRpmStartBox->value();
         double rps = posx * 2.0 * M_PI / 60.0;
         double prop_exp = ui->testExpBox->value();
         double baseTorque = ui->testExpBaseTorqueBox->value();
         double topRpm = ui->testRpmBox->value();
         double power = ui->testPowerBox->value();
-        double p_max_const = power / pow(topRpm, prop_exp);
-        double torque = (p_max_const * pow(posx, prop_exp)) / rps;
+        double p_max_const = power / pow(topRpm - rpm_start, prop_exp);
+        double torque = (p_max_const * pow(posx > rpm_start ? (posx - rpm_start) : 0.0, prop_exp)) / rps;
         torque += baseTorque;
 
         MotorData md;
@@ -768,7 +767,8 @@ void PageMotorComparison::on_testRunButton_clicked()
         double power = ui->testPowerBox->value();
         double prop_exp = ui->testExpBox->value();
         double baseTorque = ui->testExpBaseTorqueBox->value();
-        double p_max_const = power / pow(rpm, prop_exp);
+        double rpm_start = ui->testRpmStartBox->value();
+        double p_max_const = power / pow(rpm - rpm_start, prop_exp);
 
         QVector<double> xAxis;
         QVector<QVector<double> > yAxes;
@@ -776,7 +776,7 @@ void PageMotorComparison::on_testRunButton_clicked()
 
         for (double r = rpm / 1000.0;r < rpm;r += (rpm / 1000.0)) {
             double rps = r * 2.0 * M_PI / 60.0;
-            double power = p_max_const * pow(r, prop_exp);
+            double power = p_max_const * pow(r > rpm_start ? (r - rpm_start) : 0.0, prop_exp);
             double torque = power / rps;
             torque += baseTorque;
 
diff --git a/pages/pagemotorcomparison.ui b/pages/pagemotorcomparison.ui
index 79651206a..30ca5d422 100644
--- a/pages/pagemotorcomparison.ui
+++ b/pages/pagemotorcomparison.ui
@@ -106,7 +106,7 @@
                <number>0</number>
               </property>
               <property name="minimum">
-               <double>10.000000000000000</double>
+               <double>0.000000000000000</double>
               </property>
               <property name="maximum">
                <double>999999.000000000000000</double>

From 1966809d92255f363fb85b7ad329447a464b3e56 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 3 Feb 2022 17:28:41 +0100
Subject: [PATCH 017/559] Added can js lisp example

---
 res/Lisp/Examples/can_js.lisp | 97 +++++++++++++++++++++++++++++++++++
 res_lisp.qrc                  |  1 +
 2 files changed, 98 insertions(+)
 create mode 100644 res/Lisp/Examples/can_js.lisp

diff --git a/res/Lisp/Examples/can_js.lisp b/res/Lisp/Examples/can_js.lisp
new file mode 100644
index 000000000..4c5fbde9c
--- /dev/null
+++ b/res/Lisp/Examples/can_js.lisp
@@ -0,0 +1,97 @@
+; This example comminucates with a Grayhill 3J Gen 2.0 Joystick. It
+; uses the J1939 CAN-standard.
+
+(define js-sa 0xF1) ; Grayhill joystick source address
+(define my-id 2)
+
+; ID to send data to the joysick
+(define id-send (bits-enc-int (bits-enc-int 0x18EF0000 8 js-sa 8) 0 my-id 8))
+
+; Received X- and Y-axis values from the joystick
+(define x-axis 0)
+(define y-axis 0)
+
+; Counter for received CAN-frames
+(define can-cnt 0)
+
+; Handler for EID CAN-frames
+(define proc-eid (lambda (id data)
+    (if (num-eq id 0x18ff03f1)
+        (progn
+            (define can-cnt (+ can-cnt 1))
+            
+            ; Note: the axes are 10 bits in the datasheet, but they change in
+            ; steps of 2 percent, so the lower bits are always 0. Not sure
+            ; why they don't use just 7 bits for that.
+            
+            (define x-axis (* 0.001
+                (* (if (= (bits-dec-int (ix 0 data) 2 1) 0) 1.0 -1.0)
+                (+ (bits-dec-int (ix 0 data) 6 2) (* 4 (ix 1 data))
+            ))))
+            
+            (define y-axis (* 0.001
+                (* (if (= (bits-dec-int (ix 2 data) 2 1) 0) 1.0 -1.0)
+                (+ (bits-dec-int (ix 2 data) 6 2) (* 4 (ix 3 data))
+            ))))
+                        
+            ; Decode the buttons that are currently pressed
+            (define btn-lst (list
+                (bits-dec-int (ix 5 data) 6 2)
+                (bits-dec-int (ix 5 data) 4 2)
+                (bits-dec-int (ix 5 data) 2 2)
+                (bits-dec-int (ix 5 data) 0 2)
+                (bits-dec-int (ix 6 data) 6 2)
+                (bits-dec-int (ix 6 data) 4 2)
+                (bits-dec-int (ix 6 data) 2 2)
+            ))
+            
+;            (set-duty y-axis)
+;            (timeout-reset)
+        )
+        nil
+)))
+
+; This function waits for events from the C code and calls the
+; handlers for them when the events arrive.
+(define event-handler (lambda ()
+    (progn
+        (recv ((signal-can-eid (? id) . (? data)) (proc-eid id data))
+              (_ nil))
+        (event-handler) ; Call self again to make this a loop
+)))
+
+; Set LEDs in button.
+; 0: off, 1: on, 2: slow blink, 3: med blink, 4: fast blink
+; btn: Button number
+; l: Left LED
+; c: Center LED
+; r: Right LED
+(define set-btn-leds (lambda (btn l c r)
+    (progn
+        (define msg (list btn (bits-enc-int l 4 c 4) r))
+        (can-send-eid id-send msg)
+)))
+
+(define btn-now 1)
+
+(define btn-fun (lambda ()
+    (progn 
+        (set-btn-leds btn-now 1 4 1)
+        (yield 1500000)
+        (set-btn-leds btn-now 0 0 0)
+        
+        (define btn-now (+ btn-now 1))
+        (if (= btn-now 6) (define btn-now 7)) ; Index 6 is missing, so skip it
+        (if (> btn-now 7) (define btn-now 1))
+        
+        (btn-fun) ; Call self again to make this a loop
+)))
+
+; Spawn the event handler thread and pass the ID it returns to C
+(event-register-handler (spawn '(event-handler)))
+
+; Enable the CAN event for extended ID (EID) frames
+(event-enable "event-can-eid")
+
+; Start the button-blink-function from this thread
+(btn-fun)
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 970ace1ce..840e353a3 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -9,5 +9,6 @@
         <file>res/Lisp/Examples/print_bms_data.lisp</file>
         <file>res/Lisp/Examples/speed_test.lisp</file>
         <file>res/Lisp/Examples/loop.lisp</file>
+        <file>res/Lisp/Examples/can_js.lisp</file>
     </qresource>
 </RCC>

From 7f28555ecd2e243fb0d48e4255abd927d8f5c848 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 3 Feb 2022 20:01:38 +0100
Subject: [PATCH 018/559] lisp

---
 QCodeEditor/src/internal/QLispCompleter.cpp |  4 ++--
 mainwindow.ui                               |  9 +++-----
 pages/pagelisp.cpp                          | 25 +++++++++++++++++++++
 pages/pagelisp.h                            |  1 +
 pages/pagelisp.ui                           |  5 ++++-
 vesc_tool.pro                               |  2 +-
 6 files changed, 36 insertions(+), 10 deletions(-)

diff --git a/QCodeEditor/src/internal/QLispCompleter.cpp b/QCodeEditor/src/internal/QLispCompleter.cpp
index 9c1fa4cd6..92ac5d896 100644
--- a/QCodeEditor/src/internal/QLispCompleter.cpp
+++ b/QCodeEditor/src/internal/QLispCompleter.cpp
@@ -54,8 +54,8 @@ QLispCompleter::QLispCompleter(QObject *parent) :
     addItem("set");
     {
         level++;
-        addItem("duty(dty)");
-        addItem("current(i)");
+        addItem("duty dty");
+        addItem("current i)");
         level--;
     }
 
diff --git a/mainwindow.ui b/mainwindow.ui
index 7d7a61d54..275f9dc9f 100644
--- a/mainwindow.ui
+++ b/mainwindow.ui
@@ -19,7 +19,7 @@
    <string>VESC Tool</string>
   </property>
   <property name="windowIcon">
-   <iconset resource="res_platinum.qrc">
+   <iconset>
     <normaloff>:/res/icon.png</normaloff>:/res/icon.png</iconset>
   </property>
   <widget class="QWidget" name="centralWidget">
@@ -76,7 +76,7 @@
            <string/>
           </property>
           <property name="pixmap">
-           <pixmap resource="res_platinum.qrc">:/res/logo.png</pixmap>
+           <pixmap resource="res_free.qrc">:/res/logo.png</pixmap>
           </property>
           <property name="scaledContents">
            <bool>true</bool>
@@ -931,9 +931,6 @@
    <property name="text">
     <string>Exit</string>
    </property>
-   <property name="shortcut">
-    <string>Ctrl+Q</string>
-   </property>
   </action>
   <action name="actionAbout">
    <property name="icon">
@@ -1416,8 +1413,8 @@ p, li { white-space: pre-wrap; }
   </customwidget>
  </customwidgets>
  <resources>
+  <include location="res_free.qrc"/>
   <include location="res.qrc"/>
-  <include location="res_platinum.qrc"/>
  </resources>
  <connections/>
 </ui>
diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index 2fb235b6a..808797d0f 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -21,6 +21,7 @@
 #include "pagelisp.h"
 #include "ui_pagelisp.h"
 #include "utility.h"
+#include "widgets/helpdialog.h"
 
 PageLisp::PageLisp(QWidget *parent) :
     QWidget(parent),
@@ -345,6 +346,12 @@ void PageLisp::makeEditorConnections(ScriptEditor *editor)
 
         setEditorClean(editor);
     });
+    connect(editor->codeEditor(), &QCodeEditor::runEmbeddedTriggered, [this]() {
+        on_uploadButton_clicked();
+    });
+    connect(editor->codeEditor(), &QCodeEditor::stopTriggered, [this]() {
+        on_stopButton_clicked();
+    });
 }
 
 void PageLisp::createEditorTab(QString fileName, QString content)
@@ -773,3 +780,21 @@ void PageLisp::on_rescaleButton_clicked()
     ui->bindingPlot->rescaleAxes();
     ui->bindingPlot->replotWhenVisible();
 }
+
+void PageLisp::on_helpButton_clicked()
+{
+    QString html = "<b>VESC Lisp Editor</b>. For documentation, go to<br>"
+                   "https://github.com/vedderb/bldc/blob/master/lispBM/README.md<br><br>"
+                   "<b>Keyboard Commands</b><br>"
+                   "Ctrl + '+'   : Increase font size<br>"
+                   "Ctrl + '-'   : Decrease font size<br>"
+                   "Ctrl + space : Show auto-complete suggestions<br>"
+                   "Ctrl + '/'   : Toggle auto-comment on line or block<br>"
+                   "Ctrl + 'f'   : Open search (and replace) bar<br>"
+                   "Ctrl + 'e'   : Upload (and run if set) application<br>"
+                   "Ctrl + 'q'   : Stop application<br>"
+                   "Ctrl + 'd'   : Clear console<br>"
+                   "Ctrl + 's'   : Save file<br>";
+
+    HelpDialog::showHelpMonospace(this, "VESC Tool Script Editor", html.replace(" ","&nbsp;"));
+}
diff --git a/pages/pagelisp.h b/pages/pagelisp.h
index 03aad9b39..abba3ab74 100644
--- a/pages/pagelisp.h
+++ b/pages/pagelisp.h
@@ -53,6 +53,7 @@ private slots:
     void on_readExistingButton_clicked();
     void on_eraseButton_clicked();
     void on_rescaleButton_clicked();
+    void on_helpButton_clicked();
 
 private:
     Ui::PageLisp *ui;
diff --git a/pages/pagelisp.ui b/pages/pagelisp.ui
index 309099d28..bde607251 100644
--- a/pages/pagelisp.ui
+++ b/pages/pagelisp.ui
@@ -35,6 +35,9 @@
           </property>
           <item>
            <widget class="QPushButton" name="eraseButton">
+            <property name="toolTip">
+             <string>Erase lisp application from VESC. This will also prevent it from starting on next boot (as expected).</string>
+            </property>
             <property name="text">
              <string>Erase</string>
             </property>
@@ -140,7 +143,7 @@
         </item>
        </layout>
       </widget>
-      <widget class="QWidget" name="">
+      <widget class="QWidget" name="layoutWidget">
        <layout class="QVBoxLayout" name="verticalLayout_2">
         <item>
          <layout class="QHBoxLayout" name="horizontalLayout_5">
diff --git a/vesc_tool.pro b/vesc_tool.pro
index 54635a370..87083ff9a 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -10,7 +10,7 @@ VT_INTRO_VERSION = 1
 VT_CONFIG_VERSION = 2
 
 # Set to 0 for stable versions and to test version number for development versions.
-VT_IS_TEST_VERSION = 2
+VT_IS_TEST_VERSION = 3
 
 VT_ANDROID_VERSION_ARMV7 = 98
 VT_ANDROID_VERSION_ARM64 = 99

From 457303c60dd7a8c1e8a23f62df404cb221394930 Mon Sep 17 00:00:00 2001
From: jaykup26 <jmishles@gmail.com>
Date: Thu, 3 Feb 2022 21:07:58 -0600
Subject: [PATCH 019/559] Fixed firmware version dropping the zero

---
 pages/pagefirmware.cpp | 2 +-
 vescinterface.cpp      | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/pages/pagefirmware.cpp b/pages/pagefirmware.cpp
index f0d182e70..e5a728060 100755
--- a/pages/pagefirmware.cpp
+++ b/pages/pagefirmware.cpp
@@ -159,7 +159,7 @@ void PageFirmware::fwRxChanged(bool rx, bool limited)
     }
 
     if (params.major >= 0) {
-        fwStr = QString("Fw: %1.%2").arg(params.major).arg(params.minor);
+        fwStr = QString("Fw: %1.%2").arg(params.major).arg(params.minor, 2, 10, QLatin1Char('0'));
         if (!params.hw.isEmpty()) {
             fwStr += ", Hw: " + params.hw;
         }
diff --git a/vescinterface.cpp b/vescinterface.cpp
index 8dbfe6810..96334f854 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -505,7 +505,7 @@ QStringList VescInterface::getSupportedFirmwares()
     QStringList fws;
 
     for (int i = 0;i < fwPairs.size();i++) {
-        fws.append(QString("%1.%2").arg(fwPairs.at(i).first).arg(fwPairs.at(i).second));
+        fws.append(QString("%1.%2").arg(fwPairs.at(i).first).arg(fwPairs.at(i).second, 2, 10, QLatin1Char('0')));
     }
     return fws;
 }

From 190772030c364403e64672b017a802feff73525d Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Fri, 4 Feb 2022 03:42:17 +0000
Subject: [PATCH 020/559] @jaykup26 has signed the CLA from Pull Request #207

---
 signatures/version1/cla.json | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/signatures/version1/cla.json b/signatures/version1/cla.json
index 3ff6d6e94..58d9d9fed 100644
--- a/signatures/version1/cla.json
+++ b/signatures/version1/cla.json
@@ -31,6 +31,14 @@
       "created_at": "2022-01-05T15:14:58Z",
       "repoId": 102395117,
       "pullRequestNo": 200
+    },
+    {
+      "name": "jaykup26",
+      "id": 628881,
+      "comment_id": 1029608426,
+      "created_at": "2022-02-04T03:42:03Z",
+      "repoId": 102395117,
+      "pullRequestNo": 207
     }
   ]
 }
\ No newline at end of file

From cf67527c97fdba850f1490b9233701d41175ac9b Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 5 Feb 2022 01:08:49 +0100
Subject: [PATCH 021/559] Name and pin set support

---
 QCodeEditor/resources/languages/qml.xml     |   2 +
 QCodeEditor/src/internal/QVescCompleter.cpp |   2 +
 commands.cpp                                |  22 +++
 commands.h                                  |   3 +
 datatypes.h                                 |   6 +
 mobile/BleSetupDialog.qml                   | 179 ++++++++++++++++++++
 mobile/StartPage.qml                        |  13 +-
 mobile/qml.qrc                              |   1 +
 pages/pagefirmware.cpp                      |   5 +
 pages/pagewelcome.cpp                       |   6 +
 pages/pagewelcome.h                         |   1 +
 pages/pagewelcome.ui                        |  79 +++++----
 res/qml/WelcomeQmlPanel.qml                 |  22 +++
 13 files changed, 307 insertions(+), 34 deletions(-)
 create mode 100644 mobile/BleSetupDialog.qml

diff --git a/QCodeEditor/resources/languages/qml.xml b/QCodeEditor/resources/languages/qml.xml
index 5e0037ce8..8b6acfb6e 100644
--- a/QCodeEditor/resources/languages/qml.xml
+++ b/QCodeEditor/resources/languages/qml.xml
@@ -116,5 +116,7 @@
         <name>ApplicationWindow</name>
         <name>ProgressBar</name>
         <name>Gamepad</name>
+        <name>TextArea</name>
+        <name>TextInput</name>
     </section>
 </root>
diff --git a/QCodeEditor/src/internal/QVescCompleter.cpp b/QCodeEditor/src/internal/QVescCompleter.cpp
index 64bc5f273..44fa374c6 100644
--- a/QCodeEditor/src/internal/QVescCompleter.cpp
+++ b/QCodeEditor/src/internal/QVescCompleter.cpp
@@ -94,6 +94,8 @@ QVescCompleter::QVescCompleter(QObject *parent) :
         addItem("emitPlotSetGraph(graph)");
         addItem("getStats(mask)");
         addItem("getImuData(mask)");
+        addItem("setBleName(name)");
+        addItem("setBlePin(pin)");
         level--;
     };
 
diff --git a/commands.cpp b/commands.cpp
index 69d218008..e3c1e0ff7 100755
--- a/commands.cpp
+++ b/commands.cpp
@@ -146,6 +146,12 @@ void Commands::processPacket(QByteArray data)
             params.qmlAppFullscreen = qmlApp == 2;
         }
 
+        if (vb.size() >= 1) {
+            auto nrfFlags = vb.vbPopFrontUint8();
+            params.nrfNameSupported = nrfFlags & 1;
+            params.nrfPinSupported = nrfFlags & 2;
+        }
+
         emit fwVersionReceived(params);
     } break;
 
@@ -2042,6 +2048,22 @@ void Commands::lispGetStats()
     emitData(vb);
 }
 
+void Commands::setBleName(QString name)
+{
+    VByteArray vb;
+    vb.vbAppendUint8(COMM_SET_BLE_NAME);
+    vb.vbAppendString(name);
+    emitData(vb);
+}
+
+void Commands::setBlePin(QString pin)
+{
+    VByteArray vb;
+    vb.vbAppendUint8(COMM_SET_BLE_PIN);
+    vb.vbAppendString(pin);
+    emitData(vb);
+}
+
 void Commands::timerSlot()
 {
     if (mTimeoutFwVer > 0) mTimeoutFwVer--;
diff --git a/commands.h b/commands.h
index 54725222e..e2264f3dd 100644
--- a/commands.h
+++ b/commands.h
@@ -247,6 +247,9 @@ public slots:
     void lispSetRunning(bool running);
     void lispGetStats();
 
+    void setBleName(QString name);
+    void setBlePin(QString pin);
+
 private slots:
     void timerSlot();
 
diff --git a/datatypes.h b/datatypes.h
index f9d07b843..ad3166e2c 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -574,6 +574,8 @@ struct FW_RX_PARAMS {
     Q_PROPERTY(bool qmlHwFullscreen MEMBER qmlHwFullscreen)
     Q_PROPERTY(bool hasQmlApp MEMBER hasQmlApp)
     Q_PROPERTY(bool qmlAppFullscreen MEMBER qmlAppFullscreen)
+    Q_PROPERTY(bool nrfNameSupported MEMBER nrfNameSupported)
+    Q_PROPERTY(bool nrfPinSupported MEMBER nrfPinSupported)
 
 public:
     FW_RX_PARAMS() {
@@ -588,6 +590,8 @@ struct FW_RX_PARAMS {
         qmlHwFullscreen = false;
         hasQmlApp = false;
         qmlAppFullscreen = false;
+        nrfNameSupported = false;
+        nrfPinSupported = false;
     }
 
     Q_INVOKABLE QString hwTypeStr() {
@@ -622,6 +626,8 @@ struct FW_RX_PARAMS {
     bool qmlHwFullscreen;
     bool hasQmlApp;
     bool qmlAppFullscreen;
+    bool nrfNameSupported;
+    bool nrfPinSupported;
 
 };
 
diff --git a/mobile/BleSetupDialog.qml b/mobile/BleSetupDialog.qml
new file mode 100644
index 000000000..67faf77f0
--- /dev/null
+++ b/mobile/BleSetupDialog.qml
@@ -0,0 +1,179 @@
+/*
+    Copyright 2022 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+import QtQuick 2.7
+import QtQuick.Controls 2.10
+import QtQuick.Layouts 1.3
+
+import Vedder.vesc.vescinterface 1.0
+import Vedder.vesc.commands 1.0
+import Vedder.vesc.configparams 1.0
+import Vedder.vesc.utility 1.0
+
+Item {
+    property var dialogParent: ApplicationWindow.overlay
+    property Commands mCommands: VescIf.commands()
+
+    function openDialog() {
+        dialog.open()
+    }
+
+    Dialog {
+        title: "BLE Module Setup"
+
+        id: dialog
+        modal: true
+        focus: true
+        width: parent.width - 20 - notchLeft - notchRight
+        closePolicy: Popup.CloseOnEscape
+        x: (parent.width - width)/2
+        y: parent.height / 2 - height / 2 + notchTop
+        parent: dialogParent
+        padding: 10
+
+        Overlay.modal: Rectangle {
+            color: "#AA000000"
+        }
+
+        ColumnLayout {
+            anchors.fill: parent
+
+            RowLayout {
+                Layout.fillWidth: true
+
+                Rectangle {
+                    enabled: useNameBox.checked
+
+                    Layout.fillWidth: true
+                    height: nameInput.implicitHeight + 14
+                    border.width: 2
+                    border.color: enabled ? Utility.getAppHexColor("midAccent") : Utility.getAppHexColor("disabledText")
+                    color: "#33a8a8a8"
+                    radius: 3
+                    TextInput {
+                        id: nameInput
+                        color: Utility.getAppHexColor("lightText")
+                        anchors.fill: parent
+                        anchors.margins: 7
+                        font.pointSize: 12
+                        maximumLength: 25
+                        focus: true
+                    }
+                }
+
+                CheckBox {
+                    id: useNameBox
+                    checked: true
+                    text: "Update Name"
+                }
+            }
+
+            RowLayout {
+                Layout.fillWidth: true
+                Rectangle {
+                    enabled: usePinBox.checked
+                    Layout.fillWidth: true
+                    height: pinInput.implicitHeight + 14
+                    border.width: 2
+                    border.color: enabled ? Utility.getAppHexColor("midAccent") : Utility.getAppHexColor("disabledText")
+                    color: "#33a8a8a8"
+                    radius: 3
+                    TextInput {
+                        id: pinInput
+                        color: Utility.getAppHexColor("lightText")
+                        anchors.fill: parent
+                        anchors.margins: 7
+                        font.pointSize: 12
+                        validator: IntValidator {bottom: 0; top: 999999}
+                        maximumLength: 6
+                        focus: true
+                    }
+                }
+
+                CheckBox {
+                    id: usePinBox
+                    checked: true
+                    Layout.preferredWidth: useNameBox.width
+                    text: "Update Pin\nUse 6 digits"
+                }
+            }
+
+            Button {
+                Layout.fillWidth: true
+                text: "Apply && Reset NRF"
+                visible: useNameBox.checked || usePinBox.checked
+                onClicked: {
+                    if (!VescIf.isPortConnected()) {
+                        VescIf.emitMessageDialog("BLE Setup", "Not Connected", false, false)
+                        dialog.close()
+                        return;
+                    }
+
+                    var msg = ""
+
+                    var nameTxt = ""
+                    if (useNameBox.checked) {
+                        nameTxt = nameInput.text
+
+                        if (nameTxt.length >= 2) {
+                            msg += "New Name: " + nameTxt + "\n"
+                        } else {
+                            msg += "Name reset to default value.\n"
+                        }
+
+                        mCommands.setBleName(nameTxt)
+                    }
+
+                    var pinTxt = ""
+                    if (usePinBox.checked) {
+                        pinTxt = pinInput.text
+                        if (pinTxt.length > 0) {
+                            while(pinTxt.length < 6) {
+                                pinTxt = "0" + pinTxt
+                            }
+                        }
+
+                        if (pinTxt.length > 0) {
+                            msg += "New Pin : " + pinTxt + "\n"
+                        } else {
+                            msg += "Pin code disabled.\n"
+                        }
+
+                        mCommands.setBlePin(pinTxt)
+                    }
+
+                    if (msg.length > 0) {
+                        VescIf.emitMessageDialog("BLE Setup", msg, true, false)
+                    }
+
+                    dialog.close()
+                }
+            }
+
+            Button {
+                Layout.fillWidth: true
+                text: "Cancel"
+
+                onClicked: {
+                    dialog.close()
+                }
+            }
+        }
+    }
+}
diff --git a/mobile/StartPage.qml b/mobile/StartPage.qml
index 767c3e2fb..fbb447f69 100644
--- a/mobile/StartPage.qml
+++ b/mobile/StartPage.qml
@@ -267,11 +267,16 @@ Item {
                         Layout.preferredWidth: 500
                         Layout.preferredHeight: 80
 
-                        buttonText: "Pair\nBLE"
+                        buttonText: "Setup\nBluetooth\nModule"
                         imageSrc: "qrc" + Utility.getThemePath() + "icons/bluetooth.png"
 
                         onClicked: {
-                            pairDialog.openDialog()
+                            if (VescIf.getLastFwRxParams().nrfNameSupported &&
+                                    VescIf.getLastFwRxParams().nrfPinSupported) {
+                                bleSetupDialog.openDialog()
+                            } else {
+                                pairDialog.openDialog()
+                            }
                         }
                     }
 
@@ -325,7 +330,9 @@ Item {
         id: pairDialog
     }
 
-
+    BleSetupDialog {
+        id: bleSetupDialog
+    }
 
     Connections {
         target: mCommands
diff --git a/mobile/qml.qrc b/mobile/qml.qrc
index 398505ca3..05fe7e458 100644
--- a/mobile/qml.qrc
+++ b/mobile/qml.qrc
@@ -55,5 +55,6 @@
         <file>MultiSettings.qml</file>
         <file>CanScreen.qml</file>
         <file>StatPage.qml</file>
+        <file>BleSetupDialog.qml</file>
     </qresource>
 </RCC>
diff --git a/pages/pagefirmware.cpp b/pages/pagefirmware.cpp
index e5a728060..7d3bb607c 100755
--- a/pages/pagefirmware.cpp
+++ b/pages/pagefirmware.cpp
@@ -184,6 +184,11 @@ void PageFirmware::fwRxChanged(bool rx, bool limited)
         fwStr += params.hasPhaseFilters ? "Yes" : "No";
     }
 
+    fwStr += "\nNRF Name: ";
+    fwStr += (params.nrfNameSupported ? "Yes" : "No");
+    fwStr += ", Pin: ";
+    fwStr += (params.nrfPinSupported ? "Yes" : "No");
+
     ui->currentLabel->setText(fwStr);
     updateHwList(params);
     updateBlList(params);
diff --git a/pages/pagewelcome.cpp b/pages/pagewelcome.cpp
index dc103941b..83e18a563 100755
--- a/pages/pagewelcome.cpp
+++ b/pages/pagewelcome.cpp
@@ -43,6 +43,7 @@ PageWelcome::PageWelcome(QWidget *parent) :
     ui->nrfPairButton->setIcon(QIcon(theme + "icons/icons8-fantasy-96.png"));
     ui->multiSettingButton->setIcon(QIcon(theme + "icons/Settings-96.png"));
     ui->invertDirButton->setIcon(QIcon(theme + "icons/Process-96.png"));
+    ui->setupBluetoothButton->setIcon(QIcon(theme + "icons/bluetooth.png"));
 
     layout()->setContentsMargins(0, 0, 0, 0);
     mVesc = nullptr;
@@ -124,3 +125,8 @@ void PageWelcome::on_nrfPairButton_clicked()
 {
     QMetaObject::invokeMethod(ui->qmlWidget->rootObject(), "nrfQuickPair");
 }
+
+void PageWelcome::on_setupBluetoothButton_clicked()
+{
+    QMetaObject::invokeMethod(ui->qmlWidget->rootObject(), "openBleSetup");
+}
diff --git a/pages/pagewelcome.h b/pages/pagewelcome.h
index d6cfaf54a..a58afbfd3 100644
--- a/pages/pagewelcome.h
+++ b/pages/pagewelcome.h
@@ -49,6 +49,7 @@ public slots:
 private slots:
     void on_autoConnectButton_clicked();
     void on_nrfPairButton_clicked();
+    void on_setupBluetoothButton_clicked();
 
 private:
     Ui::PageWelcome *ui;
diff --git a/pages/pagewelcome.ui b/pages/pagewelcome.ui
index eac92c9c5..30720cb41 100644
--- a/pages/pagewelcome.ui
+++ b/pages/pagewelcome.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1450</width>
-    <height>499</height>
+    <width>1506</width>
+    <height>785</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -54,14 +54,14 @@
             <string>Quick Configuration</string>
            </property>
            <layout class="QGridLayout" name="gridLayout">
-            <item row="1" column="1">
-             <widget class="QPushButton" name="nrfPairButton">
+            <item row="2" column="0">
+             <widget class="QPushButton" name="multiSettingButton">
               <property name="text">
-               <string>NRF Quick Pair</string>
+               <string>Multi Settings</string>
               </property>
               <property name="icon">
                <iconset resource="../res.qrc">
-                <normaloff>:/res/icons/icons8-fantasy-96.png</normaloff>:/res/icons/icons8-fantasy-96.png</iconset>
+                <normaloff>:/res/icons/Settings-96.png</normaloff>:/res/icons/Settings-96.png</iconset>
               </property>
               <property name="iconSize">
                <size>
@@ -71,17 +71,14 @@
               </property>
              </widget>
             </item>
-            <item row="0" column="0">
-             <widget class="QPushButton" name="autoConnectButton">
-              <property name="toolTip">
-               <string>Automatically connect to the VESC using the USB connection.</string>
-              </property>
+            <item row="3" column="0">
+             <widget class="QPushButton" name="setupBluetoothButton">
               <property name="text">
-               <string>AutoConnect</string>
+               <string>Setup Bluetooth Module</string>
               </property>
               <property name="icon">
                <iconset resource="../res.qrc">
-                <normaloff>:/res/icons/Connected-96.png</normaloff>:/res/icons/Connected-96.png</iconset>
+                <normaloff>:/res/icons/bluetooth.png</normaloff>:/res/icons/bluetooth.png</iconset>
               </property>
               <property name="iconSize">
                <size>
@@ -91,17 +88,14 @@
               </property>
              </widget>
             </item>
-            <item row="0" column="1">
-             <widget class="QPushButton" name="wizardFocSimpleButton">
-              <property name="toolTip">
-               <string>Simple FOC setup for all VESCs on CAN-bus</string>
-              </property>
+            <item row="3" column="1">
+             <widget class="QPushButton" name="invertDirButton">
               <property name="text">
-               <string>Setup Motors FOC</string>
+               <string>Invert Motor Directions</string>
               </property>
               <property name="icon">
                <iconset resource="../res.qrc">
-                <normaloff>:/res/icons/Wizard-96.png</normaloff>:/res/icons/Wizard-96.png</iconset>
+                <normaloff>:/res/icons/Process-96.png</normaloff>:/res/icons/Process-96.png</iconset>
               </property>
               <property name="iconSize">
                <size>
@@ -109,12 +103,26 @@
                 <height>45</height>
                </size>
               </property>
-              <property name="flat">
-               <bool>false</bool>
+             </widget>
+            </item>
+            <item row="2" column="1">
+             <widget class="QPushButton" name="nrfPairButton">
+              <property name="text">
+               <string>NRF Quick Pair</string>
+              </property>
+              <property name="icon">
+               <iconset resource="../res.qrc">
+                <normaloff>:/res/icons/icons8-fantasy-96.png</normaloff>:/res/icons/icons8-fantasy-96.png</iconset>
+              </property>
+              <property name="iconSize">
+               <size>
+                <width>45</width>
+                <height>45</height>
+               </size>
               </property>
              </widget>
             </item>
-            <item row="1" column="0">
+            <item row="1" column="1">
              <widget class="QPushButton" name="wizardAppButton">
               <property name="text">
                <string>Setup Input</string>
@@ -134,14 +142,17 @@
               </property>
              </widget>
             </item>
-            <item row="2" column="0">
-             <widget class="QPushButton" name="multiSettingButton">
+            <item row="1" column="0">
+             <widget class="QPushButton" name="wizardFocSimpleButton">
+              <property name="toolTip">
+               <string>Simple FOC setup for all VESCs on CAN-bus</string>
+              </property>
               <property name="text">
-               <string>Multi Settings</string>
+               <string>Setup Motors FOC</string>
               </property>
               <property name="icon">
                <iconset resource="../res.qrc">
-                <normaloff>:/res/icons/Settings-96.png</normaloff>:/res/icons/Settings-96.png</iconset>
+                <normaloff>:/res/icons/Wizard-96.png</normaloff>:/res/icons/Wizard-96.png</iconset>
               </property>
               <property name="iconSize">
                <size>
@@ -149,16 +160,22 @@
                 <height>45</height>
                </size>
               </property>
+              <property name="flat">
+               <bool>false</bool>
+              </property>
              </widget>
             </item>
-            <item row="2" column="1">
-             <widget class="QPushButton" name="invertDirButton">
+            <item row="0" column="0" colspan="2">
+             <widget class="QPushButton" name="autoConnectButton">
+              <property name="toolTip">
+               <string>Automatically connect to the VESC using the USB connection.</string>
+              </property>
               <property name="text">
-               <string>Invert Motor Directions</string>
+               <string>AutoConnect</string>
               </property>
               <property name="icon">
                <iconset resource="../res.qrc">
-                <normaloff>:/res/icons/Process-96.png</normaloff>:/res/icons/Process-96.png</iconset>
+                <normaloff>:/res/icons/Connected-96.png</normaloff>:/res/icons/Connected-96.png</iconset>
               </property>
               <property name="iconSize">
                <size>
diff --git a/res/qml/WelcomeQmlPanel.qml b/res/qml/WelcomeQmlPanel.qml
index b752d8aa6..4e063a626 100644
--- a/res/qml/WelcomeQmlPanel.qml
+++ b/res/qml/WelcomeQmlPanel.qml
@@ -74,6 +74,23 @@ Item {
         multiSettings.openDialog()
     }
 
+    function openBleSetup() {
+        if (!VescIf.isPortConnected()) {
+            VescIf.emitMessageDialog("BLE Setup",
+                                     "You are not connected to the VESC.", false, false)
+        } else {
+            if (VescIf.getLastFwRxParams().nrfNameSupported &&
+                    VescIf.getLastFwRxParams().nrfPinSupported) {
+                bleSetupDialog.openDialog()
+            } else {
+                VescIf.emitMessageDialog("BLE Setup",
+                                         "The BLE module does not support setup. You can try " +
+                                         "updating the firmware on it from the SWD programmer page.",
+                                         false, false)
+            }
+        }
+    }
+
     SetupWizardFoc {
         id: focWizard
         dialogParent: container
@@ -84,6 +101,11 @@ Item {
         dialogParent: container
     }
 
+    BleSetupDialog {
+        id: bleSetupDialog
+        dialogParent: container
+    }
+
     Dialog {
         id: directionSetupDialog
         title: "Direction Setup"

From 642c735f40c7a1b0854828fc3155e7a5dc0f3eac Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 5 Feb 2022 19:12:35 +0100
Subject: [PATCH 022/559] Added 60_75 and 75_600

---
 pages/pageswdprog.cpp                          |   4 ++++
 res/firmwares/60_75/VESC_default.bin           | Bin 0 -> 524280 bytes
 .../60_75/VESC_default_no_hw_limits.bin        | Bin 0 -> 524280 bytes
 res/firmwares/75_600/VESC_default.bin          | Bin 0 -> 524280 bytes
 .../75_600/VESC_default_no_hw_limits.bin       | Bin 0 -> 524280 bytes
 res_fw.qrc                                     |   4 ++++
 6 files changed, 8 insertions(+)
 create mode 100755 res/firmwares/60_75/VESC_default.bin
 create mode 100755 res/firmwares/60_75/VESC_default_no_hw_limits.bin
 create mode 100755 res/firmwares/75_600/VESC_default.bin
 create mode 100755 res/firmwares/75_600/VESC_default_no_hw_limits.bin

diff --git a/pages/pageswdprog.cpp b/pages/pageswdprog.cpp
index a5d9710e7..59a1b6a63 100644
--- a/pages/pageswdprog.cpp
+++ b/pages/pageswdprog.cpp
@@ -541,12 +541,16 @@ void PageSwdProg::bmConnRes(int res)
                  0, ":/res/bootloaders/generic.bin");
         addSwdFw("VESC 100/500", "://res/firmwares/100_500/VESC_default.bin",
                  0, "://res/bootloaders/60_o_75_300_o_HD60_o_UAVC_OMEGA_o_75_300_R2_o_60_MK3_o_100_250_o_75_300_R3_o_60_MK4_o_60_MK5_o_HD75.bin");
+        addSwdFw("VESC 75/600", "://res/firmwares/75_600/VESC_default.bin",
+                 0, "://res/bootloaders/60_o_75_300_o_HD60_o_UAVC_OMEGA_o_75_300_R2_o_60_MK3_o_100_250_o_75_300_R3_o_60_MK4_o_60_MK5_o_HD75.bin");
         addSwdFw("STORMCORE 60Dxs", ":/res/firmwares/STORMCORE_60Dxs/VESC_default.bin",
                  0, ":/res/bootloaders/generic.bin");
         addSwdFw("STORMCORE 100DX", ":/res/firmwares/STORMCORE_100Dx/VESC_default.bin",
                  0, ":/res/bootloaders/generic.bin");
         addSwdFw("VESC 60v2 Alva", ":/res/firmwares/60v2_alva/VESC_default.bin",
                  0, ":/res/bootloaders/generic.bin");
+        addSwdFw("VESC 60 75V", ":/res/firmwares/60_75/VESC_default.bin",
+                 0, ":/res/bootloaders/generic.bin");
         break;
 
     case 2:
diff --git a/res/firmwares/60_75/VESC_default.bin b/res/firmwares/60_75/VESC_default.bin
new file mode 100755
index 0000000000000000000000000000000000000000..4e322cfc63c61a520766120305c4bff898f57194
GIT binary patch
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diff --git a/res/firmwares/60_75/VESC_default_no_hw_limits.bin b/res/firmwares/60_75/VESC_default_no_hw_limits.bin
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diff --git a/res/firmwares/75_600/VESC_default_no_hw_limits.bin b/res/firmwares/75_600/VESC_default_no_hw_limits.bin
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zrR%^+H(I(0oJ73>`&jJvx{lG1BA^H;0*Zhlpa>`eihv@Z2q*%IfFhs>C<2OrBA^H;
z0*Zhlpa>`eihv@Z2q*%IfFhs>C<2OrBA^H;0*Zhlpa>`eihv@Z2q*%IfFhs>C<2Or
zBA^H;0*Zhlpa>`eihv@Z2q*%IfFhs>C<2OrBA^H;0*Zhlpa>`eihv@Z2q*%IfFhs>
zC<2OrBA^H;0*Zhlpa>`eihv@Z2q*%IfFhs>C<2OrBA^H;0*Zhlpa>`eihv@Z2q*%I
zfFhs>C<2OrBA^H;0*Zhlpa>`eihv@Z2q*%IfFhs>C<2OrBA^H;0*Zhlpa>`eihv@Z
z2q*%IfFhs>C<2OrBA^H;0*Zhlpa>`eihv@Z2q*%IfFhs>C<2OrBA^H;0*Zhlpa>`e
zihv@Z2q*%IfFhs>C<2OrBA^H;0*Zhlpa>`eihv@Z2q*%IfFhs>C<2OrBA^H;0*Zhl
zpa>`eihv@Z2q*%IfFhs>C<2OrBA^H;0*Zhlpa>`eihv@Z2q*%IfFhs>C<2OrBA^H;
z0*Zhlpa>`eihv@Z2q*%IfFhs>C<2OrBA^H;0*Zhlpa>`eihv@Z2q*%IfFhs>C<2Or
zBA^H;0*Zhlpa>`eihv@Z2q*%IfFhs>C<2OrBA^H;0*Zhlpa>`eihv@Z2q*%IfFhs>
zC<2OrBA^H;0*Zhlpa>`eihv@Z2q*%IfFhs>C<2OrBA^H;0*Zhlpa>`eihv@Z2q*%I
zfFhs>C<2OrBA^H;0*Zhlpa>`eihv@Z2q*%IfFhs>C<2OrBA^H;0*Zhlpa>`eihv@Z
z2q*%IfFhs>C<2OrBA^H;0*Zhlpa>`eihv@Z2q*%IfFhs>C<2OrBA^H;0*Zhlpa>`e
zihv@Z2q*%IfFhs>C<2OrBA^H;0*Zhlpa>`eihv@Z2q*%IfFhs>C<2OrBA^H;0*Zhl
zpa>`eihv@Z2q*%IfFhs>C<2OrBA^H;0*Zhlpa>`eihv@Z2q*%IfFhs>C<2OrBA^H;
z0*Zhlpa>`eihv@Z2q*%IfFhs>C<2OrBA^H;0*Zhlpa>`eihv@Z2q*%IfFhs>C<2Or
zBA^H;0*Zhlpa>`eihv@Z2q*%IfFhs>C<2OrBA^H;0*Zhlpa>`eihv@Z2q*%IfFhs>
rC<2OrBA^H;0*Zhlpa>`eihv@Z2q*%IfFhs>C<2OrBA^KTXCv_M+7>H&

literal 0
HcmV?d00001

diff --git a/res_fw.qrc b/res_fw.qrc
index 0e9af983e..1454562d0 100644
--- a/res_fw.qrc
+++ b/res_fw.qrc
@@ -54,5 +54,9 @@
         <file>res/firmwares/STORMCORE_100DX/VESC_default.bin</file>
         <file>res/firmwares/STORMCORE_100DX/VESC_default_no_hw_limits.bin</file>
         <file>res/firmwares/60v2_alva/VESC_default.bin</file>
+        <file>res/firmwares/60_75/VESC_default.bin</file>
+        <file>res/firmwares/60_75/VESC_default_no_hw_limits.bin</file>
+        <file>res/firmwares/75_600/VESC_default.bin</file>
+        <file>res/firmwares/75_600/VESC_default_no_hw_limits.bin</file>
     </qresource>
 </RCC>

From 5bc4b2cc25aa1bdf6088380f4fce8fe7403723a3 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 5 Feb 2022 20:27:07 +0100
Subject: [PATCH 023/559] BLE connect timeout, only number input in pin field

---
 bleuart.cpp               | 14 ++++++++++++++
 bleuart.h                 |  2 ++
 mobile/BleSetupDialog.qml |  1 +
 3 files changed, 17 insertions(+)

diff --git a/bleuart.cpp b/bleuart.cpp
index 1f3554989..6d7dfdbf2 100644
--- a/bleuart.cpp
+++ b/bleuart.cpp
@@ -98,6 +98,7 @@ void BleUart::startConnect(QString addr)
             this, SLOT(connectionUpdated(QLowEnergyConnectionParameters)));
 
     mControl->connectToDevice();
+    mConnectTimetoutTimer.start(10000);
 }
 
 void BleUart::disconnectBle()
@@ -127,6 +128,7 @@ bool BleUart::isConnecting()
 
 void BleUart::emitScanDone()
 {
+    mConnectTimetoutTimer.stop();
     emit scanDone(mDevs, mScanFinished);
 }
 
@@ -184,6 +186,7 @@ void BleUart::addDevice(const QBluetoothDeviceInfo &dev)
             mDevs.insert(addr, dev.name());
         }
 
+        mConnectTimetoutTimer.stop();
         emit scanDone(mDevs, false);
     }
 }
@@ -192,6 +195,7 @@ void BleUart::scanFinished()
 {
     qDebug() << "BLE scan finished";
     mScanFinished = true;
+    mConnectTimetoutTimer.stop();
     emit scanDone(mDevs, true);
 }
 
@@ -208,6 +212,7 @@ void BleUart::deviceScanError(QBluetoothDeviceDiscoveryAgent::Error e)
                 "location service are activated.";
 #endif
 
+    mConnectTimetoutTimer.stop();
     emit bleError(errorStr);
 }
 
@@ -248,6 +253,7 @@ void BleUart::controllerError(QLowEnergyController::Error e)
 {
     qWarning() << "BLE error:" << e;
     disconnectBle();
+    mConnectTimetoutTimer.stop();
     emit bleError(tr("BLE error: ") + Utility::QEnumToQString(e));
 }
 
@@ -317,6 +323,7 @@ void BleUart::confirmedDescriptorWrite(const QLowEnergyDescriptor &d, const QByt
         disconnectBle();
     } else {
         mConnectDone = true;
+        mConnectTimetoutTimer.stop();
         emit connected();
     }
 }
@@ -357,4 +364,11 @@ void BleUart::init()
     connect(mDeviceDiscoveryAgent, SIGNAL(finished()), this, SLOT(scanFinished()));
 
     mInitDone = true;
+
+    mConnectTimetoutTimer.setSingleShot(true);
+    connect(&mConnectTimetoutTimer, &QTimer::timeout, [this]() {
+        disconnectBle();
+        qDebug() << "BLE connect timeout";
+        emit bleError(tr("BLE connect timed out."));
+    });
 }
diff --git a/bleuart.h b/bleuart.h
index afae94e54..7fa20d639 100644
--- a/bleuart.h
+++ b/bleuart.h
@@ -26,6 +26,7 @@
 #include <QLowEnergyController>
 #include <QLowEnergyService>
 #include <QVariantMap>
+#include <QTimer>
 
 class BleUart : public QObject
 {
@@ -81,6 +82,7 @@ private slots:
     QString mTxUuid;
     bool mScanFinished;
     bool mInitDone;
+    QTimer mConnectTimetoutTimer;
 
     void init();
 
diff --git a/mobile/BleSetupDialog.qml b/mobile/BleSetupDialog.qml
index 67faf77f0..57e2c7b31 100644
--- a/mobile/BleSetupDialog.qml
+++ b/mobile/BleSetupDialog.qml
@@ -97,6 +97,7 @@ Item {
                     TextInput {
                         id: pinInput
                         color: Utility.getAppHexColor("lightText")
+                        inputMethodHints: Qt.ImhDigitsOnly
                         anchors.fill: parent
                         anchors.margins: 7
                         font.pointSize: 12

From a0d94fdf7e4df4c258a83afeaec238c21df16782 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 6 Feb 2022 19:56:41 +0100
Subject: [PATCH 024/559] Renamed aux.lisp

---
 QCodeEditor/resources/languages/qml.xml      | 1 +
 QCodeEditor/src/internal/QVescCompleter.cpp  | 1 +
 res/Lisp/Examples/{aux.lisp => aux_out.lisp} | 0
 res_lisp.qrc                                 | 2 +-
 4 files changed, 3 insertions(+), 1 deletion(-)
 rename res/Lisp/Examples/{aux.lisp => aux_out.lisp} (100%)

diff --git a/QCodeEditor/resources/languages/qml.xml b/QCodeEditor/resources/languages/qml.xml
index 8b6acfb6e..539055dc8 100644
--- a/QCodeEditor/resources/languages/qml.xml
+++ b/QCodeEditor/resources/languages/qml.xml
@@ -118,5 +118,6 @@
         <name>Gamepad</name>
         <name>TextArea</name>
         <name>TextInput</name>
+        <name>RtDataSetup</name>
     </section>
 </root>
diff --git a/QCodeEditor/src/internal/QVescCompleter.cpp b/QCodeEditor/src/internal/QVescCompleter.cpp
index 44fa374c6..e49ca15ee 100644
--- a/QCodeEditor/src/internal/QVescCompleter.cpp
+++ b/QCodeEditor/src/internal/QVescCompleter.cpp
@@ -96,6 +96,7 @@ QVescCompleter::QVescCompleter(QObject *parent) :
         addItem("getImuData(mask)");
         addItem("setBleName(name)");
         addItem("setBlePin(pin)");
+        addItem("sendCustomAppData(data)");
         level--;
     };
 
diff --git a/res/Lisp/Examples/aux.lisp b/res/Lisp/Examples/aux_out.lisp
similarity index 100%
rename from res/Lisp/Examples/aux.lisp
rename to res/Lisp/Examples/aux_out.lisp
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 840e353a3..1af9d60f2 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -1,6 +1,5 @@
 <RCC>
     <qresource prefix="/">
-        <file>res/Lisp/Examples/aux.lisp</file>
         <file>res/Lisp/Examples/can_pos_follow.lisp</file>
         <file>res/Lisp/Examples/control_servo_from_duty.lisp</file>
         <file>res/Lisp/Examples/control_servo_from_encoder.lisp</file>
@@ -10,5 +9,6 @@
         <file>res/Lisp/Examples/speed_test.lisp</file>
         <file>res/Lisp/Examples/loop.lisp</file>
         <file>res/Lisp/Examples/can_js.lisp</file>
+        <file>res/Lisp/Examples/aux_out.lisp</file>
     </qresource>
 </RCC>

From b807915eddac4d104c105393be127f18257d434b Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 6 Feb 2022 23:14:11 +0100
Subject: [PATCH 025/559] Added raw lisp examples

---
 res/Lisp/Examples/raw_current.lisp     | 34 ++++++++++++++++++++++++++
 res/Lisp/Examples/raw_voltage.lisp     | 29 ++++++++++++++++++++++
 res/Lisp/Examples/raw_voltage_mod.lisp | 25 +++++++++++++++++++
 3 files changed, 88 insertions(+)
 create mode 100644 res/Lisp/Examples/raw_current.lisp
 create mode 100644 res/Lisp/Examples/raw_voltage.lisp
 create mode 100644 res/Lisp/Examples/raw_voltage_mod.lisp

diff --git a/res/Lisp/Examples/raw_current.lisp b/res/Lisp/Examples/raw_current.lisp
new file mode 100644
index 000000000..bf1126e41
--- /dev/null
+++ b/res/Lisp/Examples/raw_current.lisp
@@ -0,0 +1,34 @@
+(define rate 500) ; Update rate in hz
+(define filter-const 0.1)
+
+(define filter (lambda (val sample)
+    (- val (* filter-const (- val sample)))
+))
+
+(define i1-f 0)
+(define i2-f 0)
+(define i3-f 0)
+
+(define f (lambda ()
+    (progn
+        ; Unfiltered
+        (define i1 (raw-adc-current 1 1))
+        (define i2 (raw-adc-current 1 2))
+        (define i3 (raw-adc-current 1 3))
+       
+        ; Filtered
+        (define i1-f (filter i1-f (raw-adc-current 1 1)))
+        (define i2-f (filter i2-f (raw-adc-current 1 2)))
+        (define i3-f (filter i3-f (raw-adc-current 1 3)))
+        
+        (define i-tot (+ i1-f i2-f i3-f)) ; Should sum to 0
+        
+        (define i1-adc (raw-adc-current 1 1 1))
+        (define i2-adc (raw-adc-current 1 2 1))
+        (define i3-adc (raw-adc-current 1 3 1))
+
+        (yield (/ 1000000 rate))
+        (f)
+)))
+
+(f)
diff --git a/res/Lisp/Examples/raw_voltage.lisp b/res/Lisp/Examples/raw_voltage.lisp
new file mode 100644
index 000000000..4ff554a4d
--- /dev/null
+++ b/res/Lisp/Examples/raw_voltage.lisp
@@ -0,0 +1,29 @@
+(define rate 500) ; Update rate in hz
+(define filter-const 0.2)
+
+(define filter (lambda (val sample)
+    (- val (* filter-const (- val sample)))
+))
+
+(define va-f 0)
+
+(define f (lambda ()
+    (progn
+        (define use-raw 0) ; Set to 1 to use ADC bits and not convert to voltage
+    
+        (define va (raw-adc-voltage 1 1 use-raw))
+        (define vb (raw-adc-voltage 1 2 use-raw))
+        (define vc (raw-adc-voltage 1 3 use-raw))
+        (define vz (/ (+ va vb vc) 3))
+        
+        (define va-z (- va vz))
+        (define vb-z (- vb vz))
+        (define vc-z (- vc vz))
+        
+        (define va-f (filter va-f va-z))
+
+        (yield (/ 1000000 rate))
+        (f)
+)))
+
+(f)
diff --git a/res/Lisp/Examples/raw_voltage_mod.lisp b/res/Lisp/Examples/raw_voltage_mod.lisp
new file mode 100644
index 000000000..949d304d9
--- /dev/null
+++ b/res/Lisp/Examples/raw_voltage_mod.lisp
@@ -0,0 +1,25 @@
+(define rate 200) ; Update rate in hz
+
+(define f (lambda ()
+    (progn
+        (define va (raw-adc-voltage 1 1))
+        (define vb (raw-adc-voltage 1 2))
+        (define vc (raw-adc-voltage 1 3))
+        (define vz (/ (+ va vb vc) 3))
+        
+        ; The meaured phase voltages with their offset removed
+        (define va-no-ofs (- va vz))
+        (define vb-no-ofs (- vb vz))
+        (define vc-no-ofs (- vc vz))
+        
+        ; Calculate phase voltages by taking the inverse Clarke transform
+        ; of the modulation and multiplying that with v_in / (3 / 2)
+        (define sqrt-3 1.732050807568877)
+        (define va-calc (* (/ (get-vin) 1.5) (raw-mod-alpha)))
+        (define vb-calc (* (/ (get-vin) 1.5) (/ (+ (- (raw-mod-alpha)) (+ (* sqrt-3 (raw-mod-beta))) ) 2)))
+        (define vc-calc (* (/ (get-vin) 1.5) (/ (+ (- (raw-mod-alpha)) (- (* sqrt-3 (raw-mod-beta))) ) 2)))
+
+        (yield (/ 1000000 rate))
+        (f)
+)))
+(f)

From b86b9ea33a50f1aaeda858752e4145bc43b03792 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 7 Feb 2022 14:09:41 +0100
Subject: [PATCH 026/559] Added lisp examples to res file

---
 res_lisp.qrc | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/res_lisp.qrc b/res_lisp.qrc
index 1af9d60f2..330f4d8a9 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -10,5 +10,8 @@
         <file>res/Lisp/Examples/loop.lisp</file>
         <file>res/Lisp/Examples/can_js.lisp</file>
         <file>res/Lisp/Examples/aux_out.lisp</file>
+        <file>res/Lisp/Examples/raw_current.lisp</file>
+        <file>res/Lisp/Examples/raw_voltage.lisp</file>
+        <file>res/Lisp/Examples/raw_voltage_mod.lisp</file>
     </qresource>
 </RCC>

From 7815e421a33c0a089d56b7796569715fd2177d56 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 8 Feb 2022 01:32:39 +0100
Subject: [PATCH 027/559] Added lisp balance controller and QML ui

---
 res/Lisp/Examples/balance.lisp | 118 +++++++++++++++++++++++++++++
 res/qml/Examples/BalanceUi.qml | 133 +++++++++++++++++++++++++++++++++
 res_lisp.qrc                   |   1 +
 res_qml.qrc                    |   1 +
 4 files changed, 253 insertions(+)
 create mode 100644 res/Lisp/Examples/balance.lisp
 create mode 100644 res/qml/Examples/BalanceUi.qml

diff --git a/res/Lisp/Examples/balance.lisp b/res/Lisp/Examples/balance.lisp
new file mode 100644
index 000000000..f16ded710
--- /dev/null
+++ b/res/Lisp/Examples/balance.lisp
@@ -0,0 +1,118 @@
+; Balance robot controller written in lisp
+
+; This is received from the QML-program which acts as a remote control for the robot
+(define proc-data (lambda (data)
+    (progn
+        (define pos-set (+ pos-set (* (ix 0 data) 0.002)))
+        (define pos-set (- pos-set (* (ix 1 data) 0.002)))
+        (define yaw-set (- yaw-set (* (ix 2 data) 0.5)))
+        (define yaw-set (+ yaw-set (* (ix 3 data) 0.5)))
+        
+        (if (> yaw-set 360) (define yaw-set (- yaw-set 360)) nil)
+        (if (< yaw-set 0) (define yaw-set (+ yaw-set 360)) nil)
+)))
+
+(define event-handler (lambda ()
+    (progn
+        (recv ((signal-data-rx . (? data)) (proc-data data))
+              (_ nil))
+        (event-handler)
+)))
+
+(event-register-handler (spawn '(event-handler)))
+(event-enable "event-data-rx")
+
+(define abs (lambda (x) (if (> x 0) x (- x))))
+
+(define set-output (lambda (left right)
+    (progn
+        (select-motor 1)
+        (set-current-rel right)
+        (select-motor 2)
+        (set-current-rel left)
+        (timeout-reset)
+)))
+
+(define pos-x (lambda ()
+    (progn
+        (select-motor 1)
+        (define m1-p (get-dist))
+        (select-motor 2)
+        (define m2-p (get-dist))
+        (* 0.5 (+ m1-p m2-p))
+)))
+
+(define speed-x (lambda ()
+    (progn
+        (select-motor 1)
+        (define m1-s (get-speed))
+        (select-motor 2)
+        (define m2-s (get-speed))
+        (* 0.5 (+ m1-s m2-s))
+)))
+
+(define pitch-set 0)
+(define yaw-set (* (ix 2 (get-imu-rpy)) 57.29577951308232))
+(define pos-set (pos-x))
+
+(define was-running 0)
+(define t-last (systime))
+(define pos-last (pos-x))
+
+(define kp 0.016)
+(define kd 0.0018)
+
+(define p-kp 50.0)
+(define p-kd -33.0)
+
+(define y-kp 0.003)
+(define y-kd 0.0003)
+
+(define f (lambda ()
+    (progn
+        (define pitch (* (ix 1 (get-imu-rpy)) 57.29577951308232))
+        (define yaw (* (ix 2 (get-imu-rpy)) 57.29577951308232))
+        (define pitch-rate (ix 1 (get-imu-gyro)))
+        (define yaw-rate (ix 2 (get-imu-gyro)))
+        (define pos (+ (pos-x) (* pitch 0.00122))) ; Includes pitch compensation
+        (define speed (speed-x))
+
+        ; Loop rate measurement
+        (define it-rate (/ 1 (secs-since t-last)))
+        (define t-last (systime))
+        
+        (if (< (abs pitch) (if (= was-running 1) 45 10))
+            (progn
+                (define was-running 1)
+                
+                ; Uncomment these to run the pitch controller by itself
+;                (define pos-set pos)
+;                (define yaw-set yaw)
+                
+                (define pos-err (- pos-set pos))
+                (define pitch-set (+ (* pos-err p-kp) (* speed p-kd)))
+                
+                (define yaw-err (- yaw-set yaw))
+                (if (> yaw-err 180) (define yaw-err (- yaw-err 360)) nil)
+                (if (< yaw-err -180) (define yaw-err (+ yaw-err 360)) nil)
+                
+                (define yaw-out (+ (* yaw-err y-kp) (* yaw-rate y-kd)))
+                (define ctrl-out (+ (* kp (- pitch pitch-set)) (* kd pitch-rate)))
+                
+                (set-output (+ ctrl-out yaw-out) (- ctrl-out yaw-out))
+            )
+            
+            (progn
+                (define was-running 0)
+                (set-output 0 0)
+                (define pos-set pos)
+                (define yaw-set yaw)
+            )
+        )
+        
+        (yield 1) ; Run as fast as possible
+        (f)
+)))
+
+(if (< (systime) 50000) (yield 5000000) nil) ; Sleep after boot to wait for IMU to settle
+(f)
diff --git a/res/qml/Examples/BalanceUi.qml b/res/qml/Examples/BalanceUi.qml
new file mode 100644
index 000000000..833762226
--- /dev/null
+++ b/res/qml/Examples/BalanceUi.qml
@@ -0,0 +1,133 @@
+// Remote control for balance robot
+
+import QtQuick 2.5
+import QtQuick.Controls 2.2
+import QtQuick.Layouts 1.3
+
+import Vedder.vesc.commands 1.0
+import Vedder.vesc.configparams 1.0
+import Vedder.vesc.utility 1.0
+
+Item {
+    id: container
+    anchors.fill: parent
+    anchors.margins: 10
+    
+    property Commands mCommands: VescIf.commands()
+    property var btnWidth: container.width / 3
+    property var btnHeight: 70
+    property var mx: 0
+    property var my: 0
+    
+    Component.onCompleted: {
+        
+    }
+    
+    ColumnLayout {
+        anchors.fill: parent
+        
+        Item {
+            Layout.fillWidth: true
+            Layout.preferredHeight: btnHeight * 3
+            
+            Button {
+                id: btnFwd
+                width: btnWidth
+                height: btnHeight
+                text: "Forward"
+                anchors.top: parent.top
+                anchors.horizontalCenter: parent.horizontalCenter
+            }
+            
+            Button {
+                id: btnLeft
+                width: btnWidth
+                height: btnHeight
+                text: "Left"
+                anchors.top: btnFwd.bottom
+                anchors.right: btnFwd.left
+            }
+            
+            Button {
+                id: btnRight
+                width: btnWidth
+                height: btnHeight
+                text: "Right"
+                anchors.top: btnFwd.bottom
+                anchors.left: btnFwd.right
+            }
+            
+            Button {
+                id: btnRev
+                width: btnWidth
+                height: btnHeight
+                text: "Reverse"
+                anchors.top: btnLeft.bottom
+                anchors.left: btnLeft.right
+            }
+        }
+        
+        Rectangle {
+            Layout.fillHeight: true
+            Layout.fillWidth: true
+            color: "red"
+            
+            MouseArea {
+                anchors.fill: parent
+                id: mouseArea
+                preventStealing: true
+                
+                onPositionChanged: {
+                    if (pressed) {
+                        var x = 2 * (mouseX / width - 0.5)
+                        var y = -2 * (mouseY / height - 0.5)
+                        if (x < -1) {x = -1}
+                        if (x > 1) {x = 1}
+                        if (y < -1) {y = -1}
+                        if (y > 1) {y = 1}
+                        mx = x
+                        my = y
+                    } else {
+                        mx = 0
+                        my = 0
+                    }
+                }
+            }
+        }
+    }
+    
+    Timer {
+        running: true
+        repeat: true
+        interval: 100
+        
+        onTriggered: {
+            var step = 30
+            
+            if (!mouseArea.pressed) {
+                mx = 0
+                my = 0
+            }
+            
+            if (my < 0) {
+                mx = -mx
+            }
+            
+            var buffer = new ArrayBuffer(4);
+            var dv = new DataView(buffer);
+            dv.setUint8(0, (btnFwd.pressed ? step : 0) + 2 * step * (my > 0 ? my : 0))
+            dv.setUint8(1, (btnRev.pressed ? step : 0) + 2 * step * (my < 0 ? -my : 0))
+            dv.setUint8(2, (btnLeft.pressed ? step : 0) + 2 * step * (mx < 0 ? -mx : 0))
+            dv.setUint8(3, (btnRight.pressed ? step : 0) + 2 * step * (mx > 0 ? mx : 0))
+            mCommands.sendCustomAppData(buffer)
+        }
+    }
+    
+    Connections {
+        target: mCommands
+        
+        onCustomAppDataReceived: {
+            
+        }
+    }
+}
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 330f4d8a9..57fa3a926 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -13,5 +13,6 @@
         <file>res/Lisp/Examples/raw_current.lisp</file>
         <file>res/Lisp/Examples/raw_voltage.lisp</file>
         <file>res/Lisp/Examples/raw_voltage_mod.lisp</file>
+        <file>res/Lisp/Examples/balance.lisp</file>
     </qresource>
 </RCC>
diff --git a/res_qml.qrc b/res_qml.qrc
index cc8ed3297..157482c36 100644
--- a/res_qml.qrc
+++ b/res_qml.qrc
@@ -23,5 +23,6 @@
         <file>res/qml/Examples/PositionControl.qml</file>
         <file>res/qml/Examples/GaugeTest.qml</file>
         <file>res/qml/Examples/RpmSlider.qml</file>
+        <file>res/qml/Examples/BalanceUi.qml</file>
     </qresource>
 </RCC>

From 92c0bd84500e79821cc7cc048359bd2a7f786d25 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 8 Feb 2022 23:14:22 +0100
Subject: [PATCH 028/559] Added yaw and pos enable checkboxes to balance
 example

---
 pages/pagelisp.ui              |  2 +-
 res/Lisp/Examples/balance.lisp | 78 ++++++++++++++++++++--------------
 res/qml/Examples/BalanceUi.qml | 22 +++++++++-
 3 files changed, 67 insertions(+), 35 deletions(-)

diff --git a/pages/pagelisp.ui b/pages/pagelisp.ui
index bde607251..d61dbb887 100644
--- a/pages/pagelisp.ui
+++ b/pages/pagelisp.ui
@@ -143,7 +143,7 @@
         </item>
        </layout>
       </widget>
-      <widget class="QWidget" name="layoutWidget">
+      <widget class="QWidget" name="layoutWidget2">
        <layout class="QVBoxLayout" name="verticalLayout_2">
         <item>
          <layout class="QHBoxLayout" name="horizontalLayout_5">
diff --git a/res/Lisp/Examples/balance.lisp b/res/Lisp/Examples/balance.lisp
index f16ded710..cd45d2c97 100644
--- a/res/Lisp/Examples/balance.lisp
+++ b/res/Lisp/Examples/balance.lisp
@@ -1,12 +1,51 @@
 ; Balance robot controller written in lisp
 
+(define pos-x (lambda ()
+    (progn
+        (select-motor 1)
+        (define m1-p (get-dist))
+        (select-motor 2)
+        (define m2-p (get-dist))
+        (* 0.5 (+ m1-p m2-p))
+)))
+
+(define pitch-set 0)
+(define yaw-set (* (ix 2 (get-imu-rpy)) 57.29577951308232))
+(define pos-set (pos-x))
+
+(define was-running 0)
+(define t-last (systime))
+(define pos-last (pos-x))
+
+(define kp 0.014)
+(define kd 0.0016)
+
+(define p-kp 50.0)
+(define p-kd -33.0)
+
+(define y-kp 0.003)
+(define y-kd 0.0003)
+
+(define enable-pos 1)
+(define enable-yaw 1)
+
 ; This is received from the QML-program which acts as a remote control for the robot
 (define proc-data (lambda (data)
     (progn
-        (define pos-set (+ pos-set (* (ix 0 data) 0.002)))
-        (define pos-set (- pos-set (* (ix 1 data) 0.002)))
-        (define yaw-set (- yaw-set (* (ix 2 data) 0.5)))
-        (define yaw-set (+ yaw-set (* (ix 3 data) 0.5)))
+        (define enable-pos (ix 4 data))
+        (define enable-yaw (ix 5 data))
+        
+        (if (= enable-pos 1)
+            (progn
+                (define pos-set (+ pos-set (* (ix 0 data) 0.002)))
+                (define pos-set (- pos-set (* (ix 1 data) 0.002)))
+        ) nil)
+        
+        (if (= enable-yaw 1)
+            (progn
+                (define yaw-set (- yaw-set (* (ix 2 data) 0.5)))
+                (define yaw-set (+ yaw-set (* (ix 3 data) 0.5)))
+        ) nil)
         
         (if (> yaw-set 360) (define yaw-set (- yaw-set 360)) nil)
         (if (< yaw-set 0) (define yaw-set (+ yaw-set 360)) nil)
@@ -33,15 +72,6 @@
         (timeout-reset)
 )))
 
-(define pos-x (lambda ()
-    (progn
-        (select-motor 1)
-        (define m1-p (get-dist))
-        (select-motor 2)
-        (define m2-p (get-dist))
-        (* 0.5 (+ m1-p m2-p))
-)))
-
 (define speed-x (lambda ()
     (progn
         (select-motor 1)
@@ -51,23 +81,6 @@
         (* 0.5 (+ m1-s m2-s))
 )))
 
-(define pitch-set 0)
-(define yaw-set (* (ix 2 (get-imu-rpy)) 57.29577951308232))
-(define pos-set (pos-x))
-
-(define was-running 0)
-(define t-last (systime))
-(define pos-last (pos-x))
-
-(define kp 0.016)
-(define kd 0.0018)
-
-(define p-kp 50.0)
-(define p-kd -33.0)
-
-(define y-kp 0.003)
-(define y-kd 0.0003)
-
 (define f (lambda ()
     (progn
         (define pitch (* (ix 1 (get-imu-rpy)) 57.29577951308232))
@@ -85,9 +98,8 @@
             (progn
                 (define was-running 1)
                 
-                ; Uncomment these to run the pitch controller by itself
-;                (define pos-set pos)
-;                (define yaw-set yaw)
+                (if (= enable-pos 0) (define pos-set pos) nil)
+                (if (= enable-yaw 0) (define yaw-set yaw) nil)
                 
                 (define pos-err (- pos-set pos))
                 (define pitch-set (+ (* pos-err p-kp) (* speed p-kd)))
diff --git a/res/qml/Examples/BalanceUi.qml b/res/qml/Examples/BalanceUi.qml
index 833762226..7d00a03d4 100644
--- a/res/qml/Examples/BalanceUi.qml
+++ b/res/qml/Examples/BalanceUi.qml
@@ -67,6 +67,24 @@ Item {
             }
         }
         
+        RowLayout {
+            Layout.fillWidth: true
+            
+            CheckBox {
+                id: posBox
+                Layout.fillWidth: true
+                text: "PosControl"
+                checked: true
+            }
+            
+            CheckBox {
+                id: yawBox
+                Layout.fillWidth: true
+                text: "YawControl"
+                checked: true
+            }
+        }
+        
         Rectangle {
             Layout.fillHeight: true
             Layout.fillWidth: true
@@ -113,12 +131,14 @@ Item {
                 mx = -mx
             }
             
-            var buffer = new ArrayBuffer(4);
+            var buffer = new ArrayBuffer(6);
             var dv = new DataView(buffer);
             dv.setUint8(0, (btnFwd.pressed ? step : 0) + 2 * step * (my > 0 ? my : 0))
             dv.setUint8(1, (btnRev.pressed ? step : 0) + 2 * step * (my < 0 ? -my : 0))
             dv.setUint8(2, (btnLeft.pressed ? step : 0) + 2 * step * (mx < 0 ? -mx : 0))
             dv.setUint8(3, (btnRight.pressed ? step : 0) + 2 * step * (mx > 0 ? mx : 0))
+            dv.setUint8(4, posBox.checked ? 1 : 0)
+            dv.setUint8(5, yawBox.checked ? 1 : 0)
             mCommands.sendCustomAppData(buffer)
         }
     }

From 5f195fd659f372150720996adacecbe18f8a13c5 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 12 Feb 2022 20:07:12 +0100
Subject: [PATCH 029/559] Added custom load model support to motor comparison
 tool

---
 QCodeEditor/resources/languages/qml.xml   |    2 +
 pages/pagemotorcomparison.cpp             |  466 ++++++++-
 pages/pagemotorcomparison.h               |   50 +
 pages/pagemotorcomparison.ui              | 1163 +++++++++++----------
 res/CHANGELOG                             |    1 +
 res/qml/Examples/MotorComparisonModel.qml |  137 +++
 res_qml.qrc                               |    1 +
 7 files changed, 1241 insertions(+), 579 deletions(-)
 create mode 100644 res/qml/Examples/MotorComparisonModel.qml

diff --git a/QCodeEditor/resources/languages/qml.xml b/QCodeEditor/resources/languages/qml.xml
index 539055dc8..0a6ae9aee 100644
--- a/QCodeEditor/resources/languages/qml.xml
+++ b/QCodeEditor/resources/languages/qml.xml
@@ -119,5 +119,7 @@
         <name>TextArea</name>
         <name>TextInput</name>
         <name>RtDataSetup</name>
+        <name>ComboBox</name>
+        <name>ListModel</name>
     </section>
 </root>
diff --git a/pages/pagemotorcomparison.cpp b/pages/pagemotorcomparison.cpp
index c66686cc8..2ab0f79ac 100644
--- a/pages/pagemotorcomparison.cpp
+++ b/pages/pagemotorcomparison.cpp
@@ -1,5 +1,5 @@
 /*
-    Copyright 2021 Benjamin Vedder	benjamin@vedder.se
+    Copyright 2021 - 2022 Benjamin Vedder	benjamin@vedder.se
 
     This file is part of VESC Tool.
 
@@ -22,6 +22,9 @@
 #include "utility.h"
 #include <QFileDialog>
 #include <QFileInfo>
+#include <QQmlEngine>
+#include <QQmlContext>
+#include <QQuickItem>
 
 PageMotorComparison::PageMotorComparison(QWidget *parent) :
     QWidget(parent),
@@ -30,6 +33,41 @@ PageMotorComparison::PageMotorComparison(QWidget *parent) :
     ui->setupUi(this);
     layout()->setContentsMargins(0, 0, 0, 0);
 
+    ui->qmlWidget->setResizeMode(QQuickWidget::SizeRootObjectToView);
+    ui->qmlWidget->setClearColor(Utility::getAppQColor("normalBackground"));
+
+    QString theme = Utility::getThemePath();
+    ui->testRunButton->setIcon(QPixmap(theme + "icons/Process-96.png"));
+    ui->rescaleButton->setIcon(QPixmap(theme + "icons/expand_off.png"));
+    ui->qmlChooseButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
+    ui->qmlRunButton->setIcon(QPixmap(theme + "icons/Circled Play-96.png"));
+    ui->savePlotPdfButton->setIcon(QPixmap(theme + "icons/Line Chart-96.png"));
+    ui->savePlotPngButton->setIcon(QPixmap(theme + "icons/Line Chart-96.png"));
+
+    ui->m1SetupGearingButton->setIcon(QPixmap(theme + "icons/motor_up.png"));
+    ui->m1LoadConfButton->setIcon(QPixmap(theme + "icons/motor_up.png"));
+    ui->m1ConfChooseButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
+
+    ui->m2SetupGearingButton->setIcon(QPixmap(theme + "icons/motor_up.png"));
+    ui->m2LoadConfButton->setIcon(QPixmap(theme + "icons/motor_up.png"));
+    ui->m2ConfChooseButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
+
+    QIcon mycon = QIcon(theme + "icons/expand_off.png");
+    mycon.addPixmap(QPixmap(theme + "icons/expand_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(QPixmap(theme + "icons/expand_off.png"), QIcon::Normal, QIcon::Off);
+    ui->zoomHButton->setIcon(mycon);
+
+    mycon = QIcon(theme + "icons/expand_v_off.png");
+    mycon.addPixmap(QPixmap(theme + "icons/expand_v_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(QPixmap(theme + "icons/expand_v_off.png"), QIcon::Normal, QIcon::Off);
+    ui->zoomVButton->setIcon(mycon);
+
+    mycon = QIcon(theme + "icons/size_off.png");
+    mycon.addPixmap(QPixmap(theme + "icons/size_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(QPixmap(theme + "icons/size_off.png"), QIcon::Normal, QIcon::Off);
+    ui->autoscaleButton->setIcon(mycon);
+
+
     mVesc = nullptr;
     mM1ConfigLoaded = false;
     mM2ConfigLoaded = false;
@@ -90,6 +128,7 @@ PageMotorComparison::PageMotorComparison(QWidget *parent) :
     QSettings set;
     ui->m1ConfFileEdit->setText(set.value("pagemotorcomparison/m1confpath", "").toString());
     ui->m2ConfFileEdit->setText(set.value("pagemotorcomparison/m2confpath", "").toString());
+    ui->qmlFileEdit->setText(set.value("pagemotorcomparison/qmlpath", "").toString());
 
     connect(ui->m1ConfFileEdit, &QLineEdit::textChanged, [=]() {
         mM1ConfigLoaded = false;
@@ -290,10 +329,12 @@ PageMotorComparison::PageMotorComparison(QWidget *parent) :
     addDataItemBoth("Vq");
     addDataItemBoth("Vd");
     addDataItemBoth("VBus Min");
-    addDataItemBoth("Torque Out", false);
-    addDataItemBoth("Torque Shaft", false);
-    addDataItemBoth("RPM Out", false);
-    addDataItemBoth("RPM Shaft", false);
+    addDataItemBoth("Torque Out");
+    addDataItemBoth("Torque Shaft");
+    addDataItemBoth("RPM Out");
+    addDataItemBoth("RPM Shaft");
+    addDataItemBoth("ExtraVal");
+    addDataItemBoth("ExtraVal2");
     addDataItemBoth("ERPM", false);
     addDataItemBoth("km/h", false);
     addDataItemBoth("mph", false);
@@ -301,13 +342,16 @@ PageMotorComparison::PageMotorComparison(QWidget *parent) :
     addDataItemBoth("wh/mi", false);
     addDataItemBoth("KV (BLDC)", false);
     addDataItemBoth("KV Noload (BLDC)", false);
+
+    ui->splitter->setSizes(QList<int>({100, 6000}));
 }
 
 PageMotorComparison::~PageMotorComparison()
-{
+{    
     QSettings set;
     set.setValue("pagemotorcomparison/m1confpath", ui->m1ConfFileEdit->text());
     set.setValue("pagemotorcomparison/m2confpath", ui->m2ConfFileEdit->text());
+    set.setValue("pagemotorcomparison/qmlpath", ui->qmlFileEdit->text());
     delete ui;
 }
 
@@ -320,6 +364,10 @@ void PageMotorComparison::setVesc(VescInterface *vesc)
 {
     mVesc = vesc;
 
+    ui->qmlWidget->engine()->rootContext()->setContextProperty("VescIf", mVesc);
+    ui->qmlWidget->engine()->rootContext()->setContextProperty("QmlUi", this);
+    ui->qmlWidget->engine()->rootContext()->setContextProperty("Utility", &mUtil);
+
     connect(mVesc->mcConfig(), &ConfigParams::paramChangedDouble,
             [this](QObject *src, QString name, double newParam) {
         (void)src; (void)name; (void)newParam;
@@ -422,6 +470,8 @@ void PageMotorComparison::updateDataAndPlot(double posx, double yMin, double yMa
         table->item(ind++, 1)->setText(QString::number(md.torque_motor_shaft, 'f', 1) + " Nm");
         table->item(ind++, 1)->setText(QString::number(md.rpm_out, 'f', 1));
         table->item(ind++, 1)->setText(QString::number(md.rpm_motor_shaft, 'f', 1));
+        table->item(ind++, 1)->setText(QString::number(md.extraVal, 'f', 1));
+        table->item(ind++, 1)->setText(QString::number(md.extraVal2, 'f', 1));
         table->item(ind++, 1)->setText(QString::number(md.erpm, 'f', 1));
         table->item(ind++, 1)->setText(QString::number(md.km_h, 'f', 1) + " km/h");
         table->item(ind++, 1)->setText(QString::number(md.mph, 'f', 1) + " mph");
@@ -435,43 +485,57 @@ void PageMotorComparison::updateDataAndPlot(double posx, double yMin, double yMa
         return;
     }
 
-    if (ui->testModeTorqueButton->isChecked()) {
+    if (ui->tabWidget->currentIndex() == 1) {
+        auto param = getQmlParam(posx);
         MotorData md;
-        md.update(mM1Config, ui->testRpmBox->value(), posx, getParamsUi(1));
+        md.update(mM1Config, param.rpmM1, param.torqueM1, getParamsUi(1));
+        md.extraVal = param.extraM1;
+        md.extraVal2 = param.extraM1_2;
         updateTable(md, ui->m1PlotTable);
-        md.update(mM2Config, ui->testRpmBox->value(), posx, getParamsUi(2));
+        md.update(mM2Config, param.rpmM2, param.torqueM2, getParamsUi(2));
+        md.extraVal = param.extraM2;
+        md.extraVal2 = param.extraM2_2;
         updateTable(md, ui->m2PlotTable);
-    } else if (ui->testModeRpmButton->isChecked()) {
-        MotorData md;
-        md.update(mM1Config, posx, ui->testTorqueBox->value(), getParamsUi(1));
-        updateTable(md, ui->m1PlotTable);
-        md.update(mM2Config, posx, ui->testTorqueBox->value(), getParamsUi(2));
-        updateTable(md, ui->m2PlotTable);
-    } else if (ui->testModeRpmPowerButton->isChecked()) {
-        double rps = posx * 2.0 * M_PI / 60.0;
-        double torque = ui->testPowerBox->value() / rps;
+        setQmlProgressSelected(posx);
+    } else  {
+        if (ui->testModeTorqueButton->isChecked()) {
+            MotorData md;
+            md.update(mM1Config, ui->testRpmBox->value(), posx, getParamsUi(1));
+            updateTable(md, ui->m1PlotTable);
+            md.update(mM2Config, ui->testRpmBox->value(), posx, getParamsUi(2));
+            updateTable(md, ui->m2PlotTable);
+        } else if (ui->testModeRpmButton->isChecked()) {
+            MotorData md;
+            md.update(mM1Config, posx, ui->testTorqueBox->value(), getParamsUi(1));
+            updateTable(md, ui->m1PlotTable);
+            md.update(mM2Config, posx, ui->testTorqueBox->value(), getParamsUi(2));
+            updateTable(md, ui->m2PlotTable);
+        } else if (ui->testModeRpmPowerButton->isChecked()) {
+            double rps = posx * 2.0 * M_PI / 60.0;
+            double torque = ui->testPowerBox->value() / rps;
 
-        MotorData md;
-        md.update(mM1Config, posx, torque, getParamsUi(1));
-        updateTable(md, ui->m1PlotTable);
-        md.update(mM2Config, posx, torque, getParamsUi(2));
-        updateTable(md, ui->m2PlotTable);
-    } else {
-        double rpm_start = ui->testRpmStartBox->value();
-        double rps = posx * 2.0 * M_PI / 60.0;
-        double prop_exp = ui->testExpBox->value();
-        double baseTorque = ui->testExpBaseTorqueBox->value();
-        double topRpm = ui->testRpmBox->value();
-        double power = ui->testPowerBox->value();
-        double p_max_const = power / pow(topRpm - rpm_start, prop_exp);
-        double torque = (p_max_const * pow(posx > rpm_start ? (posx - rpm_start) : 0.0, prop_exp)) / rps;
-        torque += baseTorque;
+            MotorData md;
+            md.update(mM1Config, posx, torque, getParamsUi(1));
+            updateTable(md, ui->m1PlotTable);
+            md.update(mM2Config, posx, torque, getParamsUi(2));
+            updateTable(md, ui->m2PlotTable);
+        } else {
+            double rpm_start = ui->testRpmStartBox->value();
+            double rps = posx * 2.0 * M_PI / 60.0;
+            double prop_exp = ui->testExpBox->value();
+            double baseTorque = ui->testExpBaseTorqueBox->value();
+            double topRpm = ui->testRpmBox->value();
+            double power = ui->testPowerBox->value();
+            double p_max_const = power / pow(topRpm - rpm_start, prop_exp);
+            double torque = (p_max_const * pow(posx > rpm_start ? (posx - rpm_start) : 0.0, prop_exp)) / rps;
+            torque += baseTorque;
 
-        MotorData md;
-        md.update(mM1Config, posx, torque, getParamsUi(1));
-        updateTable(md, ui->m1PlotTable);
-        md.update(mM2Config, posx, torque, getParamsUi(2));
-        updateTable(md, ui->m2PlotTable);
+            MotorData md;
+            md.update(mM1Config, posx, torque, getParamsUi(1));
+            updateTable(md, ui->m1PlotTable);
+            md.update(mM2Config, posx, torque, getParamsUi(2));
+            updateTable(md, ui->m2PlotTable);
+        }
     }
 }
 
@@ -600,6 +664,36 @@ void PageMotorComparison::on_testRunButton_clicked()
                 yAxes[rowInd].append(md.vbus_min * rowScale);
                 names.append(namePrefix + QString("(V * %1)").arg(rowScale));
                 rowInd++; break;
+            case 14:
+                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
+                yAxes[rowInd].append(md.torque_out * rowScale);
+                names.append(namePrefix + QString("(Nm * %1)").arg(rowScale));
+                rowInd++; break;
+            case 15:
+                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
+                yAxes[rowInd].append(md.torque_motor_shaft * rowScale);
+                names.append(namePrefix + QString("(Nm * %1)").arg(rowScale));
+                rowInd++; break;
+            case 16:
+                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
+                yAxes[rowInd].append(md.rpm_out * rowScale);
+                names.append(namePrefix + QString("(RPM * %1)").arg(rowScale));
+                rowInd++; break;
+            case 17:
+                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
+                yAxes[rowInd].append(md.rpm_motor_shaft * rowScale);
+                names.append(namePrefix + QString("(RPM * %1)").arg(rowScale));
+                rowInd++; break;
+            case 18:
+                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
+                yAxes[rowInd].append(md.extraVal * rowScale);
+                names.append(namePrefix + QString("(Unit * %1)").arg(rowScale));
+                rowInd++; break;
+            case 19:
+                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
+                yAxes[rowInd].append(md.extraVal2 * rowScale);
+                names.append(namePrefix + QString("(Unit * %1)").arg(rowScale));
+                rowInd++; break;
             default:
                 break;
             }
@@ -794,23 +888,291 @@ void PageMotorComparison::on_testRunButton_clicked()
         updateGraphs(xAxis, yAxes, names);
     };
 
-    if (ui->testModeTorqueButton->isChecked()) {
-        ui->plot->clearGraphs();
-        plotTorqueSweep(ui->m1PlotTable, mM1Config, getParamsUi(1));
-        plotTorqueSweep(ui->m2PlotTable, mM2Config, getParamsUi(2));
-    } else if (ui->testModeRpmButton->isChecked()) {
-        ui->plot->clearGraphs();
-        plotRpmSweep(ui->m1PlotTable, mM1Config, getParamsUi(1));
-        plotRpmSweep(ui->m2PlotTable, mM2Config, getParamsUi(2));
-    } else if (ui->testModeRpmPowerButton->isChecked()) {
+    auto plotQmlSweep = [this, updateData, updateGraphs](QTableWidget *table,
+            ConfigParams &config, TestParams param, int motor) {
+
+        QVector<double> xAxis;
+        QVector<QVector<double> > yAxes;
+        QVector<QString> names;
+        double min = getQmlXMin();
+        double max = getQmlXMax();
+
+        for (double p = min; p < max; p += (max - min) / 1000.0) {
+            auto rpmTorque = getQmlParam(p);
+
+            MotorData md;
+
+            if (motor == 1) {
+                md.update(config, rpmTorque.rpmM1, rpmTorque.torqueM1, param);
+                md.extraVal = rpmTorque.extraM1;
+                md.extraVal2 = rpmTorque.extraM1_2;
+            } else {
+                md.update(config, rpmTorque.rpmM2, rpmTorque.torqueM2, param);
+                md.extraVal = rpmTorque.extraM2;
+                md.extraVal2 = rpmTorque.extraM2_2;
+            }
+
+            xAxis.append(p);
+            updateData(md, table, yAxes, names);
+
+            if (md.rpm_motor_shaft >= param.maxRpm) {
+                break;
+            }
+        }
+
+        ui->plot->xAxis->setLabel(getQmlXName());
+        updateGraphs(xAxis, yAxes, names);
+    };
+
+    if (ui->tabWidget->currentIndex() == 1) {
         ui->plot->clearGraphs();
-        plotPowerSweep(ui->m1PlotTable, mM1Config, getParamsUi(1));
-        plotPowerSweep(ui->m2PlotTable, mM2Config, getParamsUi(2));
+        plotQmlSweep(ui->m1PlotTable, mM1Config, getParamsUi(1), 1);
+        plotQmlSweep(ui->m2PlotTable, mM2Config, getParamsUi(2), 2);
     } else {
-        ui->plot->clearGraphs();
-        plotPropSweep(ui->m1PlotTable, mM1Config, getParamsUi(1));
-        plotPropSweep(ui->m2PlotTable, mM2Config, getParamsUi(2));
+        if (ui->testModeTorqueButton->isChecked()) {
+            ui->plot->clearGraphs();
+            plotTorqueSweep(ui->m1PlotTable, mM1Config, getParamsUi(1));
+            plotTorqueSweep(ui->m2PlotTable, mM2Config, getParamsUi(2));
+        } else if (ui->testModeRpmButton->isChecked()) {
+            ui->plot->clearGraphs();
+            plotRpmSweep(ui->m1PlotTable, mM1Config, getParamsUi(1));
+            plotRpmSweep(ui->m2PlotTable, mM2Config, getParamsUi(2));
+        } else if (ui->testModeRpmPowerButton->isChecked()) {
+            ui->plot->clearGraphs();
+            plotPowerSweep(ui->m1PlotTable, mM1Config, getParamsUi(1));
+            plotPowerSweep(ui->m2PlotTable, mM2Config, getParamsUi(2));
+        } else {
+            ui->plot->clearGraphs();
+            plotPropSweep(ui->m1PlotTable, mM1Config, getParamsUi(1));
+            plotPropSweep(ui->m2PlotTable, mM2Config, getParamsUi(2));
+        }
     }
 
     mRunDone = true;
 }
+
+void PageMotorComparison::on_qmlChooseButton_clicked()
+{
+    QString fileName = QFileDialog::getOpenFileName(this,
+                                                    tr("QML File"),
+                                                    QFileInfo(ui->qmlFileEdit->text()).canonicalFilePath(),
+                                                    tr("QML files (*.qml)"));
+
+    if (!fileName.isEmpty()) {
+        ui->qmlFileEdit->setText(fileName);
+    }
+}
+
+void PageMotorComparison::on_qmlRunButton_clicked()
+{
+    QFile file(ui->qmlFileEdit->text());
+    QFileInfo fi(ui->qmlFileEdit->text());
+    if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
+        mVesc->emitMessageDialog(tr("Open QML"), tr("Could not open file."), false, false);
+        return;
+    }
+
+    QString code = file.readAll();
+    file.close();
+
+    ui->qmlWidget->setSource(QUrl(QLatin1String("qrc:/res/qml/DynamicLoader.qml")));
+    ui->qmlWidget->engine()->clearComponentCache();
+
+    code.prepend("import \"qrc:/mobile\";");
+    code.prepend("import Vedder.vesc.vescinterface 1.0;");
+
+    QFileInfo f(fi.path());
+    if (f.exists() && f.isDir()) {
+        code.prepend("import \"file:/" + fi.path() + "\";");
+    }
+
+    QTimer::singleShot(500, [this]() {
+        connect(ui->qmlWidget->rootObject()->findChild<QObject*>("idComp"),
+                SIGNAL(testChanged()), this, SLOT(qmlTestChanged()));
+        on_testRunButton_clicked();
+    });
+
+    emit reloadQml(code);
+
+    mQmlXNameOk = true;
+    mQmlXMinOk = true;
+    mQmlXMaxOk = true;
+    mQmlProgressOk = true;
+    mQmlReadNamesDone = false;
+}
+
+void PageMotorComparison::on_qmlStopButton_clicked()
+{
+    ui->qmlWidget->setSource(QUrl(QLatin1String("")));
+}
+
+void PageMotorComparison::qmlTestChanged()
+{
+    QTimer::singleShot(0, [this]() {
+        on_testRunButton_clicked();
+    });
+}
+
+PageMotorComparison::QmlParams PageMotorComparison::getQmlParam(double progress)
+{
+    QVariant returnedValue;
+    bool ok = QMetaObject::invokeMethod(ui->qmlWidget->rootObject()->findChild<QObject*>("idComp"),
+                                        "progressToParams",
+                                        Q_RETURN_ARG(QVariant, returnedValue), Q_ARG(QVariant, QVariant(progress)));
+
+    QmlParams res;
+
+    if (ok) {
+        ok = returnedValue.canConvert(QMetaType::QVariantList);
+    }
+
+    if (!ok) {
+        return res;
+    }
+
+    auto list = returnedValue.toList();
+
+    if (list.size() >= 2) {
+        res.rpmM1 = list.at(0).toDouble();
+        res.torqueM1 = list.at(1).toDouble();
+    }
+
+    if (list.size() >= 3) {
+        res.extraM1 = list.at(2).toDouble();
+    }
+
+    if (list.size() >= 4) {
+        res.extraM1_2 = list.at(3).toDouble();
+    }
+
+    if (list.size() >= 8) {
+        res.rpmM2 = list.at(4).toDouble();
+        res.torqueM2 = list.at(5).toDouble();
+        res.extraM2 = list.at(6).toDouble();
+        res.extraM2_2 = list.at(7).toDouble();
+    } else {
+        res.rpmM2 = res.rpmM1;
+        res.torqueM2 = res.torqueM1;
+        res.extraM2 = 0.0;
+        res.extraM2_2 = 0.0;
+    }
+
+    if (!mQmlReadNamesDone) {
+        mQmlReadNamesDone = true;
+
+        ok = QMetaObject::invokeMethod(ui->qmlWidget->rootObject()->findChild<QObject*>("idComp"),
+                                            "extraNames",
+                                            Q_RETURN_ARG(QVariant, returnedValue));
+
+        if (ok) {
+            ok = returnedValue.canConvert(QMetaType::QVariantList);
+        }
+
+        if (ok) {
+            list = returnedValue.toList();
+
+            if (list.size() >= 1 && list.at(0).canConvert(QMetaType::QString)) {
+                ui->m1PlotTable->item(18, 0)->setText(list.at(0).toString());
+            }
+
+            if (list.size() >= 2 && list.at(1).canConvert(QMetaType::QString)) {
+                ui->m1PlotTable->item(19, 0)->setText(list.at(1).toString());
+            }
+
+            if (list.size() >= 3 && list.at(2).canConvert(QMetaType::QString)) {
+                ui->m2PlotTable->item(18, 0)->setText(list.at(2).toString());
+            }
+
+            if (list.size() >= 4 && list.at(3).canConvert(QMetaType::QString)) {
+                ui->m2PlotTable->item(19, 0)->setText(list.at(3).toString());
+            }
+        }
+    }
+
+    return res;
+}
+
+QString PageMotorComparison::getQmlXName()
+{
+    if (!mQmlXNameOk) {
+        return "Progress";
+    }
+
+    QVariant returnedValue;
+    bool ok = QMetaObject::invokeMethod(ui->qmlWidget->rootObject()->findChild<QObject*>("idComp"),
+                                        "xAxisName",
+                                        Q_RETURN_ARG(QVariant, returnedValue));
+
+    if (ok) {
+        ok = returnedValue.canConvert(QMetaType::QString);
+    }
+
+    mQmlXNameOk = ok;
+
+    if (ok) {
+        return returnedValue.toString();
+    } else {
+        return "Progress";
+    }
+}
+
+double PageMotorComparison::getQmlXMin()
+{
+    if (!mQmlXMinOk) {
+        return 0.0;
+    }
+
+    QVariant returnedValue;
+    bool ok = QMetaObject::invokeMethod(ui->qmlWidget->rootObject()->findChild<QObject*>("idComp"),
+                                        "xAxisMin",
+                                        Q_RETURN_ARG(QVariant, returnedValue));
+
+    if (ok) {
+        ok = returnedValue.canConvert(QMetaType::Double);
+    }
+
+    mQmlXMinOk = ok;
+
+    if (ok) {
+        return returnedValue.toDouble();
+    } else {
+        return 0.0;
+    }
+}
+
+double PageMotorComparison::getQmlXMax()
+{
+    if (!mQmlXMaxOk) {
+        return 1.0;
+    }
+
+    QVariant returnedValue;
+    bool ok = QMetaObject::invokeMethod(ui->qmlWidget->rootObject()->findChild<QObject*>("idComp"),
+                                        "xAxisMax",
+                                        Q_RETURN_ARG(QVariant, returnedValue));
+
+    if (ok) {
+        ok = returnedValue.canConvert(QMetaType::Double);
+    }
+
+    mQmlXMaxOk = ok;
+
+    if (ok) {
+        return returnedValue.toDouble();
+    } else {
+        return 1.0;
+    }
+}
+
+void PageMotorComparison::setQmlProgressSelected(double progress)
+{
+    if (!mQmlProgressOk) {
+        return;
+    }
+
+    bool ok = QMetaObject::invokeMethod(ui->qmlWidget->rootObject()->findChild<QObject*>("idComp"),
+                                        "progressSelected",
+                                        Q_ARG(QVariant, progress));
+
+    mQmlProgressOk = ok;
+}
diff --git a/pages/pagemotorcomparison.h b/pages/pagemotorcomparison.h
index dbe1907a9..2871014ec 100644
--- a/pages/pagemotorcomparison.h
+++ b/pages/pagemotorcomparison.h
@@ -42,8 +42,16 @@ class PageMotorComparison : public QWidget
     VescInterface *vesc() const;
     void setVesc(VescInterface *vesc);
 
+signals:
+    void reloadQml(QString str);
+
 private slots:
     void on_testRunButton_clicked();
+    void on_qmlChooseButton_clicked();
+    void on_qmlRunButton_clicked();
+    void on_qmlStopButton_clicked();
+
+    void qmlTestChanged();
 
 private:
     struct TestParams {
@@ -64,12 +72,41 @@ private slots:
         double tempInc;
     };
 
+    struct QmlParams {
+        QmlParams() {
+            rpmM1 = 0.0;
+            torqueM1 = 0.0;
+            extraM1 = 0.0;
+            extraM1_2 = 0.0;
+
+            rpmM2 = 0.0;
+            torqueM2 = 0.0;
+            extraM2 = 0.0;
+            extraM2_2 = 0.0;
+        }
+
+        double rpmM1;
+        double torqueM1;
+        double extraM1;
+        double extraM1_2;
+
+        double rpmM2;
+        double torqueM2;
+        double extraM2;
+        double extraM2_2;
+    };
+
     Ui::PageMotorComparison *ui;
     VescInterface *mVesc;
     void settingChanged();
     bool reloadConfigs();
     void updateDataAndPlot(double posx, double yMin, double yMax);
     TestParams getParamsUi(int motor);
+    QmlParams getQmlParam(double progress);
+    QString getQmlXName();
+    double getQmlXMin();
+    double getQmlXMax();
+    void setQmlProgressSelected(double progress);
 
     ConfigParams mM1Config;
     ConfigParams mM2Config;
@@ -79,6 +116,13 @@ private slots:
     double mVerticalLinePosLast;
     QPair<double, double> mVerticalLineYLast;
     bool mRunDone;
+    Utility mUtil;
+
+    bool mQmlXNameOk;
+    bool mQmlXMinOk;
+    bool mQmlXMaxOk;
+    bool mQmlProgressOk;
+    bool mQmlReadNamesDone;
 
     struct MotorData {
         MotorData() {
@@ -107,6 +151,9 @@ private slots:
             wh_mi = 0.0;
             kv_bldc = 0.0;
             kv_bldc_noload = 0.0;
+
+            extraVal = 0.0;
+            extraVal2 = 0.0;
         }
 
         void update(ConfigParams &config, double rpm, double torque, TestParams params) {
@@ -213,6 +260,9 @@ private slots:
         double wh_mi;
         double kv_bldc;
         double kv_bldc_noload;
+
+        double extraVal;
+        double extraVal2;
     };
 };
 
diff --git a/pages/pagemotorcomparison.ui b/pages/pagemotorcomparison.ui
index 30ca5d422..00e519eca 100644
--- a/pages/pagemotorcomparison.ui
+++ b/pages/pagemotorcomparison.ui
@@ -6,619 +6,723 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1344</width>
-    <height>792</height>
+    <width>1586</width>
+    <height>946</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout_8">
+  <layout class="QVBoxLayout" name="verticalLayout_6">
    <item>
-    <widget class="QSplitter" name="splitter_4">
+    <widget class="QSplitter" name="splitter_2">
      <property name="orientation">
       <enum>Qt::Vertical</enum>
      </property>
-     <widget class="QWidget" name="layoutWidget">
-      <layout class="QHBoxLayout" name="horizontalLayout_3">
-       <item>
-        <widget class="QGroupBox" name="groupBox_5">
-         <property name="title">
-          <string>Test Controls</string>
+     <widget class="QSplitter" name="splitter">
+      <property name="orientation">
+       <enum>Qt::Horizontal</enum>
+      </property>
+      <property name="childrenCollapsible">
+       <bool>false</bool>
+      </property>
+      <widget class="QTabWidget" name="tabWidget">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="tabShape">
+        <enum>QTabWidget::Triangular</enum>
+       </property>
+       <property name="currentIndex">
+        <number>0</number>
+       </property>
+       <widget class="QWidget" name="tab">
+        <attribute name="title">
+         <string>Common</string>
+        </attribute>
+        <layout class="QVBoxLayout" name="verticalLayout_5">
+         <property name="spacing">
+          <number>4</number>
          </property>
-         <property name="alignment">
-          <set>Qt::AlignCenter</set>
+         <property name="leftMargin">
+          <number>8</number>
          </property>
-         <layout class="QVBoxLayout" name="verticalLayout_7">
-          <property name="spacing">
-           <number>2</number>
-          </property>
-          <item>
-           <layout class="QGridLayout" name="gridLayout_4">
-            <item row="0" column="0">
-             <widget class="QRadioButton" name="testModeTorqueButton">
-              <property name="toolTip">
-               <string>Sweep from 0 to the set torque at the set RPM.</string>
-              </property>
-              <property name="text">
-               <string>Torque</string>
-              </property>
-              <property name="checked">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="0" column="1">
-             <widget class="QRadioButton" name="testModeRpmButton">
-              <property name="toolTip">
-               <string>Sweep from 0 to the end RPM at the set torque.</string>
-              </property>
-              <property name="text">
-               <string>RPM</string>
-              </property>
-              <property name="checked">
-               <bool>false</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="0">
-             <widget class="QRadioButton" name="testModeRpmPowerButton">
-              <property name="toolTip">
-               <string>Sweep from the start RPM to the end RPM at the set Power.</string>
-              </property>
-              <property name="text">
-               <string>RPM/Power</string>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="1">
-             <widget class="QRadioButton" name="testModeExpButton">
-              <property name="toolTip">
-               <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Torque + RPM Exponential mode. Sweep from 0 to end RPM and use the base torque + exponent on the RPM to derive the power requirement. The test will be scaled such that the specified power is at the full RPM. The power for the base torque will be required in addition to that.&lt;/p&gt;&lt;p&gt;Propellers and impellers in air and water usually just have the exponent while traction vehicles have a base torque from the rolling resistance + an exponent from wind resistance.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-              </property>
-              <property name="text">
-               <string>Torque + Exp</string>
-              </property>
-             </widget>
-            </item>
-           </layout>
-          </item>
-          <item>
-           <layout class="QGridLayout" name="gridLayout_3">
-            <property name="spacing">
-             <number>2</number>
-            </property>
-            <item row="1" column="0">
-             <widget class="QDoubleSpinBox" name="testRpmStartBox">
-              <property name="enabled">
-               <bool>false</bool>
-              </property>
-              <property name="toolTip">
-               <string>Start RPM</string>
-              </property>
-              <property name="prefix">
-               <string/>
-              </property>
-              <property name="suffix">
-               <string> RPM</string>
-              </property>
-              <property name="decimals">
-               <number>0</number>
-              </property>
-              <property name="minimum">
-               <double>0.000000000000000</double>
-              </property>
-              <property name="maximum">
-               <double>999999.000000000000000</double>
-              </property>
-              <property name="singleStep">
-               <double>100.000000000000000</double>
-              </property>
-              <property name="value">
-               <double>500.000000000000000</double>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="0">
-             <widget class="QDoubleSpinBox" name="testExpBaseTorqueBox">
-              <property name="enabled">
-               <bool>false</bool>
-              </property>
-              <property name="toolTip">
-               <string>Base Torque</string>
-              </property>
-              <property name="prefix">
-               <string>B: </string>
-              </property>
-              <property name="suffix">
-               <string> Nm</string>
-              </property>
-              <property name="decimals">
-               <number>3</number>
-              </property>
-              <property name="maximum">
-               <double>999.000000000000000</double>
-              </property>
-              <property name="singleStep">
-               <double>0.200000000000000</double>
-              </property>
-             </widget>
-            </item>
-            <item row="0" column="1">
-             <widget class="QDoubleSpinBox" name="testTorqueBox">
-              <property name="prefix">
-               <string/>
-              </property>
-              <property name="suffix">
-               <string> Nm</string>
-              </property>
-              <property name="decimals">
-               <number>3</number>
-              </property>
-              <property name="minimum">
-               <double>-9999.000000000000000</double>
-              </property>
-              <property name="maximum">
-               <double>9999.000000000000000</double>
-              </property>
-              <property name="singleStep">
-               <double>0.500000000000000</double>
-              </property>
-              <property name="value">
-               <double>3.000000000000000</double>
-              </property>
-             </widget>
-            </item>
-            <item row="0" column="0">
-             <widget class="QDoubleSpinBox" name="testPowerBox">
-              <property name="enabled">
-               <bool>false</bool>
-              </property>
-              <property name="prefix">
-               <string>Pwr: </string>
-              </property>
-              <property name="suffix">
-               <string> W</string>
-              </property>
-              <property name="decimals">
-               <number>1</number>
-              </property>
-              <property name="minimum">
-               <double>0.100000000000000</double>
-              </property>
-              <property name="maximum">
-               <double>999999.000000000000000</double>
-              </property>
-              <property name="singleStep">
-               <double>100.000000000000000</double>
-              </property>
-              <property name="value">
-               <double>2000.000000000000000</double>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="1">
-             <widget class="QDoubleSpinBox" name="testRpmBox">
-              <property name="toolTip">
-               <string>End RPM</string>
-              </property>
-              <property name="prefix">
-               <string/>
-              </property>
-              <property name="suffix">
-               <string> RPM</string>
-              </property>
-              <property name="decimals">
-               <number>0</number>
-              </property>
-              <property name="maximum">
-               <double>999999.000000000000000</double>
-              </property>
-              <property name="singleStep">
-               <double>100.000000000000000</double>
-              </property>
-              <property name="value">
-               <double>8000.000000000000000</double>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="1">
-             <widget class="QDoubleSpinBox" name="testExpBox">
-              <property name="enabled">
-               <bool>false</bool>
-              </property>
-              <property name="toolTip">
-               <string>RPM exponent</string>
-              </property>
-              <property name="prefix">
-               <string>Exp: </string>
-              </property>
-              <property name="minimum">
-               <double>0.000000000000000</double>
-              </property>
-              <property name="maximum">
-               <double>4.000000000000000</double>
-              </property>
-              <property name="singleStep">
-               <double>0.100000000000000</double>
-              </property>
-              <property name="value">
-               <double>2.700000000000000</double>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="0" colspan="2">
-             <widget class="QCheckBox" name="testNegativeBox">
-              <property name="toolTip">
-               <string>Include negative RPM and Torque in tests.</string>
-              </property>
-              <property name="text">
-               <string>Include Negative</string>
-              </property>
-             </widget>
-            </item>
-           </layout>
-          </item>
-          <item>
-           <layout class="QHBoxLayout" name="horizontalLayout_5">
-            <item>
-             <widget class="QPushButton" name="testRunButton">
-              <property name="text">
-               <string>Run</string>
-              </property>
-              <property name="icon">
-               <iconset resource="../res.qrc">
-                <normaloff>:/res/icons/Process-96.png</normaloff>:/res/icons/Process-96.png</iconset>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <widget class="QCheckBox" name="testLiveUpdateBox">
-              <property name="toolTip">
-               <string>Re-run tests any time settings are changed.</string>
-              </property>
-              <property name="text">
-               <string>Live Update</string>
-              </property>
-              <property name="checked">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-           </layout>
-          </item>
-          <item>
-           <spacer name="verticalSpacer_4">
-            <property name="orientation">
-             <enum>Qt::Vertical</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>20</width>
-              <height>142</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-         </layout>
-        </widget>
-       </item>
-       <item>
-        <layout class="QVBoxLayout" name="verticalLayout">
-         <property name="spacing">
-          <number>2</number>
+         <property name="topMargin">
+          <number>8</number>
+         </property>
+         <property name="rightMargin">
+          <number>8</number>
+         </property>
+         <property name="bottomMargin">
+          <number>8</number>
          </property>
          <item>
-          <layout class="QHBoxLayout" name="horizontalLayout_4">
-           <property name="spacing">
-            <number>2</number>
-           </property>
-           <item>
-            <widget class="QLineEdit" name="titleEdit">
+          <layout class="QGridLayout" name="gridLayout_4">
+           <item row="0" column="0">
+            <widget class="QRadioButton" name="testModeTorqueButton">
+             <property name="toolTip">
+              <string>Sweep from 0 to the set torque at the set RPM.</string>
+             </property>
              <property name="text">
-              <string>Graph Title</string>
+              <string>Torque</string>
+             </property>
+             <property name="checked">
+              <bool>true</bool>
              </property>
             </widget>
            </item>
-           <item>
-            <widget class="QLineEdit" name="compAEdit">
+           <item row="0" column="1">
+            <widget class="QRadioButton" name="testModeRpmButton">
+             <property name="toolTip">
+              <string>Sweep from 0 to the end RPM at the set torque.</string>
+             </property>
              <property name="text">
-              <string>A</string>
+              <string>RPM</string>
+             </property>
+             <property name="checked">
+              <bool>false</bool>
              </property>
             </widget>
            </item>
-           <item>
-            <widget class="QLineEdit" name="compBEdit">
+           <item row="1" column="0">
+            <widget class="QRadioButton" name="testModeRpmPowerButton">
+             <property name="toolTip">
+              <string>Sweep from the start RPM to the end RPM at the set Power.</string>
+             </property>
+             <property name="text">
+              <string>RPM/Power</string>
+             </property>
+            </widget>
+           </item>
+           <item row="1" column="1">
+            <widget class="QRadioButton" name="testModeExpButton">
+             <property name="toolTip">
+              <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Torque + RPM Exponential mode. Sweep from 0 to end RPM and use the base torque + exponent on the RPM to derive the power requirement. The test will be scaled such that the specified power is at the full RPM. The power for the base torque will be required in addition to that.&lt;/p&gt;&lt;p&gt;Propellers and impellers in air and water usually just have the exponent while traction vehicles have a base torque from the rolling resistance + an exponent from wind resistance.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+             </property>
              <property name="text">
-              <string>B</string>
+              <string>Torque + Exp</string>
              </property>
             </widget>
            </item>
           </layout>
          </item>
          <item>
-          <layout class="QHBoxLayout" name="horizontalLayout_2">
+          <layout class="QGridLayout" name="gridLayout_3">
            <property name="spacing">
             <number>2</number>
            </property>
-           <item>
-            <spacer name="horizontalSpacer">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
+           <item row="1" column="0">
+            <widget class="QDoubleSpinBox" name="testRpmStartBox">
+             <property name="enabled">
+              <bool>false</bool>
              </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>40</width>
-               <height>20</height>
-              </size>
+             <property name="toolTip">
+              <string>Start RPM</string>
+             </property>
+             <property name="prefix">
+              <string/>
+             </property>
+             <property name="suffix">
+              <string> RPM</string>
+             </property>
+             <property name="decimals">
+              <number>0</number>
+             </property>
+             <property name="minimum">
+              <double>0.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>999999.000000000000000</double>
              </property>
-            </spacer>
+             <property name="singleStep">
+              <double>100.000000000000000</double>
+             </property>
+             <property name="value">
+              <double>500.000000000000000</double>
+             </property>
+            </widget>
            </item>
-           <item>
-            <widget class="QLabel" name="label">
-             <property name="text">
-              <string>Export</string>
+           <item row="2" column="0">
+            <widget class="QDoubleSpinBox" name="testExpBaseTorqueBox">
+             <property name="enabled">
+              <bool>false</bool>
+             </property>
+             <property name="toolTip">
+              <string>Base Torque</string>
+             </property>
+             <property name="prefix">
+              <string>B: </string>
+             </property>
+             <property name="suffix">
+              <string> Nm</string>
+             </property>
+             <property name="decimals">
+              <number>3</number>
+             </property>
+             <property name="maximum">
+              <double>999.000000000000000</double>
+             </property>
+             <property name="singleStep">
+              <double>0.200000000000000</double>
              </property>
             </widget>
            </item>
-           <item>
-            <widget class="QSpinBox" name="saveWidthBox">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
+           <item row="0" column="1">
+            <widget class="QDoubleSpinBox" name="testTorqueBox">
+             <property name="prefix">
+              <string/>
+             </property>
+             <property name="suffix">
+              <string> Nm</string>
+             </property>
+             <property name="decimals">
+              <number>3</number>
+             </property>
+             <property name="minimum">
+              <double>-9999.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>9999.000000000000000</double>
+             </property>
+             <property name="singleStep">
+              <double>0.500000000000000</double>
+             </property>
+             <property name="value">
+              <double>3.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+           <item row="0" column="0">
+            <widget class="QDoubleSpinBox" name="testPowerBox">
+             <property name="enabled">
+              <bool>false</bool>
              </property>
              <property name="prefix">
-              <string>W: </string>
+              <string>Pwr: </string>
+             </property>
+             <property name="suffix">
+              <string> W</string>
+             </property>
+             <property name="decimals">
+              <number>1</number>
+             </property>
+             <property name="minimum">
+              <double>0.100000000000000</double>
              </property>
              <property name="maximum">
-              <number>9999</number>
+              <double>999999.000000000000000</double>
+             </property>
+             <property name="singleStep">
+              <double>100.000000000000000</double>
              </property>
              <property name="value">
-              <number>1280</number>
+              <double>2000.000000000000000</double>
              </property>
             </widget>
            </item>
-           <item>
-            <widget class="QSpinBox" name="saveHeightBox">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
+           <item row="1" column="1">
+            <widget class="QDoubleSpinBox" name="testRpmBox">
+             <property name="toolTip">
+              <string>End RPM</string>
              </property>
              <property name="prefix">
-              <string>H: </string>
+              <string/>
+             </property>
+             <property name="suffix">
+              <string> RPM</string>
+             </property>
+             <property name="decimals">
+              <number>0</number>
              </property>
              <property name="maximum">
-              <number>9999</number>
+              <double>999999.000000000000000</double>
+             </property>
+             <property name="singleStep">
+              <double>100.000000000000000</double>
              </property>
              <property name="value">
-              <number>720</number>
+              <double>8000.000000000000000</double>
              </property>
             </widget>
            </item>
-           <item>
-            <widget class="QPushButton" name="savePlotPdfButton">
+           <item row="2" column="1">
+            <widget class="QDoubleSpinBox" name="testExpBox">
+             <property name="enabled">
+              <bool>false</bool>
+             </property>
              <property name="toolTip">
-              <string>Save plot as PDF image</string>
+              <string>RPM exponent</string>
+             </property>
+             <property name="prefix">
+              <string>Exp: </string>
+             </property>
+             <property name="minimum">
+              <double>0.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>4.000000000000000</double>
+             </property>
+             <property name="singleStep">
+              <double>0.100000000000000</double>
+             </property>
+             <property name="value">
+              <double>2.700000000000000</double>
+             </property>
+            </widget>
+           </item>
+           <item row="3" column="0" colspan="2">
+            <widget class="QCheckBox" name="testNegativeBox">
+             <property name="toolTip">
+              <string>Include negative RPM and Torque in tests.</string>
              </property>
              <property name="text">
-              <string>PDF</string>
+              <string>Include Negative</string>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+         <item>
+          <layout class="QHBoxLayout" name="horizontalLayout_5">
+           <item>
+            <widget class="QPushButton" name="testRunButton">
+             <property name="text">
+              <string>Run</string>
              </property>
              <property name="icon">
               <iconset resource="../res.qrc">
-               <normaloff>:/res/icons/Line Chart-96.png</normaloff>:/res/icons/Line Chart-96.png</iconset>
+               <normaloff>:/res/icons/Process-96.png</normaloff>:/res/icons/Process-96.png</iconset>
              </property>
             </widget>
            </item>
            <item>
-            <widget class="QPushButton" name="savePlotPngButton">
+            <widget class="QCheckBox" name="testLiveUpdateBox">
              <property name="toolTip">
-              <string>Save plot as PNG image</string>
+              <string>Re-run tests any time settings are changed.</string>
              </property>
              <property name="text">
-              <string>PNG</string>
+              <string>Live Update</string>
              </property>
-             <property name="icon">
-              <iconset resource="../res.qrc">
-               <normaloff>:/res/icons/Line Chart-96.png</normaloff>:/res/icons/Line Chart-96.png</iconset>
+             <property name="checked">
+              <bool>true</bool>
              </property>
             </widget>
            </item>
           </layout>
          </item>
          <item>
-          <layout class="QHBoxLayout" name="horizontalLayout">
+          <spacer name="verticalSpacer_4">
+           <property name="orientation">
+            <enum>Qt::Vertical</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>17</width>
+             <height>193</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+        </layout>
+       </widget>
+       <widget class="QWidget" name="tab_2">
+        <attribute name="title">
+         <string>Custom</string>
+        </attribute>
+        <layout class="QVBoxLayout" name="verticalLayout_7">
+         <property name="spacing">
+          <number>4</number>
+         </property>
+         <property name="leftMargin">
+          <number>4</number>
+         </property>
+         <property name="topMargin">
+          <number>4</number>
+         </property>
+         <property name="rightMargin">
+          <number>4</number>
+         </property>
+         <property name="bottomMargin">
+          <number>4</number>
+         </property>
+         <item>
+          <layout class="QHBoxLayout" name="horizontalLayout_3">
+           <property name="spacing">
+            <number>2</number>
+           </property>
            <item>
-            <widget class="QCustomPlot" name="plot" native="true"/>
+            <widget class="QLineEdit" name="qmlFileEdit"/>
            </item>
            <item>
-            <widget class="QFrame" name="buttonFrame">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
+            <widget class="QPushButton" name="qmlChooseButton">
+             <property name="text">
+              <string/>
              </property>
-             <property name="frameShape">
-              <enum>QFrame::StyledPanel</enum>
+             <property name="icon">
+              <iconset resource="../res.qrc">
+               <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
              </property>
-             <property name="frameShadow">
-              <enum>QFrame::Plain</enum>
+            </widget>
+           </item>
+           <item>
+            <widget class="QPushButton" name="qmlRunButton">
+             <property name="text">
+              <string/>
+             </property>
+             <property name="icon">
+              <iconset resource="../res.qrc">
+               <normaloff>:/res/icons/Circled Play-96.png</normaloff>:/res/icons/Circled Play-96.png</iconset>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QPushButton" name="qmlStopButton">
+             <property name="text">
+              <string/>
+             </property>
+             <property name="icon">
+              <iconset resource="../res.qrc">
+               <normaloff>:/res/icons/Stop Sign-96.png</normaloff>:/res/icons/Stop Sign-96.png</iconset>
              </property>
-             <layout class="QVBoxLayout" name="verticalLayout_3">
-              <property name="spacing">
-               <number>3</number>
-              </property>
-              <property name="leftMargin">
-               <number>2</number>
-              </property>
-              <property name="topMargin">
-               <number>2</number>
-              </property>
-              <property name="rightMargin">
-               <number>2</number>
-              </property>
-              <property name="bottomMargin">
-               <number>2</number>
-              </property>
-              <item>
-               <widget class="QToolButton" name="autoscaleButton">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>3</pointsize>
-                 </font>
-                </property>
-                <property name="toolTip">
-                 <string>Autoscale plots after updates.</string>
-                </property>
-                <property name="text">
-                 <string/>
-                </property>
-                <property name="icon">
-                 <iconset resource="../res.qrc">
-                  <normaloff>:/res/icons/size_off.png</normaloff>
-                  <normalon>:/res/icons/size_on.png</normalon>:/res/icons/size_off.png</iconset>
-                </property>
-                <property name="iconSize">
-                 <size>
-                  <width>20</width>
-                  <height>20</height>
-                 </size>
-                </property>
-                <property name="checkable">
-                 <bool>true</bool>
-                </property>
-                <property name="checked">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QToolButton" name="zoomHButton">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>3</pointsize>
-                 </font>
-                </property>
-                <property name="toolTip">
-                 <string>Enable horizontal zoom</string>
-                </property>
-                <property name="text">
-                 <string/>
-                </property>
-                <property name="icon">
-                 <iconset resource="../res.qrc">
-                  <normaloff>:/res/icons/expand_off.png</normaloff>
-                  <normalon>:/res/icons/expand_on.png</normalon>:/res/icons/expand_off.png</iconset>
-                </property>
-                <property name="iconSize">
-                 <size>
-                  <width>20</width>
-                  <height>20</height>
-                 </size>
-                </property>
-                <property name="checkable">
-                 <bool>true</bool>
-                </property>
-                <property name="checked">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QToolButton" name="zoomVButton">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="font">
-                 <font>
-                  <pointsize>3</pointsize>
-                 </font>
-                </property>
-                <property name="toolTip">
-                 <string>Enable vertical zoom</string>
-                </property>
-                <property name="text">
-                 <string/>
-                </property>
-                <property name="icon">
-                 <iconset resource="../res.qrc">
-                  <normaloff>:/res/icons/expand_v_off.png</normaloff>
-                  <normalon>:/res/icons/expand_v_on.png</normalon>:/res/icons/expand_v_off.png</iconset>
-                </property>
-                <property name="iconSize">
-                 <size>
-                  <width>20</width>
-                  <height>20</height>
-                 </size>
-                </property>
-                <property name="checkable">
-                 <bool>true</bool>
-                </property>
-                <property name="checked">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QToolButton" name="rescaleButton">
-                <property name="toolTip">
-                 <string>Rescale plots to fit</string>
-                </property>
-                <property name="text">
-                 <string/>
-                </property>
-                <property name="icon">
-                 <iconset resource="../res.qrc">
-                  <normaloff>:/res/icons/size_off.png</normaloff>:/res/icons/size_off.png</iconset>
-                </property>
-                <property name="iconSize">
-                 <size>
-                  <width>20</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <spacer name="verticalSpacer_2">
-                <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>
           </layout>
          </item>
+         <item>
+          <widget class="QQuickWidget" name="qmlWidget">
+           <property name="resizeMode">
+            <enum>QQuickWidget::SizeRootObjectToView</enum>
+           </property>
+          </widget>
+         </item>
         </layout>
-       </item>
-      </layout>
+       </widget>
+      </widget>
+      <widget class="QWidget" name="layoutWidget">
+       <layout class="QVBoxLayout" name="verticalLayout">
+        <property name="spacing">
+         <number>2</number>
+        </property>
+        <item>
+         <layout class="QHBoxLayout" name="horizontalLayout_4">
+          <property name="spacing">
+           <number>2</number>
+          </property>
+          <item>
+           <widget class="QLineEdit" name="titleEdit">
+            <property name="text">
+             <string>Graph Title</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLineEdit" name="compAEdit">
+            <property name="text">
+             <string>A</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLineEdit" name="compBEdit">
+            <property name="text">
+             <string>B</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <layout class="QHBoxLayout" name="horizontalLayout_2">
+          <property name="spacing">
+           <number>2</number>
+          </property>
+          <item>
+           <spacer name="horizontalSpacer">
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>40</width>
+              <height>20</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
+          <item>
+           <widget class="QLabel" name="label">
+            <property name="text">
+             <string>Export</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QSpinBox" name="saveWidthBox">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="prefix">
+             <string>W: </string>
+            </property>
+            <property name="maximum">
+             <number>9999</number>
+            </property>
+            <property name="value">
+             <number>1280</number>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QSpinBox" name="saveHeightBox">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="prefix">
+             <string>H: </string>
+            </property>
+            <property name="maximum">
+             <number>9999</number>
+            </property>
+            <property name="value">
+             <number>720</number>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="savePlotPdfButton">
+            <property name="toolTip">
+             <string>Save plot as PDF image</string>
+            </property>
+            <property name="text">
+             <string>PDF</string>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Line Chart-96.png</normaloff>:/res/icons/Line Chart-96.png</iconset>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="savePlotPngButton">
+            <property name="toolTip">
+             <string>Save plot as PNG image</string>
+            </property>
+            <property name="text">
+             <string>PNG</string>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Line Chart-96.png</normaloff>:/res/icons/Line Chart-96.png</iconset>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <layout class="QHBoxLayout" name="horizontalLayout">
+          <item>
+           <widget class="QCustomPlot" name="plot" native="true">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QFrame" name="buttonFrame">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::StyledPanel</enum>
+            </property>
+            <property name="frameShadow">
+             <enum>QFrame::Plain</enum>
+            </property>
+            <layout class="QVBoxLayout" name="verticalLayout_3">
+             <property name="spacing">
+              <number>3</number>
+             </property>
+             <property name="leftMargin">
+              <number>2</number>
+             </property>
+             <property name="topMargin">
+              <number>2</number>
+             </property>
+             <property name="rightMargin">
+              <number>2</number>
+             </property>
+             <property name="bottomMargin">
+              <number>2</number>
+             </property>
+             <item>
+              <widget class="QToolButton" name="autoscaleButton">
+               <property name="sizePolicy">
+                <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                 <horstretch>0</horstretch>
+                 <verstretch>0</verstretch>
+                </sizepolicy>
+               </property>
+               <property name="font">
+                <font>
+                 <pointsize>3</pointsize>
+                </font>
+               </property>
+               <property name="toolTip">
+                <string>Autoscale plots after updates.</string>
+               </property>
+               <property name="text">
+                <string/>
+               </property>
+               <property name="icon">
+                <iconset resource="../res.qrc">
+                 <normaloff>:/res/icons/size_off.png</normaloff>
+                 <normalon>:/res/icons/size_on.png</normalon>:/res/icons/size_off.png</iconset>
+               </property>
+               <property name="iconSize">
+                <size>
+                 <width>20</width>
+                 <height>20</height>
+                </size>
+               </property>
+               <property name="checkable">
+                <bool>true</bool>
+               </property>
+               <property name="checked">
+                <bool>true</bool>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <widget class="QToolButton" name="zoomHButton">
+               <property name="sizePolicy">
+                <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                 <horstretch>0</horstretch>
+                 <verstretch>0</verstretch>
+                </sizepolicy>
+               </property>
+               <property name="font">
+                <font>
+                 <pointsize>3</pointsize>
+                </font>
+               </property>
+               <property name="toolTip">
+                <string>Enable horizontal zoom</string>
+               </property>
+               <property name="text">
+                <string/>
+               </property>
+               <property name="icon">
+                <iconset resource="../res.qrc">
+                 <normaloff>:/res/icons/expand_off.png</normaloff>
+                 <normalon>:/res/icons/expand_on.png</normalon>:/res/icons/expand_off.png</iconset>
+               </property>
+               <property name="iconSize">
+                <size>
+                 <width>20</width>
+                 <height>20</height>
+                </size>
+               </property>
+               <property name="checkable">
+                <bool>true</bool>
+               </property>
+               <property name="checked">
+                <bool>true</bool>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <widget class="QToolButton" name="zoomVButton">
+               <property name="sizePolicy">
+                <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                 <horstretch>0</horstretch>
+                 <verstretch>0</verstretch>
+                </sizepolicy>
+               </property>
+               <property name="font">
+                <font>
+                 <pointsize>3</pointsize>
+                </font>
+               </property>
+               <property name="toolTip">
+                <string>Enable vertical zoom</string>
+               </property>
+               <property name="text">
+                <string/>
+               </property>
+               <property name="icon">
+                <iconset resource="../res.qrc">
+                 <normaloff>:/res/icons/expand_v_off.png</normaloff>
+                 <normalon>:/res/icons/expand_v_on.png</normalon>:/res/icons/expand_v_off.png</iconset>
+               </property>
+               <property name="iconSize">
+                <size>
+                 <width>20</width>
+                 <height>20</height>
+                </size>
+               </property>
+               <property name="checkable">
+                <bool>true</bool>
+               </property>
+               <property name="checked">
+                <bool>true</bool>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <widget class="QToolButton" name="rescaleButton">
+               <property name="toolTip">
+                <string>Rescale plots to fit</string>
+               </property>
+               <property name="text">
+                <string/>
+               </property>
+               <property name="icon">
+                <iconset resource="../res.qrc">
+                 <normaloff>:/res/icons/size_off.png</normaloff>:/res/icons/size_off.png</iconset>
+               </property>
+               <property name="iconSize">
+                <size>
+                 <width>20</width>
+                 <height>20</height>
+                </size>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <spacer name="verticalSpacer_2">
+               <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>
+         </layout>
+        </item>
+       </layout>
+      </widget>
      </widget>
      <widget class="QSplitter" name="splitter_3">
       <property name="orientation">
@@ -1190,6 +1294,11 @@
   </layout>
  </widget>
  <customwidgets>
+  <customwidget>
+   <class>QQuickWidget</class>
+   <extends>QWidget</extends>
+   <header location="global">QtQuickWidgets/QQuickWidget</header>
+  </customwidget>
   <customwidget>
    <class>QCustomPlot</class>
    <extends>QWidget</extends>
diff --git a/res/CHANGELOG b/res/CHANGELOG
index e7ef1782a..90525a382 100644
--- a/res/CHANGELOG
+++ b/res/CHANGELOG
@@ -7,6 +7,7 @@
  - Real-time binding, CPU and memory monitors.
  - Console for printing
  - Examples
+* Added custom load code support to motor comparison tool.
 
 == 3.01 ==
 * Fixed simultaneous CAN FW upload when other devices (such as BMS) are on the CAN-bus.
diff --git a/res/qml/Examples/MotorComparisonModel.qml b/res/qml/Examples/MotorComparisonModel.qml
new file mode 100644
index 000000000..6a92b439e
--- /dev/null
+++ b/res/qml/Examples/MotorComparisonModel.qml
@@ -0,0 +1,137 @@
+// This QML code is a template for a load model that can be used in the custom tab of
+// the motor comparison tool.
+
+import QtQuick 2.7
+import QtQuick.Controls 2.0
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Material 2.2
+import Vedder.vesc.utility 1.0
+
+Item {
+    id: mainItem
+    anchors.fill: parent
+    anchors.margins: 5
+    
+    // The objectname has to be set to idComp for the comparison tool to find it
+    objectName: "idComp"
+    
+    // This signal can be emitted when test parameters change to reload the graphs
+    signal testChanged()
+    
+    property string xName: "Torque (Nm)"
+    property double xMin: 0
+    property double xMax: 1
+    
+    property double rpmNow: 1200
+    property double torqueNow: 0
+    
+    // This function is called with a progress from xAxisMin to xAxisMax and
+    // expects that the following list is returned:
+    // [motor1_rpm motor1_torque extraParam1_m1 extraParam2_m1, motor2_rpm motor2_torque extraParam1_m2 extraParam2_m2]
+    // extraParam are extra fields that will be added to the plot. They can be left as 0 if not needed.
+    //
+    // It is important that this function runs fast as it is called for every point
+    // in the graph when it is updated. Avoiding UI-updates here and just doing
+    // calculations is usually fine.
+    function progressToParams(progress) {
+        torqueNow = progress
+        return [rpmNow, torqueNow, 0, 0, rpmNow, torqueNow, 0, 0]
+    }
+    
+    // Name for the x-axis in the plot
+    function xAxisName() {
+        return xName
+    }
+    
+    // Minimum value for the x-axis in the plot
+    function xAxisMin() {
+        return xMin
+    }
+    
+    // Maximum valie for the x-axis in the plot
+    function xAxisMax() {
+        return xMax
+    }
+    
+    // This function is called when the plot is right-clicked and and dragged. It can
+    // be used to display information for that progress in the UI.
+    function progressSelected(prog) {
+        text.text = "Progress selected: " + parseFloat(prog).toFixed(2)
+    }
+    
+    // This function is called to get the names of the optional extra parameters
+    function extraNames() {
+        return ["ParamA_m1", "ParamB_m1", "ParamA_m2", "ParamB_m2"]
+    }
+
+    GridLayout {
+        Text {
+            Layout.fillWidth: true
+            Layout.columnSpan: 2
+            Layout.topMargin: 10
+            Layout.bottomMargin: 20
+            color: "White"
+            horizontalAlignment: Text.AlignHCenter
+            font.pointSize: 20
+            text: "Custom Calculator"
+        }
+        
+        anchors.fill: parent
+        columns: 2
+        rowSpacing: -10
+        
+        Text {
+            text: "Load"
+            color: "white"
+        }
+        
+        Slider {
+            Layout.fillWidth: true
+            from: 0
+            to: 10
+            value: 0
+            
+            onValueChanged: {
+                xMax = value
+                testChanged()
+            }
+        }
+        
+        Text {
+            text: "RPM:"
+            color: "white"
+        }
+        
+        ComboBox {
+            id: dropDownBox
+            Layout.fillWidth: true
+            editable: false
+            
+            model: ListModel {
+                id: model
+                ListElement { text: "RPM1" }
+                ListElement { text: "RPM2" }
+            }
+            
+            onCurrentIndexChanged: {
+                if (currentIndex == 0) {
+                    rpmNow = 1200
+                } else if (currentIndex == 1) {
+                    rpmNow = 1800
+                }
+                testChanged()
+            }
+        }
+        
+        Text {
+            id:text
+            Layout.topMargin: 20
+            Layout.fillHeight: true
+            Layout.columnSpan: 2
+            Layout.fillWidth: true
+            font.family: "DejaVu Sans Mono"
+            color: "white"
+            text: "test"
+        }
+    }
+}
diff --git a/res_qml.qrc b/res_qml.qrc
index 157482c36..876d280c8 100644
--- a/res_qml.qrc
+++ b/res_qml.qrc
@@ -24,5 +24,6 @@
         <file>res/qml/Examples/GaugeTest.qml</file>
         <file>res/qml/Examples/RpmSlider.qml</file>
         <file>res/qml/Examples/BalanceUi.qml</file>
+        <file>res/qml/Examples/MotorComparisonModel.qml</file>
     </qresource>
 </RCC>

From 4f19dab46c6a5f0f5356b13d44c955d8d8bee3b7 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 13 Feb 2022 19:45:41 +0100
Subject: [PATCH 030/559] Updated syntax in balance example

---
 res/Lisp/Examples/balance.lisp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/res/Lisp/Examples/balance.lisp b/res/Lisp/Examples/balance.lisp
index cd45d2c97..2753d8671 100644
--- a/res/Lisp/Examples/balance.lisp
+++ b/res/Lisp/Examples/balance.lisp
@@ -58,7 +58,7 @@
         (event-handler)
 )))
 
-(event-register-handler (spawn '(event-handler)))
+(event-register-handler (spawn event-handler))
 (event-enable "event-data-rx")
 
 (define abs (lambda (x) (if (> x 0) x (- x))))

From efd2d4f86d8c27aa8218c162b02003c792ffebcb Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 17 Feb 2022 18:41:38 +0100
Subject: [PATCH 031/559] Updated examples

---
 res/Lisp/Examples/balance.lisp | 22 ++++++++--------------
 res/Lisp/Examples/can_js.lisp  |  2 +-
 2 files changed, 9 insertions(+), 15 deletions(-)

diff --git a/res/Lisp/Examples/balance.lisp b/res/Lisp/Examples/balance.lisp
index 2753d8671..5e9a2b53e 100644
--- a/res/Lisp/Examples/balance.lisp
+++ b/res/Lisp/Examples/balance.lisp
@@ -1,13 +1,10 @@
 ; Balance robot controller written in lisp
 
 (define pos-x (lambda ()
-    (progn
-        (select-motor 1)
-        (define m1-p (get-dist))
-        (select-motor 2)
-        (define m2-p (get-dist))
-        (* 0.5 (+ m1-p m2-p))
-)))
+    (* 0.5 (+
+        (progn (select-motor 1) (get-dist))
+        (progn (select-motor 2) (get-dist))
+))))
 
 (define pitch-set 0)
 (define yaw-set (* (ix 2 (get-imu-rpy)) 57.29577951308232))
@@ -73,13 +70,10 @@
 )))
 
 (define speed-x (lambda ()
-    (progn
-        (select-motor 1)
-        (define m1-s (get-speed))
-        (select-motor 2)
-        (define m2-s (get-speed))
-        (* 0.5 (+ m1-s m2-s))
-)))
+    (* 0.5 (+
+        (progn (select-motor 1) (get-speed))
+        (progn (select-motor 2) (get-speed))
+))))
 
 (define f (lambda ()
     (progn
diff --git a/res/Lisp/Examples/can_js.lisp b/res/Lisp/Examples/can_js.lisp
index 4c5fbde9c..defc0deb8 100644
--- a/res/Lisp/Examples/can_js.lisp
+++ b/res/Lisp/Examples/can_js.lisp
@@ -88,7 +88,7 @@
 )))
 
 ; Spawn the event handler thread and pass the ID it returns to C
-(event-register-handler (spawn '(event-handler)))
+(event-register-handler (spawn event-handler))
 
 ; Enable the CAN event for extended ID (EID) frames
 (event-enable "event-can-eid")

From e5fa563f04a4fff738e04ab6cbfe03079a3a9e6d Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 22 Feb 2022 02:39:09 +0100
Subject: [PATCH 032/559] Updated lisp examples

---
 res/Lisp/Examples/can_js.lisp | 29 +++++++++++--------
 res/Lisp/Examples/uart.lisp   | 52 +++++++++++++++++++++++++++++++++++
 res_lisp.qrc                  |  1 +
 3 files changed, 70 insertions(+), 12 deletions(-)
 create mode 100644 res/Lisp/Examples/uart.lisp

diff --git a/res/Lisp/Examples/can_js.lisp b/res/Lisp/Examples/can_js.lisp
index defc0deb8..430876b9c 100644
--- a/res/Lisp/Examples/can_js.lisp
+++ b/res/Lisp/Examples/can_js.lisp
@@ -25,26 +25,31 @@
             ; why they don't use just 7 bits for that.
             
             (define x-axis (* 0.001
-                (* (if (= (bits-dec-int (ix 0 data) 2 1) 0) 1.0 -1.0)
-                (+ (bits-dec-int (ix 0 data) 6 2) (* 4 (ix 1 data))
+                (* (if (= (bits-dec-int (bufget-u8 data 0) 2 1) 0) 1.0 -1.0)
+                (+ (bits-dec-int (bufget-u8 data 0) 6 2) (* 4 (ix 1 data))
             ))))
             
             (define y-axis (* 0.001
-                (* (if (= (bits-dec-int (ix 2 data) 2 1) 0) 1.0 -1.0)
-                (+ (bits-dec-int (ix 2 data) 6 2) (* 4 (ix 3 data))
+                (* (if (= (bits-dec-int (bufget-u8 data 2) 2 1) 0) 1.0 -1.0)
+                (+ (bits-dec-int (bufget-u8 data 2) 6 2) (* 4 (bufget-u8 3 data))
             ))))
                         
             ; Decode the buttons that are currently pressed
             (define btn-lst (list
-                (bits-dec-int (ix 5 data) 6 2)
-                (bits-dec-int (ix 5 data) 4 2)
-                (bits-dec-int (ix 5 data) 2 2)
-                (bits-dec-int (ix 5 data) 0 2)
-                (bits-dec-int (ix 6 data) 6 2)
-                (bits-dec-int (ix 6 data) 4 2)
-                (bits-dec-int (ix 6 data) 2 2)
+                (bits-dec-int (bufget-u8 data 5) 6 2)
+                (bits-dec-int (bufget-u8 data 5) 4 2)
+                (bits-dec-int (bufget-u8 data 5) 2 2)
+                (bits-dec-int (bufget-u8 data 5) 0 2)
+                (bits-dec-int (bufget-u8 data 6) 6 2)
+                (bits-dec-int (bufget-u8 data 6) 4 2)
+                (bits-dec-int (bufget-u8 data 6) 2 2)
             ))
             
+            ; Save memory by freeing data when done. This can be omitted as GC
+            ; will free it in the next run, but doing it prevents the memory
+            ; usage from increasing more than needed.
+            (free data)
+            
 ;            (set-duty y-axis)
 ;            (timeout-reset)
         )
@@ -88,7 +93,7 @@
 )))
 
 ; Spawn the event handler thread and pass the ID it returns to C
-(event-register-handler (spawn event-handler))
+(event-register-handler (spawn 50 event-handler))
 
 ; Enable the CAN event for extended ID (EID) frames
 (event-enable "event-can-eid")
diff --git a/res/Lisp/Examples/uart.lisp b/res/Lisp/Examples/uart.lisp
new file mode 100644
index 000000000..34ae7443f
--- /dev/null
+++ b/res/Lisp/Examples/uart.lisp
@@ -0,0 +1,52 @@
+(define uart-buf (array-create type-byte 100))
+
+; As uart-read returns right away when there is nothing to read we create
+; wrappers that try to read bytes until the desired amount of bytes is
+; received. They use yield to give other threads a change to run.
+
+; Read n bytes into buffer at ofs.
+(define read-bytes (lambda (buffer n ofs)
+    (let 
+        (
+            (rd (uart-read buffer n ofs))
+        )
+        (if (num-eq rd n)
+            (bufset-u8 buffer 0 (+ ofs rd)) ; Newline at the end
+            (progn (yield 4000) (read-bytes buffer (- n rd) (+ ofs rd)))
+        )
+    )
+))
+
+; Read at most n bytes into buffer at ofs. Stop reading and return at characted end.
+(define read-until (lambda (buffer n ofs end)
+    (let
+        (
+            (rd (uart-read buffer n ofs end))
+        )
+        (if (or (num-eq rd n) (num-eq (bufget-u8 buffer (+ ofs (- rd 1))) end))
+            (bufset-u8 buffer 0 (+ ofs rd))
+            (progn (yield 10000) (read-until buffer (- n rd) (+ ofs rd) end))
+        )
+    )
+))
+
+(define read-thd (lambda ()
+    (progn
+        (read-until uart-buf 30 0 13) ; 13 is the return key
+;        (read-bytes uart-buf 6 0)
+        (print uart-buf)
+        (read-thd)
+)))
+
+(define f (lambda ()
+    (progn
+        (uart-write "Test")
+        (yield 1000000)
+        (f)
+)))
+
+(uart-start 115200)
+(yield 10000)
+(spawn 100 read-thd)
+
+(f)
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 57fa3a926..72f01a86e 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -14,5 +14,6 @@
         <file>res/Lisp/Examples/raw_voltage.lisp</file>
         <file>res/Lisp/Examples/raw_voltage_mod.lisp</file>
         <file>res/Lisp/Examples/balance.lisp</file>
+        <file>res/Lisp/Examples/uart.lisp</file>
     </qresource>
 </RCC>

From 78c8c7bcad721e8fc77b4461d75064985af9cc85 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 22 Feb 2022 02:53:04 +0100
Subject: [PATCH 033/559] Fixed JS example

---
 res/Lisp/Examples/can_js.lisp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/res/Lisp/Examples/can_js.lisp b/res/Lisp/Examples/can_js.lisp
index 430876b9c..48f6515bc 100644
--- a/res/Lisp/Examples/can_js.lisp
+++ b/res/Lisp/Examples/can_js.lisp
@@ -26,12 +26,12 @@
             
             (define x-axis (* 0.001
                 (* (if (= (bits-dec-int (bufget-u8 data 0) 2 1) 0) 1.0 -1.0)
-                (+ (bits-dec-int (bufget-u8 data 0) 6 2) (* 4 (ix 1 data))
+                (+ (bits-dec-int (bufget-u8 data 0) 6 2) (* 4 (bufget-u8 data 1))
             ))))
             
             (define y-axis (* 0.001
                 (* (if (= (bits-dec-int (bufget-u8 data 2) 2 1) 0) 1.0 -1.0)
-                (+ (bits-dec-int (bufget-u8 data 2) 6 2) (* 4 (bufget-u8 3 data))
+                (+ (bits-dec-int (bufget-u8 data 2) 6 2) (* 4 (bufget-u8 data 3))
             ))))
                         
             ; Decode the buttons that are currently pressed

From 8deebf7812324e6ca260d54cff1fff2195a13973 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 22 Feb 2022 11:20:09 +0100
Subject: [PATCH 034/559] Comment update

---
 res/Lisp/Examples/uart.lisp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/res/Lisp/Examples/uart.lisp b/res/Lisp/Examples/uart.lisp
index 34ae7443f..fdbc5317b 100644
--- a/res/Lisp/Examples/uart.lisp
+++ b/res/Lisp/Examples/uart.lisp
@@ -2,7 +2,7 @@
 
 ; As uart-read returns right away when there is nothing to read we create
 ; wrappers that try to read bytes until the desired amount of bytes is
-; received. They use yield to give other threads a change to run.
+; received. They use yield to give other threads a chance to run.
 
 ; Read n bytes into buffer at ofs.
 (define read-bytes (lambda (buffer n ofs)
@@ -11,13 +11,13 @@
             (rd (uart-read buffer n ofs))
         )
         (if (num-eq rd n)
-            (bufset-u8 buffer 0 (+ ofs rd)) ; Newline at the end
+            (bufset-u8 buffer 0 (+ ofs rd)) ; Null-termination
             (progn (yield 4000) (read-bytes buffer (- n rd) (+ ofs rd)))
         )
     )
 ))
 
-; Read at most n bytes into buffer at ofs. Stop reading and return at characted end.
+; Read at most n bytes into buffer at ofs. Stop reading and return at character end.
 (define read-until (lambda (buffer n ofs end)
     (let
         (

From c2a9c19a03d703d6207452bd69aedd12b866263b Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 23 Feb 2022 23:05:32 +0100
Subject: [PATCH 035/559] Updated lisp examples

---
 QCodeEditor/resources/languages/lisp.xml |   6 +
 res/Lisp/Examples/balance.lisp           | 156 ++++++++++++-----------
 res/Lisp/Examples/loop.lisp              |   4 +-
 res/Lisp/Examples/print_bms_data.lisp    |  21 ---
 res/Lisp/Examples/raw_voltage.lisp       |   8 +-
 res/Lisp/Examples/raw_voltage_mod.lisp   |   4 +-
 res/Lisp/Examples/threads.lisp           |  37 ++++++
 res/Lisp/Examples/uart.lisp              |  44 +------
 res_lisp.qrc                             |   1 +
 9 files changed, 139 insertions(+), 142 deletions(-)
 create mode 100644 res/Lisp/Examples/threads.lisp

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 9219513e1..d7d72ddd4 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -2,6 +2,8 @@
 <root>
     <section name="Keyword">
         <name>define</name>
+        <name>defun</name>
+        <name>macro</name>
         <name>lambda</name>
         <name>car</name>
         <name>cons</name>
@@ -19,5 +21,9 @@
     <section name="Type">
         <name>print</name>
         <name>yield</name>
+        <name>map</name>
+        <name>foldl</name>
+        <name>foldr</name>
+        <name>list</name>
     </section>
 </root>
diff --git a/res/Lisp/Examples/balance.lisp b/res/Lisp/Examples/balance.lisp
index 5e9a2b53e..3209bcdd1 100644
--- a/res/Lisp/Examples/balance.lisp
+++ b/res/Lisp/Examples/balance.lisp
@@ -1,124 +1,130 @@
 ; Balance robot controller written in lisp
 
-(define pos-x (lambda ()
+(defun #abs (x) (if (> x 0) x (- x)))
+
+(defun #pos-x ()
     (* 0.5 (+
         (progn (select-motor 1) (get-dist))
         (progn (select-motor 2) (get-dist))
-))))
+)))
+
+(defun #set-output (left right)
+    (progn
+        (select-motor 1)
+        (set-current-rel right)
+        (select-motor 2)
+        (set-current-rel left)
+        (timeout-reset)
+))
+
+(defun #speed-x ()
+    (* 0.5 (+
+        (progn (select-motor 1) (get-speed))
+        (progn (select-motor 2) (get-speed))
+)))
 
-(define pitch-set 0)
-(define yaw-set (* (ix 2 (get-imu-rpy)) 57.29577951308232))
-(define pos-set (pos-x))
+(define #yaw-set (* (ix 2 (get-imu-rpy)) 57.29577951308232))
+(define #pos-set (#pos-x))
 
-(define was-running 0)
-(define t-last (systime))
-(define pos-last (pos-x))
+(define #pitch-set 0)
+(define #was-running 0)
+(define #t-last (systime))
 
-(define kp 0.014)
-(define kd 0.0016)
+(define #kp 0.014)
+(define #kd 0.0016)
 
-(define p-kp 50.0)
-(define p-kd -33.0)
+(define #p-kp 50.0)
+(define #p-kd -33.0)
 
-(define y-kp 0.003)
-(define y-kd 0.0003)
+(define #y-kp 0.003)
+(define #y-kd 0.0003)
 
-(define enable-pos 1)
-(define enable-yaw 1)
+(define #enable-pos 1)
+(define #enable-yaw 1)
 
 ; This is received from the QML-program which acts as a remote control for the robot
-(define proc-data (lambda (data)
+(defun proc-data (data)
     (progn
-        (define enable-pos (ix 4 data))
-        (define enable-yaw (ix 5 data))
+        (define #enable-pos (bufget-u8 data 4))
+        (define #enable-yaw (bufget-u8 data 5))
         
-        (if (= enable-pos 1)
+        (if (= #enable-pos 1)
             (progn
-                (define pos-set (+ pos-set (* (ix 0 data) 0.002)))
-                (define pos-set (- pos-set (* (ix 1 data) 0.002)))
+                (define #pos-set (+ #pos-set (* (bufget-u8 data 0) 0.002)))
+                (define #pos-set (- #pos-set (* (bufget-u8 data 1) 0.002)))
         ) nil)
         
-        (if (= enable-yaw 1)
+        (if (= #enable-yaw 1)
             (progn
-                (define yaw-set (- yaw-set (* (ix 2 data) 0.5)))
-                (define yaw-set (+ yaw-set (* (ix 3 data) 0.5)))
+                (define #yaw-set (- #yaw-set (* (bufget-u8 data 2) 0.5)))
+                (define #yaw-set (+ #yaw-set (* (bufget-u8 data 3) 0.5)))
         ) nil)
         
-        (if (> yaw-set 360) (define yaw-set (- yaw-set 360)) nil)
-        (if (< yaw-set 0) (define yaw-set (+ yaw-set 360)) nil)
-)))
+        (if (> #yaw-set 360) (define #yaw-set (- #yaw-set 360)) nil)
+        (if (< #yaw-set 0) (define #yaw-set (+ #yaw-set 360)) nil)
+))
 
-(define event-handler (lambda ()
+(defun event-handler ()
     (progn
         (recv ((signal-data-rx . (? data)) (proc-data data))
               (_ nil))
         (event-handler)
-)))
+))
 
 (event-register-handler (spawn event-handler))
 (event-enable "event-data-rx")
 
-(define abs (lambda (x) (if (> x 0) x (- x))))
+(define #it-rate 0)
+(define #it-rate-filter 0)
+(defun #filter (val sample)
+    (- val (* 0.01 (- val sample)))
+)
 
-(define set-output (lambda (left right)
+(defun main ()
     (progn
-        (select-motor 1)
-        (set-current-rel right)
-        (select-motor 2)
-        (set-current-rel left)
-        (timeout-reset)
-)))
-
-(define speed-x (lambda ()
-    (* 0.5 (+
-        (progn (select-motor 1) (get-speed))
-        (progn (select-motor 2) (get-speed))
-))))
-
-(define f (lambda ()
-    (progn
-        (define pitch (* (ix 1 (get-imu-rpy)) 57.29577951308232))
-        (define yaw (* (ix 2 (get-imu-rpy)) 57.29577951308232))
-        (define pitch-rate (ix 1 (get-imu-gyro)))
-        (define yaw-rate (ix 2 (get-imu-gyro)))
-        (define pos (+ (pos-x) (* pitch 0.00122))) ; Includes pitch compensation
-        (define speed (speed-x))
+        (define #pitch (* (ix 1 (get-imu-rpy)) 57.29577951308232))
+        (define #yaw (* (ix 2 (get-imu-rpy)) 57.29577951308232))
+        (define #pitch-rate (ix 1 (get-imu-gyro)))
+        (define #yaw-rate (ix 2 (get-imu-gyro)))
+        (define #pos (+ (#pos-x) (* #pitch 0.00122))) ; Includes pitch compensation
+        (define #speed (#speed-x))
 
         ; Loop rate measurement
-        (define it-rate (/ 1 (secs-since t-last)))
-        (define t-last (systime))
-        
-        (if (< (abs pitch) (if (= was-running 1) 45 10))
+        (define #it-rate (/ 1 (secs-since #t-last)))
+        (define #t-last (systime))
+        (define #it-rate-filter (#filter #it-rate-filter #it-rate))
+                
+        (if (< (#abs #pitch) (if (= #was-running 1) 45 10))
             (progn
-                (define was-running 1)
+                (define #was-running 1)
                 
-                (if (= enable-pos 0) (define pos-set pos) nil)
-                (if (= enable-yaw 0) (define yaw-set yaw) nil)
+                (if (= #enable-pos 0) (define #pos-set #pos) nil)
+                (if (= #enable-yaw 0) (define #yaw-set #yaw) nil)
                 
-                (define pos-err (- pos-set pos))
-                (define pitch-set (+ (* pos-err p-kp) (* speed p-kd)))
+                (define #pos-err (- #pos-set #pos))
+                (define #pitch-set (+ (* #pos-err #p-kp) (* #speed #p-kd)))
                 
-                (define yaw-err (- yaw-set yaw))
-                (if (> yaw-err 180) (define yaw-err (- yaw-err 360)) nil)
-                (if (< yaw-err -180) (define yaw-err (+ yaw-err 360)) nil)
+                (define #yaw-err (- #yaw-set #yaw))
+                (if (> #yaw-err 180) (define #yaw-err (- #yaw-err 360)) nil)
+                (if (< #yaw-err -180) (define #yaw-err (+ #yaw-err 360)) nil)
                 
-                (define yaw-out (+ (* yaw-err y-kp) (* yaw-rate y-kd)))
-                (define ctrl-out (+ (* kp (- pitch pitch-set)) (* kd pitch-rate)))
+                (define #yaw-out (+ (* #yaw-err #y-kp) (* #yaw-rate #y-kd)))
+                (define #ctrl-out (+ (* #kp (- #pitch #pitch-set)) (* #kd #pitch-rate)))
                 
-                (set-output (+ ctrl-out yaw-out) (- ctrl-out yaw-out))
+                (#set-output (+ #ctrl-out #yaw-out) (- #ctrl-out #yaw-out))
             )
             
             (progn
-                (define was-running 0)
-                (set-output 0 0)
-                (define pos-set pos)
-                (define yaw-set yaw)
+                (define #was-running 0)
+                (#set-output 0 0)
+                (define #pos-set #pos)
+                (define #yaw-set #yaw)
             )
         )
         
         (yield 1) ; Run as fast as possible
-        (f)
-)))
+        (main)
+))
 
 (if (< (systime) 50000) (yield 5000000) nil) ; Sleep after boot to wait for IMU to settle
-(f)
+(main)
diff --git a/res/Lisp/Examples/loop.lisp b/res/Lisp/Examples/loop.lisp
index 870a8c8fa..768d76c3b 100644
--- a/res/Lisp/Examples/loop.lisp
+++ b/res/Lisp/Examples/loop.lisp
@@ -1,11 +1,11 @@
 (define rate 50) ; Update rate in hz
 
-(define f (lambda ()
+(defun f ()
     (progn
         ; Put your code here
 
         (yield (/ 1000000 rate))
         (f)
-)))
+))
 
 (f)
diff --git a/res/Lisp/Examples/print_bms_data.lisp b/res/Lisp/Examples/print_bms_data.lisp
index 7e9a5c90f..9149830d1 100644
--- a/res/Lisp/Examples/print_bms_data.lisp
+++ b/res/Lisp/Examples/print_bms_data.lisp
@@ -1,26 +1,5 @@
 (define rate 2) ; Update rate in hz
 
-(define map (lambda (f xs)
-    (if (= xs nil)
-	nil
-  (cons (f (car xs)) (map f (cdr xs))))))
-  
-(define iota (lambda (n)
-  (let ((iacc (lambda (acc i)
-          (if (< i 0)
-          acc
-            (iacc (cons i acc) (- i 1))))))
-  (iacc nil n))))
-
-(define range (lambda (start end)
-   (map (lambda (x) (+ x start)) (iota (- end start))
-)))
-
-(define foldl (lambda (f i xs)
-  (if (= xs nil)
-    i
-	(foldl f (f i (car xs)) (cdr xs)))))
-
 (let ((f (lambda ()
    (progn
      (define v-cells (map (lambda (c)(get-bms-val "v_cell" c)) (range 0 (- (get-bms-val "cell_num") 1))))
diff --git a/res/Lisp/Examples/raw_voltage.lisp b/res/Lisp/Examples/raw_voltage.lisp
index 4ff554a4d..0f3d66cf2 100644
--- a/res/Lisp/Examples/raw_voltage.lisp
+++ b/res/Lisp/Examples/raw_voltage.lisp
@@ -1,13 +1,13 @@
 (define rate 500) ; Update rate in hz
 (define filter-const 0.2)
 
-(define filter (lambda (val sample)
+(defun filter (val sample)
     (- val (* filter-const (- val sample)))
-))
+)
 
 (define va-f 0)
 
-(define f (lambda ()
+(defun f ()
     (progn
         (define use-raw 0) ; Set to 1 to use ADC bits and not convert to voltage
     
@@ -24,6 +24,6 @@
 
         (yield (/ 1000000 rate))
         (f)
-)))
+))
 
 (f)
diff --git a/res/Lisp/Examples/raw_voltage_mod.lisp b/res/Lisp/Examples/raw_voltage_mod.lisp
index 949d304d9..74d59b13e 100644
--- a/res/Lisp/Examples/raw_voltage_mod.lisp
+++ b/res/Lisp/Examples/raw_voltage_mod.lisp
@@ -1,6 +1,6 @@
 (define rate 200) ; Update rate in hz
 
-(define f (lambda ()
+(defun f ()
     (progn
         (define va (raw-adc-voltage 1 1))
         (define vb (raw-adc-voltage 1 2))
@@ -21,5 +21,5 @@
 
         (yield (/ 1000000 rate))
         (f)
-)))
+))
 (f)
diff --git a/res/Lisp/Examples/threads.lisp b/res/Lisp/Examples/threads.lisp
new file mode 100644
index 000000000..233a7a51e
--- /dev/null
+++ b/res/Lisp/Examples/threads.lisp
@@ -0,0 +1,37 @@
+(define counter (lambda (var rate)
+    (let (
+            (inner-fun (lambda (x)
+                (progn
+                    (setvar var x)
+                    (yield (/ 1000000 rate))
+                    (inner-fun (+ x 1))
+            )))
+        ) (inner-fun 0)
+    )
+))
+
+(spawn 20 counter 'cnt01 10)
+(spawn 20 counter 'cnt02 20)
+(spawn 20 counter 'cnt03 30)
+(spawn 20 counter 'cnt04 40)
+(spawn 20 counter 'cnt05 50)
+(spawn 20 counter 'cnt06 60)
+(spawn 20 counter 'cnt07 70)
+(spawn 20 counter 'cnt08 80)
+(spawn 20 counter 'cnt09 90)
+(spawn 20 counter 'cnt10 100)
+(spawn 20 counter 'cnt11 110)
+(spawn 20 counter 'cnt12 120)
+(spawn 20 counter 'cnt13 130)
+(spawn 20 counter 'cnt14 140)
+(spawn 20 counter 'cnt15 150)
+(spawn 20 counter 'cnt16 160)
+(spawn 20 counter 'cnt17 170)
+(spawn 20 counter 'cnt18 180)
+(spawn 20 counter 'cnt19 190)
+(spawn 20 counter 'cnt20 200)
+(spawn 20 counter 'cnt21 210)
+(spawn 20 counter 'cnt22 220)
+(spawn 20 counter 'cnt23 230)
+(spawn 20 counter 'cnt24 240)
+(spawn 20 counter 'cnt25 250)
diff --git a/res/Lisp/Examples/uart.lisp b/res/Lisp/Examples/uart.lisp
index fdbc5317b..e473d5a9f 100644
--- a/res/Lisp/Examples/uart.lisp
+++ b/res/Lisp/Examples/uart.lisp
@@ -1,52 +1,20 @@
 (define uart-buf (array-create type-byte 100))
 
-; As uart-read returns right away when there is nothing to read we create
-; wrappers that try to read bytes until the desired amount of bytes is
-; received. They use yield to give other threads a chance to run.
-
-; Read n bytes into buffer at ofs.
-(define read-bytes (lambda (buffer n ofs)
-    (let 
-        (
-            (rd (uart-read buffer n ofs))
-        )
-        (if (num-eq rd n)
-            (bufset-u8 buffer 0 (+ ofs rd)) ; Null-termination
-            (progn (yield 4000) (read-bytes buffer (- n rd) (+ ofs rd)))
-        )
-    )
-))
-
-; Read at most n bytes into buffer at ofs. Stop reading and return at character end.
-(define read-until (lambda (buffer n ofs end)
-    (let
-        (
-            (rd (uart-read buffer n ofs end))
-        )
-        (if (or (num-eq rd n) (num-eq (bufget-u8 buffer (+ ofs (- rd 1))) end))
-            (bufset-u8 buffer 0 (+ ofs rd))
-            (progn (yield 10000) (read-until buffer (- n rd) (+ ofs rd) end))
-        )
-    )
-))
-
-(define read-thd (lambda ()
+(defun read-thd ()
     (progn
-        (read-until uart-buf 30 0 13) ; 13 is the return key
-;        (read-bytes uart-buf 6 0)
+        (uart-read-until uart-buf 30 0 13) ; 13 is the return key
+;        (uart-read-bytes uart-buf 6 0)
         (print uart-buf)
         (read-thd)
-)))
+))
 
-(define f (lambda ()
+(defun f ()
     (progn
         (uart-write "Test")
         (yield 1000000)
         (f)
-)))
+))
 
 (uart-start 115200)
-(yield 10000)
 (spawn 100 read-thd)
-
 (f)
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 72f01a86e..094bfa595 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -15,5 +15,6 @@
         <file>res/Lisp/Examples/raw_voltage_mod.lisp</file>
         <file>res/Lisp/Examples/balance.lisp</file>
         <file>res/Lisp/Examples/uart.lisp</file>
+        <file>res/Lisp/Examples/threads.lisp</file>
     </qresource>
 </RCC>

From d8611f889369c918f38e52ada49638b1a37d14e4 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 24 Feb 2022 01:22:25 +0100
Subject: [PATCH 036/559] Added i2c example

---
 res/Lisp/Examples/i2c_mpu9250.lisp | 39 +++++++++++++++++
 res/Lisp/Examples/threads.lisp     | 67 ++++++++++++++----------------
 res_lisp.qrc                       |  1 +
 3 files changed, 72 insertions(+), 35 deletions(-)
 create mode 100644 res/Lisp/Examples/i2c_mpu9250.lisp

diff --git a/res/Lisp/Examples/i2c_mpu9250.lisp b/res/Lisp/Examples/i2c_mpu9250.lisp
new file mode 100644
index 000000000..208c5310b
--- /dev/null
+++ b/res/Lisp/Examples/i2c_mpu9250.lisp
@@ -0,0 +1,39 @@
+(i2c-start)
+
+; I2C Address
+(define mpu-addr 0x68)
+
+; MPU9250 registers
+(define reg-pwr-mgmt1 0x6B)
+(define reg-accel-config 0x1C)
+(define reg-gyro-config 0x1B)
+(define reg-accel-xout-h 0x3B)
+
+; Clock source: Gyro X
+(i2c-tx-rx mpu-addr (list reg-pwr-mgmt1 1))
+
+; Accelerometer range: +-16 g
+(i2c-tx-rx mpu-addr (list reg-accel-config (shl 0x03 3)))
+
+; Gyro range: +-2000 deg/s
+(i2c-tx-rx mpu-addr (list reg-gyro-config (shl 0x03 3)))
+
+; Receive buffer for accel and gyro
+(define rx-buf (array-create type-byte 14))
+
+(defun main ()
+    (progn
+        (i2c-tx-rx mpu-addr (list reg-accel-xout-h) rx-buf)
+    
+        (define acc-x (/ (* (bufget-i16 rx-buf 0) 16.0) 32768.0))
+        (define acc-y (/ (* (bufget-i16 rx-buf 2) 16.0) 32768.0))
+        (define acc-z (/ (* (bufget-i16 rx-buf 4) 16.0) 32768.0))
+        
+        (define gyro-x (/ (* (bufget-i16 rx-buf 8) 2000.0) 32768.0))
+        (define gyro-y (/ (* (bufget-i16 rx-buf 10) 2000.0) 32768.0))
+        (define gyro-z (/ (* (bufget-i16 rx-buf 12) 2000.0) 32768.0))
+    
+        (yield 10000)
+        (main)
+))
+(main)
diff --git a/res/Lisp/Examples/threads.lisp b/res/Lisp/Examples/threads.lisp
index 233a7a51e..58e013ea6 100644
--- a/res/Lisp/Examples/threads.lisp
+++ b/res/Lisp/Examples/threads.lisp
@@ -1,37 +1,34 @@
-(define counter (lambda (var rate)
-    (let (
-            (inner-fun (lambda (x)
-                (progn
-                    (setvar var x)
-                    (yield (/ 1000000 rate))
-                    (inner-fun (+ x 1))
-            )))
-        ) (inner-fun 0)
-    )
+(defun counter (var rate start)
+    (progn
+        (setvar var start)
+        (yield (/ 1000000 rate))
+        (counter var rate (+ start 1))
 ))
 
-(spawn 20 counter 'cnt01 10)
-(spawn 20 counter 'cnt02 20)
-(spawn 20 counter 'cnt03 30)
-(spawn 20 counter 'cnt04 40)
-(spawn 20 counter 'cnt05 50)
-(spawn 20 counter 'cnt06 60)
-(spawn 20 counter 'cnt07 70)
-(spawn 20 counter 'cnt08 80)
-(spawn 20 counter 'cnt09 90)
-(spawn 20 counter 'cnt10 100)
-(spawn 20 counter 'cnt11 110)
-(spawn 20 counter 'cnt12 120)
-(spawn 20 counter 'cnt13 130)
-(spawn 20 counter 'cnt14 140)
-(spawn 20 counter 'cnt15 150)
-(spawn 20 counter 'cnt16 160)
-(spawn 20 counter 'cnt17 170)
-(spawn 20 counter 'cnt18 180)
-(spawn 20 counter 'cnt19 190)
-(spawn 20 counter 'cnt20 200)
-(spawn 20 counter 'cnt21 210)
-(spawn 20 counter 'cnt22 220)
-(spawn 20 counter 'cnt23 230)
-(spawn 20 counter 'cnt24 240)
-(spawn 20 counter 'cnt25 250)
+; Start lots of threads where each thread has
+; 20 symbols of stack.
+(spawn 20 counter 'cnt01 10 0)
+(spawn 20 counter 'cnt02 20 0)
+(spawn 20 counter 'cnt03 30 0)
+(spawn 20 counter 'cnt04 40 0)
+(spawn 20 counter 'cnt05 50 0)
+(spawn 20 counter 'cnt06 60 0)
+(spawn 20 counter 'cnt07 70 0)
+(spawn 20 counter 'cnt08 80 0)
+(spawn 20 counter 'cnt09 90 0)
+(spawn 20 counter 'cnt10 100 0)
+(spawn 20 counter 'cnt11 110 0)
+(spawn 20 counter 'cnt12 120 0)
+(spawn 20 counter 'cnt13 130 0)
+(spawn 20 counter 'cnt14 140 0)
+(spawn 20 counter 'cnt15 150 0)
+(spawn 20 counter 'cnt16 160 0)
+(spawn 20 counter 'cnt17 170 0)
+(spawn 20 counter 'cnt18 180 0)
+(spawn 20 counter 'cnt19 190 0)
+(spawn 20 counter 'cnt20 200 0)
+(spawn 20 counter 'cnt21 210 0)
+(spawn 20 counter 'cnt22 220 0)
+(spawn 20 counter 'cnt23 230 0)
+(spawn 20 counter 'cnt24 240 0)
+(spawn 20 counter 'cnt25 250 0)
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 094bfa595..29fb00401 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -16,5 +16,6 @@
         <file>res/Lisp/Examples/balance.lisp</file>
         <file>res/Lisp/Examples/uart.lisp</file>
         <file>res/Lisp/Examples/threads.lisp</file>
+        <file>res/Lisp/Examples/i2c_mpu9250.lisp</file>
     </qresource>
 </RCC>

From c77a17b705556ca773b9a750554ceaaae811c85d Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 28 Feb 2022 14:44:23 +0100
Subject: [PATCH 037/559] Updated max imu rate after adding the rate limit to
 the firmware drivers

---
 res/config/6.00/parameters_appconf.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/res/config/6.00/parameters_appconf.xml b/res/config/6.00/parameters_appconf.xml
index 42c1dcbc6..b8ed9a8b7 100644
--- a/res/config/6.00/parameters_appconf.xml
+++ b/res/config/6.00/parameters_appconf.xml
@@ -3442,7 +3442,7 @@ p, li { white-space: pre-wrap; }
             <cDefine>APPCONF_IMU_SAMPLE_RATE_HZ</cDefine>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
-            <maxInt>1000</maxInt>
+            <maxInt>10000</maxInt>
             <minInt>1</minInt>
             <showDisplay>0</showDisplay>
             <stepInt>10</stepInt>

From 40b8871c4c0dcc181586a7588755840b8ea84228 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 2 Mar 2022 00:50:55 +0100
Subject: [PATCH 038/559] Lisp repl support

---
 commands.cpp       |  8 +++++++
 commands.h         |  1 +
 datatypes.h        |  7 +++++-
 pages/pagelisp.cpp | 13 +++++++++-
 pages/pagelisp.h   |  2 ++
 pages/pagelisp.ui  | 60 ++++++++++++++++++++++++++++++++++++++++------
 6 files changed, 82 insertions(+), 9 deletions(-)

diff --git a/commands.cpp b/commands.cpp
index e3c1e0ff7..9e0d90142 100755
--- a/commands.cpp
+++ b/commands.cpp
@@ -2048,6 +2048,14 @@ void Commands::lispGetStats()
     emitData(vb);
 }
 
+void Commands::lispSendReplCmd(QString str)
+{
+    VByteArray vb;
+    vb.vbAppendUint8(COMM_LISP_REPL_CMD);
+    vb.vbAppendString(str);
+    emitData(vb);
+}
+
 void Commands::setBleName(QString name)
 {
     VByteArray vb;
diff --git a/commands.h b/commands.h
index e2264f3dd..b4f3988d6 100644
--- a/commands.h
+++ b/commands.h
@@ -246,6 +246,7 @@ public slots:
     void lispEraseCode();
     void lispSetRunning(bool running);
     void lispGetStats();
+    void lispSendReplCmd(QString str);
 
     void setBleName(QString name);
     void setBlePin(QString pin);
diff --git a/datatypes.h b/datatypes.h
index ad3166e2c..9f5708f8a 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -950,7 +950,12 @@ typedef enum {
     COMM_LISP_ERASE_CODE,
     COMM_LISP_SET_RUNNING,
     COMM_LISP_GET_STATS,
-    COMM_LISP_PRINT
+    COMM_LISP_PRINT,
+
+    COMM_BMS_SET_BATT_TYPE,
+    COMM_BMS_GET_BATT_TYPE,
+
+    COMM_LISP_REPL_CMD,
 } COMM_PACKET_ID;
 
 // CAN commands
diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index 808797d0f..07c9d5d90 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -49,7 +49,7 @@ PageLisp::PageLisp(QWidget *parent) :
     ui->uploadButton->setIcon(QIcon(theme +"icons/Download-96.png"));
     ui->readExistingButton->setIcon(QIcon(theme +"icons/Upload-96.png"));
     ui->eraseButton->setIcon(QIcon(theme +"icons/Delete-96.png"));
-    ui->rescaleButton->setIcon(QPixmap(theme + "icons/expand_off.png"));
+    ui->replHelpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
 
     QIcon mycon = QIcon(theme + "icons/expand_off.png");
     mycon.addPixmap(QPixmap(theme + "icons/expand_on.png"), QIcon::Normal, QIcon::On);
@@ -798,3 +798,14 @@ void PageLisp::on_helpButton_clicked()
 
     HelpDialog::showHelpMonospace(this, "VESC Tool Script Editor", html.replace(" ","&nbsp;"));
 }
+
+void PageLisp::on_replEdit_returnPressed()
+{
+    mVesc->commands()->lispSendReplCmd(ui->replEdit->text());
+    ui->replEdit->clear();
+}
+
+void PageLisp::on_replHelpButton_clicked()
+{
+    mVesc->commands()->lispSendReplCmd(":help");
+}
diff --git a/pages/pagelisp.h b/pages/pagelisp.h
index abba3ab74..0c324d579 100644
--- a/pages/pagelisp.h
+++ b/pages/pagelisp.h
@@ -54,6 +54,8 @@ private slots:
     void on_eraseButton_clicked();
     void on_rescaleButton_clicked();
     void on_helpButton_clicked();
+    void on_replEdit_returnPressed();
+    void on_replHelpButton_clicked();
 
 private:
     Ui::PageLisp *ui;
diff --git a/pages/pagelisp.ui b/pages/pagelisp.ui
index d61dbb887..3e2bcc097 100644
--- a/pages/pagelisp.ui
+++ b/pages/pagelisp.ui
@@ -317,15 +317,56 @@
        <attribute name="title">
         <string>Console</string>
        </attribute>
-       <layout class="QHBoxLayout" name="horizontalLayout_2">
+       <layout class="QHBoxLayout" name="horizontalLayout_7">
         <item>
-         <widget class="VTextBrowser" name="debugEdit">
-          <property name="font">
-           <font>
-            <family>DejaVu Sans Mono</family>
-           </font>
+         <layout class="QVBoxLayout" name="verticalLayout_8">
+          <property name="spacing">
+           <number>3</number>
           </property>
-         </widget>
+          <item>
+           <widget class="VTextBrowser" name="debugEdit">
+            <property name="font">
+             <font>
+              <family>DejaVu Sans Mono</family>
+             </font>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <layout class="QHBoxLayout" name="horizontalLayout_2">
+            <item>
+             <widget class="QLabel" name="label_5">
+              <property name="text">
+               <string>Repl</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="HistoryLineEdit" name="replEdit"/>
+            </item>
+            <item>
+             <widget class="QPushButton" name="replHelpButton">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="toolTip">
+               <string>Print available commands</string>
+              </property>
+              <property name="text">
+               <string/>
+              </property>
+              <property name="icon">
+               <iconset resource="../res.qrc">
+                <normaloff>:/res/+theme_light/icons/Help-96.png</normaloff>:/res/+theme_light/icons/Help-96.png</iconset>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+         </layout>
         </item>
         <item>
          <layout class="QVBoxLayout" name="verticalLayout_3">
@@ -680,6 +721,11 @@
    <header>widgets/qcustomplot.h</header>
    <container>1</container>
   </customwidget>
+  <customwidget>
+   <class>HistoryLineEdit</class>
+   <extends>QLineEdit</extends>
+   <header>widgets/historylineedit.h</header>
+  </customwidget>
  </customwidgets>
  <resources>
   <include location="../res.qrc"/>

From e4d42c812f5af1c1c8eea737e323ff6474262d69 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 2 Mar 2022 00:56:45 +0100
Subject: [PATCH 039/559] Updated lisp examples

---
 res/Lisp/Examples/balance.lisp             |  2 +-
 res/Lisp/Examples/threads.lisp             |  8 +++++++-
 res/Lisp/Examples/threads_create_many.lisp | 24 ++++++++++++++++++++++
 res_lisp.qrc                               |  1 +
 4 files changed, 33 insertions(+), 2 deletions(-)
 create mode 100644 res/Lisp/Examples/threads_create_many.lisp

diff --git a/res/Lisp/Examples/balance.lisp b/res/Lisp/Examples/balance.lisp
index 3209bcdd1..4311035b2 100644
--- a/res/Lisp/Examples/balance.lisp
+++ b/res/Lisp/Examples/balance.lisp
@@ -28,7 +28,6 @@
 
 (define #pitch-set 0)
 (define #was-running 0)
-(define #t-last (systime))
 
 (define #kp 0.014)
 (define #kd 0.0016)
@@ -74,6 +73,7 @@
 (event-register-handler (spawn event-handler))
 (event-enable "event-data-rx")
 
+(define #t-last (systime))
 (define #it-rate 0)
 (define #it-rate-filter 0)
 (defun #filter (val sample)
diff --git a/res/Lisp/Examples/threads.lisp b/res/Lisp/Examples/threads.lisp
index 58e013ea6..15e7e98ec 100644
--- a/res/Lisp/Examples/threads.lisp
+++ b/res/Lisp/Examples/threads.lisp
@@ -1,6 +1,12 @@
+(define cnt01 0) (define cnt02 0) (define cnt03 0) (define cnt04 0) (define cnt05 0)
+(define cnt06 0) (define cnt07 0) (define cnt08 0) (define cnt09 0) (define cnt10 0)
+(define cnt11 0) (define cnt12 0) (define cnt13 0) (define cnt14 0) (define cnt15 0)
+(define cnt16 0) (define cnt17 0) (define cnt18 0) (define cnt19 0) (define cnt20 0)
+(define cnt21 0) (define cnt22 0) (define cnt23 0) (define cnt24 0) (define cnt25 0)
+
 (defun counter (var rate start)
     (progn
-        (setvar var start)
+        (set! var start)
         (yield (/ 1000000 rate))
         (counter var rate (+ start 1))
 ))
diff --git a/res/Lisp/Examples/threads_create_many.lisp b/res/Lisp/Examples/threads_create_many.lisp
new file mode 100644
index 000000000..ab10e118e
--- /dev/null
+++ b/res/Lisp/Examples/threads_create_many.lisp
@@ -0,0 +1,24 @@
+(define spawncnt 0)
+(define threads-now 0)
+
+(defun downcounter (rate start)
+    (if (= 0 start)
+        (progn
+            (define threads-now (- threads-now 1))
+            1
+        )
+        (progn
+            (yield (/ 1000000 rate))
+            (downcounter rate (- start 1))
+)))
+
+(defun main ()
+    (progn
+        (spawn 20 downcounter 500 15)
+        (define threads-now (+ threads-now 1))
+        (define spawncnt (+ spawncnt 1))
+        (yield 3000)
+        (main)
+))
+
+(main)
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 29fb00401..e076cd458 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -17,5 +17,6 @@
         <file>res/Lisp/Examples/uart.lisp</file>
         <file>res/Lisp/Examples/threads.lisp</file>
         <file>res/Lisp/Examples/i2c_mpu9250.lisp</file>
+        <file>res/Lisp/Examples/threads_create_many.lisp</file>
     </qresource>
 </RCC>

From 943e55e175cf7b4484d285be83112a99b795f260 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 2 Mar 2022 01:00:23 +0100
Subject: [PATCH 040/559] Moved repl help button

---
 pages/pagelisp.ui | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/pages/pagelisp.ui b/pages/pagelisp.ui
index 3e2bcc097..3a607adc5 100644
--- a/pages/pagelisp.ui
+++ b/pages/pagelisp.ui
@@ -334,16 +334,6 @@
           </item>
           <item>
            <layout class="QHBoxLayout" name="horizontalLayout_2">
-            <item>
-             <widget class="QLabel" name="label_5">
-              <property name="text">
-               <string>Repl</string>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <widget class="HistoryLineEdit" name="replEdit"/>
-            </item>
             <item>
              <widget class="QPushButton" name="replHelpButton">
               <property name="sizePolicy">
@@ -364,6 +354,16 @@
               </property>
              </widget>
             </item>
+            <item>
+             <widget class="QLabel" name="label_5">
+              <property name="text">
+               <string>Repl</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="HistoryLineEdit" name="replEdit"/>
+            </item>
            </layout>
           </item>
          </layout>

From 8caefe03c56d4a18ca33f44fb413df9481df7e8a Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 3 Mar 2022 00:17:44 +0100
Subject: [PATCH 041/559] Updated lisp examples

---
 res/Lisp/Examples/balance.lisp         | 10 +++++-----
 res/Lisp/Examples/list_with_lists.lisp | 26 ++++++++++++++++++++++++++
 res/Lisp/Examples/threads.lisp         |  6 ------
 res_lisp.qrc                           |  1 +
 4 files changed, 32 insertions(+), 11 deletions(-)
 create mode 100644 res/Lisp/Examples/list_with_lists.lisp

diff --git a/res/Lisp/Examples/balance.lisp b/res/Lisp/Examples/balance.lisp
index 4311035b2..5cd44addf 100644
--- a/res/Lisp/Examples/balance.lisp
+++ b/res/Lisp/Examples/balance.lisp
@@ -23,7 +23,7 @@
         (progn (select-motor 2) (get-speed))
 )))
 
-(define #yaw-set (* (ix 2 (get-imu-rpy)) 57.29577951308232))
+(define #yaw-set (* (ix (get-imu-rpy) 2) 57.29577951308232))
 (define #pos-set (#pos-x))
 
 (define #pitch-set 0)
@@ -82,10 +82,10 @@
 
 (defun main ()
     (progn
-        (define #pitch (* (ix 1 (get-imu-rpy)) 57.29577951308232))
-        (define #yaw (* (ix 2 (get-imu-rpy)) 57.29577951308232))
-        (define #pitch-rate (ix 1 (get-imu-gyro)))
-        (define #yaw-rate (ix 2 (get-imu-gyro)))
+        (define #pitch (* (ix (get-imu-rpy) 1) 57.29577951308232))
+        (define #yaw (* (ix (get-imu-rpy) 2) 57.29577951308232))
+        (define #pitch-rate (ix (get-imu-gyro) 1))
+        (define #yaw-rate (ix (get-imu-gyro) 2))
         (define #pos (+ (#pos-x) (* #pitch 0.00122))) ; Includes pitch compensation
         (define #speed (#speed-x))
 
diff --git a/res/Lisp/Examples/list_with_lists.lisp b/res/Lisp/Examples/list_with_lists.lisp
new file mode 100644
index 000000000..7343e47cf
--- /dev/null
+++ b/res/Lisp/Examples/list_with_lists.lisp
@@ -0,0 +1,26 @@
+(define name-default "VESC_default.bin")
+(define name-nolim "VESC_no_limits.bin")
+
+(define pkg `(
+            ("46_o_47" . (
+                ("46" . ,name-default)
+                ("46_no_limits" . ,name-nolim)
+                ("46_33k" . "VESC_33k.bin")
+                ("46_0005ohm" . "VESC_0005ohm.bin")
+            ))
+            ("60" . (
+                ("60" . ,name-default)
+                ("60_no_limits" . ,name-nolim)
+            ))
+))
+
+(defun print-fw (index)
+    (let ( (dir (car (ix pkg index)))
+           (fws (cdr (ix pkg index))) )
+        (progn
+            (print (list "Dir:" dir))
+            (map (lambda (x) (print (list "  Target:" (car x) " File:" (cdr x)))) fws)
+            (print " ")
+)))
+
+(map print-fw (iota (- (length pkg) 1)))
diff --git a/res/Lisp/Examples/threads.lisp b/res/Lisp/Examples/threads.lisp
index 15e7e98ec..cb4d3a5a7 100644
--- a/res/Lisp/Examples/threads.lisp
+++ b/res/Lisp/Examples/threads.lisp
@@ -1,9 +1,3 @@
-(define cnt01 0) (define cnt02 0) (define cnt03 0) (define cnt04 0) (define cnt05 0)
-(define cnt06 0) (define cnt07 0) (define cnt08 0) (define cnt09 0) (define cnt10 0)
-(define cnt11 0) (define cnt12 0) (define cnt13 0) (define cnt14 0) (define cnt15 0)
-(define cnt16 0) (define cnt17 0) (define cnt18 0) (define cnt19 0) (define cnt20 0)
-(define cnt21 0) (define cnt22 0) (define cnt23 0) (define cnt24 0) (define cnt25 0)
-
 (defun counter (var rate start)
     (progn
         (set! var start)
diff --git a/res_lisp.qrc b/res_lisp.qrc
index e076cd458..f6eb5eadc 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -18,5 +18,6 @@
         <file>res/Lisp/Examples/threads.lisp</file>
         <file>res/Lisp/Examples/i2c_mpu9250.lisp</file>
         <file>res/Lisp/Examples/threads_create_many.lisp</file>
+        <file>res/Lisp/Examples/list_with_lists.lisp</file>
     </qresource>
 </RCC>

From f1ad75edb5772286bc6a79e908ee1fda1c10d567 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 3 Mar 2022 13:48:52 +0100
Subject: [PATCH 042/559] Updated BMS example

---
 res/Lisp/Examples/print_bms_data.lisp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/res/Lisp/Examples/print_bms_data.lisp b/res/Lisp/Examples/print_bms_data.lisp
index 9149830d1..dca3e1cce 100644
--- a/res/Lisp/Examples/print_bms_data.lisp
+++ b/res/Lisp/Examples/print_bms_data.lisp
@@ -2,8 +2,8 @@
 
 (let ((f (lambda ()
    (progn
-     (define v-cells (map (lambda (c)(get-bms-val "v_cell" c)) (range 0 (- (get-bms-val "cell_num") 1))))
-     (print (list "V Tot  : " (get-bms-val "v_tot")))
+     (define v-cells (map (lambda (c)(get-bms-val 'bms-v-cell c)) (range 0 (- (get-bms-val 'bms-cell-num) 1))))
+     (print (list "V Tot  : " (get-bms-val 'bms-v-tot)))
      (print (list "V Cells: " v-cells))
      (print (list "foldl  : " (foldl + 0 v-cells)))
      (print (list "ADCs   : " (map (lambda (c)(get-adc c)) (iota 1))))

From 302f4341678a7bd3f26cd749c53d439c5c10f29a Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 6 Mar 2022 00:58:58 +0100
Subject: [PATCH 043/559] Updates to work with new build system

---
 android/AndroidManifest.xml               |  95 ----------------------
 build_cp_fw                               |  17 ++--
 res/firmwares/A200S_V21/VESC_default.bin  | Bin 393208 -> 0 bytes
 res/firmwares/A200S_V22/VESC_default.bin  | Bin 393208 -> 0 bytes
 res/firmwares/A200S_v2.1/VESC_default.bin | Bin 0 -> 524280 bytes
 res/firmwares/A200S_v2.2/VESC_default.bin | Bin 0 -> 524280 bytes
 res/firmwares/res_fw.qrc                  |  72 ++++++++++++++++
 res_fw.qrc                                |  62 --------------
 vesc_tool.pro                             |   4 +-
 9 files changed, 86 insertions(+), 164 deletions(-)
 delete mode 100644 android/AndroidManifest.xml
 delete mode 100755 res/firmwares/A200S_V21/VESC_default.bin
 delete mode 100755 res/firmwares/A200S_V22/VESC_default.bin
 create mode 100755 res/firmwares/A200S_v2.1/VESC_default.bin
 create mode 100755 res/firmwares/A200S_v2.2/VESC_default.bin
 create mode 100644 res/firmwares/res_fw.qrc
 delete mode 100644 res_fw.qrc

diff --git a/android/AndroidManifest.xml b/android/AndroidManifest.xml
deleted file mode 100644
index 2cb0a75e0..000000000
--- a/android/AndroidManifest.xml
+++ /dev/null
@@ -1,95 +0,0 @@
-<?xml version="1.0"?>
-<manifest package="vedder.vesctool" xmlns:android="http://schemas.android.com/apk/res/android" android:versionName="3.01" android:versionCode="95" android:installLocation="auto">
-    <application android:hardwareAccelerated="true" android:name="org.qtproject.qt5.android.bindings.QtApplication" android:label="VESC Tool" android:icon="@drawable/icon" android:requestLegacyExternalStorage="true">
-        <activity android:configChanges="orientation|uiMode|screenLayout|screenSize|smallestScreenSize|layoutDirection|locale|fontScale|keyboard|keyboardHidden|navigation" android:name="org.qtproject.qt5.android.bindings.QtActivity" android:label="VESC Tool" android:screenOrientation="unspecified" android:launchMode="singleTop">
-            <intent-filter>
-                <action android:name="android.intent.action.MAIN"/>
-                <category android:name="android.intent.category.LAUNCHER"/>
-            </intent-filter>
-
-            <!-- Application arguments -->
-            <!-- meta-data android:name="android.app.arguments" android:value="arg1 arg2 arg3"/ -->
-            <!-- Application arguments -->
-
-            <meta-data android:name="android.app.lib_name" android:value="vesc_tool"/>
-            <meta-data android:name="android.app.qt_sources_resource_id" android:resource="@array/qt_sources"/>
-            <meta-data android:name="android.app.repository" android:value="default"/>
-            <meta-data android:name="android.app.qt_libs_resource_id" android:resource="@array/qt_libs"/>
-            <meta-data android:name="android.app.bundled_libs_resource_id" android:resource="@array/bundled_libs"/>
-            <!-- Deploy Qt libs as part of package -->
-            <meta-data android:name="android.app.bundle_local_qt_libs" android:value="-- %%BUNDLE_LOCAL_QT_LIBS%% --"/>
-            <meta-data android:name="android.app.bundled_in_lib_resource_id" android:resource="@array/bundled_in_lib"/>
-            <meta-data android:name="android.app.bundled_in_assets_resource_id" android:resource="@array/bundled_in_assets"/>
-            <!-- Run with local libs -->
-            <meta-data android:name="android.app.use_local_qt_libs" android:value="-- %%USE_LOCAL_QT_LIBS%% --"/>
-            <meta-data android:name="android.app.libs_prefix" android:value="/data/local/tmp/qt/"/>
-            <meta-data android:name="android.app.load_local_libs" android:value="-- %%INSERT_LOCAL_LIBS%% --"/>
-            <meta-data android:name="android.app.load_local_jars" android:value="-- %%INSERT_LOCAL_JARS%% --"/>
-            <meta-data android:name="android.app.static_init_classes" android:value="-- %%INSERT_INIT_CLASSES%% --"/>
-            <!--  Messages maps -->
-            <meta-data android:value="@string/ministro_not_found_msg" android:name="android.app.ministro_not_found_msg"/>
-            <meta-data android:value="@string/ministro_needed_msg" android:name="android.app.ministro_needed_msg"/>
-            <meta-data android:value="@string/fatal_error_msg" android:name="android.app.fatal_error_msg"/>
-            <!--  Messages maps -->
-
-            <!-- Splash screen -->
-            <!-- meta-data android:name="android.app.splash_screen_drawable" android:resource="@drawable/logo"/ -->
-            <!-- meta-data android:name="android.app.splash_screen_sticky" android:value="true"/ -->
-            <!-- Splash screen -->
-
-            <!-- Background running -->
-            <!-- Warning: changing this value to true may cause unexpected crashes if the
-                          application still try to draw after
-                          "applicationStateChanged(Qt::ApplicationSuspended)"
-                          signal is sent! -->
-            <meta-data android:name="android.app.background_running" android:value="true"/>
-            <!-- Background running -->
-
-            <!-- auto screen scale factor -->
-            <meta-data android:name="android.app.auto_screen_scale_factor" android:value="false"/>
-            <!-- auto screen scale factor -->
-
-            <!-- extract android style -->
-            <!-- available android:values :
-                * full - useful QWidget & Quick Controls 1 apps
-                * minimal - useful for Quick Controls 2 apps, it is much faster than "full"
-                * none - useful for apps that do not use any of the above Qt modules
-                -->
-            <meta-data android:name="android.app.extract_android_style" android:value="full"/>
-            <!-- extract android style -->
-            <meta-data android:name="android.app.splash_screen_drawable" android:resource="@drawable/splashscreen"/>
-            <meta-data android:name="android.app.splash_screen_drawable_portrait" android:resource="@drawable/splashscreen_port"/>
-            <meta-data android:name="android.app.splash_screen_drawable_landscape" android:resource="@drawable/splashscreen_land"/>
-    </activity>
-    
-    <service
-            android:name="com.vedder.vesc.VForegroundService"
-            android:enabled="true"
-            android:exported="true" />
-
-    <!-- For adding service(s) please check: https://wiki.qt.io/AndroidServices -->
-
-    </application>
-
-    <uses-sdk android:minSdkVersion="23" android:targetSdkVersion="29"/>
-    <supports-screens android:largeScreens="true" android:normalScreens="true" android:anyDensity="true" android:smallScreens="true"/>
-
-    <!-- The following comment will be replaced upon deployment with default permissions based on the dependencies of the application.
-         Remove the comment if you do not require these default permissions. -->
-    <!-- %%INSERT_PERMISSIONS -->
-
-    <!-- The following comment will be replaced upon deployment with default features based on the dependencies of the application.
-         Remove the comment if you do not require these default features. -->
-    <!-- %%INSERT_FEATURES -->
-
-    <uses-permission android:name="android.permission.BLUETOOTH"/>
-    <uses-permission android:name="android.permission.SET_ORIENTATION"/>
-    <uses-permission android:name="android.permission.VIBRATE"/>
-    <uses-permission android:name="android.permission.READ_EXTERNAL_STORAGE"/>
-    <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE"/>
-    <uses-permission android:name="android.permission.WAKE_LOCK"/>
-    <uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION" />
-    <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />
-    <uses-permission android:name="android.permission.ACCESS_BACKGROUND_LOCATION" />
-    <uses-permission android:name="android.permission.FOREGROUND_SERVICE" />
-</manifest>
diff --git a/build_cp_fw b/build_cp_fw
index 464ac5573..6d0d02ba7 100755
--- a/build_cp_fw
+++ b/build_cp_fw
@@ -2,14 +2,21 @@
 
 set -e
 
-FWPATH="../../ARM/STM_Eclipse/BLDC_4_ChibiOS/build_all"
+FWPATH="../../ARM/STM_Eclipse/BLDC_4_ChibiOS/"
 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 
+rm -rf $FWPATH/package/*
+
 cd $FWPATH
-./rebuild_all
+make all_fw_clean
+time make all_fw -j24
+python3 package_firmware.py
+make all_fw_clean
+
 cd $DIR
 rm -r res/firmwares/*
-cp -r $FWPATH/* res/firmwares/
-find res/firmwares -maxdepth 1 -type f -exec rm {} \;
-cp $FWPATH/../CHANGELOG res/firmwares
+cp -r $FWPATH/package/* res/firmwares/
+cp $FWPATH/CHANGELOG res/firmwares
+
+rm -r $FWPATH/package/*
 
diff --git a/res/firmwares/A200S_V21/VESC_default.bin b/res/firmwares/A200S_V21/VESC_default.bin
deleted file mode 100755
index c7dfea3a276fcb3e66d015f659e5c6382669ee8a..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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diff --git a/res/firmwares/A200S_v2.2/VESC_default.bin b/res/firmwares/A200S_v2.2/VESC_default.bin
new file mode 100755
index 0000000000000000000000000000000000000000..f5b4d785040a1e05a9df1bd8bad0ac116a523852
GIT binary patch
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diff --git a/res/firmwares/res_fw.qrc b/res/firmwares/res_fw.qrc
new file mode 100644
index 000000000..e44f64d95
--- /dev/null
+++ b/res/firmwares/res_fw.qrc
@@ -0,0 +1,72 @@
+
+<RCC>
+   <qresource prefix="/res/firmwares/">
+        <file>46_o_47/VESC_default.bin</file>
+        <file>46_o_47/VESC_33k.bin</file>
+        <file>46_o_47/VESC_0005ohm.bin</file>
+        <file>48/VESC_default.bin</file>
+        <file>410_o_411_o_412/VESC_default.bin</file>
+        <file>410_o_411_o_412/VESC_default_no_hw_limits.bin</file>
+        <file>410_o_411_o_412/VESC_0005ohm.bin</file>
+        <file>60/VESC_default.bin</file>
+        <file>60/VESC_default_no_hw_limits.bin</file>
+        <file>60_MK3/VESC_default.bin</file>
+        <file>60_MK3/VESC_default_no_hw_limits.bin</file>
+        <file>60_MK4/VESC_default.bin</file>
+        <file>60_MK4/VESC_default_no_hw_limits.bin</file>
+        <file>60_MK5/VESC_default.bin</file>
+        <file>60_MK5/VESC_default_no_hw_limits.bin</file>
+        <file>DAS_RS/VESC_default.bin</file>
+        <file>75_300/VESC_default.bin</file>
+        <file>75_300/VESC_default_no_hw_limits.bin</file>
+        <file>75_300_R2/VESC_default.bin</file>
+        <file>75_300_R2/VESC_default_no_hw_limits.bin</file>
+        <file>75_300_R3/VESC_default.bin</file>
+        <file>75_300_R3/VESC_default_no_hw_limits.bin</file>
+        <file>AXIOM/VESC_default.bin</file>
+        <file>UAVC_OMEGA/VESC_default.bin</file>
+        <file>HD60/VESC_default.bin</file>
+        <file>HD60/VESC_default_no_hw_limits.bin</file>
+        <file>HD75/VESC_default.bin</file>
+        <file>HD75/VESC_default_no_hw_limits.bin</file>
+        <file>A50S_6S/VESC_default.bin</file>
+        <file>A50S_12S/VESC_default.bin</file>
+        <file>A200S_v2.1/VESC_default.bin</file>
+        <file>A200S_v2.2/VESC_default.bin</file>
+        <file>100_250/VESC_default.bin</file>
+        <file>100_250/VESC_default_no_hw_limits.bin</file>
+        <file>LUNA_BBSHD/VESC_default.bin</file>
+        <file>UNITY/VESC_default.bin</file>
+        <file>UNITY/VESC_default_no_hw_limits.bin</file>
+        <file>Cheap_FOCer_2/VESC_default.bin</file>
+        <file>STORMCORE_60D/VESC_default.bin</file>
+        <file>STORMCORE_60D/VESC_default_no_hw_limits.bin</file>
+        <file>STORMCORE_60Dxs/VESC_default.bin</file>
+        <file>STORMCORE_60Dxs/VESC_default_no_hw_limits.bin</file>
+        <file>STORMCORE_60D+/VESC_default.bin</file>
+        <file>STORMCORE_60D+/VESC_default_no_hw_limits.bin</file>
+        <file>STORMCORE_100D/VESC_default.bin</file>
+        <file>STORMCORE_100D/VESC_default_no_hw_limits.bin</file>
+        <file>STORMCORE_100D_V2/VESC_default.bin</file>
+        <file>STORMCORE_100D_V2/VESC_default_no_hw_limits.bin</file>
+        <file>STORMCORE_100DX/VESC_default.bin</file>
+        <file>STORMCORE_100DX/VESC_default_no_hw_limits.bin</file>
+        <file>STORMCORE_100S/VESC_default.bin</file>
+        <file>STORMCORE_100S/VESC_default_no_hw_limits.bin</file>
+        <file>Little_FOCer/VESC_default.bin</file>
+        <file>Little_FOCer/VESC_default_no_hw_limits.bin</file>
+        <file>UXV_SR/VESC_default.bin</file>
+        <file>GESC/VESC_default.bin</file>
+        <file>Warrior6/VESC_default.bin</file>
+        <file>Raiden7/VESC_default.bin</file>
+        <file>UBOX_SINGLE/VESC_default.bin</file>
+        <file>100_500/VESC_default.bin</file>
+        <file>100_500/VESC_default_no_hw_limits.bin</file>
+        <file>75_600/VESC_default.bin</file>
+        <file>75_600/VESC_default_no_hw_limits.bin</file>
+        <file>60v2_alva/VESC_default.bin</file>
+        <file>60_75/VESC_default.bin</file>
+        <file>60_75/VESC_default_no_hw_limits.bin</file>
+   </qresource>
+</RCC>
+
diff --git a/res_fw.qrc b/res_fw.qrc
deleted file mode 100644
index 1454562d0..000000000
--- a/res_fw.qrc
+++ /dev/null
@@ -1,62 +0,0 @@
-<RCC>
-    <qresource prefix="/">
-        <file>res/firmwares/46_o_47/VESC_0005ohm.bin</file>
-        <file>res/firmwares/46_o_47/VESC_33k.bin</file>
-        <file>res/firmwares/46_o_47/VESC_default.bin</file>
-        <file>res/firmwares/48/VESC_default.bin</file>
-        <file>res/firmwares/60/VESC_default.bin</file>
-        <file>res/firmwares/60/VESC_default_no_hw_limits.bin</file>
-        <file>res/firmwares/410_o_411_o_412/VESC_0005ohm.bin</file>
-        <file>res/firmwares/410_o_411_o_412/VESC_default.bin</file>
-        <file>res/firmwares/410_o_411_o_412/VESC_default_no_hw_limits.bin</file>
-        <file>res/firmwares/75_300/VESC_default.bin</file>
-        <file>res/firmwares/75_300/VESC_default_no_hw_limits.bin</file>
-        <file>res/firmwares/75_300_R2/VESC_default_no_hw_limits.bin</file>
-        <file>res/firmwares/75_300_R2/VESC_default.bin</file>
-        <file>res/firmwares/UAVC_OMEGA/VESC_default.bin</file>
-        <file>res/firmwares/HD60/VESC_default.bin</file>
-        <file>res/firmwares/HD60/VESC_default_no_hw_limits.bin</file>
-        <file>res/firmwares/60_MK3/VESC_default.bin</file>
-        <file>res/firmwares/60_MK3/VESC_default_no_hw_limits.bin</file>
-        <file>res/firmwares/100_250/VESC_default.bin</file>
-        <file>res/firmwares/100_250/VESC_default_no_hw_limits.bin</file>
-        <file>res/firmwares/UNITY/VESC_default.bin</file>
-        <file>res/firmwares/UNITY/VESC_default_no_hw_limits.bin</file>
-        <file>res/firmwares/STORMCORE_60D/VESC_default.bin</file>
-        <file>res/firmwares/STORMCORE_60D/VESC_default_no_hw_limits.bin</file>
-        <file>res/firmwares/STORMCORE_100D/VESC_default.bin</file>
-        <file>res/firmwares/STORMCORE_100D/VESC_default_no_hw_limits.bin</file>
-        <file>res/firmwares/STORMCORE_100S/VESC_default.bin</file>
-        <file>res/firmwares/STORMCORE_100S/VESC_default_no_hw_limits.bin</file>
-        <file>res/firmwares/60_MK4/VESC_default.bin</file>
-        <file>res/firmwares/60_MK4/VESC_default_no_hw_limits.bin</file>
-        <file>res/firmwares/75_300_R3/VESC_default.bin</file>
-        <file>res/firmwares/75_300_R3/VESC_default_no_hw_limits.bin</file>
-        <file>res/firmwares/HD75/VESC_default.bin</file>
-        <file>res/firmwares/HD75/VESC_default_no_hw_limits.bin</file>
-        <file>res/firmwares/60_MK5/VESC_default.bin</file>
-        <file>res/firmwares/60_MK5/VESC_default_no_hw_limits.bin</file>
-        <file>res/firmwares/STORMCORE_60D+/VESC_default.bin</file>
-        <file>res/firmwares/STORMCORE_60D+/VESC_default_no_hw_limits.bin</file>
-        <file>res/firmwares/Cheap_FOCer_2/VESC_default.bin</file>
-        <file>res/firmwares/Little_FOCer/VESC_default.bin</file>
-        <file>res/firmwares/Little_FOCer/VESC_default_no_hw_limits.bin</file>
-        <file>res/firmwares/UXV_SR/VESC_default.bin</file>
-        <file>res/firmwares/STORMCORE_100D_V2/VESC_default.bin</file>
-        <file>res/firmwares/STORMCORE_100D_V2/VESC_default_no_hw_limits.bin</file>
-        <file>res/firmwares/Warrior6/VESC_default.bin</file>
-        <file>res/firmwares/Raiden7/VESC_default.bin</file>
-        <file>res/firmwares/UBOX_SINGLE/VESC_default.bin</file>
-        <file>res/firmwares/100_500/VESC_default.bin</file>
-        <file>res/firmwares/100_500/VESC_default_no_hw_limits.bin</file>
-        <file>res/firmwares/STORMCORE_60Dxs/VESC_default.bin</file>
-        <file>res/firmwares/STORMCORE_60Dxs/VESC_default_no_hw_limits.bin</file>
-        <file>res/firmwares/STORMCORE_100DX/VESC_default.bin</file>
-        <file>res/firmwares/STORMCORE_100DX/VESC_default_no_hw_limits.bin</file>
-        <file>res/firmwares/60v2_alva/VESC_default.bin</file>
-        <file>res/firmwares/60_75/VESC_default.bin</file>
-        <file>res/firmwares/60_75/VESC_default_no_hw_limits.bin</file>
-        <file>res/firmwares/75_600/VESC_default.bin</file>
-        <file>res/firmwares/75_600/VESC_default_no_hw_limits.bin</file>
-    </qresource>
-</RCC>
diff --git a/vesc_tool.pro b/vesc_tool.pro
index 17944d41b..786cff201 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -10,7 +10,7 @@ VT_INTRO_VERSION = 1
 VT_CONFIG_VERSION = 2
 
 # Set to 0 for stable versions and to test version number for development versions.
-VT_IS_TEST_VERSION = 3
+VT_IS_TEST_VERSION = 4
 
 VT_ANDROID_VERSION_ARMV7 = 108
 VT_ANDROID_VERSION_ARM64 = 109
@@ -250,7 +250,7 @@ include(QCodeEditor/qcodeeditor.pri)
 
 RESOURCES += res.qrc \
     res_fw_bms.qrc \
-    res_fw.qrc \
+    res/firmwares/res_fw.qrc \
     res_lisp.qrc \
     res_qml.qrc
 RESOURCES += res_config.qrc

From 4ef8598dca3cfb014520ebb64efcbdde7f61508e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 6 Mar 2022 01:30:32 +0100
Subject: [PATCH 044/559] Automatically add swdprog firmwares

---
 pages/pageswdprog.cpp | 62 +++++++++----------------------------------
 1 file changed, 13 insertions(+), 49 deletions(-)

diff --git a/pages/pageswdprog.cpp b/pages/pageswdprog.cpp
index 59a1b6a63..ce816e991 100644
--- a/pages/pageswdprog.cpp
+++ b/pages/pageswdprog.cpp
@@ -503,55 +503,19 @@ void PageSwdProg::bmConnRes(int res)
     }
 
     switch (res) {
-    case 1:
-        // TODO: This can be auto-generated by parsing the file names.
-        addSwdFw("VESC 4.6 & 4.7", "://res/firmwares/46_o_47/VESC_default.bin",
-                 0, "://res/bootloaders/40_o_47_o_48_o_410_o_411_o_412_o_DAS_RS.bin");
-        addSwdFw("VESC 4.8", "://res/firmwares/48/VESC_default.bin",
-                 0, "://res/bootloaders/40_o_47_o_48_o_410_o_411_o_412_o_DAS_RS.bin");
-        addSwdFw("VESC 4.10 - 4.12", "://res/firmwares/410_o_411_o_412/VESC_default.bin",
-                 0, "://res/bootloaders/40_o_47_o_48_o_410_o_411_o_412_o_DAS_RS.bin");
-        addSwdFw("VESC SIX", "://res/firmwares/60/VESC_default.bin",
-                 0, "://res/bootloaders/60_o_75_300_o_HD60_o_UAVC_OMEGA_o_75_300_R2_o_60_MK3_o_100_250_o_75_300_R3_o_60_MK4_o_60_MK5_o_HD75.bin");
-        addSwdFw("VESC 75/300 R1", "://res/firmwares/75_300/VESC_default.bin",
-                 0, "://res/bootloaders/60_o_75_300_o_HD60_o_UAVC_OMEGA_o_75_300_R2_o_60_MK3_o_100_250_o_75_300_R3_o_60_MK4_o_60_MK5_o_HD75.bin");
-        addSwdFw("VESC 75/300 R2", "://res/firmwares/75_300_R2/VESC_default.bin",
-                 0, "://res/bootloaders/60_o_75_300_o_HD60_o_UAVC_OMEGA_o_75_300_R2_o_60_MK3_o_100_250_o_75_300_R3_o_60_MK4_o_60_MK5_o_HD75.bin");
-        addSwdFw("VESC 75/300 R3", "://res/firmwares/75_300_R3/VESC_default.bin",
-                 0, "://res/bootloaders/60_o_75_300_o_HD60_o_UAVC_OMEGA_o_75_300_R2_o_60_MK3_o_100_250_o_75_300_R3_o_60_MK4_o_60_MK5_o_HD75.bin");
-        addSwdFw("VESC HD60", "://res/firmwares/HD60/VESC_default.bin",
-                 0, "://res/bootloaders/60_o_75_300_o_HD60_o_UAVC_OMEGA_o_75_300_R2_o_60_MK3_o_100_250_o_75_300_R3_o_60_MK4_o_60_MK5_o_HD75.bin");
-        addSwdFw("VESC HD75", "://res/firmwares/HD75/VESC_default.bin",
-                 0, "://res/bootloaders/60_o_75_300_o_HD60_o_UAVC_OMEGA_o_75_300_R2_o_60_MK3_o_100_250_o_75_300_R3_o_60_MK4_o_60_MK5_o_HD75.bin");
-        addSwdFw("VESC SIX MK3", "://res/firmwares/60_MK3/VESC_default.bin",
-                 0, "://res/bootloaders/60_o_75_300_o_HD60_o_UAVC_OMEGA_o_75_300_R2_o_60_MK3_o_100_250_o_75_300_R3_o_60_MK4_o_60_MK5_o_HD75.bin");
-        addSwdFw("VESC SIX MK4", "://res/firmwares/60_MK4/VESC_default.bin",
-                 0, "://res/bootloaders/60_o_75_300_o_HD60_o_UAVC_OMEGA_o_75_300_R2_o_60_MK3_o_100_250_o_75_300_R3_o_60_MK4_o_60_MK5_o_HD75.bin");
-        addSwdFw("VESC 100/250", "://res/firmwares/100_250/VESC_default.bin",
-                 0, "://res/bootloaders/60_o_75_300_o_HD60_o_UAVC_OMEGA_o_75_300_R2_o_60_MK3_o_100_250_o_75_300_R3_o_60_MK4_o_60_MK5_o_HD75.bin");
-        addSwdFw("FOCBOX UNITY", "://res/firmwares/UNITY/VESC_default.bin",
-                 0, ":/res/bootloaders/generic.bin");
-        addSwdFw("STORMCORE 60D", ":/res/firmwares/STORMCORE_60D/VESC_default.bin",
-                 0, ":/res/bootloaders/generic.bin");
-        addSwdFw("STORMCORE 100D", ":/res/firmwares/STORMCORE_100D/VESC_default.bin",
-                 0, ":/res/bootloaders/generic.bin");
-        addSwdFw("STORMCORE 100S", ":/res/firmwares/STORMCORE_100S/VESC_default.bin",
-                 0, ":/res/bootloaders/generic.bin");
-        addSwdFw("UXV SR", ":/res/firmwares/UXV_SR/VESC_default.bin",
-                 0, ":/res/bootloaders/generic.bin");
-        addSwdFw("VESC 100/500", "://res/firmwares/100_500/VESC_default.bin",
-                 0, "://res/bootloaders/60_o_75_300_o_HD60_o_UAVC_OMEGA_o_75_300_R2_o_60_MK3_o_100_250_o_75_300_R3_o_60_MK4_o_60_MK5_o_HD75.bin");
-        addSwdFw("VESC 75/600", "://res/firmwares/75_600/VESC_default.bin",
-                 0, "://res/bootloaders/60_o_75_300_o_HD60_o_UAVC_OMEGA_o_75_300_R2_o_60_MK3_o_100_250_o_75_300_R3_o_60_MK4_o_60_MK5_o_HD75.bin");
-        addSwdFw("STORMCORE 60Dxs", ":/res/firmwares/STORMCORE_60Dxs/VESC_default.bin",
-                 0, ":/res/bootloaders/generic.bin");
-        addSwdFw("STORMCORE 100DX", ":/res/firmwares/STORMCORE_100Dx/VESC_default.bin",
-                 0, ":/res/bootloaders/generic.bin");
-        addSwdFw("VESC 60v2 Alva", ":/res/firmwares/60v2_alva/VESC_default.bin",
-                 0, ":/res/bootloaders/generic.bin");
-        addSwdFw("VESC 60 75V", ":/res/firmwares/60_75/VESC_default.bin",
-                 0, ":/res/bootloaders/generic.bin");
-        break;
+    case 1: {
+        QDir dir("://res/firmwares");
+        dir.setSorting(QDir::Name);
+        for (auto fi: dir.entryInfoList()) {
+            QFileInfo fiDefault(fi.absoluteFilePath() + "/VESC_default.bin");
+
+            if (fiDefault.exists()) {
+                addSwdFw(fi.fileName().replace("_o_", " & "),
+                         fiDefault.absoluteFilePath(),
+                         0, ":/res/bootloaders/generic.bin");
+            }
+        }
+    } break;
 
     case 2:
     case 3:

From a4fee38b265eca560278f701bfa650bf4e547490 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 6 Mar 2022 12:06:43 +0100
Subject: [PATCH 045/559] Updated lisp help text

---
 main.cpp           |  2 ++
 pages/pagelisp.cpp | 12 +++++++++---
 2 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/main.cpp b/main.cpp
index dbcd9857e..be9d22524 100755
--- a/main.cpp
+++ b/main.cpp
@@ -439,6 +439,8 @@ int main(int argc, char *argv[])
             darkPalette.setColor(QPalette::Inactive,QPalette::Highlight,Utility::getAppQColor("midAccent"));
             darkPalette.setColor(QPalette::Active,QPalette::Highlight,Utility::getAppQColor("darkAccent"));
             darkPalette.setColor(QPalette::Disabled,QPalette::HighlightedText,Utility::getAppQColor("disabledText"));
+            darkPalette.setColor(QPalette::Link, QColor(150,150,255));
+            darkPalette.setColor(QPalette::LinkVisited, QColor(220,150,255));
             qApp->setPalette(darkPalette);
         } else {
             QPalette lightPalette = qApp->style()->standardPalette();
diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index 07c9d5d90..14db7729b 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -783,8 +783,14 @@ void PageLisp::on_rescaleButton_clicked()
 
 void PageLisp::on_helpButton_clicked()
 {
-    QString html = "<b>VESC Lisp Editor</b>. For documentation, go to<br>"
-                   "https://github.com/vedderb/bldc/blob/master/lispBM/README.md<br><br>"
+    QString html = "<b>VESC Lisp Editor</b><br><br>"
+                   ""
+                   "For documentation, go to<br>"
+                   "<a href=\"https://github.com/vedderb/bldc/blob/master/lispBM/README.md\">https://github.com/vedderb/bldc/blob/master/lispBM/README.md</a><br><br>"
+                   ""
+                   "You can also join the unofficial VESC Discord server and ask questions "
+                   "in the lisp-scripting chat at<br>"
+                   "<a href=\"https://discord.gg/JgvV5NwYts\">https://discord.gg/JgvV5NwYts</a><br><br>"
                    "<b>Keyboard Commands</b><br>"
                    "Ctrl + '+'   : Increase font size<br>"
                    "Ctrl + '-'   : Decrease font size<br>"
@@ -796,7 +802,7 @@ void PageLisp::on_helpButton_clicked()
                    "Ctrl + 'd'   : Clear console<br>"
                    "Ctrl + 's'   : Save file<br>";
 
-    HelpDialog::showHelpMonospace(this, "VESC Tool Script Editor", html.replace(" ","&nbsp;"));
+    HelpDialog::showHelpMonospace(this, "VESC Tool Script Editor", html);
 }
 
 void PageLisp::on_replEdit_returnPressed()

From f899e8f624c54b9c8002e4051428801f18a82d11 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 7 Mar 2022 19:30:16 +0100
Subject: [PATCH 046/559] Updated lisp examples

---
 res/Lisp/Examples/balance.lisp      | 10 +++++-----
 res/Lisp/Examples/gc_time_test.lisp | 20 ++++++++++++++++++++
 res_lisp.qrc                        |  1 +
 3 files changed, 26 insertions(+), 5 deletions(-)
 create mode 100644 res/Lisp/Examples/gc_time_test.lisp

diff --git a/res/Lisp/Examples/balance.lisp b/res/Lisp/Examples/balance.lisp
index 5cd44addf..29a4db748 100644
--- a/res/Lisp/Examples/balance.lisp
+++ b/res/Lisp/Examples/balance.lisp
@@ -47,13 +47,13 @@
         (define #enable-pos (bufget-u8 data 4))
         (define #enable-yaw (bufget-u8 data 5))
         
-        (if (= #enable-pos 1)
+        (if (num-eq #enable-pos 1)
             (progn
                 (define #pos-set (+ #pos-set (* (bufget-u8 data 0) 0.002)))
                 (define #pos-set (- #pos-set (* (bufget-u8 data 1) 0.002)))
         ) nil)
         
-        (if (= #enable-yaw 1)
+        (if (num-eq #enable-yaw 1)
             (progn
                 (define #yaw-set (- #yaw-set (* (bufget-u8 data 2) 0.5)))
                 (define #yaw-set (+ #yaw-set (* (bufget-u8 data 3) 0.5)))
@@ -94,12 +94,12 @@
         (define #t-last (systime))
         (define #it-rate-filter (#filter #it-rate-filter #it-rate))
                 
-        (if (< (#abs #pitch) (if (= #was-running 1) 45 10))
+        (if (< (#abs #pitch) (if (num-eq #was-running 1) 45 10))
             (progn
                 (define #was-running 1)
                 
-                (if (= #enable-pos 0) (define #pos-set #pos) nil)
-                (if (= #enable-yaw 0) (define #yaw-set #yaw) nil)
+                (if (num-eq #enable-pos 0) (define #pos-set #pos) nil)
+                (if (num-eq #enable-yaw 0) (define #yaw-set #yaw) nil)
                 
                 (define #pos-err (- #pos-set #pos))
                 (define #pitch-set (+ (* #pos-err #p-kp) (* #speed #p-kd)))
diff --git a/res/Lisp/Examples/gc_time_test.lisp b/res/Lisp/Examples/gc_time_test.lisp
new file mode 100644
index 000000000..e259b95cb
--- /dev/null
+++ b/res/Lisp/Examples/gc_time_test.lisp
@@ -0,0 +1,20 @@
+;(define a1 0) (define a2 0) (define a3 0) (define a4 0) (define a5 0)
+;(define a6 0) (define a7 0) (define a8 0) (define a9 0) (define a10 0)
+;(define b1 0) (define b2 0) (define b3 0) (define b4 0) (define b5 0)
+;(define b6 0) (define b7 0) (define b8 0) (define b9 0) (define b10 0)
+;(define c1 0) (define c2 0) (define c3 0) (define c4 0) (define c5 0)
+;(define c6 0) (define c7 0) (define c8 0) (define c9 0) (define c10 0)
+
+(defun repeat (f times)
+    (if (<= times 1)
+        (f)
+        (progn (f) (repeat f (- times 1)))
+))
+
+(defun run-gc ()
+    (progn
+        (define start (systime))
+        (repeat 'gc 25)
+        (define res (secs-since start))
+        (print (list "GC-time (ms):" (* (/ res 25) 1000)))
+))
diff --git a/res_lisp.qrc b/res_lisp.qrc
index f6eb5eadc..931a30d63 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -19,5 +19,6 @@
         <file>res/Lisp/Examples/i2c_mpu9250.lisp</file>
         <file>res/Lisp/Examples/threads_create_many.lisp</file>
         <file>res/Lisp/Examples/list_with_lists.lisp</file>
+        <file>res/Lisp/Examples/gc_time_test.lisp</file>
     </qresource>
 </RCC>

From 654bcbe871c7061dc7000a7e4700473e96e92f4f Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 7 Mar 2022 21:00:26 +0100
Subject: [PATCH 047/559] Added HW410 5mOhm FW

---
 res/firmwares/410_o_411_o_412/VESC_005ohm.bin | Bin 0 -> 524280 bytes
 res/firmwares/res_fw.qrc                      |   1 +
 2 files changed, 1 insertion(+)
 create mode 100755 res/firmwares/410_o_411_o_412/VESC_005ohm.bin

diff --git a/res/firmwares/410_o_411_o_412/VESC_005ohm.bin b/res/firmwares/410_o_411_o_412/VESC_005ohm.bin
new file mode 100755
index 0000000000000000000000000000000000000000..563ebdb392c2db65a724730af98789f63b29034f
GIT binary patch
literal 524280
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X0uh0TKtv!S5D|z7{Ous{mVf>qNKc(X

literal 0
HcmV?d00001

diff --git a/res/firmwares/res_fw.qrc b/res/firmwares/res_fw.qrc
index e44f64d95..687b27212 100644
--- a/res/firmwares/res_fw.qrc
+++ b/res/firmwares/res_fw.qrc
@@ -8,6 +8,7 @@
         <file>410_o_411_o_412/VESC_default.bin</file>
         <file>410_o_411_o_412/VESC_default_no_hw_limits.bin</file>
         <file>410_o_411_o_412/VESC_0005ohm.bin</file>
+        <file>410_o_411_o_412/VESC_005ohm.bin</file>
         <file>60/VESC_default.bin</file>
         <file>60/VESC_default_no_hw_limits.bin</file>
         <file>60_MK3/VESC_default.bin</file>

From 97c2a6b4c6c28ed7d661633ae68bbc47c439d91b Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 8 Mar 2022 18:00:51 +0100
Subject: [PATCH 048/559] Updated lisp examples

---
 res/Lisp/Examples/balance.lisp | 10 +++++-----
 res/Lisp/Examples/can_js.lisp  |  2 +-
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/res/Lisp/Examples/balance.lisp b/res/Lisp/Examples/balance.lisp
index 29a4db748..5cd44addf 100644
--- a/res/Lisp/Examples/balance.lisp
+++ b/res/Lisp/Examples/balance.lisp
@@ -47,13 +47,13 @@
         (define #enable-pos (bufget-u8 data 4))
         (define #enable-yaw (bufget-u8 data 5))
         
-        (if (num-eq #enable-pos 1)
+        (if (= #enable-pos 1)
             (progn
                 (define #pos-set (+ #pos-set (* (bufget-u8 data 0) 0.002)))
                 (define #pos-set (- #pos-set (* (bufget-u8 data 1) 0.002)))
         ) nil)
         
-        (if (num-eq #enable-yaw 1)
+        (if (= #enable-yaw 1)
             (progn
                 (define #yaw-set (- #yaw-set (* (bufget-u8 data 2) 0.5)))
                 (define #yaw-set (+ #yaw-set (* (bufget-u8 data 3) 0.5)))
@@ -94,12 +94,12 @@
         (define #t-last (systime))
         (define #it-rate-filter (#filter #it-rate-filter #it-rate))
                 
-        (if (< (#abs #pitch) (if (num-eq #was-running 1) 45 10))
+        (if (< (#abs #pitch) (if (= #was-running 1) 45 10))
             (progn
                 (define #was-running 1)
                 
-                (if (num-eq #enable-pos 0) (define #pos-set #pos) nil)
-                (if (num-eq #enable-yaw 0) (define #yaw-set #yaw) nil)
+                (if (= #enable-pos 0) (define #pos-set #pos) nil)
+                (if (= #enable-yaw 0) (define #yaw-set #yaw) nil)
                 
                 (define #pos-err (- #pos-set #pos))
                 (define #pitch-set (+ (* #pos-err #p-kp) (* #speed #p-kd)))
diff --git a/res/Lisp/Examples/can_js.lisp b/res/Lisp/Examples/can_js.lisp
index 48f6515bc..19c438ac0 100644
--- a/res/Lisp/Examples/can_js.lisp
+++ b/res/Lisp/Examples/can_js.lisp
@@ -16,7 +16,7 @@
 
 ; Handler for EID CAN-frames
 (define proc-eid (lambda (id data)
-    (if (num-eq id 0x18ff03f1)
+    (if (= id 0x18ff03f1)
         (progn
             (define can-cnt (+ can-cnt 1))
             

From c67061e62771600b5a2a89f9d137f5f584ce17b5 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 8 Mar 2022 19:56:35 +0100
Subject: [PATCH 049/559] Updated CAN-example

---
 res/Lisp/Examples/can_js.lisp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/res/Lisp/Examples/can_js.lisp b/res/Lisp/Examples/can_js.lisp
index 19c438ac0..ddc82e287 100644
--- a/res/Lisp/Examples/can_js.lisp
+++ b/res/Lisp/Examples/can_js.lisp
@@ -60,7 +60,7 @@
 ; handlers for them when the events arrive.
 (define event-handler (lambda ()
     (progn
-        (recv ((signal-can-eid (? id) . (? data)) (proc-eid id data))
+        (recv ((event-can-eid (? id) . (? data)) (proc-eid id data))
               (_ nil))
         (event-handler) ; Call self again to make this a loop
 )))
@@ -96,7 +96,7 @@
 (event-register-handler (spawn 50 event-handler))
 
 ; Enable the CAN event for extended ID (EID) frames
-(event-enable "event-can-eid")
+(event-enable 'event-can-eid)
 
 ; Start the button-blink-function from this thread
 (btn-fun)

From 0feeacd1be131204a40bf278ce284acbf578c9fc Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 10 Mar 2022 17:11:56 +0100
Subject: [PATCH 050/559] Configurable sample number and scatterplot in motor
 comparison

---
 QCodeEditor/resources/languages/qml.xml |  1 +
 pages/pagemotorcomparison.cpp           | 33 ++++++++++++++++---------
 pages/pagemotorcomparison.ui            | 29 ++++++++++++++++++++++
 3 files changed, 51 insertions(+), 12 deletions(-)

diff --git a/QCodeEditor/resources/languages/qml.xml b/QCodeEditor/resources/languages/qml.xml
index 0a6ae9aee..edd42dd6d 100644
--- a/QCodeEditor/resources/languages/qml.xml
+++ b/QCodeEditor/resources/languages/qml.xml
@@ -121,5 +121,6 @@
         <name>RtDataSetup</name>
         <name>ComboBox</name>
         <name>ListModel</name>
+        <name>RadioButton</name>
     </section>
 </root>
diff --git a/pages/pagemotorcomparison.cpp b/pages/pagemotorcomparison.cpp
index 2ab0f79ac..ca7dbfb30 100644
--- a/pages/pagemotorcomparison.cpp
+++ b/pages/pagemotorcomparison.cpp
@@ -207,6 +207,8 @@ PageMotorComparison::PageMotorComparison(QWidget *parent) :
             [this](bool checked) { (void)checked; settingChanged(); });
     connect(ui->testNegativeBox, &QCheckBox::toggled,
             [this](bool checked) { (void)checked; settingChanged(); });
+    connect(ui->scatterPlotBox, &QCheckBox::toggled,
+            [this](bool checked) { (void)checked; settingChanged(); });
 
     connect(ui->testRpmBox, QOverload<double>::of(&QDoubleSpinBox::valueChanged),
             [this](double value) { (void)value; settingChanged(); });
@@ -220,6 +222,8 @@ PageMotorComparison::PageMotorComparison(QWidget *parent) :
             [this](double value) { (void)value; settingChanged(); });
     connect(ui->testExpBaseTorqueBox, QOverload<double>::of(&QDoubleSpinBox::valueChanged),
             [this](double value) { (void)value; settingChanged(); });
+    connect(ui->pointsBox, QOverload<double>::of(&QDoubleSpinBox::valueChanged),
+            [this](double value) { (void)value; settingChanged(); });
 
     connect(ui->m1GearingBox, QOverload<double>::of(&QDoubleSpinBox::valueChanged),
             [this](double value) { (void)value; settingChanged(); });
@@ -700,6 +704,8 @@ void PageMotorComparison::on_testRunButton_clicked()
         }
     };
 
+    double plotPoints = ui->pointsBox->value();
+
     auto updateGraphs = [this](
             QVector<double> &xAxis,
             QVector<QVector<double> > &yAxes,
@@ -757,6 +763,9 @@ void PageMotorComparison::on_testRunButton_clicked()
 
             ui->plot->addGraph();
             ui->plot->graph(graphNow)->setPen(pen);
+            if (ui->scatterPlotBox->isChecked()) {
+                ui->plot->graph(graphNow)->setScatterStyle(QCPScatterStyle(QCPScatterStyle::ssDisc, 5));
+            }
             ui->plot->graph(graphNow)->setName(names.at(i));
             ui->plot->graph(graphNow)->setData(xAxis, yAxes.at(i));
         }
@@ -768,7 +777,7 @@ void PageMotorComparison::on_testRunButton_clicked()
         ui->plot->replotWhenVisible();
     };
 
-    auto plotTorqueSweep = [this, updateData, updateGraphs](QTableWidget *table,
+    auto plotTorqueSweep = [this, updateData, updateGraphs, plotPoints](QTableWidget *table,
             ConfigParams &config, TestParams param) {
         double torque = fabs(ui->testTorqueBox->value());
         double rpm = ui->testRpmBox->value();
@@ -779,10 +788,10 @@ void PageMotorComparison::on_testRunButton_clicked()
 
         double torque_start = -torque;
         if (!ui->testNegativeBox->isChecked()) {
-            torque_start = torque / 1000.0;
+            torque_start = torque / plotPoints;
         }
 
-        for (double t = torque_start;t < torque;t += (torque / 1000.0)) {
+        for (double t = torque_start;t < torque;t += (torque / plotPoints)) {
             MotorData md;
             md.update(config, rpm, t, param);
             xAxis.append(t);
@@ -798,7 +807,7 @@ void PageMotorComparison::on_testRunButton_clicked()
         updateGraphs(xAxis, yAxes, names);
     };
 
-    auto plotRpmSweep = [this, updateData, updateGraphs](QTableWidget *table,
+    auto plotRpmSweep = [this, updateData, updateGraphs, plotPoints](QTableWidget *table,
             ConfigParams &config, TestParams param) {
         double torque = ui->testTorqueBox->value();
         double rpm = ui->testRpmBox->value();
@@ -809,10 +818,10 @@ void PageMotorComparison::on_testRunButton_clicked()
 
         double rpm_start = -rpm;
         if (!ui->testNegativeBox->isChecked()) {
-            rpm_start = rpm / 1000.0;
+            rpm_start = rpm / plotPoints;
         }
 
-        for (double r = rpm_start;r < rpm;r += (rpm / 1000.0)) {
+        for (double r = rpm_start;r < rpm;r += (rpm / plotPoints)) {
             MotorData md;
             md.update(config, r, torque, param);
             xAxis.append(r);
@@ -827,7 +836,7 @@ void PageMotorComparison::on_testRunButton_clicked()
         updateGraphs(xAxis, yAxes, names);
     };
 
-    auto plotPowerSweep = [this, updateData, updateGraphs](QTableWidget *table,
+    auto plotPowerSweep = [this, updateData, updateGraphs, plotPoints](QTableWidget *table,
             ConfigParams &config, TestParams param) {
         double rpm = ui->testRpmBox->value();
         double rpm_start = ui->testRpmStartBox->value();
@@ -837,7 +846,7 @@ void PageMotorComparison::on_testRunButton_clicked()
         QVector<QVector<double> > yAxes;
         QVector<QString> names;
 
-        for (double r = rpm_start;r < rpm;r += (rpm / 1000.0)) {
+        for (double r = rpm_start;r < rpm;r += (rpm / plotPoints)) {
             double rps = r * 2.0 * M_PI / 60.0;
             double torque = power / rps;
 
@@ -855,7 +864,7 @@ void PageMotorComparison::on_testRunButton_clicked()
         updateGraphs(xAxis, yAxes, names);
     };
 
-    auto plotPropSweep = [this, updateData, updateGraphs](QTableWidget *table,
+    auto plotPropSweep = [this, updateData, updateGraphs, plotPoints](QTableWidget *table,
             ConfigParams &config, TestParams param) {
         double rpm = ui->testRpmBox->value();
         double power = ui->testPowerBox->value();
@@ -868,7 +877,7 @@ void PageMotorComparison::on_testRunButton_clicked()
         QVector<QVector<double> > yAxes;
         QVector<QString> names;
 
-        for (double r = rpm / 1000.0;r < rpm;r += (rpm / 1000.0)) {
+        for (double r = rpm / plotPoints;r < rpm;r += (rpm / plotPoints)) {
             double rps = r * 2.0 * M_PI / 60.0;
             double power = p_max_const * pow(r > rpm_start ? (r - rpm_start) : 0.0, prop_exp);
             double torque = power / rps;
@@ -888,7 +897,7 @@ void PageMotorComparison::on_testRunButton_clicked()
         updateGraphs(xAxis, yAxes, names);
     };
 
-    auto plotQmlSweep = [this, updateData, updateGraphs](QTableWidget *table,
+    auto plotQmlSweep = [this, updateData, updateGraphs, plotPoints](QTableWidget *table,
             ConfigParams &config, TestParams param, int motor) {
 
         QVector<double> xAxis;
@@ -897,7 +906,7 @@ void PageMotorComparison::on_testRunButton_clicked()
         double min = getQmlXMin();
         double max = getQmlXMax();
 
-        for (double p = min; p < max; p += (max - min) / 1000.0) {
+        for (double p = min; p < max; p += (max - min) / plotPoints) {
             auto rpmTorque = getQmlParam(p);
 
             MotorData md;
diff --git a/pages/pagemotorcomparison.ui b/pages/pagemotorcomparison.ui
index 00e519eca..be7e70918 100644
--- a/pages/pagemotorcomparison.ui
+++ b/pages/pagemotorcomparison.ui
@@ -432,6 +432,35 @@
             </property>
            </widget>
           </item>
+          <item>
+           <widget class="QDoubleSpinBox" name="pointsBox">
+            <property name="prefix">
+             <string>Plot Points: </string>
+            </property>
+            <property name="decimals">
+             <number>0</number>
+            </property>
+            <property name="minimum">
+             <double>5.000000000000000</double>
+            </property>
+            <property name="maximum">
+             <double>9999.000000000000000</double>
+            </property>
+            <property name="singleStep">
+             <double>1.000000000000000</double>
+            </property>
+            <property name="value">
+             <double>1000.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QCheckBox" name="scatterPlotBox">
+            <property name="text">
+             <string>ScatterPlot</string>
+            </property>
+           </widget>
+          </item>
          </layout>
         </item>
         <item>

From e21d5d50ff472457a780fb55dcfb5c14797e5e7b Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 11 Mar 2022 18:05:24 +0100
Subject: [PATCH 051/559] Added bifield parameter support

---
 configparams.cpp              |  37 +++++--
 configparams.h                |   1 +
 datatypes.h                   |   3 +-
 mobile/ParamEditBitfield.qml  | 193 ++++++++++++++++++++++++++++++++++
 mobile/ParamEditors.qml       |   3 +
 mobile/qml.qrc                |   1 +
 parametereditor.cpp           |  15 +++
 parametereditor.ui            |  95 ++++++++++++++++-
 res/CHANGELOG                 |   1 +
 utility.cpp                   |  14 ++-
 vesc_tool.pro                 |   2 +-
 widgets/parameditbitfield.cpp | 151 ++++++++++++++++++++++++++
 widgets/parameditbitfield.h   |  59 +++++++++++
 widgets/parameditbitfield.ui  | 158 ++++++++++++++++++++++++++++
 widgets/widgets.pri           |   3 +
 15 files changed, 720 insertions(+), 16 deletions(-)
 create mode 100644 mobile/ParamEditBitfield.qml
 create mode 100644 widgets/parameditbitfield.cpp
 create mode 100644 widgets/parameditbitfield.h
 create mode 100644 widgets/parameditbitfield.ui

diff --git a/configparams.cpp b/configparams.cpp
index cdca2bc04..8b9f3409e 100644
--- a/configparams.cpp
+++ b/configparams.cpp
@@ -24,6 +24,7 @@
 #include "widgets/parameditstring.h"
 #include "widgets/parameditenum.h"
 #include "widgets/parameditbool.h"
+#include "widgets/parameditbitfield.h"
 #include <QFile>
 #include <QFileInfo>
 #include <QBuffer>
@@ -176,6 +177,15 @@ bool ConfigParams::isParamBool(const QString &name)
     }
 }
 
+bool ConfigParams::isParamBitfield(const QString &name)
+{
+    if (mParams.contains(name) && mParams[name].type == CFG_T_BITFIELD) {
+        return true;
+    } else {
+        return false;
+    }
+}
+
 double ConfigParams::getParamDouble(const QString &name)
 {
     double retVal = 0.0;
@@ -202,7 +212,7 @@ int ConfigParams::getParamInt(const QString &name)
     if (mParams.contains(name)) {
         ConfigParam &p = mParams[name];
 
-        if (p.type == CFG_T_INT) {
+        if (p.type == CFG_T_INT || p.type == CFG_T_BITFIELD) {
             retVal = p.valInt;
         } else {
             qWarning() << name << "wrong type";
@@ -437,7 +447,7 @@ QStringList ConfigParams::getParamEnumNames(const QString &name)
     if (mParams.contains(name)) {
         ConfigParam &p = mParams[name];
 
-        if (p.type == CFG_T_ENUM) {
+        if (p.type == CFG_T_ENUM || p.type == CFG_T_BITFIELD) {
             retVal = p.enumNames;
         } else {
             qWarning() << name << "wrong type";
@@ -575,6 +585,13 @@ QWidget *ConfigParams::getEditor(const QString &name, QWidget *parent)
             retVal = edit;
         } break;
 
+        case CFG_T_BITFIELD: {
+            ParamEditBitfield *edit = new ParamEditBitfield(parent);
+            edit->setName(name);
+            edit->setConfig(this);
+            retVal = edit;
+        } break;
+
         default:
             qWarning() << "no editor for" << name << "could be created";
             break;
@@ -633,6 +650,7 @@ void ConfigParams::getParamSerial(VByteArray &vb, const QString &name)
 
         case CFG_T_ENUM:
         case CFG_T_BOOL:
+        case CFG_T_BITFIELD:
             vb.vbAppendInt8(p.valInt);
             break;
         }
@@ -671,10 +689,11 @@ void ConfigParams::setParamSerial(VByteArray &vb, const QString &name, QObject *
             }
         } break;
 
-        case CFG_T_INT: {
+        case CFG_T_INT:
+        case CFG_T_BITFIELD: {
             int val = 0;
 
-            if (p.vTx == VESC_TX_UINT8) {
+            if (p.vTx == VESC_TX_UINT8 || p.type == CFG_T_BITFIELD) {
                 val = vb.vbPopFrontUint8();
             } else if (p.vTx == VESC_TX_INT8) {
                 val = vb.vbPopFrontInt8();
@@ -752,7 +771,7 @@ void ConfigParams::updateParamInt(QString name, int param, QObject *src)
 
     if (mParams.contains(name)) {
         ConfigParam &p = mParams[name];
-        if (p.type == CFG_T_INT) {
+        if (p.type == CFG_T_INT || p.type == CFG_T_BITFIELD) {
             if (p.valInt != param) {
                 p.valInt = param;
                 emit paramChangedInt(src, name, param);
@@ -835,7 +854,8 @@ void ConfigParams::updateParamFromOther(QString name, const ConfigParam &other,
         updateParamDouble(name, other.valDouble, src);
     } break;
 
-    case CFG_T_INT: {
+    case CFG_T_INT:
+    case CFG_T_BITFIELD: {
         updateParamInt(name, other.valInt, src);
     } break;
 
@@ -953,6 +973,7 @@ void ConfigParams::getXML(QXmlStreamWriter &stream, QString configName)
         case CFG_T_BOOL:
         case CFG_T_ENUM:
         case CFG_T_INT:
+        case CFG_T_BITFIELD:
             stream.writeTextElement(name, QString::number(p.valInt));
             break;
 
@@ -1013,6 +1034,7 @@ bool ConfigParams::setXML(QXmlStreamReader &stream, QString configName)
                     break;
 
                 case CFG_T_INT:
+                case CFG_T_BITFIELD:
                     if (valInt != p.valInt) {
                         p.valInt = valInt;
                         emit paramChangedInt(nullptr, name, valInt);
@@ -1200,6 +1222,7 @@ void ConfigParams::getParamsXML(QXmlStreamWriter &stream)
             break;
 
         case CFG_T_ENUM:
+        case CFG_T_BITFIELD:
             stream.writeTextElement("valInt", QString::number(p->valInt));
             for (int j = 0;j < p->enumNames.size();j++) {
                 stream.writeTextElement("enumNames", p->enumNames.at(j));
@@ -1489,6 +1512,7 @@ bool ConfigParams::saveCDefines(const QString &fileName, bool wrapIfdef)
                 case CFG_T_BOOL:
                 case CFG_T_ENUM:
                 case CFG_T_INT:
+                case CFG_T_BITFIELD:
                     out << "#define " + p.cDefine + " " + QString::number(p.valInt) + "\n";
                     break;
 
@@ -1549,6 +1573,7 @@ QStringList ConfigParams::checkDifference(ConfigParams *config)
                 case CFG_T_BOOL:
                 case CFG_T_ENUM:
                 case CFG_T_INT:
+                case CFG_T_BITFIELD:
                     if (thisParam->valInt != otherParam->valInt) {
                         res.append(p);
                     }
diff --git a/configparams.h b/configparams.h
index a6b2ab222..cbcc6490c 100644
--- a/configparams.h
+++ b/configparams.h
@@ -50,6 +50,7 @@ class ConfigParams : public QObject
     Q_INVOKABLE bool isParamEnum(const QString &name);
     Q_INVOKABLE bool isParamQString(const QString &name);
     Q_INVOKABLE bool isParamBool(const QString &name);
+    Q_INVOKABLE bool isParamBitfield(const QString &name);
 
     Q_INVOKABLE double getParamDouble(const QString &name);
     Q_INVOKABLE int getParamInt(const QString &name);
diff --git a/datatypes.h b/datatypes.h
index 9f5708f8a..af686f808 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -40,7 +40,8 @@ typedef enum {
     CFG_T_INT,
     CFG_T_QSTRING,
     CFG_T_ENUM,
-    CFG_T_BOOL
+    CFG_T_BOOL,
+    CFG_T_BITFIELD
 } CFG_T;
 
 typedef enum {
diff --git a/mobile/ParamEditBitfield.qml b/mobile/ParamEditBitfield.qml
new file mode 100644
index 000000000..43b1ec760
--- /dev/null
+++ b/mobile/ParamEditBitfield.qml
@@ -0,0 +1,193 @@
+/*
+    Copyright 2022 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+import QtQuick 2.0
+import QtQuick.Controls 2.2
+import QtQuick.Layouts 1.3
+
+import Vedder.vesc.vescinterface 1.0
+import Vedder.vesc.configparams 1.0
+import Vedder.vesc.utility 1.0
+
+Item {
+    id: editor
+    property string paramName: ""
+    property ConfigParams params: null
+    height: 240
+    Layout.fillWidth: true
+    property real maxVal: 1.0
+    property bool createReady: false
+
+    Component.onCompleted: {
+        if (params !== null) {
+            nameText.text = params.getLongName(paramName)
+            setBits(params.getParamInt(paramName))
+
+            var names = params.getParamEnumNames(paramName)
+            for (var i = 0;i < names.length;i++) {
+                if (i === 0) b0Box.text = names[i]
+                if (i === 1) b1Box.text = names[i]
+                if (i === 2) b2Box.text = names[i]
+                if (i === 3) b3Box.text = names[i]
+                if (i === 4) b4Box.text = names[i]
+                if (i === 5) b5Box.text = names[i]
+                if (i === 6) b6Box.text = names[i]
+                if (i === 7) b7Box.text = names[i]
+            }
+
+            if (params.getParamTransmittable(paramName)) {
+                nowButton.visible = true
+                defaultButton.visible = true
+            } else {
+                nowButton.visible = false
+                defaultButton.visible = false
+            }
+
+            createReady = true
+        }
+    }
+
+    function setBits(bits) {
+        b0Box.checked = (bits >> 0) & 1
+        b1Box.checked = (bits >> 1) & 1
+        b2Box.checked = (bits >> 2) & 1
+        b3Box.checked = (bits >> 3) & 1
+        b4Box.checked = (bits >> 4) & 1
+        b5Box.checked = (bits >> 5) & 1
+        b6Box.checked = (bits >> 6) & 1
+        b7Box.checked = (bits >> 7) & 1
+    }
+
+    function updateFromBoxes() {
+        var res = 0;
+
+        if (b0Box.checked) res += 1 << 0
+        if (b1Box.checked) res += 1 << 1
+        if (b2Box.checked) res += 1 << 2
+        if (b3Box.checked) res += 1 << 3
+        if (b4Box.checked) res += 1 << 4
+        if (b5Box.checked) res += 1 << 5
+        if (b6Box.checked) res += 1 << 6
+        if (b7Box.checked) res += 1 << 7
+
+        if (params !== null && createReady) {
+            if (params.getUpdateOnly() !== paramName) {
+                params.setUpdateOnly("")
+            }
+            params.updateParamInt(paramName, res, editor);
+        }
+    }
+
+    Rectangle {
+        id: rect
+        anchors.fill: parent
+        color: Utility.getAppHexColor("lightBackground")
+        radius: 5
+        border.color:  Utility.getAppHexColor("disabledText")
+        border.width: 2
+
+        ColumnLayout {
+            id: column
+            anchors.fill: parent
+            anchors.topMargin: 10
+            anchors.margins: 5
+
+            Text {
+                id: nameText
+                color: Utility.getAppHexColor("lightText")
+                text: paramName
+                horizontalAlignment: Text.AlignHCenter
+                Layout.fillWidth: true
+                font.pointSize: 12
+            }
+
+            GridLayout {
+                Layout.fillWidth: true;
+                columns: 2
+                CheckBox { Layout.topMargin: 0; Layout.bottomMargin: -8; Layout.fillWidth: true;
+                    id: b0Box; text: "B0"; onCheckedChanged: updateFromBoxes(); }
+                CheckBox { Layout.topMargin: 0; Layout.bottomMargin: -8; Layout.fillWidth: true;
+                    id: b1Box; text: "B1"; onCheckedChanged: updateFromBoxes(); }
+                CheckBox { Layout.topMargin: -8; Layout.bottomMargin: -8; Layout.fillWidth: true;
+                    id: b2Box; text: "B2"; onCheckedChanged: updateFromBoxes(); }
+                CheckBox { Layout.topMargin: -8; Layout.bottomMargin: -8; Layout.fillWidth: true;
+                    id: b3Box; text: "B3"; onCheckedChanged: updateFromBoxes(); }
+                CheckBox { Layout.topMargin: -8; Layout.bottomMargin: -8; Layout.fillWidth: true;
+                    id: b4Box; text: "B4"; onCheckedChanged: updateFromBoxes(); }
+                CheckBox { Layout.topMargin: -8; Layout.bottomMargin: -8; Layout.fillWidth: true;
+                    id: b5Box; text: "B5"; onCheckedChanged: updateFromBoxes(); }
+                CheckBox { Layout.topMargin: -8; Layout.bottomMargin: -8; Layout.fillWidth: true;
+                    id: b6Box; text: "B6"; onCheckedChanged: updateFromBoxes(); }
+                CheckBox { Layout.topMargin: -8; Layout.bottomMargin: -8; Layout.fillWidth: true;
+                    id: b7Box; text: "B7"; onCheckedChanged: updateFromBoxes(); }
+            }
+
+            RowLayout {
+                Layout.fillWidth: true
+                Button {
+                    id: nowButton
+                    Layout.fillWidth: true
+                    Layout.preferredWidth: 500
+                    flat: true
+                    text: "Current"
+                    onClicked: {
+                        params.setUpdateOnly(paramName)
+                        params.requestUpdate()
+                    }
+                }
+
+                Button {
+                    id: defaultButton
+                    Layout.fillWidth: true
+                    Layout.preferredWidth: 500
+                    flat: true
+                    text: "Default"
+                    onClicked: {
+                        params.setUpdateOnly(paramName)
+                        params.requestUpdateDefault()
+                    }
+                }
+
+                Button {
+                    id: helpButton
+                    Layout.fillWidth: true
+                    Layout.preferredWidth: 500
+                    flat: true
+                    text: "Help"
+                    onClicked: {
+                        VescIf.emitMessageDialog(
+                                    params.getLongName(paramName),
+                                    params.getDescription(paramName),
+                                    true, true)
+                    }
+                }
+            }
+        }
+    }
+
+    Connections {
+        target: params
+
+        onParamChangedInt: {
+            if (src !== editor && name == paramName) {
+                setBits(newParam)
+            }
+        }
+    }
+}
diff --git a/mobile/ParamEditors.qml b/mobile/ParamEditors.qml
index e2dbec410..57e7b37a7 100644
--- a/mobile/ParamEditors.qml
+++ b/mobile/ParamEditors.qml
@@ -45,6 +45,9 @@ Item {
             } else if (conf.isParamQString(name)) {
                 var component5 = Qt.createComponent("ParamEditString.qml");
                 return component5.createObject(parent, {"params": conf, "paramName": name});
+            } else if (conf.isParamBitfield(name)) {
+                var component6 = Qt.createComponent("ParamEditBitfield.qml");
+                return component6.createObject(parent, {"params": conf, "paramName": name});
             }
         } else {
             console.log("Parameter " + name + " not found.")
diff --git a/mobile/qml.qrc b/mobile/qml.qrc
index 05fe7e458..2f771517b 100644
--- a/mobile/qml.qrc
+++ b/mobile/qml.qrc
@@ -56,5 +56,6 @@
         <file>CanScreen.qml</file>
         <file>StatPage.qml</file>
         <file>BleSetupDialog.qml</file>
+        <file>ParamEditBitfield.qml</file>
     </qresource>
 </RCC>
diff --git a/parametereditor.cpp b/parametereditor.cpp
index 9009574dc..4badf3996 100644
--- a/parametereditor.cpp
+++ b/parametereditor.cpp
@@ -535,6 +535,13 @@ void ParameterEditor::setEditorValues(QString name, ConfigParam p)
 
     // Bool
     ui->boolBox->setCurrentIndex(p.valInt > 0 ? 1 : 0);
+
+    // Bitfield
+    for (int i = 0;i < p.enumNames.size();i++) {
+        if (ui->bitfieldWidget->count() > i) {
+            ui->bitfieldWidget->item(i)->setText(p.enumNames.at(i));
+        }
+    }
 }
 
 QString ParameterEditor::getEditorValues(ConfigParam *p)
@@ -590,6 +597,14 @@ QString ParameterEditor::getEditorValues(ConfigParam *p)
             p->valInt = ui->boolBox->currentIndex();
             break;
 
+        case CFG_T_BITFIELD:
+            p->enumNames.clear();
+            for (int i = 0;i < ui->bitfieldWidget->count();i++) {
+                p->enumNames.append(ui->bitfieldWidget->item(i)->text());
+            }
+            p->valInt = ui->bitfieldValBox->value();
+            break;
+
         default:
             break;
         }
diff --git a/parametereditor.ui b/parametereditor.ui
index b2a3820eb..a5d05f8bf 100644
--- a/parametereditor.ui
+++ b/parametereditor.ui
@@ -232,6 +232,11 @@
                     <string>Bool</string>
                    </property>
                   </item>
+                  <item>
+                   <property name="text">
+                    <string>Bitfield</string>
+                   </property>
+                  </item>
                  </widget>
                 </item>
                 <item row="0" column="0">
@@ -862,6 +867,88 @@
                   </item>
                  </layout>
                 </widget>
+                <widget class="QWidget" name="page_7">
+                 <layout class="QVBoxLayout" name="verticalLayout_16">
+                  <item>
+                   <widget class="QSpinBox" name="bitfieldValBox">
+                    <property name="prefix">
+                     <string>Value: </string>
+                    </property>
+                    <property name="maximum">
+                     <number>255</number>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QListWidget" name="bitfieldWidget">
+                    <item>
+                     <property name="text">
+                      <string>Bit 0</string>
+                     </property>
+                     <property name="flags">
+                      <set>ItemIsSelectable|ItemIsEditable|ItemIsUserCheckable|ItemIsEnabled</set>
+                     </property>
+                    </item>
+                    <item>
+                     <property name="text">
+                      <string>Bit 1</string>
+                     </property>
+                     <property name="flags">
+                      <set>ItemIsSelectable|ItemIsEditable|ItemIsUserCheckable|ItemIsEnabled</set>
+                     </property>
+                    </item>
+                    <item>
+                     <property name="text">
+                      <string>Bit 2</string>
+                     </property>
+                     <property name="flags">
+                      <set>ItemIsSelectable|ItemIsEditable|ItemIsUserCheckable|ItemIsEnabled</set>
+                     </property>
+                    </item>
+                    <item>
+                     <property name="text">
+                      <string>Bit 3</string>
+                     </property>
+                     <property name="flags">
+                      <set>ItemIsSelectable|ItemIsEditable|ItemIsUserCheckable|ItemIsEnabled</set>
+                     </property>
+                    </item>
+                    <item>
+                     <property name="text">
+                      <string>Bit 4</string>
+                     </property>
+                     <property name="flags">
+                      <set>ItemIsSelectable|ItemIsEditable|ItemIsUserCheckable|ItemIsEnabled</set>
+                     </property>
+                    </item>
+                    <item>
+                     <property name="text">
+                      <string>Bit 5</string>
+                     </property>
+                     <property name="flags">
+                      <set>ItemIsSelectable|ItemIsEditable|ItemIsUserCheckable|ItemIsEnabled</set>
+                     </property>
+                    </item>
+                    <item>
+                     <property name="text">
+                      <string>Bit 6</string>
+                     </property>
+                     <property name="flags">
+                      <set>ItemIsSelectable|ItemIsEditable|ItemIsUserCheckable|ItemIsEnabled</set>
+                     </property>
+                    </item>
+                    <item>
+                     <property name="text">
+                      <string>Bit 7</string>
+                     </property>
+                     <property name="flags">
+                      <set>ItemIsSelectable|ItemIsEditable|ItemIsUserCheckable|ItemIsEnabled</set>
+                     </property>
+                    </item>
+                   </widget>
+                  </item>
+                 </layout>
+                </widget>
                </widget>
               </item>
              </layout>
@@ -1654,12 +1741,12 @@
    <slot>setCurrentIndex(int)</slot>
    <hints>
     <hint type="sourcelabel">
-     <x>588</x>
-     <y>203</y>
+     <x>945</x>
+     <y>230</y>
     </hint>
     <hint type="destinationlabel">
-     <x>587</x>
-     <y>226</y>
+     <x>889</x>
+     <y>469</y>
     </hint>
    </hints>
   </connection>
diff --git a/res/CHANGELOG b/res/CHANGELOG
index 90525a382..284620f67 100644
--- a/res/CHANGELOG
+++ b/res/CHANGELOG
@@ -8,6 +8,7 @@
  - Console for printing
  - Examples
 * Added custom load code support to motor comparison tool.
+* Added support for bitfield parameters.
 
 == 3.01 ==
 * Fixed simultaneous CAN FW upload when other devices (such as BMS) are on the CAN-bus.
diff --git a/utility.cpp b/utility.cpp
index 2b47611e4..2253917b5 100755
--- a/utility.cpp
+++ b/utility.cpp
@@ -627,7 +627,8 @@ bool Utility::resetInputCan(VescInterface *vesc, QVector<int> canIds)
 
     if (res) {
         int canId = ap->getParamInt("controller_id");
-        int canStatus = ap->getParamEnum("send_can_status");
+        int canStatus = ap->getParamEnum("can_status_msgs_r1");
+        int canStatus2 = ap->getParamEnum("can_status_msgs_r2");
         vesc->commands()->getAppConfDefault();
         res = waitSignal(ap, SIGNAL(updated()), 4000);
 
@@ -637,7 +638,8 @@ bool Utility::resetInputCan(VescInterface *vesc, QVector<int> canIds)
 
         if (res) {
             ap->updateParamInt("controller_id", canId);
-            ap->updateParamEnum("send_can_status", canStatus);
+            ap->updateParamEnum("can_status_msgs_r1", canStatus);
+            ap->updateParamEnum("can_status_msgs_r2", canStatus2);
             vesc->commands()->setAppConf();
             res = waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 4000);
 
@@ -679,7 +681,8 @@ bool Utility::resetInputCan(VescInterface *vesc, QVector<int> canIds)
             }
 
             int canId = ap->getParamInt("controller_id");
-            int canStatus = ap->getParamEnum("send_can_status");
+            int canStatus = ap->getParamEnum("can_status_msgs_r1");
+            int canStatus2 = ap->getParamEnum("can_status_msgs_r2");
             vesc->commands()->getAppConfDefault();
             res = waitSignal(ap, SIGNAL(updated()), 4000);
 
@@ -689,7 +692,8 @@ bool Utility::resetInputCan(VescInterface *vesc, QVector<int> canIds)
             }
 
             ap->updateParamInt("controller_id", canId);
-            ap->updateParamEnum("send_can_status", canStatus);
+            ap->updateParamEnum("can_status_msgs_r1", canStatus);
+            ap->updateParamEnum("can_status_msgs_r2", canStatus2);
             vesc->commands()->setAppConf();
             res = waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 4000);
 
@@ -1814,6 +1818,7 @@ void Utility::serialFunc(ConfigParams *params, QTextStream &s) {
             switch (p->type) {
             case CFG_T_BOOL:
             case CFG_T_ENUM:
+            case CFG_T_BITFIELD:
                 s << "\t" << "buffer[ind++] = conf->" << name << ";\n";
                 break;
 
@@ -1898,6 +1903,7 @@ void Utility::deserialFunc(ConfigParams *params, QTextStream &s) {
             switch (p->type) {
             case CFG_T_BOOL:
             case CFG_T_ENUM:
+            case CFG_T_BITFIELD:
                 s << "\tconf->" << name << " = buffer[ind++];\n";
                 break;
 
diff --git a/vesc_tool.pro b/vesc_tool.pro
index 786cff201..2c62aa781 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -10,7 +10,7 @@ VT_INTRO_VERSION = 1
 VT_CONFIG_VERSION = 2
 
 # Set to 0 for stable versions and to test version number for development versions.
-VT_IS_TEST_VERSION = 4
+VT_IS_TEST_VERSION = 5
 
 VT_ANDROID_VERSION_ARMV7 = 108
 VT_ANDROID_VERSION_ARM64 = 109
diff --git a/widgets/parameditbitfield.cpp b/widgets/parameditbitfield.cpp
new file mode 100644
index 000000000..515969f03
--- /dev/null
+++ b/widgets/parameditbitfield.cpp
@@ -0,0 +1,151 @@
+/*
+    Copyright 2022 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#include "parameditbitfield.h"
+#include "ui_parameditbitfield.h"
+#include "utility.h"
+#include "helpdialog.h"
+
+ParamEditBitfield::ParamEditBitfield(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::ParamEditBitfield)
+{
+    ui->setupUi(this);
+
+    QString theme = Utility::getThemePath();
+    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
+    ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
+    ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
+
+    auto updateFun = [this]() {
+        if (mConfig) {
+            if (mConfig->getUpdateOnly() != mName) {
+                mConfig->setUpdateOnly("");
+            }
+            mConfig->updateParamInt(mName, getNum(), this);
+        }
+    };
+
+    connect(ui->b0Box, &QCheckBox::clicked, updateFun);
+    connect(ui->b1Box, &QCheckBox::clicked, updateFun);
+    connect(ui->b2Box, &QCheckBox::clicked, updateFun);
+    connect(ui->b3Box, &QCheckBox::clicked, updateFun);
+    connect(ui->b4Box, &QCheckBox::clicked, updateFun);
+    connect(ui->b5Box, &QCheckBox::clicked, updateFun);
+    connect(ui->b6Box, &QCheckBox::clicked, updateFun);
+    connect(ui->b7Box, &QCheckBox::clicked, updateFun);
+}
+
+void ParamEditBitfield::setConfig(ConfigParams *config)
+{
+    mConfig = config;
+
+    ConfigParam *param = mConfig->getParam(mName);
+
+    if (param) {
+        ui->readButton->setVisible(param->transmittable);
+        ui->readDefaultButton->setVisible(param->transmittable);
+        setBits(param->valInt);
+
+        if (param->enumNames.size() > 0) ui->b0Box->setText(param->enumNames.at(0));
+        if (param->enumNames.size() > 1) ui->b1Box->setText(param->enumNames.at(1));
+        if (param->enumNames.size() > 2) ui->b2Box->setText(param->enumNames.at(2));
+        if (param->enumNames.size() > 3) ui->b3Box->setText(param->enumNames.at(3));
+        if (param->enumNames.size() > 4) ui->b4Box->setText(param->enumNames.at(4));
+        if (param->enumNames.size() > 5) ui->b5Box->setText(param->enumNames.at(5));
+        if (param->enumNames.size() > 6) ui->b6Box->setText(param->enumNames.at(6));
+        if (param->enumNames.size() > 7) ui->b7Box->setText(param->enumNames.at(7));
+    }
+
+    connect(mConfig, SIGNAL(paramChangedInt(QObject*,QString,int)),
+            this, SLOT(paramChangedInt(QObject*,QString,int)));
+}
+
+QString ParamEditBitfield::name() const
+{
+    return mName;
+}
+
+void ParamEditBitfield::setName(const QString &name)
+{
+    mName = name;
+}
+
+void ParamEditBitfield::paramChangedInt(QObject *src, QString name, int newParam)
+{
+    if (src != this && name == mName) {
+        setBits(newParam);
+    }
+}
+
+ParamEditBitfield::~ParamEditBitfield()
+{
+    delete ui;
+}
+
+void ParamEditBitfield::on_readButton_clicked()
+{
+    if (mConfig) {
+        mConfig->setUpdateOnly(mName);
+        mConfig->requestUpdate();
+    }
+}
+
+void ParamEditBitfield::on_readDefaultButton_clicked()
+{
+    if (mConfig) {
+        mConfig->setUpdateOnly(mName);
+        mConfig->requestUpdateDefault();
+    }
+}
+
+void ParamEditBitfield::on_helpButton_clicked()
+{
+    if (mConfig) {
+        HelpDialog::showHelp(this, mConfig, mName);
+    }
+}
+
+void ParamEditBitfield::setBits(int num)
+{
+    ui->b0Box->setChecked((num >> 0) & 1);
+    ui->b1Box->setChecked((num >> 1) & 1);
+    ui->b2Box->setChecked((num >> 2) & 1);
+    ui->b3Box->setChecked((num >> 3) & 1);
+    ui->b4Box->setChecked((num >> 4) & 1);
+    ui->b5Box->setChecked((num >> 5) & 1);
+    ui->b6Box->setChecked((num >> 6) & 1);
+    ui->b7Box->setChecked((num >> 7) & 1);
+}
+
+int ParamEditBitfield::getNum()
+{
+    int res = 0;
+
+    if (ui->b0Box->isChecked()) res += 1 << 0;
+    if (ui->b1Box->isChecked()) res += 1 << 1;
+    if (ui->b2Box->isChecked()) res += 1 << 2;
+    if (ui->b3Box->isChecked()) res += 1 << 3;
+    if (ui->b4Box->isChecked()) res += 1 << 4;
+    if (ui->b5Box->isChecked()) res += 1 << 5;
+    if (ui->b6Box->isChecked()) res += 1 << 6;
+    if (ui->b7Box->isChecked()) res += 1 << 7;
+
+    return res;
+}
diff --git a/widgets/parameditbitfield.h b/widgets/parameditbitfield.h
new file mode 100644
index 000000000..ef9017f48
--- /dev/null
+++ b/widgets/parameditbitfield.h
@@ -0,0 +1,59 @@
+/*
+    Copyright 2022 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#ifndef PARAMEDITBITFIELD_H
+#define PARAMEDITBITFIELD_H
+
+#include <QWidget>
+#include "configparams.h"
+
+namespace Ui {
+class ParamEditBitfield;
+}
+
+class ParamEditBitfield : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit ParamEditBitfield(QWidget *parent = nullptr);
+    ~ParamEditBitfield();
+
+    void setConfig(ConfigParams *config);
+    QString name() const;
+    void setName(const QString &name);
+
+private slots:
+    void paramChangedInt(QObject *src, QString name, int newParam);
+
+    void on_readButton_clicked();
+    void on_readDefaultButton_clicked();
+    void on_helpButton_clicked();
+
+private:
+    Ui::ParamEditBitfield *ui;
+    ConfigParams *mConfig;
+    QString mName;
+
+    void setBits(int num);
+    int getNum();
+
+};
+
+#endif // PARAMEDITBITFIELD_H
diff --git a/widgets/parameditbitfield.ui b/widgets/parameditbitfield.ui
new file mode 100644
index 000000000..d21ce5283
--- /dev/null
+++ b/widgets/parameditbitfield.ui
@@ -0,0 +1,158 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ParamEditBitfield</class>
+ <widget class="QWidget" name="ParamEditBitfield">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>619</width>
+    <height>112</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QHBoxLayout" name="horizontalLayout">
+   <property name="spacing">
+    <number>0</number>
+   </property>
+   <property name="leftMargin">
+    <number>0</number>
+   </property>
+   <property name="topMargin">
+    <number>0</number>
+   </property>
+   <property name="rightMargin">
+    <number>0</number>
+   </property>
+   <property name="bottomMargin">
+    <number>0</number>
+   </property>
+   <item>
+    <layout class="QGridLayout" name="gridLayout">
+     <item row="0" column="0">
+      <widget class="QCheckBox" name="b0Box">
+       <property name="text">
+        <string>Unused</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="1">
+      <widget class="QCheckBox" name="b1Box">
+       <property name="text">
+        <string>Unused</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="0">
+      <widget class="QCheckBox" name="b2Box">
+       <property name="text">
+        <string>Unused</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="1">
+      <widget class="QCheckBox" name="b3Box">
+       <property name="text">
+        <string>Unused</string>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="0">
+      <widget class="QCheckBox" name="b4Box">
+       <property name="text">
+        <string>Unused</string>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="1">
+      <widget class="QCheckBox" name="b5Box">
+       <property name="text">
+        <string>Unused</string>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="0">
+      <widget class="QCheckBox" name="b6Box">
+       <property name="text">
+        <string>Unused</string>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="1">
+      <widget class="QCheckBox" name="b7Box">
+       <property name="text">
+        <string>Unused</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item>
+    <widget class="QPushButton" name="readButton">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="toolTip">
+      <string>Read current setting</string>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+     <property name="icon">
+      <iconset resource="../res.qrc">
+       <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QPushButton" name="readDefaultButton">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="toolTip">
+      <string>Read default setting</string>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+     <property name="icon">
+      <iconset resource="../res.qrc">
+       <normaloff>:/res/icons/Data Backup-96.png</normaloff>:/res/icons/Data Backup-96.png</iconset>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QPushButton" name="helpButton">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="toolTip">
+      <string>Show help</string>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+     <property name="icon">
+      <iconset resource="../res.qrc">
+       <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources>
+  <include location="../res.qrc"/>
+ </resources>
+ <connections/>
+</ui>
diff --git a/widgets/widgets.pri b/widgets/widgets.pri
index bcf8827ee..6a2caa084 100644
--- a/widgets/widgets.pri
+++ b/widgets/widgets.pri
@@ -1,4 +1,5 @@
 FORMS += \
+    $$PWD/parameditbitfield.ui \
     $$PWD/parameditbool.ui \
     $$PWD/parameditdouble.ui \
     $$PWD/parameditenum.ui \
@@ -23,6 +24,7 @@ FORMS += \
 HEADERS += \
     $$PWD/batttempplot.h \
     $$PWD/canlistitem.h \
+    $$PWD/parameditbitfield.h \
     $$PWD/parameditbool.h \
     $$PWD/parameditdouble.h \
     $$PWD/parameditenum.h \
@@ -60,6 +62,7 @@ HEADERS += \
 SOURCES += \
     $$PWD/batttempplot.cpp \
     $$PWD/canlistitem.cpp \
+    $$PWD/parameditbitfield.cpp \
     $$PWD/parameditbool.cpp \
     $$PWD/parameditdouble.cpp \
     $$PWD/parameditenum.cpp \

From 0d6318c2a4233062f60f8fa68a73e968cfc1924f Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 11 Mar 2022 18:06:14 +0100
Subject: [PATCH 052/559] Use bitfields for CAN-messages and use two different
 rates

---
 res/config/6.00/parameters_appconf.xml | 142 +++++++++++++++++++++----
 1 file changed, 119 insertions(+), 23 deletions(-)

diff --git a/res/config/6.00/parameters_appconf.xml b/res/config/6.00/parameters_appconf.xml
index b8ed9a8b7..9205c8f78 100644
--- a/res/config/6.00/parameters_appconf.xml
+++ b/res/config/6.00/parameters_appconf.xml
@@ -63,44 +63,134 @@ p, li { white-space: pre-wrap; }
             <suffix> A</suffix>
             <vTx>9</vTx>
         </timeout_brake_current>
-        <send_can_status>
-            <longName>Can Status Message Mode</longName>
-            <type>4</type>
+        <can_status_rate_1>
+            <longName>Can Status Rate 1</longName>
+            <type>2</type>
             <transmittable>1</transmittable>
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Send a status message on the CAN bus with a periodic interval. Useful for letting other VESCs know which VESCs are on the CAN-bus. This is required by some apps to function with multiple VESCs. The master VESC of the app does not need this option checked.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_SEND_CAN_STATUS</cDefine>
-            <valInt>0</valInt>
-            <enumNames>CAN_STATUS_DISABLED</enumNames>
-            <enumNames>CAN_STATUS_1</enumNames>
-            <enumNames>CAN_STATUS_1_2</enumNames>
-            <enumNames>CAN_STATUS_1_2_3</enumNames>
-            <enumNames>CAN_STATUS_1_2_3_4</enumNames>
-            <enumNames>CAN_STATUS_1_2_3_4_5</enumNames>
-        </send_can_status>
-        <send_can_status_rate_hz>
-            <longName>Can Status Rate</longName>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Rate 1 at which CAN status messages are sent on the CAN-bus.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CAN_STATUS_RATE_1</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>50</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </can_status_rate_1>
+        <can_status_rate_2>
+            <longName>Can Status Rate 2</longName>
             <type>2</type>
             <transmittable>1</transmittable>
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Rate at which CAN status messages are sent on the CAN-bus.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_SEND_CAN_STATUS_RATE_HZ</cDefine>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Rate 2 at which CAN status messages are sent on the CAN-bus.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CAN_STATUS_RATE_2</cDefine>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
             <maxInt>10000</maxInt>
             <minInt>0</minInt>
             <showDisplay>0</showDisplay>
             <stepInt>1</stepInt>
-            <valInt>50</valInt>
+            <valInt>5</valInt>
             <suffix> Hz</suffix>
             <vTx>3</vTx>
-        </send_can_status_rate_hz>
+        </can_status_rate_2>
+        <can_status_msgs_r1>
+            <longName>Can Messages Rate 1</longName>
+            <type>6</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Select which CAN status messages are sent are status rate 1. The messages contain:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 1:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;RPM&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty Cucle&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 2:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Ah Used&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Ah Charged&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 3:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Wh Used&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Wh Charged&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 4:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Temp FET&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Temp Motor&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current In&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PID-position Now&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 5:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage In&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Tachometer&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CAN_STATUS_MSGS_R1</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Status 1</enumNames>
+            <enumNames>Status 2</enumNames>
+            <enumNames>Status 3</enumNames>
+            <enumNames>Status 4</enumNames>
+            <enumNames>Status 5</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+        </can_status_msgs_r1>
+        <can_status_msgs_r2>
+            <longName>Can Messages Rate 2</longName>
+            <type>6</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Select which CAN status messages are sent are status rate 2. The messages contain:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 1:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;RPM&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty Cucle&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 2:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Ah Used&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Ah Charged&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 3:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Wh Used&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Wh Charged&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 4:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Temp FET&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Temp Motor&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current In&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PID-position Now&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 5:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage In&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Tachometer&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CAN_STATUS_MSGS_R2</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Status 1</enumNames>
+            <enumNames>Status 2</enumNames>
+            <enumNames>Status 3</enumNames>
+            <enumNames>Status 4</enumNames>
+            <enumNames>Status 5</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+        </can_status_msgs_r2>
         <can_baud_rate>
             <longName>CAN Baud Rate</longName>
             <type>4</type>
@@ -3741,8 +3831,10 @@ p, li { white-space: pre-wrap; }
         <ser>controller_id</ser>
         <ser>timeout_msec</ser>
         <ser>timeout_brake_current</ser>
-        <ser>send_can_status</ser>
-        <ser>send_can_status_rate_hz</ser>
+        <ser>can_status_rate_1</ser>
+        <ser>can_status_rate_2</ser>
+        <ser>can_status_msgs_r1</ser>
+        <ser>can_status_msgs_r2</ser>
         <ser>can_baud_rate</ser>
         <ser>pairing_done</ser>
         <ser>permanent_uart_enabled</ser>
@@ -3922,8 +4014,6 @@ p, li { white-space: pre-wrap; }
                     <param>controller_id</param>
                     <param>timeout_msec</param>
                     <param>timeout_brake_current</param>
-                    <param>send_can_status</param>
-                    <param>send_can_status_rate_hz</param>
                     <param>can_baud_rate</param>
                     <param>pairing_done</param>
                     <param>permanent_uart_enabled</param>
@@ -3934,6 +4024,12 @@ p, li { white-space: pre-wrap; }
                     <param>uavcan_raw_rpm_max</param>
                     <param>servo_out_enable</param>
                     <param>kill_sw_mode</param>
+                    <param>::sep::CAN Messages Rate 1</param>
+                    <param>can_status_rate_1</param>
+                    <param>can_status_msgs_r1</param>
+                    <param>::sep::CAN Messages Rate 2</param>
+                    <param>can_status_rate_2</param>
+                    <param>can_status_msgs_r2</param>
                 </subgroupParams>
             </subgroup>
         </group>

From 85028d299951182aac8aa9de001e1f9ec6433c2c Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 13 Mar 2022 10:16:40 +0100
Subject: [PATCH 053/559] Added lisp remote example

---
 res/Lisp/Examples/remote.lisp | 14 ++++++++++++++
 res_lisp.qrc                  |  1 +
 2 files changed, 15 insertions(+)
 create mode 100644 res/Lisp/Examples/remote.lisp

diff --git a/res/Lisp/Examples/remote.lisp b/res/Lisp/Examples/remote.lisp
new file mode 100644
index 000000000..0577a12f4
--- /dev/null
+++ b/res/Lisp/Examples/remote.lisp
@@ -0,0 +1,14 @@
+(defun main () 
+    (progn
+        (define state (get-remote-state))
+        (define mote-y (ix state 0))
+        (define mote-x (ix state 1))
+        (define mote-c (ix state 2))
+        (define mote-z (ix state 3))
+        (define mote-rev (ix state 4))
+        
+        (sleep 0.02)
+        (main)
+))
+
+(main)
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 931a30d63..f00a155d8 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -20,5 +20,6 @@
         <file>res/Lisp/Examples/threads_create_many.lisp</file>
         <file>res/Lisp/Examples/list_with_lists.lisp</file>
         <file>res/Lisp/Examples/gc_time_test.lisp</file>
+        <file>res/Lisp/Examples/remote.lisp</file>
     </qresource>
 </RCC>

From b4f48f5bdf7fac9713c8941444a6436a3dda3eff Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 13 Mar 2022 20:57:07 +0100
Subject: [PATCH 054/559] Simplified lisp loop example

---
 res/Lisp/Examples/loop.lisp | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/res/Lisp/Examples/loop.lisp b/res/Lisp/Examples/loop.lisp
index 768d76c3b..3518bec78 100644
--- a/res/Lisp/Examples/loop.lisp
+++ b/res/Lisp/Examples/loop.lisp
@@ -1,10 +1,8 @@
-(define rate 50) ; Update rate in hz
-
 (defun f ()
     (progn
         ; Put your code here
 
-        (yield (/ 1000000 rate))
+        (sleep 0.02) ; 50 Hz
         (f)
 ))
 

From 7e5e143c31ea2e8efe621fc3913e3981897c2868 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 13 Mar 2022 20:57:40 +0100
Subject: [PATCH 055/559] Added CAN status message 6 to config

---
 res/config/6.00/parameters_appconf.xml | 16 ++++++++++++++--
 1 file changed, 14 insertions(+), 2 deletions(-)

diff --git a/res/config/6.00/parameters_appconf.xml b/res/config/6.00/parameters_appconf.xml
index 9205c8f78..65e86bf50 100644
--- a/res/config/6.00/parameters_appconf.xml
+++ b/res/config/6.00/parameters_appconf.xml
@@ -135,6 +135,12 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 5:&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage In&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Tachometer&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 6:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ADC1&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ADC2&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ADC3&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PPM&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_CAN_STATUS_MSGS_R1</cDefine>
             <valInt>0</valInt>
@@ -143,7 +149,7 @@ p, li { white-space: pre-wrap; }
             <enumNames>Status 3</enumNames>
             <enumNames>Status 4</enumNames>
             <enumNames>Status 5</enumNames>
-            <enumNames>Unused</enumNames>
+            <enumNames>Status 6</enumNames>
             <enumNames>Unused</enumNames>
             <enumNames>Unused</enumNames>
         </can_status_msgs_r1>
@@ -179,6 +185,12 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 5:&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage In&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Tachometer&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 6:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ADC1&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ADC2&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ADC3&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PPM&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_CAN_STATUS_MSGS_R2</cDefine>
             <valInt>0</valInt>
@@ -187,7 +199,7 @@ p, li { white-space: pre-wrap; }
             <enumNames>Status 3</enumNames>
             <enumNames>Status 4</enumNames>
             <enumNames>Status 5</enumNames>
-            <enumNames>Unused</enumNames>
+            <enumNames>Status 6</enumNames>
             <enumNames>Unused</enumNames>
             <enumNames>Unused</enumNames>
         </can_status_msgs_r2>

From aa968ef46ec26c416f149e813e9c2a8d260c552e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 17 Mar 2022 10:53:37 +0100
Subject: [PATCH 056/559] Updated motor comparison tool with more features for
 the custom comparison

---
 main.cpp                                  |   2 +
 pages/pagemotorcomparison.cpp             | 206 ++++++++---
 pages/pagemotorcomparison.h               | 399 +++++++++++++---------
 res/qml/Examples/MotorComparisonModel.qml |  78 ++++-
 4 files changed, 467 insertions(+), 218 deletions(-)

diff --git a/main.cpp b/main.cpp
index be9d22524..fce5cd2f1 100755
--- a/main.cpp
+++ b/main.cpp
@@ -24,6 +24,7 @@
 #include "mobile/logwriter.h"
 #include "mobile/logreader.h"
 #include "tcpserversimple.h"
+#include "pages/pagemotorcomparison.h"
 
 #include <QApplication>
 #include <QStyleFactory>
@@ -192,6 +193,7 @@ int main(int argc, char *argv[])
     qRegisterMetaType<FW_RX_PARAMS>();
     qRegisterMetaType<PSW_STATUS>();
     qRegisterMetaType<IO_BOARD_VALUES>();
+    qRegisterMetaType<MotorData>();
 
 #ifdef USE_MOBILE
 #ifndef DEBUG_BUILD
diff --git a/pages/pagemotorcomparison.cpp b/pages/pagemotorcomparison.cpp
index ca7dbfb30..e885995ed 100644
--- a/pages/pagemotorcomparison.cpp
+++ b/pages/pagemotorcomparison.cpp
@@ -339,6 +339,8 @@ PageMotorComparison::PageMotorComparison(QWidget *parent) :
     addDataItemBoth("RPM Shaft");
     addDataItemBoth("ExtraVal");
     addDataItemBoth("ExtraVal2");
+    addDataItemBoth("ExtraVal3");
+    addDataItemBoth("ExtraVal4");
     addDataItemBoth("ERPM", false);
     addDataItemBoth("km/h", false);
     addDataItemBoth("mph", false);
@@ -398,6 +400,10 @@ void PageMotorComparison::settingChanged()
     ui->testExpBox->setEnabled(ui->testModeExpButton->isChecked());
     ui->testExpBaseTorqueBox->setEnabled(ui->testModeExpButton->isChecked());
 
+    if (ui->tabWidget->currentIndex() == 1) {
+        setQmlMotorParams();
+    }
+
     if (ui->testLiveUpdateBox->isChecked()) {
         on_testRunButton_clicked();
     }
@@ -476,6 +482,8 @@ void PageMotorComparison::updateDataAndPlot(double posx, double yMin, double yMa
         table->item(ind++, 1)->setText(QString::number(md.rpm_motor_shaft, 'f', 1));
         table->item(ind++, 1)->setText(QString::number(md.extraVal, 'f', 1));
         table->item(ind++, 1)->setText(QString::number(md.extraVal2, 'f', 1));
+        table->item(ind++, 1)->setText(QString::number(md.extraVal3, 'f', 1));
+        table->item(ind++, 1)->setText(QString::number(md.extraVal4, 'f', 1));
         table->item(ind++, 1)->setText(QString::number(md.erpm, 'f', 1));
         table->item(ind++, 1)->setText(QString::number(md.km_h, 'f', 1) + " km/h");
         table->item(ind++, 1)->setText(QString::number(md.mph, 'f', 1) + " mph");
@@ -492,36 +500,48 @@ void PageMotorComparison::updateDataAndPlot(double posx, double yMin, double yMa
     if (ui->tabWidget->currentIndex() == 1) {
         auto param = getQmlParam(posx);
         MotorData md;
-        md.update(mM1Config, param.rpmM1, param.torqueM1, getParamsUi(1));
+        md.configure(&mM1Config, getParamsUi(1));
+        md.update(param.rpmM1, param.torqueM1);
         md.extraVal = param.extraM1;
         md.extraVal2 = param.extraM1_2;
+        md.extraVal3 = param.extraM1_3;
+        md.extraVal4 = param.extraM1_4;
         updateTable(md, ui->m1PlotTable);
-        md.update(mM2Config, param.rpmM2, param.torqueM2, getParamsUi(2));
+        md.configure(&mM2Config, getParamsUi(2));
+        md.update(param.rpmM2, param.torqueM2);
         md.extraVal = param.extraM2;
         md.extraVal2 = param.extraM2_2;
+        md.extraVal3 = param.extraM2_3;
+        md.extraVal4 = param.extraM2_4;
         updateTable(md, ui->m2PlotTable);
         setQmlProgressSelected(posx);
     } else  {
         if (ui->testModeTorqueButton->isChecked()) {
             MotorData md;
-            md.update(mM1Config, ui->testRpmBox->value(), posx, getParamsUi(1));
+            md.configure(&mM1Config, getParamsUi(1));
+            md.update(ui->testRpmBox->value(), posx);
             updateTable(md, ui->m1PlotTable);
-            md.update(mM2Config, ui->testRpmBox->value(), posx, getParamsUi(2));
+            md.configure(&mM2Config, getParamsUi(2));
+            md.update(ui->testRpmBox->value(), posx);
             updateTable(md, ui->m2PlotTable);
         } else if (ui->testModeRpmButton->isChecked()) {
             MotorData md;
-            md.update(mM1Config, posx, ui->testTorqueBox->value(), getParamsUi(1));
+            md.configure(&mM1Config, getParamsUi(1));
+            md.update(posx, ui->testTorqueBox->value());
             updateTable(md, ui->m1PlotTable);
-            md.update(mM2Config, posx, ui->testTorqueBox->value(), getParamsUi(2));
+            md.configure(&mM2Config, getParamsUi(2));
+            md.update(posx, ui->testTorqueBox->value());
             updateTable(md, ui->m2PlotTable);
         } else if (ui->testModeRpmPowerButton->isChecked()) {
             double rps = posx * 2.0 * M_PI / 60.0;
             double torque = ui->testPowerBox->value() / rps;
 
             MotorData md;
-            md.update(mM1Config, posx, torque, getParamsUi(1));
+            md.configure(&mM1Config, getParamsUi(1));
+            md.update(posx, torque);
             updateTable(md, ui->m1PlotTable);
-            md.update(mM2Config, posx, torque, getParamsUi(2));
+            md.configure(&mM2Config, getParamsUi(2));
+            md.update(posx, torque);
             updateTable(md, ui->m2PlotTable);
         } else {
             double rpm_start = ui->testRpmStartBox->value();
@@ -535,17 +555,19 @@ void PageMotorComparison::updateDataAndPlot(double posx, double yMin, double yMa
             torque += baseTorque;
 
             MotorData md;
-            md.update(mM1Config, posx, torque, getParamsUi(1));
+            md.configure(&mM1Config, getParamsUi(1));
+            md.update(posx, torque);
             updateTable(md, ui->m1PlotTable);
-            md.update(mM2Config, posx, torque, getParamsUi(2));
+            md.configure(&mM2Config, getParamsUi(2));
+            md.update(posx, torque);
             updateTable(md, ui->m2PlotTable);
         }
     }
 }
 
-PageMotorComparison::TestParams PageMotorComparison::getParamsUi(int motor)
+MotorDataParams PageMotorComparison::getParamsUi(int motor)
 {
-    TestParams sel;
+    MotorDataParams sel;
 
     if (motor == 1) {
         sel.gearing = ui->m1GearingBox->value();
@@ -698,6 +720,16 @@ void PageMotorComparison::on_testRunButton_clicked()
                 yAxes[rowInd].append(md.extraVal2 * rowScale);
                 names.append(namePrefix + QString("(Unit * %1)").arg(rowScale));
                 rowInd++; break;
+            case 20:
+                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
+                yAxes[rowInd].append(md.extraVal3 * rowScale);
+                names.append(namePrefix + QString("(Unit * %1)").arg(rowScale));
+                rowInd++; break;
+            case 21:
+                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
+                yAxes[rowInd].append(md.extraVal4 * rowScale);
+                names.append(namePrefix + QString("(Unit * %1)").arg(rowScale));
+                rowInd++; break;
             default:
                 break;
             }
@@ -778,7 +810,7 @@ void PageMotorComparison::on_testRunButton_clicked()
     };
 
     auto plotTorqueSweep = [this, updateData, updateGraphs, plotPoints](QTableWidget *table,
-            ConfigParams &config, TestParams param) {
+            ConfigParams &config, MotorDataParams param) {
         double torque = fabs(ui->testTorqueBox->value());
         double rpm = ui->testRpmBox->value();
 
@@ -793,7 +825,8 @@ void PageMotorComparison::on_testRunButton_clicked()
 
         for (double t = torque_start;t < torque;t += (torque / plotPoints)) {
             MotorData md;
-            md.update(config, rpm, t, param);
+            md.configure(&config, param);
+            md.update(rpm, t);
             xAxis.append(t);
             updateData(md, table, yAxes, names);
 
@@ -808,7 +841,7 @@ void PageMotorComparison::on_testRunButton_clicked()
     };
 
     auto plotRpmSweep = [this, updateData, updateGraphs, plotPoints](QTableWidget *table,
-            ConfigParams &config, TestParams param) {
+            ConfigParams &config, MotorDataParams param) {
         double torque = ui->testTorqueBox->value();
         double rpm = ui->testRpmBox->value();
 
@@ -823,7 +856,8 @@ void PageMotorComparison::on_testRunButton_clicked()
 
         for (double r = rpm_start;r < rpm;r += (rpm / plotPoints)) {
             MotorData md;
-            md.update(config, r, torque, param);
+            md.configure(&config, param);
+            md.update(r, torque);
             xAxis.append(r);
             updateData(md, table, yAxes, names);
 
@@ -837,7 +871,7 @@ void PageMotorComparison::on_testRunButton_clicked()
     };
 
     auto plotPowerSweep = [this, updateData, updateGraphs, plotPoints](QTableWidget *table,
-            ConfigParams &config, TestParams param) {
+            ConfigParams &config, MotorDataParams param) {
         double rpm = ui->testRpmBox->value();
         double rpm_start = ui->testRpmStartBox->value();
         double power = ui->testPowerBox->value();
@@ -851,7 +885,8 @@ void PageMotorComparison::on_testRunButton_clicked()
             double torque = power / rps;
 
             MotorData md;
-            md.update(config, r, torque, param);
+            md.configure(&config, param);
+            md.update(r, torque);
             xAxis.append(r);
             updateData(md, table, yAxes, names);
 
@@ -865,7 +900,7 @@ void PageMotorComparison::on_testRunButton_clicked()
     };
 
     auto plotPropSweep = [this, updateData, updateGraphs, plotPoints](QTableWidget *table,
-            ConfigParams &config, TestParams param) {
+            ConfigParams &config, MotorDataParams param) {
         double rpm = ui->testRpmBox->value();
         double power = ui->testPowerBox->value();
         double prop_exp = ui->testExpBox->value();
@@ -884,7 +919,8 @@ void PageMotorComparison::on_testRunButton_clicked()
             torque += baseTorque;
 
             MotorData md;
-            md.update(config, r, torque, param);
+            md.configure(&config, param);
+            md.update(r, torque);
             xAxis.append(r);
             updateData(md, table, yAxes, names);
 
@@ -898,7 +934,7 @@ void PageMotorComparison::on_testRunButton_clicked()
     };
 
     auto plotQmlSweep = [this, updateData, updateGraphs, plotPoints](QTableWidget *table,
-            ConfigParams &config, TestParams param, int motor) {
+            ConfigParams &config, MotorDataParams param, int motor) {
 
         QVector<double> xAxis;
         QVector<QVector<double> > yAxes;
@@ -910,15 +946,20 @@ void PageMotorComparison::on_testRunButton_clicked()
             auto rpmTorque = getQmlParam(p);
 
             MotorData md;
+            md.configure(&config, param);
 
             if (motor == 1) {
-                md.update(config, rpmTorque.rpmM1, rpmTorque.torqueM1, param);
+                md.update(rpmTorque.rpmM1, rpmTorque.torqueM1);
                 md.extraVal = rpmTorque.extraM1;
                 md.extraVal2 = rpmTorque.extraM1_2;
+                md.extraVal3 = rpmTorque.extraM1_3;
+                md.extraVal4 = rpmTorque.extraM1_4;
             } else {
-                md.update(config, rpmTorque.rpmM2, rpmTorque.torqueM2, param);
+                md.update(rpmTorque.rpmM2, rpmTorque.torqueM2);
                 md.extraVal = rpmTorque.extraM2;
                 md.extraVal2 = rpmTorque.extraM2_2;
+                md.extraVal3 = rpmTorque.extraM2_3;
+                md.extraVal4 = rpmTorque.extraM2_4;
             }
 
             xAxis.append(p);
@@ -998,6 +1039,9 @@ void PageMotorComparison::on_qmlRunButton_clicked()
     QTimer::singleShot(500, [this]() {
         connect(ui->qmlWidget->rootObject()->findChild<QObject*>("idComp"),
                 SIGNAL(testChanged()), this, SLOT(qmlTestChanged()));
+        connect(ui->qmlWidget->rootObject()->findChild<QObject*>("idComp"),
+                SIGNAL(namesUpdated()), this, SLOT(qmlNamesUpdated()));
+        setQmlMotorParams();
         on_testRunButton_clicked();
     });
 
@@ -1007,6 +1051,7 @@ void PageMotorComparison::on_qmlRunButton_clicked()
     mQmlXMinOk = true;
     mQmlXMaxOk = true;
     mQmlProgressOk = true;
+    mQmlMotorParamsOk = true;
     mQmlReadNamesDone = false;
 }
 
@@ -1022,6 +1067,13 @@ void PageMotorComparison::qmlTestChanged()
     });
 }
 
+void PageMotorComparison::qmlNamesUpdated()
+{
+    QTimer::singleShot(0, [this]() {
+        qmlUpdateNames();
+    });
+}
+
 PageMotorComparison::QmlParams PageMotorComparison::getQmlParam(double progress)
 {
     QVariant returnedValue;
@@ -1054,51 +1106,87 @@ PageMotorComparison::QmlParams PageMotorComparison::getQmlParam(double progress)
         res.extraM1_2 = list.at(3).toDouble();
     }
 
-    if (list.size() >= 8) {
-        res.rpmM2 = list.at(4).toDouble();
-        res.torqueM2 = list.at(5).toDouble();
-        res.extraM2 = list.at(6).toDouble();
-        res.extraM2_2 = list.at(7).toDouble();
+    if (list.size() >= 5) {
+        res.extraM1_3 = list.at(4).toDouble();
+    }
+
+    if (list.size() >= 6) {
+        res.extraM1_4 = list.at(5).toDouble();
+    }
+
+    if (list.size() >= 12) {
+        res.rpmM2 = list.at(6).toDouble();
+        res.torqueM2 = list.at(7).toDouble();
+        res.extraM2 = list.at(8).toDouble();
+        res.extraM2_2 = list.at(9).toDouble();
+        res.extraM2_3 = list.at(10).toDouble();
+        res.extraM2_4 = list.at(11).toDouble();
     } else {
         res.rpmM2 = res.rpmM1;
         res.torqueM2 = res.torqueM1;
-        res.extraM2 = 0.0;
-        res.extraM2_2 = 0.0;
+        res.extraM2 = res.extraM1;
+        res.extraM2_2 = res.extraM1_2;
+        res.extraM2_3 = res.extraM1_3;
+        res.extraM2_4 = res.extraM1_4;
     }
 
     if (!mQmlReadNamesDone) {
         mQmlReadNamesDone = true;
+        qmlUpdateNames();
+    }
+
+    return res;
+}
+
+bool PageMotorComparison::qmlUpdateNames()
+{
+    QVariant returnedValue;
 
-        ok = QMetaObject::invokeMethod(ui->qmlWidget->rootObject()->findChild<QObject*>("idComp"),
-                                            "extraNames",
-                                            Q_RETURN_ARG(QVariant, returnedValue));
+    bool ok = QMetaObject::invokeMethod(ui->qmlWidget->rootObject()->findChild<QObject*>("idComp"),
+                                   "extraNames",
+                                   Q_RETURN_ARG(QVariant, returnedValue));
+
+    if (ok) {
+        ok = returnedValue.canConvert(QMetaType::QVariantList);
+    }
+
+    if (ok) {
+        auto list = returnedValue.toList();
 
-        if (ok) {
-            ok = returnedValue.canConvert(QMetaType::QVariantList);
+        if (list.size() >= 1 && list.at(0).canConvert(QMetaType::QString)) {
+            ui->m1PlotTable->item(18, 0)->setText(list.at(0).toString());
         }
 
-        if (ok) {
-            list = returnedValue.toList();
+        if (list.size() >= 2 && list.at(1).canConvert(QMetaType::QString)) {
+            ui->m1PlotTable->item(19, 0)->setText(list.at(1).toString());
+        }
 
-            if (list.size() >= 1 && list.at(0).canConvert(QMetaType::QString)) {
-                ui->m1PlotTable->item(18, 0)->setText(list.at(0).toString());
-            }
+        if (list.size() >= 3 && list.at(2).canConvert(QMetaType::QString)) {
+            ui->m1PlotTable->item(20, 0)->setText(list.at(2).toString());
+        }
 
-            if (list.size() >= 2 && list.at(1).canConvert(QMetaType::QString)) {
-                ui->m1PlotTable->item(19, 0)->setText(list.at(1).toString());
-            }
+        if (list.size() >= 4 && list.at(3).canConvert(QMetaType::QString)) {
+            ui->m1PlotTable->item(21, 0)->setText(list.at(3).toString());
+        }
 
-            if (list.size() >= 3 && list.at(2).canConvert(QMetaType::QString)) {
-                ui->m2PlotTable->item(18, 0)->setText(list.at(2).toString());
-            }
+        if (list.size() >= 5 && list.at(4).canConvert(QMetaType::QString)) {
+            ui->m2PlotTable->item(18, 0)->setText(list.at(4).toString());
+        }
 
-            if (list.size() >= 4 && list.at(3).canConvert(QMetaType::QString)) {
-                ui->m2PlotTable->item(19, 0)->setText(list.at(3).toString());
-            }
+        if (list.size() >= 6 && list.at(5).canConvert(QMetaType::QString)) {
+            ui->m2PlotTable->item(19, 0)->setText(list.at(5).toString());
+        }
+
+        if (list.size() >= 7 && list.at(6).canConvert(QMetaType::QString)) {
+            ui->m2PlotTable->item(20, 0)->setText(list.at(6).toString());
+        }
+
+        if (list.size() >= 8 && list.at(7).canConvert(QMetaType::QString)) {
+            ui->m2PlotTable->item(21, 0)->setText(list.at(7).toString());
         }
     }
 
-    return res;
+    return ok;
 }
 
 QString PageMotorComparison::getQmlXName()
@@ -1179,9 +1267,19 @@ void PageMotorComparison::setQmlProgressSelected(double progress)
         return;
     }
 
-    bool ok = QMetaObject::invokeMethod(ui->qmlWidget->rootObject()->findChild<QObject*>("idComp"),
-                                        "progressSelected",
-                                        Q_ARG(QVariant, progress));
+    mQmlProgressOk = QMetaObject::invokeMethod(ui->qmlWidget->rootObject()->findChild<QObject*>("idComp"),
+                                               "progressSelected",
+                                               Q_ARG(QVariant, progress));
+}
+
+void PageMotorComparison::setQmlMotorParams()
+{
+    if (!mQmlMotorParamsOk) {
+        return;
+    }
 
-    mQmlProgressOk = ok;
+    mQmlMotorParamsOk = QMetaObject::invokeMethod(ui->qmlWidget->rootObject()->findChild<QObject*>("idComp"),
+                                                  "motorDataUpdated",
+                                                  Q_ARG(QVariant, QVariant::fromValue(MotorData(&mM1Config, getParamsUi(1)))),
+                                                  Q_ARG(QVariant, QVariant::fromValue(MotorData(&mM2Config, getParamsUi(2)))));
 }
diff --git a/pages/pagemotorcomparison.h b/pages/pagemotorcomparison.h
index 2871014ec..23c6eaa11 100644
--- a/pages/pagemotorcomparison.h
+++ b/pages/pagemotorcomparison.h
@@ -27,6 +27,232 @@
 #include "widgets/qcustomplot.h"
 #include "utility.h"
 
+struct MotorDataParams {
+    MotorDataParams() {
+        gearing = 1.0;
+        maxRpm = 50000.0;
+        gearingEfficiency = 1.0;
+        fwCurrent = 0.0;
+        motorNum = 1.0;
+        tempInc = 0.0;
+    }
+
+    double gearing;
+    double maxRpm;
+    double gearingEfficiency;
+    double fwCurrent;
+    double motorNum;
+    double tempInc;
+};
+
+struct MotorData {
+    Q_GADGET
+
+    Q_PROPERTY(double torque_out MEMBER torque_out)
+    Q_PROPERTY(double torque_motor_shaft MEMBER torque_motor_shaft)
+    Q_PROPERTY(double rpm_out MEMBER rpm_out)
+    Q_PROPERTY(double rpm_motor_shaft MEMBER rpm_motor_shaft)
+    Q_PROPERTY(double erpm MEMBER erpm)
+    Q_PROPERTY(double iq MEMBER iq)
+    Q_PROPERTY(double id MEMBER id)
+    Q_PROPERTY(double i_mag MEMBER i_mag)
+    Q_PROPERTY(double loss_motor_res MEMBER loss_motor_res)
+    Q_PROPERTY(double loss_motor_other MEMBER loss_motor_other)
+    Q_PROPERTY(double loss_motor_tot MEMBER loss_motor_tot)
+    Q_PROPERTY(double loss_gearing MEMBER loss_gearing)
+    Q_PROPERTY(double loss_tot MEMBER loss_tot)
+    Q_PROPERTY(double p_out MEMBER p_out)
+    Q_PROPERTY(double p_in MEMBER p_in)
+    Q_PROPERTY(double efficiency MEMBER efficiency)
+    Q_PROPERTY(double vq MEMBER vq)
+    Q_PROPERTY(double vd MEMBER vd)
+    Q_PROPERTY(double vbus_min MEMBER vbus_min)
+    Q_PROPERTY(double km_h MEMBER km_h)
+    Q_PROPERTY(double mph MEMBER mph)
+    Q_PROPERTY(double wh_km MEMBER wh_km)
+    Q_PROPERTY(double wh_mi MEMBER wh_mi)
+    Q_PROPERTY(double kv_bldc MEMBER kv_bldc)
+    Q_PROPERTY(double kv_bldc_noload MEMBER kv_bldc_noload)
+
+    Q_PROPERTY(double extraVal MEMBER extraVal)
+    Q_PROPERTY(double extraVal2 MEMBER extraVal2)
+    Q_PROPERTY(double extraVal3 MEMBER extraVal3)
+    Q_PROPERTY(double extraVal4 MEMBER extraVal4)
+
+public:
+    MotorData() {
+        config = nullptr;
+
+        torque_out = 0.0;
+        torque_motor_shaft = 0.0;
+        rpm_out = 0.0;
+        rpm_motor_shaft = 0.0;
+        erpm = 0.0;
+        iq = 0.0;
+        id = 0.0;
+        i_mag = 0.0;
+        loss_motor_res = 0.0;
+        loss_motor_other = 0.0;
+        loss_motor_tot = 0.0;
+        loss_gearing = 0.0;
+        loss_tot = 0.0;
+        p_out = 0.0;
+        p_in = 0.0;
+        efficiency = 0.0;
+        vq = 0.0;
+        vd = 0.0;
+        vbus_min = 0.0;
+        km_h = 0.0;
+        mph = 0.0;
+        wh_km = 0.0;
+        wh_mi = 0.0;
+        kv_bldc = 0.0;
+        kv_bldc_noload = 0.0;
+
+        extraVal = 0.0;
+        extraVal2 = 0.0;
+        extraVal3 = 0.0;
+        extraVal4 = 0.0;
+    }
+
+    MotorData(ConfigParams *cfg, MotorDataParams prm) : MotorData() {
+        configure(cfg, prm);
+    }
+
+    bool operator==(const MotorData &other) const {
+        (void)other;
+        // compare members
+        return true;
+    }
+
+    bool operator!=(MotorData const &other) const {
+        return !(*this == other);
+    }
+
+    void configure(ConfigParams *cfg, MotorDataParams prm) {
+        config = cfg;
+        params = prm;
+    }
+
+    Q_INVOKABLE void update(double rpm, double torque) {
+        if (config == nullptr) {
+            return;
+        }
+
+        // See https://www.mathworks.com/help/physmod/sps/ref/pmsm.html
+        // for the motor equations
+
+        double r = config->getParamDouble("foc_motor_r");
+        double l = config->getParamDouble("foc_motor_l");
+        double ld_lq_diff = config->getParamDouble("foc_motor_ld_lq_diff");
+        double lq = l + ld_lq_diff / 2.0;
+        double ld = l - ld_lq_diff / 2.0;
+        double lambda = config->getParamDouble("foc_motor_flux_linkage");
+        double i_nl = config->getParamDouble("si_motor_nl_current");
+        double pole_pairs = double(config->getParamInt("si_motor_poles")) / 2.0;
+        double wheel_diam = config->getParamDouble("si_wheel_diameter");
+        bool use_mpta = config->getParamEnum("foc_mtpa_mode");
+
+        r += r * 0.00386 * (params.tempInc);
+
+        torque_out = torque;
+        rpm_out = rpm;
+        rpm_motor_shaft = rpm * params.gearing;
+        erpm = rpm_motor_shaft * pole_pairs;
+        torque_motor_shaft = torque / (params.gearing * params.motorNum * params.gearingEfficiency);
+
+        double rps_out = rpm * 2.0 * M_PI / 60.0;
+        double rps_motor = rps_out * params.gearing;
+        double e_rps = rps_motor * pole_pairs;
+        double t_nl = SIGN(rpm) * (3.0 / 2.0) * i_nl * lambda * pole_pairs; // No-load torque from core losses
+
+        iq = ((torque_motor_shaft + t_nl) * (2.0 / 3.0) / (lambda * pole_pairs));
+        id = -params.fwCurrent;
+
+        // Iterate taking motor saliency into account to get the current that produces the desired torque
+        double torque_motor_shaft_updated = torque_motor_shaft;
+        double iq_adj = 0.0;
+        for (int i = 0;i < 50;i++) {
+            iq -= 0.2 * iq * (torque_motor_shaft_updated - torque_motor_shaft) /
+                    (SIGN(torque_motor_shaft_updated) * fmax(fabs(torque_motor_shaft_updated), 1.0));
+            iq += iq_adj;
+
+            // See https://github.com/vedderb/bldc/pull/179
+            if (use_mpta && fabs(ld_lq_diff) > 1e-9) {
+                id = (lambda - sqrt(SQ(lambda) + 8.0 * SQ(ld_lq_diff) * SQ(iq))) / (4.0 * ld_lq_diff);
+                iq_adj = iq - SIGN(iq) * sqrt(SQ(iq) - SQ(id));
+                iq = SIGN(iq) * sqrt(SQ(iq) - SQ(id));
+                id -= params.fwCurrent;
+            }
+
+            torque_motor_shaft_updated = (3.0 / 2.0) * pole_pairs * (iq * lambda + iq * id * (ld - lq)) - t_nl;
+        }
+
+        torque_motor_shaft = torque_motor_shaft_updated;
+        torque_out = torque_motor_shaft * params.gearing * params.motorNum * params.gearingEfficiency;
+
+        i_mag = sqrt(iq * iq + id * id);
+        loss_motor_res = i_mag * i_mag * r * (3.0 / 2.0) * params.motorNum;
+        loss_motor_other = rps_motor * t_nl * params.motorNum;
+        loss_motor_tot = loss_motor_res + loss_motor_other;
+        loss_gearing = torque_motor_shaft * (1.0 - params.gearingEfficiency) * rps_motor;
+        loss_tot = loss_motor_tot + loss_gearing;
+        p_out = rps_motor * torque_motor_shaft * params.motorNum * params.gearingEfficiency;
+        p_in = rps_motor * torque_motor_shaft * params.motorNum + loss_motor_tot;
+
+        efficiency = fmin(fabs(p_out), fabs(p_in)) / fmax(fabs(p_out), fabs(p_in));
+
+        vq = r * iq + e_rps * (lambda + id * ld);
+        vd = r * id - e_rps * lq * iq;
+        vbus_min = (3.0 / 2.0) * sqrt(vq * vq + vd * vd) / (sqrt(3.0) / 2.0) / 0.95;
+
+        km_h = 3.6 * M_PI * wheel_diam * rpm_out / 60.0;
+        mph = km_h * 0.621371192;
+
+        wh_km = p_in / km_h;
+        wh_mi = p_in / mph;
+
+        kv_bldc = rpm_motor_shaft / (vbus_min * (sqrt(3.0) / 2.0));
+        kv_bldc_noload = (60.0 * 0.95) / (lambda * (3.0 / 2.0) * M_PI * 2.0 * pole_pairs);
+    }
+
+    ConfigParams *config;
+    MotorDataParams params;
+
+    double torque_out;
+    double torque_motor_shaft;
+    double rpm_out;
+    double rpm_motor_shaft;
+    double erpm;
+    double iq;
+    double id;
+    double i_mag;
+    double loss_motor_res;
+    double loss_motor_other;
+    double loss_motor_tot;
+    double loss_gearing;
+    double loss_tot;
+    double p_out;
+    double p_in;
+    double efficiency;
+    double vq;
+    double vd;
+    double vbus_min;
+    double km_h;
+    double mph;
+    double wh_km;
+    double wh_mi;
+    double kv_bldc;
+    double kv_bldc_noload;
+
+    double extraVal;
+    double extraVal2;
+    double extraVal3;
+    double extraVal4;
+};
+
+Q_DECLARE_METATYPE(MotorData)
+
 namespace Ui {
 class PageMotorComparison;
 }
@@ -52,48 +278,39 @@ private slots:
     void on_qmlStopButton_clicked();
 
     void qmlTestChanged();
+    void qmlNamesUpdated();
 
 private:
-    struct TestParams {
-        TestParams() {
-            gearing = 1.0;
-            maxRpm = 50000.0;
-            gearingEfficiency = 1.0;
-            fwCurrent = 0.0;
-            motorNum = 1.0;
-            tempInc = 0.0;
-        }
-
-        double gearing;
-        double maxRpm;
-        double gearingEfficiency;
-        double fwCurrent;
-        double motorNum;
-        double tempInc;
-    };
-
     struct QmlParams {
         QmlParams() {
             rpmM1 = 0.0;
             torqueM1 = 0.0;
             extraM1 = 0.0;
             extraM1_2 = 0.0;
+            extraM1_3 = 0.0;
+            extraM1_4 = 0.0;
 
             rpmM2 = 0.0;
             torqueM2 = 0.0;
             extraM2 = 0.0;
             extraM2_2 = 0.0;
+            extraM2_3 = 0.0;
+            extraM2_4 = 0.0;
         }
 
         double rpmM1;
         double torqueM1;
         double extraM1;
         double extraM1_2;
+        double extraM1_3;
+        double extraM1_4;
 
         double rpmM2;
         double torqueM2;
         double extraM2;
         double extraM2_2;
+        double extraM2_3;
+        double extraM2_4;
     };
 
     Ui::PageMotorComparison *ui;
@@ -101,12 +318,14 @@ private slots:
     void settingChanged();
     bool reloadConfigs();
     void updateDataAndPlot(double posx, double yMin, double yMax);
-    TestParams getParamsUi(int motor);
+    MotorDataParams getParamsUi(int motor);
     QmlParams getQmlParam(double progress);
+    bool qmlUpdateNames();
     QString getQmlXName();
     double getQmlXMin();
     double getQmlXMax();
     void setQmlProgressSelected(double progress);
+    void setQmlMotorParams();
 
     ConfigParams mM1Config;
     ConfigParams mM2Config;
@@ -122,148 +341,8 @@ private slots:
     bool mQmlXMinOk;
     bool mQmlXMaxOk;
     bool mQmlProgressOk;
+    bool mQmlMotorParamsOk;
     bool mQmlReadNamesDone;
-
-    struct MotorData {
-        MotorData() {
-            torque_out = 0.0;
-            torque_motor_shaft = 0.0;
-            rpm_out = 0.0;
-            rpm_motor_shaft = 0.0;
-            erpm = 0.0;
-            iq = 0.0;
-            id = 0.0;
-            i_mag = 0.0;
-            loss_motor_res = 0.0;
-            loss_motor_other = 0.0;
-            loss_motor_tot = 0.0;
-            loss_gearing = 0.0;
-            loss_tot = 0.0;
-            p_out = 0.0;
-            p_in = 0.0;
-            efficiency = 0.0;
-            vq = 0.0;
-            vd = 0.0;
-            vbus_min = 0.0;
-            km_h = 0.0;
-            mph = 0.0;
-            wh_km = 0.0;
-            wh_mi = 0.0;
-            kv_bldc = 0.0;
-            kv_bldc_noload = 0.0;
-
-            extraVal = 0.0;
-            extraVal2 = 0.0;
-        }
-
-        void update(ConfigParams &config, double rpm, double torque, TestParams params) {
-
-            // See https://www.mathworks.com/help/physmod/sps/ref/pmsm.html
-            // for the motor equations
-
-            double r = config.getParamDouble("foc_motor_r");
-            double l = config.getParamDouble("foc_motor_l");
-            double ld_lq_diff = config.getParamDouble("foc_motor_ld_lq_diff");
-            double lq = l + ld_lq_diff / 2.0;
-            double ld = l - ld_lq_diff / 2.0;
-            double lambda = config.getParamDouble("foc_motor_flux_linkage");
-            double i_nl = config.getParamDouble("si_motor_nl_current");
-            double pole_pairs = double(config.getParamInt("si_motor_poles")) / 2.0;
-            double wheel_diam = config.getParamDouble("si_wheel_diameter");
-            bool use_mpta = config.getParamEnum("foc_mtpa_mode");
-
-            r += r * 0.00386 * (params.tempInc);
-
-            torque_out = torque;
-            rpm_out = rpm;
-            rpm_motor_shaft = rpm * params.gearing;
-            erpm = rpm_motor_shaft * pole_pairs;
-            torque_motor_shaft = torque / (params.gearing * params.motorNum * params.gearingEfficiency);
-
-            double rps_out = rpm * 2.0 * M_PI / 60.0;
-            double rps_motor = rps_out * params.gearing;
-            double e_rps = rps_motor * pole_pairs;
-            double t_nl = SIGN(rpm) * (3.0 / 2.0) * i_nl * lambda * pole_pairs; // No-load torque from core losses
-
-            iq = ((torque_motor_shaft + t_nl) * (2.0 / 3.0) / (lambda * pole_pairs));
-            id = -params.fwCurrent;
-
-            // Iterate taking motor saliency into account to get the current that produces the desired torque
-            double torque_motor_shaft_updated = torque_motor_shaft;
-            double iq_adj = 0.0;
-            for (int i = 0;i < 50;i++) {
-                iq -= 0.2 * iq * (torque_motor_shaft_updated - torque_motor_shaft) /
-                        (SIGN(torque_motor_shaft_updated) * fmax(fabs(torque_motor_shaft_updated), 1.0));
-                iq += iq_adj;
-
-                // See https://github.com/vedderb/bldc/pull/179
-                if (use_mpta && fabs(ld_lq_diff) > 1e-9) {
-                    id = (lambda - sqrt(SQ(lambda) + 8.0 * SQ(ld_lq_diff) * SQ(iq))) / (4.0 * ld_lq_diff);
-                    iq_adj = iq - SIGN(iq) * sqrt(SQ(iq) - SQ(id));
-                    iq = SIGN(iq) * sqrt(SQ(iq) - SQ(id));
-                    id -= params.fwCurrent;
-                }
-
-                torque_motor_shaft_updated = (3.0 / 2.0) * pole_pairs * (iq * lambda + iq * id * (ld - lq)) - t_nl;
-            }
-
-            torque_motor_shaft = torque_motor_shaft_updated;
-            torque_out = torque_motor_shaft * params.gearing * params.motorNum * params.gearingEfficiency;
-
-            i_mag = sqrt(iq * iq + id * id);
-            loss_motor_res = i_mag * i_mag * r * (3.0 / 2.0) * params.motorNum;
-            loss_motor_other = rps_motor * t_nl * params.motorNum;
-            loss_motor_tot = loss_motor_res + loss_motor_other;
-            loss_gearing = torque_motor_shaft * (1.0 - params.gearingEfficiency) * rps_motor;
-            loss_tot = loss_motor_tot + loss_gearing;
-            p_out = rps_motor * torque_motor_shaft * params.motorNum * params.gearingEfficiency;
-            p_in = rps_motor * torque_motor_shaft * params.motorNum + loss_motor_tot;
-
-            efficiency = fmin(fabs(p_out), fabs(p_in)) / fmax(fabs(p_out), fabs(p_in));
-
-            vq = r * iq + e_rps * (lambda + id * ld);
-            vd = r * id - e_rps * lq * iq;
-            vbus_min = (3.0 / 2.0) * sqrt(vq * vq + vd * vd) / (sqrt(3.0) / 2.0) / 0.95;
-
-            km_h = 3.6 * M_PI * wheel_diam * rpm_out / 60.0;
-            mph = km_h * 0.621371192;
-
-            wh_km = p_in / km_h;
-            wh_mi = p_in / mph;
-
-            kv_bldc = rpm_motor_shaft / (vbus_min * (sqrt(3.0) / 2.0));
-            kv_bldc_noload = (60.0 * 0.95) / (lambda * (3.0 / 2.0) * M_PI * 2.0 * pole_pairs);
-        }
-
-        double torque_out;
-        double torque_motor_shaft;
-        double rpm_out;
-        double rpm_motor_shaft;
-        double erpm;
-        double iq;
-        double id;
-        double i_mag;
-        double loss_motor_res;
-        double loss_motor_other;
-        double loss_motor_tot;
-        double loss_gearing;
-        double loss_tot;
-        double p_out;
-        double p_in;
-        double efficiency;
-        double vq;
-        double vd;
-        double vbus_min;
-        double km_h;
-        double mph;
-        double wh_km;
-        double wh_mi;
-        double kv_bldc;
-        double kv_bldc_noload;
-
-        double extraVal;
-        double extraVal2;
-    };
 };
 
 #endif // PAGEMOTORCOMPARISON_H
diff --git a/res/qml/Examples/MotorComparisonModel.qml b/res/qml/Examples/MotorComparisonModel.qml
index 6a92b439e..7fc95ab55 100644
--- a/res/qml/Examples/MotorComparisonModel.qml
+++ b/res/qml/Examples/MotorComparisonModel.qml
@@ -18,6 +18,9 @@ Item {
     // This signal can be emitted when test parameters change to reload the graphs
     signal testChanged()
     
+    // This signal can be emitted when the names of the extra parameters change to reload the list
+    signal namesUpdated()
+    
     property string xName: "Torque (Nm)"
     property double xMin: 0
     property double xMax: 1
@@ -25,9 +28,20 @@ Item {
     property double rpmNow: 1200
     property double torqueNow: 0
     
+    property var md1: []
+    property var md2: []
+    
+    property var names: [
+                "ParamA_m1", "ParamB_m1", "ParamC_m1", "ParamD_m1",
+                "ParamA_m2", "ParamB_m2", "ParamC_m2", "ParamD_m2"
+                ]
+    
     // This function is called with a progress from xAxisMin to xAxisMax and
     // expects that the following list is returned:
-    // [motor1_rpm motor1_torque extraParam1_m1 extraParam2_m1, motor2_rpm motor2_torque extraParam1_m2 extraParam2_m2]
+    // 
+    // [motor1_rpm, motor1_torque, extraParam1_m1, extraParam2_m1, extraParam3_m1, extraParam4_m1
+    //  motor2_rpm, motor2_torque, extraParam1_m2, extraParam2_m2, extraParam3_m2, extraParam4_m2]
+    //
     // extraParam are extra fields that will be added to the plot. They can be left as 0 if not needed.
     //
     // It is important that this function runs fast as it is called for every point
@@ -35,7 +49,7 @@ Item {
     // calculations is usually fine.
     function progressToParams(progress) {
         torqueNow = progress
-        return [rpmNow, torqueNow, 0, 0, rpmNow, torqueNow, 0, 0]
+        return [rpmNow, torqueNow, 0, 0, 0, 0, rpmNow, torqueNow, 0, 0, 0, 0]
     }
     
     // Name for the x-axis in the plot
@@ -56,12 +70,53 @@ Item {
     // This function is called when the plot is right-clicked and and dragged. It can
     // be used to display information for that progress in the UI.
     function progressSelected(prog) {
-        text.text = "Progress selected: " + parseFloat(prog).toFixed(2)
+        md1.update(2000, 0.2)
+        text.text =  "Progress selected: " + parseFloat(prog).toFixed(2) + "\n"
+        text.text += "M1 vbus min: " + md1.vbus_min
     }
     
     // This function is called to get the names of the optional extra parameters
     function extraNames() {
-        return ["ParamA_m1", "ParamB_m1", "ParamA_m2", "ParamB_m2"]
+        return names
+    }
+    
+    // This function is called with MotorData objects that can be used to get
+    // any information from the motor in this script. First the MotorData has
+    // to be updated for a given RPM and Torque, then any information from it
+    // can be updated. Example:
+    // 
+    // m1.update(2000, 0.2) // 2000 RPM and 0.2 Nm
+    // The following can then be extracted from
+    // 
+    // the MotorData for that torque and RPM:
+    // 
+    // m1.torque_out
+    // m1.torque_motor_shaft
+    // m1.rpm_out
+    // m1.rpm_motor_shaft
+    // m1.erpm
+    // m1.iq
+    // m1.id
+    // m1.i_mag
+    // m1.loss_motor_res
+    // m1.loss_motor_other
+    // m1.loss_motor_tot
+    // m1.loss_gearing
+    // m1.loss_tot
+    // m1.p_out
+    // m1.p_in
+    // m1.efficiency
+    // m1.vd
+    // m1.vbus_min
+    // m1.km_h
+    // m1.mph
+    // m1.wh_km
+    // m1.wh_mi
+    // m1.kv_bldc
+    // m1.kv_bldc_noload
+    function motorDataUpdated(m1, m2) {
+        md1 = m1
+        md2 = m2
     }
 
     GridLayout {
@@ -123,6 +178,21 @@ Item {
             }
         }
         
+        Button {
+            Layout.topMargin: 5
+            Layout.fillWidth: true
+            Layout.columnSpan: 2
+            text: "Updates Names"
+            
+            onClicked: {
+                names = [
+                    "Test", "ParamB_m1", "ParamC_m1", "ParamD_m1",
+                    "ParamA_m2", "ParamB_m2", "ParamC_m2", "Test"
+                    ]
+                namesUpdated()
+            }
+        }
+        
         Text {
             id:text
             Layout.topMargin: 20

From a297aa394db58f9d9a6cf5e64872134f32eb1cbb Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 17 Mar 2022 15:59:18 +0100
Subject: [PATCH 057/559] Added firmware for wand with magnetic throttle

---
 pages/pageswdprog.cpp              |   2 ++
 res.qrc                            |   1 +
 res/other_fw/nrf52840_wand_mag.bin | Bin 0 -> 229552 bytes
 3 files changed, 3 insertions(+)
 create mode 100755 res/other_fw/nrf52840_wand_mag.bin

diff --git a/pages/pageswdprog.cpp b/pages/pageswdprog.cpp
index ce816e991..36f220a13 100644
--- a/pages/pageswdprog.cpp
+++ b/pages/pageswdprog.cpp
@@ -552,6 +552,8 @@ void PageSwdProg::bmConnRes(int res)
                  "://res/other_fw/nrf52840_vesc_ble_rx26_tx25_led27.bin");
         addSwdFw("Wand Remote",
                  "://res/other_fw/nrf52840_stick_remote.bin");
+        addSwdFw("Wand Remote Magnetic Throttle",
+                 "://res/other_fw/nrf52840_wand_mag.bin");
         addSwdFw("Stormcore Builtin - RX: 31 TX: 30 LED: 5",
                  "://res/other_fw/nrf52840_stormcore_ble_rx31_tx30_led5.bin");
         break;
diff --git a/res.qrc b/res.qrc
index ab11b7be1..265ceb0a9 100644
--- a/res.qrc
+++ b/res.qrc
@@ -321,5 +321,6 @@
         <file>res/other_fw/nrf52840_stormcore_ble_rx31_tx30_led5.bin</file>
         <file>res/fonts/Exan-Regular.ttf</file>
         <file>res/fonts/Roboto/RobotoMono-VariableFont_wght.ttf</file>
+        <file>res/other_fw/nrf52840_wand_mag.bin</file>
     </qresource>
 </RCC>
diff --git a/res/other_fw/nrf52840_wand_mag.bin b/res/other_fw/nrf52840_wand_mag.bin
new file mode 100755
index 0000000000000000000000000000000000000000..0e263062d6e75d6040d8c284a18bf8d6f901957a
GIT binary patch
literal 229552
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From feacf4f5b858ad77f4ca39f01bfb356b3fd08f91 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 23 Mar 2022 15:05:15 +0100
Subject: [PATCH 058/559] Added new HFI parameters

---
 res/config/6.00/parameters_mcconf.xml | 84 +++++++++++++++++++++++++--
 1 file changed, 80 insertions(+), 4 deletions(-)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index 1fa5940a3..2e283a166 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -1291,6 +1291,9 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;VSS&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Vedder Sensorless Start. Use HFI just after starting the motor to resolve the initial position and set the observer state to that position. This can help the observer track the motor correctly from 0 speed. As this also is based on saturation it can help start some motors with low saliency.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Silent HFI&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A different approach to HFI that is completely silent if the zero vector frequency is high enough (maximum around 32 kHz). It is also more stable under high load when configured properly. This implementation relies on a good inductance measurement (in addition to some difference in Lq and Ld), so if it does not work well you can try adjusting the inductance 1-5 % up and down. &lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;NOTE:&lt;/span&gt; HFI and VSS only work when the FOC switching frequency is at or below 30 KHz. &lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_SENSOR_MODE</cDefine>
@@ -1300,6 +1303,7 @@ p, li { white-space: pre-wrap; }
             <enumNames>Hall Sensors</enumNames>
             <enumNames>HFI</enumNames>
             <enumNames>VSS</enumNames>
+            <enumNames>Silent HFI</enumNames>
         </foc_sensor_mode>
         <foc_pll_kp>
             <longName>Speed Tracker Kp</longName>
@@ -2145,9 +2149,9 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;HFI voltage during operation, at maximum current. Increasing the voltage at higher currents helps with tracking. A higher voltage makes HFI noisier and wastes more power, which is why this option allows increasing it at high motor currents when it is needed.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The HFI voltage is mapped between voltage_run and voltage_max, relative to the motor current.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;HFI voltage during operation, at maximum current. Increasing the voltage at higher currents helps with tracking. A higher voltage makes HFI noisier and wastes more power, which is why this option allows increasing it at high motor currents when it is needed.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The HFI voltage is mapped between voltage_run and voltage_max, relative to the motor current.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_HFI_VOLTAGE_MAX</cDefine>
             <editorDecimalsDouble>2</editorDecimalsDouble>
             <editorScale>1</editorScale>
@@ -2156,11 +2160,55 @@ p, li { white-space: pre-wrap; }
             <minDouble>0</minDouble>
             <showDisplay>0</showDisplay>
             <stepDouble>1</stepDouble>
-            <valDouble>10</valDouble>
+            <valDouble>5</valDouble>
             <vTxDoubleScale>1000</vTxDoubleScale>
             <suffix> V</suffix>
             <vTx>9</vTx>
         </foc_hfi_voltage_max>
+        <foc_hfi_gain>
+            <longName>HFI Gain</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Correction gain for the silent HFI mode. Higher values are better at handling sudden changes in speed, but also make the position tracking noisier.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HFI_GAIN</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1.5</maxDouble>
+            <minDouble>0.01</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.4</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </foc_hfi_gain>
+        <foc_hfi_hyst>
+            <longName>HFI Current Hysteresis</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current hysteresis for the silent HFI mode. This sets above which current magnitude the injected voltage vector changes phase. Always setting the phase opposite of the set current is best for tracking, but every phase change causes a small click that can be heard. This hysteresis reduces how often the phase is changed around 0 current at the cost of some performance.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HFI_HYST</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>2</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>7</vTx>
+        </foc_hfi_hyst>
         <foc_sl_erpm_hfi>
             <longName>Sensorless ERPM HFI</longName>
             <type>1</type>
@@ -2602,6 +2650,27 @@ p, li { white-space: pre-wrap; }
             <suffix> ms</suffix>
             <vTx>7</vTx>
         </foc_fw_ramp_time>
+        <foc_speed_soure>
+            <longName>Speed Tracker Position Source</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Position source for the speed trackers.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Corrected Position&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use the derived motor control position from sensors, HFI and observer.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Observer&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use the observer position. This is usually less noisy than hall sensors or hfi, but it can drift slowly at 0 speed.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SPEED_SOURCE</cDefine>
+            <valInt>1</valInt>
+            <enumNames>Corrected Position</enumNames>
+            <enumNames>Observer</enumNames>
+        </foc_speed_soure>
         <gpd_buffer_notify_left>
             <longName>Buffer Notification Length</longName>
             <type>2</type>
@@ -4091,6 +4160,8 @@ p, li { white-space: pre-wrap; }
         <ser>foc_hfi_voltage_start</ser>
         <ser>foc_hfi_voltage_run</ser>
         <ser>foc_hfi_voltage_max</ser>
+        <ser>foc_hfi_gain</ser>
+        <ser>foc_hfi_hyst</ser>
         <ser>foc_sl_erpm_hfi</ser>
         <ser>foc_hfi_start_samples</ser>
         <ser>foc_hfi_obs_ovr_sec</ser>
@@ -4112,6 +4183,7 @@ p, li { white-space: pre-wrap; }
         <ser>foc_fw_duty_start</ser>
         <ser>foc_fw_ramp_time</ser>
         <ser>foc_fw_q_current_factor</ser>
+        <ser>foc_speed_soure</ser>
         <ser>gpd_buffer_notify_left</ser>
         <ser>gpd_buffer_interpol</ser>
         <ser>gpd_current_filter_const</ser>
@@ -4393,6 +4465,8 @@ p, li { white-space: pre-wrap; }
                     <param>foc_hfi_voltage_start</param>
                     <param>foc_hfi_voltage_run</param>
                     <param>foc_hfi_voltage_max</param>
+                    <param>foc_hfi_gain</param>
+                    <param>foc_hfi_hyst</param>
                     <param>foc_sl_erpm_hfi</param>
                     <param>foc_hfi_start_samples</param>
                     <param>foc_hfi_obs_ovr_sec</param>
@@ -4460,6 +4534,7 @@ p, li { white-space: pre-wrap; }
                     <param>foc_d_gain_scale_max_mod</param>
                     <param>foc_mtpa_mode</param>
                     <param>foc_observer_offset</param>
+                    <param>foc_speed_soure</param>
                 </subgroupParams>
             </subgroup>
         </group>
@@ -4492,6 +4567,7 @@ p, li { white-space: pre-wrap; }
                     <param>s_pid_min_erpm</param>
                     <param>s_pid_allow_braking</param>
                     <param>s_pid_ramp_erpms_s</param>
+                    <param>foc_speed_soure</param>
                     <param>::sep::Position Controller</param>
                     <param>p_pid_kp</param>
                     <param>p_pid_ki</param>

From bcd03c73595e43e36daa76c0cf6342650b29d488 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 23 Mar 2022 22:26:36 +0100
Subject: [PATCH 059/559] Added high performance hfi mode

---
 res/config/6.00/parameters_mcconf.xml | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index 2e283a166..5c5ececc8 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -1292,7 +1292,10 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Vedder Sensorless Start. Use HFI just after starting the motor to resolve the initial position and set the observer state to that position. This can help the observer track the motor correctly from 0 speed. As this also is based on saturation it can help start some motors with low saliency.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Silent HFI&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A different approach to HFI that is completely silent if the zero vector frequency is high enough (maximum around 32 kHz). It is also more stable under high load when configured properly. This implementation relies on a good inductance measurement (in addition to some difference in Lq and Ld), so if it does not work well you can try adjusting the inductance 1-5 % up and down. &lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A different approach to HFI that is completely silent if the zero vector frequency is high enough (maximum around 32 kHz). It is also more stable under high load when configured properly. This implementation relies on a good inductance measurement (in addition to some difference in Lq and Ld), so if it does not work well you can try adjusting the inductance 1-5 % up and down. Note that phase shunts are required to make this mode silent, otherwise the sampling has to be done at half the frequency in V0 only.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;High Performance HFI&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as silent HFI, but will only sample in V0. This gives a bit better performance due to better symmetry, but it is not possible to push the frequency beyond the hearing range. For hardware without phase shunts this mode behaves the same as Silent HFI.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;NOTE:&lt;/span&gt; HFI and VSS only work when the FOC switching frequency is at or below 30 KHz. &lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
@@ -1304,6 +1307,7 @@ p, li { white-space: pre-wrap; }
             <enumNames>HFI</enumNames>
             <enumNames>VSS</enumNames>
             <enumNames>Silent HFI</enumNames>
+            <enumNames>High Performance HFI</enumNames>
         </foc_sensor_mode>
         <foc_pll_kp>
             <longName>Speed Tracker Kp</longName>

From f4f541d668de9c71aebd9331b5c6234fa4e5a6e6 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 24 Mar 2022 12:19:54 +0100
Subject: [PATCH 060/559] Allow setting negative ld_lq_diff

---
 res/config/6.00/parameters_mcconf.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index 5c5ececc8..3145b6cf6 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -1389,7 +1389,7 @@ p, li { white-space: pre-wrap; }
             <editorScale>1e+06</editorScale>
             <editAsPercentage>0</editAsPercentage>
             <maxDouble>10</maxDouble>
-            <minDouble>0</minDouble>
+            <minDouble>-10</minDouble>
             <showDisplay>0</showDisplay>
             <stepDouble>0.1</stepDouble>
             <valDouble>0</valDouble>

From ea8c7a0a791f75c3d572a2acd1902b836013edd9 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Thu, 24 Mar 2022 20:21:20 +0000
Subject: [PATCH 061/559] @vedderb has signed the CLA from Pull Request #212

---
 signatures/version1/cla.json | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/signatures/version1/cla.json b/signatures/version1/cla.json
index 58d9d9fed..437e34783 100644
--- a/signatures/version1/cla.json
+++ b/signatures/version1/cla.json
@@ -39,6 +39,14 @@
       "created_at": "2022-02-04T03:42:03Z",
       "repoId": 102395117,
       "pullRequestNo": 207
+    },
+    {
+      "name": "vedderb",
+      "id": 2311760,
+      "comment_id": 1078180028,
+      "created_at": "2022-03-24T20:20:57Z",
+      "repoId": 102395117,
+      "pullRequestNo": 212
     }
   ]
 }
\ No newline at end of file

From abd43bb58626b3ba6825b4a2f1c21f4507cf8d36 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 25 Mar 2022 17:10:35 +0100
Subject: [PATCH 062/559] Fixed balance example

---
 res/Lisp/Examples/balance.lisp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/res/Lisp/Examples/balance.lisp b/res/Lisp/Examples/balance.lisp
index 5cd44addf..8b8b5252a 100644
--- a/res/Lisp/Examples/balance.lisp
+++ b/res/Lisp/Examples/balance.lisp
@@ -71,7 +71,7 @@
 ))
 
 (event-register-handler (spawn event-handler))
-(event-enable "event-data-rx")
+(event-enable 'event-data-rx)
 
 (define #t-last (systime))
 (define #it-rate 0)

From 5a8370db96a82af2f5e782d440c593a7ad332160 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 25 Mar 2022 22:44:36 +0100
Subject: [PATCH 063/559] Lisp syntax update

---
 QCodeEditor/resources/languages/lisp.xml | 20 ++++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index d7d72ddd4..0fc8e5459 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -21,9 +21,29 @@
     <section name="Type">
         <name>print</name>
         <name>yield</name>
+        <name>sleep</name>
         <name>map</name>
         <name>foldl</name>
         <name>foldr</name>
         <name>list</name>
+        <name>iota</name>
+        <name>range</name>
+        <name>reverse</name>
+        <name>length</name>
+        <name>apply</name>
+        <name>zipwith</name>
+        <name>filter</name>
+        <name>sort</name>
+        <name>sin</name>
+        <name>cos</name>
+        <name>tan</name>
+        <name>asin</name>
+        <name>acos</name>
+        <name>atan</name>
+        <name>atan2</name>
+        <name>pow</name>
+        <name>sqrt</name>
+        <name>log</name>
+        <name>log10</name>
     </section>
 </root>

From 25e6cb88a391cceef29662f218b091b44ad82b41 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 25 Mar 2022 22:44:59 +0100
Subject: [PATCH 064/559] Duty example cleanup

---
 res/Lisp/Examples/duty.lisp | 39 ++++++++++++++++++++++---------------
 1 file changed, 23 insertions(+), 16 deletions(-)

diff --git a/res/Lisp/Examples/duty.lisp b/res/Lisp/Examples/duty.lisp
index b0108ad20..5725e3902 100644
--- a/res/Lisp/Examples/duty.lisp
+++ b/res/Lisp/Examples/duty.lisp
@@ -1,22 +1,29 @@
-;;; This program will ramp the duty cycle up and down according
-;;; to the parameters below.
+; This program will ramp the duty cycle up to 1 and then
+; down to -1 repeatedly according to the parameters below.
 
-(define rate 50) ; Update rate in hz
-(define ramptime 3.0) ; Motor ramp time
+(define rate 50)      ; Update rate in Hz
+(define ramptime 3.0) ; Motor ramp time in seconds
 
+; Step for each iteration based on rate and ramptime
 (define rampstep (/ 1.0 (* rate ramptime)))
-(define upcnt rampstep)
 
-(let ((f (lambda (x)
-   (progn
-     (set-duty x)
-     (timeout-reset)
+; duty is the duty cycle now and add is how much to add to
+; it for the next iteration. When duty gets larger than 1 we
+; make add negative and when it gets smaller than -1 we make
+; add positive. When -1 < add < 1 the previos value of add
+; is used.
+(defun f (duty add)
+    (progn
+        (set-duty duty)
+        (sleep (/ 1.0 rate))
      
-     (yield (/ 1000000 rate))
-     
-     (if (> x 1.0) (define upcnt (- rampstep) nil))
-     (if (< x -1.0) (define upcnt rampstep) nil)
-     
-     (f (+ x upcnt))
-)))) (f 0))
+        (f (+ duty add)
+           (if (>= duty 1.0)
+                (- rampstep)
+                (if (<= duty -1.0)
+                    rampstep
+                    add
+)))))
 
+; Start with duty cycle 0 and add as the positive rampstep
+(f 0 rampstep)

From 74b303b7544f7339c432cd6385709cf4fd959484 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 26 Mar 2022 17:15:17 +0100
Subject: [PATCH 065/559] Updated lisp examples

---
 QCodeEditor/resources/languages/lisp.xml    |  4 ++
 res/Lisp/Examples/duty.lisp                 | 29 ------------
 res/Lisp/Examples/duty_ramp_functional.lisp | 22 +++++++++
 res/Lisp/Examples/duty_ramp_imperative.lisp | 23 ++++++++++
 res/Lisp/Examples/i2c_mpu9250.lisp          |  6 +--
 res/Lisp/Examples/loop.lisp                 | 10 ++--
 res/Lisp/Examples/loop_tests.lisp           | 51 +++++++++++++++++++++
 res/Lisp/Examples/print_bms_data.lisp       | 14 ++----
 res/Lisp/Examples/raw_voltage.lisp          |  7 +--
 res/Lisp/Examples/raw_voltage_mod.lisp      |  6 +--
 res/Lisp/Examples/remote.lisp               |  5 +-
 res_lisp.qrc                                |  4 +-
 12 files changed, 118 insertions(+), 63 deletions(-)
 delete mode 100644 res/Lisp/Examples/duty.lisp
 create mode 100644 res/Lisp/Examples/duty_ramp_functional.lisp
 create mode 100644 res/Lisp/Examples/duty_ramp_imperative.lisp
 create mode 100644 res/Lisp/Examples/loop_tests.lisp

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 0fc8e5459..5e3dbeff0 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -13,12 +13,16 @@
         <name>if</name>
         <name>match</name>
         <name>_</name>
+        <name>loopfor</name>
+        <name>loopwhile</name>
+        <name>looprange</name>
     </section>
     <section name="PrimitiveType">
         <name>nil</name>
         <name>list</name>
     </section>
     <section name="Type">
+        <name>spawn</name>
         <name>print</name>
         <name>yield</name>
         <name>sleep</name>
diff --git a/res/Lisp/Examples/duty.lisp b/res/Lisp/Examples/duty.lisp
deleted file mode 100644
index 5725e3902..000000000
--- a/res/Lisp/Examples/duty.lisp
+++ /dev/null
@@ -1,29 +0,0 @@
-; This program will ramp the duty cycle up to 1 and then
-; down to -1 repeatedly according to the parameters below.
-
-(define rate 50)      ; Update rate in Hz
-(define ramptime 3.0) ; Motor ramp time in seconds
-
-; Step for each iteration based on rate and ramptime
-(define rampstep (/ 1.0 (* rate ramptime)))
-
-; duty is the duty cycle now and add is how much to add to
-; it for the next iteration. When duty gets larger than 1 we
-; make add negative and when it gets smaller than -1 we make
-; add positive. When -1 < add < 1 the previos value of add
-; is used.
-(defun f (duty add)
-    (progn
-        (set-duty duty)
-        (sleep (/ 1.0 rate))
-     
-        (f (+ duty add)
-           (if (>= duty 1.0)
-                (- rampstep)
-                (if (<= duty -1.0)
-                    rampstep
-                    add
-)))))
-
-; Start with duty cycle 0 and add as the positive rampstep
-(f 0 rampstep)
diff --git a/res/Lisp/Examples/duty_ramp_functional.lisp b/res/Lisp/Examples/duty_ramp_functional.lisp
new file mode 100644
index 000000000..e0bff4548
--- /dev/null
+++ b/res/Lisp/Examples/duty_ramp_functional.lisp
@@ -0,0 +1,22 @@
+; Ramp motor duty cycle between -1 and 1, functional approach
+
+(define rate 50)      ; Update rate in Hz
+(define ramptime 3.0) ; Motor ramp time in seconds
+
+; Step size in each iteration to ramp for
+; 3.0 seconds when ramptime is 50 Hz
+(define rampstep (/ 1.0 (* rate ramptime)))
+
+(defun f (duty add)
+    (progn
+        (set-duty duty)
+        (sleep (/ 1.0 rate))
+        
+        ; When we make the next call we describe how the arguments, which describe
+        ; the state, get updated.
+        (f (+ duty add)                                                     ; <- duty
+           (if (>= duty 1.0) (- rampstep) (if (<= duty -1.0) rampstep add)) ; <- add
+)))
+
+; Start with duty as 0 and add as rampstep
+(f 0.0 rampstep)
diff --git a/res/Lisp/Examples/duty_ramp_imperative.lisp b/res/Lisp/Examples/duty_ramp_imperative.lisp
new file mode 100644
index 000000000..d278ee8e4
--- /dev/null
+++ b/res/Lisp/Examples/duty_ramp_imperative.lisp
@@ -0,0 +1,23 @@
+; Ramp motor duty cycle between -1 and 1, imperative approach
+
+(define rate 50)      ; Update rate in Hz
+(define ramptime 3.0) ; Motor ramp time in seconds
+
+; Step size in each iteration to ramp for
+; 3.0 seconds when ramptime is 50 Hz
+(define rampstep (/ 1.0 (* rate ramptime)))
+
+; Create and initialize state that we are going to
+; mutate as the program runs.
+(define add rampstep)
+(define duty 0)
+
+(loopwhile 1
+    (progn
+        (set-duty duty)
+        (sleep (/ 1.0 rate))
+
+        ; Update state
+        (define duty (+ duty add))
+        (define add (if (>= duty 1.0) (- rampstep) (if (<= duty -1.0) rampstep add)))
+))
diff --git a/res/Lisp/Examples/i2c_mpu9250.lisp b/res/Lisp/Examples/i2c_mpu9250.lisp
index 208c5310b..27a90e0d3 100644
--- a/res/Lisp/Examples/i2c_mpu9250.lisp
+++ b/res/Lisp/Examples/i2c_mpu9250.lisp
@@ -21,7 +21,7 @@
 ; Receive buffer for accel and gyro
 (define rx-buf (array-create type-byte 14))
 
-(defun main ()
+(loopwhile t
     (progn
         (i2c-tx-rx mpu-addr (list reg-accel-xout-h) rx-buf)
     
@@ -33,7 +33,5 @@
         (define gyro-y (/ (* (bufget-i16 rx-buf 10) 2000.0) 32768.0))
         (define gyro-z (/ (* (bufget-i16 rx-buf 12) 2000.0) 32768.0))
     
-        (yield 10000)
-        (main)
+        (sleep 0.01)
 ))
-(main)
diff --git a/res/Lisp/Examples/loop.lisp b/res/Lisp/Examples/loop.lisp
index 3518bec78..aafd50304 100644
--- a/res/Lisp/Examples/loop.lisp
+++ b/res/Lisp/Examples/loop.lisp
@@ -1,9 +1,5 @@
-(defun f ()
+(loopwhile t
     (progn
-        ; Put your code here
-
-        (sleep 0.02) ; 50 Hz
-        (f)
+        (print "Hello World")
+        (sleep 1.5)
 ))
-
-(f)
diff --git a/res/Lisp/Examples/loop_tests.lisp b/res/Lisp/Examples/loop_tests.lisp
new file mode 100644
index 000000000..892d7deb3
--- /dev/null
+++ b/res/Lisp/Examples/loop_tests.lisp
@@ -0,0 +1,51 @@
+(print "== Performance for ==")
+
+(define t0 (systime))
+(define cnt 0)
+(loopfor i 0 (< i 10000) (+ i 1) (define cnt (+ cnt i)))
+(print (str-from-n cnt "For cnt: %d"))
+(print (str-from-n (secs-since t0) "For time: %.2f s"))
+
+(print "\n== Performance while ==")
+
+(define t0 (systime))
+(define cnt 0)
+(define itr 0)
+(loopwhile (< itr 10000) (progn (define cnt (+ cnt itr)) (define itr (+ itr 1))))
+(print (str-from-n cnt "While cnt: %d"))
+(print (str-from-n (secs-since t0) "While time: %.2f s"))
+
+(print "\n== Performance range ==")
+
+(define t0 (systime))
+(define cnt 0)
+(looprange i 0 10000 (define cnt (+ cnt i)))
+(print (str-from-n cnt "Range cnt: %d"))
+(print (str-from-n (secs-since t0) "Range time: %.2f s"))
+
+(print "\n== For ==")
+
+(loopfor i 0 (< i 5) (+ i 1)
+    (progn
+        (print i)
+        (sleep 0.5)
+))
+
+(print "\n== While ==")
+
+(define i 0)
+(loopwhile (< i 5)
+    (progn
+        (print i)
+        (sleep 0.5)
+        (define i (+ i 1))
+))
+
+(print "\n== Range ==")
+
+(looprange i 0 5
+    (progn
+        (print i)
+        (sleep 0.5)
+))
+
diff --git a/res/Lisp/Examples/print_bms_data.lisp b/res/Lisp/Examples/print_bms_data.lisp
index dca3e1cce..ac8a773e3 100644
--- a/res/Lisp/Examples/print_bms_data.lisp
+++ b/res/Lisp/Examples/print_bms_data.lisp
@@ -1,14 +1,10 @@
-(define rate 2) ; Update rate in hz
-
-(let ((f (lambda ()
+(loopwhile 1
    (progn
-     (define v-cells (map (lambda (c)(get-bms-val 'bms-v-cell c)) (range 0 (- (get-bms-val 'bms-cell-num) 1))))
+     (define v-cells (map (lambda (c)(get-bms-val 'bms-v-cell c)) (range 0 (get-bms-val 'bms-cell-num))))
      (print (list "V Tot  : " (get-bms-val 'bms-v-tot)))
      (print (list "V Cells: " v-cells))
      (print (list "foldl  : " (foldl + 0 v-cells)))
-     (print (list "ADCs   : " (map (lambda (c)(get-adc c)) (iota 1))))
+     (print (list "ADCs   : " (map (lambda (c)(get-adc c)) (iota 2))))
      (print " ")
-     (yield (/ 1000000.0 rate))
-     (f)
-)))) (f))
-
+     (sleep 1)
+))
diff --git a/res/Lisp/Examples/raw_voltage.lisp b/res/Lisp/Examples/raw_voltage.lisp
index 0f3d66cf2..9a034038e 100644
--- a/res/Lisp/Examples/raw_voltage.lisp
+++ b/res/Lisp/Examples/raw_voltage.lisp
@@ -7,7 +7,7 @@
 
 (define va-f 0)
 
-(defun f ()
+(loopwhile t
     (progn
         (define use-raw 0) ; Set to 1 to use ADC bits and not convert to voltage
     
@@ -22,8 +22,5 @@
         
         (define va-f (filter va-f va-z))
 
-        (yield (/ 1000000 rate))
-        (f)
+        (sleep (/ 1.0 rate))
 ))
-
-(f)
diff --git a/res/Lisp/Examples/raw_voltage_mod.lisp b/res/Lisp/Examples/raw_voltage_mod.lisp
index 74d59b13e..dbe000128 100644
--- a/res/Lisp/Examples/raw_voltage_mod.lisp
+++ b/res/Lisp/Examples/raw_voltage_mod.lisp
@@ -1,6 +1,6 @@
 (define rate 200) ; Update rate in hz
 
-(defun f ()
+(loopwhile t
     (progn
         (define va (raw-adc-voltage 1 1))
         (define vb (raw-adc-voltage 1 2))
@@ -19,7 +19,5 @@
         (define vb-calc (* (/ (get-vin) 1.5) (/ (+ (- (raw-mod-alpha)) (+ (* sqrt-3 (raw-mod-beta))) ) 2)))
         (define vc-calc (* (/ (get-vin) 1.5) (/ (+ (- (raw-mod-alpha)) (- (* sqrt-3 (raw-mod-beta))) ) 2)))
 
-        (yield (/ 1000000 rate))
-        (f)
+        (sleep (/ 1.0 rate))
 ))
-(f)
diff --git a/res/Lisp/Examples/remote.lisp b/res/Lisp/Examples/remote.lisp
index 0577a12f4..3350cdbe4 100644
--- a/res/Lisp/Examples/remote.lisp
+++ b/res/Lisp/Examples/remote.lisp
@@ -1,4 +1,4 @@
-(defun main () 
+(loopwhile t
     (progn
         (define state (get-remote-state))
         (define mote-y (ix state 0))
@@ -8,7 +8,4 @@
         (define mote-rev (ix state 4))
         
         (sleep 0.02)
-        (main)
 ))
-
-(main)
diff --git a/res_lisp.qrc b/res_lisp.qrc
index f00a155d8..1c8b5604d 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -3,7 +3,6 @@
         <file>res/Lisp/Examples/can_pos_follow.lisp</file>
         <file>res/Lisp/Examples/control_servo_from_duty.lisp</file>
         <file>res/Lisp/Examples/control_servo_from_encoder.lisp</file>
-        <file>res/Lisp/Examples/duty.lisp</file>
         <file>res/Lisp/Examples/ppm_read.lisp</file>
         <file>res/Lisp/Examples/print_bms_data.lisp</file>
         <file>res/Lisp/Examples/speed_test.lisp</file>
@@ -21,5 +20,8 @@
         <file>res/Lisp/Examples/list_with_lists.lisp</file>
         <file>res/Lisp/Examples/gc_time_test.lisp</file>
         <file>res/Lisp/Examples/remote.lisp</file>
+        <file>res/Lisp/Examples/duty_ramp_functional.lisp</file>
+        <file>res/Lisp/Examples/duty_ramp_imperative.lisp</file>
+        <file>res/Lisp/Examples/loop_tests.lisp</file>
     </qresource>
 </RCC>

From 94012497b411ce64cd8e2f643f775cacff2c07cb Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 26 Mar 2022 20:10:26 +0100
Subject: [PATCH 066/559] Updated raw current example

---
 res/Lisp/Examples/raw_current.lisp | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/res/Lisp/Examples/raw_current.lisp b/res/Lisp/Examples/raw_current.lisp
index bf1126e41..0ee772a2e 100644
--- a/res/Lisp/Examples/raw_current.lisp
+++ b/res/Lisp/Examples/raw_current.lisp
@@ -9,7 +9,7 @@
 (define i2-f 0)
 (define i3-f 0)
 
-(define f (lambda ()
+(loopwhile t
     (progn
         ; Unfiltered
         (define i1 (raw-adc-current 1 1))
@@ -28,7 +28,4 @@
         (define i3-adc (raw-adc-current 1 3 1))
 
         (yield (/ 1000000 rate))
-        (f)
-)))
-
-(f)
+))

From 6ebd06ca83901bcfbaa61b85c2ca7e167c6d8cdc Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 26 Mar 2022 21:59:47 +0100
Subject: [PATCH 067/559] Tiny tweak

---
 res/Lisp/Examples/duty_ramp_imperative.lisp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/res/Lisp/Examples/duty_ramp_imperative.lisp b/res/Lisp/Examples/duty_ramp_imperative.lisp
index d278ee8e4..2278c9ae6 100644
--- a/res/Lisp/Examples/duty_ramp_imperative.lisp
+++ b/res/Lisp/Examples/duty_ramp_imperative.lisp
@@ -12,7 +12,7 @@
 (define add rampstep)
 (define duty 0)
 
-(loopwhile 1
+(loopwhile t
     (progn
         (set-duty duty)
         (sleep (/ 1.0 rate))

From b970defb66685d78cb4c18769617312a8b398f5e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 27 Mar 2022 17:06:13 +0200
Subject: [PATCH 068/559] Updated lisp examples

---
 QCodeEditor/resources/languages/lisp.xml      |  1 +
 res/Lisp/Examples/balance.lisp                | 17 ++++++-----
 res/Lisp/Examples/can_js.lisp                 | 28 ++++++++-----------
 res/Lisp/Examples/can_pos_follow.lisp         | 10 ++-----
 .../Examples/control_servo_from_duty.lisp     | 16 ++++-------
 .../Examples/control_servo_from_encoder.lisp  | 10 ++-----
 res/Lisp/Examples/list_with_lists.lisp        | 10 +++----
 res/Lisp/Examples/ppm_read.lisp               | 15 ++++------
 res/Lisp/Examples/raw_current.lisp            |  2 +-
 res/Lisp/Examples/threads_create_many.lisp    |  7 ++---
 res/Lisp/Examples/uart.lisp                   | 26 ++++++++---------
 11 files changed, 57 insertions(+), 85 deletions(-)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 5e3dbeff0..0f92ba9d4 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -23,6 +23,7 @@
     </section>
     <section name="Type">
         <name>spawn</name>
+        <name>recv</name>
         <name>print</name>
         <name>yield</name>
         <name>sleep</name>
diff --git a/res/Lisp/Examples/balance.lisp b/res/Lisp/Examples/balance.lisp
index 8b8b5252a..b70845ebb 100644
--- a/res/Lisp/Examples/balance.lisp
+++ b/res/Lisp/Examples/balance.lisp
@@ -23,7 +23,7 @@
         (progn (select-motor 2) (get-speed))
 )))
 
-(define #yaw-set (* (ix (get-imu-rpy) 2) 57.29577951308232))
+(define #yaw-set (rad2deg (ix (get-imu-rpy) 2)))
 (define #pos-set (#pos-x))
 
 (define #pitch-set 0)
@@ -80,17 +80,20 @@
     (- val (* 0.01 (- val sample)))
 )
 
-(defun main ()
+; Sleep after boot to wait for IMU to settle
+(if (< (secs-since 0) 5) (sleep 5) nil)
+
+(loopwhile t
     (progn
-        (define #pitch (* (ix (get-imu-rpy) 1) 57.29577951308232))
-        (define #yaw (* (ix (get-imu-rpy) 2) 57.29577951308232))
+        (define #pitch (rad2deg (ix (get-imu-rpy) 1)))
+        (define #yaw (rad2deg (ix (get-imu-rpy) 2)))
         (define #pitch-rate (ix (get-imu-gyro) 1))
         (define #yaw-rate (ix (get-imu-gyro) 2))
         (define #pos (+ (#pos-x) (* #pitch 0.00122))) ; Includes pitch compensation
         (define #speed (#speed-x))
 
         ; Loop rate measurement
-        (define #it-rate (/ 1 (secs-since #t-last)))
+        (define #it-rate (/ 1.0 (secs-since #t-last)))
         (define #t-last (systime))
         (define #it-rate-filter (#filter #it-rate-filter #it-rate))
                 
@@ -123,8 +126,4 @@
         )
         
         (yield 1) ; Run as fast as possible
-        (main)
 ))
-
-(if (< (systime) 50000) (yield 5000000) nil) ; Sleep after boot to wait for IMU to settle
-(main)
diff --git a/res/Lisp/Examples/can_js.lisp b/res/Lisp/Examples/can_js.lisp
index ddc82e287..312001a42 100644
--- a/res/Lisp/Examples/can_js.lisp
+++ b/res/Lisp/Examples/can_js.lisp
@@ -58,12 +58,11 @@
 
 ; This function waits for events from the C code and calls the
 ; handlers for them when the events arrive.
-(define event-handler (lambda ()
-    (progn
+(defun event-handler ()
+    (loopwhile t
         (recv ((event-can-eid (? id) . (? data)) (proc-eid id data))
               (_ nil))
-        (event-handler) ; Call self again to make this a loop
-)))
+))
 
 ; Set LEDs in button.
 ; 0: off, 1: on, 2: slow blink, 3: med blink, 4: fast blink
@@ -77,9 +76,15 @@
         (can-send-eid id-send msg)
 )))
 
+; Spawn the event handler thread and pass the ID it returns to C
+(event-register-handler (spawn 150 event-handler))
+
+; Enable the CAN event for extended ID (EID) frames
+(event-enable 'event-can-eid)
+
 (define btn-now 1)
 
-(define btn-fun (lambda ()
+(loopwhile t
     (progn 
         (set-btn-leds btn-now 1 4 1)
         (yield 1500000)
@@ -88,15 +93,4 @@
         (define btn-now (+ btn-now 1))
         (if (= btn-now 6) (define btn-now 7)) ; Index 6 is missing, so skip it
         (if (> btn-now 7) (define btn-now 1))
-        
-        (btn-fun) ; Call self again to make this a loop
-)))
-
-; Spawn the event handler thread and pass the ID it returns to C
-(event-register-handler (spawn 50 event-handler))
-
-; Enable the CAN event for extended ID (EID) frames
-(event-enable 'event-can-eid)
-
-; Start the button-blink-function from this thread
-(btn-fun)
+))
diff --git a/res/Lisp/Examples/can_pos_follow.lisp b/res/Lisp/Examples/can_pos_follow.lisp
index 4726c55bb..a92770493 100644
--- a/res/Lisp/Examples/can_pos_follow.lisp
+++ b/res/Lisp/Examples/can_pos_follow.lisp
@@ -1,6 +1,6 @@
 (define itcnt 0)
 
-(define f (lambda ()
+(loopwhile t
    (progn
      (define itcnt (+ itcnt 1))
      (canset-pos 124 (get-encoder))
@@ -8,9 +8,5 @@
      (set-servo (- 0.5 (* 0.02 canc)))
      (set-brake (* 0.5 canc))
      (timeout-reset)
-     (yield 2000)
-     (f)
-)))
-     
-(f)
-
+     (sleep 0.002)
+))
diff --git a/res/Lisp/Examples/control_servo_from_duty.lisp b/res/Lisp/Examples/control_servo_from_duty.lisp
index 0e1f83e26..06179316a 100644
--- a/res/Lisp/Examples/control_servo_from_duty.lisp
+++ b/res/Lisp/Examples/control_servo_from_duty.lisp
@@ -1,24 +1,20 @@
 (define servo-out 0.5)
 
-(define abs (lambda (x) (if (> x 0) x (- x))))
+(defun abs (x) (if (> x 0) x (- x)))
 
-(define update-servo (lambda ()
+(defun update-servo ()
   (progn
     (define servo-out (+ servo-out (* (get-duty) 0.2)))
     (if (> servo-out 1.0) (define servo-out 1.0) nil)
     (if (< servo-out 0) (define servo-out 0) nil)
     (set-servo servo-out)
-)))
+))
 
 (define itcnt 0)
 
-(define f (lambda ()
+(loopwhile t
    (progn
      (define itcnt (+ itcnt 1))
      (if (> (abs (get-duty)) 0.005) (update-servo) nil)
-     (yield 10000)
-     (f)
-)))
-     
-(f)
-
+     (sleep 0.01)
+))
diff --git a/res/Lisp/Examples/control_servo_from_encoder.lisp b/res/Lisp/Examples/control_servo_from_encoder.lisp
index 232693510..fec67d6cc 100644
--- a/res/Lisp/Examples/control_servo_from_encoder.lisp
+++ b/res/Lisp/Examples/control_servo_from_encoder.lisp
@@ -1,10 +1,6 @@
-(define f (lambda ()
+(loopwhile t
    (progn
      (define encval (get-encoder)) ; So that lisp_stats shows the value     
      (set-servo (/ (- 360.0 encval) 360.0))
-     (yield 20000)
-     (f)
-)))
-     
-(f)
-
+     (sleep 0.02)
+))
diff --git a/res/Lisp/Examples/list_with_lists.lisp b/res/Lisp/Examples/list_with_lists.lisp
index 7343e47cf..4cb150a75 100644
--- a/res/Lisp/Examples/list_with_lists.lisp
+++ b/res/Lisp/Examples/list_with_lists.lisp
@@ -14,13 +14,11 @@
             ))
 ))
 
-(defun print-fw (index)
+(map (lambda (index)
     (let ( (dir (car (ix pkg index)))
            (fws (cdr (ix pkg index))) )
         (progn
-            (print (list "Dir:" dir))
-            (map (lambda (x) (print (list "  Target:" (car x) " File:" (cdr x)))) fws)
+            (print (str-merge "Dir: " dir))
+            (map (lambda (x) (print (str-merge "  Target: " (car x) " File: " (cdr x)))) fws)
             (print " ")
-)))
-
-(map print-fw (iota (- (length pkg) 1)))
+))) (iota (length pkg)))
diff --git a/res/Lisp/Examples/ppm_read.lisp b/res/Lisp/Examples/ppm_read.lisp
index 6256441c9..22c4e9627 100644
--- a/res/Lisp/Examples/ppm_read.lisp
+++ b/res/Lisp/Examples/ppm_read.lisp
@@ -1,9 +1,6 @@
-(let ((f (lambda ()
-   (progn
-     (define ppm (get-ppm)) ; So that lisp_stats shows the value
-     (set-duty ppm)
-     (timeout-reset)
-     (yield 20000)
-     (f)))))
-(f))
-
+(loopwhile 1
+    (progn
+        (define ppm (get-ppm)) ; This will make ppm show up in the variable table
+        (set-duty ppm)
+        (yield 20000)
+))
diff --git a/res/Lisp/Examples/raw_current.lisp b/res/Lisp/Examples/raw_current.lisp
index 0ee772a2e..89b477817 100644
--- a/res/Lisp/Examples/raw_current.lisp
+++ b/res/Lisp/Examples/raw_current.lisp
@@ -27,5 +27,5 @@
         (define i2-adc (raw-adc-current 1 2 1))
         (define i3-adc (raw-adc-current 1 3 1))
 
-        (yield (/ 1000000 rate))
+        (sleep (/ 1.0 rate))
 ))
diff --git a/res/Lisp/Examples/threads_create_many.lisp b/res/Lisp/Examples/threads_create_many.lisp
index ab10e118e..355375c88 100644
--- a/res/Lisp/Examples/threads_create_many.lisp
+++ b/res/Lisp/Examples/threads_create_many.lisp
@@ -12,13 +12,10 @@
             (downcounter rate (- start 1))
 )))
 
-(defun main ()
+(loopwhile t
     (progn
         (spawn 20 downcounter 500 15)
         (define threads-now (+ threads-now 1))
         (define spawncnt (+ spawncnt 1))
-        (yield 3000)
-        (main)
+        (sleep 0.003)
 ))
-
-(main)
diff --git a/res/Lisp/Examples/uart.lisp b/res/Lisp/Examples/uart.lisp
index e473d5a9f..f33066523 100644
--- a/res/Lisp/Examples/uart.lisp
+++ b/res/Lisp/Examples/uart.lisp
@@ -1,20 +1,18 @@
+(uart-start 115200)
+
 (define uart-buf (array-create type-byte 100))
 
 (defun read-thd ()
-    (progn
-        (uart-read-until uart-buf 30 0 13) ; 13 is the return key
-;        (uart-read-bytes uart-buf 6 0)
-        (print uart-buf)
-        (read-thd)
-))
+    (loopwhile t
+        (progn
+            (uart-read-until uart-buf 30 0 13) ; 13 is the return key
+            (print uart-buf)
+)))
 
-(defun f ()
+(spawn 150 read-thd) ; Run reader in its own thread
+
+(loopwhile t
     (progn
-        (uart-write "Test")
-        (yield 1000000)
-        (f)
+        (uart-write "Test\r\n")
+        (sleep 1.0)
 ))
-
-(uart-start 115200)
-(spawn 100 read-thd)
-(f)

From d213ad32c23ecb40c4241481a6449e293578417b Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 28 Mar 2022 02:15:41 +0200
Subject: [PATCH 069/559] Added syntax and example for foreach-loop

---
 QCodeEditor/resources/languages/lisp.xml |  1 +
 res/Lisp/Examples/list_with_lists.lisp   | 18 ++++++++++++++----
 res/Lisp/Examples/loop_tests.lisp        |  5 +++++
 3 files changed, 20 insertions(+), 4 deletions(-)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 0f92ba9d4..8c7a70bc5 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -16,6 +16,7 @@
         <name>loopfor</name>
         <name>loopwhile</name>
         <name>looprange</name>
+        <name>loopforeach</name>
     </section>
     <section name="PrimitiveType">
         <name>nil</name>
diff --git a/res/Lisp/Examples/list_with_lists.lisp b/res/Lisp/Examples/list_with_lists.lisp
index 4cb150a75..d88b6f4b4 100644
--- a/res/Lisp/Examples/list_with_lists.lisp
+++ b/res/Lisp/Examples/list_with_lists.lisp
@@ -2,18 +2,28 @@
 (define name-nolim "VESC_no_limits.bin")
 
 (define pkg `(
-            ("46_o_47" . (
+            ("46_o_47"
                 ("46" . ,name-default)
                 ("46_no_limits" . ,name-nolim)
                 ("46_33k" . "VESC_33k.bin")
                 ("46_0005ohm" . "VESC_0005ohm.bin")
-            ))
-            ("60" . (
+            )
+            ("60"
                 ("60" . ,name-default)
                 ("60_no_limits" . ,name-nolim)
-            ))
+            )
 ))
 
+; Print using loopforeach
+(loopforeach hw pkg
+    (progn
+        (print (str-merge "Dir: " (car hw)))
+        (loopforeach fw (cdr hw)
+            (print (str-merge "  Target: " (car fw) " File: " (cdr fw))))
+        (print " ")
+))
+
+; Same as above, but more functional approach for printing
 (map (lambda (index)
     (let ( (dir (car (ix pkg index)))
            (fws (cdr (ix pkg index))) )
diff --git a/res/Lisp/Examples/loop_tests.lisp b/res/Lisp/Examples/loop_tests.lisp
index 892d7deb3..14c376cc5 100644
--- a/res/Lisp/Examples/loop_tests.lisp
+++ b/res/Lisp/Examples/loop_tests.lisp
@@ -49,3 +49,8 @@
         (sleep 0.5)
 ))
 
+(print "\n== ForEach ==")
+
+(loopforeach i '("AB" "C" "dE" "f")
+    (print i)
+)

From f980e678830ebbf9e4ae6d7ec28fa7232b2528de Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 28 Mar 2022 23:34:39 +0200
Subject: [PATCH 070/559] Updated lisp examples and syntax hl

---
 QCodeEditor/resources/languages/lisp.xml |  8 ++++
 build_cp_fw                              |  2 +-
 res/Lisp/Examples/list_with_lists.lisp   | 50 +++++++++++++-----------
 3 files changed, 36 insertions(+), 24 deletions(-)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 8c7a70bc5..6e0eb6f0b 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -5,6 +5,7 @@
         <name>defun</name>
         <name>macro</name>
         <name>lambda</name>
+        <name>eval</name>
         <name>car</name>
         <name>cons</name>
         <name>cdr</name>
@@ -17,6 +18,12 @@
         <name>loopwhile</name>
         <name>looprange</name>
         <name>loopforeach</name>
+        <name>first</name>
+        <name>rest</name>
+        <name>fn</name>
+        <name>def</name>
+        <name>second</name>
+        <name>third</name>
     </section>
     <section name="PrimitiveType">
         <name>nil</name>
@@ -27,6 +34,7 @@
         <name>recv</name>
         <name>print</name>
         <name>yield</name>
+        <name>ix</name>
         <name>sleep</name>
         <name>map</name>
         <name>foldl</name>
diff --git a/build_cp_fw b/build_cp_fw
index 6d0d02ba7..571e05daa 100755
--- a/build_cp_fw
+++ b/build_cp_fw
@@ -9,7 +9,7 @@ rm -rf $FWPATH/package/*
 
 cd $FWPATH
 make all_fw_clean
-time make all_fw -j24
+make all_fw -j24
 python3 package_firmware.py
 make all_fw_clean
 
diff --git a/res/Lisp/Examples/list_with_lists.lisp b/res/Lisp/Examples/list_with_lists.lisp
index d88b6f4b4..9c3737d8b 100644
--- a/res/Lisp/Examples/list_with_lists.lisp
+++ b/res/Lisp/Examples/list_with_lists.lisp
@@ -1,34 +1,38 @@
-(define name-default "VESC_default.bin")
-(define name-nolim "VESC_no_limits.bin")
+(def name-default "VESC_default.bin")
+(def name-nolim "VESC_no_limits.bin")
 
-(define pkg `(
+(def pkg `(
             ("46_o_47"
-                ("46" . ,name-default)
-                ("46_no_limits" . ,name-nolim)
-                ("46_33k" . "VESC_33k.bin")
-                ("46_0005ohm" . "VESC_0005ohm.bin")
+                ("46" ,name-default)
+                ("46_no_limits" ,name-nolim)
+                ("46_33k" "VESC_33k.bin")
+                ("46_0005ohm" "VESC_0005ohm.bin")
             )
             ("60"
-                ("60" . ,name-default)
-                ("60_no_limits" . ,name-nolim)
+                ("60" ,name-default)
+                ("60_no_limits" ,name-nolim)
             )
 ))
 
-; Print using loopforeach
+; Pad string s to length n with character ch, functional style
+(defun pad-str (s n ch)
+    (if (>= (str-len s) n)
+        s
+        (pad-str2 (str-merge s ch) n ch)
+))
+
+; Same as above, imperative style
+(defun pad-str2 (s n ch)
+    (progn
+        (loopwhile (< (str-len s) n)
+            (set! 's (str-merge s ch)))
+        s
+))
+
 (loopforeach hw pkg
     (progn
-        (print (str-merge "Dir: " (car hw)))
-        (loopforeach fw (cdr hw)
-            (print (str-merge "  Target: " (car fw) " File: " (cdr fw))))
+        (print (str-merge "Dir: " (first hw)))
+        (loopforeach fw (rest hw)
+            (print (str-merge "  Target: " (pad-str (first fw) 12 " ") " File: " (second fw))))
         (print " ")
 ))
-
-; Same as above, but more functional approach for printing
-(map (lambda (index)
-    (let ( (dir (car (ix pkg index)))
-           (fws (cdr (ix pkg index))) )
-        (progn
-            (print (str-merge "Dir: " dir))
-            (map (lambda (x) (print (str-merge "  Target: " (car x) " File: " (cdr x)))) fws)
-            (print " ")
-))) (iota (length pkg)))

From 00d842de266e5e3df470b948b570759304040c5c Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 31 Mar 2022 21:21:09 +0200
Subject: [PATCH 071/559] Updated lisp examples

---
 res/Lisp/Examples/aux_out.lisp  | 28 +++++++++++++---------------
 res/Lisp/Examples/raw_hall.lisp |  9 +++++++++
 res_lisp.qrc                    |  1 +
 3 files changed, 23 insertions(+), 15 deletions(-)
 create mode 100644 res/Lisp/Examples/raw_hall.lisp

diff --git a/res/Lisp/Examples/aux_out.lisp b/res/Lisp/Examples/aux_out.lisp
index ec52e69dc..576b1441e 100644
--- a/res/Lisp/Examples/aux_out.lisp
+++ b/res/Lisp/Examples/aux_out.lisp
@@ -1,17 +1,15 @@
-(define set-auxtime (lambda (port state time)
-  (progn
-    (set-aux port state)
-    (define aux-now (list port state time))
-    (yield (* 1000 time))
-)))
+(defun set-auxtime (port state time)
+    (progn
+        (set-aux port state)
+        (sleep time)
+))
 
-(let ((f (lambda ()
-  (progn
-    (set-auxtime 1 1 1500)
-    (set-auxtime 1 0 500)
-    (set-auxtime 2 1 1500)
-    (set-auxtime 2 0 500)
-    (yield 1000000)
-    (f)
-)))) (f))
+(loopwhile t
+    (progn
+        (set-auxtime 1 1 1.5)
+        (set-auxtime 1 0 0.5)
+        (set-auxtime 2 1 1.5)
+        (set-auxtime 2 0 0.5)
+        (sleep 1.0)
+))
 
diff --git a/res/Lisp/Examples/raw_hall.lisp b/res/Lisp/Examples/raw_hall.lisp
new file mode 100644
index 000000000..08f48f56e
--- /dev/null
+++ b/res/Lisp/Examples/raw_hall.lisp
@@ -0,0 +1,9 @@
+
+(loopwhile t
+    (progn
+        (define halls (raw-hall 1))
+        (define h1 (ix halls 0))
+        (define h2 (ix halls 1))
+        (define h3 (ix halls 2))
+        (sleep 0.01)
+))
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 1c8b5604d..1c4924956 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -23,5 +23,6 @@
         <file>res/Lisp/Examples/duty_ramp_functional.lisp</file>
         <file>res/Lisp/Examples/duty_ramp_imperative.lisp</file>
         <file>res/Lisp/Examples/loop_tests.lisp</file>
+        <file>res/Lisp/Examples/raw_hall.lisp</file>
     </qresource>
 </RCC>

From 6d42beacc3c616f95ab919e2c860d93d2afe04eb Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 31 Mar 2022 23:23:07 +0200
Subject: [PATCH 072/559] Added break keywork

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 6e0eb6f0b..3b066495b 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -18,6 +18,7 @@
         <name>loopwhile</name>
         <name>looprange</name>
         <name>loopforeach</name>
+        <name>break</name>
         <name>first</name>
         <name>rest</name>
         <name>fn</name>

From daaf85b998697066bb52e2bf8cd5dbbe11bf10e1 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 1 Apr 2022 18:43:46 +0200
Subject: [PATCH 073/559] Added app ADC min and max limits

---
 res/config/6.00/parameters_appconf.xml | 70 ++++++++++++++++++++++----
 1 file changed, 59 insertions(+), 11 deletions(-)

diff --git a/res/config/6.00/parameters_appconf.xml b/res/config/6.00/parameters_appconf.xml
index 65e86bf50..c21311ffe 100644
--- a/res/config/6.00/parameters_appconf.xml
+++ b/res/config/6.00/parameters_appconf.xml
@@ -994,14 +994,14 @@ p, li { white-space: pre-wrap; }
             <vTx>9</vTx>
         </app_adc_conf.hyst>
         <app_adc_conf.voltage_start>
-            <longName>ADC1 Min Voltage</longName>
+            <longName>ADC1 Start Voltage</longName>
             <type>1</type>
             <transmittable>1</transmittable>
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; ;&quot;&gt;Input voltage at the start of the throttle range for ADC1. Can be checked by enabling display and giving the minimum input. If &lt;/span&gt;&lt;span style=&quot; ; font-weight:600;&quot;&gt;Control Type&lt;/span&gt;&lt;span style=&quot; ;&quot;&gt; is set to off while doing that the motor won't turn.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Input voltage at the start of the throttle range for ADC1. Can be checked by enabling display and giving the minimum input. If &lt;span style=&quot; font-weight:600;&quot;&gt;Control Type&lt;/span&gt; is set to off while doing that the motor won't turn.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_ADC_VOLTAGE_START</cDefine>
             <editorDecimalsDouble>2</editorDecimalsDouble>
             <editorScale>1</editorScale>
@@ -1013,17 +1013,17 @@ p, li { white-space: pre-wrap; }
             <valDouble>0.6</valDouble>
             <vTxDoubleScale>1000</vTxDoubleScale>
             <suffix> V</suffix>
-            <vTx>9</vTx>
+            <vTx>7</vTx>
         </app_adc_conf.voltage_start>
         <app_adc_conf.voltage_end>
-            <longName>ADC1 Max Voltage</longName>
+            <longName>ADC1 End Voltage</longName>
             <type>1</type>
             <transmittable>1</transmittable>
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; ;&quot;&gt;Input voltage at the end of the throttle range for ADC1. Can be checked by enabling display and giving the maximum input. If &lt;/span&gt;&lt;span style=&quot; ; font-weight:600;&quot;&gt;Control Type&lt;/span&gt;&lt;span style=&quot; ;&quot;&gt; is set to off while doing that the motor won't turn.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Input voltage at the end of the throttle range for ADC1. Can be checked by enabling display and giving the maximum input. If &lt;span style=&quot; font-weight:600;&quot;&gt;Control Type&lt;/span&gt; is set to off while doing that the motor won't turn.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_ADC_VOLTAGE_END</cDefine>
             <editorDecimalsDouble>2</editorDecimalsDouble>
             <editorScale>1</editorScale>
@@ -1035,8 +1035,52 @@ p, li { white-space: pre-wrap; }
             <valDouble>2.54</valDouble>
             <vTxDoubleScale>1000</vTxDoubleScale>
             <suffix> V</suffix>
-            <vTx>9</vTx>
+            <vTx>7</vTx>
         </app_adc_conf.voltage_end>
+        <app_adc_conf.voltage_min>
+            <longName>ADC1 Abs Min Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum valid voltage on ADC1. If the voltage is below this value the motor will be stopped and if safe start is activated the throttle must be returned to 0 before the motor is allowed to run again.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE_MIN</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </app_adc_conf.voltage_min>
+        <app_adc_conf.voltage_max>
+            <longName>ADC1 Abs Max Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum valid voltage on ADC1. If the voltage is above this value the motor will be stopped and if safe start is activated the throttle must be returned to 0 before the motor is allowed to run again.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE_MAX</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.4</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>3.4</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </app_adc_conf.voltage_max>
         <app_adc_conf.voltage_center>
             <longName>ADC1 Center Voltage</longName>
             <type>1</type>
@@ -1059,10 +1103,10 @@ p, li { white-space: pre-wrap; }
             <valDouble>0.6</valDouble>
             <vTxDoubleScale>1000</vTxDoubleScale>
             <suffix> V</suffix>
-            <vTx>9</vTx>
+            <vTx>7</vTx>
         </app_adc_conf.voltage_center>
         <app_adc_conf.voltage2_start>
-            <longName>ADC2 Min Voltage</longName>
+            <longName>ADC2 Start Voltage</longName>
             <type>1</type>
             <transmittable>1</transmittable>
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -1081,10 +1125,10 @@ p, li { white-space: pre-wrap; }
             <valDouble>0</valDouble>
             <vTxDoubleScale>1000</vTxDoubleScale>
             <suffix> V</suffix>
-            <vTx>9</vTx>
+            <vTx>7</vTx>
         </app_adc_conf.voltage2_start>
         <app_adc_conf.voltage2_end>
-            <longName>ADC2 Max Voltage</longName>
+            <longName>ADC2 End Voltage</longName>
             <type>1</type>
             <transmittable>1</transmittable>
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -1103,7 +1147,7 @@ p, li { white-space: pre-wrap; }
             <valDouble>2</valDouble>
             <vTxDoubleScale>1000</vTxDoubleScale>
             <suffix> V</suffix>
-            <vTx>9</vTx>
+            <vTx>7</vTx>
         </app_adc_conf.voltage2_end>
         <app_adc_conf.use_filter>
             <longName>Use Filter</longName>
@@ -3881,6 +3925,8 @@ p, li { white-space: pre-wrap; }
         <ser>app_adc_conf.hyst</ser>
         <ser>app_adc_conf.voltage_start</ser>
         <ser>app_adc_conf.voltage_end</ser>
+        <ser>app_adc_conf.voltage_min</ser>
+        <ser>app_adc_conf.voltage_max</ser>
         <ser>app_adc_conf.voltage_center</ser>
         <ser>app_adc_conf.voltage2_start</ser>
         <ser>app_adc_conf.voltage2_end</ser>
@@ -4111,6 +4157,8 @@ p, li { white-space: pre-wrap; }
                     <param>app_adc_conf.voltage_end</param>
                     <param>app_adc_conf.voltage_center</param>
                     <param>app_adc_conf.voltage_inverted</param>
+                    <param>app_adc_conf.voltage_min</param>
+                    <param>app_adc_conf.voltage_max</param>
                     <param>::sep::ADC 2</param>
                     <param>app_adc_conf.voltage2_start</param>
                     <param>app_adc_conf.voltage2_end</param>

From 74b59e57e7363b20b1f279576e60df7a4c8bf980 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 1 Apr 2022 20:38:47 +0200
Subject: [PATCH 074/559] Fixed spelling errors

---
 res/config/6.00/parameters_mcconf.xml | 54 +++++++++++++--------------
 1 file changed, 27 insertions(+), 27 deletions(-)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index 3145b6cf6..7fb105e0c 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -171,7 +171,7 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The current magnitute above which all output will be switched off and a fault code thrown. Usually the current control loops take care of limiting the current, but in some conditions short current spikes can appear very quickly. The system can handle them quite well in most cased, so this value can be set relatively high compared to the other current values to avoid cutouts.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The current magnitude above which all output will be switched off and a fault code thrown. Usually the current control loops take care of limiting the current, but in some conditions short current spikes can appear very quickly. The system can handle them quite well in most cased, so this value can be set relatively high compared to the other current values to avoid cutouts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_L_MAX_ABS_CURRENT</cDefine>
             <editorDecimalsDouble>2</editorDecimalsDouble>
             <editorScale>1</editorScale>
@@ -557,7 +557,7 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum allowed wattage output. If your region has laws that only allow a limited wattage, this parameter can be useful. However, keep in mind that limiting the wattage does not make much sense in practise since torque, heat losses, mechanical wear and component load are all current dependent.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum allowed wattage output. If your region has laws that only allow a limited wattage, this parameter can be useful. However, keep in mind that limiting the wattage does not make much sense in practice since torque, heat losses, mechanical wear and component load are all current dependent.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Notice that setting this parameter to a very high value essentially disables it, which is why the default value is high. The other limits will still apply.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_L_WATT_MAX</cDefine>
@@ -581,7 +581,7 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum allowed braking wattage (thus negative). There usuallt aren't any laws limiting how much braking is allowed, and limiting the wattage does not make much sense in general, so this parameter is present mostly for the sake of completeness. There might be some applications where limiting the braking wattage is useful though.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum allowed braking wattage (thus negative). There usually aren't any laws limiting how much braking is allowed, and limiting the wattage does not make much sense in general, so this parameter is present mostly for the sake of completeness. There might be some applications where limiting the braking wattage is useful though.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Notice that setting this parameter to a very high value essentially disables it, which is why the default value is high. The other limits will still apply.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_L_WATT_MIN</cDefine>
@@ -737,7 +737,7 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Cycle ingegrator limit. This is how much area will be integrated under the back EMF after a zero crossing before doing a commutation. A too low value will cause a too early commutation, and a too high value will cause a too late commutation. A too late commutation will cause more problems than too early commutations.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Cycle integrator limit. This is how much area will be integrated under the back EMF after a zero crossing before doing a commutation. A too low value will cause a too early commutation, and a too high value will cause a too late commutation. A too late commutation will cause more problems than too early commutations.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_SL_CYCLE_INT_LIMIT</cDefine>
             <editorDecimalsDouble>1</editorDecimalsDouble>
             <editorScale>1</editorScale>
@@ -1497,7 +1497,7 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;There is some delay between when the current ant voltage measurements are taken and when the output is applied. This will cause the observer phase to lag behind the motor phase at high speed when the zero vector frequency is low in comparison.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This parameter adds an offset to the observer phase in multiples of the zero vector frequency to compensate for that delay. The default value should be good for most hardwares, but if needed this value can be fine-tuned using and encoder and/or a power analyzer.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This parameter adds an offset to the observer phase in multiples of the zero vector frequency to compensate for that delay. The default value should be good for most hardware, but if needed this value can be fine-tuned using and encoder and/or a power analyzer.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Important Note&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Before changing this value, make sure that any phase delay is not caused by incorrect motor parameters or incorrect measurements. Only change this value if you have excluded other possible causes and you know what you are doing.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
@@ -2073,7 +2073,7 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Cross decoupling between the D and Q axes is enabled.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_CC_DECOUPLING_BEMF&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Back EMF decoupling on the Q axis is enabled. This improves perfomance significantly if the motor speed changes rapidly, but makes the current controller depend on the speed tracker.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Back EMF decoupling on the Q axis is enabled. This improves performance significantly if the motor speed changes rapidly, but makes the current controller depend on the speed tracker.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_CC_DECOUPLING_CROSS_BEMF&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Both options above are enabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
@@ -2285,7 +2285,7 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Number of HFI samples for each motor revolution. This can't be an arbitrary number as the size of fourier transforms and sine tables depends on it.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Number of HFI samples for each motor revolution. This can't be an arbitrary number as the size of Fourier transforms and sine tables depends on it.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Fewer samples will give noisier measurements, but allows estimating the position at a higher rate. The noise can be reduced by increasing the HFI voltage.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_HFI_SAMPLES</cDefine>
@@ -2524,7 +2524,7 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use the filtered phase voltage up until this ERPM, then use the value derived from the input voltage and the modilation. The delay and attenuation from the phase filters increases with the motor speed, while the dead-time distortion becomes less significant. The delay and attenuation is partly compensated for, but at some point it is still better to derive the phase voltages from the input voltage and modulation. This parameter sets that point.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use the filtered phase voltage up until this ERPM, then use the value derived from the input voltage and the modulation. The delay and attenuation from the phase filters increases with the motor speed, while the dead-time distortion becomes less significant. The delay and attenuation is partly compensated for, but at some point it is still better to derive the phase voltages from the input voltage and modulation. This parameter sets that point.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_PHASE_FILTER_MAX_ERPM</cDefine>
             <editorDecimalsDouble>0</editorDecimalsDouble>
             <editorScale>1</editorScale>
@@ -2920,7 +2920,7 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Allow the speed controller to to apply braking current. In general this option should be enabled, but for some applications it might make sense to disable braking during speed control.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Allow the speed controller to apply braking current. In general this option should be enabled, but for some applications it might make sense to disable braking during speed control.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_S_PID_ALLOW_BRAKING</cDefine>
             <valInt>1</valInt>
         </s_pid_allow_braking>
@@ -3108,7 +3108,7 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Decrease position PID-gains when the erros is below this angle in electrical degrees. Helps at low speed when using low resolution encoders, such as hall sensors. A value of around 300 seems to work ok with hall sensors.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Decrease position PID-gains when the errors is below this angle in electrical degrees. Helps at low speed when using low resolution encoders, such as hall sensors. A value of around 300 seems to work ok with hall sensors.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_P_PID_GAIN_DEC_ANGLE</cDefine>
             <editorDecimalsDouble>1</editorDecimalsDouble>
             <editorScale>1</editorScale>
@@ -3379,7 +3379,7 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The threshold for the over current protection feature of the DRV8301. Lower values correspond to lower currents. See the datasheet for more imformation about this setting.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The threshold for the over current protection feature of the DRV8301. Lower values correspond to lower currents. See the datasheet for more information about this setting.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Notice&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This setting only has impact on hardware with the DRV8301&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
@@ -3695,7 +3695,7 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Lithoium iron phosphate, voltage range: 2.6 to 3.6&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;BATTERY_TYPE_LEAD_ACID&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Lead Acic, voltage range: 2.1 to 2.36&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Lead Acid, voltage range: 2.1 to 2.36&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_SI_BATTERY_TYPE</cDefine>
             <valInt>0</valInt>
@@ -3948,7 +3948,7 @@ p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The battery temperature above which battery current starts to get reduced.&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;If there is more than one BMS on the CAN-bus, the one with the highest value will be ued.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;If there is more than one BMS on the CAN-bus, the one with the highest value will be used.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_BMS_T_LIMIT_START</cDefine>
             <editorDecimalsDouble>1</editorDecimalsDouble>
             <editorScale>1</editorScale>
@@ -4042,20 +4042,20 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Forward CAN-frames to local device as they are received. This is useful when many BMSes are connected on a CAN-bus to avoid polling the state from each one of them.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;This can cause a lot of data if there are many BMSes on the CAN-bus, so it is recommended to only do it over the USB-connection.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Options:&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Disabled&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;This function is disabled.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;USB Only&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Only forward frames to device connected over USB.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Any Interface&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Forward frames to device connected using any interface.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Forward CAN-frames to local device as they are received. This is useful when many BMSes are connected on a CAN-bus to avoid polling the state from each one of them.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This can cause a lot of data if there are many BMSes on the CAN-bus, so it is recommended to only do it over the USB-connection.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Options:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Disabled&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This function is disabled.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;USB Only&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Only forward frames to device connected over USB.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Any Interface&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Forward frames to device connected using any interface.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_BMS_FWD_CAN_MODE</cDefine>
             <valInt>0</valInt>
             <enumNames>Disabled</enumNames>

From 0754628f72dace4d3bae03f66320ba831cbda825 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 1 Apr 2022 23:32:06 +0200
Subject: [PATCH 075/559] Added print example

---
 res/Lisp/Examples/print.lisp | 20 ++++++++++++++++++++
 res_lisp.qrc                 |  1 +
 2 files changed, 21 insertions(+)
 create mode 100644 res/Lisp/Examples/print.lisp

diff --git a/res/Lisp/Examples/print.lisp b/res/Lisp/Examples/print.lisp
new file mode 100644
index 000000000..a8b431274
--- /dev/null
+++ b/res/Lisp/Examples/print.lisp
@@ -0,0 +1,20 @@
+; This is how to print a string in LispBM to the console below
+(print "Hello World!")
+
+; You can also print lisp types, such as the list (1 2 3 4 5)
+(print (list 1 2 3 4 5))
+
+; Here we print the index of a range loop
+(looprange i 1 5
+    (print i)
+)
+
+; This is how to print the input voltage. See
+; https://github.com/vedderb/bldc/tree/master/lispBM#get-vin
+(print (get-vin))
+
+; The string functions can be used to format a string
+; before printing it. See
+; https://github.com/vedderb/bldc/tree/master/lispBM#string-manipulation
+(print (str-from-n (get-vin) "Input Voltage: %.2f V"))
+
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 1c4924956..8e7711390 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -24,5 +24,6 @@
         <file>res/Lisp/Examples/duty_ramp_imperative.lisp</file>
         <file>res/Lisp/Examples/loop_tests.lisp</file>
         <file>res/Lisp/Examples/raw_hall.lisp</file>
+        <file>res/Lisp/Examples/print.lisp</file>
     </qresource>
 </RCC>

From 5234450b349ba539267e7c0a59d499c0ff87d1b3 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 3 Apr 2022 16:30:01 +0200
Subject: [PATCH 076/559] Event name fix

---
 res/Lisp/Examples/balance.lisp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/res/Lisp/Examples/balance.lisp b/res/Lisp/Examples/balance.lisp
index b70845ebb..9182f6f25 100644
--- a/res/Lisp/Examples/balance.lisp
+++ b/res/Lisp/Examples/balance.lisp
@@ -65,7 +65,7 @@
 
 (defun event-handler ()
     (progn
-        (recv ((signal-data-rx . (? data)) (proc-data data))
+        (recv ((event-data-rx . (? data)) (proc-data data))
               (_ nil))
         (event-handler)
 ))

From d4d06bacd19597d8f9c882518bc2648df6d4c184 Mon Sep 17 00:00:00 2001
From: "Jeffrey M. Friesen" <jfriesen222@gmail.com>
Date: Tue, 5 Apr 2022 09:03:24 -0700
Subject: [PATCH 077/559] Switch to using native file dialog for custom FW
 choice

---
 mobile/FwUpdate.qml | 31 ++++++++++++++++++++++++++-----
 pages/pagelisp.cpp  |  2 ++
 2 files changed, 28 insertions(+), 5 deletions(-)

diff --git a/mobile/FwUpdate.qml b/mobile/FwUpdate.qml
index ae9dd78cc..155c254f8 100755
--- a/mobile/FwUpdate.qml
+++ b/mobile/FwUpdate.qml
@@ -20,6 +20,7 @@
 import QtQuick 2.11
 import QtQuick.Controls 2.10
 import QtQuick.Layouts 1.3
+import QtQuick.Dialogs 1.3
 
 import Vedder.vesc.vescinterface 1.0
 import Vedder.vesc.commands 1.0
@@ -250,8 +251,10 @@ Item {
 
                             onClicked: {
                                 if (Utility.requestFilePermission()) {
-                                    filePicker.enabled = true
-                                    filePicker.visible = true
+                                    fileDialog.close()
+                                    fileDialog.open()
+                                    //filePicker.enabled = true
+                                    //filePicker.visible = true
                                 } else {
                                     VescIf.emitMessageDialog(
                                                 "File Permissions",
@@ -282,6 +285,26 @@ Item {
                             enabled = false
                         }
                     }
+                    FileDialog {
+                        id: fileDialog
+                        title: "Please choose a file"
+                        nameFilters: ["Firmware File (*.bin)"]
+                        selectedNameFilter : "Firmware File (*.bin)"
+                        onAccepted: {
+                            var substring = ".bin";
+                            if(fileDialog.fileUrl.toString().indexOf(substring) !== -1) {
+                                customFwText.text = fileDialog.fileUrl
+                        } else {
+
+                        }
+                            console.log("You chose: " + fileDialog.fileUrls)
+                            fileDialog.close()
+                        }
+                        onRejected: {
+                            console.log("Canceled")
+                            fileDialog.close()
+                        }
+                    }
                 }
 
                 Page {
@@ -430,10 +453,8 @@ Item {
         id: uploadDialog
         property bool fwdCan: false
         standardButtons: Dialog.Ok | Dialog.Cancel
-        modal: true
-        focus: true
         width: parent.width - 20
-        closePolicy: Popup.CloseOnEscape
+        modality: Qt.WindowModal
 
         Overlay.modal: Rectangle {
             color: "#AA000000"
diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index 14db7729b..3223beb5c 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -18,6 +18,8 @@
     */
 
 #include <QDateTime>
+#include <QMessageBox>
+#include <QProgressDialog>
 #include "pagelisp.h"
 #include "ui_pagelisp.h"
 #include "utility.h"

From 2300c9bb64cd79881c0dc8604893cd5b7c37e5e8 Mon Sep 17 00:00:00 2001
From: "Jeffrey M. Friesen" <jfriesen222@gmail.com>
Date: Tue, 5 Apr 2022 12:52:26 -0700
Subject: [PATCH 078/559] This will trigger a reconnection event in the event
 that the device goes out of range or is shutdown remotely. Tries 5 times each
 second then gives up and opens connection menu

We could consider having this as an app setting to say how many retries we want to do. Sometimes when I ride with my phone in my pocket in dense areas I get momentary disconnects that cause my logs to stop. No more I say!
---
 bleuart.cpp         | 31 +++++++++++++++++++++----------
 bleuart.h           |  4 +++-
 mobile/FwUpdate.qml |  1 +
 mobile/main.qml     | 32 +++++++++++++++++++++++++++++++-
 pages/pagelisp.cpp  |  2 ++
 vescinterface.cpp   |  6 ++++++
 vescinterface.h     |  2 ++
 7 files changed, 66 insertions(+), 12 deletions(-)

diff --git a/bleuart.cpp b/bleuart.cpp
index 6d7dfdbf2..e27a609df 100644
--- a/bleuart.cpp
+++ b/bleuart.cpp
@@ -98,13 +98,12 @@ void BleUart::startConnect(QString addr)
             this, SLOT(connectionUpdated(QLowEnergyConnectionParameters)));
 
     mControl->connectToDevice();
-    mConnectTimetoutTimer.start(10000);
+    mConnectTimeoutTimer.start(10000);
 }
 
 void BleUart::disconnectBle()
 {
     init();
-
     if (mService) {
         mService->deleteLater();
         mService = nullptr;
@@ -128,7 +127,7 @@ bool BleUart::isConnecting()
 
 void BleUart::emitScanDone()
 {
-    mConnectTimetoutTimer.stop();
+    mConnectTimeoutTimer.stop();
     emit scanDone(mDevs, mScanFinished);
 }
 
@@ -186,7 +185,7 @@ void BleUart::addDevice(const QBluetoothDeviceInfo &dev)
             mDevs.insert(addr, dev.name());
         }
 
-        mConnectTimetoutTimer.stop();
+        mConnectTimeoutTimer.stop();
         emit scanDone(mDevs, false);
     }
 }
@@ -195,7 +194,7 @@ void BleUart::scanFinished()
 {
     qDebug() << "BLE scan finished";
     mScanFinished = true;
-    mConnectTimetoutTimer.stop();
+    mConnectTimeoutTimer.stop();
     emit scanDone(mDevs, true);
 }
 
@@ -212,7 +211,7 @@ void BleUart::deviceScanError(QBluetoothDeviceDiscoveryAgent::Error e)
                 "location service are activated.";
 #endif
 
-    mConnectTimetoutTimer.stop();
+    mConnectTimeoutTimer.stop();
     emit bleError(errorStr);
 }
 
@@ -237,6 +236,8 @@ void BleUart::serviceScanDone()
 
         connect(mService, SIGNAL(stateChanged(QLowEnergyService::ServiceState)),
                 this, SLOT(serviceStateChanged(QLowEnergyService::ServiceState)));
+        connect(mService, SIGNAL(error(QLowEnergyService::ServiceError)),
+                this, SLOT(serviceError(QLowEnergyService::ServiceError)));
         connect(mService, SIGNAL(characteristicChanged(QLowEnergyCharacteristic,QByteArray)),
                 this, SLOT(updateData(QLowEnergyCharacteristic,QByteArray)));
         connect(mService, SIGNAL(descriptorWritten(QLowEnergyDescriptor,QByteArray)),
@@ -253,7 +254,7 @@ void BleUart::controllerError(QLowEnergyController::Error e)
 {
     qWarning() << "BLE error:" << e;
     disconnectBle();
-    mConnectTimetoutTimer.stop();
+    mConnectTimeoutTimer.stop();
     emit bleError(tr("BLE error: ") + Utility::QEnumToQString(e));
 }
 
@@ -273,6 +274,12 @@ void BleUart::serviceStateChanged(QLowEnergyService::ServiceState s)
 {
     // A descriptor can only be written if the service is in the ServiceDiscovered state
     switch (s) {
+    case QLowEnergyService::InvalidService: {
+        //this gets triggered when a connected device is shutoff or goes out of BLE range
+        qDebug() << "device disconnected unintentionally";
+        emit unintentionalDisconnect();
+        break;
+    }
     case QLowEnergyService::ServiceDiscovered: {
         //looking for the TX characteristic
         const QLowEnergyCharacteristic txChar = mService->characteristic(
@@ -309,6 +316,10 @@ void BleUart::serviceStateChanged(QLowEnergyService::ServiceState s)
     }
 }
 
+void BleUart::serviceError(QLowEnergyService::ServiceError e){
+    qDebug() << e;
+}
+
 void BleUart::updateData(const QLowEnergyCharacteristic &c, const QByteArray &value)
 {
     if (c.uuid() == QBluetoothUuid(QUuid(mTxUuid))) {
@@ -323,7 +334,7 @@ void BleUart::confirmedDescriptorWrite(const QLowEnergyDescriptor &d, const QByt
         disconnectBle();
     } else {
         mConnectDone = true;
-        mConnectTimetoutTimer.stop();
+        mConnectTimeoutTimer.stop();
         emit connected();
     }
 }
@@ -365,8 +376,8 @@ void BleUart::init()
 
     mInitDone = true;
 
-    mConnectTimetoutTimer.setSingleShot(true);
-    connect(&mConnectTimetoutTimer, &QTimer::timeout, [this]() {
+    mConnectTimeoutTimer.setSingleShot(true);
+    connect(&mConnectTimeoutTimer, &QTimer::timeout, [this]() {
         disconnectBle();
         qDebug() << "BLE connect timeout";
         emit bleError(tr("BLE connect timed out."));
diff --git a/bleuart.h b/bleuart.h
index 7fa20d639..12f3aa838 100644
--- a/bleuart.h
+++ b/bleuart.h
@@ -47,6 +47,7 @@ class BleUart : public QObject
     void scanDone(QVariantMap devs, bool done);
     void bleError(QString info);
     void connected();
+    void unintentionalDisconnect();
 
 public slots:
     void writeData(QByteArray data);
@@ -63,6 +64,7 @@ private slots:
     void deviceDisconnected();
 
     void serviceStateChanged(QLowEnergyService::ServiceState s);
+    void serviceError(QLowEnergyService::ServiceError e);
     void updateData(const QLowEnergyCharacteristic &c, const QByteArray &value);
     void confirmedDescriptorWrite(const QLowEnergyDescriptor &d, const QByteArray &value);
 
@@ -82,7 +84,7 @@ private slots:
     QString mTxUuid;
     bool mScanFinished;
     bool mInitDone;
-    QTimer mConnectTimetoutTimer;
+    QTimer mConnectTimeoutTimer;
 
     void init();
 
diff --git a/mobile/FwUpdate.qml b/mobile/FwUpdate.qml
index ae9dd78cc..7e3491053 100755
--- a/mobile/FwUpdate.qml
+++ b/mobile/FwUpdate.qml
@@ -646,6 +646,7 @@ Item {
                                                  "Bootloader upload is done.",
                                                  true, false)
                 } else {
+                        VescIf.disconnectPort()
                         VescIf.emitMessageDialog("Warning",
                                                  "The firmware upload is done. You must wait at least " +
                                                  "10 seconds before unplugging power. Otherwise the firmware will get corrupted and your " +
diff --git a/mobile/main.qml b/mobile/main.qml
index 509f68d0a..765946160 100644
--- a/mobile/main.qml
+++ b/mobile/main.qml
@@ -36,6 +36,7 @@ ApplicationWindow {
     property ConfigParams mAppConf: VescIf.appConfig()
     property ConfigParams mInfoConf: VescIf.infoConfig()
     property bool connected: false
+    property bool fwReadCorrectly: false
 
     visible: true
     width: 500
@@ -841,6 +842,26 @@ ApplicationWindow {
         }
     }
 
+    Timer {
+        id: bleDisconnectTimer
+        interval: 1000
+        running: false
+        repeat: true
+        property int trysLeft: 0
+
+        onTriggered: {
+            if(trysLeft < 1 || fwReadCorrectly) {
+                bleDisconnectTimer.stop()
+                connScreen.opened = VescIf.isPortConnected() ? false : true
+                return
+            }
+            if(VescIf.getLastBleAddr().length > 0) {
+                VescIf.connectBle(VescIf.getLastBleAddr())
+            }
+            trysLeft = trysLeft - 1
+        }
+    }
+
     Dialog {
         id: vescDialog
         standardButtons: Dialog.Ok
@@ -961,6 +982,7 @@ ApplicationWindow {
                 confTimer.mcConfRx = false
                 confTimer.appConfRx = false
                 connected = false
+                fwReadCorrectly = false
             } else {
                 connected = true
             }
@@ -968,8 +990,14 @@ ApplicationWindow {
             if (VescIf.useWakeLock()) {
                 VescIf.setWakeLock(VescIf.isPortConnected())
             }
+            if(!bleDisconnectTimer.running) {
+                connScreen.opened = VescIf.isPortConnected() ? false : true
+            }
+        }
 
-            connScreen.opened = VescIf.isPortConnected() ? false : true
+        onUnintentionalBleDisconnect: {
+            bleDisconnectTimer.trysLeft = 5
+            bleDisconnectTimer.start()
         }
 
         onStatusMessage: {
@@ -998,6 +1026,8 @@ ApplicationWindow {
                     mCommands.getMcconf()
                     mCommands.getAppConf()
                 }
+                fwReadCorrectly = true
+                bleDisconnectTimer.stop()
             }
 
             updateHwUi()
diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index 14db7729b..3223beb5c 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -18,6 +18,8 @@
     */
 
 #include <QDateTime>
+#include <QMessageBox>
+#include <QProgressDialog>
 #include "pagelisp.h"
 #include "ui_pagelisp.h"
 #include "utility.h"
diff --git a/vescinterface.cpp b/vescinterface.cpp
index 26579582f..36217a65a 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -193,6 +193,7 @@ VescInterface::VescInterface(QObject *parent) : QObject(parent)
         setLastConnectionType(CONN_BLE);
         mSettings.setValue("ble_addr", mLastBleAddr);
     });
+    connect(mBleUart, SIGNAL(unintentionalDisconnect()), this, SLOT(bleUnintentionalDisconnect()));
 #endif
 
     mTcpServer = new TcpServerSimple(this);
@@ -2900,6 +2901,11 @@ void VescInterface::bleDataRx(QByteArray data)
 {
     mPacket->processData(data);
 }
+
+void VescInterface::bleUnintentionalDisconnect()
+{
+   emit unintentionalBleDisconnect();
+}
 #endif
 
 void VescInterface::timerSlot()
diff --git a/vescinterface.h b/vescinterface.h
index f3a1bcbd0..69db9e6ab 100755
--- a/vescinterface.h
+++ b/vescinterface.h
@@ -242,6 +242,7 @@ class VescInterface : public QObject
     void autoConnectFinished();
     void profilesUpdated();
     void pairingListUpdated();
+    void unintentionalBleDisconnect();
     void CANbusNewNode(int node);
     void CANbusInterfaceListUpdated();
     void useImperialUnitsChanged(bool useImperialUnits);
@@ -273,6 +274,7 @@ private slots:
 
 #ifdef HAS_BLUETOOTH
     void bleDataRx(QByteArray data);
+    void bleUnintentionalDisconnect();
 #endif
 
     void timerSlot();

From ad7ce2d8aff624d2c7675e84821724585fc1a85f Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 6 Apr 2022 00:35:45 +0200
Subject: [PATCH 079/559] Added new HFI settings

---
 res/config/6.00/parameters_mcconf.xml | 18 +++++++++++++-----
 1 file changed, 13 insertions(+), 5 deletions(-)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index 7fb105e0c..ad979524c 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -1291,11 +1291,17 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;VSS&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Vedder Sensorless Start. Use HFI just after starting the motor to resolve the initial position and set the observer state to that position. This can help the observer track the motor correctly from 0 speed. As this also is based on saturation it can help start some motors with low saliency.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Silent HFI&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;45 Deg V0V7 HFI (Silent)&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A different approach to HFI that is completely silent if the zero vector frequency is high enough (maximum around 32 kHz). It is also more stable under high load when configured properly. This implementation relies on a good inductance measurement (in addition to some difference in Lq and Ld), so if it does not work well you can try adjusting the inductance 1-5 % up and down. Note that phase shunts are required to make this mode silent, otherwise the sampling has to be done at half the frequency in V0 only.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;High Performance HFI&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as silent HFI, but will only sample in V0. This gives a bit better performance due to better symmetry, but it is not possible to push the frequency beyond the hearing range. For hardware without phase shunts this mode behaves the same as Silent HFI.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;45 Deg V0 HFI&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as above, but will only sample in V0.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Coupled V0V7 HFI (Silent)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Inject a voltage in the D axis and measure the response in the Q axis. This method was invented by Elwin on the VESC Discord channel. It is much less sensitive to getting the average inductance correct as the coupling between the axes shows up without an offset in the response.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Coupled V0 HFI&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as above, but will only sample in V0.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;NOTE:&lt;/span&gt; HFI and VSS only work when the FOC switching frequency is at or below 30 KHz. &lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
@@ -1306,8 +1312,10 @@ p, li { white-space: pre-wrap; }
             <enumNames>Hall Sensors</enumNames>
             <enumNames>HFI</enumNames>
             <enumNames>VSS</enumNames>
-            <enumNames>Silent HFI</enumNames>
-            <enumNames>High Performance HFI</enumNames>
+            <enumNames>45 Deg V0V7 HFI (Silent)</enumNames>
+            <enumNames>45 Deg V0 HFI</enumNames>
+            <enumNames>Coupled V0V7 HFI (Silent)</enumNames>
+            <enumNames>Coupled V0 HFI</enumNames>
         </foc_sensor_mode>
         <foc_pll_kp>
             <longName>Speed Tracker Kp</longName>

From 0bebcb73a49bb74d84e15ea6a31a157e6d50f819 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 6 Apr 2022 09:01:15 +0200
Subject: [PATCH 080/559] Updated HFI help text

---
 res/config/6.00/parameters_mcconf.xml | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index ad979524c..580609b47 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -1298,12 +1298,14 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as above, but will only sample in V0.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Coupled V0V7 HFI (Silent)&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Inject a voltage in the D axis and measure the response in the Q axis. This method was invented by Elwin on the VESC Discord channel. It is much less sensitive to getting the average inductance correct as the coupling between the axes shows up without an offset in the response.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Inject a voltage in the D axis and measure the response in the Q axis. It is much less sensitive to getting the average inductance correct as the coupling between the axes shows up without an offset in the response. It does not work as well as the 45 degree HFI under high load though. &lt;span style=&quot; font-weight:600;&quot;&gt;Credit:&lt;/span&gt; Elwin and David (mxlemming) on the VESC Discord channel.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Coupled V0 HFI&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as above, but will only sample in V0.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;NOTE:&lt;/span&gt; HFI and VSS only work when the FOC switching frequency is at or below 30 KHz. &lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;NOTE:&lt;/span&gt; HFI and VSS only work when the FOC switching frequency is at or below 30 KHz.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;NOTE2:&lt;/span&gt; Some of the HFI-methods will get a division by 0 if Ld - Lq is set to 0, which can make the CPU reboot.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_SENSOR_MODE</cDefine>
             <valInt>0</valInt>

From 4aba9e31d06690a7d7d9bb30815c6216ee17c9a0 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 6 Apr 2022 11:30:42 +0200
Subject: [PATCH 081/559] Added openloop current boost parameter

---
 res/config/6.00/parameters_mcconf.xml | 32 +++++++++++++++++++++++----
 1 file changed, 28 insertions(+), 4 deletions(-)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index 580609b47..71e8b6506 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -1252,7 +1252,7 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Sin/Cos Encoder low pass filter constant. &lt;/span&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Will affect the ratio between lag and noise on the encoder position feedback. Range 0 to 1, where 0 has the lowest noise and most phase lag, and 1 has no lag and unfiltered noise.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sin/Cos Encoder low pass filter constant. Will affect the ratio between lag and noise on the encoder position feedback. Range 0 to 1, where 0 has the lowest noise and most phase lag, and 1 has no lag and unfiltered noise.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_ENCODER_SINCOS_FILTER</cDefine>
             <editorDecimalsDouble>2</editorDecimalsDouble>
             <editorScale>1</editorScale>
@@ -1264,7 +1264,7 @@ p, li { white-space: pre-wrap; }
             <valDouble>0.5</valDouble>
             <vTxDoubleScale>1000</vTxDoubleScale>
             <suffix></suffix>
-            <vTx>9</vTx>
+            <vTx>7</vTx>
         </foc_encoder_sincos_filter_constant>
         <foc_sensor_mode>
             <longName>Sensor Mode</longName>
@@ -1620,7 +1620,7 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Start decreasing the D axis current controller gain at this modulation.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Start decreasing the D axis current controller gain at this modulation.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_D_GAIN_SCALE_START</cDefine>
             <editorDecimalsDouble>2</editorDecimalsDouble>
             <editorScale>1</editorScale>
@@ -1632,7 +1632,7 @@ p, li { white-space: pre-wrap; }
             <valDouble>0.9</valDouble>
             <vTxDoubleScale>1000</vTxDoubleScale>
             <suffix></suffix>
-            <vTx>9</vTx>
+            <vTx>7</vTx>
         </foc_d_gain_scale_start>
         <foc_d_gain_scale_max_mod>
             <longName>D Axis Gain Scaling at Max Mod</longName>
@@ -1744,6 +1744,28 @@ p, li { white-space: pre-wrap; }
             <suffix> S</suffix>
             <vTx>7</vTx>
         </foc_sl_openloop_time>
+        <foc_sl_openloop_boost_q>
+            <longName>Openloop Current Boost</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current boost in the Q-axis during the open loop procedure. Can help the motor get over the initial cogging torque easier, but potentially makes the start more violent.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SL_OPENLOOP_BOOST_Q</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>300</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>7</vTx>
+        </foc_sl_openloop_boost_q>
         <foc_hall_table__0>
             <longName>Hall Table [0]</longName>
             <type>2</type>
@@ -4153,6 +4175,7 @@ p, li { white-space: pre-wrap; }
         <ser>foc_sl_openloop_time_lock</ser>
         <ser>foc_sl_openloop_time_ramp</ser>
         <ser>foc_sl_openloop_time</ser>
+        <ser>foc_sl_openloop_boost_q</ser>
         <ser>foc_hall_table__0</ser>
         <ser>foc_hall_table__1</ser>
         <ser>foc_hall_table__2</ser>
@@ -4437,6 +4460,7 @@ p, li { white-space: pre-wrap; }
                     <param>foc_sl_openloop_time_lock</param>
                     <param>foc_sl_openloop_time_ramp</param>
                     <param>foc_sl_openloop_time</param>
+                    <param>foc_sl_openloop_boost_q</param>
                     <param>foc_sat_comp</param>
                     <param>foc_temp_comp</param>
                     <param>foc_temp_comp_base_temp</param>

From 43888fe7a33e54335400453c3d6a40679c8829ef Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 6 Apr 2022 12:14:40 +0200
Subject: [PATCH 082/559] Added openloop max current parameter

---
 res/config/6.00/parameters_mcconf.xml | 26 ++++++++++++++++++++++++++
 1 file changed, 26 insertions(+)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index 71e8b6506..baa0488cb 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -1766,6 +1766,30 @@ p, li { white-space: pre-wrap; }
             <suffix> A</suffix>
             <vTx>7</vTx>
         </foc_sl_openloop_boost_q>
+        <foc_sl_openloop_max_q>
+            <longName>Openloop Current Max</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Limit the current during the openloop sequence to this value. Setting the boost current higher than this value means that the openloop current is a constant value (this one).&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A negative value means that this limit is disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SL_OPENLOOP_MAX_Q</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>300</maxDouble>
+            <minDouble>-1</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>-1</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>7</vTx>
+        </foc_sl_openloop_max_q>
         <foc_hall_table__0>
             <longName>Hall Table [0]</longName>
             <type>2</type>
@@ -4176,6 +4200,7 @@ p, li { white-space: pre-wrap; }
         <ser>foc_sl_openloop_time_ramp</ser>
         <ser>foc_sl_openloop_time</ser>
         <ser>foc_sl_openloop_boost_q</ser>
+        <ser>foc_sl_openloop_max_q</ser>
         <ser>foc_hall_table__0</ser>
         <ser>foc_hall_table__1</ser>
         <ser>foc_hall_table__2</ser>
@@ -4461,6 +4486,7 @@ p, li { white-space: pre-wrap; }
                     <param>foc_sl_openloop_time_ramp</param>
                     <param>foc_sl_openloop_time</param>
                     <param>foc_sl_openloop_boost_q</param>
+                    <param>foc_sl_openloop_max_q</param>
                     <param>foc_sat_comp</param>
                     <param>foc_temp_comp</param>
                     <param>foc_temp_comp_base_temp</param>

From 242acbc8ef907f1aea1a0b9463ed7ace09053532 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 6 Apr 2022 21:23:41 +0200
Subject: [PATCH 083/559] Added phase filter fault code

---
 commands.cpp | 1 +
 datatypes.h  | 3 ++-
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/commands.cpp b/commands.cpp
index 9e0d90142..28da6a2f3 100755
--- a/commands.cpp
+++ b/commands.cpp
@@ -2198,6 +2198,7 @@ QString Commands::faultToStr(mc_fault_code fault)
     case FAULT_CODE_FLASH_CORRUPTION_MC_CFG: return "FAULT_CODE_FLASH_CORRUPTION_MC_CFG";
     case FAULT_CODE_ENCODER_NO_MAGNET: return "FAULT_CODE_ENCODER_NO_MAGNET";
     case FAULT_CODE_ENCODER_MAGNET_TOO_STRONG: return "FAULT_CODE_ENCODER_MAGNET_TOO_STRONG";
+    case FAULT_CODE_PHASE_FILTER: return "FAULT_CODE_PHASE_FILTER";
     }
 
     return "Unknown fault";
diff --git a/datatypes.h b/datatypes.h
index af686f808..643bce95c 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -98,7 +98,8 @@ typedef enum {
     FAULT_CODE_FLASH_CORRUPTION_APP_CFG,
     FAULT_CODE_FLASH_CORRUPTION_MC_CFG,
     FAULT_CODE_ENCODER_NO_MAGNET,
-    FAULT_CODE_ENCODER_MAGNET_TOO_STRONG
+    FAULT_CODE_ENCODER_MAGNET_TOO_STRONG,
+    FAULT_CODE_PHASE_FILTER
 } mc_fault_code;
 
 typedef enum {

From 5533b1350b901119d41121795e9e731695e425ad Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 7 Apr 2022 15:07:27 +0200
Subject: [PATCH 084/559] Changed hfi gain adjustment range

---
 res/config/6.00/parameters_mcconf.xml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index baa0488cb..b420ff99d 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -2235,11 +2235,11 @@ p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Correction gain for the silent HFI mode. Higher values are better at handling sudden changes in speed, but also make the position tracking noisier.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_HFI_GAIN</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
-            <maxDouble>1.5</maxDouble>
-            <minDouble>0.01</minDouble>
+            <maxDouble>99</maxDouble>
+            <minDouble>0</minDouble>
             <showDisplay>0</showDisplay>
             <stepDouble>0.01</stepDouble>
             <valDouble>0.4</valDouble>

From a1f323560436e8f6bf0a80dd6a380cfd57265e8a Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 10 Apr 2022 22:30:23 +0200
Subject: [PATCH 085/559] Fixed upload dialog

---
 mobile/FwUpdate.qml | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/mobile/FwUpdate.qml b/mobile/FwUpdate.qml
index 1fa8dc6a6..4eb7fb720 100755
--- a/mobile/FwUpdate.qml
+++ b/mobile/FwUpdate.qml
@@ -20,7 +20,7 @@
 import QtQuick 2.11
 import QtQuick.Controls 2.10
 import QtQuick.Layouts 1.3
-import QtQuick.Dialogs 1.3
+import QtQuick.Dialogs 1.3 as Dl
 
 import Vedder.vesc.vescinterface 1.0
 import Vedder.vesc.commands 1.0
@@ -285,7 +285,7 @@ Item {
                             enabled = false
                         }
                     }
-                    FileDialog {
+                    Dl.FileDialog {
                         id: fileDialog
                         title: "Please choose a file"
                         nameFilters: ["Firmware File (*.bin)"]
@@ -454,7 +454,9 @@ Item {
         property bool fwdCan: false
         standardButtons: Dialog.Ok | Dialog.Cancel
         width: parent.width - 20
-        modality: Qt.WindowModal
+        modal: true
+        focus: true
+        closePolicy: Popup.CloseOnEscape
 
         Overlay.modal: Rectangle {
             color: "#AA000000"

From 5aa13d897f75b03ec1e80d87a826540f813952b7 Mon Sep 17 00:00:00 2001
From: Kenn Sebesta <kenn@eissQ.com>
Date: Mon, 11 Apr 2022 14:52:36 -0400
Subject: [PATCH 086/559] [FOC][Sensorless] Improve help descriptions

---
 res/config/6.00/parameters_mcconf.xml | 17 +++++++++++++++--
 1 file changed, 15 insertions(+), 2 deletions(-)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index b420ff99d..7b0048071 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -1598,7 +1598,13 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The openloop ERPM is scaled with the set motor current. This is the fraction of Openloop ERPM at the minimum current.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; ; font-weight:600;&quot;&gt;Rationale&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;With low current, the observer has an easier time locking onto the motor, as the `resistance_error * current` has to be low compared to the back-emf for the observer to work.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; ; font-weight:600;&quot;&gt;Functional description&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The openloop ERPM is scaled with the motor current setpoint. This is the fraction of Openloop ERPM at 0A (i.e. minimum current).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_OPENLOOP_RPM_LOW</cDefine>
             <editorDecimalsDouble>2</editorDecimalsDouble>
             <editorScale>1</editorScale>
@@ -1752,7 +1758,14 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current boost in the Q-axis during the open loop procedure. Can help the motor get over the initial cogging torque easier, but potentially makes the start more violent.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Rationale&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-style:italic;&quot;&gt;Current boost&lt;/span&gt; can help the motor get over its initial cogging torque more easily, but it also potentially makes the start more jittery.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Functional description&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current boost in the Q-axis during the open loop procedure. &lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;For instance, if the commanded value is 1A and the boost is 10A, then it will run at `1A + 10A` for `Openloop lock time + Openloop ramp time + Openloop time` seconds. Then it will continue at 1A in closed-loop.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_SL_OPENLOOP_BOOST_Q</cDefine>
             <editorDecimalsDouble>2</editorDecimalsDouble>
             <editorScale>1</editorScale>

From 24f4af74dddf1d1b0b01ed6a543cd7437918a121 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 12 Apr 2022 14:20:40 +0200
Subject: [PATCH 087/559] Upload active tab instead of main tab

---
 pages/pagelisp.cpp | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index 3223beb5c..3e3075ba0 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -669,7 +669,14 @@ void PageLisp::on_uploadButton_clicked()
 
     VByteArray vb;
     vb.vbAppendUint16(0);
-    vb.append(ui->mainEdit->codeEditor()->toPlainText());
+
+    auto e = qobject_cast<ScriptEditor*>(ui->fileTabs->widget(ui->fileTabs->currentIndex()));
+
+    if (e != nullptr) {
+        vb.append(e->codeEditor()->toPlainText());
+    } else {
+        vb.append(ui->mainEdit->codeEditor()->toPlainText());
+    }
 
     if (vb.at(vb.size() - 1) != '\0') {
         vb.append('\0');

From 386886303bd86a9791791ae99e53d161d19f2d14 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 12 Apr 2022 17:30:06 +0200
Subject: [PATCH 088/559] Tiny fixes

---
 build_cp_fw                            |  1 +
 res/Lisp/Examples/list_with_lists.lisp | 12 ++----------
 2 files changed, 3 insertions(+), 10 deletions(-)

diff --git a/build_cp_fw b/build_cp_fw
index 571e05daa..7b478e6e0 100755
--- a/build_cp_fw
+++ b/build_cp_fw
@@ -10,6 +10,7 @@ rm -rf $FWPATH/package/*
 cd $FWPATH
 make all_fw_clean
 make all_fw -j24
+sleep 3
 python3 package_firmware.py
 make all_fw_clean
 
diff --git a/res/Lisp/Examples/list_with_lists.lisp b/res/Lisp/Examples/list_with_lists.lisp
index 9c3737d8b..5cdc52c29 100644
--- a/res/Lisp/Examples/list_with_lists.lisp
+++ b/res/Lisp/Examples/list_with_lists.lisp
@@ -14,19 +14,11 @@
             )
 ))
 
-; Pad string s to length n with character ch, functional style
+; Pad string s to length n with character ch
 (defun pad-str (s n ch)
     (if (>= (str-len s) n)
         s
-        (pad-str2 (str-merge s ch) n ch)
-))
-
-; Same as above, imperative style
-(defun pad-str2 (s n ch)
-    (progn
-        (loopwhile (< (str-len s) n)
-            (set! 's (str-merge s ch)))
-        s
+        (pad-str (str-merge s ch) n ch)
 ))
 
 (loopforeach hw pkg

From a481513b68cc267bdb2b5e0bea761aee14f60461 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 12 Apr 2022 23:08:43 +0200
Subject: [PATCH 089/559] Input setup fix

---
 utility.cpp | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/utility.cpp b/utility.cpp
index 2253917b5..a394f615e 100755
--- a/utility.cpp
+++ b/utility.cpp
@@ -627,8 +627,8 @@ bool Utility::resetInputCan(VescInterface *vesc, QVector<int> canIds)
 
     if (res) {
         int canId = ap->getParamInt("controller_id");
-        int canStatus = ap->getParamEnum("can_status_msgs_r1");
-        int canStatus2 = ap->getParamEnum("can_status_msgs_r2");
+        int canStatus = ap->getParamInt("can_status_msgs_r1");
+        int canStatus2 = ap->getParamInt("can_status_msgs_r2");
         vesc->commands()->getAppConfDefault();
         res = waitSignal(ap, SIGNAL(updated()), 4000);
 
@@ -638,8 +638,8 @@ bool Utility::resetInputCan(VescInterface *vesc, QVector<int> canIds)
 
         if (res) {
             ap->updateParamInt("controller_id", canId);
-            ap->updateParamEnum("can_status_msgs_r1", canStatus);
-            ap->updateParamEnum("can_status_msgs_r2", canStatus2);
+            ap->updateParamInt("can_status_msgs_r1", canStatus);
+            ap->updateParamInt("can_status_msgs_r2", canStatus2);
             vesc->commands()->setAppConf();
             res = waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 4000);
 
@@ -681,8 +681,8 @@ bool Utility::resetInputCan(VescInterface *vesc, QVector<int> canIds)
             }
 
             int canId = ap->getParamInt("controller_id");
-            int canStatus = ap->getParamEnum("can_status_msgs_r1");
-            int canStatus2 = ap->getParamEnum("can_status_msgs_r2");
+            int canStatus = ap->getParamInt("can_status_msgs_r1");
+            int canStatus2 = ap->getParamInt("can_status_msgs_r2");
             vesc->commands()->getAppConfDefault();
             res = waitSignal(ap, SIGNAL(updated()), 4000);
 
@@ -692,8 +692,8 @@ bool Utility::resetInputCan(VescInterface *vesc, QVector<int> canIds)
             }
 
             ap->updateParamInt("controller_id", canId);
-            ap->updateParamEnum("can_status_msgs_r1", canStatus);
-            ap->updateParamEnum("can_status_msgs_r2", canStatus2);
+            ap->updateParamInt("can_status_msgs_r1", canStatus);
+            ap->updateParamInt("can_status_msgs_r2", canStatus2);
             vesc->commands()->setAppConf();
             res = waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 4000);
 

From db7453e4c8f9ed4e44d1a4ea6db3dc5e3c0540cc Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 14 Apr 2022 20:40:52 +0200
Subject: [PATCH 090/559] Added oled display lisp example

---
 QCodeEditor/resources/languages/lisp.xml |   2 +
 res/Lisp/Examples/ssd1306_oled.lisp      | 170 +++++++++++++++++++++++
 res_lisp.qrc                             |   1 +
 3 files changed, 173 insertions(+)
 create mode 100644 res/Lisp/Examples/ssd1306_oled.lisp

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 3b066495b..1da80d675 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -60,5 +60,7 @@
         <name>sqrt</name>
         <name>log</name>
         <name>log10</name>
+        <name>shl</name>
+        <name>shr</name>
     </section>
 </root>
diff --git a/res/Lisp/Examples/ssd1306_oled.lisp b/res/Lisp/Examples/ssd1306_oled.lisp
new file mode 100644
index 000000000..8466d8f05
--- /dev/null
+++ b/res/Lisp/Examples/ssd1306_oled.lisp
@@ -0,0 +1,170 @@
+
+; This is a simple driver for a SSD1306 128x64-pixel OLED-display using i2c. 
+
+(def font [
+0x00 0x00 0x00 0x00 0x00  0x00 0x00 0x5F 0x00 0x00  0x00 0x07 0x00 0x07 0x00  0x14 0x7F 0x14 0x7F 0x14
+0x24 0x2A 0x7F 0x2A 0x12  0x23 0x13 0x08 0x64 0x62  0x36 0x49 0x56 0x20 0x50  0x00 0x08 0x07 0x03 0x00
+0x00 0x1C 0x22 0x41 0x00  0x00 0x41 0x22 0x1C 0x00  0x2A 0x1C 0x7F 0x1C 0x2A  0x08 0x08 0x3E 0x08 0x08
+0x00 0x80 0x70 0x30 0x00  0x08 0x08 0x08 0x08 0x08  0x00 0x00 0x60 0x60 0x00  0x20 0x10 0x08 0x04 0x02
+0x3E 0x51 0x49 0x45 0x3E  0x00 0x42 0x7F 0x40 0x00  0x72 0x49 0x49 0x49 0x46  0x21 0x41 0x49 0x4D 0x33
+0x18 0x14 0x12 0x7F 0x10  0x27 0x45 0x45 0x45 0x39  0x3C 0x4A 0x49 0x49 0x31  0x41 0x21 0x11 0x09 0x07
+0x36 0x49 0x49 0x49 0x36  0x46 0x49 0x49 0x29 0x1E  0x00 0x00 0x14 0x00 0x00  0x00 0x40 0x34 0x00 0x00
+0x00 0x08 0x14 0x22 0x41  0x14 0x14 0x14 0x14 0x14  0x00 0x41 0x22 0x14 0x08  0x02 0x01 0x59 0x09 0x06
+0x3E 0x41 0x5D 0x59 0x4E  0x7C 0x12 0x11 0x12 0x7C  0x7F 0x49 0x49 0x49 0x36  0x3E 0x41 0x41 0x41 0x22
+0x7F 0x41 0x41 0x41 0x3E  0x7F 0x49 0x49 0x49 0x41  0x7F 0x09 0x09 0x09 0x01  0x3E 0x41 0x41 0x51 0x73
+0x7F 0x08 0x08 0x08 0x7F  0x00 0x41 0x7F 0x41 0x00  0x20 0x40 0x41 0x3F 0x01  0x7F 0x08 0x14 0x22 0x41
+0x7F 0x40 0x40 0x40 0x40  0x7F 0x02 0x1C 0x02 0x7F  0x7F 0x04 0x08 0x10 0x7F  0x3E 0x41 0x41 0x41 0x3E
+0x7F 0x09 0x09 0x09 0x06  0x3E 0x41 0x51 0x21 0x5E  0x7F 0x09 0x19 0x29 0x46  0x26 0x49 0x49 0x49 0x32
+0x03 0x01 0x7F 0x01 0x03  0x3F 0x40 0x40 0x40 0x3F  0x1F 0x20 0x40 0x20 0x1F  0x3F 0x40 0x38 0x40 0x3F
+0x63 0x14 0x08 0x14 0x63  0x03 0x04 0x78 0x04 0x03  0x61 0x59 0x49 0x4D 0x43  0x00 0x7F 0x41 0x41 0x41
+0x02 0x04 0x08 0x10 0x20  0x00 0x41 0x41 0x41 0x7F  0x04 0x02 0x01 0x02 0x04  0x40 0x40 0x40 0x40 0x40
+0x00 0x03 0x07 0x08 0x00  0x20 0x54 0x54 0x78 0x40  0x7F 0x28 0x44 0x44 0x38  0x38 0x44 0x44 0x44 0x28
+0x38 0x44 0x44 0x28 0x7F  0x38 0x54 0x54 0x54 0x18  0x00 0x08 0x7E 0x09 0x02  0x18 0xA4 0xA4 0x9C 0x78
+0x7F 0x08 0x04 0x04 0x78  0x00 0x44 0x7D 0x40 0x00  0x20 0x40 0x40 0x3D 0x00  0x7F 0x10 0x28 0x44 0x00
+0x00 0x41 0x7F 0x40 0x00  0x7C 0x04 0x78 0x04 0x78  0x7C 0x08 0x04 0x04 0x78  0x38 0x44 0x44 0x44 0x38
+0xFC 0x18 0x24 0x24 0x18  0x18 0x24 0x24 0x18 0xFC  0x7C 0x08 0x04 0x04 0x08  0x48 0x54 0x54 0x54 0x24
+0x04 0x04 0x3F 0x44 0x24  0x3C 0x40 0x40 0x20 0x7C  0x1C 0x20 0x40 0x20 0x1C  0x3C 0x40 0x30 0x40 0x3C
+0x44 0x28 0x10 0x28 0x44  0x4C 0x90 0x90 0x90 0x7C  0x44 0x64 0x54 0x4C 0x44  0x00 0x08 0x36 0x41 0x00
+0x00 0x00 0x77 0x00 0x00  0x00 0x41 0x36 0x08 0x00  0x02 0x01 0x02 0x04 0x02])
+
+(def #SSD-ADDRESS 0x3c)
+
+(def cmds-init '(
+    (0xAE)      ; Display off
+    (0xD5 0x80) ; Osc freq
+    (0xA8 0x3F) ; Mux ratio
+    (0xD3 0x00) ; Display offset
+    (0x8D 0x14) ; Char reg
+    (0x81 0xCF) ; Set contrast
+    (0x20 0x00) ; Memory addr mode
+    (0x21 0 127) ; Column addr
+    (0x22 0 7) ; Page addr
+    (0x40) ; Start line
+    (0xA1) ; Seg remap op
+    (0xC8) ; Com scan dir op
+    (0xDA 0x12) ; Com pin conf
+    (0xD9 0xF1) ; Precharge
+    (0xDB 0x40) ; Vcom deselect
+    (0xA4) ; Dis ent disp on
+    (0xA6) ; Dis normal
+    (0x2E) ; Deactivate scroll
+    (0xAF) ; Disaply on
+))
+
+(i2c-start)
+
+(loopforeach c cmds-init
+    (i2c-tx-rx #SSD-ADDRESS `(0x00 ,@c))
+)
+
+(def pixbuf (array-create type-byte 1025))
+(bufset-u8 pixbuf 0 0x40) ; First byte tells the SSD1306 that this is data
+(bufclear pixbuf 0 1)
+
+; Note that the functions below assume int for x, y and row, so a type conversion
+; using (to-i x) has to be made if they are called with e.g. floats.
+
+(defun pix-set (x y)
+    (let ((addr (+ x 1 (* (/ y 8) 128))))
+    (if (and (< addr 1025) (>= addr 0))
+        (bufset-u8 pixbuf
+            addr
+            (bitwise-or
+                (bufget-u8 pixbuf addr)
+                (shl 1 (bitwise-and y 7)))
+))))
+
+(defun circle (x0 y0 r)
+    (let (
+        (f (- 1 r))
+        (ddF-x 1)
+        (ddF-y (* -2 r))
+        (x 0)
+        (y r)
+    )
+    (progn
+        (pix-set x0 (+ y0 r))
+        (pix-set x0 (- y0 r))
+        (pix-set (+ x0 r) y0)
+        (pix-set (- x0 r) y0)
+
+        (loopwhile (< x y)
+            (progn
+                (if (>= f 0)
+                    (progn
+                        (set! 'y (- y 1))
+                        (set! 'ddF-y (+ ddF-y 2))
+                        (set! 'f (+ f ddF-y))
+                ))
+                (set! 'x (+ x 1))
+                (set! 'ddF-x (+ ddF-x 2))
+                (set! 'f (+ f ddF-x))
+                
+                (pix-set (+ x0 x) (+ y0 y))
+                (pix-set (- x0 x) (+ y0 y))
+                (pix-set (+ x0 x) (- y0 y))
+                (pix-set (- x0 x) (- y0 y))
+                (pix-set (+ x0 y) (+ y0 x))
+                (pix-set (- x0 y) (+ y0 x))
+                (pix-set (+ x0 y) (- y0 x))
+                (pix-set (- x0 y) (- y0 x))
+)))))
+
+(defun line (xs ys xe ye)
+    (let (
+        (x0 (if (> xe xs) xs xe))
+        (x1 (if (> xe xs) xe xs))
+        (y0 (if (> ye ys) ys ye))
+        (y1 (if (> ye ys) ye ys))
+        (steep (> x0 x1))
+        (dx (- x1 x0))
+        (dy (abs (- y1 y0)))
+        (err (/ dx 2))
+        (ystep (if (< y0 y1) 1 -1))
+    )
+    (loopwhile (<= x0 x1)
+        (progn
+            (if steep
+                (pix-set y0 x0)
+                (pix-set x0 y0)
+            )
+            (set! 'err (- err dy))
+            (if (< err 0)
+                (progn
+                    (set! 'y0 (+ y0 ystep))
+                    (set! 'err (+ err dx))
+            ))
+            (set! 'x0 (+ x0 1))
+))))
+
+(defun putc (x row c) 
+    (looprange i 0 5
+        (bufset-u8 pixbuf
+            (+ x 1 i (* row 128))
+            (bufget-u8 font (+ i (* 5 (- c 32))))
+)))
+
+(defun putstr (x row str)
+    (looprange i 0 (str-len str)
+        (putc (+ x (* i 6)) row (bufget-u8 str i))
+))
+
+; Draw static things
+(putstr 0 0 "V In :")
+(line 0 11 127 11)
+(putstr 0 2 "T Fet:")
+
+(def fps 0)
+
+(loopwhile t
+    (progn
+        (def t-start (systime))
+        (putstr 42 0 (str-from-n (get-vin)      "%.1f "))
+        (putstr 42 2 (str-from-n (get-temp-fet) "%.1f "))
+        (putstr 0 7 (str-from-n fps "FPS %.1f "))
+        (circle 90 50 (to-i (- (get-vin) 10))) ; Circle that changes size based in v_in
+        (i2c-tx-rx #SSD-ADDRESS pixbuf)
+        (bufclear pixbuf 0 385) ; Clear lower screen section
+        (def fps (/ 1 (secs-since t-start))) ; Calculate framerate excluding sleep
+        (sleep 0.1)
+))
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 8e7711390..1f156a33c 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -25,5 +25,6 @@
         <file>res/Lisp/Examples/loop_tests.lisp</file>
         <file>res/Lisp/Examples/raw_hall.lisp</file>
         <file>res/Lisp/Examples/print.lisp</file>
+        <file>res/Lisp/Examples/ssd1306_oled.lisp</file>
     </qresource>
 </RCC>

From 9efdc15115f1c76a5f14b6199ead8d3543243879 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 14 Apr 2022 22:50:29 +0200
Subject: [PATCH 091/559] Unrolled putc loop

---
 res/Lisp/Examples/ssd1306_oled.lisp | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/res/Lisp/Examples/ssd1306_oled.lisp b/res/Lisp/Examples/ssd1306_oled.lisp
index 8466d8f05..1ed32f5a6 100644
--- a/res/Lisp/Examples/ssd1306_oled.lisp
+++ b/res/Lisp/Examples/ssd1306_oled.lisp
@@ -138,10 +138,12 @@
 ))))
 
 (defun putc (x row c) 
-    (looprange i 0 5
-        (bufset-u8 pixbuf
-            (+ x 1 i (* row 128))
-            (bufget-u8 font (+ i (* 5 (- c 32))))
+    (let (
+        (y (* row 128))
+        (co (* 5 (- c 32)))
+    )(progn
+        (bufset-u32 pixbuf (+ x 2 y) (bufget-u32 font co))
+        (bufset-u8 pixbuf (+ x 6 y) (bufget-u8 font (+ 4 co)))
 )))
 
 (defun putstr (x row str)
@@ -150,17 +152,15 @@
 ))
 
 ; Draw static things
-(putstr 0 0 "V In :")
 (line 0 11 127 11)
-(putstr 0 2 "T Fet:")
 
 (def fps 0)
 
 (loopwhile t
     (progn
         (def t-start (systime))
-        (putstr 42 0 (str-from-n (get-vin)      "%.1f "))
-        (putstr 42 2 (str-from-n (get-temp-fet) "%.1f "))
+        (putstr 0 0 (str-from-n (get-vin)      "V In : %.1f "))
+        (putstr 0 2 (str-from-n (get-temp-fet) "T Fet: %.1f "))
         (putstr 0 7 (str-from-n fps "FPS %.1f "))
         (circle 90 50 (to-i (- (get-vin) 10))) ; Circle that changes size based in v_in
         (i2c-tx-rx #SSD-ADDRESS pixbuf)

From f6e0ca06a33d662c934e24dd6343f85e37190956 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 14 Apr 2022 22:57:19 +0200
Subject: [PATCH 092/559] Fix

---
 res/Lisp/Examples/ssd1306_oled.lisp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/res/Lisp/Examples/ssd1306_oled.lisp b/res/Lisp/Examples/ssd1306_oled.lisp
index 1ed32f5a6..34cf1e7a2 100644
--- a/res/Lisp/Examples/ssd1306_oled.lisp
+++ b/res/Lisp/Examples/ssd1306_oled.lisp
@@ -142,8 +142,8 @@
         (y (* row 128))
         (co (* 5 (- c 32)))
     )(progn
-        (bufset-u32 pixbuf (+ x 2 y) (bufget-u32 font co))
-        (bufset-u8 pixbuf (+ x 6 y) (bufget-u8 font (+ 4 co)))
+        (bufset-u32 pixbuf (+ x 1 y) (bufget-u32 font co))
+        (bufset-u8 pixbuf (+ x 5 y) (bufget-u8 font (+ 4 co)))
 )))
 
 (defun putstr (x row str)

From d416410bde7fc60636a5dcf4b7a9545465553333 Mon Sep 17 00:00:00 2001
From: Mitch Lustig <moesk8er2@gmail.com>
Date: Fri, 15 Apr 2022 21:29:27 -0700
Subject: [PATCH 093/559] Add support for configuring IMU onboard filters

---
 res/config/6.00/parameters_appconf.xml | 19 ++++++++++++++++++-
 1 file changed, 18 insertions(+), 1 deletion(-)

diff --git a/res/config/6.00/parameters_appconf.xml b/res/config/6.00/parameters_appconf.xml
index c21311ffe..25b63cce8 100644
--- a/res/config/6.00/parameters_appconf.xml
+++ b/res/config/6.00/parameters_appconf.xml
@@ -3576,6 +3576,21 @@ p, li { white-space: pre-wrap; }
             <enumNames>AHRS_MODE_MAHONY</enumNames>
             <enumNames>AHRS_MODE_MADGWICK_FUSION</enumNames>
         </imu_conf.mode>
+        <imu_conf.filter>
+            <longName>Accel/Gyro Filter</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Set the onboard accel/gyro filters.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_FILTER</cDefine>
+            <valInt>0</valInt>
+            <enumNames>IMU_FILTER_LOW</enumNames>
+            <enumNames>IMU_FILTER_MEDIUM</enumNames>
+            <enumNames>IMU_FILTER_HIGH</enumNames>
+        </imu_conf.filter>
         <imu_conf.sample_rate_hz>
             <longName>Sample Rate</longName>
             <type>2</type>
@@ -4047,6 +4062,7 @@ p, li { white-space: pre-wrap; }
         <ser>app_pas_conf.update_rate_hz</ser>
         <ser>imu_conf.type</ser>
         <ser>imu_conf.mode</ser>
+        <ser>imu_conf.filter</ser>
         <ser>imu_conf.sample_rate_hz</ser>
         <ser>imu_conf.accel_confidence_decay</ser>
         <ser>imu_conf.mahony_kp</ser>
@@ -4357,7 +4373,8 @@ p, li { white-space: pre-wrap; }
                 <subgroupParams>
                     <param>imu_conf.type</param>
                     <param>imu_conf.sample_rate_hz</param>
-                    <param>::sep::Filters</param>
+                    <param>imu_conf.filter</param>
+                    <param>::sep::AHRS</param>
                     <param>imu_conf.mode</param>
                     <param>imu_conf.accel_confidence_decay</param>
                     <param>imu_conf.mahony_kp</param>

From 8f93f75093552c2cbb637b4c8a3eaa959bb3c7d9 Mon Sep 17 00:00:00 2001
From: Mitch Lustig <moesk8er2@gmail.com>
Date: Sun, 17 Apr 2022 13:20:21 -0700
Subject: [PATCH 094/559] Make magnetometer user configurable

---
 res/config/6.00/parameters_appconf.xml | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/res/config/6.00/parameters_appconf.xml b/res/config/6.00/parameters_appconf.xml
index c21311ffe..c09e26902 100644
--- a/res/config/6.00/parameters_appconf.xml
+++ b/res/config/6.00/parameters_appconf.xml
@@ -3596,6 +3596,18 @@ p, li { white-space: pre-wrap; }
             <suffix> Hz</suffix>
             <vTx>3</vTx>
         </imu_conf.sample_rate_hz>
+        <imu_conf.use_magnetometer>
+            <longName>Use magnetometer</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use magnetometer.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_USE_MAGNETOMETER</cDefine>
+            <valInt>1</valInt>
+        </imu_conf.use_magnetometer>
         <imu_conf.accel_confidence_decay>
             <longName>Accelerometer Confidence Decay</longName>
             <type>1</type>
@@ -4048,6 +4060,7 @@ p, li { white-space: pre-wrap; }
         <ser>imu_conf.type</ser>
         <ser>imu_conf.mode</ser>
         <ser>imu_conf.sample_rate_hz</ser>
+        <ser>imu_conf.use_magnetometer</ser>
         <ser>imu_conf.accel_confidence_decay</ser>
         <ser>imu_conf.mahony_kp</ser>
         <ser>imu_conf.mahony_ki</ser>
@@ -4356,6 +4369,7 @@ p, li { white-space: pre-wrap; }
                 <subgroupName>General</subgroupName>
                 <subgroupParams>
                     <param>imu_conf.type</param>
+                    <param>imu_conf.use_magnetometer</param>
                     <param>imu_conf.sample_rate_hz</param>
                     <param>::sep::Filters</param>
                     <param>imu_conf.mode</param>

From 45d9bac0f24f2f31a71415d0df699c9503faf59b Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 18 Apr 2022 19:35:06 +0200
Subject: [PATCH 095/559] Updated lisp examples

---
 QCodeEditor/resources/languages/lisp.xml      |  18 +-
 res/Lisp/Examples/ssd1306_oled.lisp           |  95 +++-----
 res/Lisp/Examples/ssd1306_oled_cube.lisp      | 147 ++++++++++++
 res/Lisp/Examples/ssd1306_oled_largefont.lisp | 224 ++++++++++++++++++
 res/Lisp/Examples/threads.lisp                |   2 +-
 5 files changed, 421 insertions(+), 65 deletions(-)
 create mode 100644 res/Lisp/Examples/ssd1306_oled_cube.lisp
 create mode 100644 res/Lisp/Examples/ssd1306_oled_largefont.lisp

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 1da80d675..14dcba1f9 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -6,9 +6,6 @@
         <name>macro</name>
         <name>lambda</name>
         <name>eval</name>
-        <name>car</name>
-        <name>cons</name>
-        <name>cdr</name>
         <name>let</name>
         <name>progn</name>
         <name>if</name>
@@ -19,12 +16,8 @@
         <name>looprange</name>
         <name>loopforeach</name>
         <name>break</name>
-        <name>first</name>
-        <name>rest</name>
         <name>fn</name>
         <name>def</name>
-        <name>second</name>
-        <name>third</name>
     </section>
     <section name="PrimitiveType">
         <name>nil</name>
@@ -62,5 +55,16 @@
         <name>log10</name>
         <name>shl</name>
         <name>shr</name>
+        <name>first</name>
+        <name>rest</name>
+        <name>car</name>
+        <name>cons</name>
+        <name>cdr</name>
+        <name>second</name>
+        <name>third</name>
+        <name>setcar</name>
+        <name>setcdr</name>
+        <name>setvar</name>
+        <name>setix</name>
     </section>
 </root>
diff --git a/res/Lisp/Examples/ssd1306_oled.lisp b/res/Lisp/Examples/ssd1306_oled.lisp
index 34cf1e7a2..2b5169601 100644
--- a/res/Lisp/Examples/ssd1306_oled.lisp
+++ b/res/Lisp/Examples/ssd1306_oled.lisp
@@ -1,6 +1,3 @@
-
-; This is a simple driver for a SSD1306 128x64-pixel OLED-display using i2c. 
-
 (def font [
 0x00 0x00 0x00 0x00 0x00  0x00 0x00 0x5F 0x00 0x00  0x00 0x07 0x00 0x07 0x00  0x14 0x7F 0x14 0x7F 0x14
 0x24 0x2A 0x7F 0x2A 0x12  0x23 0x13 0x08 0x64 0x62  0x36 0x49 0x56 0x20 0x50  0x00 0x08 0x07 0x03 0x00
@@ -27,6 +24,16 @@
 0x44 0x28 0x10 0x28 0x44  0x4C 0x90 0x90 0x90 0x7C  0x44 0x64 0x54 0x4C 0x44  0x00 0x08 0x36 0x41 0x00
 0x00 0x00 0x77 0x00 0x00  0x00 0x41 0x36 0x08 0x00  0x02 0x01 0x02 0x04 0x02])
 
+(defun putc (x row c) 
+    (progn
+        (bufcpy pixbuf (+ x 1 (* row 128)) font (* 5 (- c 32)) 5)
+))
+
+(defun putstr (x row str)
+    (looprange i 0 (str-len str)
+        (putc (+ x (* i 6)) row (bufget-u8 str i))
+))
+
 (def #SSD-ADDRESS 0x3c)
 
 (def cmds-init '(
@@ -65,14 +72,8 @@
 ; using (to-i x) has to be made if they are called with e.g. floats.
 
 (defun pix-set (x y)
-    (let ((addr (+ x 1 (* (/ y 8) 128))))
-    (if (and (< addr 1025) (>= addr 0))
-        (bufset-u8 pixbuf
-            addr
-            (bitwise-or
-                (bufget-u8 pixbuf addr)
-                (shl 1 (bitwise-and y 7)))
-))))
+    (bufset-bit pixbuf (+ 8 (* x 8) (mod y 8) (* (/ y 8) 1024)) 1)
+)
 
 (defun circle (x0 y0 r)
     (let (
@@ -92,13 +93,13 @@
             (progn
                 (if (>= f 0)
                     (progn
-                        (set! 'y (- y 1))
-                        (set! 'ddF-y (+ ddF-y 2))
-                        (set! 'f (+ f ddF-y))
+                        (setvar 'y (- y 1))
+                        (setvar 'ddF-y (+ ddF-y 2))
+                        (setvar 'f (+ f ddF-y))
                 ))
-                (set! 'x (+ x 1))
-                (set! 'ddF-x (+ ddF-x 2))
-                (set! 'f (+ f ddF-x))
+                (setvar 'x (+ x 1))
+                (setvar 'ddF-x (+ ddF-x 2))
+                (setvar 'f (+ f ddF-x))
                 
                 (pix-set (+ x0 x) (+ y0 y))
                 (pix-set (- x0 x) (+ y0 y))
@@ -110,50 +111,30 @@
                 (pix-set (- x0 y) (- y0 x))
 )))))
 
-(defun line (xs ys xe ye)
+(defun line (x0 y0 x1 y1)
     (let (
-        (x0 (if (> xe xs) xs xe))
-        (x1 (if (> xe xs) xe xs))
-        (y0 (if (> ye ys) ys ye))
-        (y1 (if (> ye ys) ye ys))
-        (steep (> x0 x1))
-        (dx (- x1 x0))
-        (dy (abs (- y1 y0)))
-        (err (/ dx 2))
-        (ystep (if (< y0 y1) 1 -1))
+        (dx (abs (- x1 x0)))
+        (sx (if (< x0 x1) 1 -1))
+        (dy (- (abs (- y1 y0))))
+        (sy (if (< y0 y1) 1 -1))
+        (error (+ dx dy))
     )
-    (loopwhile (<= x0 x1)
+    (loopwhile t
         (progn
-            (if steep
-                (pix-set y0 x0)
-                (pix-set x0 y0)
-            )
-            (set! 'err (- err dy))
-            (if (< err 0)
+            (pix-set x0 y0)
+            (if (and (= x0 x1) (= y0 y1)) (break))
+            (if (>= (* 2 error) dy)
+                (progn
+                    (if (= x0 x1) (break))
+                    (setvar 'error (+ error dy))
+                    (setvar 'x0 (+ x0 sx))))
+            (if (<= (* 2 error) dx)
                 (progn
-                    (set! 'y0 (+ y0 ystep))
-                    (set! 'err (+ err dx))
-            ))
-            (set! 'x0 (+ x0 1))
+                    (if (= y0 y1) (break))
+                    (setvar 'error (+ error dx))
+                    (setvar 'y0 (+ y0 sy))))
 ))))
 
-(defun putc (x row c) 
-    (let (
-        (y (* row 128))
-        (co (* 5 (- c 32)))
-    )(progn
-        (bufset-u32 pixbuf (+ x 1 y) (bufget-u32 font co))
-        (bufset-u8 pixbuf (+ x 5 y) (bufget-u8 font (+ 4 co)))
-)))
-
-(defun putstr (x row str)
-    (looprange i 0 (str-len str)
-        (putc (+ x (* i 6)) row (bufget-u8 str i))
-))
-
-; Draw static things
-(line 0 11 127 11)
-
 (def fps 0)
 
 (loopwhile t
@@ -161,10 +142,10 @@
         (def t-start (systime))
         (putstr 0 0 (str-from-n (get-vin)      "V In : %.1f "))
         (putstr 0 2 (str-from-n (get-temp-fet) "T Fet: %.1f "))
-        (putstr 0 7 (str-from-n fps "FPS %.1f "))
+        (putstr 0 6 (str-from-n fps "FPS %.1f "))
         (circle 90 50 (to-i (- (get-vin) 10))) ; Circle that changes size based in v_in
         (i2c-tx-rx #SSD-ADDRESS pixbuf)
-        (bufclear pixbuf 0 385) ; Clear lower screen section
+        (bufclear pixbuf 0 1)
         (def fps (/ 1 (secs-since t-start))) ; Calculate framerate excluding sleep
         (sleep 0.1)
 ))
diff --git a/res/Lisp/Examples/ssd1306_oled_cube.lisp b/res/Lisp/Examples/ssd1306_oled_cube.lisp
new file mode 100644
index 000000000..9b4d55d95
--- /dev/null
+++ b/res/Lisp/Examples/ssd1306_oled_cube.lisp
@@ -0,0 +1,147 @@
+(def font [
+0x00 0x00 0x00 0x00 0x00  0x00 0x00 0x5F 0x00 0x00  0x00 0x07 0x00 0x07 0x00  0x14 0x7F 0x14 0x7F 0x14
+0x24 0x2A 0x7F 0x2A 0x12  0x23 0x13 0x08 0x64 0x62  0x36 0x49 0x56 0x20 0x50  0x00 0x08 0x07 0x03 0x00
+0x00 0x1C 0x22 0x41 0x00  0x00 0x41 0x22 0x1C 0x00  0x2A 0x1C 0x7F 0x1C 0x2A  0x08 0x08 0x3E 0x08 0x08
+0x00 0x80 0x70 0x30 0x00  0x08 0x08 0x08 0x08 0x08  0x00 0x00 0x60 0x60 0x00  0x20 0x10 0x08 0x04 0x02
+0x3E 0x51 0x49 0x45 0x3E  0x00 0x42 0x7F 0x40 0x00  0x72 0x49 0x49 0x49 0x46  0x21 0x41 0x49 0x4D 0x33
+0x18 0x14 0x12 0x7F 0x10  0x27 0x45 0x45 0x45 0x39  0x3C 0x4A 0x49 0x49 0x31  0x41 0x21 0x11 0x09 0x07
+0x36 0x49 0x49 0x49 0x36  0x46 0x49 0x49 0x29 0x1E  0x00 0x00 0x14 0x00 0x00  0x00 0x40 0x34 0x00 0x00
+0x00 0x08 0x14 0x22 0x41  0x14 0x14 0x14 0x14 0x14  0x00 0x41 0x22 0x14 0x08  0x02 0x01 0x59 0x09 0x06
+0x3E 0x41 0x5D 0x59 0x4E  0x7C 0x12 0x11 0x12 0x7C  0x7F 0x49 0x49 0x49 0x36  0x3E 0x41 0x41 0x41 0x22
+0x7F 0x41 0x41 0x41 0x3E  0x7F 0x49 0x49 0x49 0x41  0x7F 0x09 0x09 0x09 0x01  0x3E 0x41 0x41 0x51 0x73
+0x7F 0x08 0x08 0x08 0x7F  0x00 0x41 0x7F 0x41 0x00  0x20 0x40 0x41 0x3F 0x01  0x7F 0x08 0x14 0x22 0x41
+0x7F 0x40 0x40 0x40 0x40  0x7F 0x02 0x1C 0x02 0x7F  0x7F 0x04 0x08 0x10 0x7F  0x3E 0x41 0x41 0x41 0x3E
+0x7F 0x09 0x09 0x09 0x06  0x3E 0x41 0x51 0x21 0x5E  0x7F 0x09 0x19 0x29 0x46  0x26 0x49 0x49 0x49 0x32
+0x03 0x01 0x7F 0x01 0x03  0x3F 0x40 0x40 0x40 0x3F  0x1F 0x20 0x40 0x20 0x1F  0x3F 0x40 0x38 0x40 0x3F
+0x63 0x14 0x08 0x14 0x63  0x03 0x04 0x78 0x04 0x03  0x61 0x59 0x49 0x4D 0x43  0x00 0x7F 0x41 0x41 0x41
+0x02 0x04 0x08 0x10 0x20  0x00 0x41 0x41 0x41 0x7F  0x04 0x02 0x01 0x02 0x04  0x40 0x40 0x40 0x40 0x40
+0x00 0x03 0x07 0x08 0x00  0x20 0x54 0x54 0x78 0x40  0x7F 0x28 0x44 0x44 0x38  0x38 0x44 0x44 0x44 0x28
+0x38 0x44 0x44 0x28 0x7F  0x38 0x54 0x54 0x54 0x18  0x00 0x08 0x7E 0x09 0x02  0x18 0xA4 0xA4 0x9C 0x78
+0x7F 0x08 0x04 0x04 0x78  0x00 0x44 0x7D 0x40 0x00  0x20 0x40 0x40 0x3D 0x00  0x7F 0x10 0x28 0x44 0x00
+0x00 0x41 0x7F 0x40 0x00  0x7C 0x04 0x78 0x04 0x78  0x7C 0x08 0x04 0x04 0x78  0x38 0x44 0x44 0x44 0x38
+0xFC 0x18 0x24 0x24 0x18  0x18 0x24 0x24 0x18 0xFC  0x7C 0x08 0x04 0x04 0x08  0x48 0x54 0x54 0x54 0x24
+0x04 0x04 0x3F 0x44 0x24  0x3C 0x40 0x40 0x20 0x7C  0x1C 0x20 0x40 0x20 0x1C  0x3C 0x40 0x30 0x40 0x3C
+0x44 0x28 0x10 0x28 0x44  0x4C 0x90 0x90 0x90 0x7C  0x44 0x64 0x54 0x4C 0x44  0x00 0x08 0x36 0x41 0x00
+0x00 0x00 0x77 0x00 0x00  0x00 0x41 0x36 0x08 0x00  0x02 0x01 0x02 0x04 0x02])
+
+(defun putc (x row c) 
+    (progn
+        (bufcpy pixbuf (+ x 1 (* row 128)) font (* 5 (- c 32)) 5)
+))
+
+(defun putstr (x row str)
+    (looprange i 0 (str-len str)
+        (putc (+ x (* i 6)) row (bufget-u8 str i))
+))
+
+(def #SSD-ADDRESS 0x3c)
+
+(def cmds-init '(
+    (0xAE)      ; Display off
+    (0xD5 0x80) ; Osc freq
+    (0xA8 0x3F) ; Mux ratio
+    (0xD3 0x00) ; Display offset
+    (0x8D 0x14) ; Char reg
+    (0x81 0xCF) ; Set contrast
+    (0x20 0x00) ; Memory addr mode
+    (0x21 0 127) ; Column addr
+    (0x22 0 7) ; Page addr
+    (0x40) ; Start line
+    (0xA1) ; Seg remap op
+    (0xC8) ; Com scan dir op
+    (0xDA 0x12) ; Com pin conf
+    (0xD9 0xF1) ; Precharge
+    (0xDB 0x40) ; Vcom deselect
+    (0xA4) ; Dis ent disp on
+    (0xA6) ; Dis normal
+    (0x2E) ; Deactivate scroll
+    (0xAF) ; Disaply on
+))
+
+(i2c-start)
+
+(loopforeach c cmds-init
+    (i2c-tx-rx #SSD-ADDRESS `(0x00 ,@c))
+)
+
+(def pixbuf (array-create type-byte 1025))
+(bufset-u8 pixbuf 0 0x40) ; First byte tells the SSD1306 that this is data
+(bufclear pixbuf 0 1)
+
+; Note that the functions below assume int for x, y and row, so a type conversion
+; using (to-i x) has to be made if they are called with e.g. floats.
+
+(defun pix-set (x y)
+    (bufset-bit pixbuf (+ 8 (* x 8) (mod y 8) (* (/ y 8) 1024)) 1)
+)
+
+(defun line (x0 y0 x1 y1)
+    (let (
+        (dx (abs (- x1 x0)))
+        (sx (if (< x0 x1) 1 -1))
+        (dy (- (abs (- y1 y0))))
+        (sy (if (< y0 y1) 1 -1))
+        (error (+ dx dy))
+    )
+    (loopwhile t
+        (progn
+            (pix-set x0 y0)
+            (if (and (= x0 x1) (= y0 y1)) (break))
+            (if (>= (* 2 error) dy)
+                (progn
+                    (if (= x0 x1) (break))
+                    (setvar 'error (+ error dy))
+                    (setvar 'x0 (+ x0 sx))))
+            (if (<= (* 2 error) dx)
+                (progn
+                    (if (= y0 y1) (break))
+                    (setvar 'error (+ error dx))
+                    (setvar 'y0 (+ y0 sy))))
+))))
+
+; Nodes and edges of a 3d cube
+(def nodes '((-1 -1 -1) (-1 -1 1) (-1 1 -1) (-1 1 1) (1 -1 -1) (1 -1 1) (1 1 -1) (1 1 1)))
+(def edges '((0  1) (1 3) (3 2) (2 0) (4 5) (5 7) (7 6) (6 4) (0 4) (1 5) (2 6) (3 7)))
+
+(defun draw-edges ()
+    (let (
+        (scale 17.0)
+        (ofs-x (/ 85 scale))
+        (ofs-y (/ 34 scale)))
+        (loopforeach e edges
+            (apply line (map (fn (x) (to-i (* x scale))) (list
+                (+ ofs-x (ix (ix nodes (ix e 0)) 0)) (+ ofs-y (ix (ix nodes (ix e 0)) 1))
+                (+ ofs-x (ix (ix nodes (ix e 1)) 0)) (+ ofs-y (ix (ix nodes (ix e 1)) 1))
+))))))
+
+(defun rotate (ax ay) (let (
+    (sx (sin ax))
+    (cx (cos ax))
+    (sy (sin ay))
+    (cy (cos ay)))
+    (loopforeach n nodes
+        (let (
+            (x (ix n 0))
+            (y (ix n 1))
+            (z (ix n 2)))
+            (progn
+                (setix n 0 (- (* x cx) (* z sx)))
+                (setix n 2 (+ (* z cx) (* x sx)))
+                (setvar 'z (ix n 2))
+                (setix n 1 (- (* y cy) (* z sy)))
+                (setix n 2 (+ (* z cy) (* y sy)))
+)))))
+
+(def fps 0)
+
+(loopwhile t
+    (progn
+        (def t-start (systime))
+        (draw-edges)
+        (rotate 0.1 0.05)
+        (putstr 0 7 (str-from-n fps "FPS %.1f "))
+        (i2c-tx-rx #SSD-ADDRESS pixbuf)
+        (bufclear pixbuf 0 1)
+        (def fps (/ 1 (secs-since t-start)))
+        (sleep 0.01)
+))
diff --git a/res/Lisp/Examples/ssd1306_oled_largefont.lisp b/res/Lisp/Examples/ssd1306_oled_largefont.lisp
new file mode 100644
index 000000000..d704e17d3
--- /dev/null
+++ b/res/Lisp/Examples/ssd1306_oled_largefont.lisp
@@ -0,0 +1,224 @@
+(def font [
+     0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 ;   0
+     0x00 0x00 0x00 0xF8 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x33 0x30 0x00 0x00 0x00 ; ! 1
+     0x00 0x10 0x0C 0x06 0x10 0x0C 0x06 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 ; " 2
+     0x40 0xC0 0x78 0x40 0xC0 0x78 0x40 0x00 0x04 0x3F 0x04 0x04 0x3F 0x04 0x04 0x00 ; # 3
+     0x00 0x70 0x88 0xFC 0x08 0x30 0x00 0x00 0x00 0x18 0x20 0xFF 0x21 0x1E 0x00 0x00 ; $ 4
+     0xF0 0x08 0xF0 0x00 0xE0 0x18 0x00 0x00 0x00 0x21 0x1C 0x03 0x1E 0x21 0x1E 0x00 ; % 5
+     0x00 0xF0 0x08 0x88 0x70 0x00 0x00 0x00 0x1E 0x21 0x23 0x24 0x19 0x27 0x21 0x10 ; & 6
+     0x10 0x16 0x0E 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 ; ' 7
+     0x00 0x00 0x00 0xE0 0x18 0x04 0x02 0x00 0x00 0x00 0x00 0x07 0x18 0x20 0x40 0x00 ; ( 8
+     0x00 0x02 0x04 0x18 0xE0 0x00 0x00 0x00 0x00 0x40 0x20 0x18 0x07 0x00 0x00 0x00 ; ) 9
+     0x40 0x40 0x80 0xF0 0x80 0x40 0x40 0x00 0x02 0x02 0x01 0x0F 0x01 0x02 0x02 0x00 ; * 10
+     0x00 0x00 0x00 0xF0 0x00 0x00 0x00 0x00 0x01 0x01 0x01 0x1F 0x01 0x01 0x01 0x00 ; + 11
+     0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x80 0xB0 0x70 0x00 0x00 0x00 0x00 0x00 ;  12
+     0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x01 0x01 0x01 0x01 0x01 0x01 0x01 ; - 13
+     0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x30 0x30 0x00 0x00 0x00 0x00 0x00 ; . 14
+     0x00 0x00 0x00 0x00 0x80 0x60 0x18 0x04 0x00 0x60 0x18 0x06 0x01 0x00 0x00 0x00 ; / 15
+     0x00 0xE0 0x10 0x08 0x08 0x10 0xE0 0x00 0x00 0x0F 0x10 0x20 0x20 0x10 0x0F 0x00 ; 0 16
+     0x00 0x10 0x10 0xF8 0x00 0x00 0x00 0x00 0x00 0x20 0x20 0x3F 0x20 0x20 0x00 0x00 ; 1 17
+     0x00 0x70 0x08 0x08 0x08 0x88 0x70 0x00 0x00 0x30 0x28 0x24 0x22 0x21 0x30 0x00 ; 2 18
+     0x00 0x30 0x08 0x88 0x88 0x48 0x30 0x00 0x00 0x18 0x20 0x20 0x20 0x11 0x0E 0x00 ; 3 19
+     0x00 0x00 0xC0 0x20 0x10 0xF8 0x00 0x00 0x00 0x07 0x04 0x24 0x24 0x3F 0x24 0x00 ; 4 20
+     0x00 0xF8 0x08 0x88 0x88 0x08 0x08 0x00 0x00 0x19 0x21 0x20 0x20 0x11 0x0E 0x00 ; 5 21
+     0x00 0xE0 0x10 0x88 0x88 0x18 0x00 0x00 0x00 0x0F 0x11 0x20 0x20 0x11 0x0E 0x00 ; 6 22
+     0x00 0x38 0x08 0x08 0xC8 0x38 0x08 0x00 0x00 0x00 0x00 0x3F 0x00 0x00 0x00 0x00 ; 7 23
+     0x00 0x70 0x88 0x08 0x08 0x88 0x70 0x00 0x00 0x1C 0x22 0x21 0x21 0x22 0x1C 0x00 ; 8 24
+     0x00 0xE0 0x10 0x08 0x08 0x10 0xE0 0x00 0x00 0x00 0x31 0x22 0x22 0x11 0x0F 0x00 ; 9 25
+     0x00 0x00 0x00 0xC0 0xC0 0x00 0x00 0x00 0x00 0x00 0x00 0x30 0x30 0x00 0x00 0x00 ; : 26
+     0x00 0x00 0x00 0x80 0x00 0x00 0x00 0x00 0x00 0x00 0x80 0x60 0x00 0x00 0x00 0x00 ; ; 27
+     0x00 0x00 0x80 0x40 0x20 0x10 0x08 0x00 0x00 0x01 0x02 0x04 0x08 0x10 0x20 0x00 ; < 28
+     0x40 0x40 0x40 0x40 0x40 0x40 0x40 0x00 0x04 0x04 0x04 0x04 0x04 0x04 0x04 0x00 ; = 29
+     0x00 0x08 0x10 0x20 0x40 0x80 0x00 0x00 0x00 0x20 0x10 0x08 0x04 0x02 0x01 0x00 ; > 30
+     0x00 0x70 0x48 0x08 0x08 0x08 0xF0 0x00 0x00 0x00 0x00 0x30 0x36 0x01 0x00 0x00 ; ? 31
+     0xC0 0x30 0xC8 0x28 0xE8 0x10 0xE0 0x00 0x07 0x18 0x27 0x24 0x23 0x14 0x0B 0x00 ; @ 32
+     0x00 0x00 0xC0 0x38 0xE0 0x00 0x00 0x00 0x20 0x3C 0x23 0x02 0x02 0x27 0x38 0x20 ; A 33
+     0x08 0xF8 0x88 0x88 0x88 0x70 0x00 0x00 0x20 0x3F 0x20 0x20 0x20 0x11 0x0E 0x00 ; B 34
+     0xC0 0x30 0x08 0x08 0x08 0x08 0x38 0x00 0x07 0x18 0x20 0x20 0x20 0x10 0x08 0x00 ; C 35
+     0x08 0xF8 0x08 0x08 0x08 0x10 0xE0 0x00 0x20 0x3F 0x20 0x20 0x20 0x10 0x0F 0x00 ; D 36
+     0x08 0xF8 0x88 0x88 0xE8 0x08 0x10 0x00 0x20 0x3F 0x20 0x20 0x23 0x20 0x18 0x00 ; E 37
+     0x08 0xF8 0x88 0x88 0xE8 0x08 0x10 0x00 0x20 0x3F 0x20 0x00 0x03 0x00 0x00 0x00 ; F 38
+     0xC0 0x30 0x08 0x08 0x08 0x38 0x00 0x00 0x07 0x18 0x20 0x20 0x22 0x1E 0x02 0x00 ; G 39
+     0x08 0xF8 0x08 0x00 0x00 0x08 0xF8 0x08 0x20 0x3F 0x21 0x01 0x01 0x21 0x3F 0x20 ; H 40
+     0x00 0x08 0x08 0xF8 0x08 0x08 0x00 0x00 0x00 0x20 0x20 0x3F 0x20 0x20 0x00 0x00 ; I 41
+     0x00 0x00 0x08 0x08 0xF8 0x08 0x08 0x00 0xC0 0x80 0x80 0x80 0x7F 0x00 0x00 0x00 ; J 42
+     0x08 0xF8 0x88 0xC0 0x28 0x18 0x08 0x00 0x20 0x3F 0x20 0x01 0x26 0x38 0x20 0x00 ; K 43
+     0x08 0xF8 0x08 0x00 0x00 0x00 0x00 0x00 0x20 0x3F 0x20 0x20 0x20 0x20 0x30 0x00 ; L 44
+     0x08 0xF8 0xF8 0x00 0xF8 0xF8 0x08 0x00 0x20 0x3F 0x00 0x3F 0x00 0x3F 0x20 0x00 ; M 45
+     0x08 0xF8 0x30 0xC0 0x00 0x08 0xF8 0x08 0x20 0x3F 0x20 0x00 0x07 0x18 0x3F 0x00 ; N 46
+     0xE0 0x10 0x08 0x08 0x08 0x10 0xE0 0x00 0x0F 0x10 0x20 0x20 0x20 0x10 0x0F 0x00 ; O 47
+     0x08 0xF8 0x08 0x08 0x08 0x08 0xF0 0x00 0x20 0x3F 0x21 0x01 0x01 0x01 0x00 0x00 ; P 48
+     0xE0 0x10 0x08 0x08 0x08 0x10 0xE0 0x00 0x0F 0x18 0x24 0x24 0x38 0x50 0x4F 0x00 ; Q 49
+     0x08 0xF8 0x88 0x88 0x88 0x88 0x70 0x00 0x20 0x3F 0x20 0x00 0x03 0x0C 0x30 0x20 ; R 50
+     0x00 0x70 0x88 0x08 0x08 0x08 0x38 0x00 0x00 0x38 0x20 0x21 0x21 0x22 0x1C 0x00 ; S 51
+     0x18 0x08 0x08 0xF8 0x08 0x08 0x18 0x00 0x00 0x00 0x20 0x3F 0x20 0x00 0x00 0x00 ; T 52
+     0x08 0xF8 0x08 0x00 0x00 0x08 0xF8 0x08 0x00 0x1F 0x20 0x20 0x20 0x20 0x1F 0x00 ; U 53
+     0x08 0x78 0x88 0x00 0x00 0xC8 0x38 0x08 0x00 0x00 0x07 0x38 0x0E 0x01 0x00 0x00 ; V 54
+     0xF8 0x08 0x00 0xF8 0x00 0x08 0xF8 0x00 0x03 0x3C 0x07 0x00 0x07 0x3C 0x03 0x00 ; W 55
+     0x08 0x18 0x68 0x80 0x80 0x68 0x18 0x08 0x20 0x30 0x2C 0x03 0x03 0x2C 0x30 0x20 ; X 56
+     0x08 0x38 0xC8 0x00 0xC8 0x38 0x08 0x00 0x00 0x00 0x20 0x3F 0x20 0x00 0x00 0x00 ; Y 57
+     0x10 0x08 0x08 0x08 0xC8 0x38 0x08 0x00 0x20 0x38 0x26 0x21 0x20 0x20 0x18 0x00 ; Z 58
+     0x00 0x00 0x00 0xFE 0x02 0x02 0x02 0x00 0x00 0x00 0x00 0x7F 0x40 0x40 0x40 0x00 ; [ 59
+     0x00 0x0C 0x30 0xC0 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x01 0x06 0x38 0xC0 0x00 ; \ 60
+     0x00 0x02 0x02 0x02 0xFE 0x00 0x00 0x00 0x00 0x40 0x40 0x40 0x7F 0x00 0x00 0x00 ; ] 61
+     0x00 0x00 0x04 0x02 0x02 0x02 0x04 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 ; ^ 62
+     0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x80 0x80 0x80 0x80 0x80 0x80 0x80 0x80 ; _ 63
+     0x00 0x02 0x02 0x04 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 ; ` 64
+     0x00 0x00 0x80 0x80 0x80 0x80 0x00 0x00 0x00 0x19 0x24 0x22 0x22 0x22 0x3F 0x20 ; a 65
+     0x08 0xF8 0x00 0x80 0x80 0x00 0x00 0x00 0x00 0x3F 0x11 0x20 0x20 0x11 0x0E 0x00 ; b 66
+     0x00 0x00 0x00 0x80 0x80 0x80 0x00 0x00 0x00 0x0E 0x11 0x20 0x20 0x20 0x11 0x00 ; c 67
+     0x00 0x00 0x00 0x80 0x80 0x88 0xF8 0x00 0x00 0x0E 0x11 0x20 0x20 0x10 0x3F 0x20 ; d 68
+     0x00 0x00 0x80 0x80 0x80 0x80 0x00 0x00 0x00 0x1F 0x22 0x22 0x22 0x22 0x13 0x00 ; e 69
+     0x00 0x80 0x80 0xF0 0x88 0x88 0x88 0x18 0x00 0x20 0x20 0x3F 0x20 0x20 0x00 0x00 ; f 70
+     0x00 0x00 0x80 0x80 0x80 0x80 0x80 0x00 0x00 0x6B 0x94 0x94 0x94 0x93 0x60 0x00 ; g 71
+     0x08 0xF8 0x00 0x80 0x80 0x80 0x00 0x00 0x20 0x3F 0x21 0x00 0x00 0x20 0x3F 0x20 ; h 72
+     0x00 0x80 0x98 0x98 0x00 0x00 0x00 0x00 0x00 0x20 0x20 0x3F 0x20 0x20 0x00 0x00 ; i 73
+     0x00 0x00 0x00 0x80 0x98 0x98 0x00 0x00 0x00 0xC0 0x80 0x80 0x80 0x7F 0x00 0x00 ; j 74
+     0x08 0xF8 0x00 0x00 0x80 0x80 0x80 0x00 0x20 0x3F 0x24 0x02 0x2D 0x30 0x20 0x00 ; k 75
+     0x00 0x08 0x08 0xF8 0x00 0x00 0x00 0x00 0x00 0x20 0x20 0x3F 0x20 0x20 0x00 0x00 ; l 76
+     0x80 0x80 0x80 0x80 0x80 0x80 0x80 0x00 0x20 0x3F 0x20 0x00 0x3F 0x20 0x00 0x3F ; m 77
+     0x80 0x80 0x00 0x80 0x80 0x80 0x00 0x00 0x20 0x3F 0x21 0x00 0x00 0x20 0x3F 0x20 ; n 78
+     0x00 0x00 0x80 0x80 0x80 0x80 0x00 0x00 0x00 0x1F 0x20 0x20 0x20 0x20 0x1F 0x00 ; o 79
+     0x80 0x80 0x00 0x80 0x80 0x00 0x00 0x00 0x80 0xFF 0xA1 0x20 0x20 0x11 0x0E 0x00 ; p 80
+     0x00 0x00 0x00 0x80 0x80 0x80 0x80 0x00 0x00 0x0E 0x11 0x20 0x20 0xA0 0xFF 0x80 ; q 81
+     0x80 0x80 0x80 0x00 0x80 0x80 0x80 0x00 0x20 0x20 0x3F 0x21 0x20 0x00 0x01 0x00 ; r 82
+     0x00 0x00 0x80 0x80 0x80 0x80 0x80 0x00 0x00 0x33 0x24 0x24 0x24 0x24 0x19 0x00 ; s 83
+     0x00 0x80 0x80 0xE0 0x80 0x80 0x00 0x00 0x00 0x00 0x00 0x1F 0x20 0x20 0x00 0x00 ; t 84
+     0x80 0x80 0x00 0x00 0x00 0x80 0x80 0x00 0x00 0x1F 0x20 0x20 0x20 0x10 0x3F 0x20 ; u 85
+     0x80 0x80 0x80 0x00 0x00 0x80 0x80 0x80 0x00 0x01 0x0E 0x30 0x08 0x06 0x01 0x00 ; v 86
+     0x80 0x80 0x00 0x80 0x00 0x80 0x80 0x80 0x0F 0x30 0x0C 0x03 0x0C 0x30 0x0F 0x00 ; w 87
+     0x00 0x80 0x80 0x00 0x80 0x80 0x80 0x00 0x00 0x20 0x31 0x2E 0x0E 0x31 0x20 0x00 ; x 88
+     0x80 0x80 0x80 0x00 0x00 0x80 0x80 0x80 0x80 0x81 0x8E 0x70 0x18 0x06 0x01 0x00 ; y 89
+     0x00 0x80 0x80 0x80 0x80 0x80 0x80 0x00 0x00 0x21 0x30 0x2C 0x22 0x21 0x30 0x00 ; z 90
+     0x00 0x00 0x00 0x00 0x80 0x7C 0x02 0x02 0x00 0x00 0x00 0x00 0x00 0x3F 0x40 0x40 ; { 91
+     0x00 0x00 0x00 0x00 0xFF 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0xFF 0x00 0x00 0x00 ; | 92
+     0x00 0x02 0x02 0x7C 0x80 0x00 0x00 0x00 0x00 0x40 0x40 0x3F 0x00 0x00 0x00 0x00 ; } 93
+     0x00 0x06 0x01 0x01 0x02 0x02 0x04 0x04 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 ; ~ 94
+])
+
+(defun putc (x row c) 
+    (progn
+        (bufcpy pixbuf (+ x 1 (* row 128)) font (* 16 (- c 32)) 8)
+        (bufcpy pixbuf (+ x 1 (* (+ row 1) 128)) font (+ 8 (* 16 (- c 32))) 8)
+))
+
+(defun putstr (x row str)
+    (looprange i 0 (str-len str)
+        (putc (+ x (* i 8)) row (bufget-u8 str i))
+))
+
+(def #SSD-ADDRESS 0x3c)
+
+(def cmds-init '(
+    (0xAE)      ; Display off
+    (0xD5 0x80) ; Osc freq
+    (0xA8 0x3F) ; Mux ratio
+    (0xD3 0x00) ; Display offset
+    (0x8D 0x14) ; Char reg
+    (0x81 0xCF) ; Set contrast
+    (0x20 0x00) ; Memory addr mode
+    (0x21 0 127) ; Column addr
+    (0x22 0 7) ; Page addr
+    (0x40) ; Start line
+    (0xA1) ; Seg remap op
+    (0xC8) ; Com scan dir op
+    (0xDA 0x12) ; Com pin conf
+    (0xD9 0xF1) ; Precharge
+    (0xDB 0x40) ; Vcom deselect
+    (0xA4) ; Dis ent disp on
+    (0xA6) ; Dis normal
+    (0x2E) ; Deactivate scroll
+    (0xAF) ; Disaply on
+))
+
+(i2c-start)
+
+(loopforeach c cmds-init
+    (i2c-tx-rx #SSD-ADDRESS `(0x00 ,@c))
+)
+
+(def pixbuf (array-create type-byte 1025))
+(bufset-u8 pixbuf 0 0x40) ; First byte tells the SSD1306 that this is data
+(bufclear pixbuf 0 1)
+
+; Note that the functions below assume int for x, y and row, so a type conversion
+; using (to-i x) has to be made if they are called with e.g. floats.
+
+(defun pix-set (x y)
+    (bufset-bit pixbuf (+ 8 (* x 8) (mod y 8) (* (/ y 8) 1024)) 1)
+)
+
+(defun circle (x0 y0 r)
+    (let (
+        (f (- 1 r))
+        (ddF-x 1)
+        (ddF-y (* -2 r))
+        (x 0)
+        (y r)
+    )
+    (progn
+        (pix-set x0 (+ y0 r))
+        (pix-set x0 (- y0 r))
+        (pix-set (+ x0 r) y0)
+        (pix-set (- x0 r) y0)
+
+        (loopwhile (< x y)
+            (progn
+                (if (>= f 0)
+                    (progn
+                        (setvar 'y (- y 1))
+                        (setvar 'ddF-y (+ ddF-y 2))
+                        (setvar 'f (+ f ddF-y))
+                ))
+                (setvar 'x (+ x 1))
+                (setvar 'ddF-x (+ ddF-x 2))
+                (setvar 'f (+ f ddF-x))
+                
+                (pix-set (+ x0 x) (+ y0 y))
+                (pix-set (- x0 x) (+ y0 y))
+                (pix-set (+ x0 x) (- y0 y))
+                (pix-set (- x0 x) (- y0 y))
+                (pix-set (+ x0 y) (+ y0 x))
+                (pix-set (- x0 y) (+ y0 x))
+                (pix-set (+ x0 y) (- y0 x))
+                (pix-set (- x0 y) (- y0 x))
+)))))
+
+(defun line (x0 y0 x1 y1)
+    (let (
+        (dx (abs (- x1 x0)))
+        (sx (if (< x0 x1) 1 -1))
+        (dy (- (abs (- y1 y0))))
+        (sy (if (< y0 y1) 1 -1))
+        (error (+ dx dy))
+    )
+    (loopwhile t
+        (progn
+            (pix-set x0 y0)
+            (if (and (= x0 x1) (= y0 y1)) (break))
+            (if (>= (* 2 error) dy)
+                (progn
+                    (if (= x0 x1) (break))
+                    (setvar 'error (+ error dy))
+                    (setvar 'x0 (+ x0 sx))))
+            (if (<= (* 2 error) dx)
+                (progn
+                    (if (= y0 y1) (break))
+                    (setvar 'error (+ error dx))
+                    (setvar 'y0 (+ y0 sy))))
+))))
+
+(def fps 0)
+
+(loopwhile t
+    (progn
+        (def t-start (systime))
+        (putstr 0 0 (str-from-n (get-vin)      "V In : %.1f "))
+        (putstr 0 2 (str-from-n (get-temp-fet) "T Fet: %.1f "))
+        (putstr 0 6 (str-from-n fps "FPS %.1f "))
+        (circle 90 50 (to-i (- (get-vin) 10))) ; Circle that changes size based in v_in
+        (i2c-tx-rx #SSD-ADDRESS pixbuf)
+        (bufclear pixbuf 0 1)
+        (def fps (/ 1 (secs-since t-start))) ; Calculate framerate excluding sleep
+        (sleep 0.1)
+))
diff --git a/res/Lisp/Examples/threads.lisp b/res/Lisp/Examples/threads.lisp
index cb4d3a5a7..58e013ea6 100644
--- a/res/Lisp/Examples/threads.lisp
+++ b/res/Lisp/Examples/threads.lisp
@@ -1,6 +1,6 @@
 (defun counter (var rate start)
     (progn
-        (set! var start)
+        (setvar var start)
         (yield (/ 1000000 rate))
         (counter var rate (+ start 1))
 ))

From 79ea2083301a4c27de6779ba51f34fca080c2824 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 18 Apr 2022 20:24:19 +0200
Subject: [PATCH 096/559] More lisp highlighting

---
 QCodeEditor/resources/languages/lisp.xml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 14dcba1f9..6f31d9f65 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -66,5 +66,8 @@
         <name>setcdr</name>
         <name>setvar</name>
         <name>setix</name>
+        <name>bufcpy</name>
+        <name>bufclear</name>
+        <name>systime</name>
     </section>
 </root>

From 9983be103ba823ace69ec1a08728d603c6d6fdbe Mon Sep 17 00:00:00 2001
From: Marcos Chaparro <mchaparro@paltatech.com>
Date: Mon, 18 Apr 2022 15:31:53 -0300
Subject: [PATCH 097/559] gauge cluster: Use correct limit for mosfet cutoff
 start warning

Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.com>
---
 mobile/RtDataSetup.qml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mobile/RtDataSetup.qml b/mobile/RtDataSetup.qml
index 799ff7a7d..ceea97c19 100644
--- a/mobile/RtDataSetup.qml
+++ b/mobile/RtDataSetup.qml
@@ -736,7 +736,7 @@ Item {
 
             escTempGauge.value = values.temp_mos
             escTempGauge.maximumValue = Math.ceil(mMcConf.getParamDouble("l_temp_fet_end") / 5) * 5
-            motTempGauge.throttleStartValue = Math.ceil(mMcConf.getParamDouble("l_temp_fet_start") / 5) * 5
+            escTempGauge.throttleStartValue = Math.ceil(mMcConf.getParamDouble("l_temp_fet_start") / 5) * 5
             escTempGauge.labelStep = Math.ceil(escTempGauge.maximumValue/ 50) * 5
             motTempGauge.value = values.temp_motor
             motTempGauge.labelStep = Math.ceil(motTempGauge.maximumValue/ 50) * 5

From b27afc81f4f733a9d16e8df6eaa92effee850460 Mon Sep 17 00:00:00 2001
From: Marcos Chaparro <mchaparro@paltatech.com>
Date: Mon, 18 Apr 2022 15:36:23 -0300
Subject: [PATCH 098/559] gauge cluster: show fault codes

Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>
---
 mobile/RtDataSetup.qml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/mobile/RtDataSetup.qml b/mobile/RtDataSetup.qml
index ceea97c19..c5ca97de9 100644
--- a/mobile/RtDataSetup.qml
+++ b/mobile/RtDataSetup.qml
@@ -742,6 +742,10 @@ Item {
             motTempGauge.labelStep = Math.ceil(motTempGauge.maximumValue/ 50) * 5
             motTempGauge.maximumValue = Math.ceil(mMcConf.getParamDouble("l_temp_motor_end") / 5) * 5
             motTempGauge.throttleStartValue = Math.ceil(mMcConf.getParamDouble("l_temp_motor_start") / 5) * 5
+
+            if(values.fault_str !== "FAULT_CODE_NONE") {
+                VescIf.emitStatusMessage(values.fault_str, false)
+            }
         }
     }
 }

From 0079b647202c8223f55ac3153ed5287390e57ca7 Mon Sep 17 00:00:00 2001
From: Marcos Chaparro <mchaparro@paltatech.com>
Date: Mon, 18 Apr 2022 15:41:37 -0300
Subject: [PATCH 099/559] gauge cluster: Make motor current gauge follow both
 maximum and minimum current limits

Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>
---
 mobile/RtDataSetup.qml | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/mobile/RtDataSetup.qml b/mobile/RtDataSetup.qml
index c5ca97de9..defcf1623 100644
--- a/mobile/RtDataSetup.qml
+++ b/mobile/RtDataSetup.qml
@@ -661,13 +661,14 @@ Item {
 
         onValuesSetupReceived: {
             var currentMaxRound = Math.ceil(mMcConf.getParamDouble("l_current_max") / 5) * 5 * values.num_vescs
+            var currentMinRound = Math.floor(mMcConf.getParamDouble("l_current_min") / 5) * 5 * values.num_vescs
 
             if (currentMaxRound > currentGauge.maximumValue || currentMaxRound < (currentGauge.maximumValue * 0.7)) {
                 currentGauge.maximumValue = currentMaxRound
-                currentGauge.minimumValue = -currentMaxRound
+                currentGauge.minimumValue = currentMinRound
             }
 
-            currentGauge.labelStep = Math.ceil(currentMaxRound / 20) * 5
+            currentGauge.labelStep = Math.ceil((currentMaxRound - currentMinRound) / 40) * 5
             currentGauge.value = values.current_motor
             dutyGauge.value = values.duty_now * 100.0
             batteryGauge.value = values.battery_level * 100.0

From 6b4a4c80f24310c2d929ca4ee9806c6b3e19a45b Mon Sep 17 00:00:00 2001
From: Marcos Chaparro <mchaparro@powerdesigns.ca>
Date: Mon, 18 Apr 2022 16:34:22 -0300
Subject: [PATCH 100/559] gauge cluster: don't show large Whr/km values

Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>
---
 mobile/RtDataSetup.qml | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/mobile/RtDataSetup.qml b/mobile/RtDataSetup.qml
index defcf1623..ad3bf5fb5 100644
--- a/mobile/RtDataSetup.qml
+++ b/mobile/RtDataSetup.qml
@@ -721,7 +721,11 @@ Item {
             efficiency_lpf = (1.0 - alpha) * efficiency_lpf + alpha *  efficiencyNow
             efficiencyGauge.value = efficiency_lpf
             efficiencyGauge.unitText = useImperial ? "WH/MI" : "WH/KM"
-            consumValLabel.text = parseFloat(wh_km_total / impFact).toFixed(1)
+            if( (wh_km_total / impFact) < 999.0) {
+                consumValLabel.text = parseFloat(wh_km_total / impFact).toFixed(1)
+            } else {
+                consumValLabel.text = "∞"
+            }
 
             odometerValue = values.odometer
             batteryGauge.unitText = parseFloat(wh_km_total / impFact).toFixed(1) + "%"

From a7838345b2e64166cad229864e7b14558f7c8c1a Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Mon, 18 Apr 2022 20:24:20 +0000
Subject: [PATCH 101/559] @nitrousnrg has signed the CLA from Pull Request #220

---
 signatures/version1/cla.json | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/signatures/version1/cla.json b/signatures/version1/cla.json
index 437e34783..22117d91b 100644
--- a/signatures/version1/cla.json
+++ b/signatures/version1/cla.json
@@ -47,6 +47,14 @@
       "created_at": "2022-03-24T20:20:57Z",
       "repoId": 102395117,
       "pullRequestNo": 212
+    },
+    {
+      "name": "nitrousnrg",
+      "id": 309472,
+      "comment_id": 1101731749,
+      "created_at": "2022-04-18T20:24:04Z",
+      "repoId": 102395117,
+      "pullRequestNo": 220
     }
   ]
 }
\ No newline at end of file

From f03e8659fb03a3d5502f7cd9c274947470d5db9d Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 19 Apr 2022 07:49:47 +0200
Subject: [PATCH 102/559] Removed redundant progn

---
 res/Lisp/Examples/ssd1306_oled.lisp      | 5 ++---
 res/Lisp/Examples/ssd1306_oled_cube.lisp | 7 +++----
 2 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/res/Lisp/Examples/ssd1306_oled.lisp b/res/Lisp/Examples/ssd1306_oled.lisp
index 2b5169601..a48288f30 100644
--- a/res/Lisp/Examples/ssd1306_oled.lisp
+++ b/res/Lisp/Examples/ssd1306_oled.lisp
@@ -25,9 +25,8 @@
 0x00 0x00 0x77 0x00 0x00  0x00 0x41 0x36 0x08 0x00  0x02 0x01 0x02 0x04 0x02])
 
 (defun putc (x row c) 
-    (progn
-        (bufcpy pixbuf (+ x 1 (* row 128)) font (* 5 (- c 32)) 5)
-))
+    (bufcpy pixbuf (+ x 1 (* row 128)) font (* 5 (- c 32)) 5)
+)
 
 (defun putstr (x row str)
     (looprange i 0 (str-len str)
diff --git a/res/Lisp/Examples/ssd1306_oled_cube.lisp b/res/Lisp/Examples/ssd1306_oled_cube.lisp
index 9b4d55d95..a94f6c775 100644
--- a/res/Lisp/Examples/ssd1306_oled_cube.lisp
+++ b/res/Lisp/Examples/ssd1306_oled_cube.lisp
@@ -24,10 +24,9 @@
 0x44 0x28 0x10 0x28 0x44  0x4C 0x90 0x90 0x90 0x7C  0x44 0x64 0x54 0x4C 0x44  0x00 0x08 0x36 0x41 0x00
 0x00 0x00 0x77 0x00 0x00  0x00 0x41 0x36 0x08 0x00  0x02 0x01 0x02 0x04 0x02])
 
-(defun putc (x row c) 
-    (progn
-        (bufcpy pixbuf (+ x 1 (* row 128)) font (* 5 (- c 32)) 5)
-))
+(defun putc (x row c)
+    (bufcpy pixbuf (+ x 1 (* row 128)) font (* 5 (- c 32)) 5)
+)
 
 (defun putstr (x row str)
     (looprange i 0 (str-len str)

From dd7b88aadb922bacfcc4e939f6ec5634427fa766 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 19 Apr 2022 08:55:17 +0200
Subject: [PATCH 103/559] More lisp highlighting

---
 QCodeEditor/resources/languages/lisp.xml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 6f31d9f65..642a3cc19 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -69,5 +69,7 @@
         <name>bufcpy</name>
         <name>bufclear</name>
         <name>systime</name>
+        <name>and</name>
+        <name>or</name>
     </section>
 </root>

From c41fe798e3f3cb50bd6cd6657547559d0afdb890 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 19 Apr 2022 17:30:43 +0200
Subject: [PATCH 104/559] Updated config

---
 res/config/6.00/parameters_appconf.xml | 87 +++++++++++++++++---------
 1 file changed, 57 insertions(+), 30 deletions(-)

diff --git a/res/config/6.00/parameters_appconf.xml b/res/config/6.00/parameters_appconf.xml
index 1a61592ac..99ac44375 100644
--- a/res/config/6.00/parameters_appconf.xml
+++ b/res/config/6.00/parameters_appconf.xml
@@ -458,36 +458,61 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Off&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The output is switched off regardless of the input.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Current&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it it starts in the reverse direction.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Current No Reverse&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current control. The output is off when the input is at minimum.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Current No Reverse With Brake&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current control. The output is off when the input is centered.  Input less than center brakes until the motor stops, but not further.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Duty Cycle&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current control. The output is off when the input is centered. Input less than center gives negative duty cycle.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Duty Cycle No Reverse&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Duty cycle control. The output is off when the input is at minimum.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;PID Speed Control&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;PID speed control.  The output is off when the input is centered. Input less than center gives negative set speed.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;PID Speed Control No Reverse&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Duty cycle control. The output is off when the input is at minimum.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Current Hyst Reverse With Brake&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current Hyst Reverse With Brake. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it starts in the reverse direction, but if Max dir switch ERPM is enabled it will stop the reverse when it reaches the Max ERPM for direction switch.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Current Smart Reverse&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Similar to the &lt;/span&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Current No Reverse With Brake &lt;/span&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;mode, but&lt;/span&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt; holding full brake will switch to duty cycle mode in the reverse direction when the speed is so low that not enough brake torque can be produced. This is useful when trying to stop downhill where you normally would roll forwards slowly even at full brake. Instead, the board will start to go reverse slowly in duty cycle mode if this mode is activated.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto'; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Off&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The output is switched off regardless of the input.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it it starts in the reverse direction.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current No Reverse&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is at minimum.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current No Reverse With Brake&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is centered.  Input less than center brakes until the motor stops, but not further.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Duty Cycle&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is centered. Input less than center gives negative duty cycle.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Duty Cycle No Reverse&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty cycle control. The output is off when the input is at minimum.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PID Speed Control&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PID speed control.  The output is off when the input is centered. Input less than center gives negative set speed.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PID Speed Control No Reverse&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty cycle control. The output is off when the input is at minimum.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current Hyst Reverse With Brake&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current Hyst Reverse With Brake. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it starts in the reverse direction, but if Max dir switch ERPM is enabled it will stop the reverse when it reaches the Max ERPM for direction switch.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current Smart Reverse&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Similar to the &lt;span style=&quot; font-weight:600;&quot;&gt;Current No Reverse With Brake &lt;/span&gt;mode, but holding full brake will switch to duty cycle mode in the reverse direction when the speed is so low that not enough brake torque can be produced. This is useful when trying to stop downhill where you normally would roll forwards slowly even at full brake. Instead, the board will start to go reverse slowly in duty cycle mode if this mode is activated.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PID Position Control: 180°&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; background-color:transparent;&quot;&gt;Maps servo input to (-180° &amp;lt;&amp;gt; +180°) rotation. Remote should center at “Pulselegth Center” value.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; background-color:transparent;&quot;&gt;Motor will rotate ±180° from the starting position.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%; background-color:transparent;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PID Position Control: 360°&lt;br /&gt;&lt;/span&gt;&lt;span style=&quot; background-color:transparent;&quot;&gt;Maps servo input to (+0 &amp;lt;&amp;gt; +360°) rotation. Remote should center at “Pulselegth Start” value.&lt;br /&gt;Motor will rotate up to +360° from the starting position. It will only rotate in the &amp;quot;positive&amp;quot; direction from the starting position.&lt;/span&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%; background-color:transparent;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PID Position Control notes:&lt;br /&gt;&lt;/span&gt;&lt;span style=&quot; background-color:transparent;&quot;&gt;Servo like position control of motor. Works best with an encoder, but can work with HFI.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%; background-color:transparent;&quot;&gt;&lt;span style=&quot; font-style:italic; background-color:transparent;&quot;&gt;Angle division:&lt;/span&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt; To get multiple turns of the motor for full stick movement, adjust: “Motor Settings” -&amp;gt; “PID Controllers” -&amp;gt; “Position Angle Division” to greater than 1.&lt;/li&gt;
+&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;For setups with angle division &amp;gt; 1, you will need to “home” your motor manually to the right “zero” rotation before power on.&lt;/li&gt;
+&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;To get less than 1 full turn, set “Position Angle Division” to less than 1.&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%; background-color:transparent;&quot;&gt;&lt;span style=&quot; font-style:italic; background-color:transparent;&quot;&gt;Starting position:&lt;/span&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;To adjust the starting position of the motor, adjust: “Motor Settings” -&amp;gt; “PID Controllers” -&amp;gt; “Position PID Offset Angle”. &lt;/li&gt;
+&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;This will change the zero angle AFTER the angle division has been applied. To change the angle by 90° with an angle division of 2, this should be 45°.&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%; background-color:transparent;&quot;&gt;&lt;span style=&quot; font-style:italic; background-color:transparent;&quot;&gt;Safe Start:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%; background-color:transparent;&quot;&gt;&lt;span style=&quot; background-color:transparent;&quot;&gt;Safe start still works with PID Position Control, with an additional safety step.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%; background-color:transparent;&quot;&gt;&lt;span style=&quot; background-color:transparent;&quot;&gt;To start the motor with Safe Start, you must:&lt;/span&gt;&lt;/p&gt;
+&lt;ol style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;Set ppm to your “center” value:&lt;/li&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px; line-height:100%;&quot;&gt;“Pulselegth Center” for 180 mode.&lt;/li&gt;
+&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px; line-height:100%;&quot;&gt;“Pulselegth Start” for 360 mode.&lt;/li&gt;
+&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px; line-height:100%;&quot;&gt; Note: disabling &amp;quot;Safe Start&amp;quot; will eliminate this step but not the second step.&lt;/li&gt;&lt;/ul&gt;
+&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;Bring your commanded angle close to the actual motor angle.&lt;/li&gt;&lt;/ol&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px; line-height:100%;&quot;&gt;This can be done by sweeping the stick the full range until the motor starts tracking.&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px; line-height:100%; background-color:transparent;&quot;&gt;This is done to prevent a rapid movement at start to a far off commanded pid angle.&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_PPM_CTRL_TYPE</cDefine>
             <valInt>0</valInt>
             <enumNames>Off</enumNames>
@@ -500,6 +525,8 @@ p, li { white-space: pre-wrap; }
             <enumNames>PID Speed Control No Reverse</enumNames>
             <enumNames>Current Hyst Reverse With Brake</enumNames>
             <enumNames>Current Smart Reverse</enumNames>
+            <enumNames>PID Position Control: 180°</enumNames>
+            <enumNames>PID Position Control: 360°</enumNames>
         </app_ppm_conf.ctrl_type>
         <app_ppm_conf.pid_max_erpm>
             <longName>PID Max ERPM</longName>

From bf4621bd6f7b53e09eb18b0a36381ec3f1368bb5 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 19 Apr 2022 18:29:10 +0200
Subject: [PATCH 105/559] Increased i2c bitrate

---
 res/Lisp/Examples/ssd1306_oled.lisp           | 2 +-
 res/Lisp/Examples/ssd1306_oled_cube.lisp      | 2 +-
 res/Lisp/Examples/ssd1306_oled_largefont.lisp | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/res/Lisp/Examples/ssd1306_oled.lisp b/res/Lisp/Examples/ssd1306_oled.lisp
index a48288f30..85c287899 100644
--- a/res/Lisp/Examples/ssd1306_oled.lisp
+++ b/res/Lisp/Examples/ssd1306_oled.lisp
@@ -57,7 +57,7 @@
     (0xAF) ; Disaply on
 ))
 
-(i2c-start)
+(i2c-start 'rate-700k)
 
 (loopforeach c cmds-init
     (i2c-tx-rx #SSD-ADDRESS `(0x00 ,@c))
diff --git a/res/Lisp/Examples/ssd1306_oled_cube.lisp b/res/Lisp/Examples/ssd1306_oled_cube.lisp
index a94f6c775..2cc7ba0f8 100644
--- a/res/Lisp/Examples/ssd1306_oled_cube.lisp
+++ b/res/Lisp/Examples/ssd1306_oled_cube.lisp
@@ -57,7 +57,7 @@
     (0xAF) ; Disaply on
 ))
 
-(i2c-start)
+(i2c-start 'rate-700k)
 
 (loopforeach c cmds-init
     (i2c-tx-rx #SSD-ADDRESS `(0x00 ,@c))
diff --git a/res/Lisp/Examples/ssd1306_oled_largefont.lisp b/res/Lisp/Examples/ssd1306_oled_largefont.lisp
index d704e17d3..430b81ca2 100644
--- a/res/Lisp/Examples/ssd1306_oled_largefont.lisp
+++ b/res/Lisp/Examples/ssd1306_oled_largefont.lisp
@@ -131,7 +131,7 @@
     (0xAF) ; Disaply on
 ))
 
-(i2c-start)
+(i2c-start 'rate-700k)
 
 (loopforeach c cmds-init
     (i2c-tx-rx #SSD-ADDRESS `(0x00 ,@c))

From 0fb68d93f8cd3ba7234a6e3ca61b38edc1ee1faa Mon Sep 17 00:00:00 2001
From: Marcos Chaparro <mchaparro@powerdesigns.ca>
Date: Wed, 20 Apr 2022 17:05:44 -0300
Subject: [PATCH 106/559] FwUpdate.qml: refresh version strings when load is
 completed so the QML can be called from a custom QML UI

Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>
---
 mobile/FwUpdate.qml | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/mobile/FwUpdate.qml b/mobile/FwUpdate.qml
index 4eb7fb720..867f71d83 100755
--- a/mobile/FwUpdate.qml
+++ b/mobile/FwUpdate.qml
@@ -145,6 +145,21 @@ Item {
 
                             Component.onCompleted: {
                                 updateHw(VescIf.getLastFwRxParams())
+                                var params = VescIf.getLastFwRxParams()
+
+                                updateHw(params)
+                                updateBl(params)
+
+                                var testFwStr = "";
+
+                                if (params.isTestFw > 0) {
+                                    testFwStr = " BETA " +  params.isTestFw
+                                }
+
+                                versionText.text =
+                                        "FW   : " + params.major + "." + params.minor + testFwStr + "\n" +
+                                        "HW   : " + params.hw + "\n" +
+                                        "UUID : " + Utility.uuid2Str(params.uuid, false)
                             }
 
                             onCurrentIndexChanged: {

From 8cddc3252ecaccefcef9d37ac625d3cbf47ac157 Mon Sep 17 00:00:00 2001
From: Mitch Lustig <moesk8er2@gmail.com>
Date: Thu, 21 Apr 2022 00:34:24 -0700
Subject: [PATCH 107/559] Add cascading PID to balance app

---
 res/config/6.00/parameters_appconf.xml | 94 +++++++++++++++++++++++++-
 1 file changed, 91 insertions(+), 3 deletions(-)

diff --git a/res/config/6.00/parameters_appconf.xml b/res/config/6.00/parameters_appconf.xml
index 99ac44375..3ff555fef 100644
--- a/res/config/6.00/parameters_appconf.xml
+++ b/res/config/6.00/parameters_appconf.xml
@@ -1991,8 +1991,22 @@ p, li { white-space: pre-wrap; }
             <cDefine>APPCONF_NRF_SEND_CRC_ACK</cDefine>
             <valInt>1</valInt>
         </app_nrf_conf.send_crc_ack>
+        <app_balance_conf.pid_mode>
+            <longName>PID Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PID loop mode, Angle or Cascadeing Angle Rate.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_PID_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>BALANCE_PID_MODE_ANGLE</enumNames>
+            <enumNames>BALANCE_PID_MODE_ANGLE_RATE_CASCADE</enumNames>
+        </app_balance_conf.pid_mode>
         <app_balance_conf.kp>
-            <longName>P</longName>
+            <longName>Angle P</longName>
             <type>1</type>
             <transmittable>1</transmittable>
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -2014,7 +2028,7 @@ p, li { white-space: pre-wrap; }
             <vTx>9</vTx>
         </app_balance_conf.kp>
         <app_balance_conf.ki>
-            <longName>I</longName>
+            <longName>Angle I</longName>
             <type>1</type>
             <transmittable>1</transmittable>
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -2036,7 +2050,7 @@ p, li { white-space: pre-wrap; }
             <vTx>9</vTx>
         </app_balance_conf.ki>
         <app_balance_conf.kd>
-            <longName>D</longName>
+            <longName>Angle D</longName>
             <type>1</type>
             <transmittable>1</transmittable>
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -2057,6 +2071,72 @@ p, li { white-space: pre-wrap; }
             <suffix></suffix>
             <vTx>9</vTx>
         </app_balance_conf.kd>
+        <app_balance_conf.kp2>
+            <longName>Rate P</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;P value for the PID balance loop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KP2</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.kp2>
+        <app_balance_conf.ki2>
+            <longName>Rate I</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;I value for the PID balance loop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KI2</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.ki2>
+        <app_balance_conf.kd2>
+            <longName>Rate D</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D value for the PID balance loop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KD2</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.kd2>
         <app_balance_conf.hertz>
             <longName>Loop Hertz</longName>
             <type>2</type>
@@ -4024,9 +4104,13 @@ p, li { white-space: pre-wrap; }
         <ser>app_nrf_conf.address__1</ser>
         <ser>app_nrf_conf.address__2</ser>
         <ser>app_nrf_conf.send_crc_ack</ser>
+        <ser>app_balance_conf.pid_mode</ser>
         <ser>app_balance_conf.kp</ser>
         <ser>app_balance_conf.ki</ser>
         <ser>app_balance_conf.kd</ser>
+        <ser>app_balance_conf.kp2</ser>
+        <ser>app_balance_conf.ki2</ser>
+        <ser>app_balance_conf.kd2</ser>
         <ser>app_balance_conf.hertz</ser>
         <ser>app_balance_conf.loop_time_filter</ser>
         <ser>app_balance_conf.fault_pitch</ser>
@@ -4294,9 +4378,13 @@ p, li { white-space: pre-wrap; }
                 <subgroupName>Tune</subgroupName>
                 <subgroupParams>
                     <param>::sep::PID</param>
+                    <param>app_balance_conf.pid_mode</param>
                     <param>app_balance_conf.kp</param>
                     <param>app_balance_conf.ki</param>
                     <param>app_balance_conf.kd</param>
+                    <param>app_balance_conf.kp2</param>
+                    <param>app_balance_conf.ki2</param>
+                    <param>app_balance_conf.kd2</param>
                     <param>::sep::Main Loop</param>
                     <param>app_balance_conf.hertz</param>
                     <param>app_balance_conf.loop_time_filter</param>

From 3925ec409db5942b20f80ac6b6fbfc8a95790258 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 22 Apr 2022 12:51:07 +0200
Subject: [PATCH 108/559] Allow higher angle division

---
 res/config/6.00/parameters_mcconf.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index 7b0048071..42daacbd3 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -3160,7 +3160,7 @@ p, li { white-space: pre-wrap; }
             <editorDecimalsDouble>3</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
-            <maxDouble>10000</maxDouble>
+            <maxDouble>100000</maxDouble>
             <minDouble>0</minDouble>
             <showDisplay>0</showDisplay>
             <stepDouble>1</stepDouble>

From f642772f70b2ed66bda2d3d0ab457d04def297a6 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 22 Apr 2022 12:52:05 +0200
Subject: [PATCH 109/559] Prevent repeated fault code status messages to avoid
 high cpu usage

---
 mobile/RtDataSetup.qml | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/mobile/RtDataSetup.qml b/mobile/RtDataSetup.qml
index ad3bf5fb5..7c048f3f9 100644
--- a/mobile/RtDataSetup.qml
+++ b/mobile/RtDataSetup.qml
@@ -655,6 +655,8 @@ Item {
         id: commandsUpdate
         target: mCommands
 
+        property string lastFault: ""
+
         onValuesImuReceived: {
             inclineCanvas.incline = Math.tan(values.pitch) * 100
         }
@@ -748,9 +750,11 @@ Item {
             motTempGauge.maximumValue = Math.ceil(mMcConf.getParamDouble("l_temp_motor_end") / 5) * 5
             motTempGauge.throttleStartValue = Math.ceil(mMcConf.getParamDouble("l_temp_motor_start") / 5) * 5
 
-            if(values.fault_str !== "FAULT_CODE_NONE") {
+            if (lastFault !== values.fault_str && values.fault_str !== "FAULT_CODE_NONE") {
                 VescIf.emitStatusMessage(values.fault_str, false)
             }
+
+            lastFault = values.fault_str
         }
     }
 }

From cd22c3dc6f045474b73cc3441ef8ebb97cc7714b Mon Sep 17 00:00:00 2001
From: Marcos Chaparro <mchaparro@powerdesigns.ca>
Date: Tue, 26 Apr 2022 09:57:19 -0300
Subject: [PATCH 110/559] Use system locale to set metric or imperial by
 default

Basically, US and UK get the gauges in miles by default.

Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>
---
 vescinterface.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/vescinterface.cpp b/vescinterface.cpp
index 36217a65a..4a55ca298 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -257,8 +257,11 @@ VescInterface::VescInterface(QObject *parent) : QObject(parent)
         }
         mSettings.endArray();
     }
+    
+    QLocale systemLocale;
+    bool useImperialByDefault = systemLocale.measurementSystem() == QLocale::ImperialSystem;
 
-    mUseImperialUnits = mSettings.value("useImperialUnits", false).toBool();
+    mUseImperialUnits = mSettings.value("useImperialUnits", useImperialByDefault).toBool();
     mKeepScreenOn = mSettings.value("keepScreenOn", true).toBool();
     mUseWakeLock = mSettings.value("useWakeLock", false).toBool();
     mLoadQmlUiOnConnect = mSettings.value("loadQmlUiOnConnect", true).toBool();

From 23ea959a9d59e835c468cc0e620352442e73af15 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 27 Apr 2022 15:54:47 +0200
Subject: [PATCH 111/559] Updated oled cube code

---
 res/Lisp/Examples/ssd1306_oled_cube.lisp | 11 +++++++----
 res_lisp.qrc                             |  2 ++
 2 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/res/Lisp/Examples/ssd1306_oled_cube.lisp b/res/Lisp/Examples/ssd1306_oled_cube.lisp
index 2cc7ba0f8..79b1aeb5a 100644
--- a/res/Lisp/Examples/ssd1306_oled_cube.lisp
+++ b/res/Lisp/Examples/ssd1306_oled_cube.lisp
@@ -108,10 +108,13 @@
         (ofs-x (/ 85 scale))
         (ofs-y (/ 34 scale)))
         (loopforeach e edges
-            (apply line (map (fn (x) (to-i (* x scale))) (list
-                (+ ofs-x (ix (ix nodes (ix e 0)) 0)) (+ ofs-y (ix (ix nodes (ix e 0)) 1))
-                (+ ofs-x (ix (ix nodes (ix e 1)) 0)) (+ ofs-y (ix (ix nodes (ix e 1)) 1))
-))))))
+            (let (
+                (na (ix nodes (ix e 0)))
+                (nb (ix nodes (ix e 1))))
+                (apply line (map (fn (x) (to-i (* x scale))) (list
+                    (+ ofs-x (ix na 0)) (+ ofs-y (ix na 1))
+                    (+ ofs-x (ix nb 0)) (+ ofs-y (ix nb 1))
+)))))))
 
 (defun rotate (ax ay) (let (
     (sx (sin ax))
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 1f156a33c..4cba6a776 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -26,5 +26,7 @@
         <file>res/Lisp/Examples/raw_hall.lisp</file>
         <file>res/Lisp/Examples/print.lisp</file>
         <file>res/Lisp/Examples/ssd1306_oled.lisp</file>
+        <file>res/Lisp/Examples/ssd1306_oled_cube.lisp</file>
+        <file>res/Lisp/Examples/ssd1306_oled_largefont.lisp</file>
     </qresource>
 </RCC>

From e03fd9a348463157fce8340ac05d2ad48697370c Mon Sep 17 00:00:00 2001
From: Marcos Chaparro <mchaparro@powerdesigns.ca>
Date: Fri, 29 Apr 2022 20:29:23 -0300
Subject: [PATCH 112/559] Make Upload All button optional for custom QMLUIs

Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>
---
 mobile/FwUpdate.qml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/mobile/FwUpdate.qml b/mobile/FwUpdate.qml
index 867f71d83..d4848831a 100755
--- a/mobile/FwUpdate.qml
+++ b/mobile/FwUpdate.qml
@@ -32,6 +32,7 @@ Item {
     property Commands mCommands: VescIf.commands()
     property ConfigParams mInfoConf: VescIf.infoConfig()
     property bool isHorizontal: width > height
+    property bool showUploadAllButton: true
     anchors.fill: parent
 
     FwHelper {
@@ -431,6 +432,7 @@ Item {
                         id: uploadAllButton
                         text: qsTr("Upload All")
                         Layout.fillWidth: true
+                        visible: showUploadAllButton
 
                         onClicked: {
                             uploadFw(true)

From bf21c18ff8f2b0d4c745c022e798860aa5675831 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 1 May 2022 12:28:19 +0200
Subject: [PATCH 113/559] Added more lisp examples

---
 res/Lisp/Examples/m365_dash.lisp            |  92 ++++++++
 res/Lisp/Examples/ssd1306_oled_rt_data.lisp | 238 ++++++++++++++++++++
 res_lisp.qrc                                |   2 +
 3 files changed, 332 insertions(+)
 create mode 100644 res/Lisp/Examples/m365_dash.lisp
 create mode 100644 res/Lisp/Examples/ssd1306_oled_rt_data.lisp

diff --git a/res/Lisp/Examples/m365_dash.lisp b/res/Lisp/Examples/m365_dash.lisp
new file mode 100644
index 000000000..29b942079
--- /dev/null
+++ b/res/Lisp/Examples/m365_dash.lisp
@@ -0,0 +1,92 @@
+;m365 dashboard free for all by Netzpfuscher
+;red=5V black=GND yellow=COM-TX (UART-HDX) green=COM-RX (button)
+
+;****User parameters****
+;Calibrate throttle min max
+(define cal-thr-lo 32.0)
+(define cal-thr-hi 178.0)
+
+;Calibrate brake min max
+(define cal-brk-lo 32.0)
+(define cal-brk-hi 178.0)
+
+(define light-default 0)
+(define show-faults 1)
+
+;****Code section****
+(uart-start 115200 'half-duplex)
+(gpio-configure 'pin-rx 'pin-mode-in-pu)
+
+(define tx-frame (array-create 14))
+(bufset-u16 tx-frame 0 0x55AA)
+(bufset-u16 tx-frame 2 0x0821)
+(bufset-u16 tx-frame 4 0x6400)
+
+(define uart-buf (array-create type-byte 64))
+(define throttle 0)
+(define brake 0)
+(define buttonold 0)
+(define light 0)
+(setvar 'light light-default)
+(define c-out 0)
+(define battery 100)
+
+(defun inp (buffer) ;Frame 0x65
+    (progn
+    (setvar 'throttle (/(-(bufget-u8 uart-buf 4) cal-thr-lo) cal-thr-hi))
+    (setvar 'brake (/(-(bufget-u8 uart-buf 5) cal-brk-lo) cal-brk-hi))
+    (if (> brake 0.01)
+        (set-brake-rel brake)
+       ; (set-current-rel throttle)
+    )
+))
+
+(defun outp (buffer) ;Frame 0x64
+    (progn
+    (setvar 'crc 0)
+    (looprange i 2 12
+        (setvar 'crc (+ crc (bufget-u8 tx-frame i))))
+    (setvar 'c-out (bitwise-xor crc 0xFFFF)) 
+    (bufset-u8 tx-frame 12 c-out)
+    (bufset-u8 tx-frame 13 (shr c-out 8))
+    (uart-write tx-frame)
+))
+
+(defun read-thd ()
+    (loopwhile t
+        (progn
+            (uart-read-bytes uart-buf 3 0)
+            (if (= (bufget-u16 uart-buf 0) 0x55aa)
+                (progn
+                    (setvar 'len (bufget-u8 uart-buf 2))
+                    (setvar 'crc len)
+                    (if (> len 0) 
+                        (progn
+                            (uart-read-bytes uart-buf (+ len 4) 0)
+                            (looprange i 0 len
+                                (setvar 'crc (+ crc (bufget-u8 uart-buf i))))
+                            (if (=(+(shl(bufget-u8 uart-buf (+ len 2))8) (bufget-u8 uart-buf (+ len 1))) (bitwise-xor crc 0xFFFF))
+                                (progn
+                                    (if(= (bufget-u8 uart-buf 1) 0x65)
+                                        (inp uart-buf))
+                                    (if(= (bufget-u8 uart-buf 1) 0x64)
+                                        (outp uart-buf))
+                                    )
+))))))))
+
+(spawn 150 read-thd) ; Run UART in its own thread
+
+(loopwhile t
+    (progn
+        (if (> buttonold (gpio-read 'pin-rx))
+            (setvar 'light (bitwise-xor light 1))
+        )
+        (setvar 'buttonold (gpio-read 'pin-rx))
+        (bufset-u8 tx-frame 7 (*(get-batt) 100))
+        (bufset-u8 tx-frame 8 light)
+        (bufset-u8 tx-frame 10 (* (get-speed) 3.6))
+        (if (= show-faults 1)
+            (bufset-u8 tx-frame 11 (get-fault))
+        )
+        (sleep 0.1)
+))
diff --git a/res/Lisp/Examples/ssd1306_oled_rt_data.lisp b/res/Lisp/Examples/ssd1306_oled_rt_data.lisp
new file mode 100644
index 000000000..f3e1fd843
--- /dev/null
+++ b/res/Lisp/Examples/ssd1306_oled_rt_data.lisp
@@ -0,0 +1,238 @@
+; SSD1306 RT-data by TechAUmNu
+
+; Font table
+(def font [
+0x00 0x00 0x00 0x00 0x00  0x00 0x00 0x5F 0x00 0x00  0x00 0x07 0x00 0x07 0x00  0x14 0x7F 0x14 0x7F 0x14
+0x24 0x2A 0x7F 0x2A 0x12  0x23 0x13 0x08 0x64 0x62  0x36 0x49 0x56 0x20 0x50  0x00 0x08 0x07 0x03 0x00
+0x00 0x1C 0x22 0x41 0x00  0x00 0x41 0x22 0x1C 0x00  0x2A 0x1C 0x7F 0x1C 0x2A  0x08 0x08 0x3E 0x08 0x08
+0x00 0x80 0x70 0x30 0x00  0x08 0x08 0x08 0x08 0x08  0x00 0x00 0x60 0x60 0x00  0x20 0x10 0x08 0x04 0x02
+0x3E 0x51 0x49 0x45 0x3E  0x00 0x42 0x7F 0x40 0x00  0x72 0x49 0x49 0x49 0x46  0x21 0x41 0x49 0x4D 0x33
+0x18 0x14 0x12 0x7F 0x10  0x27 0x45 0x45 0x45 0x39  0x3C 0x4A 0x49 0x49 0x31  0x41 0x21 0x11 0x09 0x07
+0x36 0x49 0x49 0x49 0x36  0x46 0x49 0x49 0x29 0x1E  0x00 0x00 0x14 0x00 0x00  0x00 0x40 0x34 0x00 0x00
+0x00 0x08 0x14 0x22 0x41  0x14 0x14 0x14 0x14 0x14  0x00 0x41 0x22 0x14 0x08  0x02 0x01 0x59 0x09 0x06
+0x3E 0x41 0x5D 0x59 0x4E  0x7C 0x12 0x11 0x12 0x7C  0x7F 0x49 0x49 0x49 0x36  0x3E 0x41 0x41 0x41 0x22
+0x7F 0x41 0x41 0x41 0x3E  0x7F 0x49 0x49 0x49 0x41  0x7F 0x09 0x09 0x09 0x01  0x3E 0x41 0x41 0x51 0x73
+0x7F 0x08 0x08 0x08 0x7F  0x00 0x41 0x7F 0x41 0x00  0x20 0x40 0x41 0x3F 0x01  0x7F 0x08 0x14 0x22 0x41
+0x7F 0x40 0x40 0x40 0x40  0x7F 0x02 0x1C 0x02 0x7F  0x7F 0x04 0x08 0x10 0x7F  0x3E 0x41 0x41 0x41 0x3E
+0x7F 0x09 0x09 0x09 0x06  0x3E 0x41 0x51 0x21 0x5E  0x7F 0x09 0x19 0x29 0x46  0x26 0x49 0x49 0x49 0x32
+0x03 0x01 0x7F 0x01 0x03  0x3F 0x40 0x40 0x40 0x3F  0x1F 0x20 0x40 0x20 0x1F  0x3F 0x40 0x38 0x40 0x3F
+0x63 0x14 0x08 0x14 0x63  0x03 0x04 0x78 0x04 0x03  0x61 0x59 0x49 0x4D 0x43  0x00 0x7F 0x41 0x41 0x41
+0x02 0x04 0x08 0x10 0x20  0x00 0x41 0x41 0x41 0x7F  0x04 0x02 0x01 0x02 0x04  0x40 0x40 0x40 0x40 0x40
+0x00 0x03 0x07 0x08 0x00  0x20 0x54 0x54 0x78 0x40  0x7F 0x28 0x44 0x44 0x38  0x38 0x44 0x44 0x44 0x28
+0x38 0x44 0x44 0x28 0x7F  0x38 0x54 0x54 0x54 0x18  0x00 0x08 0x7E 0x09 0x02  0x18 0xA4 0xA4 0x9C 0x78
+0x7F 0x08 0x04 0x04 0x78  0x00 0x44 0x7D 0x40 0x00  0x20 0x40 0x40 0x3D 0x00  0x7F 0x10 0x28 0x44 0x00
+0x00 0x41 0x7F 0x40 0x00  0x7C 0x04 0x78 0x04 0x78  0x7C 0x08 0x04 0x04 0x78  0x38 0x44 0x44 0x44 0x38
+0xFC 0x18 0x24 0x24 0x18  0x18 0x24 0x24 0x18 0xFC  0x7C 0x08 0x04 0x04 0x08  0x48 0x54 0x54 0x54 0x24
+0x04 0x04 0x3F 0x44 0x24  0x3C 0x40 0x40 0x20 0x7C  0x1C 0x20 0x40 0x20 0x1C  0x3C 0x40 0x30 0x40 0x3C
+0x44 0x28 0x10 0x28 0x44  0x4C 0x90 0x90 0x90 0x7C  0x44 0x64 0x54 0x4C 0x44  0x00 0x08 0x36 0x41 0x00
+0x00 0x00 0x77 0x00 0x00  0x00 0x41 0x36 0x08 0x00  0x02 0x01 0x02 0x04 0x02])
+
+; list of faults
+(def faults '( 
+    "OK"
+    "OVER_VOLTAGE"
+    "UNDER_VOLTAGE"
+    "DRV FAULT"
+    "ABS_OVER_CURRENT"
+    "OVER_TEMP_FET"
+    "OVER_TEMP_MOTOR"
+    "GATE_DRV_OVRVOLT"
+    "GATE_DRV_UNDVOLT"
+    "MCU_UNDER_VOLT"
+    "BOOT_FRM_WDG_RST"
+    "ENC_SPI_FAULT"
+    "ENC_SINCOS_AMP_L"
+    "ENC_SINCOS_AMP_H"
+    "FLASH_CORRUPTION"
+    "HIGH_OFFSET_CUR1"
+    "HIGH_OFFSET_CUR2"
+    "HIGH_OFFSET_CUR3"
+    "UNBALANCED_CUR"
+    "HARDWARE_LOCKOUT"
+    "RESOLVER_LOT"
+    "RESOLVER_DOS"
+    "RESOLVER_LOS"
+    "CORRUPT_APP_CFG"
+    "CORRUPT_MC_CFG"
+    "ENC_NO_MAGNET"
+    "ENC_MAG_STRONG"
+    "PHASE_FILT_ERR"
+)) 
+
+; I2C Address of display
+(def #SSD-ADDRESS 0x3c)
+
+; list of commands to init display
+(def cmds-init '(
+    (0xAE)      ; Display off
+    (0xD5 0x80) ; Osc freq
+    (0xA8 0x3F) ; Mux ratio
+    (0xD3 0x00) ; Display offset
+    (0x8D 0x14) ; Char reg
+    (0x81 0xCF) ; Set contrast
+    (0x20 0x00) ; Memory addr mode
+    (0x21 0 127) ; Column addr
+    (0x22 0 7) ; Page addr
+    (0x40) ; Start line
+    (0xA1) ; Seg remap op
+    (0xC8) ; Com scan dir op
+    (0xDA 0x12) ; Com pin conf
+    (0xD9 0xF1) ; Precharge
+    (0xDB 0x40) ; Vcom deselect
+    (0xA4) ; Dis ent disp on
+    (0xA6) ; Dis normal
+    (0x2E) ; Deactivate scroll
+    (0xAF) ; Disaply on
+))
+
+; I2C Rate
+(i2c-start 'rate-700k)
+
+; Send commands to init display
+(loopforeach c cmds-init
+    (i2c-tx-rx #SSD-ADDRESS `(0x00 ,@c))
+)
+
+; display buffer
+(def pixbuf (array-create type-byte 1025))
+(bufset-u8 pixbuf 0 0x40) ; First byte tells the SSD1306 that this is data
+(bufclear pixbuf 0 1)
+
+; Print a string
+(defun putstr (x row str)
+    (let (
+    (ofs (+ x 1 (* row 128)))
+    (len (str-len str))
+    (helper (fn (i)
+        (if (= i len)
+            t
+            (progn
+                (bufcpy pixbuf (+ (* i 6) ofs) font (* 5 (- (bufget-u8 str i) 32)) 5)
+                (helper (+ i 1))
+))))) (helper 0)))
+
+; Display a left aligned bargraph
+(defun bargraph (x row width)
+    (bufclear pixbuf 0x7e (+ x 1 (* row 128)) width)
+)
+
+; Display a bargraph around a centre
+(defun bargraph-middle (bar-raw bar-raw-negative row)
+    (if (< bar-raw 0) 
+            (bargraph (+ (to-i (* bar-raw-negative 31)) 61) row (to-i (* (abs bar-raw-negative) 31)))
+            (bargraph 61 row (to-i (* (abs bar-raw) 31)))) 
+)
+
+; Clear part of a row
+(defun bar-clear (x row width)
+    (bufclear pixbuf 0 (+ x 1 (* row 128)) width)
+)
+
+(defun lpf (val sample amount)
+    (- val (* amount (- val sample)))
+)
+
+
+; Globals
+(def fps 0.0);
+(def volt 0.0)
+(def temp 0.0)
+(def curr 0.0)
+(def duty 0.0)
+(def watt 0.0)
+
+; Print static text
+(putstr 0 0 (sysinfo 'hw-name))
+(putstr 78 0 "FW")
+(putstr 93 0 (apply str-merge (map (fn (x) (str-from-n x "%d.")) (sysinfo 'fw-ver))))
+(putstr 0 1 "Volt:")
+(putstr 123 1 "V")
+(putstr 0 2 "Temp:")
+(putstr 123 2 "C")
+(putstr 0 3 "MCur:")
+(putstr 123 3 "A")
+(putstr 0 4 "Duty:")
+(putstr 123 4 "%")
+(putstr 0 5 "Watt:")
+(putstr 123 5 "W")
+
+; Display dynamic content
+(loopwhile t
+    (progn
+        (def t-start (systime))
+        
+        
+        ; Clear dynamic areas
+        (bar-clear 30 1 93)
+        (bar-clear 30 2 93)
+        (bar-clear 30 3 93)
+        (bar-clear 30 4 93)
+        (bar-clear 30 5 93)
+        (bar-clear 0 7 128)
+        
+        
+        ; Get latest data
+        (def volt-raw (get-vin))
+        (def temp-raw (get-temp-fet))
+        (def curr-raw (get-current))
+        (def duty-raw (get-duty))
+        (def watt-raw (* (get-vin) (get-current-in)))
+        (def max-watt (* (get-vin) (conf-get 'l-in-current-max)))
+        (def max-watt-regen (* (get-vin) (conf-get 'l-in-current-min)))
+       
+        
+        ; Filter data for text displays
+        (def volt (lpf volt volt-raw 0.2))
+        (def temp (lpf temp temp-raw 0.02))
+        (def curr (lpf curr curr-raw 0.2))
+        (def duty (lpf duty duty-raw 1.0))
+        (def watt (lpf watt watt-raw 0.2))
+        
+        
+        ; Row 1 - Voltage
+        (bargraph 30 1 (to-i (* (/ volt-raw 76) 68)))
+        (putstr 100 1 (str-from-n volt "%1.1f")) 
+       
+       
+        ; Row 2 - Temperature
+        (bargraph 30 2 (to-i (* (/ temp-raw 80) 68)))
+        (putstr (if (< temp 0) 94 100) 2 (str-from-n temp "%1.1f")) 
+        
+        
+        ; Row 3 - Motor current
+        (bargraph-middle (/ (get-current) (conf-get 'l-current-max)) (/ (get-current) (abs(conf-get 'l-current-min))) 3)
+        (putstr (if (< curr 0) 94 100) 3 (str-from-n curr "%1.0f"))
+        
+        
+        ; Row 4 - Duty Cycle
+        (bargraph-middle duty-raw duty-raw 4)
+        (putstr (if (< duty 0) 94 100) 4 (str-from-n (* duty 100)"%1.0f")) 
+        
+        ; Row 5 - Power
+        (bargraph-middle (/ watt max-watt) (/ watt (abs max-watt-regen)) 5)
+        (if (> watt 999) 
+            (progn
+                (putstr (if (< watt 0) 94 100) 5 (str-from-n (if (> watt 9999) (to-i (/ watt 1000.0)) (/ watt 1000.0)) (if (> watt 9999) "%d" "%1.1f")))
+                (putstr 117 5 "kW"))
+            (progn
+                (putstr (if (< watt 0) 94 100) 5 (str-from-n watt "%1.0f"))
+                (putstr 123 5 "W")))
+        
+        
+        ; Row 7 - Fault and FPS, print fault last so it can overlap the FPS
+        ;(putstr 0 7 (str-from-n fps "FPS%1.0f"))
+        (putstr 0 7 "ERR:")        
+        (putstr 30 7 (ix faults (get-fault)))
+        
+        
+        ; Send display buffer over i2c
+        (i2c-tx-rx #SSD-ADDRESS pixbuf)
+        
+        ; display dynamic areas only
+        ;(bufclear pixbuf 0 1) 
+        
+        (sleep 0.01)
+        
+        ; Calculate framerate   
+        (def fps (/ 1 (secs-since t-start)))
+))
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 4cba6a776..15c453002 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -28,5 +28,7 @@
         <file>res/Lisp/Examples/ssd1306_oled.lisp</file>
         <file>res/Lisp/Examples/ssd1306_oled_cube.lisp</file>
         <file>res/Lisp/Examples/ssd1306_oled_largefont.lisp</file>
+        <file>res/Lisp/Examples/ssd1306_oled_rt_data.lisp</file>
+        <file>res/Lisp/Examples/m365_dash.lisp</file>
     </qresource>
 </RCC>

From f2c1206d6d12aa8d566513f1afe8c2f588fddf58 Mon Sep 17 00:00:00 2001
From: Netzpfuscher <jens.kerrinnes@gmail.com>
Date: Sun, 1 May 2022 22:45:03 +0200
Subject: [PATCH 114/559] Removed unused var and removed comment on set current

---
 res/Lisp/Examples/m365_dash.lisp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/res/Lisp/Examples/m365_dash.lisp b/res/Lisp/Examples/m365_dash.lisp
index 29b942079..3b2066a37 100644
--- a/res/Lisp/Examples/m365_dash.lisp
+++ b/res/Lisp/Examples/m365_dash.lisp
@@ -29,7 +29,6 @@
 (define light 0)
 (setvar 'light light-default)
 (define c-out 0)
-(define battery 100)
 
 (defun inp (buffer) ;Frame 0x65
     (progn
@@ -37,7 +36,7 @@
     (setvar 'brake (/(-(bufget-u8 uart-buf 5) cal-brk-lo) cal-brk-hi))
     (if (> brake 0.01)
         (set-brake-rel brake)
-       ; (set-current-rel throttle)
+        (set-current-rel throttle)
     )
 ))
 

From 1139b27c375f8f72ffc7889a267a46968c828442 Mon Sep 17 00:00:00 2001
From: Marcos Chaparro <mchaparro@powerdesigns.ca>
Date: Mon, 2 May 2022 22:29:35 -0300
Subject: [PATCH 115/559] If available, append FW_NAME to the firmware version

Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>
---
 commands.cpp           |  4 ++++
 datatypes.h            |  2 ++
 mobile/FwUpdate.qml    | 15 +++++++++++++--
 pages/pagefirmware.cpp |  6 +++++-
 4 files changed, 24 insertions(+), 3 deletions(-)

diff --git a/commands.cpp b/commands.cpp
index 28da6a2f3..18c572124 100755
--- a/commands.cpp
+++ b/commands.cpp
@@ -152,6 +152,10 @@ void Commands::processPacket(QByteArray data)
             params.nrfPinSupported = nrfFlags & 2;
         }
 
+        if (vb.size() >= 1) {
+            params.fwName = vb.vbPopFrontString();
+        }
+
         emit fwVersionReceived(params);
     } break;
 
diff --git a/datatypes.h b/datatypes.h
index 643bce95c..4c207f3ee 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -566,6 +566,7 @@ struct FW_RX_PARAMS {
 
     Q_PROPERTY(int major MEMBER major)
     Q_PROPERTY(int minor MEMBER minor)
+    Q_PROPERTY(QString fwName MEMBER fwName)
     Q_PROPERTY(QString hw MEMBER hw)
     Q_PROPERTY(QByteArray uuid MEMBER uuid)
     Q_PROPERTY(bool isPaired MEMBER isPaired)
@@ -617,6 +618,7 @@ struct FW_RX_PARAMS {
 
     int major;
     int minor;
+    QString fwName;
     QString hw;
     QByteArray uuid;
     bool isPaired;
diff --git a/mobile/FwUpdate.qml b/mobile/FwUpdate.qml
index d4848831a..2cd2cd02e 100755
--- a/mobile/FwUpdate.qml
+++ b/mobile/FwUpdate.qml
@@ -152,13 +152,19 @@ Item {
                                 updateBl(params)
 
                                 var testFwStr = "";
+                                var fwNameStr = "";
 
                                 if (params.isTestFw > 0) {
                                     testFwStr = " BETA " +  params.isTestFw
                                 }
 
+ 
+                                if (params.fwName !== "") {
+                                    fwNameStr = " (" + params.fwName + ")"
+                                }
+                                    
                                 versionText.text =
-                                        "FW   : " + params.major + "." + params.minor + testFwStr + "\n" +
+                                        "FW   : v" + params.major + "." + params.minor + fwNameStr + testFwStr + "\n" +
                                         "HW   : " + params.hw + "\n" +
                                         "UUID : " + Utility.uuid2Str(params.uuid, false)
                             }
@@ -711,13 +717,18 @@ Item {
             updateBl(params)
 
             var testFwStr = "";
+            var fwNameStr = "";
 
             if (params.isTestFw > 0) {
                 testFwStr = " BETA " +  params.isTestFw
             }
 
+            if (params.fwName !== "") {
+                fwNameStr = " (" + params.fwName + ")"
+            }
+
             versionText.text =
-                    "FW   : " + params.major + "." + params.minor + testFwStr + "\n" +
+                    "FW   : v" + params.major + "." + params.minor + fwNameStr + testFwStr + "\n" +
                     "HW   : " + params.hw + "\n" +
                     "UUID : " + Utility.uuid2Str(params.uuid, false)
         }
diff --git a/pages/pagefirmware.cpp b/pages/pagefirmware.cpp
index 7d3bb607c..f5eb00973 100755
--- a/pages/pagefirmware.cpp
+++ b/pages/pagefirmware.cpp
@@ -159,7 +159,11 @@ void PageFirmware::fwRxChanged(bool rx, bool limited)
     }
 
     if (params.major >= 0) {
-        fwStr = QString("Fw: %1.%2").arg(params.major).arg(params.minor, 2, 10, QLatin1Char('0'));
+        fwStr = QString("Fw: v%1.%2").arg(params.major).arg(params.minor, 2, 10, QLatin1Char('0'));
+        if (!params.fwName.isEmpty()) {
+            fwStr += " (" + params.fwName + ")";
+        }
+
         if (!params.hw.isEmpty()) {
             fwStr += ", Hw: " + params.hw;
         }

From feca5cacdfbc1acf513ab89f526031197cb34476 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 6 May 2022 12:38:06 +0200
Subject: [PATCH 116/559] Ctrl+i to remove trailing whitespaces in lisp editor

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 QCodeEditor/src/internal/QCodeEditor.cpp | 7 ++++++-
 pages/pagelisp.cpp                       | 1 +
 3 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 642a3cc19..2abf8ed90 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -71,5 +71,6 @@
         <name>systime</name>
         <name>and</name>
         <name>or</name>
+        <name>eq</name>
     </section>
 </root>
diff --git a/QCodeEditor/src/internal/QCodeEditor.cpp b/QCodeEditor/src/internal/QCodeEditor.cpp
index d2c756a4a..4fbb20945 100755
--- a/QCodeEditor/src/internal/QCodeEditor.cpp
+++ b/QCodeEditor/src/internal/QCodeEditor.cpp
@@ -576,7 +576,7 @@ void QCodeEditor::keyPressEvent(QKeyEvent* e) {
         }
 
         // Auto-indent selected line or block
-        if (!m_indentStartStr.isEmpty() && e->key() == Qt::Key_I && e->modifiers() == Qt::ControlModifier) {
+        if (e->key() == Qt::Key_I && e->modifiers() == Qt::ControlModifier) {
             auto txtOld = toPlainText();
             int indentNow = 0;
             bool isComment = false;
@@ -586,6 +586,11 @@ void QCodeEditor::keyPressEvent(QKeyEvent* e) {
                 lineNum++;
 
                 bool indent = true;
+
+                if (m_indentStartStr.isEmpty()) {
+                    indent = false;
+                }
+
                 bool removeTrailing = true;
 
                 if (lineNum < lineStart || lineNum > lineEnd) {
diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index 3e3075ba0..70c211d31 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -805,6 +805,7 @@ void PageLisp::on_helpButton_clicked()
                    "Ctrl + '-'   : Decrease font size<br>"
                    "Ctrl + space : Show auto-complete suggestions<br>"
                    "Ctrl + '/'   : Toggle auto-comment on line or block<br>"
+                   "Ctrl + 'i'   : Remove trailing whitespaces from selected lines<br>"
                    "Ctrl + 'f'   : Open search (and replace) bar<br>"
                    "Ctrl + 'e'   : Upload (and run if set) application<br>"
                    "Ctrl + 'q'   : Stop application<br>"

From 4eaec64d5cde67569e9e35be3df2c6e776a38220 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 10 May 2022 20:47:33 +0200
Subject: [PATCH 117/559] Added native cube lisp demo

---
 .../Examples/ssd1306_oled_cube_native.lisp    | 149 ++++++++++++++++++
 res_lisp.qrc                                  |   1 +
 2 files changed, 150 insertions(+)
 create mode 100644 res/Lisp/Examples/ssd1306_oled_cube_native.lisp

diff --git a/res/Lisp/Examples/ssd1306_oled_cube_native.lisp b/res/Lisp/Examples/ssd1306_oled_cube_native.lisp
new file mode 100644
index 000000000..2274cd6f4
--- /dev/null
+++ b/res/Lisp/Examples/ssd1306_oled_cube_native.lisp
@@ -0,0 +1,149 @@
+(def font [
+0x00 0x00 0x00 0x00 0x00  0x00 0x00 0x5F 0x00 0x00  0x00 0x07 0x00 0x07 0x00  0x14 0x7F 0x14 0x7F 0x14
+0x24 0x2A 0x7F 0x2A 0x12  0x23 0x13 0x08 0x64 0x62  0x36 0x49 0x56 0x20 0x50  0x00 0x08 0x07 0x03 0x00
+0x00 0x1C 0x22 0x41 0x00  0x00 0x41 0x22 0x1C 0x00  0x2A 0x1C 0x7F 0x1C 0x2A  0x08 0x08 0x3E 0x08 0x08
+0x00 0x80 0x70 0x30 0x00  0x08 0x08 0x08 0x08 0x08  0x00 0x00 0x60 0x60 0x00  0x20 0x10 0x08 0x04 0x02
+0x3E 0x51 0x49 0x45 0x3E  0x00 0x42 0x7F 0x40 0x00  0x72 0x49 0x49 0x49 0x46  0x21 0x41 0x49 0x4D 0x33
+0x18 0x14 0x12 0x7F 0x10  0x27 0x45 0x45 0x45 0x39  0x3C 0x4A 0x49 0x49 0x31  0x41 0x21 0x11 0x09 0x07
+0x36 0x49 0x49 0x49 0x36  0x46 0x49 0x49 0x29 0x1E  0x00 0x00 0x14 0x00 0x00  0x00 0x40 0x34 0x00 0x00
+0x00 0x08 0x14 0x22 0x41  0x14 0x14 0x14 0x14 0x14  0x00 0x41 0x22 0x14 0x08  0x02 0x01 0x59 0x09 0x06
+0x3E 0x41 0x5D 0x59 0x4E  0x7C 0x12 0x11 0x12 0x7C  0x7F 0x49 0x49 0x49 0x36  0x3E 0x41 0x41 0x41 0x22
+0x7F 0x41 0x41 0x41 0x3E  0x7F 0x49 0x49 0x49 0x41  0x7F 0x09 0x09 0x09 0x01  0x3E 0x41 0x41 0x51 0x73
+0x7F 0x08 0x08 0x08 0x7F  0x00 0x41 0x7F 0x41 0x00  0x20 0x40 0x41 0x3F 0x01  0x7F 0x08 0x14 0x22 0x41
+0x7F 0x40 0x40 0x40 0x40  0x7F 0x02 0x1C 0x02 0x7F  0x7F 0x04 0x08 0x10 0x7F  0x3E 0x41 0x41 0x41 0x3E
+0x7F 0x09 0x09 0x09 0x06  0x3E 0x41 0x51 0x21 0x5E  0x7F 0x09 0x19 0x29 0x46  0x26 0x49 0x49 0x49 0x32
+0x03 0x01 0x7F 0x01 0x03  0x3F 0x40 0x40 0x40 0x3F  0x1F 0x20 0x40 0x20 0x1F  0x3F 0x40 0x38 0x40 0x3F
+0x63 0x14 0x08 0x14 0x63  0x03 0x04 0x78 0x04 0x03  0x61 0x59 0x49 0x4D 0x43  0x00 0x7F 0x41 0x41 0x41
+0x02 0x04 0x08 0x10 0x20  0x00 0x41 0x41 0x41 0x7F  0x04 0x02 0x01 0x02 0x04  0x40 0x40 0x40 0x40 0x40
+0x00 0x03 0x07 0x08 0x00  0x20 0x54 0x54 0x78 0x40  0x7F 0x28 0x44 0x44 0x38  0x38 0x44 0x44 0x44 0x28
+0x38 0x44 0x44 0x28 0x7F  0x38 0x54 0x54 0x54 0x18  0x00 0x08 0x7E 0x09 0x02  0x18 0xA4 0xA4 0x9C 0x78
+0x7F 0x08 0x04 0x04 0x78  0x00 0x44 0x7D 0x40 0x00  0x20 0x40 0x40 0x3D 0x00  0x7F 0x10 0x28 0x44 0x00
+0x00 0x41 0x7F 0x40 0x00  0x7C 0x04 0x78 0x04 0x78  0x7C 0x08 0x04 0x04 0x78  0x38 0x44 0x44 0x44 0x38
+0xFC 0x18 0x24 0x24 0x18  0x18 0x24 0x24 0x18 0xFC  0x7C 0x08 0x04 0x04 0x08  0x48 0x54 0x54 0x54 0x24
+0x04 0x04 0x3F 0x44 0x24  0x3C 0x40 0x40 0x20 0x7C  0x1C 0x20 0x40 0x20 0x1C  0x3C 0x40 0x30 0x40 0x3C
+0x44 0x28 0x10 0x28 0x44  0x4C 0x90 0x90 0x90 0x7C  0x44 0x64 0x54 0x4C 0x44  0x00 0x08 0x36 0x41 0x00
+0x00 0x00 0x77 0x00 0x00  0x00 0x41 0x36 0x08 0x00  0x02 0x01 0x02 0x04 0x02])
+
+(defun putc (x row c)
+    (bufcpy pixbuf (+ x 1 (* row 128)) font (* 5 (- c 32)) 5)
+)
+
+(defun putstr (x row str)
+    (looprange i 0 (str-len str)
+        (putc (+ x (* i 6)) row (bufget-u8 str i))
+))
+
+(def ssdacc [
+0x70 0xb5 0x05 0x46 0x0f 0xcd 0x0c 0x4e 0x34 0x46 0x0f 0xc4 0x0f 0xcd 0x0f 0xc4 0x0f 0xcd 0x0f 0xc4 
+0x95 0xe8 0x03 0x00 0x84 0xe8 0x03 0x00 0x07 0x49 0x08 0x48 0x33 0x68 0x74 0x6b 0x79 0x44 0x78 0x44 
+0x98 0x47 0x01 0x46 0x05 0x48 0x78 0x44 0xa0 0x47 0x05 0x48 0x78 0x44 0x70 0xbd 0x00 0xfe 0x00 0x10 
+0xad 0x00 0x00 0x00 0x46 0x00 0x00 0x00 0x4b 0x00 0x00 0x00 0x89 0x00 0x00 0x00 0x00 0x00 0x00 0x00 
+0x53 0x74 0x6f 0x70 0x70 0x69 0x6e 0x67 0x20 0x63 0x6f 0x64 0x65 0x2e 0x2e 0x2e 0x00 0x00 0x00 0x00 
+0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x65 0x78 0x74 0x2d 0x64 0x72 0x61 0x77 
+0x6c 0x69 0x6e 0x65 0x00 0x45 0x58 0x54 0x20 0x72 0x65 0x73 0x3a 0x20 0x25 0x64 0x00 0x00 0xc2 0x07 
+0x4c 0xbf 0x00 0xf0 0x7c 0x40 0x00 0xf0 0x0c 0x00 0x08 0x28 0x0f 0xd0 0x20 0xf0 0x08 0x03 0x04 0x2b 
+0x0b 0xd0 0x20 0xf0 0x80 0x53 0x20 0xf0 0xa0 0x40 0xb0 0xf1 0x00 0x5f 0x04 0xd0 0x03 0xf1 0x40 0x43 
+0x58 0x42 0x58 0x41 0x70 0x47 0x01 0x20 0x70 0x47 0x00 0x00 0x02 0x4b 0x03 0x48 0x5b 0x6b 0x78 0x44 
+0x18 0x47 0x00 0xbf 0x00 0xfe 0x00 0x10 0x86 0xff 0xff 0xff 0x05 0x29 0x2d 0xe9 0xf7 0x4f 0x06 0x46 
+0x7a 0xd1 0xdf 0xf8 0x04 0x91 0x00 0x68 0xd9 0xf8 0x28 0x30 0x98 0x47 0x00 0x28 0x72 0xd0 0x70 0x68 
+0xff 0xf7 0xcb 0xff 0x00 0x28 0x6d 0xd0 0xb0 0x68 0xff 0xf7 0xc6 0xff 0x00 0x28 0x68 0xd0 0xf0 0x68 
+0xff 0xf7 0xc1 0xff 0x00 0x28 0x63 0xd0 0x30 0x69 0xff 0xf7 0xbc 0xff 0x00 0x28 0x5e 0xd0 0xd9 0xf8 
+0x20 0x30 0x30 0x68 0x98 0x47 0xd9 0xf8 0x0c 0x30 0xd0 0xf8 0x08 0x80 0x70 0x68 0x98 0x47 0xd9 0xf8 
+0x0c 0x30 0x05 0x46 0xb0 0x68 0x98 0x47 0xd9 0xf8 0x0c 0x30 0x04 0x46 0xf0 0x68 0x98 0x47 0xd9 0xf8 
+0x0c 0x30 0x07 0x46 0x30 0x69 0x98 0x47 0x79 0x1b 0x06 0x1b 0x00 0x29 0xb8 0xbf 0x49 0x42 0xbd 0x42 
+0xb4 0xbf 0x4f 0xf0 0x01 0x09 0x4f 0xf0 0xff 0x39 0x00 0x2e 0xb8 0xbf 0x76 0x42 0x84 0x42 0xb4 0xbf 
+0x01 0x23 0x4f 0xf0 0xff 0x33 0xc6 0xf1 0x00 0x0e 0x01 0x93 0x8a 0x1b 0x4f 0xf0 0x01 0x0a 0x7f 0x2d 
+0x16 0xd8 0x3f 0x2c 0x14 0xd8 0x04 0xf0 0x07 0x0c 0x6b 0x1c 0x0c 0xeb 0xc3 0x03 0x4f 0xea 0xe4 0x0c 
+0x03 0xeb 0x8c 0x23 0x4f 0xea 0xd3 0x0c 0x03 0xf0 0x07 0x03 0x18 0xf8 0x0c 0xb0 0x0a 0xfa 0x03 0xf3 
+0x43 0xea 0x0b 0x03 0x08 0xf8 0x0c 0x30 0xaf 0x42 0x01 0xd1 0xa0 0x42 0x14 0xd0 0xbe 0xeb 0x42 0x0f 
+0x03 0xdc 0xaf 0x42 0x0f 0xd0 0x92 0x1b 0x4d 0x44 0xb1 0xeb 0x42 0x0f 0xd8 0xdb 0xa0 0x42 0x08 0xd0 
+0x01 0x9b 0x0a 0x44 0x1c 0x44 0xd2 0xe7 0x4f 0xf4 0x08 0x70 0x03 0xb0 0xbd 0xe8 0xf0 0x8f 0x20 0x20 
+0xfa 0xe7 0x00 0xbf 0x00 0xfe 0x00 0x10 
+])
+
+(load-native-lib ssdacc)
+(define line (fn (x0 y0 x1 y1) (ext-drawline pixbuf x0 y0 x1 y1)))
+
+(def #SSD-ADDRESS 0x3c)
+
+(def cmds-init '(
+    (0xAE)      ; Display off
+    (0xD5 0x80) ; Osc freq
+    (0xA8 0x3F) ; Mux ratio
+    (0xD3 0x00) ; Display offset
+    (0x8D 0x14) ; Char reg
+    (0x81 0xCF) ; Set contrast
+    (0x20 0x00) ; Memory addr mode
+    (0x21 0 127) ; Column addr
+    (0x22 0 7) ; Page addr
+    (0x40) ; Start line
+    (0xA1) ; Seg remap op
+    (0xC8) ; Com scan dir op
+    (0xDA 0x12) ; Com pin conf
+    (0xD9 0xF1) ; Precharge
+    (0xDB 0x40) ; Vcom deselect
+    (0xA4) ; Dis ent disp on
+    (0xA6) ; Dis normal
+    (0x2E) ; Deactivate scroll
+    (0xAF) ; Disaply on
+))
+
+(i2c-start 'rate-700k)
+
+(loopforeach c cmds-init
+    (i2c-tx-rx #SSD-ADDRESS `(0x00 ,@c))
+)
+
+(def pixbuf (array-create 1025))
+(bufset-u8 pixbuf 0 0x40) ; First byte tells the SSD1306 that this is data
+(bufclear pixbuf 0 1)
+
+; Nodes and edges of a 3d cube
+(def nodes '((-1 -1 -1) (-1 -1 1) (-1 1 -1) (-1 1 1) (1 -1 -1) (1 -1 1) (1 1 -1) (1 1 1)))
+(def edges '((0  1) (1 3) (3 2) (2 0) (4 5) (5 7) (7 6) (6 4) (0 4) (1 5) (2 6) (3 7)))
+
+(defun draw-edges ()
+    (let (
+        (scale 25.0)
+        (ofs-x (/ 85 scale))
+        (ofs-y (/ 34 scale)))
+        (loopforeach e edges
+            (let (
+                (na (ix nodes (ix e 0)))
+                (nb (ix nodes (ix e 1))))
+                (apply line (map (fn (x) (to-i (* x scale))) (list
+                    (+ ofs-x (ix na 0)) (+ ofs-y (ix na 1))
+                    (+ ofs-x (ix nb 0)) (+ ofs-y (ix nb 1))
+)))))))
+
+(defun rotate (ax ay) (let (
+    (sx (sin ax))
+    (cx (cos ax))
+    (sy (sin ay))
+    (cy (cos ay)))
+    (loopforeach n nodes
+        (let (
+            (x (ix n 0))
+            (y (ix n 1))
+            (z (ix n 2)))
+            (progn
+                (setix n 0 (- (* x cx) (* z sx)))
+                (setix n 2 (+ (* z cx) (* x sx)))
+                (setvar 'z (ix n 2))
+                (setix n 1 (- (* y cy) (* z sy)))
+                (setix n 2 (+ (* z cy) (* y sy)))
+)))))
+
+(def fps 0)
+
+(loopwhile t
+    (progn
+        (def t-start (systime))
+        (draw-edges)
+        (rotate 0.1 0.05)
+        (putstr 0 7 (str-from-n fps "FPS %.1f "))
+        (i2c-tx-rx #SSD-ADDRESS pixbuf)
+        (bufclear pixbuf 0 1)
+        (def fps (/ 1 (secs-since t-start)))
+        (sleep 0.01)
+))
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 15c453002..e266982e1 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -30,5 +30,6 @@
         <file>res/Lisp/Examples/ssd1306_oled_largefont.lisp</file>
         <file>res/Lisp/Examples/ssd1306_oled_rt_data.lisp</file>
         <file>res/Lisp/Examples/m365_dash.lisp</file>
+        <file>res/Lisp/Examples/ssd1306_oled_cube_native.lisp</file>
     </qresource>
 </RCC>

From 28c1791cb4772692502328ea3162a15eddcea4fd Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 11 May 2022 22:12:12 +0200
Subject: [PATCH 118/559] Fixed typo

---
 pages/pagesampleddata.ui | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pages/pagesampleddata.ui b/pages/pagesampleddata.ui
index de8e71ce7..acf0b5269 100644
--- a/pages/pagesampleddata.ui
+++ b/pages/pagesampleddata.ui
@@ -316,7 +316,7 @@
                <string>Use Hamming window</string>
               </property>
               <property name="text">
-               <string>Hammnig</string>
+               <string>Hamming</string>
               </property>
               <property name="checked">
                <bool>true</bool>

From 37d4d36a29bb0a286c16651c2a85f3f9343d8314 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 11 May 2022 22:12:37 +0200
Subject: [PATCH 119/559] Updated native cube example

---
 .../Examples/ssd1306_oled_cube_native.lisp    | 44 ++++++++-----------
 1 file changed, 19 insertions(+), 25 deletions(-)

diff --git a/res/Lisp/Examples/ssd1306_oled_cube_native.lisp b/res/Lisp/Examples/ssd1306_oled_cube_native.lisp
index 2274cd6f4..07e88795f 100644
--- a/res/Lisp/Examples/ssd1306_oled_cube_native.lisp
+++ b/res/Lisp/Examples/ssd1306_oled_cube_native.lisp
@@ -34,31 +34,25 @@
 ))
 
 (def ssdacc [
-0x70 0xb5 0x05 0x46 0x0f 0xcd 0x0c 0x4e 0x34 0x46 0x0f 0xc4 0x0f 0xcd 0x0f 0xc4 0x0f 0xcd 0x0f 0xc4 
-0x95 0xe8 0x03 0x00 0x84 0xe8 0x03 0x00 0x07 0x49 0x08 0x48 0x33 0x68 0x74 0x6b 0x79 0x44 0x78 0x44 
-0x98 0x47 0x01 0x46 0x05 0x48 0x78 0x44 0xa0 0x47 0x05 0x48 0x78 0x44 0x70 0xbd 0x00 0xfe 0x00 0x10 
-0xad 0x00 0x00 0x00 0x46 0x00 0x00 0x00 0x4b 0x00 0x00 0x00 0x89 0x00 0x00 0x00 0x00 0x00 0x00 0x00 
-0x53 0x74 0x6f 0x70 0x70 0x69 0x6e 0x67 0x20 0x63 0x6f 0x64 0x65 0x2e 0x2e 0x2e 0x00 0x00 0x00 0x00 
-0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x65 0x78 0x74 0x2d 0x64 0x72 0x61 0x77 
-0x6c 0x69 0x6e 0x65 0x00 0x45 0x58 0x54 0x20 0x72 0x65 0x73 0x3a 0x20 0x25 0x64 0x00 0x00 0xc2 0x07 
-0x4c 0xbf 0x00 0xf0 0x7c 0x40 0x00 0xf0 0x0c 0x00 0x08 0x28 0x0f 0xd0 0x20 0xf0 0x08 0x03 0x04 0x2b 
-0x0b 0xd0 0x20 0xf0 0x80 0x53 0x20 0xf0 0xa0 0x40 0xb0 0xf1 0x00 0x5f 0x04 0xd0 0x03 0xf1 0x40 0x43 
-0x58 0x42 0x58 0x41 0x70 0x47 0x01 0x20 0x70 0x47 0x00 0x00 0x02 0x4b 0x03 0x48 0x5b 0x6b 0x78 0x44 
-0x18 0x47 0x00 0xbf 0x00 0xfe 0x00 0x10 0x86 0xff 0xff 0xff 0x05 0x29 0x2d 0xe9 0xf7 0x4f 0x06 0x46 
-0x7a 0xd1 0xdf 0xf8 0x04 0x91 0x00 0x68 0xd9 0xf8 0x28 0x30 0x98 0x47 0x00 0x28 0x72 0xd0 0x70 0x68 
-0xff 0xf7 0xcb 0xff 0x00 0x28 0x6d 0xd0 0xb0 0x68 0xff 0xf7 0xc6 0xff 0x00 0x28 0x68 0xd0 0xf0 0x68 
-0xff 0xf7 0xc1 0xff 0x00 0x28 0x63 0xd0 0x30 0x69 0xff 0xf7 0xbc 0xff 0x00 0x28 0x5e 0xd0 0xd9 0xf8 
-0x20 0x30 0x30 0x68 0x98 0x47 0xd9 0xf8 0x0c 0x30 0xd0 0xf8 0x08 0x80 0x70 0x68 0x98 0x47 0xd9 0xf8 
-0x0c 0x30 0x05 0x46 0xb0 0x68 0x98 0x47 0xd9 0xf8 0x0c 0x30 0x04 0x46 0xf0 0x68 0x98 0x47 0xd9 0xf8 
-0x0c 0x30 0x07 0x46 0x30 0x69 0x98 0x47 0x79 0x1b 0x06 0x1b 0x00 0x29 0xb8 0xbf 0x49 0x42 0xbd 0x42 
-0xb4 0xbf 0x4f 0xf0 0x01 0x09 0x4f 0xf0 0xff 0x39 0x00 0x2e 0xb8 0xbf 0x76 0x42 0x84 0x42 0xb4 0xbf 
-0x01 0x23 0x4f 0xf0 0xff 0x33 0xc6 0xf1 0x00 0x0e 0x01 0x93 0x8a 0x1b 0x4f 0xf0 0x01 0x0a 0x7f 0x2d 
-0x16 0xd8 0x3f 0x2c 0x14 0xd8 0x04 0xf0 0x07 0x0c 0x6b 0x1c 0x0c 0xeb 0xc3 0x03 0x4f 0xea 0xe4 0x0c 
-0x03 0xeb 0x8c 0x23 0x4f 0xea 0xd3 0x0c 0x03 0xf0 0x07 0x03 0x18 0xf8 0x0c 0xb0 0x0a 0xfa 0x03 0xf3 
-0x43 0xea 0x0b 0x03 0x08 0xf8 0x0c 0x30 0xaf 0x42 0x01 0xd1 0xa0 0x42 0x14 0xd0 0xbe 0xeb 0x42 0x0f 
-0x03 0xdc 0xaf 0x42 0x0f 0xd0 0x92 0x1b 0x4d 0x44 0xb1 0xeb 0x42 0x0f 0xd8 0xdb 0xa0 0x42 0x08 0xd0 
-0x01 0x9b 0x0a 0x44 0x1c 0x44 0xd2 0xe7 0x4f 0xf4 0x08 0x70 0x03 0xb0 0xbd 0xe8 0xf0 0x8f 0x20 0x20 
-0xfa 0xe7 0x00 0xbf 0x00 0xfe 0x00 0x10 
+0x08 0xb5 0x05 0x49 0x03 0x4b 0x05 0x48 0x1b 0x68 0x79 0x44 0x78 0x44 0x98 0x47 0x01 0x20 0x08 0xbd
+0x00 0xfc 0x00 0x10 0x57 0x00 0x00 0x00 0x10 0x00 0x00 0x00 0x65 0x78 0x74 0x2d 0x64 0x72 0x61 0x77
+0x6c 0x69 0x6e 0x65 0x00 0x00 0xc2 0x07 0x4c 0xbf 0x00 0xf0 0x7c 0x40 0x00 0xf0 0x0c 0x00 0x08 0x28
+0x0f 0xd0 0x20 0xf0 0x08 0x03 0x04 0x2b 0x0b 0xd0 0x20 0xf0 0x80 0x53 0x20 0xf0 0xa0 0x40 0xb0 0xf1
+0x00 0x5f 0x04 0xd0 0x03 0xf1 0x40 0x43 0x58 0x42 0x58 0x41 0x70 0x47 0x01 0x20 0x70 0x47 0x00 0x00
+0x05 0x29 0x2d 0xe9 0xf7 0x4f 0x06 0x46 0x7a 0xd1 0xdf 0xf8 0x04 0x91 0x00 0x68 0xd9 0xf8 0x28 0x30
+0x98 0x47 0x00 0x28 0x72 0xd0 0x70 0x68 0xff 0xf7 0xd5 0xff 0x00 0x28 0x6d 0xd0 0xb0 0x68 0xff 0xf7
+0xd0 0xff 0x00 0x28 0x68 0xd0 0xf0 0x68 0xff 0xf7 0xcb 0xff 0x00 0x28 0x63 0xd0 0x30 0x69 0xff 0xf7
+0xc6 0xff 0x00 0x28 0x5e 0xd0 0xd9 0xf8 0x20 0x30 0x30 0x68 0x98 0x47 0xd9 0xf8 0x0c 0x30 0xd0 0xf8
+0x08 0x80 0x70 0x68 0x98 0x47 0xd9 0xf8 0x0c 0x30 0x05 0x46 0xb0 0x68 0x98 0x47 0xd9 0xf8 0x0c 0x30
+0x04 0x46 0xf0 0x68 0x98 0x47 0xd9 0xf8 0x0c 0x30 0x07 0x46 0x30 0x69 0x98 0x47 0x79 0x1b 0x06 0x1b
+0x00 0x29 0xb8 0xbf 0x49 0x42 0xbd 0x42 0xb4 0xbf 0x4f 0xf0 0x01 0x09 0x4f 0xf0 0xff 0x39 0x00 0x2e
+0xb8 0xbf 0x76 0x42 0x84 0x42 0xb4 0xbf 0x01 0x23 0x4f 0xf0 0xff 0x33 0xc6 0xf1 0x00 0x0e 0x01 0x93
+0x8a 0x1b 0x4f 0xf0 0x01 0x0a 0x7f 0x2d 0x16 0xd8 0x3f 0x2c 0x14 0xd8 0x04 0xf0 0x07 0x0c 0x6b 0x1c
+0x0c 0xeb 0xc3 0x03 0x4f 0xea 0xe4 0x0c 0x03 0xeb 0x8c 0x23 0x4f 0xea 0xd3 0x0c 0x03 0xf0 0x07 0x03
+0x18 0xf8 0x0c 0xb0 0x0a 0xfa 0x03 0xf3 0x43 0xea 0x0b 0x03 0x08 0xf8 0x0c 0x30 0xaf 0x42 0x01 0xd1
+0xa0 0x42 0x14 0xd0 0xbe 0xeb 0x42 0x0f 0x03 0xdc 0xaf 0x42 0x0f 0xd0 0x92 0x1b 0x4d 0x44 0xb1 0xeb
+0x42 0x0f 0xd8 0xdb 0xa0 0x42 0x08 0xd0 0x01 0x9b 0x0a 0x44 0x1c 0x44 0xd2 0xe7 0x4f 0xf4 0x08 0x70
+0x03 0xb0 0xbd 0xe8 0xf0 0x8f 0x20 0x20 0xfa 0xe7 0x00 0xbf 0x00 0xfc 0x00 0x10 
 ])
 
 (load-native-lib ssdacc)

From 1a03d57a24845d5c5def7f6166533b967b20dbde Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 12 May 2022 17:22:58 +0200
Subject: [PATCH 120/559] Added native ws2812-example

---
 res/Lisp/Examples/ws2812_native.lisp | 187 +++++++++++++++++++++++++++
 res_lisp.qrc                         |   1 +
 2 files changed, 188 insertions(+)
 create mode 100644 res/Lisp/Examples/ws2812_native.lisp

diff --git a/res/Lisp/Examples/ws2812_native.lisp b/res/Lisp/Examples/ws2812_native.lisp
new file mode 100644
index 000000000..f7cf0d5c1
--- /dev/null
+++ b/res/Lisp/Examples/ws2812_native.lisp
@@ -0,0 +1,187 @@
+(def ws2812 [
+0x00 0x00 0x00 0x00 0x38 0xb5 0x10 0x4b 0x0e 0x4c 0x10 0x49 0x05 0x46 0x7b 0x44 0x0f 0x48 0x1b 0x68
+0x23 0x68 0x79 0x44 0x78 0x44 0x98 0x47 0x0d 0x49 0x0e 0x48 0x23 0x68 0x79 0x44 0x78 0x44 0x98 0x47
+0x0c 0x49 0x0d 0x48 0x23 0x68 0x79 0x44 0x78 0x44 0x98 0x47 0x00 0x23 0x6b 0x60 0x0a 0x4b 0x7b 0x44
+0x2b 0x60 0x01 0x20 0x38 0xbd 0x00 0xbf 0x00 0xfc 0x00 0x10 0xee 0xff 0xff 0xff 0x7f 0x02 0x00 0x00
+0x94 0x00 0x00 0x00 0x73 0x05 0x00 0x00 0x98 0x00 0x00 0x00 0xff 0x01 0x00 0x00 0xa6 0x00 0x00 0x00
+0x37 0x01 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x41 0x6c 0x72 0x65 0x61 0x64 0x79 0x20
+0x49 0x6e 0x69 0x74 0x69 0x61 0x6c 0x69 0x7a 0x65 0x64 0x00 0x4e 0x6f 0x74 0x20 0x65 0x6e 0x6f 0x75
+0x67 0x68 0x20 0x6d 0x65 0x6d 0x6f 0x72 0x79 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00
+0x4e 0x6f 0x74 0x20 0x49 0x6e 0x69 0x74 0x69 0x61 0x6c 0x69 0x7a 0x65 0x64 0x00 0x65 0x78 0x74 0x2d
+0x77 0x73 0x32 0x38 0x31 0x32 0x2d 0x69 0x6e 0x69 0x74 0x00 0x65 0x78 0x74 0x2d 0x77 0x73 0x32 0x38
+0x31 0x32 0x2d 0x73 0x65 0x74 0x2d 0x62 0x72 0x69 0x67 0x68 0x74 0x6e 0x65 0x73 0x73 0x00 0x65 0x78
+0x74 0x2d 0x77 0x73 0x32 0x38 0x31 0x32 0x2d 0x73 0x65 0x74 0x2d 0x63 0x6f 0x6c 0x6f 0x72 0x00 0x00
+0xc2 0x07 0x4c 0xbf 0x00 0xf0 0x7c 0x40 0x00 0xf0 0x0c 0x00 0x08 0x28 0x0f 0xd0 0x20 0xf0 0x08 0x03
+0x04 0x2b 0x0b 0xd0 0x20 0xf0 0x80 0x53 0x20 0xf0 0xa0 0x40 0xb0 0xf1 0x00 0x5f 0x04 0xd0 0x03 0xf1
+0x40 0x43 0x58 0x42 0x58 0x41 0x70 0x47 0x01 0x20 0x70 0x47 0xc3 0x69 0x40 0x68 0x70 0xb5 0xc1 0xf3
+0x07 0x42 0xc1 0xf3 0x07 0x25 0xcc 0xb2 0x20 0x28 0x4f 0xf0 0x64 0x06 0x03 0xfb 0x02 0xf2 0x03 0xfb
+0x05 0xf5 0x03 0xfb 0x04 0xf4 0xb2 0xfb 0xf6 0xf2 0xb5 0xfb 0xf6 0xf5 0xb4 0xfb 0xf6 0xf4 0x0a 0xd1
+0x08 0x0e 0x43 0x43 0xb3 0xfb 0xf6 0xf0 0x40 0xea 0x04 0x20 0x40 0xea 0x05 0x60 0x40 0xea 0x02 0x40
+0x70 0xbd 0x10 0x02 0x40 0xea 0x05 0x40 0x20 0x43 0xf9 0xe7 0x70 0xb5 0x00 0x28 0x27 0xd0 0x14 0x4c
+0x1a 0x48 0x23 0x6d 0x78 0x44 0x98 0x47 0x06 0x68 0x33 0x78 0x75 0x78 0xb3 0xb1 0x10 0x4a 0x11 0x4b
+0x11 0x48 0x00 0x2d 0x14 0xbf 0x15 0x46 0x1d 0x46 0x00 0xf0 0x19 0xfb 0x28 0x46 0x00 0xf0 0x2a 0xfa
+0x23 0x6c 0x70 0x69 0x98 0x47 0x23 0x6c 0xb0 0x69 0x98 0x47 0x23 0x6c 0x30 0x46 0xbd 0xe8 0x70 0x40
+0x18 0x47 0x08 0x4a 0x08 0x4b 0x09 0x48 0x00 0x2d 0x14 0xbf 0x15 0x46 0x1d 0x46 0xe7 0xe7 0x70 0xbd
+0x00 0xfc 0x00 0x10 0x58 0x60 0x02 0x40 0x10 0x60 0x02 0x40 0x00 0x08 0x00 0x40 0x88 0x60 0x02 0x40
+0x70 0x60 0x02 0x40 0x00 0x04 0x00 0x40 0x7c 0xfe 0xff 0xff 0xf8 0xb5 0x83 0x69 0x05 0x46 0x43 0xf8
+0x21 0x20 0x0c 0x46 0x11 0x46 0xff 0xf7 0x93 0xff 0x6a 0x68 0x01 0x21 0x53 0x1e 0x99 0x40 0x54 0x43
+0x00 0x23 0x4f 0xf0 0x14 0x0c 0x4f 0xf0 0x53 0x0e 0x9a 0x42 0x00 0xdc 0xf8 0xbd 0x1f 0x19 0x6e 0x69
+0x01 0x42 0x14 0xbf 0x26 0xf8 0x17 0xe0 0x26 0xf8 0x17 0xc0 0x40 0x00 0x01 0x33 0xf1 0xe7 0x00 0x00
+0x02 0x29 0xf8 0xb5 0x04 0x46 0x12 0xd1 0x00 0x68 0xff 0xf7 0x59 0xff 0x70 0xb1 0x60 0x68 0xff 0xf7
+0x55 0xff 0x50 0xb1 0x10 0x4d 0x11 0x48 0x2b 0x6d 0x78 0x44 0x98 0x47 0x06 0x68 0x36 0xb9 0x0f 0x48
+0xeb 0x6a 0x78 0x44 0x98 0x47 0x4f 0xf4 0x08 0x70 0xf8 0xbd 0xeb 0x68 0x20 0x68 0x98 0x47 0xab 0x68
+0x07 0x46 0x60 0x68 0x98 0x47 0x00 0x2f 0x02 0x46 0x06 0xdb 0xb3 0x68 0x9f 0x42 0x03 0xda 0x39 0x46
+0x30 0x46 0xff 0xf7 0xb3 0xff 0x20 0x20 0xeb 0xe7 0x00 0xbf 0x00 0xfc 0x00 0x10 0xae 0xfd 0xff 0xff
+0x42 0xfe 0xff 0xff 0x2d 0xe9 0xf0 0x4f 0x04 0x29 0x99 0xb0 0x06 0x46 0x1d 0xd1 0x00 0x68 0xff 0xf7
+0x23 0xff 0xc8 0xb1 0x70 0x68 0xff 0xf7 0x1f 0xff 0xa8 0xb1 0xb0 0x68 0xff 0xf7 0x1b 0xff 0x88 0xb1
+0xf0 0x68 0xff 0xf7 0x17 0xff 0x68 0xb1 0xdf 0xf8 0xb4 0x92 0xa6 0x4c 0xf9 0x44 0x23 0x6d 0x48 0x46
+0x98 0x47 0x07 0x68 0x25 0x46 0x37 0xb1 0xa9 0x48 0xe3 0x6a 0x78 0x44 0x98 0x47 0x4f 0xf4 0x08 0x70
+0xd7 0xe0 0xe3 0x6b 0x20 0x20 0x98 0x47 0x04 0x46 0x00 0x28 0x00 0xf0 0xde 0x80 0xeb 0x68 0x30 0x68
+0x98 0x47 0xeb 0x68 0xa0 0x60 0x70 0x68 0x98 0x47 0x00 0x30 0x18 0xbf 0x01 0x20 0x60 0x70 0xeb 0x68
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+0x64 0x23 0x80 0x46 0xe3 0x61 0x00 0x2e 0x00 0xf0 0xa7 0x80 0x00 0x28 0x00 0xf0 0xa1 0x80 0xd4 0xf8
+0x0c 0xa0 0x3b 0x46 0x57 0x45 0xc0 0xf2 0xa9 0x80 0x00 0x27 0x4f 0xf0 0x14 0x0b 0xba 0x45 0x00 0xf3
+0xa7 0x80 0x23 0x69 0x03 0xf1 0x00 0x43 0x34 0x3b 0x5b 0x00 0xf2 0x18 0x16 0x46 0x64 0x36 0x00 0x23
+0x22 0xf8 0x02 0x3f 0x96 0x42 0xfb 0xd1 0x22 0x78 0x63 0x78 0x00 0x2a 0x00 0xf0 0xc0 0x80 0x00 0x2b
+0x00 0xf0 0xb2 0x80 0x6b 0x6d 0x72 0x48 0xdf 0xf8 0xe0 0x81 0x4f 0xf4 0x87 0x72 0x07 0x21 0x98 0x47
+0x4f 0xf0 0x80 0x67 0x6e 0x4e 0x30 0x46 0x00 0xf0 0x0c 0xfa 0x01 0x21 0x4f 0xf4 0x00 0x10 0x00 0xf0
+0xd7 0xf9 0x40 0x46 0x00 0xf0 0x18 0xf9 0x63 0x78 0x00 0x2b 0x00 0xf0 0xbb 0x80 0x06 0xf1 0x38 0x03
+0xcd 0xe9 0x09 0x73 0x63 0x69 0x0b 0x93 0x40 0x23 0x0c 0x93 0x23 0x69 0x0d 0x93 0x00 0x27 0x4f 0xf4
+0x80 0x63 0xcd 0xe9 0x0e 0x73 0x4f 0xf4 0x00 0x62 0x4f 0xf4 0x00 0x53 0xcd 0xe9 0x10 0x23 0x4f 0xf4
+0x80 0x71 0x4f 0xf4 0x00 0x33 0xcd 0xe9 0x12 0x13 0x40 0x46 0x03 0x23 0x09 0xa9 0xcd 0xe9 0x15 0x37
+0x14 0x97 0x17 0x97 0x00 0xf0 0x78 0xf9 0x23 0x78 0x01 0x21 0x00 0x2b 0x00 0xf0 0x95 0x80 0x04 0x20
+0x00 0xf0 0xb0 0xf9 0x68 0x23 0x01 0xa9 0x30 0x46 0x02 0x93 0x01 0x97 0xad 0xf8 0x0c 0x70 0x8d 0xf8
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+0x1c 0x70 0x04 0xa9 0x30 0x46 0x00 0x2b 0x7c 0xd0 0x00 0xf0 0xf9 0xfa 0x08 0x21 0x30 0x46 0x00 0xf0
+0x3a 0xfb 0x01 0x21 0x30 0x46 0x00 0xf0 0xa7 0xfa 0x01 0x21 0x30 0x46 0x00 0xf0 0xae 0xfa 0x01 0x21
+0x40 0x46 0x00 0xf0 0x71 0xf9 0x63 0x78 0x01 0x22 0x00 0x2b 0x6d 0xd0 0x4f 0xf4 0x80 0x61 0x30 0x46
+0x00 0xf0 0x37 0xfb 0x2b 0x6d 0x48 0x46 0x98 0x47 0x04 0x60 0x20 0x20 0x19 0xb0 0xbd 0xe8 0xf0 0x8f
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+0x35 0x48 0xeb 0x6a 0x78 0x44 0x12 0xe7 0x48 0xf8 0x27 0x30 0x01 0x37 0x4f 0xe7 0x58 0xf8 0x27 0x10
+0x20 0x46 0xff 0xf7 0x2d 0xfe 0x62 0x68 0x01 0x23 0x02 0xf1 0xff 0x3e 0x07 0xfb 0x02 0xf1 0x03 0xfa
+0x0e 0xfe 0x06 0xeb 0x41 0x01 0x00 0x23 0x9a 0x42 0x01 0xdc 0x01 0x37 0x41 0xe7 0x1e 0xea 0x00 0x0f
+0x1a 0xbf 0x4f 0xf0 0x53 0x0c 0x21 0xf8 0x13 0xc0 0x21 0xf8 0x13 0xb0 0x40 0x00 0x01 0x33 0xef 0xe7
+0x6b 0x6d 0x19 0x48 0xdf 0xf8 0x84 0x80 0x4f 0xf4 0x87 0x72 0x06 0x21 0x98 0x47 0x4f 0xf0 0x80 0x67
+0x4c 0xe7 0x5b 0xb1 0x6b 0x6d 0x16 0x48 0xdf 0xf8 0x70 0x80 0x4f 0xf4 0x87 0x72 0x07 0x21 0x98 0x47
+0x4f 0xf0 0x20 0x67 0x12 0x4e 0x40 0xe7 0x6b 0x6d 0x10 0x48 0xdf 0xf8 0x5c 0x80 0x4f 0xf4 0x87 0x72
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+0x00 0xf0 0x48 0xfa 0x08 0x21 0x30 0x46 0x00 0xf0 0xb6 0xfa 0x81 0xe7 0x4f 0xf4 0x00 0x71 0x90 0xe7
+0x00 0xfc 0x00 0x10 0x00 0x04 0x02 0x40 0x00 0x08 0x00 0x40 0x60 0x00 0x01 0x00 0x00 0x08 0x02 0x40
+0x00 0x04 0x00 0x40 0x32 0xfd 0xff 0xff 0x90 0xfd 0xff 0xff 0x58 0x60 0x02 0x40 0xcc 0xfb 0xff 0xff
+0x10 0x60 0x02 0x40 0x88 0x60 0x02 0x40 0x70 0x60 0x02 0x40 0x01 0x29 0x70 0xb5 0x06 0x46 0x0e 0xd1
+0x00 0x68 0xff 0xf7 0xa5 0xfd 0x50 0xb1 0x10 0x4c 0x11 0x48 0x23 0x6d 0x78 0x44 0x98 0x47 0x05 0x68
+0x35 0xb9 0x0f 0x48 0xe3 0x6a 0x78 0x44 0x98 0x47 0x4f 0xf4 0x08 0x70 0x08 0xe0 0xa3 0x68 0x30 0x68
+0x98 0x47 0x00 0x24 0xe8 0x61 0xab 0x68 0x9c 0x42 0x01 0xdb 0x20 0x20 0x70 0xbd 0xab 0x69 0x21 0x46
+0x53 0xf8 0x24 0x20 0x28 0x46 0xff 0xf7 0x03 0xfe 0x01 0x34 0xf1 0xe7 0x00 0xbf 0x00 0xfc 0x00 0x10
+0x4e 0xfa 0xff 0xff 0xe2 0xfa 0xff 0xff 0x03 0x68 0x23 0xf0 0x01 0x03 0x03 0x60 0x00 0x23 0x03 0x60
+0x43 0x60 0x83 0x60 0xc3 0x60 0x03 0x61 0x21 0x23 0x43 0x61 0x2a 0x4b 0x98 0x42 0x03 0xd1 0x3d 0x22
+0x43 0xf8 0x08 0x2c 0x70 0x47 0x28 0x4b 0x98 0x42 0x04 0xd1 0x4f 0xf4 0x74 0x62 0x43 0xf8 0x20 0x2c
+0x70 0x47 0x25 0x4b 0x98 0x42 0x04 0xd1 0x4f 0xf4 0x74 0x12 0x43 0xf8 0x38 0x2c 0x70 0x47 0x22 0x4b
+0x98 0x42 0x04 0xd1 0x4f 0xf0 0x74 0x62 0x43 0xf8 0x50 0x2c 0x70 0x47 0x1f 0x4b 0x98 0x42 0x03 0xd1
+0x1e 0x4a 0x43 0xf8 0x64 0x2c 0x70 0x47 0x1d 0x4b 0x98 0x42 0x03 0xd1 0x1d 0x4a 0x43 0xf8 0x7c 0x2c
+0x70 0x47 0x1c 0x4b 0x98 0x42 0x03 0xd1 0x1b 0x4a 0x43 0xf8 0x94 0x2c 0x70 0x47 0x1a 0x4b 0x98 0x42
+0x04 0xd1 0x4f 0xf0 0x3d 0x52 0x43 0xf8 0xac 0x2c 0x17 0xe0 0x17 0x4b 0x98 0x42 0xc3 0xd0 0x17 0x4b
+0x98 0x42 0xc7 0xd0 0x16 0x4b 0x98 0x42 0xcc 0xd0 0x16 0x4b 0x98 0x42 0xd1 0xd0 0x15 0x4b 0x98 0x42
+0xd6 0xd0 0x15 0x4b 0x98 0x42 0xda 0xd0 0x14 0x4b 0x98 0x42 0xde 0xd0 0x14 0x4b 0x98 0x42 0xe2 0xd0
+0x70 0x47 0x00 0xbf 0x10 0x60 0x02 0x40 0x28 0x60 0x02 0x40 0x40 0x60 0x02 0x40 0x58 0x60 0x02 0x40
+0x70 0x60 0x02 0x40 0x3d 0x00 0x00 0x20 0x88 0x60 0x02 0x40 0x40 0x0f 0x00 0x20 0xa0 0x60 0x02 0x40
+0x00 0x00 0x3d 0x20 0xb8 0x60 0x02 0x40 0x10 0x64 0x02 0x40 0x28 0x64 0x02 0x40 0x40 0x64 0x02 0x40
+0x58 0x64 0x02 0x40 0x70 0x64 0x02 0x40 0x88 0x64 0x02 0x40 0xa0 0x64 0x02 0x40 0xb8 0x64 0x02 0x40
+0x03 0x68 0x13 0x4a 0x10 0xb5 0x1a 0x40 0xcc 0x68 0x0b 0x68 0x23 0x43 0x4c 0x69 0x23 0x43 0x8c 0x69
+0x23 0x43 0xcc 0x69 0x23 0x43 0x0c 0x6a 0x23 0x43 0x4c 0x6a 0x23 0x43 0x8c 0x6a 0x23 0x43 0x4c 0x6b
+0x23 0x43 0x8c 0x6b 0x23 0x43 0x13 0x43 0x03 0x60 0xd1 0xe9 0x0b 0x34 0x42 0x69 0x23 0x43 0x22 0xf0
+0x07 0x02 0x13 0x43 0x43 0x61 0x0b 0x69 0x43 0x60 0x4b 0x68 0x83 0x60 0x8b 0x68 0xc3 0x60 0x10 0xbd
+0x3f 0x80 0x1c 0xf0 0x03 0x68 0x19 0xb1 0x43 0xf0 0x01 0x03 0x03 0x60 0x70 0x47 0x23 0xf0 0x01 0x03
+0xfa 0xe7 0x00 0x00 0x04 0x4b 0x1a 0x6b 0x11 0xb1 0x10 0x43 0x18 0x63 0x70 0x47 0x22 0xea 0x00 0x00
+0xfa 0xe7 0x00 0xbf 0x00 0x38 0x02 0x40 0x04 0x4b 0x1a 0x6c 0x11 0xb1 0x10 0x43 0x18 0x64 0x70 0x47
+0x22 0xea 0x00 0x00 0xfa 0xe7 0x00 0xbf 0x00 0x38 0x02 0x40 0x04 0x4b 0x1a 0x6a 0x11 0xb1 0x10 0x43
+0x18 0x62 0x70 0x47 0x22 0xea 0x00 0x00 0xfa 0xe7 0x00 0xbf 0x00 0x38 0x02 0x40 0x04 0x4b 0x5a 0x6a
+0x11 0xb1 0x10 0x43 0x58 0x62 0x70 0x47 0x22 0xea 0x00 0x00 0xfa 0xe7 0x00 0xbf 0x00 0x38 0x02 0x40
+0x08 0xb5 0x4d 0x4b 0x98 0x42 0x09 0xd1 0x01 0x21 0x08 0x46 0xff 0xf7 0xec 0xff 0x00 0x21 0x01 0x20
+0xbd 0xe8 0x08 0x40 0xff 0xf7 0xe6 0xbf 0xb0 0xf1 0x80 0x4f 0x09 0xd1 0x01 0x21 0x08 0x46 0xff 0xf7
+0xd3 0xff 0x00 0x21 0x01 0x20 0xbd 0xe8 0x08 0x40 0xff 0xf7 0xcd 0xbf 0x41 0x4b 0x98 0x42 0x06 0xd1
+0x01 0x21 0x02 0x20 0xff 0xf7 0xc6 0xff 0x00 0x21 0x02 0x20 0xf1 0xe7 0x3d 0x4b 0x98 0x42 0x06 0xd1
+0x01 0x21 0x04 0x20 0xff 0xf7 0xbc 0xff 0x00 0x21 0x04 0x20 0xe7 0xe7 0x39 0x4b 0x98 0x42 0x06 0xd1
+0x01 0x21 0x08 0x20 0xff 0xf7 0xb2 0xff 0x00 0x21 0x08 0x20 0xdd 0xe7 0x35 0x4b 0x98 0x42 0x06 0xd1
+0x01 0x21 0x10 0x20 0xff 0xf7 0xa8 0xff 0x00 0x21 0x10 0x20 0xd3 0xe7 0x31 0x4b 0x98 0x42 0x06 0xd1
+0x01 0x21 0x20 0x20 0xff 0xf7 0x9e 0xff 0x00 0x21 0x20 0x20 0xc9 0xe7 0x2d 0x4b 0x98 0x42 0x06 0xd1
+0x01 0x21 0x02 0x20 0xff 0xf7 0xa0 0xff 0x00 0x21 0x02 0x20 0xb2 0xe7 0x29 0x4b 0x98 0x42 0x08 0xd1
+0x01 0x21 0x4f 0xf4 0x80 0x30 0xff 0xf7 0x95 0xff 0x00 0x21 0x4f 0xf4 0x80 0x30 0xa6 0xe7 0x24 0x4b
+0x98 0x42 0x08 0xd1 0x01 0x21 0x4f 0xf4 0x00 0x30 0xff 0xf7 0x89 0xff 0x00 0x21 0x4f 0xf4 0x00 0x30
+0x9a 0xe7 0x1f 0x4b 0x98 0x42 0x08 0xd1 0x01 0x21 0x4f 0xf4 0x80 0x20 0xff 0xf7 0x7d 0xff 0x00 0x21
+0x4f 0xf4 0x80 0x20 0x8e 0xe7 0x1a 0x4b 0x98 0x42 0x06 0xd1 0x01 0x21 0x40 0x20 0xff 0xf7 0x66 0xff
+0x00 0x21 0x40 0x20 0x91 0xe7 0x16 0x4b 0x98 0x42 0x06 0xd1 0x01 0x21 0x80 0x20 0xff 0xf7 0x5c 0xff
+0x00 0x21 0x80 0x20 0x87 0xe7 0x12 0x4b 0x98 0x42 0x08 0xd1 0x01 0x21 0x4f 0xf4 0x80 0x70 0xff 0xf7
+0x51 0xff 0x00 0x21 0x4f 0xf4 0x80 0x70 0x7b 0xe7 0x08 0xbd 0x00 0x00 0x01 0x40 0x00 0x04 0x00 0x40
+0x00 0x08 0x00 0x40 0x00 0x0c 0x00 0x40 0x00 0x10 0x00 0x40 0x00 0x14 0x00 0x40 0x00 0x04 0x01 0x40
+0x00 0x40 0x01 0x40 0x00 0x44 0x01 0x40 0x00 0x48 0x01 0x40 0x00 0x18 0x00 0x40 0x00 0x1c 0x00 0x40
+0x00 0x20 0x00 0x40 0x1b 0x4a 0x03 0x68 0x90 0x42 0x10 0xb5 0x9b 0xb2 0x11 0xd0 0x19 0x4c 0xa0 0x42
+0x0e 0xd0 0xb0 0xf1 0x80 0x4f 0x0b 0xd0 0xa4 0xf5 0x80 0x34 0xa0 0x42 0x07 0xd0 0x04 0xf5 0x80 0x64
+0xa0 0x42 0x03 0xd0 0x04 0xf5 0x80 0x64 0xa0 0x42 0x03 0xd1 0x4c 0x88 0x23 0xf0 0x70 0x03 0x23 0x43
+0x0f 0x4c 0xa0 0x42 0x08 0xd0 0x04 0xf5 0x80 0x64 0xa0 0x42 0x1f 0xbf 0x23 0xf4 0x40 0x73 0x0c 0x89
+0x9b 0xb2 0x23 0x43 0x03 0x60 0x4b 0x68 0xc3 0x62 0x90 0x42 0x0b 0x88 0x83 0x62 0x02 0xd0 0x05 0x4b
+0x98 0x42 0x01 0xd1 0x8b 0x7a 0x03 0x63 0x01 0x23 0x43 0x61 0x10 0xbd 0x00 0xbf 0x00 0x00 0x01 0x40
+0x00 0x04 0x01 0x40 0x00 0x10 0x00 0x40 0x03 0x68 0x19 0xb1 0x43 0xf0 0x80 0x03 0x03 0x60 0x70 0x47
+0x23 0xf0 0x80 0x03 0x1b 0x04 0x1b 0x0c 0xf8 0xe7 0x03 0x68 0x19 0xb1 0x43 0xf0 0x01 0x03 0x03 0x60
+0x70 0x47 0x23 0xf0 0x01 0x03 0x1b 0x04 0x1b 0x0c 0xf8 0xe7 0x03 0x6a 0x23 0xf0 0x01 0x03 0x1b 0x04
+0x1b 0x0c 0x03 0x62 0x70 0xb5 0x04 0x6a 0x42 0x68 0x85 0x69 0x4e 0x88 0x4f 0xf6 0x8c 0x73 0x2b 0x40
+0x0d 0x88 0x1d 0x43 0x4f 0xf6 0xfd 0x73 0x23 0x40 0x8c 0x89 0x34 0x43 0x23 0x43 0x0d 0x4c 0xa0 0x42
+0x92 0xb2 0x03 0xd0 0x04 0xf5 0x80 0x64 0xa0 0x42 0x0d 0xd1 0xcc 0x89 0x4e 0x8a 0x23 0xf0 0x08 0x03
+0x23 0x43 0x8c 0x88 0x23 0xf0 0x04 0x03 0x23 0x43 0x0c 0x8a 0x22 0xf4 0x40 0x72 0x34 0x43 0x22 0x43
+0x42 0x60 0x8a 0x68 0x85 0x61 0x42 0x63 0x03 0x62 0x70 0xbd 0x00 0x00 0x01 0x40 0x03 0x6a 0x23 0xf0
+0x10 0x03 0x1b 0x04 0x1b 0x0c 0x03 0x62 0x70 0xb5 0x04 0x6a 0x42 0x68 0x85 0x69 0x4e 0x88 0x48 0xf6
+0xff 0x43 0x2b 0x40 0x0d 0x88 0x43 0xea 0x05 0x23 0x9d 0xb2 0x4f 0xf6 0xdf 0x73 0x23 0x40 0x8c 0x89
+0x34 0x43 0x43 0xea 0x04 0x13 0x11 0x4c 0xa0 0x42 0x92 0xb2 0x9b 0xb2 0x03 0xd0 0x04 0xf5 0x80 0x64
+0xa0 0x42 0x13 0xd1 0xcc 0x89 0x4e 0x8a 0x23 0xf0 0x80 0x03 0x43 0xea 0x04 0x13 0x4f 0xf6 0xbf 0x74
+0x1c 0x40 0x8b 0x88 0x44 0xea 0x03 0x13 0x0c 0x8a 0x22 0xf4 0x40 0x62 0x34 0x43 0x42 0xea 0x84 0x02
+0x9b 0xb2 0x92 0xb2 0x42 0x60 0x8a 0x68 0x85 0x61 0x82 0x63 0x03 0x62 0x70 0xbd 0x00 0x00 0x01 0x40
+0x82 0x69 0x4f 0xf6 0xf7 0x73 0x13 0x40 0x19 0x43 0x81 0x61 0x70 0x47 0x82 0x69 0x4f 0xf2 0xff 0x73
+0x13 0x40 0x43 0xea 0x01 0x21 0x89 0xb2 0x81 0x61 0x70 0x47 0xc3 0x68 0x12 0xb1 0x19 0x43 0xc1 0x60
+0x70 0x47 0xc9 0x43 0x89 0xb2 0x19 0x40 0xf9 0xe7 0xff 0xf7 0xf5 0xbf 
+])
+
+(load-native-lib ws2812)
+
+; After loading this library you get the extensions
+;
+; (ext-ws2812-init led-num use-ch2 use-tim4 is-rgbw)
+; (ext-ws2812-set-color led color)
+; (ext-ws2812-set-brightness br)
+;
+; Init must be run first to configure the driver, then
+; set-color and set-brightness can be used
+
+(def led-num 10)
+
+; The hall sensor port works fine for this on most hardware. To use the PPM-port
+; the low pass filter capacitor must be removed.
+
+; This driver can use CH1 or CH2 of TIM3 or TIM4
+; TIM3 CH1: GPIOC PIN6 (e.g. HALL1 on VESC6)
+; TIM3 CH2: GPIOC PIN7 (e.g. HALL2 on VESC6)
+; TIM4 CH1: GPIOB PIN6 (e.g. PPM on VESC6)
+; TIM4 CH2: GPIOB PIN7
+(let (
+    (use-ch2 0) ; 0 means CH1
+    (use-tim4 0) ; 0 means TIM3
+    (is-rgbw 1)) ; Some adressable LEDs have an extra white channel. Set this to 1 to use it
+        (ext-ws2812-init led-num use-ch2 use-tim4 is-rgbw)
+)
+
+(def colors '(
+    0x00550000i32
+    0x00005500i32
+    0x00000055i32
+    0x55000000i32
+))
+
+(loopwhile t
+    (loopforeach c colors
+        (looprange i 0 led-num
+            (progn
+                (ext-ws2812-set-color (if (= i 0) (- led-num 1) (- i 1)) 0)
+                (ext-ws2812-set-color i c)
+                (sleep 0.05)
+))))
diff --git a/res_lisp.qrc b/res_lisp.qrc
index e266982e1..51e8d5783 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -31,5 +31,6 @@
         <file>res/Lisp/Examples/ssd1306_oled_rt_data.lisp</file>
         <file>res/Lisp/Examples/m365_dash.lisp</file>
         <file>res/Lisp/Examples/ssd1306_oled_cube_native.lisp</file>
+        <file>res/Lisp/Examples/ws2812_native.lisp</file>
     </qresource>
 </RCC>

From 5bd9fcd7d734d0db3e1c913f18a584effeb66cd1 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 12 May 2022 17:25:27 +0200
Subject: [PATCH 121/559] Updated natuve cube example

---
 .../Examples/ssd1306_oled_cube_native.lisp    | 39 ++++++++++---------
 1 file changed, 20 insertions(+), 19 deletions(-)

diff --git a/res/Lisp/Examples/ssd1306_oled_cube_native.lisp b/res/Lisp/Examples/ssd1306_oled_cube_native.lisp
index 07e88795f..e79377232 100644
--- a/res/Lisp/Examples/ssd1306_oled_cube_native.lisp
+++ b/res/Lisp/Examples/ssd1306_oled_cube_native.lisp
@@ -34,25 +34,26 @@
 ))
 
 (def ssdacc [
-0x08 0xb5 0x05 0x49 0x03 0x4b 0x05 0x48 0x1b 0x68 0x79 0x44 0x78 0x44 0x98 0x47 0x01 0x20 0x08 0xbd
-0x00 0xfc 0x00 0x10 0x57 0x00 0x00 0x00 0x10 0x00 0x00 0x00 0x65 0x78 0x74 0x2d 0x64 0x72 0x61 0x77
-0x6c 0x69 0x6e 0x65 0x00 0x00 0xc2 0x07 0x4c 0xbf 0x00 0xf0 0x7c 0x40 0x00 0xf0 0x0c 0x00 0x08 0x28
-0x0f 0xd0 0x20 0xf0 0x08 0x03 0x04 0x2b 0x0b 0xd0 0x20 0xf0 0x80 0x53 0x20 0xf0 0xa0 0x40 0xb0 0xf1
-0x00 0x5f 0x04 0xd0 0x03 0xf1 0x40 0x43 0x58 0x42 0x58 0x41 0x70 0x47 0x01 0x20 0x70 0x47 0x00 0x00
-0x05 0x29 0x2d 0xe9 0xf7 0x4f 0x06 0x46 0x7a 0xd1 0xdf 0xf8 0x04 0x91 0x00 0x68 0xd9 0xf8 0x28 0x30
-0x98 0x47 0x00 0x28 0x72 0xd0 0x70 0x68 0xff 0xf7 0xd5 0xff 0x00 0x28 0x6d 0xd0 0xb0 0x68 0xff 0xf7
-0xd0 0xff 0x00 0x28 0x68 0xd0 0xf0 0x68 0xff 0xf7 0xcb 0xff 0x00 0x28 0x63 0xd0 0x30 0x69 0xff 0xf7
-0xc6 0xff 0x00 0x28 0x5e 0xd0 0xd9 0xf8 0x20 0x30 0x30 0x68 0x98 0x47 0xd9 0xf8 0x0c 0x30 0xd0 0xf8
-0x08 0x80 0x70 0x68 0x98 0x47 0xd9 0xf8 0x0c 0x30 0x05 0x46 0xb0 0x68 0x98 0x47 0xd9 0xf8 0x0c 0x30
-0x04 0x46 0xf0 0x68 0x98 0x47 0xd9 0xf8 0x0c 0x30 0x07 0x46 0x30 0x69 0x98 0x47 0x79 0x1b 0x06 0x1b
-0x00 0x29 0xb8 0xbf 0x49 0x42 0xbd 0x42 0xb4 0xbf 0x4f 0xf0 0x01 0x09 0x4f 0xf0 0xff 0x39 0x00 0x2e
-0xb8 0xbf 0x76 0x42 0x84 0x42 0xb4 0xbf 0x01 0x23 0x4f 0xf0 0xff 0x33 0xc6 0xf1 0x00 0x0e 0x01 0x93
-0x8a 0x1b 0x4f 0xf0 0x01 0x0a 0x7f 0x2d 0x16 0xd8 0x3f 0x2c 0x14 0xd8 0x04 0xf0 0x07 0x0c 0x6b 0x1c
-0x0c 0xeb 0xc3 0x03 0x4f 0xea 0xe4 0x0c 0x03 0xeb 0x8c 0x23 0x4f 0xea 0xd3 0x0c 0x03 0xf0 0x07 0x03
-0x18 0xf8 0x0c 0xb0 0x0a 0xfa 0x03 0xf3 0x43 0xea 0x0b 0x03 0x08 0xf8 0x0c 0x30 0xaf 0x42 0x01 0xd1
-0xa0 0x42 0x14 0xd0 0xbe 0xeb 0x42 0x0f 0x03 0xdc 0xaf 0x42 0x0f 0xd0 0x92 0x1b 0x4d 0x44 0xb1 0xeb
-0x42 0x0f 0xd8 0xdb 0xa0 0x42 0x08 0xd0 0x01 0x9b 0x0a 0x44 0x1c 0x44 0xd2 0xe7 0x4f 0xf4 0x08 0x70
-0x03 0xb0 0xbd 0xe8 0xf0 0x8f 0x20 0x20 0xfa 0xe7 0x00 0xbf 0x00 0xfc 0x00 0x10 
+0x00 0x00 0x00 0x00 0x08 0xb5 0x07 0x4b 0x07 0x49 0x08 0x48 0x7b 0x44 0x79 0x44 0x1b 0x68 0x03 0x4b
+0x78 0x44 0x1b 0x68 0x98 0x47 0x01 0x20 0x08 0xbd 0x00 0xbf 0x00 0xfc 0x00 0x10 0xf0 0xff 0xff 0xff
+0x63 0x00 0x00 0x00 0x18 0x00 0x00 0x00 0x65 0x78 0x74 0x2d 0x64 0x72 0x61 0x77 0x6c 0x69 0x6e 0x65
+0x00 0x00 0xc2 0x07 0x4c 0xbf 0x00 0xf0 0x7c 0x40 0x00 0xf0 0x0c 0x00 0x08 0x28 0x0f 0xd0 0x20 0xf0
+0x08 0x03 0x04 0x2b 0x0b 0xd0 0x20 0xf0 0x80 0x53 0x20 0xf0 0xa0 0x40 0xb0 0xf1 0x00 0x5f 0x04 0xd0
+0x03 0xf1 0x40 0x43 0x58 0x42 0x58 0x41 0x70 0x47 0x01 0x20 0x70 0x47 0x00 0x00 0x05 0x29 0x2d 0xe9
+0xf7 0x4f 0x06 0x46 0x7a 0xd1 0xdf 0xf8 0x04 0x91 0x00 0x68 0xd9 0xf8 0x28 0x30 0x98 0x47 0x00 0x28
+0x72 0xd0 0x70 0x68 0xff 0xf7 0xd5 0xff 0x00 0x28 0x6d 0xd0 0xb0 0x68 0xff 0xf7 0xd0 0xff 0x00 0x28
+0x68 0xd0 0xf0 0x68 0xff 0xf7 0xcb 0xff 0x00 0x28 0x63 0xd0 0x30 0x69 0xff 0xf7 0xc6 0xff 0x00 0x28
+0x5e 0xd0 0xd9 0xf8 0x20 0x30 0x30 0x68 0x98 0x47 0xd9 0xf8 0x0c 0x30 0xd0 0xf8 0x08 0x80 0x70 0x68
+0x98 0x47 0xd9 0xf8 0x0c 0x30 0x05 0x46 0xb0 0x68 0x98 0x47 0xd9 0xf8 0x0c 0x30 0x04 0x46 0xf0 0x68
+0x98 0x47 0xd9 0xf8 0x0c 0x30 0x07 0x46 0x30 0x69 0x98 0x47 0x79 0x1b 0x06 0x1b 0x00 0x29 0xb8 0xbf
+0x49 0x42 0xbd 0x42 0xb4 0xbf 0x4f 0xf0 0x01 0x09 0x4f 0xf0 0xff 0x39 0x00 0x2e 0xb8 0xbf 0x76 0x42
+0x84 0x42 0xb4 0xbf 0x01 0x23 0x4f 0xf0 0xff 0x33 0xc6 0xf1 0x00 0x0e 0x01 0x93 0x8a 0x1b 0x4f 0xf0
+0x01 0x0a 0x7f 0x2d 0x16 0xd8 0x3f 0x2c 0x14 0xd8 0x04 0xf0 0x07 0x0c 0x6b 0x1c 0x0c 0xeb 0xc3 0x03
+0x4f 0xea 0xe4 0x0c 0x03 0xeb 0x8c 0x23 0x4f 0xea 0xd3 0x0c 0x03 0xf0 0x07 0x03 0x18 0xf8 0x0c 0xb0
+0x0a 0xfa 0x03 0xf3 0x43 0xea 0x0b 0x03 0x08 0xf8 0x0c 0x30 0xaf 0x42 0x01 0xd1 0xa0 0x42 0x14 0xd0
+0xbe 0xeb 0x42 0x0f 0x03 0xdc 0xaf 0x42 0x0f 0xd0 0x92 0x1b 0x4d 0x44 0xb1 0xeb 0x42 0x0f 0xd8 0xdb
+0xa0 0x42 0x08 0xd0 0x01 0x9b 0x0a 0x44 0x1c 0x44 0xd2 0xe7 0x4f 0xf4 0x08 0x70 0x03 0xb0 0xbd 0xe8
+0xf0 0x8f 0x20 0x20 0xfa 0xe7 0x00 0xbf 0x00 0xfc 0x00 0x10 
 ])
 
 (load-native-lib ssdacc)

From ffd296f849da74c332f19dcaa41931f509209967 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 15 May 2022 00:04:40 +0200
Subject: [PATCH 122/559] Attempt att clarifying the README regarding forks,
 binary releases and trademark usage

---
 README.md | 26 ++++++++++++++++++++++++--
 1 file changed, 24 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index e15d800d3..1b0281f2b 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,25 @@
-This is a GUI written using the Qt toolkit to configure the VESC motor controller. Read more and download precompiled versions at
+# VESC® Tool
 
-http://vesc-project.com/
+This is the source code of VESC Tool. A pre-compiled binary of both the stable release as well as the development release packaged with all the matching firmware for all supported hardware can be downloaded at http://vesc-project.com/
+
+The stable binary is available for **Linux**, **Windows**, **MacOS**, **Android** and **iOS**. The development binary is available for **Linux**, **Windows** and **Android** and is updated every few days.
+
+All binaries can also be downloaded free-of-charge for all platforms except for iOS, which only is available via the Apple App Store as they do not allow any other distribution channel.
+
+## Code Contribution, Distribution and Trademark Usage
+
+VESC is a registered trademark of Benjamin Vedder. Read the [trademark policies](https://vesc-project.com/trademark_policies) for more information.
+
+The "official" binary release of VESC Tool is done via VESC Project only, as that gives users a way to verify that releases, that use the registered VESC trademark, originate from the VESC Project. It is not ok to host a binary release on a different channel and use the VESC trademark for that release.
+
+It is ok to use the github fork function to make contributions to the code. That is because 1) it is the most convenient way to make contributions and 2) the forked repository states clearly that it is a fork and points back to the main repository where the original code can be found. Further, it is easy to see what the code changes are from the forked repository compared to the main repository via github, but that information is lost in a binary release.
+
+Forks of VESC Tool on github are not encouraged to provide a binary release in the repository. That is because there is no way to tell the final binary apart from the official release once downloaded. Further, packaging the firmware, which has to be done as an additional step from a different repository, also cannot be verified whether it is done correctly.
+
+## Add Your Hardware to the Binary Release
+
+If you have custom hardware and you want to add support for it in the official release of VESC Tool, you can use the following steps:
+
+1) Go to https://github.com/vedderb/bldc and use the github fork function.  
+2) Make your changes, test them and make a pull request to the main repository.  
+3) If the pull request gets accepted your hardware will become part of the next official release. It will show up in the binary beta typically after a few days and in the stable version the next time a stable release is made.

From 911b406d05ae9fdc152d22ba814b73eb83835639 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 19 May 2022 02:51:59 +0200
Subject: [PATCH 123/559] Added firmware archive

---
 pages/pagefirmware.cpp | 131 ++++++++++++++++++++++++++++++++++++++++-
 pages/pagefirmware.h   |   3 +
 pages/pagefirmware.ui  | 105 +++++++++++++++++++++++++++++++++
 3 files changed, 237 insertions(+), 2 deletions(-)

diff --git a/pages/pagefirmware.cpp b/pages/pagefirmware.cpp
index f5eb00973..e4a1af290 100755
--- a/pages/pagefirmware.cpp
+++ b/pages/pagefirmware.cpp
@@ -25,6 +25,11 @@
 #include <QMessageBox>
 #include <QFileDialog>
 #include <QDirIterator>
+#include <QNetworkAccessManager>
+#include <QUrl>
+#include <QNetworkRequest>
+#include <QNetworkReply>
+#include <QEventLoop>
 
 PageFirmware::PageFirmware(QWidget *parent) :
     QWidget(parent),
@@ -45,6 +50,7 @@ PageFirmware::PageFirmware(QWidget *parent) :
     ui->uploadButton->setIcon(QPixmap(theme + "icons/Download-96.png"));
     ui->uploadAllButton->setIcon(QPixmap(theme + "icons/Download-96.png"));
     ui->readVersionButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
+    ui->dlArchiveButton->setIcon(QPixmap(theme + "icons/Download-96.png"));
 
     updateHwList(FW_RX_PARAMS());
     updateBlList(FW_RX_PARAMS());
@@ -57,12 +63,18 @@ PageFirmware::PageFirmware(QWidget *parent) :
     connect(ui->showNonDefaultBox, SIGNAL(toggled(bool)),
             this, SLOT(updateFwList()));
     connect(mTimer, SIGNAL(timeout()), this, SLOT(timerSlot()));
+    connect(ui->archVersionList, SIGNAL(currentRowChanged(int)),
+            this, SLOT(updateArchFwList()));
+    connect(ui->showNonDefaultArchBox, SIGNAL(toggled(bool)),
+            this, SLOT(updateArchFwList()));
 
     QSettings set;
     ui->fwEdit->setText(set.value("pagefirmware/lastcustomfile", "").toString());
     ui->fw2Edit->setText(set.value("pagefirmware/lastcustomfile2", "").toString());
     ui->fw3Edit->setText(set.value("pagefirmware/lastcustomfile3", "").toString());
     ui->fw4Edit->setText(set.value("pagefirmware/lastcustomfile4", "").toString());
+
+    reloadArchive();
 }
 
 PageFirmware::~PageFirmware()
@@ -196,6 +208,7 @@ void PageFirmware::fwRxChanged(bool rx, bool limited)
     ui->currentLabel->setText(fwStr);
     updateHwList(params);
     updateBlList(params);
+    updateArchFwList();
     update();
 }
 
@@ -260,6 +273,49 @@ void PageFirmware::updateFwList()
     }
 }
 
+void PageFirmware::updateArchFwList()
+{
+    ui->archFwList->clear();
+    QListWidgetItem *item = ui->archVersionList->currentItem();
+    if (item != nullptr) {
+        QString hw = item->data(Qt::UserRole).toString();
+
+        QDirIterator it(hw);
+        while (it.hasNext()) {
+            QFileInfo fi(it.next());
+
+            QDirIterator it2(fi.absoluteFilePath());
+            while (it2.hasNext()) {
+                QFileInfo fi2(it2.next());
+
+                QStringList names = fi.fileName().split("_o_");
+                auto params = mVesc->getLastFwRxParams();
+
+                if (!mVesc->isPortConnected() || params.hw.isEmpty() ||
+                        names.contains(params.hw, Qt::CaseInsensitive)) {
+
+                    if (ui->showNonDefaultArchBox->isChecked() ||
+                            fi2.fileName().toLower() == "vesc_default.bin") {
+                        QString name = names.at(0);
+                        for(int i = 1;i < names.size();i++) {
+                            name += " & " + names.at(i);
+                        }
+
+                        QListWidgetItem *item = new QListWidgetItem;
+                        item->setText("HW " + name + ": " + fi2.fileName());
+                        item->setData(Qt::UserRole, fi2.absoluteFilePath());
+                        ui->archFwList->insertItem(ui->archFwList->count(), item);
+                    }
+                }
+            }
+        }
+    }
+
+    if (ui->archFwList->count() > 0) {
+        ui->archFwList->setCurrentRow(0);
+    }
+}
+
 void PageFirmware::updateBlList(FW_RX_PARAMS params)
 {
     ui->blList->clear();
@@ -385,8 +441,13 @@ void PageFirmware::uploadFw(bool allOverCan)
 
         QFile file, fileBl;
 
-        if (ui->fwTabWidget->currentIndex() == 0) {
+        if (ui->fwTabWidget->currentIndex() == 0 || ui->fwTabWidget->currentIndex() == 3) {
             QListWidgetItem *item = ui->fwList->currentItem();
+
+            if (ui->fwTabWidget->currentIndex() == 3) {
+                item = ui->archFwList->currentItem();
+            }
+
             if (item) {
                 file.setFileName(item->data(Qt::UserRole).toString());
 
@@ -480,7 +541,7 @@ void PageFirmware::uploadFw(bool allOverCan)
 
         QMessageBox::StandardButton reply;
 
-        if (ui->fwTabWidget->currentIndex() == 0 && ui->hwList->count() == 1) {
+        if ((ui->fwTabWidget->currentIndex() == 0 && ui->hwList->count() == 1) || ui->fwTabWidget->currentIndex() == 3) {
             reply = QMessageBox::warning(this,
                                          tr("Warning"),
                                          tr("Uploading new firmware will clear all settings on your VESC "
@@ -569,3 +630,69 @@ void PageFirmware::uploadFw(bool allOverCan)
         }
     }
 }
+
+void PageFirmware::reloadArchive()
+{
+    QString path = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation) +
+            "/res_fw.rcc";
+    QFile file(path);
+    if (file.exists()) {
+        QResource::unregisterResource(path);
+        QResource::registerResource(path);
+
+        QString fwDir = "://fw_archive";
+
+        ui->archVersionList->clear();
+
+        QDirIterator it(fwDir);
+        while (it.hasNext()) {
+            QFileInfo fi(it.next());
+            QListWidgetItem *item = new QListWidgetItem;
+
+            item->setText(fi.fileName());
+            item->setData(Qt::UserRole, fi.absoluteFilePath());
+            ui->archVersionList->insertItem(ui->archVersionList->count(), item);
+        }
+    }
+}
+
+void PageFirmware::on_dlArchiveButton_clicked()
+{
+    ui->dlArchiveButton->setEnabled(false);
+
+    ui->displayDl->setText("Preparing download...");
+
+    QString version = QString::number(VT_VERSION);
+    QUrl url("http://home.vedder.se/vesc_fw_archive/res_fw.rcc");
+    QNetworkAccessManager manager;
+    QNetworkRequest request(url);
+    QNetworkReply *reply = manager.get(request);
+
+    connect(reply, &QNetworkReply::downloadProgress, [this](qint64 bytesReceived, qint64 bytesTotal) {
+        ui->displayDl->setText("Downloading...");
+        ui->displayDl->setValue(100.0 * (double)bytesReceived / (double)bytesTotal);
+    });
+
+    QEventLoop loop;
+    connect(reply, SIGNAL(finished()), &loop, SLOT(quit()));
+    loop.exec();
+
+    if (reply->error() == QNetworkReply::NoError) {
+        ui->displayDl->setText("Download Finished");
+        QString path = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation) +
+                "/res_fw.rcc";
+        QFile file(path);
+        if (file.open(QIODevice::WriteOnly)) {
+            file.write(reply->readAll());
+            file.close();
+            reloadArchive();
+        }
+    } else {
+        ui->displayDl->setText("Download Failed");
+    }
+
+    reply->abort();
+    reply->deleteLater();
+
+    ui->dlArchiveButton->setEnabled(true);
+}
diff --git a/pages/pagefirmware.h b/pages/pagefirmware.h
index 3c4146d68..ce4471001 100644
--- a/pages/pagefirmware.h
+++ b/pages/pagefirmware.h
@@ -47,6 +47,7 @@ private slots:
     void fwRxChanged(bool rx, bool limited);
     void updateHwList(FW_RX_PARAMS params);
     void updateFwList();
+    void updateArchFwList();
     void updateBlList(FW_RX_PARAMS params);
 
     void on_chooseButton_clicked();
@@ -58,6 +59,7 @@ private slots:
     void on_cancelButton_clicked();
     void on_changelogButton_clicked();
     void on_uploadAllButton_clicked();
+    void on_dlArchiveButton_clicked();
 
 private:
     Ui::PageFirmware *ui;
@@ -65,6 +67,7 @@ private slots:
     QTimer *mTimer;
 
     void uploadFw(bool allOverCan);
+    void reloadArchive();
 
 };
 
diff --git a/pages/pagefirmware.ui b/pages/pagefirmware.ui
index c2725a568..0c37b78cb 100644
--- a/pages/pagefirmware.ui
+++ b/pages/pagefirmware.ui
@@ -295,6 +295,111 @@
           </item>
          </layout>
         </widget>
+        <widget class="QWidget" name="tab_4">
+         <attribute name="title">
+          <string>Archive</string>
+         </attribute>
+         <layout class="QVBoxLayout" name="verticalLayout_11">
+          <item>
+           <layout class="QHBoxLayout" name="horizontalLayout_4">
+            <item>
+             <widget class="DisplayPercentage" name="displayDl" native="true">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QPushButton" name="dlArchiveButton">
+              <property name="text">
+               <string>Download/Re-download Archive</string>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+          <item>
+           <layout class="QHBoxLayout" name="horizontalLayout_11">
+            <item>
+             <layout class="QVBoxLayout" name="verticalLayout_9">
+              <item>
+               <widget class="QLabel" name="label_3">
+                <property name="font">
+                 <font>
+                  <weight>75</weight>
+                  <bold>true</bold>
+                 </font>
+                </property>
+                <property name="text">
+                 <string>Firmware Version</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QListWidget" name="archVersionList"/>
+              </item>
+             </layout>
+            </item>
+            <item>
+             <layout class="QVBoxLayout" name="verticalLayout_10">
+              <item>
+               <widget class="QLabel" name="label_4">
+                <property name="font">
+                 <font>
+                  <weight>75</weight>
+                  <bold>true</bold>
+                 </font>
+                </property>
+                <property name="text">
+                 <string>File</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QListWidget" name="archFwList"/>
+              </item>
+             </layout>
+            </item>
+           </layout>
+          </item>
+          <item>
+           <layout class="QHBoxLayout" name="horizontalLayout_12">
+            <item>
+             <widget class="QCheckBox" name="showNonDefaultArchBox">
+              <property name="toolTip">
+               <string>Show firmwares with non-default compilation options</string>
+              </property>
+              <property name="text">
+               <string>Show non-default firmwares</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <spacer name="horizontalSpacer_2">
+              <property name="orientation">
+               <enum>Qt::Horizontal</enum>
+              </property>
+              <property name="sizeHint" stdset="0">
+               <size>
+                <width>40</width>
+                <height>20</height>
+               </size>
+              </property>
+             </spacer>
+            </item>
+           </layout>
+          </item>
+         </layout>
+        </widget>
        </widget>
       </item>
       <item>

From a6d6ae5718a20a32e54b98b015741135fa6a0826 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 19 May 2022 10:48:35 +0200
Subject: [PATCH 124/559] Added some words about forks without VESC branding

---
 README.md | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/README.md b/README.md
index 1b0281f2b..fa1d3178c 100644
--- a/README.md
+++ b/README.md
@@ -16,6 +16,14 @@ It is ok to use the github fork function to make contributions to the code. That
 
 Forks of VESC Tool on github are not encouraged to provide a binary release in the repository. That is because there is no way to tell the final binary apart from the official release once downloaded. Further, packaging the firmware, which has to be done as an additional step from a different repository, also cannot be verified whether it is done correctly.
 
+**Forks without branding**  
+
+Because the topic came up, here are some words about forking VESC Tool and removing the branding.  
+
+If you make a fork of VESC Tool and remove all traces of the VESC trademark you are not breaking the trademark policies, but we still do not encourage that. The reason is that such forks are 1) confusing to users and 2) divert users away from the VESC Project itself and take away the opportunity to learn about it and to make donations if they choose to. For example, the majority of VESC donations today come from VESC Tool downloads.  
+
+If you see a missing feature and you want to put in some work and make that feature available, we would appreciate if you contribute that back to the main VESC repositories. That way there is only one consistent and compatible release for everyone that is managed by the main authors of the VESC code who make the vast majority of the development. It also gives the main authors, who are the most familiar with the code, a chance to review features to make sure that they are as safe as possible and don't break other parts of the functionality.
+
 ## Add Your Hardware to the Binary Release
 
 If you have custom hardware and you want to add support for it in the official release of VESC Tool, you can use the following steps:

From c3dd2914c013b17c517dcd9aadf4c1092590c2f2 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 19 May 2022 11:16:22 +0200
Subject: [PATCH 125/559] Added phase filter fault disable setting

---
 res/config/6.00/parameters_mcconf.xml | 20 +++++++++++++++++---
 1 file changed, 17 insertions(+), 3 deletions(-)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index 42daacbd3..5c337ad9d 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -2585,6 +2585,18 @@ p, li { white-space: pre-wrap; }
             <cDefine>MCCONF_FOC_PHASE_FILTER_ENABLE</cDefine>
             <valInt>1</valInt>
         </foc_phase_filter_enable>
+        <foc_phase_filter_disable_fault>
+            <longName>Disable Phase Filter Fault Code</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Disable the phase filter fault code. This can be useful if the phase filter fault seems to trigger for no reason on some difficult motors.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_PHASE_FILTER_DISABLE_FAULT</cDefine>
+            <valInt>0</valInt>
+        </foc_phase_filter_disable_fault>
         <foc_phase_filter_max_erpm>
             <longName>Maximum ERPM for phase filters</longName>
             <type>1</type>
@@ -4087,9 +4099,9 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The battery state of charge (SOC) below which battery current is not allowed anymore.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;If there is more than one BMS on the CAN-bus, the one with the lowest value will be ued.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The battery state of charge (SOC) below which battery current is not allowed anymore.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If there is more than one BMS on the CAN-bus, the one with the lowest value will be ued.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_BMS_SOC_LIMIT_END</cDefine>
             <editorDecimalsDouble>2</editorDecimalsDouble>
             <editorScale>1</editorScale>
@@ -4252,6 +4264,7 @@ p, li { white-space: pre-wrap; }
         <ser>foc_offsets_voltage_undriven__1</ser>
         <ser>foc_offsets_voltage_undriven__2</ser>
         <ser>foc_phase_filter_enable</ser>
+        <ser>foc_phase_filter_disable_fault</ser>
         <ser>foc_phase_filter_max_erpm</ser>
         <ser>foc_mtpa_mode</ser>
         <ser>foc_fw_current_max</ser>
@@ -4563,6 +4576,7 @@ p, li { white-space: pre-wrap; }
                 <subgroupParams>
                     <param>foc_phase_filter_enable</param>
                     <param>foc_phase_filter_max_erpm</param>
+                    <param>foc_phase_filter_disable_fault</param>
                 </subgroupParams>
             </subgroup>
             <subgroup>

From d48d5c0a9209901d90545d72fd86a712758e0337 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 19 May 2022 11:16:57 +0200
Subject: [PATCH 126/559] Added input config support for firmwares without
 bitfield support

---
 utility.cpp | 45 +++++++++++++++++++++++++++++++++++++--------
 1 file changed, 37 insertions(+), 8 deletions(-)

diff --git a/utility.cpp b/utility.cpp
index a394f615e..5c2d1b3cc 100755
--- a/utility.cpp
+++ b/utility.cpp
@@ -627,8 +627,17 @@ bool Utility::resetInputCan(VescInterface *vesc, QVector<int> canIds)
 
     if (res) {
         int canId = ap->getParamInt("controller_id");
-        int canStatus = ap->getParamInt("can_status_msgs_r1");
-        int canStatus2 = ap->getParamInt("can_status_msgs_r2");
+
+        int canStatus;
+        int canStatus2;
+        bool has_bitfield_params = ap->hasParam("can_status_msgs_r1");
+        if (has_bitfield_params) {
+            canStatus = ap->getParamInt("can_status_msgs_r1");
+            canStatus2 = ap->getParamInt("can_status_msgs_r2");
+        } else {
+            canStatus = ap->getParamEnum("send_can_status");
+        }
+
         vesc->commands()->getAppConfDefault();
         res = waitSignal(ap, SIGNAL(updated()), 4000);
 
@@ -638,8 +647,13 @@ bool Utility::resetInputCan(VescInterface *vesc, QVector<int> canIds)
 
         if (res) {
             ap->updateParamInt("controller_id", canId);
-            ap->updateParamInt("can_status_msgs_r1", canStatus);
-            ap->updateParamInt("can_status_msgs_r2", canStatus2);
+            if (has_bitfield_params) {
+                ap->updateParamInt("can_status_msgs_r1", canStatus);
+                ap->updateParamInt("can_status_msgs_r2", canStatus2);
+            } else {
+                ap->updateParamEnum("send_can_status", canStatus);
+            }
+
             vesc->commands()->setAppConf();
             res = waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 4000);
 
@@ -681,8 +695,17 @@ bool Utility::resetInputCan(VescInterface *vesc, QVector<int> canIds)
             }
 
             int canId = ap->getParamInt("controller_id");
-            int canStatus = ap->getParamInt("can_status_msgs_r1");
-            int canStatus2 = ap->getParamInt("can_status_msgs_r2");
+
+            int canStatus;
+            int canStatus2;
+            bool has_bitfield_params = ap->hasParam("can_status_msgs_r1");
+            if (has_bitfield_params) {
+                canStatus = ap->getParamInt("can_status_msgs_r1");
+                canStatus2 = ap->getParamInt("can_status_msgs_r2");
+            } else {
+                canStatus = ap->getParamEnum("send_can_status");
+            }
+
             vesc->commands()->getAppConfDefault();
             res = waitSignal(ap, SIGNAL(updated()), 4000);
 
@@ -692,8 +715,14 @@ bool Utility::resetInputCan(VescInterface *vesc, QVector<int> canIds)
             }
 
             ap->updateParamInt("controller_id", canId);
-            ap->updateParamInt("can_status_msgs_r1", canStatus);
-            ap->updateParamInt("can_status_msgs_r2", canStatus2);
+
+            if (has_bitfield_params) {
+                ap->updateParamInt("can_status_msgs_r1", canStatus);
+                ap->updateParamInt("can_status_msgs_r2", canStatus2);
+            } else {
+                ap->updateParamEnum("send_can_status", canStatus);
+            }
+
             vesc->commands()->setAppConf();
             res = waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 4000);
 

From 4c63476d586bb1f44fde3d0f7c6a32b481a175b7 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 21 May 2022 22:54:50 +0200
Subject: [PATCH 127/559] Added new observer types

---
 res/config/6.00/parameters_mcconf.xml | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index 5c337ad9d..81262258e 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -2165,10 +2165,20 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_OBSERVER_ORTEGA_ORIGINAL&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The observer described here:&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;a href=&quot;http://cas.ensmp.fr/~praly/Telechargement/Journaux/2010-IEEE_TPEL-Lee-Hong-Nam-Ortega-Praly-Astolfi.pdf&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;http://cas.ensmp.fr/~praly/Telechargement/Journaux/2010-IEEE_TPEL-Lee-Hong-Nam-Ortega-Praly-Astolfi.pdf&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;a href=&quot;http://cas.ensmp.fr/~praly/Telechargement/Journaux/2010-IEEE_TPEL-Lee-Hong-Nam-Ortega-Praly-Astolfi.pdf&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;http://cas.ensmp.fr/~praly/Telechargement/Journaux/2010-IEEE_TPEL-Lee-Hong-Nam-Ortega-Praly-Astolfi.pdf&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; text-decoration: underline; color:#0000ff;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_OBSERVER_MXLEMMING&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Observer by David Molony, also known as mxlemming. This observer does not rely on the observer gain parameter, which is a significant advantage.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_OBSERVER_ORTEGA_LAMBDA_COMP&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_OBSERVER_MXLEMMING_LAMBDA_COMP&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the others, but with flux linkage tracking. The flux linkage tracker uses the observer gain for both observers, but it is less critical to get it right here as the flux linkage is mostly DC (unless the current is high and the motor starts to saturate).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_OBSERVER_TYPE</cDefine>
             <valInt>0</valInt>
             <enumNames>FOC_OBSERVER_ORTEGA_ORIGINAL</enumNames>
+            <enumNames>FOC_OBSERVER_MXLEMMING</enumNames>
+            <enumNames>FOC_OBSERVER_ORTEGA_LAMBDA_COMP</enumNames>
+            <enumNames>FOC_OBSERVER_MXLEMMING_LAMBDA_COMP</enumNames>
         </foc_observer_type>
         <foc_hfi_voltage_start>
             <longName>HFI Start Voltage</longName>

From 2a327127faaf82bb2836eb502ec7247a06dde885 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 21 May 2022 22:55:08 +0200
Subject: [PATCH 128/559] Updated BrakeBench-example

---
 res/qml/Examples/BrakeBench.qml | 105 ++++++++++++++++++++++++++------
 1 file changed, 88 insertions(+), 17 deletions(-)

diff --git a/res/qml/Examples/BrakeBench.qml b/res/qml/Examples/BrakeBench.qml
index ae6450d61..bcfcf038f 100644
--- a/res/qml/Examples/BrakeBench.qml
+++ b/res/qml/Examples/BrakeBench.qml
@@ -13,6 +13,35 @@ Item {
     property Commands mCommands: VescIf.commands()
     property bool isRunning: false
     
+    function driveStart() {
+        mCommands.setRpm(rpmBox.realValue)
+        isRunning = true
+    }
+    
+    function driveStop() {
+        // Disable brake first so that we don't feed anything back to the supply
+        VescIf.canTmpOverride(true, canBox.realValue)
+        mCommands.setCurrentBrake(0)
+        VescIf.canTmpOverrideEnd()
+        
+        mCommands.setCurrent(0)
+        
+        isRunning = false
+    }
+    
+    function brakeOn() {
+        VescIf.canTmpOverride(true, canBox.realValue)
+        mCommands.setCurrentBrake(currentBox.realValue)
+        VescIf.canTmpOverrideEnd()
+        isRunning = true
+    }
+    
+    function brakeOff() {
+        VescIf.canTmpOverride(true, canBox.realValue)
+        mCommands.setCurrentBrake(0)
+        VescIf.canTmpOverrideEnd()
+    }
+    
     ColumnLayout {
         anchors.fill: parent
         
@@ -42,8 +71,7 @@ Item {
                         text: "Start"
                         
                         onClicked: {
-                            mCommands.setRpm(rpmBox.realValue)
-                            isRunning = true
+                            driveStart()
                         }
                     }
                     
@@ -52,14 +80,7 @@ Item {
                         text: "Stop"
                         
                         onClicked: {
-                            // Disable brake first so that we don't feed anything back to the supply
-                            VescIf.canTmpOverride(true, canBox.realValue)
-                            mCommands.setCurrentBrake(0)
-                            VescIf.canTmpOverrideEnd()
-                            
-                            mCommands.setCurrent(0)
-                            
-                            isRunning = false
+                            driveStop()
                         }
                     }
                 }
@@ -104,10 +125,7 @@ Item {
                         text: "Brake ON"
                         
                         onClicked: {
-                            VescIf.canTmpOverride(true, canBox.realValue)
-                            mCommands.setCurrentBrake(currentBox.realValue)
-                            VescIf.canTmpOverrideEnd()
-                            isRunning = true
+                            brakeOn()
                         }
                     }
                     
@@ -116,15 +134,22 @@ Item {
                         text: "Brake Off"
                         
                         onClicked: {
-                            VescIf.canTmpOverride(true, canBox.realValue)
-                            mCommands.setCurrentBrake(0)
-                            VescIf.canTmpOverrideEnd()
+                            brakeOff()
                         }
                     }
                 }
             }
         }
         
+        Button {
+            Layout.fillWidth: true
+            text: "Run Test"
+            
+            onClicked: {
+                testTimer.start()
+            }
+        }
+        
         Text {
             id: valText
             Layout.fillHeight: true
@@ -134,6 +159,52 @@ Item {
         }
     }
     
+    Timer {
+        id: testTimer
+        property var state: 0
+        interval: 100
+        repeat: false
+        running: false
+        
+        onTriggered: {
+            if (state == 0) {
+                driveStart()
+                
+                interval = 2000
+                state++
+                start()
+            } else if (state == 1) {
+                mCommands.setDetect(6)
+                
+                interval = 1000
+                state++
+                start()
+            } else if (state == 2) {
+                brakeOn()
+                
+                interval = 1000
+                state++
+                start()
+            } else if (state == 3) {
+                mCommands.setDetect(3)
+                
+                interval = 200
+                state++
+                start()
+            } else if (state == 4) {
+                driveStop()
+                mCommands.setDetect(0)
+                
+                interval = 1000
+                state++
+                start()
+            } else {
+                interval = 100
+                state = 0
+            }
+        }
+    }
+    
     Timer {
         id: aliveTimer
         interval: 100

From 90a1c14159218c03790daf82dc430944adf3e2c3 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 22 May 2022 09:35:36 +0200
Subject: [PATCH 129/559] Make disp_pos_mode available in qml

---
 datatypes.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/datatypes.h b/datatypes.h
index 4c207f3ee..891cf8270 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -112,6 +112,8 @@ typedef enum {
     DISP_POS_MODE_ENCODER_OBSERVER_ERROR
 } disp_pos_mode;
 
+Q_DECLARE_METATYPE(disp_pos_mode)
+
 // ADC control types. Remember to add new types here when adding them to the firmware.
 typedef enum {
     ADC_CTRL_TYPE_NONE = 0,

From fd65ab538ec55e85df0beaa8061ec36a390eb1c7 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 22 May 2022 10:34:03 +0200
Subject: [PATCH 130/559] Added start_curr_dec parameter and decreased mcconf
 serialization size

---
 res/config/6.00/parameters_mcconf.xml | 116 ++++++++++++++++++--------
 1 file changed, 83 insertions(+), 33 deletions(-)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index 81262258e..6281e27bc 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -1164,7 +1164,7 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Sin/Cos Encoder Sine gain compensation to reduce nonlinearity errors in the signal path.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sin/Cos Encoder Sine gain compensation to reduce nonlinearity errors in the signal path.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_ENCODER_SIN_GAIN</cDefine>
             <editorDecimalsDouble>2</editorDecimalsDouble>
             <editorScale>1</editorScale>
@@ -1176,7 +1176,7 @@ p, li { white-space: pre-wrap; }
             <valDouble>1</valDouble>
             <vTxDoubleScale>1000</vTxDoubleScale>
             <suffix></suffix>
-            <vTx>9</vTx>
+            <vTx>7</vTx>
         </foc_encoder_sin_gain>
         <foc_encoder_cos_gain>
             <longName>Sin/Cos Cosine Gain Compensation</longName>
@@ -1186,7 +1186,7 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Sin/Cos Encoder Cosine gain compensation to reduce nonlinearity errors in the signal path.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sin/Cos Encoder Cosine gain compensation to reduce nonlinearity errors in the signal path.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_ENCODER_COS_GAIN</cDefine>
             <editorDecimalsDouble>2</editorDecimalsDouble>
             <editorScale>1</editorScale>
@@ -1198,7 +1198,7 @@ p, li { white-space: pre-wrap; }
             <valDouble>1</valDouble>
             <vTxDoubleScale>1000</vTxDoubleScale>
             <suffix></suffix>
-            <vTx>9</vTx>
+            <vTx>7</vTx>
         </foc_encoder_cos_gain>
         <foc_encoder_sin_offset>
             <longName>Sin/Cos Sine Offset</longName>
@@ -1208,7 +1208,7 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Sin/Cos Encoder Sine Offset.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sin/Cos Encoder Sine Offset.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_ENCODER_SIN_OFFSET</cDefine>
             <editorDecimalsDouble>2</editorDecimalsDouble>
             <editorScale>1</editorScale>
@@ -1220,7 +1220,7 @@ p, li { white-space: pre-wrap; }
             <valDouble>1.65</valDouble>
             <vTxDoubleScale>1000</vTxDoubleScale>
             <suffix></suffix>
-            <vTx>9</vTx>
+            <vTx>7</vTx>
         </foc_encoder_sin_offset>
         <foc_encoder_cos_offset>
             <longName>Sin/Cos Cosine Offset</longName>
@@ -1230,7 +1230,7 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Sin/Cos Encoder Sine Offset.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sin/Cos Encoder Sine Offset.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_ENCODER_COS_OFFSET</cDefine>
             <editorDecimalsDouble>2</editorDecimalsDouble>
             <editorScale>1</editorScale>
@@ -1242,7 +1242,7 @@ p, li { white-space: pre-wrap; }
             <valDouble>1.65</valDouble>
             <vTxDoubleScale>1000</vTxDoubleScale>
             <suffix></suffix>
-            <vTx>9</vTx>
+            <vTx>7</vTx>
         </foc_encoder_cos_offset>
         <foc_encoder_sincos_filter_constant>
             <longName>Sin/Cos Filter Constant</longName>
@@ -1568,6 +1568,52 @@ p, li { white-space: pre-wrap; }
             <suffix></suffix>
             <vTx>9</vTx>
         </foc_duty_dowmramp_ki>
+        <foc_start_curr_dec>
+            <longName>Start Current Decrease</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Decrease the current limit to this percentage at start. This helps starting the motor as the observer can track it easier when the current is low.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This setting will not give the full starting torque, but for some applications, such as propellers and pumps, that does not matter.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_START_CURR_DEC</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </foc_start_curr_dec>
+        <foc_start_curr_dec_rpm>
+            <longName>Start Current Decrease ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Above this ERPM the full current is available.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_START_CURR_DEC_RPM</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>400</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_start_curr_dec_rpm>
         <foc_openloop_rpm>
             <longName>Openloop ERPM</longName>
             <type>1</type>
@@ -1575,7 +1621,7 @@ p, li { white-space: pre-wrap; }
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM below which openloop commutation is used when running sensorless. Can be tweaked for the best startup depending on e.g. the load inertia.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_OPENLOOP_RPM</cDefine>
             <editorDecimalsDouble>2</editorDecimalsDouble>
@@ -1648,7 +1694,7 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;D axis current controller gain at maximum modulation.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D axis current controller gain at maximum modulation.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_D_GAIN_SCALE_MAX_MOD</cDefine>
             <editorDecimalsDouble>2</editorDecimalsDouble>
             <editorScale>1</editorScale>
@@ -1660,7 +1706,7 @@ p, li { white-space: pre-wrap; }
             <valDouble>0.2</valDouble>
             <vTxDoubleScale>1000</vTxDoubleScale>
             <suffix></suffix>
-            <vTx>9</vTx>
+            <vTx>7</vTx>
         </foc_d_gain_scale_max_mod>
         <foc_sl_openloop_hyst>
             <longName>Openloop Hysteresis</longName>
@@ -2188,9 +2234,9 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;HFI voltage at start to resolve ambiguity. This voltage has to cause a current that is high enough to see signs of saturation in the motor.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;HFI voltage at start to resolve ambiguity. This voltage has to cause a current that is high enough to see signs of saturation in the motor.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_HFI_VOLTAGE_START</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
             <maxDouble>700</maxDouble>
@@ -2198,9 +2244,9 @@ p, li { white-space: pre-wrap; }
             <showDisplay>0</showDisplay>
             <stepDouble>1</stepDouble>
             <valDouble>20</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
+            <vTxDoubleScale>10</vTxDoubleScale>
             <suffix> V</suffix>
-            <vTx>9</vTx>
+            <vTx>7</vTx>
         </foc_hfi_voltage_start>
         <foc_hfi_voltage_run>
             <longName>HFI Run Voltage</longName>
@@ -2210,9 +2256,9 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;HFI voltage during operation, after ambiguity has been resolved.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;HFI voltage during operation, after ambiguity has been resolved.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_HFI_VOLTAGE_RUN</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
             <maxDouble>700</maxDouble>
@@ -2220,9 +2266,9 @@ p, li { white-space: pre-wrap; }
             <showDisplay>0</showDisplay>
             <stepDouble>1</stepDouble>
             <valDouble>4</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
+            <vTxDoubleScale>10</vTxDoubleScale>
             <suffix> V</suffix>
-            <vTx>9</vTx>
+            <vTx>7</vTx>
         </foc_hfi_voltage_run>
         <foc_hfi_voltage_max>
             <longName>HFI Max Voltage</longName>
@@ -2236,7 +2282,7 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The HFI voltage is mapped between voltage_run and voltage_max, relative to the motor current.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_HFI_VOLTAGE_MAX</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
             <maxDouble>700</maxDouble>
@@ -2244,9 +2290,9 @@ p, li { white-space: pre-wrap; }
             <showDisplay>0</showDisplay>
             <stepDouble>1</stepDouble>
             <valDouble>5</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
+            <vTxDoubleScale>10</vTxDoubleScale>
             <suffix> V</suffix>
-            <vTx>9</vTx>
+            <vTx>7</vTx>
         </foc_hfi_voltage_max>
         <foc_hfi_gain>
             <longName>HFI Gain</longName>
@@ -3155,7 +3201,7 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Filter on derivative term for position controller. The range is 0 to 1, where 0 is the maximum amount of filtering (infinite) and 1 is no filtering.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Filter on derivative term for position controller. The range is 0 to 1, where 0 is the maximum amount of filtering (infinite) and 1 is no filtering.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_P_PID_KD_FILTER</cDefine>
             <editorDecimalsDouble>3</editorDecimalsDouble>
             <editorScale>1</editorScale>
@@ -3165,9 +3211,9 @@ p, li { white-space: pre-wrap; }
             <showDisplay>0</showDisplay>
             <stepDouble>0.01</stepDouble>
             <valDouble>0.2</valDouble>
-            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <vTxDoubleScale>10000</vTxDoubleScale>
             <suffix></suffix>
-            <vTx>9</vTx>
+            <vTx>7</vTx>
         </p_pid_kd_filter>
         <p_pid_ang_div>
             <longName>Position Angle Division</longName>
@@ -3220,7 +3266,7 @@ p, li { white-space: pre-wrap; }
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Startup boost in current control. Essentially defines the lowest duty cycle to be used in current control mode, to give a bit more punch when starting.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_CC_STARTUP_BOOST_DUTY</cDefine>
             <editorDecimalsDouble>3</editorDecimalsDouble>
@@ -3231,9 +3277,9 @@ p, li { white-space: pre-wrap; }
             <showDisplay>0</showDisplay>
             <stepDouble>0.005</stepDouble>
             <valDouble>0.01</valDouble>
-            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <vTxDoubleScale>10000</vTxDoubleScale>
             <suffix></suffix>
-            <vTx>9</vTx>
+            <vTx>7</vTx>
         </cc_startup_boost_duty>
         <cc_min_current>
             <longName>Minimum Current</longName>
@@ -3297,9 +3343,9 @@ p, li { white-space: pre-wrap; }
             <showDisplay>0</showDisplay>
             <stepDouble>0.005</stepDouble>
             <valDouble>0.04</valDouble>
-            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <vTxDoubleScale>10000</vTxDoubleScale>
             <suffix></suffix>
-            <vTx>9</vTx>
+            <vTx>7</vTx>
         </cc_ramp_step_max>
         <m_fault_stop_time_ms>
             <longName>Fault Stop Time</longName>
@@ -3328,7 +3374,7 @@ p, li { white-space: pre-wrap; }
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum duty cycle ramp step for DC and BLDC motors.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_M_RAMP_STEP</cDefine>
             <editorDecimalsDouble>4</editorDecimalsDouble>
@@ -3339,9 +3385,9 @@ p, li { white-space: pre-wrap; }
             <showDisplay>0</showDisplay>
             <stepDouble>0.005</stepDouble>
             <valDouble>0.02</valDouble>
-            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <vTxDoubleScale>10000</vTxDoubleScale>
             <suffix></suffix>
-            <vTx>9</vTx>
+            <vTx>7</vTx>
         </m_duty_ramp_step>
         <m_current_backoff_gain>
             <longName>Current Backoff Gain</longName>
@@ -4226,6 +4272,8 @@ p, li { white-space: pre-wrap; }
         <ser>foc_observer_offset</ser>
         <ser>foc_duty_dowmramp_kp</ser>
         <ser>foc_duty_dowmramp_ki</ser>
+        <ser>foc_start_curr_dec</ser>
+        <ser>foc_start_curr_dec_rpm</ser>
         <ser>foc_openloop_rpm</ser>
         <ser>foc_openloop_rpm_low</ser>
         <ser>foc_d_gain_scale_start</ser>
@@ -4523,6 +4571,8 @@ p, li { white-space: pre-wrap; }
                     <param>foc_sl_openloop_time</param>
                     <param>foc_sl_openloop_boost_q</param>
                     <param>foc_sl_openloop_max_q</param>
+                    <param>foc_start_curr_dec</param>
+                    <param>foc_start_curr_dec_rpm</param>
                     <param>foc_sat_comp</param>
                     <param>foc_temp_comp</param>
                     <param>foc_temp_comp_base_temp</param>

From d1e9304923a6a7c0bbb0a23f90c03f3d7b36e873 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 23 May 2022 14:41:40 +0200
Subject: [PATCH 131/559] Added saturation compensation mode

---
 res/config/6.00/parameters_mcconf.xml | 54 +++++++++++++++++++++------
 1 file changed, 42 insertions(+), 12 deletions(-)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index 6281e27bc..11c3c9bc4 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -2083,25 +2083,53 @@ p, li { white-space: pre-wrap; }
             <cDefine>MCCONF_FOC_SAMPLE_HIGH_CURRENT</cDefine>
             <valInt>0</valInt>
         </foc_sample_high_current>
+        <foc_sat_comp_mode>
+            <longName>Saturation Compensation Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Stator Saturation Compensation Mode:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Disabled&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;No saturation compensation is done.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Factor&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The &lt;span style=&quot; font-style:italic;&quot;&gt;Saturation Compensation Factor&lt;/span&gt; is used to determine how much to decrease the inductance and flux linkage based on the current.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Lambda&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The decrease in flux linkage is used to make a proportional decrease in inductance. This requires that one of the observers with Lambda Compensation is used.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Lambda and Factor&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;First the lambda compensation and then the factor is used. Also requires that one of the observers with Lambda Compensation is used.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SAT_COMP_MODE</cDefine>
+            <valInt>2</valInt>
+            <enumNames>Disabled</enumNames>
+            <enumNames>Factor</enumNames>
+            <enumNames>Lambda</enumNames>
+            <enumNames>Lambda and Factor</enumNames>
+        </foc_sat_comp_mode>
         <foc_sat_comp>
-            <longName>Stator Saturation Compensation</longName>
+            <longName>Saturation Compensation Factor</longName>
             <type>1</type>
             <transmittable>1</transmittable>
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Stator saturation compensation.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;When using high currents the stator of the motor can get saturated. This will change the motor parameters, making it difficult for the sensorless observer to track the rotor position. The effect is most noticeable when running the motor with high current at low speed - it will get stuck and then &amp;quot;cog&amp;quot; when open loop operation tries to restart the motor. If you observe this behavior you can try to increase this parameter. This parameter attempts to compensate for effects of stator saturation, making it possible to run motors sensorlessly even at high current and low speed.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Reasonable values for this parameters are 15 % or less. If going higher than that gives good results something else is most likely wrong in your configuration.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Consider the following:&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Motors that run at low speed and high torque tend to get saturated, such as e-bike direct drive hub motors.&lt;/li&gt;
-&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Coreless motors should in theory never get saturated.&lt;/li&gt;
-&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The effect of this parameter is proportional to the maximum motor current limit, meaning that this parameter has no effect at zero current and full effect at full current. If you change the maximum motor current limit you have to adapt this parameter accordingly.&lt;/li&gt;&lt;/ul&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Stator saturation compensation.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;When using high currents the stator of the motor can get saturated. This will change the motor parameters, making it difficult for the sensorless observer to track the rotor position. The effect is most noticeable when running the motor with high current at low speed - it will get stuck and then &amp;quot;cog&amp;quot; when open loop operation tries to restart the motor. If you observe this behavior you can try to increase this parameter. This parameter attempts to compensate for effects of stator saturation, making it possible to run motors sensorlessly even at high current and low speed.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Reasonable values for this parameters are 15 % or less. If going higher than that gives good results something else is most likely wrong in your configuration.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Consider the following:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Motors that run at low speed and high torque tend to get saturated, such as e-bike direct drive hub motors.&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Coreless motors should in theory never get saturated.&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The effect of this parameter is proportional to the maximum motor current limit, meaning that this parameter has no effect at zero current and full effect at full current. If you change the maximum motor current limit you have to adapt this parameter accordingly.&lt;/li&gt;&lt;/ul&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_SAT_COMP</cDefine>
             <editorDecimalsDouble>2</editorDecimalsDouble>
             <editorScale>1</editorScale>
@@ -4296,6 +4324,7 @@ p, li { white-space: pre-wrap; }
         <ser>foc_sl_erpm</ser>
         <ser>foc_sample_v0_v7</ser>
         <ser>foc_sample_high_current</ser>
+        <ser>foc_sat_comp_mode</ser>
         <ser>foc_sat_comp</ser>
         <ser>foc_temp_comp</ser>
         <ser>foc_temp_comp_base_temp</ser>
@@ -4573,6 +4602,7 @@ p, li { white-space: pre-wrap; }
                     <param>foc_sl_openloop_max_q</param>
                     <param>foc_start_curr_dec</param>
                     <param>foc_start_curr_dec_rpm</param>
+                    <param>foc_sat_comp_mode</param>
                     <param>foc_sat_comp</param>
                     <param>foc_temp_comp</param>
                     <param>foc_temp_comp_base_temp</param>

From a043b8a0c21e98145736601d966b61ca74d31e53 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Tue, 24 May 2022 20:10:25 +0000
Subject: [PATCH 132/559] @surfdado has signed the CLA from Pull Request #232

---
 signatures/version1/cla.json | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/signatures/version1/cla.json b/signatures/version1/cla.json
index 22117d91b..880ddee60 100644
--- a/signatures/version1/cla.json
+++ b/signatures/version1/cla.json
@@ -55,6 +55,14 @@
       "created_at": "2022-04-18T20:24:04Z",
       "repoId": 102395117,
       "pullRequestNo": 220
+    },
+    {
+      "name": "surfdado",
+      "id": 74502616,
+      "comment_id": 1136384667,
+      "created_at": "2022-05-24T20:10:09Z",
+      "repoId": 102395117,
+      "pullRequestNo": 232
     }
   ]
 }
\ No newline at end of file

From 885ed4aa45444e1cc7627ffde2f3b2fd6f114025 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 31 May 2022 15:30:34 +0200
Subject: [PATCH 133/559] QML udp support and broadcast udp listen support

---
 QCodeEditor/resources/languages/qml.xml |  1 +
 main.cpp                                |  1 +
 res/qml/Examples/UdpServer.qml          | 22 ++++++++++++++++++++++
 res_qml.qrc                             |  1 +
 udpserversimple.cpp                     |  7 +++++++
 udpserversimple.h                       | 13 +++++++------
 6 files changed, 39 insertions(+), 6 deletions(-)
 create mode 100644 res/qml/Examples/UdpServer.qml

diff --git a/QCodeEditor/resources/languages/qml.xml b/QCodeEditor/resources/languages/qml.xml
index edd42dd6d..090b0c48f 100644
--- a/QCodeEditor/resources/languages/qml.xml
+++ b/QCodeEditor/resources/languages/qml.xml
@@ -107,6 +107,7 @@
         <name>MenuItem</name>
         <name>Repeater</name>
         <name>TcpServerSimple</name>
+        <name>UdpServerSimple</name>
         <name>LogWriter</name>
         <name>LogReader</name>
         <name>ImageButton</name>
diff --git a/main.cpp b/main.cpp
index fce5cd2f1..1c843f809 100755
--- a/main.cpp
+++ b/main.cpp
@@ -183,6 +183,7 @@ int main(int argc, char *argv[])
     qmlRegisterType<ConfigParams>("Vedder.vesc.configparams", 1, 0, "ConfigParams");
     qmlRegisterType<FwHelper>("Vedder.vesc.fwhelper", 1, 0, "FwHelper");
     qmlRegisterType<TcpServerSimple>("Vedder.vesc.tcpserversimple", 1, 0, "TcpServerSimple");
+    qmlRegisterType<UdpServerSimple>("Vedder.vesc.udpserversimple", 1, 0, "UdpServerSimple");
     qmlRegisterType<Vesc3dItem>("Vedder.vesc.vesc3ditem", 1, 0, "Vesc3dItem");
     qmlRegisterType<LogWriter>("Vedder.vesc.logwriter", 1, 0, "LogWriter");
     qmlRegisterType<LogReader>("Vedder.vesc.logreader", 1, 0, "LogReader");
diff --git a/res/qml/Examples/UdpServer.qml b/res/qml/Examples/UdpServer.qml
new file mode 100644
index 000000000..ffce9d38d
--- /dev/null
+++ b/res/qml/Examples/UdpServer.qml
@@ -0,0 +1,22 @@
+import QtQuick 2.5
+import QtQuick.Controls 2.2
+import QtQuick.Layouts 1.3
+import Vedder.vesc.udpserversimple 1.0
+
+Item {
+    anchors.fill: parent
+    anchors.margins: 10
+    
+    Component.onCompleted: {
+        udp.startServerBroadcast(65102)
+        console.log("Started")
+    }
+    
+    UdpServerSimple {
+        id: udp
+        
+        onDataRx: {
+            console.log(data)
+        }
+    }
+}
diff --git a/res_qml.qrc b/res_qml.qrc
index 876d280c8..8fac5651a 100644
--- a/res_qml.qrc
+++ b/res_qml.qrc
@@ -25,5 +25,6 @@
         <file>res/qml/Examples/RpmSlider.qml</file>
         <file>res/qml/Examples/BalanceUi.qml</file>
         <file>res/qml/Examples/MotorComparisonModel.qml</file>
+        <file>res/qml/Examples/UdpServer.qml</file>
     </qresource>
 </RCC>
diff --git a/udpserversimple.cpp b/udpserversimple.cpp
index 68b92b7ac..17a3a2a1a 100644
--- a/udpserversimple.cpp
+++ b/udpserversimple.cpp
@@ -35,6 +35,7 @@ UdpServerSimple::UdpServerSimple(QObject *parent) : QObject(parent)
 
 bool UdpServerSimple::startServer(int port, QHostAddress addr)
 {
+    mUdpSocket->close();
     if (!mUdpSocket->bind(addr,  port)) {
         return false;
     }
@@ -42,6 +43,12 @@ bool UdpServerSimple::startServer(int port, QHostAddress addr)
     return true;
 }
 
+bool UdpServerSimple::startServerBroadcast(int port)
+{
+    mUdpSocket->close();
+    return mUdpSocket->bind(QHostAddress::Any, port, QUdpSocket::ShareAddress);
+}
+
 void UdpServerSimple::stopServer()
 {
     emit connectionChanged(false, mUdpSocket->peerAddress().toString());
diff --git a/udpserversimple.h b/udpserversimple.h
index 19f980456..d95b145c0 100644
--- a/udpserversimple.h
+++ b/udpserversimple.h
@@ -29,16 +29,17 @@ class UdpServerSimple : public QObject
     Q_OBJECT
 public:
     explicit UdpServerSimple(QObject *parent = nullptr);
-    bool startServer(int port, QHostAddress addr = QHostAddress::Any);
-    void stopServer();
-    bool sendData(const QByteArray &data);
+    Q_INVOKABLE bool startServer(int port, QHostAddress addr = QHostAddress::Any);
+    Q_INVOKABLE bool startServerBroadcast(int port);
+    Q_INVOKABLE void stopServer();
+    Q_INVOKABLE bool sendData(const QByteArray &data);
     QString errorString();
     Packet *packet();
     bool usePacket() const;
     void setUsePacket(bool usePacket);
-    bool isClientConnected();
-    QString getConnectedClientIp();
-    bool isServerRunning();
+    Q_INVOKABLE bool isClientConnected();
+    Q_INVOKABLE QString getConnectedClientIp();
+    Q_INVOKABLE bool isServerRunning();
 
 signals:
     void dataRx(const QByteArray &data);

From 416f688a138b41efcf4eaa949e3841e5145cc7b0 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 31 May 2022 15:31:08 +0200
Subject: [PATCH 134/559] UUID display fix

---
 utility.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/utility.cpp b/utility.cpp
index 5c2d1b3cc..0dd8e52af 100755
--- a/utility.cpp
+++ b/utility.cpp
@@ -257,7 +257,7 @@ QString Utility::uuid2Str(QByteArray uuid, bool space)
 {
     QString strUuid;
     for (int i = 0;i < uuid.size();i++) {
-        QString str = QString::number(uuid.at(i), 16).
+        QString str = QString::number((uint8_t)uuid.at(i), 16).
                 rightJustified(2, '0').toUpper();
         strUuid.append(((i > 0 && space) ? " " : "") + str);
     }

From 111743841c773b668442dfc44a4c0056566d8419 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 31 May 2022 15:33:16 +0200
Subject: [PATCH 135/559] Added UDP broadcast listener

---
 pages/pageconnection.cpp | 55 ++++++++++++++++++++++-
 pages/pageconnection.h   |  4 ++
 pages/pageconnection.ui  | 94 +++++++++++++++++++++++++++++++++-------
 res/CHANGELOG            |  1 +
 vesc_tool.pro            |  2 +-
 vescinterface.cpp        |  6 ---
 6 files changed, 137 insertions(+), 25 deletions(-)

diff --git a/pages/pageconnection.cpp b/pages/pageconnection.cpp
index b569e3a56..feb2d544b 100644
--- a/pages/pageconnection.cpp
+++ b/pages/pageconnection.cpp
@@ -70,6 +70,35 @@ PageConnection::PageConnection(QWidget *parent) :
     mycon.addPixmap(QPixmap(theme + "icons/can_off.png"), QIcon::Normal, QIcon::Off);
     mycon.addPixmap(QPixmap(theme + "icons/can_on.png"), QIcon::Normal, QIcon::On);
     ui->canFwdButton->setIcon(mycon);
+
+    mUdpListen = new UdpServerSimple(this);
+    mUdpListen->startServerBroadcast(65109);
+
+    connect(mUdpListen, &UdpServerSimple::dataRx, [this](const QByteArray &data) {
+        QString str(data);
+        auto tokens = str.split("::");
+        if (tokens.size() == 3) {
+            auto name = tokens.at(0);
+            auto ip = tokens.at(1);
+            auto port = tokens.at(2);
+            tokens.append(QString::number(QTime::currentTime().msecsSinceStartOfDay()));
+
+            bool found = false;
+            for (int i = 0;i < ui->tcpDetectBox->count();i++) {
+                auto d = ui->tcpDetectBox->itemData(i).toStringList();
+                if (d.at(1) == ip) {
+                    ui->tcpDetectBox->setItemData(i, tokens);
+                    found = true;
+                    break;
+                }
+            }
+
+            if (!found) {
+                QString itemName = name + " - " + ip + ":" + port;
+                ui->tcpDetectBox->addItem(itemName, tokens);
+            }
+        }
+    });
 }
 
 PageConnection::~PageConnection()
@@ -145,6 +174,14 @@ void PageConnection::setVesc(VescInterface *vesc)
 
 void PageConnection::timerSlot()
 {
+    for (int i = 0;i < ui->tcpDetectBox->count();i++) {
+        auto d = ui->tcpDetectBox->itemData(i).toStringList();
+        if ((QTime::currentTime().msecsSinceStartOfDay() - d.at(3).toInt()) > 3000) {
+            ui->tcpDetectBox->removeItem(i);
+            break;
+        }
+    }
+
     if (mVesc) {
         QString str = mVesc->getConnectedPortName();
         if (str != ui->statusLabel->text()) {
@@ -647,8 +684,7 @@ void PageConnection::on_tcpServerEnableBox_toggled(bool isEnabled)
 void PageConnection::on_udpServerEnableBox_toggled(bool isEnabled)
 {
     if (mVesc) {
-        if (isEnabled)
-        {
+        if (isEnabled) {
             mVesc->udpServerStart(ui->udpServerPortBox->value());
             ui->udpServerPortBox->setEnabled(false);
         } else {
@@ -656,3 +692,18 @@ void PageConnection::on_udpServerEnableBox_toggled(bool isEnabled)
         }
     }
 }
+
+void PageConnection::on_tcpDetectConnectButton_clicked()
+{
+    if (mVesc && ui->tcpDetectBox->count() > 0) {
+        auto d = ui->tcpDetectBox->currentData().toStringList();
+        mVesc->connectTcp(d.at(1), d.at(2).toInt());
+    }
+}
+
+void PageConnection::on_tcpDetectDisconnectButton_clicked()
+{
+    if (mVesc) {
+        mVesc->disconnectPort();
+    }
+}
diff --git a/pages/pageconnection.h b/pages/pageconnection.h
index 986b9c9df..c58047755 100644
--- a/pages/pageconnection.h
+++ b/pages/pageconnection.h
@@ -23,6 +23,7 @@
 #include <QWidget>
 #include <QTimer>
 #include "vescinterface.h"
+#include "udpserversimple.h"
 
 namespace Ui {
 class PageConnection;
@@ -75,11 +76,14 @@ private slots:
     void on_unpairButton_clicked();
     void on_tcpServerEnableBox_toggled(bool isEnabled);
     void on_udpServerEnableBox_toggled(bool isEnabled);
+    void on_tcpDetectConnectButton_clicked();
+    void on_tcpDetectDisconnectButton_clicked();
 
 private:
     Ui::PageConnection *ui;
     VescInterface *mVesc;
     QTimer *mTimer;
+    UdpServerSimple *mUdpListen;
 
 };
 
diff --git a/pages/pageconnection.ui b/pages/pageconnection.ui
index 054eb5be8..9050873bc 100644
--- a/pages/pageconnection.ui
+++ b/pages/pageconnection.ui
@@ -310,22 +310,80 @@
          <property name="title">
           <string>TCP Client</string>
          </property>
-         <layout class="QHBoxLayout" name="horizontalLayout_3">
-          <item>
+         <layout class="QGridLayout" name="gridLayout">
+          <property name="leftMargin">
+           <number>6</number>
+          </property>
+          <property name="topMargin">
+           <number>6</number>
+          </property>
+          <property name="rightMargin">
+           <number>6</number>
+          </property>
+          <property name="bottomMargin">
+           <number>6</number>
+          </property>
+          <property name="horizontalSpacing">
+           <number>6</number>
+          </property>
+          <property name="verticalSpacing">
+           <number>2</number>
+          </property>
+          <item row="0" column="3">
+           <widget class="QPushButton" name="tcpDisconnectButton">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="toolTip">
+             <string>Disconnect</string>
+            </property>
+            <property name="text">
+             <string/>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Disconnected-96.png</normaloff>:/res/icons/Disconnected-96.png</iconset>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="0">
            <widget class="QLabel" name="label">
             <property name="text">
              <string>Address</string>
             </property>
            </widget>
           </item>
-          <item>
+          <item row="0" column="4">
+           <widget class="QPushButton" name="tcpConnectButton">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="toolTip">
+             <string>Connect</string>
+            </property>
+            <property name="text">
+             <string/>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Connected-96.png</normaloff>:/res/icons/Connected-96.png</iconset>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
            <widget class="QLineEdit" name="tcpServerEdit">
             <property name="text">
              <string>127.0.0.1</string>
             </property>
            </widget>
           </item>
-          <item>
+          <item row="0" column="2">
            <widget class="QSpinBox" name="tcpPortBox">
             <property name="prefix">
              <string>Port: </string>
@@ -338,43 +396,47 @@
             </property>
            </widget>
           </item>
-          <item>
-           <widget class="QPushButton" name="tcpDisconnectButton">
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_8">
+            <property name="text">
+             <string>Detected Devices</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="4">
+           <widget class="QPushButton" name="tcpDetectConnectButton">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
             </property>
-            <property name="toolTip">
-             <string>Disconnect</string>
-            </property>
             <property name="text">
              <string/>
             </property>
             <property name="icon">
              <iconset resource="../res.qrc">
-              <normaloff>:/res/icons/Disconnected-96.png</normaloff>:/res/icons/Disconnected-96.png</iconset>
+              <normaloff>:/res/icons/Connected-96.png</normaloff>:/res/icons/Connected-96.png</iconset>
             </property>
            </widget>
           </item>
-          <item>
-           <widget class="QPushButton" name="tcpConnectButton">
+          <item row="1" column="1" colspan="2">
+           <widget class="QComboBox" name="tcpDetectBox"/>
+          </item>
+          <item row="1" column="3">
+           <widget class="QPushButton" name="tcpDetectDisconnectButton">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
             </property>
-            <property name="toolTip">
-             <string>Connect</string>
-            </property>
             <property name="text">
              <string/>
             </property>
             <property name="icon">
              <iconset resource="../res.qrc">
-              <normaloff>:/res/icons/Connected-96.png</normaloff>:/res/icons/Connected-96.png</iconset>
+              <normaloff>:/res/icons/Disconnected-96.png</normaloff>:/res/icons/Disconnected-96.png</iconset>
             </property>
            </widget>
           </item>
diff --git a/res/CHANGELOG b/res/CHANGELOG
index 284620f67..b8602c2f6 100644
--- a/res/CHANGELOG
+++ b/res/CHANGELOG
@@ -9,6 +9,7 @@
  - Examples
 * Added custom load code support to motor comparison tool.
 * Added support for bitfield parameters.
+* Added VESC UDP broadcast listener.
 
 == 3.01 ==
 * Fixed simultaneous CAN FW upload when other devices (such as BMS) are on the CAN-bus.
diff --git a/vesc_tool.pro b/vesc_tool.pro
index 2c62aa781..836892979 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -10,7 +10,7 @@ VT_INTRO_VERSION = 1
 VT_CONFIG_VERSION = 2
 
 # Set to 0 for stable versions and to test version number for development versions.
-VT_IS_TEST_VERSION = 5
+VT_IS_TEST_VERSION = 6
 
 VT_ANDROID_VERSION_ARMV7 = 108
 VT_ANDROID_VERSION_ARM64 = 109
diff --git a/vescinterface.cpp b/vescinterface.cpp
index 4a55ca298..ec22d04d5 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -2273,12 +2273,6 @@ bool VescInterface::connectSerial(QString port, int baudrate)
         mSerialPort->setParity(QSerialPort::NoParity);
         mSerialPort->setStopBits(QSerialPort::OneStop);
         mSerialPort->setFlowControl(QSerialPort::NoFlowControl);
-
-        // For nrf
-        mSerialPort->setRequestToSend(true);
-        mSerialPort->setDataTerminalReady(true);
-        QThread::msleep(5);
-        mSerialPort->setDataTerminalReady(false);
     }
 
     mLastSerialPort = port;

From fc5028fdc24967031cf4c0f1072b90a997cc3a18 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 1 Jun 2022 00:28:30 +0200
Subject: [PATCH 136/559] Added UDP broadcast listener to connect screen

---
 mobile/ConnectScreen.qml | 76 ++++++++++++++++++++++++++++++++++------
 1 file changed, 66 insertions(+), 10 deletions(-)

diff --git a/mobile/ConnectScreen.qml b/mobile/ConnectScreen.qml
index 94033d838..95f83ec76 100644
--- a/mobile/ConnectScreen.qml
+++ b/mobile/ConnectScreen.qml
@@ -24,6 +24,7 @@ import Vedder.vesc.vescinterface 1.0
 import Vedder.vesc.bleuart 1.0
 import Vedder.vesc.commands 1.0
 import Vedder.vesc.utility 1.0
+import Vedder.vesc.udpserversimple 1.0
 
 Item {
     id: rootItem
@@ -66,6 +67,7 @@ Item {
             scanButton.enabled = false
             scanDotTimer.running = true
             bleModel.clear()
+            vescsUdp = []
             mBle.startScan()
         } else {
             bleScanStart.open()
@@ -92,7 +94,7 @@ Item {
         anchors.leftMargin: notchLeft
         anchors.rightMargin: notchRight
 
-        Rectangle{
+        Rectangle {
             Layout.preferredHeight: notchTop
             Layout.fillWidth: true
             opacity: 0
@@ -231,7 +233,7 @@ Item {
                                     Layout.preferredWidth: 40
                                     Layout.preferredHeight: 40
                                     Layout.alignment: Qt.AlignHCenter | Qt.AlignVCenter
-                                    source: "qrc" + Utility.getThemePath() + (isSerial ? "icons/Connected-96.png" : "icons/bluetooth.png")
+                                    source: "qrc" + Utility.getThemePath() + ((isSerial == 0) ? "icons/Connected-96.png" : "icons/bluetooth.png")
                                 }
 
                                 Text {
@@ -246,7 +248,7 @@ Item {
                         }
 
                         ColumnLayout {
-                            visible: !isSerial
+                            visible: isSerial == 0
 
                             Text {
                                 Layout.alignment: Qt.AlignHCenter | Qt.AlignBottom
@@ -275,11 +277,14 @@ Item {
                             Button {
                                 Layout.alignment: Qt.AlignHCenter | Qt.AlignBottom
                                 Layout.preferredHeight: 55
-                                text: isSerial ? "Autoconnect" : "Connect"
+                                Layout.preferredWidth: 130
+                                text: (isSerial == 0) ? "Autoconnect" : "Connect"
 
                                 onClicked: {
-                                    if (isSerial) {
+                                    if (isSerial == 0) {
                                         VescIf.autoconnect()
+                                    } else if (isSerial == 2) {
+                                        VescIf.connectTcp(bleAddr, 65102)
                                     } else {
                                         if (!VescIf.getBlePreferred(bleAddr)) {
                                             preferredDialog.bleAddr = bleAddr
@@ -296,8 +301,9 @@ Item {
                             Button {
                                 Layout.alignment: Qt.AlignHCenter | Qt.AlignBottom
                                 Layout.preferredHeight: 55
+                                Layout.preferredWidth: 130
                                 text: "Set Name"
-                                visible: !isSerial
+                                visible: isSerial == 0
 
                                 onClicked: {
                                     bleNameDialog.addr = bleAddr
@@ -331,6 +337,36 @@ Item {
         }
     }
 
+    property var vescsUdp: []
+
+    UdpServerSimple {
+        Component.onCompleted: {
+            startServerBroadcast(65109)
+        }
+
+        onDataRx: {
+            var tokens = Utility.arr2str(data).split("::")
+            if (tokens.length === 3) {
+                var found = false
+                for (var i = 0; i < vescsUdp.length;i++) {
+                    if (vescsUdp[i].ip === tokens[1]) {
+                        found = true
+                        break
+                    }
+                }
+
+                if (!found) {
+                    vescsUdp[vescsUdp.length] = {
+                        "name" : tokens[0],
+                        "ip" : tokens[1],
+                        "port" : tokens[2]
+                    }
+                    mBle.emitScanDone()
+                }
+            }
+        }
+    }
+
     Connections {
         target: mBle
         onScanDone: {
@@ -371,29 +407,48 @@ Item {
                                             "setName": setNameShort,
                                             "preferred": preferred,
                                             "bleAddr": addr,
-                                            "isSerial": false})
+                                            "isSerial": 0})
                     } else {
                         bleModel.append({"name": setName,
                                             "setName": setNameShort,
                                             "preferred": preferred,
                                             "bleAddr": addr,
-                                            "isSerial": false})
+                                            "isSerial": 0})
                     }
 
                 }
             }
+
+            for (var k = 0; k < vescsUdp.length;k++) {
+                addToList  = true
+                for (j = 0; j < bleModel.count; j++) {
+                    if (bleModel.get(j).bleAddr === (vescsUdp[k].ip)) {
+                        addToList  = false
+                    }
+                }
+
+                if (addToList) {
+                    bleModel.insert(0, {"name": "TCP\n" + vescsUdp[k].ip,
+                                        "setName": "",
+                                        "preferred": true,
+                                        "bleAddr": vescsUdp[k].ip,
+                                        "isSerial": 2})
+                }
+            }
+
             addToList = true
-            for(j=0; j < bleModel.count; j++) {
+            for(j = 0; j < bleModel.count; j++) {
                 if(bleModel.get(j).name === ("Serial Port")){
                     addToList  = false
                 }
             }
+
             if (Utility.hasSerialport() && addToList) {
                 bleModel.insert(0, {"name": "Serial Port",
                                     "setName": "",
                                     "preferred": true,
                                     "bleAddr": "",
-                                    "isSerial": true})
+                                    "isSerial": 1})
             }
         }
 
@@ -577,6 +632,7 @@ Item {
             scanButton.enabled = false
             scanDotTimer.running = true
             bleModel.clear()
+            vescsUdp = []
             mBle.startScan()
 
             if (!Utility.isBleScanEnabled()) {

From 6262d9d122b55b5b753b499a60a54089f0e0ee2e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 1 Jun 2022 00:43:28 +0200
Subject: [PATCH 137/559] Button fix

---
 mobile/ConnectScreen.qml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/mobile/ConnectScreen.qml b/mobile/ConnectScreen.qml
index 95f83ec76..9d25b2875 100644
--- a/mobile/ConnectScreen.qml
+++ b/mobile/ConnectScreen.qml
@@ -277,8 +277,8 @@ Item {
                             Button {
                                 Layout.alignment: Qt.AlignHCenter | Qt.AlignBottom
                                 Layout.preferredHeight: 55
-                                Layout.preferredWidth: 130
-                                text: (isSerial == 0) ? "Autoconnect" : "Connect"
+                                Layout.preferredWidth: nameButton.width
+                                text: "Connect"
 
                                 onClicked: {
                                     if (isSerial == 0) {
@@ -299,9 +299,9 @@ Item {
                             }
 
                             Button {
+                                id: nameButton
                                 Layout.alignment: Qt.AlignHCenter | Qt.AlignBottom
                                 Layout.preferredHeight: 55
-                                Layout.preferredWidth: 130
                                 text: "Set Name"
                                 visible: isSerial == 0
 

From 559caf9a1409ed15c7a36f923dd762308ac7fc21 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 1 Jun 2022 01:04:05 +0200
Subject: [PATCH 138/559] Fixed another mistake in the connect screen

---
 mobile/ConnectScreen.qml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mobile/ConnectScreen.qml b/mobile/ConnectScreen.qml
index 9d25b2875..c929ae2ad 100644
--- a/mobile/ConnectScreen.qml
+++ b/mobile/ConnectScreen.qml
@@ -281,7 +281,7 @@ Item {
                                 text: "Connect"
 
                                 onClicked: {
-                                    if (isSerial == 0) {
+                                    if (isSerial == 1) {
                                         VescIf.autoconnect()
                                     } else if (isSerial == 2) {
                                         VescIf.connectTcp(bleAddr, 65102)

From 9dfddd94babed3ed2f17f05802866a14e35acbd9 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 27 Jun 2022 17:05:46 +0200
Subject: [PATCH 139/559] Added ESP32 programming support

---
 esp32/LICENSE                                 | 202 ++++++++
 esp32/README.md                               |  79 ++++
 esp32/esp32.pri                               |  16 +
 esp32/esp32flash.cpp                          | 411 +++++++++++++++++
 esp32/esp32flash.h                            |  58 +++
 esp32/esp_loader.c                            | 352 ++++++++++++++
 esp32/esp_loader.h                            | 234 ++++++++++
 esp32/esp_targets.c                           | 248 ++++++++++
 esp32/esp_targets.h                           |  33 ++
 esp32/md5_hash.c                              | 262 +++++++++++
 esp32/md5_hash.h                              |  28 ++
 esp32/serial_comm.c                           | 431 ++++++++++++++++++
 esp32/serial_comm.h                           |  48 ++
 esp32/serial_comm_prv.h                       | 191 ++++++++
 esp32/serial_io.h                             | 105 +++++
 mainwindow.cpp                                |   5 +
 mainwindow.h                                  |   2 +
 pages/pageespprog.cpp                         | 266 +++++++++++
 pages/pageespprog.h                           |  63 +++
 pages/pageespprog.ui                          | 296 ++++++++++++
 pages/pages.pri                               |   3 +
 .../ESP32-C3/Devkit Blink/app.bin             | Bin 0 -> 174480 bytes
 .../ESP32-C3/Devkit Blink/bootloader.bin      | Bin 0 -> 20832 bytes
 .../ESP32-C3/Devkit Blink/partition-table.bin | Bin 0 -> 3072 bytes
 res/firmwares_esp/res_fw_esp.qrc              |   9 +
 utility.h                                     |   2 +
 vesc_tool.pro                                 |   6 +-
 vescinterface.cpp                             |   7 +-
 28 files changed, 3354 insertions(+), 3 deletions(-)
 create mode 100644 esp32/LICENSE
 create mode 100644 esp32/README.md
 create mode 100644 esp32/esp32.pri
 create mode 100644 esp32/esp32flash.cpp
 create mode 100644 esp32/esp32flash.h
 create mode 100644 esp32/esp_loader.c
 create mode 100644 esp32/esp_loader.h
 create mode 100644 esp32/esp_targets.c
 create mode 100644 esp32/esp_targets.h
 create mode 100644 esp32/md5_hash.c
 create mode 100644 esp32/md5_hash.h
 create mode 100644 esp32/serial_comm.c
 create mode 100644 esp32/serial_comm.h
 create mode 100644 esp32/serial_comm_prv.h
 create mode 100644 esp32/serial_io.h
 create mode 100644 pages/pageespprog.cpp
 create mode 100644 pages/pageespprog.h
 create mode 100644 pages/pageespprog.ui
 create mode 100644 res/firmwares_esp/ESP32-C3/Devkit Blink/app.bin
 create mode 100644 res/firmwares_esp/ESP32-C3/Devkit Blink/bootloader.bin
 create mode 100644 res/firmwares_esp/ESP32-C3/Devkit Blink/partition-table.bin
 create mode 100644 res/firmwares_esp/res_fw_esp.qrc

diff --git a/esp32/LICENSE b/esp32/LICENSE
new file mode 100644
index 000000000..d64569567
--- /dev/null
+++ b/esp32/LICENSE
@@ -0,0 +1,202 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
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+
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+      direction or management of such entity, whether by contract or
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+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
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diff --git a/esp32/README.md b/esp32/README.md
new file mode 100644
index 000000000..d1d170444
--- /dev/null
+++ b/esp32/README.md
@@ -0,0 +1,79 @@
+# Serial flasher
+
+## Overview
+
+Serial flasher component provides portable library for flashing Espressif SoCs (`ESP32`, `ESP32-S2`, `ESP8266`) from other host microcontroller. Espressif SoCs are normally programmed via serial interface (UART). Port layer for given host microcontroller has to be implemented, if not available. Details can be found in section below.
+
+## Supporting new host target
+
+In order to support new target, following function has to be implemented by user:
+
+* loader_port_serial_read()
+* loader_port_serial_write()
+* loader_port_enter_bootloader()
+* loader_port_delay_ms()
+* loader_port_start_timer()
+* loader_port_remaining_time()
+
+Following functions are part of serial_io.h header for convenience, however, user does not have to strictly follow function signatures, as there are not called directly from library. 
+
+* loader_port_change_baudrate()
+* loader_port_reset_target()
+* loader_port_debug_print()
+
+Prototypes of all function mentioned above can be found in [serial_io.h](include/serial_io.h).
+Please refer to ports in `port` directory. Currently, only ports for [ESP32 port](port/esp32_port.c) and [STM32 port](port/stm32_port.c) are available.
+
+## Configuration
+
+Apart from writing port (if not available), user can enable flash integrity check functionality by setting MD5_ENABLED option. If enabled, serial flasher is capable of verify flash integrity after writing to memory.
+
+Configuration can be passed to `cmake` via command line:
+
+```
+cmake -DMD5_ENABLED=1 .. && cmake --build .
+```
+
+Note: in case, no compile definitions are provided, ESP32 is set as target and MD5 check is enabled by default. As ROM bootloader of ESP8266 does not support MD5_CHECK, `-DMD5_ENABLED=0` has to be passed to command line.
+
+### STM32 support
+
+STM32 port make use of STM32 HAL libraries, that does not come with CMake support. In order to compile the project, `stm32-cmake` (`cmake` support package) has to be pulled as submodule.
+
+```
+git clone --recursive https://github.com/espressif/esp-serial-flasher.git
+```
+
+If you have cloned this repository without the `--recursive` flag, you can initialize the  submodule using the following command:
+
+```
+git submodule update --init
+```
+
+In addition to configuration parameters mentioned above, following definitions has to be set:
+* TOOLCHAIN_PREFIX: path to arm toolchain (i.e /home/user/gcc-arm-none-eabi-9-2019-q4-major)
+* STM32Cube_DIR:    path to STM32 Cube libraries  (i.e /home/user/STM32Cube/Repository/STM32Cube_FW_F4_V1.25.0)
+* STM32_CHIP:       name of STM32 for which project should be compiled  (i.e STM32F407VG)
+* PORT:             STM32
+
+This can be achieved by passing definition to command line, such as:
+
+```
+cmake -DTOOLCHAIN_PREFIX="/path_to_toolchain" -DSTM32Cube_DIR="path_to_stm32Cube" -DSTM32_CHIP="STM32F407VG" -DPORT="STM32" .. && cmake --build .
+```
+Alternatively, set those variables in top level `cmake` directory:
+
+```
+set(TOOLCHAIN_PREFIX    path_to_toolchain)
+set(STM32Cube_DIR       path_to_stm32_HAL)
+set(STM32_CHIP          STM32F407VG)
+set(PORT                STM32)
+```
+
+## Licence
+
+Code is distributed under Apache 2.0 license.
+
+## Known limitations
+
+Size of new binary image has to be known before flashing.
\ No newline at end of file
diff --git a/esp32/esp32.pri b/esp32/esp32.pri
new file mode 100644
index 000000000..48e5ee58d
--- /dev/null
+++ b/esp32/esp32.pri
@@ -0,0 +1,16 @@
+HEADERS += \
+    $$PWD/esp32flash.h \
+    $$PWD/esp_loader.h \
+    $$PWD/esp_targets.h \
+    $$PWD/md5_hash.h \
+    $$PWD/serial_comm.h \
+    $$PWD/serial_comm_prv.h \
+    $$PWD/serial_io.h
+
+SOURCES += \
+    $$PWD/esp32flash.cpp \
+    $$PWD/esp_loader.c \
+    $$PWD/esp_targets.c \
+    $$PWD/md5_hash.c \
+    $$PWD/serial_comm.c
+
diff --git a/esp32/esp32flash.cpp b/esp32/esp32flash.cpp
new file mode 100644
index 000000000..53b4d9b59
--- /dev/null
+++ b/esp32/esp32flash.cpp
@@ -0,0 +1,411 @@
+/*
+    Copyright 2022 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#include <QDebug>
+#include <QTime>
+#include "esp32flash.h"
+#include "utility.h"
+
+#ifdef HAS_SERIALPORT
+static QSerialPort *sPort = nullptr;
+#endif
+static int64_t sTimeEnd;
+
+Esp32Flash::Esp32Flash(QObject *parent) : QObject(parent)
+{
+#ifdef HAS_SERIALPORT
+    if (sPort) {
+        sPort->deleteLater();
+        sPort = nullptr;
+    }
+
+    sPort = new QSerialPort();
+
+    connect(sPort, SIGNAL(error(QSerialPort::SerialPortError)),
+            this, SLOT(serialPortError(QSerialPort::SerialPortError)));
+#endif
+}
+
+Esp32Flash::~Esp32Flash()
+{
+#ifdef HAS_SERIALPORT
+    if (sPort) {
+        sPort->deleteLater();
+        sPort = nullptr;
+    }
+#endif
+}
+
+bool Esp32Flash::connectEsp(QString port)
+{
+#ifdef HAS_SERIALPORT
+    sPort->setPortName(port);
+    sPort->open(QIODevice::ReadWrite);
+
+    if(!sPort->isOpen()) {
+        emit stateUpdate("Cannot open port");
+        return false;
+    }
+
+    sPort->setBaudRate(115200);
+    sPort->setDataBits(QSerialPort::Data8);
+    sPort->setParity(QSerialPort::NoParity);
+    sPort->setStopBits(QSerialPort::OneStop);
+    sPort->setFlowControl(QSerialPort::NoFlowControl);
+
+    esp_loader_connect_args_t connect_config = ESP_LOADER_CONNECT_DEFAULT();
+    esp_loader_error_t err = esp_loader_connect(&connect_config);
+    if (err != ESP_LOADER_SUCCESS) {
+        emit stateUpdate(QString("Cannot connect to target. Error: %1").arg(err));
+        sPort->close();
+        return false;
+    }
+
+    QString targetName = "Unknown";
+    switch (esp_loader_get_target()) {
+        case ESP8266_CHIP: targetName = "ESP8266"; break;
+        case ESP32_CHIP: targetName = "ESP32"; break;
+        case ESP32S2_CHIP: targetName = "ESP32S2"; break;
+        case ESP32C3_CHIP: targetName = "ESP32C3"; break;
+        case ESP32S3_CHIP: targetName = "ESP32S3"; break;
+        case ESP32C2_CHIP: targetName = "ESP32C2"; break;
+        case ESP32H2_CHIP: targetName = "ESP32H2"; break;
+        case ESP_MAX_CHIP: targetName = "ESP_MAX"; break;
+    }
+
+    emit stateUpdate(QString("Connected to %1").arg(targetName));
+
+    qDebug() << "Changing baudrate to 460800";
+    if (esp_loader_change_baudrate(460800) == ESP_LOADER_SUCCESS) {
+        loader_port_change_baudrate(460800);
+        qDebug() << "Baudrate changed!";
+    }
+
+    return true;
+#else
+    (void)port;
+    return false;
+#endif
+}
+
+bool Esp32Flash::disconnectEsp()
+{
+#ifdef HAS_SERIALPORT
+    esp_loader_reset_target();
+    sPort->close();
+    emit stateUpdate("Disconnected");
+#endif
+    return true;
+}
+
+bool Esp32Flash::flashFirmware(QByteArray data, size_t address)
+{
+#ifdef HAS_SERIALPORT
+    if (!sPort->isOpen()) {
+        emit stateUpdate("Not connected");
+        return false;
+    }
+
+    size_t size = data.size();
+
+    esp_loader_error_t err;
+    static uint8_t payload[1024];
+    const uint8_t *bin_addr = (uint8_t*)data.data();
+
+    emit stateUpdate("Erasing flash (this may take a while)...");
+    err = esp_loader_flash_start(address, size, sizeof(payload));
+    if (err != ESP_LOADER_SUCCESS) {
+        emit stateUpdate(QString("Erasing flash failed with error: %1").arg(err));
+        return false;
+    }
+
+    emit stateUpdate("Programming...");
+
+    size_t binary_size = size;
+    size_t written = 0;
+
+    while (size > 0) {
+        size_t to_read = std::min(size, sizeof(payload));
+        memcpy(payload, bin_addr, to_read);
+
+        err = esp_loader_flash_write(payload, to_read);
+        if (err != ESP_LOADER_SUCCESS) {
+            emit stateUpdate(QString("Packet could not be written! Error: %1").arg(err));
+            return false;
+        }
+
+        size -= to_read;
+        bin_addr += to_read;
+        written += to_read;
+
+        emit flashProgress(double(written) / double(binary_size));
+    };
+
+    emit stateUpdate("Finished programming");
+
+    err = esp_loader_flash_verify();
+    if (err != ESP_LOADER_SUCCESS) {
+        emit stateUpdate(QString("MD5 does not match. err: %1").arg(err));
+        return false;
+    }
+    emit stateUpdate("Flash verified");
+
+    return true;
+#else
+    return false;
+#endif
+}
+
+bool Esp32Flash::eraseFlash(size_t size, size_t address)
+{
+#ifdef HAS_SERIALPORT
+    esp_loader_error_t err = esp_loader_flash_start(address, size, 1024);
+    if (err != ESP_LOADER_SUCCESS) {
+        emit stateUpdate(QString("Erasing flash failed with error: %1").arg(err));
+        return false;
+    }
+
+    return true;
+#else
+    (void)size; (void)address;
+    return false;
+#endif
+}
+
+QString Esp32Flash::espPort()
+{
+#ifdef HAS_SERIALPORT
+    return sPort->portName();
+#else
+    return "";
+#endif
+}
+
+bool Esp32Flash::isBuiltinUsb()
+{
+#ifdef HAS_SERIALPORT
+    auto port = QSerialPortInfo(sPort->portName());
+    return port.productIdentifier() == 0x1001;
+#else
+    return false;
+#endif
+}
+
+bool Esp32Flash::isEspConnected()
+{
+#ifdef HAS_SERIALPORT
+    return sPort->isOpen();
+#else
+    return false;
+#endif
+}
+
+target_chip_t Esp32Flash::getTarget()
+{
+#ifdef HAS_SERIALPORT
+    if (sPort->isOpen()) {
+        return esp_loader_get_target();
+    } else {
+        return ESP_UNKNOWN_CHIP;
+    }
+#else
+    return ESP_UNKNOWN_CHIP;
+#endif
+}
+
+#ifdef HAS_SERIALPORT
+void Esp32Flash::serialPortError(QSerialPort::SerialPortError error)
+{
+    QString message;
+    switch (error) {
+    case QSerialPort::NoError:
+        break;
+
+    default:
+        message = "Serial port error: " + sPort->errorString();
+        break;
+    }
+
+    if (!message.isEmpty()) {
+        if (sPort->isOpen()) {
+            sPort->close();
+        }
+
+        emit stateUpdate(message);
+    }
+}
+#endif
+
+esp_loader_error_t loader_port_serial_write(const uint8_t *data, uint16_t size, uint32_t timeout)
+{
+#ifdef HAS_SERIALPORT
+    if (!sPort->isOpen()) {
+        return ESP_LOADER_ERROR_FAIL;
+    }
+
+    sPort->write((char*)data, size);
+
+    qint64 written = 0;
+    auto conn = QObject::connect(sPort, &QSerialPort::bytesWritten, [&written](qint64 bytes) {
+        written += bytes;
+    });
+
+    bool ok = true;
+    while (written < size && ok) {
+        ok = Utility::waitSignal(sPort, SIGNAL(bytesWritten(qint64)), timeout);
+    }
+
+    QObject::disconnect(conn);
+
+    return ok ? ESP_LOADER_SUCCESS : ESP_LOADER_ERROR_TIMEOUT;
+#else
+    (void)data;(void)size;(void)timeout;
+    return ESP_LOADER_ERROR_FAIL;
+#endif
+}
+
+
+esp_loader_error_t loader_port_serial_read(uint8_t *data, uint16_t size, uint32_t timeout)
+{
+#ifdef HAS_SERIALPORT
+    if (!sPort->isOpen()) {
+        return ESP_LOADER_ERROR_FAIL;
+    }
+
+    QByteArray res;
+    while (size > 0 && timeout > 0) {
+        auto chunk = sPort->read(size);
+        size -= chunk.size();
+        res.append(chunk);
+        if (size > 0) {
+            Utility::sleepWithEventLoop(1);
+            timeout--;
+        }
+    }
+
+    for (int i = 0; i < res.size();i++) {
+        data[i] = uint8_t(res.at(i));
+    }
+
+    return timeout > 0 ? ESP_LOADER_SUCCESS : ESP_LOADER_ERROR_TIMEOUT;
+#else
+    (void)data;(void)size;(void)timeout;
+    return ESP_LOADER_ERROR_FAIL;
+#endif
+}
+
+#ifdef HAS_SERIALPORT
+static void setDtr(bool state) {
+    sPort->setDataTerminalReady(state);
+}
+
+static void setRts(bool state) {
+    sPort->setRequestToSend(state);
+    sPort->setDataTerminalReady(sPort->isDataTerminalReady());
+}
+#endif
+
+void loader_port_enter_bootloader(void)
+{
+#ifdef HAS_SERIALPORT
+    if (!sPort->isOpen()) {
+        return;
+    }
+
+    auto port = QSerialPortInfo(sPort->portName());
+
+    if (port.productIdentifier() == 0x1001) {
+        // The built in USB requires a different sequence
+        setRts(false);
+        setDtr(false);
+        Utility::sleepWithEventLoop(100);
+        setDtr(true);
+        setRts(false);
+        Utility::sleepWithEventLoop(100);
+        setRts(true);
+        setDtr(false);
+        setRts(true);
+        Utility::sleepWithEventLoop(100);
+        setDtr(false);
+        setRts(false);
+    } else {
+        setDtr(false);
+        setRts(true);
+        Utility::sleepWithEventLoop(100);
+        setDtr(true);
+        setRts(false);
+        Utility::sleepWithEventLoop(100);
+        setDtr(false);
+    }
+#endif
+}
+
+void loader_port_reset_target(void)
+{
+#ifdef HAS_SERIALPORT
+    if (!sPort->isOpen()) {
+        return;
+    }
+
+    setDtr(false);
+    setRts(false);
+    setRts(true);
+    Utility::sleepWithEventLoop(100);
+    setRts(false);
+#endif
+}
+
+
+void loader_port_delay_ms(uint32_t ms)
+{
+    Utility::sleepWithEventLoop(ms);
+}
+
+
+void loader_port_start_timer(uint32_t ms)
+{
+    sTimeEnd = QTime::currentTime().msecsSinceStartOfDay() + ms;
+}
+
+
+uint32_t loader_port_remaining_time(void)
+{
+    int64_t remaining = sTimeEnd - QTime::currentTime().msecsSinceStartOfDay();
+    return (remaining > 0) ? uint32_t(remaining) : 0;
+}
+
+
+void loader_port_debug_print(const char *str)
+{
+    qDebug() << str;
+}
+
+esp_loader_error_t loader_port_change_baudrate(uint32_t baudrate)
+{
+#ifdef HAS_SERIALPORT
+    if (!sPort->isOpen()) {
+        return ESP_LOADER_ERROR_FAIL;
+    }
+    sPort->setBaudRate(baudrate);
+    return ESP_LOADER_SUCCESS;
+#else
+    (void)baudrate;
+    return ESP_LOADER_ERROR_FAIL;
+#endif
+}
diff --git a/esp32/esp32flash.h b/esp32/esp32flash.h
new file mode 100644
index 000000000..8354045ab
--- /dev/null
+++ b/esp32/esp32flash.h
@@ -0,0 +1,58 @@
+/*
+    Copyright 2022 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#ifndef ESP32FLASH_H
+#define ESP32FLASH_H
+
+#include <QObject>
+#include "serial_io.h"
+
+#ifdef HAS_SERIALPORT
+#include <QSerialPort>
+#include <QSerialPortInfo>
+#endif
+
+class Esp32Flash : public QObject
+{
+    Q_OBJECT
+public:
+    explicit Esp32Flash(QObject *parent = nullptr);
+    ~Esp32Flash();
+
+    bool connectEsp(QString port);
+    bool disconnectEsp();
+    bool flashFirmware(QByteArray data, size_t address);
+    bool eraseFlash(size_t size, size_t address);
+    QString espPort();
+    bool isBuiltinUsb();
+    bool isEspConnected();
+    target_chip_t getTarget();
+
+signals:
+    void flashProgress(double prog);
+    void stateUpdate(QString text);
+
+private slots:
+#ifdef HAS_SERIALPORT
+    void serialPortError(QSerialPort::SerialPortError error);
+#endif
+
+};
+
+#endif // ESP32FLASH_H
diff --git a/esp32/esp_loader.c b/esp32/esp_loader.c
new file mode 100644
index 000000000..88b6b773f
--- /dev/null
+++ b/esp32/esp_loader.c
@@ -0,0 +1,352 @@
+/* Copyright 2020 Espressif Systems (Shanghai) PTE LTD
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "serial_comm_prv.h"
+#include "serial_comm.h"
+#include "serial_io.h"
+#include "esp_loader.h"
+#include "esp_targets.h"
+#include "md5_hash.h"
+#include <string.h>
+#include <assert.h>
+
+#ifndef MAX
+#define MAX(a, b) ((a) > (b)) ? (a) : (b)
+#endif
+
+#ifndef MIN
+#define MIN(a, b) ((a) < (b)) ? (a) : (b)
+#endif
+
+static const uint32_t DEFAULT_TIMEOUT = 1000;
+static const uint32_t DEFAULT_FLASH_TIMEOUT = 3000;       // timeout for most flash operations
+static const uint32_t ERASE_REGION_TIMEOUT_PER_MB = 10000; // timeout (per megabyte) for erasing a region
+static const uint8_t  PADDING_PATTERN = 0xFF;
+
+typedef enum {
+    SPI_FLASH_READ_ID = 0x9F
+} spi_flash_cmd_t;
+
+static uint32_t s_flash_write_size = 0;
+static const target_registers_t *s_reg = NULL;
+static target_chip_t s_target = ESP_UNKNOWN_CHIP;
+
+static const uint32_t MD5_TIMEOUT_PER_MB = 800;
+static struct MD5Context s_md5_context;
+static uint32_t s_start_address;
+static uint32_t s_image_size;
+
+static inline void init_md5(uint32_t address, uint32_t size)
+{
+    s_start_address = address;
+    s_image_size = size;
+    MD5Init(&s_md5_context);
+}
+
+static inline void md5_update(const uint8_t *data, uint32_t size)
+{
+    MD5Update(&s_md5_context, data, size);
+}
+
+static inline void md5_final(uint8_t digets[16])
+{
+    MD5Final(digets, &s_md5_context);
+}
+
+static uint32_t timeout_per_mb(uint32_t size_bytes, uint32_t time_per_mb)
+{
+    uint32_t timeout = time_per_mb * (size_bytes / 1e6);
+    return MAX(timeout, DEFAULT_FLASH_TIMEOUT);
+}
+
+esp_loader_error_t esp_loader_connect(esp_loader_connect_args_t *connect_args)
+{
+    uint32_t spi_config;
+    esp_loader_error_t err;
+    int32_t trials = connect_args->trials;
+
+    loader_port_enter_bootloader();
+
+    do {
+        loader_port_start_timer(connect_args->sync_timeout);
+        err = loader_sync_cmd();
+        if (err == ESP_LOADER_ERROR_TIMEOUT) {
+            if (--trials == 0) {
+                return ESP_LOADER_ERROR_TIMEOUT;
+            }
+            loader_port_delay_ms(100);
+        } else if (err != ESP_LOADER_SUCCESS) {
+            return err;
+        }
+    } while (err != ESP_LOADER_SUCCESS);
+
+    RETURN_ON_ERROR( loader_detect_chip(&s_target, &s_reg) );
+
+    if (s_target == ESP8266_CHIP) {
+        err = loader_flash_begin_cmd(0, 0, 0, 0, s_target);
+    } else {
+        RETURN_ON_ERROR( loader_read_spi_config(s_target, &spi_config) );
+        loader_port_start_timer(DEFAULT_TIMEOUT);
+        err = loader_spi_attach_cmd(spi_config);
+    }
+
+    return err;
+}
+
+target_chip_t esp_loader_get_target(void)
+{
+    return s_target;
+}
+
+static esp_loader_error_t spi_set_data_lengths(size_t mosi_bits, size_t miso_bits)
+{
+    if (mosi_bits > 0) {
+        RETURN_ON_ERROR( esp_loader_write_register(s_reg->mosi_dlen, mosi_bits - 1) );
+    }
+    if (miso_bits > 0) {
+        RETURN_ON_ERROR( esp_loader_write_register(s_reg->miso_dlen, miso_bits - 1) );
+    }
+
+    return ESP_LOADER_SUCCESS;
+}
+
+static esp_loader_error_t spi_set_data_lengths_8266(size_t mosi_bits, size_t miso_bits)
+{
+    uint32_t mosi_mask = (mosi_bits == 0) ? 0 : mosi_bits - 1;
+    uint32_t miso_mask = (miso_bits == 0) ? 0 : miso_bits - 1;
+    return esp_loader_write_register(s_reg->usr1, (miso_mask << 8) | (mosi_mask << 17));
+}
+
+static esp_loader_error_t spi_flash_command(spi_flash_cmd_t cmd, void *data_tx, size_t tx_size, void *data_rx, size_t rx_size)
+{
+    assert(rx_size <= 32); // Reading more than 32 bits back from a SPI flash operation is unsupported
+    assert(tx_size <= 64); // Writing more than 64 bytes of data with one SPI command is unsupported
+
+    uint32_t SPI_USR_CMD  = (1 << 31);
+    uint32_t SPI_USR_MISO = (1 << 28);
+    uint32_t SPI_USR_MOSI = (1 << 27);
+    uint32_t SPI_CMD_USR  = (1 << 18);
+    uint32_t CMD_LEN_SHIFT = 28;
+
+    // Save SPI configuration
+    uint32_t old_spi_usr;
+    uint32_t old_spi_usr2;
+    RETURN_ON_ERROR( esp_loader_read_register(s_reg->usr, &old_spi_usr) );
+    RETURN_ON_ERROR( esp_loader_read_register(s_reg->usr2, &old_spi_usr2) );
+
+    if (s_target == ESP8266_CHIP) {
+        RETURN_ON_ERROR( spi_set_data_lengths_8266(tx_size, rx_size) );
+    } else {
+        RETURN_ON_ERROR( spi_set_data_lengths(tx_size, rx_size) );
+    }
+
+    uint32_t usr_reg_2 = (7 << CMD_LEN_SHIFT) | cmd;
+    uint32_t usr_reg = SPI_USR_CMD;
+    if (rx_size > 0) {
+        usr_reg |= SPI_USR_MISO;
+    }
+    if (tx_size > 0) {
+        usr_reg |= SPI_USR_MOSI;
+    }
+
+    RETURN_ON_ERROR( esp_loader_write_register(s_reg->usr, usr_reg) );
+    RETURN_ON_ERROR( esp_loader_write_register(s_reg->usr2, usr_reg_2 ) );
+
+    if (tx_size == 0) {
+        // clear data register before we read it
+        RETURN_ON_ERROR( esp_loader_write_register(s_reg->w0, 0) );
+    } else {
+        uint32_t *data = (uint32_t *)data_tx;
+        uint32_t words_to_write = (tx_size + 31) / (8 * 4);
+        uint32_t data_reg_addr = s_reg->w0;
+
+        while (words_to_write--) {
+            uint32_t word = *data++;
+            RETURN_ON_ERROR( esp_loader_write_register(data_reg_addr, word) );
+            data_reg_addr += 4;
+        }
+    }
+
+    RETURN_ON_ERROR( esp_loader_write_register(s_reg->cmd, SPI_CMD_USR) );
+
+    uint32_t trials = 10;
+    while (trials--) {
+        uint32_t cmd_reg;
+        RETURN_ON_ERROR( esp_loader_read_register(s_reg->cmd, &cmd_reg) );
+        if ((cmd_reg & SPI_CMD_USR) == 0) {
+            break;
+        }
+    }
+
+    if (trials == 0) {
+        return ESP_LOADER_ERROR_TIMEOUT;
+    }
+
+    RETURN_ON_ERROR( esp_loader_read_register(s_reg->w0, data_rx) );
+
+    // Restore SPI configuration
+    RETURN_ON_ERROR( esp_loader_write_register(s_reg->usr, old_spi_usr) );
+    RETURN_ON_ERROR( esp_loader_write_register(s_reg->usr2, old_spi_usr2) );
+
+    return ESP_LOADER_SUCCESS;
+}
+
+static esp_loader_error_t detect_flash_size(size_t *flash_size)
+{
+    uint32_t flash_id = 0;
+
+    RETURN_ON_ERROR( spi_flash_command(SPI_FLASH_READ_ID, NULL, 0, &flash_id, 24) );
+    uint32_t size_id = flash_id >> 16;
+
+    if (size_id < 0x12 || size_id > 0x18) {
+        return ESP_LOADER_ERROR_UNSUPPORTED_CHIP;
+    }
+
+    *flash_size = 1 << size_id;
+
+    return ESP_LOADER_SUCCESS;
+}
+
+esp_loader_error_t esp_loader_flash_start(uint32_t offset, uint32_t image_size, uint32_t block_size)
+{
+    uint32_t blocks_to_write = (image_size + block_size - 1) / block_size;
+    uint32_t erase_size = block_size * blocks_to_write;
+    s_flash_write_size = block_size;
+
+    size_t flash_size = 0;
+    if (detect_flash_size(&flash_size) == ESP_LOADER_SUCCESS) {
+        if (image_size > flash_size) {
+            return ESP_LOADER_ERROR_IMAGE_SIZE;
+        }
+        loader_port_start_timer(DEFAULT_TIMEOUT);
+        RETURN_ON_ERROR( loader_spi_parameters(flash_size) );
+    } else {
+        loader_port_debug_print("Flash size detection failed, falling back to default");
+    }
+
+    init_md5(offset, image_size);
+
+    bool encryption_in_cmd = encryption_in_begin_flash_cmd(s_target);
+
+    loader_port_start_timer(timeout_per_mb(erase_size, ERASE_REGION_TIMEOUT_PER_MB));
+    return loader_flash_begin_cmd(offset, erase_size, block_size, blocks_to_write, encryption_in_cmd);
+}
+
+
+esp_loader_error_t esp_loader_flash_write(void *payload, uint32_t size)
+{
+    uint32_t padding_bytes = s_flash_write_size - size;
+    uint8_t *data = (uint8_t *)payload;
+    uint32_t padding_index = size;
+
+    while (padding_bytes--) {
+        data[padding_index++] = PADDING_PATTERN;
+    }
+
+    md5_update(payload, (size + 3) & ~3);
+
+    loader_port_start_timer(DEFAULT_TIMEOUT);
+
+    return loader_flash_data_cmd(data, s_flash_write_size);
+}
+
+
+esp_loader_error_t esp_loader_flash_finish(bool reboot)
+{
+    loader_port_start_timer(DEFAULT_TIMEOUT);
+
+    return loader_flash_end_cmd(!reboot);
+}
+
+
+esp_loader_error_t esp_loader_read_register(uint32_t address, uint32_t *reg_value)
+{
+    loader_port_start_timer(DEFAULT_TIMEOUT);
+
+    return loader_read_reg_cmd(address, reg_value);
+}
+
+
+esp_loader_error_t esp_loader_write_register(uint32_t address, uint32_t reg_value)
+{
+    loader_port_start_timer(DEFAULT_TIMEOUT);
+
+    return loader_write_reg_cmd(address, reg_value, 0xFFFFFFFF, 0);
+}
+
+esp_loader_error_t esp_loader_change_baudrate(uint32_t baudrate)
+{
+    if (s_target == ESP8266_CHIP) {
+        return ESP_LOADER_ERROR_UNSUPPORTED_FUNC;
+    }
+
+    loader_port_start_timer(DEFAULT_TIMEOUT);
+
+    return loader_change_baudrate_cmd(baudrate);
+}
+
+static void hexify(const uint8_t raw_md5[16], uint8_t hex_md5_out[32])
+{
+    static const uint8_t dec_to_hex[] = {
+        '0', '1', '2', '3', '4', '5', '6', '7',
+        '8', '9', 'a', 'b', 'c', 'd', 'e', 'f'
+    };
+    for (int i = 0; i < 16; i++) {
+        *hex_md5_out++ = dec_to_hex[raw_md5[i] >> 4];
+        *hex_md5_out++ = dec_to_hex[raw_md5[i] & 0xF];
+    }
+}
+
+esp_loader_error_t esp_loader_flash_verify(void)
+{
+    if (s_target == ESP8266_CHIP) {
+        return ESP_LOADER_ERROR_UNSUPPORTED_FUNC;
+    }
+
+    uint8_t raw_md5[16] = {0};
+
+    /* Zero termination and new line character require 2 bytes */
+    uint8_t hex_md5[MD5_SIZE + 2] = {0};
+    uint8_t received_md5[MD5_SIZE + 2] = {0};
+
+    md5_final(raw_md5);
+    hexify(raw_md5, hex_md5);
+
+    loader_port_start_timer(timeout_per_mb(s_image_size, MD5_TIMEOUT_PER_MB));
+
+    RETURN_ON_ERROR( loader_md5_cmd(s_start_address, s_image_size, received_md5) );
+
+    bool md5_match = memcmp(hex_md5, received_md5, MD5_SIZE) == 0;
+
+    if (!md5_match) {
+        hex_md5[MD5_SIZE] = '\n';
+        received_md5[MD5_SIZE] = '\n';
+
+        loader_port_debug_print("Error: MD5 checksum does not match:\n");
+        loader_port_debug_print("Expected:\n");
+        loader_port_debug_print((char *)received_md5);
+        loader_port_debug_print("Actual:\n");
+        loader_port_debug_print((char *)hex_md5);
+
+        return ESP_LOADER_ERROR_INVALID_MD5;
+    }
+
+    return ESP_LOADER_SUCCESS;
+}
+
+void esp_loader_reset_target(void)
+{
+    loader_port_reset_target();
+}
diff --git a/esp32/esp_loader.h b/esp32/esp_loader.h
new file mode 100644
index 000000000..8e42afd7d
--- /dev/null
+++ b/esp32/esp_loader.h
@@ -0,0 +1,234 @@
+/* Copyright 2020 Espressif Systems (Shanghai) PTE LTD
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Macro which can be used to check the error code,
+ * and return in case the code is not ESP_LOADER_SUCCESS.
+ */
+#define RETURN_ON_ERROR(x) do {         \
+    esp_loader_error_t _err_ = (x);     \
+    if (_err_ != ESP_LOADER_SUCCESS) {  \
+        return _err_;                   \
+    }                                   \
+} while(0)
+
+/**
+ * @brief Error codes
+ */
+typedef enum {
+    ESP_LOADER_SUCCESS,                /*!< Success */
+    ESP_LOADER_ERROR_FAIL,             /*!< Unspecified error */
+    ESP_LOADER_ERROR_TIMEOUT,          /*!< Timeout elapsed */
+    ESP_LOADER_ERROR_IMAGE_SIZE,       /*!< Image size to flash is larger than flash size */
+    ESP_LOADER_ERROR_INVALID_MD5,      /*!< Computed and received MD5 does not match */
+    ESP_LOADER_ERROR_INVALID_PARAM,    /*!< Invalid parameter passed to function */
+    ESP_LOADER_ERROR_INVALID_TARGET,   /*!< Connected target is invalid */
+    ESP_LOADER_ERROR_UNSUPPORTED_CHIP, /*!< Attached chip is not supported */
+    ESP_LOADER_ERROR_UNSUPPORTED_FUNC, /*!< Function is not supported on attached target */
+    ESP_LOADER_ERROR_INVALID_RESPONSE  /*!< Internal error */
+} esp_loader_error_t;
+
+/**
+ * @brief Supported targets
+ */
+typedef enum {
+    ESP8266_CHIP = 0,
+    ESP32_CHIP   = 1,
+    ESP32S2_CHIP = 2,
+    ESP32C3_CHIP = 3,
+    ESP32S3_CHIP = 4,
+    ESP32C2_CHIP = 5,
+    ESP32H2_CHIP = 6,
+    ESP_MAX_CHIP = 7,
+    ESP_UNKNOWN_CHIP = 7
+} target_chip_t;
+
+/**
+ * @brief SPI pin configuration arguments
+ */
+typedef union {
+    struct {
+        uint32_t pin_clk: 6;
+        uint32_t pin_q:   6;
+        uint32_t pin_d:   6;
+        uint32_t pin_cs:  6;
+        uint32_t pin_hd:  6;
+        uint32_t zero:    2;
+    };
+    uint32_t val;
+} esp_loader_spi_config_t;
+
+/**
+ * @brief Connection arguments
+ */
+typedef struct {
+    uint32_t sync_timeout;  /*!< Maximum time to wait for response from serial interface. */
+    int32_t trials;         /*!< Number of trials to connect to target. If greater than 1,
+                               100 millisecond delay is inserted after each try. */
+} esp_loader_connect_args_t;
+
+#define ESP_LOADER_CONNECT_DEFAULT() { \
+  .sync_timeout = 100, \
+  .trials = 10, \
+}
+
+/**
+  * @brief Connects to the target
+  *
+  * @param connect_args[in] Timing parameters to be used for connecting to target.
+  *
+  * @return
+  *     - ESP_LOADER_SUCCESS Success
+  *     - ESP_LOADER_ERROR_TIMEOUT Timeout
+  *     - ESP_LOADER_ERROR_INVALID_RESPONSE Internal error
+  */
+esp_loader_error_t esp_loader_connect(esp_loader_connect_args_t *connect_args);
+
+/**
+  * @brief   Returns attached target chip.
+  *
+  * @warning This function can only be called after connection with target 
+  *          has been successfully established by calling esp_loader_connect().
+  *
+  * @return  One of target_chip_t
+  */
+target_chip_t esp_loader_get_target(void);
+
+/**
+  * @brief Initiates flash operation
+  *
+  * @param offset[in]       Address from which flash operation will be performed.
+  * @param image_size[in]   Size of the whole binary to be loaded into flash.
+  * @param block_size[in]   Size of buffer used in subsequent calls to esp_loader_flash_write.
+  *
+  * @note  image_size is size of the whole image, whereas, block_size is chunk of data sent
+  *        to the target, each time esp_loader_flash_write function is called.
+  *
+  * @return
+  *     - ESP_LOADER_SUCCESS Success
+  *     - ESP_LOADER_ERROR_TIMEOUT Timeout
+  *     - ESP_LOADER_ERROR_INVALID_RESPONSE Internal error
+  */
+esp_loader_error_t esp_loader_flash_start(uint32_t offset, uint32_t image_size, uint32_t block_size);
+
+/**
+  * @brief Writes supplied data to target's flash memory.
+  *
+  * @param payload[in]      Data to be flashed into target's memory.
+  * @param size[in]         Size of payload in bytes.
+  *
+  * @note  size must not be greater that block_size supplied to previously called
+  *        esp_loader_flash_start function. If size is less than block_size,
+  *        remaining bytes of payload buffer will be padded with 0xff.
+  *        Therefore, size of payload buffer has to be equal or greater than block_size.
+  *
+  * @return
+  *     - ESP_LOADER_SUCCESS Success
+  *     - ESP_LOADER_ERROR_TIMEOUT Timeout
+  *     - ESP_LOADER_ERROR_INVALID_RESPONSE Internal error
+  */
+esp_loader_error_t esp_loader_flash_write(void *payload, uint32_t size);
+
+/**
+  * @brief Ends flash operation.
+  *
+  * @param reboot[in]       reboot the target if true.
+  *
+  * @return
+  *     - ESP_LOADER_SUCCESS Success
+  *     - ESP_LOADER_ERROR_TIMEOUT Timeout
+  *     - ESP_LOADER_ERROR_INVALID_RESPONSE Internal error
+  */
+esp_loader_error_t esp_loader_flash_finish(bool reboot);
+
+/**
+  * @brief Writes register.
+  *
+  * @param address[in]      Address of register.
+  * @param reg_value[in]    New register value.
+  *
+  * @return
+  *     - ESP_LOADER_SUCCESS Success
+  *     - ESP_LOADER_ERROR_TIMEOUT Timeout
+  *     - ESP_LOADER_ERROR_INVALID_RESPONSE Internal error
+  */
+esp_loader_error_t esp_loader_write_register(uint32_t address, uint32_t reg_value);
+
+/**
+  * @brief Reads register.
+  *
+  * @param address[in]      Address of register.
+  * @param reg_value[out]   Register value.
+  *
+  * @return
+  *     - ESP_LOADER_SUCCESS Success
+  *     - ESP_LOADER_ERROR_TIMEOUT Timeout
+  *     - ESP_LOADER_ERROR_INVALID_RESPONSE Internal error
+  */
+esp_loader_error_t esp_loader_read_register(uint32_t address, uint32_t *reg_value);
+
+/**
+  * @brief Change baud rate.
+  *
+  * @note  Baud rate has to be also adjusted accordingly on host MCU, as
+  *        target's baud rate is changed upon return from this function.
+  *
+  * @param baudrate[in]     new baud rate to be set.
+  *
+  * @return
+  *     - ESP_LOADER_SUCCESS Success
+  *     - ESP_LOADER_ERROR_TIMEOUT Timeout
+  *     - ESP_LOADER_ERROR_INVALID_RESPONSE Internal error
+  *     - ESP_LOADER_ERROR_UNSUPPORTED_FUNC Unsupported on the target
+  */
+esp_loader_error_t esp_loader_change_baudrate(uint32_t baudrate);
+
+/**
+  * @brief Verify target's flash integrity by checking MD5.
+  *        MD5 checksum is computed from data pushed to target's memory by calling
+  *        esp_loader_flash_write() function and compared against target's MD5.
+  *        Target computes checksum based on offset and image_size passed to
+  *        esp_loader_flash_start() function.
+  *
+  * @note  This function is only available if MD5_ENABLED is set.
+  *
+  * @return
+  *     - ESP_LOADER_SUCCESS Success
+  *     - ESP_LOADER_ERROR_INVALID_MD5 MD5 does not match
+  *     - ESP_LOADER_ERROR_TIMEOUT Timeout
+  *     - ESP_LOADER_ERROR_INVALID_RESPONSE Internal error
+  *     - ESP_LOADER_ERROR_UNSUPPORTED_FUNC Unsupported on the target
+  */
+esp_loader_error_t esp_loader_flash_verify(void);
+
+/**
+  * @brief Toggles reset pin.
+  */
+void esp_loader_reset_target(void);
+
+
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/esp32/esp_targets.c b/esp32/esp_targets.c
new file mode 100644
index 000000000..4e0155bc2
--- /dev/null
+++ b/esp32/esp_targets.c
@@ -0,0 +1,248 @@
+/* Copyright 2020 Espressif Systems (Shanghai) PTE LTD
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "esp_targets.h"
+#include <stddef.h>
+
+#define MAX_MAGIC_VALUES 2
+
+typedef esp_loader_error_t (*read_spi_config_t)(uint32_t efuse_base, uint32_t *spi_config);
+
+typedef struct {
+    target_registers_t regs;
+    uint32_t efuse_base;
+    uint32_t chip_magic_value[MAX_MAGIC_VALUES];
+    read_spi_config_t read_spi_config;
+    bool encryption_in_begin_flash_cmd;
+} esp_target_t;
+
+// This ROM address has a different value on each chip model
+#define CHIP_DETECT_MAGIC_REG_ADDR 0x40001000
+
+#define ESP8266_SPI_REG_BASE 0x60000200
+#define ESP32S2_SPI_REG_BASE 0x3f402000
+#define ESP32xx_SPI_REG_BASE 0x60002000
+#define ESP32_SPI_REG_BASE   0x3ff42000
+
+static esp_loader_error_t spi_config_esp32(uint32_t efuse_base, uint32_t *spi_config);
+static esp_loader_error_t spi_config_esp32xx(uint32_t efuse_base, uint32_t *spi_config);
+
+static const esp_target_t esp_target[ESP_MAX_CHIP] = {
+
+    // ESP8266
+    {
+        .regs = {
+            .cmd  = ESP8266_SPI_REG_BASE + 0x00,
+            .usr  = ESP8266_SPI_REG_BASE + 0x1c,
+            .usr1 = ESP8266_SPI_REG_BASE + 0x20,
+            .usr2 = ESP8266_SPI_REG_BASE + 0x24,
+            .w0   = ESP8266_SPI_REG_BASE + 0x40,
+            .mosi_dlen  = 0,
+            .miso_dlen  = 0,
+        },
+        .efuse_base = 0,            // Not used
+        .chip_magic_value  = { 0xfff0c101, 0 },
+        .read_spi_config = NULL,    // Not used
+    },
+
+    // ESP32
+    {
+        .regs = {
+            .cmd  = ESP32_SPI_REG_BASE + 0x00,
+            .usr  = ESP32_SPI_REG_BASE + 0x1c,
+            .usr1 = ESP32_SPI_REG_BASE + 0x20,
+            .usr2 = ESP32_SPI_REG_BASE + 0x24,
+            .w0   = ESP32_SPI_REG_BASE + 0x80,
+            .mosi_dlen = ESP32_SPI_REG_BASE + 0x28,
+            .miso_dlen = ESP32_SPI_REG_BASE + 0x2c,
+        },
+        .efuse_base = 0x3ff5A000,
+        .chip_magic_value  = { 0x00f01d83, 0 },
+        .read_spi_config = spi_config_esp32,
+    },
+
+    // ESP32S2
+    {
+        .regs = {
+            .cmd  = ESP32S2_SPI_REG_BASE + 0x00,
+            .usr  = ESP32S2_SPI_REG_BASE + 0x18,
+            .usr1 = ESP32S2_SPI_REG_BASE + 0x1c,
+            .usr2 = ESP32S2_SPI_REG_BASE + 0x20,
+            .w0   = ESP32S2_SPI_REG_BASE + 0x58,
+            .mosi_dlen = ESP32S2_SPI_REG_BASE + 0x24,
+            .miso_dlen = ESP32S2_SPI_REG_BASE + 0x28,
+        },
+        .efuse_base = 0x3f41A000,
+        .chip_magic_value  = { 0x000007c6, 0 },
+        .read_spi_config = spi_config_esp32xx,
+    },
+
+    // ESP32C3
+    {
+        .regs = {
+            .cmd  = ESP32xx_SPI_REG_BASE + 0x00,
+            .usr  = ESP32xx_SPI_REG_BASE + 0x18,
+            .usr1 = ESP32xx_SPI_REG_BASE + 0x1c,
+            .usr2 = ESP32xx_SPI_REG_BASE + 0x20,
+            .w0   = ESP32xx_SPI_REG_BASE + 0x58,
+            .mosi_dlen = ESP32xx_SPI_REG_BASE + 0x24,
+            .miso_dlen = ESP32xx_SPI_REG_BASE + 0x28,
+        },
+        .efuse_base = 0x60008800,
+        .chip_magic_value = { 0x6921506f, 0x1b31506f },
+        .read_spi_config = spi_config_esp32xx,
+    },
+
+    // ESP32S3
+    {
+        .regs = {
+            .cmd  = ESP32xx_SPI_REG_BASE + 0x00,
+            .usr  = ESP32xx_SPI_REG_BASE + 0x18,
+            .usr1 = ESP32xx_SPI_REG_BASE + 0x1c,
+            .usr2 = ESP32xx_SPI_REG_BASE + 0x20,
+            .w0   = ESP32xx_SPI_REG_BASE + 0x58,
+            .mosi_dlen = ESP32xx_SPI_REG_BASE + 0x24,
+            .miso_dlen = ESP32xx_SPI_REG_BASE + 0x28,
+        },
+        .efuse_base = 0x60007000,
+        .chip_magic_value = { 0x00000009, 0 },
+        .read_spi_config = spi_config_esp32xx,
+    },
+
+    // ESP32C2
+    {
+        .regs = {
+            .cmd  = ESP32xx_SPI_REG_BASE + 0x00,
+            .usr  = ESP32xx_SPI_REG_BASE + 0x18,
+            .usr1 = ESP32xx_SPI_REG_BASE + 0x1c,
+            .usr2 = ESP32xx_SPI_REG_BASE + 0x20,
+            .w0   = ESP32xx_SPI_REG_BASE + 0x58,
+            .mosi_dlen = ESP32xx_SPI_REG_BASE + 0x24,
+            .miso_dlen = ESP32xx_SPI_REG_BASE + 0x28,
+        },
+        .efuse_base = 0x60008800,
+        .chip_magic_value = { 0x6f51306f, 0 },
+        .read_spi_config = spi_config_esp32xx,
+    },
+    // ESP32H2
+    {
+        .regs = {
+            .cmd  = ESP32xx_SPI_REG_BASE + 0x00,
+            .usr  = ESP32xx_SPI_REG_BASE + 0x18,
+            .usr1 = ESP32xx_SPI_REG_BASE + 0x1c,
+            .usr2 = ESP32xx_SPI_REG_BASE + 0x20,
+            .w0   = ESP32xx_SPI_REG_BASE + 0x58,
+            .mosi_dlen = ESP32xx_SPI_REG_BASE + 0x24,
+            .miso_dlen = ESP32xx_SPI_REG_BASE + 0x28,
+        },
+        .efuse_base = 0x6001A000,
+        .chip_magic_value = {0xca26cc22, 0x6881b06f}, // ESP32H2-BETA1, ESP32H2-BETA2
+        .read_spi_config = spi_config_esp32xx,
+    },
+};
+
+const target_registers_t *get_esp_target_data(target_chip_t chip)
+{
+    return (target_registers_t *)&esp_target[chip];
+}
+
+esp_loader_error_t loader_detect_chip(target_chip_t *target_chip, const target_registers_t **target_data)
+{
+    uint32_t magic_value;
+    RETURN_ON_ERROR( esp_loader_read_register(CHIP_DETECT_MAGIC_REG_ADDR,  &magic_value) );
+
+    for (int chip = 0; chip < ESP_MAX_CHIP; chip++) {
+        for(int index = 0; index < MAX_MAGIC_VALUES; index++) {
+            if (magic_value == esp_target[chip].chip_magic_value[index]) {
+                *target_chip = (target_chip_t)chip;
+                *target_data = (target_registers_t *)&esp_target[chip];
+                return ESP_LOADER_SUCCESS;
+            }
+        }
+    }
+
+    return ESP_LOADER_ERROR_INVALID_TARGET;
+}
+
+esp_loader_error_t loader_read_spi_config(target_chip_t target_chip, uint32_t *spi_config)
+{
+    const esp_target_t *target = &esp_target[target_chip];
+    return target->read_spi_config(target->efuse_base, spi_config);
+}
+
+static inline uint32_t efuse_word_addr(uint32_t efuse_base, uint32_t n)
+{
+    return efuse_base + (n * 4);
+}
+
+// 30->GPIO32 | 31->GPIO33
+static inline uint8_t adjust_pin_number(uint8_t num)
+{
+    return (num >= 30) ? num + 2 : num;
+}
+
+
+static esp_loader_error_t spi_config_esp32(uint32_t efuse_base, uint32_t *spi_config)
+{
+    *spi_config = 0;
+
+    uint32_t reg5, reg3;
+    RETURN_ON_ERROR( esp_loader_read_register(efuse_word_addr(efuse_base, 5), &reg5) );
+    RETURN_ON_ERROR( esp_loader_read_register(efuse_word_addr(efuse_base, 3), &reg3) );
+
+    uint32_t pins = reg5 & 0xfffff;
+
+    if (pins == 0 || pins == 0xfffff) {
+        return ESP_LOADER_SUCCESS;
+    }
+
+    uint8_t clk = adjust_pin_number( (pins >> 0)  & 0x1f );
+    uint8_t q   = adjust_pin_number( (pins >> 5)  & 0x1f );
+    uint8_t d   = adjust_pin_number( (pins >> 10) & 0x1f );
+    uint8_t cs  = adjust_pin_number( (pins >> 15) & 0x1f );
+    uint8_t hd  = adjust_pin_number( (reg3 >> 4)  & 0x1f );
+
+    if (clk == cs || clk == d || clk == q || q == cs || q == d || q == d) {
+        return ESP_LOADER_SUCCESS;
+    }
+
+    *spi_config = (hd << 24) | (cs << 18) | (d << 12) | (q << 6) | clk;
+
+    return ESP_LOADER_SUCCESS;
+}
+
+// Applies for esp32s2, esp32c3 and esp32c3
+static esp_loader_error_t spi_config_esp32xx(uint32_t efuse_base, uint32_t *spi_config)
+{
+    *spi_config = 0;
+
+    uint32_t reg1, reg2;
+    RETURN_ON_ERROR( esp_loader_read_register(efuse_word_addr(efuse_base, 18), &reg1) );
+    RETURN_ON_ERROR( esp_loader_read_register(efuse_word_addr(efuse_base, 19), &reg2) );
+
+    uint32_t pins = ((reg1 >> 16) | ((reg2 & 0xfffff) << 16)) & 0x3fffffff;
+
+    if (pins == 0 || pins == 0xffffffff) {
+        return ESP_LOADER_SUCCESS;
+    }
+
+    *spi_config = pins;
+    return ESP_LOADER_SUCCESS;
+}
+
+bool encryption_in_begin_flash_cmd(target_chip_t target)
+{
+    return target == ESP32_CHIP || target == ESP8266_CHIP;
+}
diff --git a/esp32/esp_targets.h b/esp32/esp_targets.h
new file mode 100644
index 000000000..cf8af91fa
--- /dev/null
+++ b/esp32/esp_targets.h
@@ -0,0 +1,33 @@
+/* Copyright 2020 Espressif Systems (Shanghai) PTE LTD
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include "esp_loader.h"
+
+typedef struct {
+    uint32_t cmd;
+    uint32_t usr;
+    uint32_t usr1;
+    uint32_t usr2;
+    uint32_t w0;
+    uint32_t mosi_dlen;
+    uint32_t miso_dlen;
+} target_registers_t;
+
+esp_loader_error_t loader_detect_chip(target_chip_t *target, const target_registers_t **regs);
+esp_loader_error_t loader_read_spi_config(target_chip_t target_chip, uint32_t *spi_config);
+bool encryption_in_begin_flash_cmd(target_chip_t target);
\ No newline at end of file
diff --git a/esp32/md5_hash.c b/esp32/md5_hash.c
new file mode 100644
index 000000000..4da76bcb5
--- /dev/null
+++ b/esp32/md5_hash.c
@@ -0,0 +1,262 @@
+/*
+ * MD5 hash implementation and interface functions
+ * Copyright (c) 2003-2005, Jouni Malinen <j@w1.fi>
+ *
+ * This software may be distributed under the terms of the BSD license.
+ * See README for more details.
+ */
+
+
+#include "md5_hash.h"
+#include <stdlib.h>
+#include <string.h>
+
+
+static void MD5Transform(uint32_t buf[4], uint32_t const in[16]);
+
+
+/* ===== start - public domain MD5 implementation ===== */
+/*
+ * This code implements the MD5 message-digest algorithm.
+ * The algorithm is due to Ron Rivest.  This code was
+ * written by Colin Plumb in 1993, no copyright is claimed.
+ * This code is in the public domain; do with it what you wish.
+ *
+ * Equivalent code is available from RSA Data Security, Inc.
+ * This code has been tested against that, and is equivalent,
+ * except that you don't need to include two pages of legalese
+ * with every copy.
+ *
+ * To compute the message digest of a chunk of bytes, declare an
+ * MD5Context structure, pass it to MD5Init, call MD5Update as
+ * needed on buffers full of bytes, and then call MD5Final, which
+ * will fill a supplied 16-byte array with the digest.
+ */
+
+#ifndef WORDS_BIGENDIAN
+#define byteReverse(buf, len)   /* Nothing */
+#else
+/*
+ * Note: this code is harmless on little-endian machines.
+ */
+static void byteReverse(unsigned char *buf, unsigned longs)
+{
+    uint32_t t;
+    do {
+        t = (uint32_t) ((unsigned) buf[3] << 8 | buf[2]) << 16 |
+            ((unsigned) buf[1] << 8 | buf[0]);
+        *(uint32_t *) buf = t;
+        buf += 4;
+    } while (--longs);
+}
+#endif
+
+/*
+ * Start MD5 accumulation.  Set bit count to 0 and buffer to mysterious
+ * initialization constants.
+ */
+void MD5Init(struct MD5Context *ctx)
+{
+    ctx->buf[0] = 0x67452301;
+    ctx->buf[1] = 0xefcdab89;
+    ctx->buf[2] = 0x98badcfe;
+    ctx->buf[3] = 0x10325476;
+
+    ctx->bits[0] = 0;
+    ctx->bits[1] = 0;
+}
+
+/*
+ * Update context to reflect the concatenation of another buffer full
+ * of bytes.
+ */
+void MD5Update(struct MD5Context *ctx, unsigned char const *buf, unsigned len)
+{
+    uint32_t t;
+
+    /* Update bitcount */
+
+    t = ctx->bits[0];
+    if ((ctx->bits[0] = t + ((uint32_t) len << 3)) < t) {
+        ctx->bits[1]++;    /* Carry from low to high */
+    }
+    ctx->bits[1] += len >> 29;
+
+    t = (t >> 3) & 0x3f;    /* Bytes already in shsInfo->data */
+
+    /* Handle any leading odd-sized chunks */
+
+    if (t) {
+        unsigned char *p = (unsigned char *) ctx->in + t;
+
+        t = 64 - t;
+        if (len < t) {
+            memcpy(p, buf, len);
+            return;
+        }
+        memcpy(p, buf, t);
+        byteReverse(ctx->in, 16);
+        MD5Transform((uint32_t *)ctx->buf, (uint32_t *) ctx->in);
+        buf += t;
+        len -= t;
+    }
+    /* Process data in 64-byte chunks */
+
+    while (len >= 64) {
+        memcpy(ctx->in, buf, 64);
+        byteReverse(ctx->in, 16);
+        MD5Transform((uint32_t *)ctx->buf, (uint32_t *) ctx->in);
+        buf += 64;
+        len -= 64;
+    }
+
+    /* Handle any remaining bytes of data. */
+
+    memcpy(ctx->in, buf, len);
+}
+
+/*
+ * Final wrapup - pad to 64-byte boundary with the bit pattern
+ * 1 0* (64-bit count of bits processed, MSB-first)
+ */
+void MD5Final(unsigned char digest[16], struct MD5Context *ctx)
+{
+    unsigned count;
+    unsigned char *p;
+
+    /* Compute number of bytes mod 64 */
+    count = (ctx->bits[0] >> 3) & 0x3F;
+
+    /* Set the first char of padding to 0x80.  This is safe since there is
+       always at least one byte free */
+    p = ctx->in + count;
+    *p++ = 0x80;
+
+    /* Bytes of padding needed to make 64 bytes */
+    count = 64 - 1 - count;
+
+    /* Pad out to 56 mod 64 */
+    if (count < 8) {
+        /* Two lots of padding:  Pad the first block to 64 bytes */
+        memset(p, 0, count);
+        byteReverse(ctx->in, 16);
+        MD5Transform((uint32_t *)ctx->buf, (uint32_t *) ctx->in);
+
+        /* Now fill the next block with 56 bytes */
+        memset(ctx->in, 0, 56);
+    } else {
+        /* Pad block to 56 bytes */
+        memset(p, 0, count - 8);
+    }
+    byteReverse(ctx->in, 14);
+
+    /* Append length in bits and transform */
+    ((uint32_t *) ctx->in)[14] = ctx->bits[0];
+    ((uint32_t *) ctx->in)[15] = ctx->bits[1];
+
+    MD5Transform((uint32_t *)ctx->buf, (uint32_t *) ctx->in);
+    byteReverse((unsigned char *) ctx->buf, 4);
+    memcpy(digest, ctx->buf, 16);
+    memset(ctx, 0, sizeof(struct MD5Context));  /* In case it's sensitive */
+}
+
+/* The four core functions - F1 is optimized somewhat */
+
+/* #define F1(x, y, z) (x & y | ~x & z) */
+#define F1(x, y, z) (z ^ (x & (y ^ z)))
+#define F2(x, y, z) F1(z, x, y)
+#define F3(x, y, z) (x ^ y ^ z)
+#define F4(x, y, z) (y ^ (x | ~z))
+
+/* This is the central step in the MD5 algorithm. */
+#define MD5STEP(f, w, x, y, z, data, s) \
+    ( w += f(x, y, z) + data,  w = w<<s | w>>(32-s),  w += x )
+
+/*
+ * The core of the MD5 algorithm, this alters an existing MD5 hash to
+ * reflect the addition of 16 longwords of new data.  MD5Update blocks
+ * the data and converts bytes into longwords for this routine.
+ */
+static void MD5Transform(uint32_t buf[4], uint32_t const in[16])
+{
+    register uint32_t a, b, c, d;
+
+    a = buf[0];
+    b = buf[1];
+    c = buf[2];
+    d = buf[3];
+
+    MD5STEP(F1, a, b, c, d, in[0] + 0xd76aa478, 7);
+    MD5STEP(F1, d, a, b, c, in[1] + 0xe8c7b756, 12);
+    MD5STEP(F1, c, d, a, b, in[2] + 0x242070db, 17);
+    MD5STEP(F1, b, c, d, a, in[3] + 0xc1bdceee, 22);
+    MD5STEP(F1, a, b, c, d, in[4] + 0xf57c0faf, 7);
+    MD5STEP(F1, d, a, b, c, in[5] + 0x4787c62a, 12);
+    MD5STEP(F1, c, d, a, b, in[6] + 0xa8304613, 17);
+    MD5STEP(F1, b, c, d, a, in[7] + 0xfd469501, 22);
+    MD5STEP(F1, a, b, c, d, in[8] + 0x698098d8, 7);
+    MD5STEP(F1, d, a, b, c, in[9] + 0x8b44f7af, 12);
+    MD5STEP(F1, c, d, a, b, in[10] + 0xffff5bb1, 17);
+    MD5STEP(F1, b, c, d, a, in[11] + 0x895cd7be, 22);
+    MD5STEP(F1, a, b, c, d, in[12] + 0x6b901122, 7);
+    MD5STEP(F1, d, a, b, c, in[13] + 0xfd987193, 12);
+    MD5STEP(F1, c, d, a, b, in[14] + 0xa679438e, 17);
+    MD5STEP(F1, b, c, d, a, in[15] + 0x49b40821, 22);
+
+    MD5STEP(F2, a, b, c, d, in[1] + 0xf61e2562, 5);
+    MD5STEP(F2, d, a, b, c, in[6] + 0xc040b340, 9);
+    MD5STEP(F2, c, d, a, b, in[11] + 0x265e5a51, 14);
+    MD5STEP(F2, b, c, d, a, in[0] + 0xe9b6c7aa, 20);
+    MD5STEP(F2, a, b, c, d, in[5] + 0xd62f105d, 5);
+    MD5STEP(F2, d, a, b, c, in[10] + 0x02441453, 9);
+    MD5STEP(F2, c, d, a, b, in[15] + 0xd8a1e681, 14);
+    MD5STEP(F2, b, c, d, a, in[4] + 0xe7d3fbc8, 20);
+    MD5STEP(F2, a, b, c, d, in[9] + 0x21e1cde6, 5);
+    MD5STEP(F2, d, a, b, c, in[14] + 0xc33707d6, 9);
+    MD5STEP(F2, c, d, a, b, in[3] + 0xf4d50d87, 14);
+    MD5STEP(F2, b, c, d, a, in[8] + 0x455a14ed, 20);
+    MD5STEP(F2, a, b, c, d, in[13] + 0xa9e3e905, 5);
+    MD5STEP(F2, d, a, b, c, in[2] + 0xfcefa3f8, 9);
+    MD5STEP(F2, c, d, a, b, in[7] + 0x676f02d9, 14);
+    MD5STEP(F2, b, c, d, a, in[12] + 0x8d2a4c8a, 20);
+
+    MD5STEP(F3, a, b, c, d, in[5] + 0xfffa3942, 4);
+    MD5STEP(F3, d, a, b, c, in[8] + 0x8771f681, 11);
+    MD5STEP(F3, c, d, a, b, in[11] + 0x6d9d6122, 16);
+    MD5STEP(F3, b, c, d, a, in[14] + 0xfde5380c, 23);
+    MD5STEP(F3, a, b, c, d, in[1] + 0xa4beea44, 4);
+    MD5STEP(F3, d, a, b, c, in[4] + 0x4bdecfa9, 11);
+    MD5STEP(F3, c, d, a, b, in[7] + 0xf6bb4b60, 16);
+    MD5STEP(F3, b, c, d, a, in[10] + 0xbebfbc70, 23);
+    MD5STEP(F3, a, b, c, d, in[13] + 0x289b7ec6, 4);
+    MD5STEP(F3, d, a, b, c, in[0] + 0xeaa127fa, 11);
+    MD5STEP(F3, c, d, a, b, in[3] + 0xd4ef3085, 16);
+    MD5STEP(F3, b, c, d, a, in[6] + 0x04881d05, 23);
+    MD5STEP(F3, a, b, c, d, in[9] + 0xd9d4d039, 4);
+    MD5STEP(F3, d, a, b, c, in[12] + 0xe6db99e5, 11);
+    MD5STEP(F3, c, d, a, b, in[15] + 0x1fa27cf8, 16);
+    MD5STEP(F3, b, c, d, a, in[2] + 0xc4ac5665, 23);
+
+    MD5STEP(F4, a, b, c, d, in[0] + 0xf4292244, 6);
+    MD5STEP(F4, d, a, b, c, in[7] + 0x432aff97, 10);
+    MD5STEP(F4, c, d, a, b, in[14] + 0xab9423a7, 15);
+    MD5STEP(F4, b, c, d, a, in[5] + 0xfc93a039, 21);
+    MD5STEP(F4, a, b, c, d, in[12] + 0x655b59c3, 6);
+    MD5STEP(F4, d, a, b, c, in[3] + 0x8f0ccc92, 10);
+    MD5STEP(F4, c, d, a, b, in[10] + 0xffeff47d, 15);
+    MD5STEP(F4, b, c, d, a, in[1] + 0x85845dd1, 21);
+    MD5STEP(F4, a, b, c, d, in[8] + 0x6fa87e4f, 6);
+    MD5STEP(F4, d, a, b, c, in[15] + 0xfe2ce6e0, 10);
+    MD5STEP(F4, c, d, a, b, in[6] + 0xa3014314, 15);
+    MD5STEP(F4, b, c, d, a, in[13] + 0x4e0811a1, 21);
+    MD5STEP(F4, a, b, c, d, in[4] + 0xf7537e82, 6);
+    MD5STEP(F4, d, a, b, c, in[11] + 0xbd3af235, 10);
+    MD5STEP(F4, c, d, a, b, in[2] + 0x2ad7d2bb, 15);
+    MD5STEP(F4, b, c, d, a, in[9] + 0xeb86d391, 21);
+
+    buf[0] += a;
+    buf[1] += b;
+    buf[2] += c;
+    buf[3] += d;
+}
+/* ===== end - public domain MD5 implementation ===== */
diff --git a/esp32/md5_hash.h b/esp32/md5_hash.h
new file mode 100644
index 000000000..eb5738c8b
--- /dev/null
+++ b/esp32/md5_hash.h
@@ -0,0 +1,28 @@
+/*
+ * MD5 hash implementation and interface functions
+ * Copyright (c) 2003-2005, Jouni Malinen <j@w1.fi>
+ *
+ * This software may be distributed under the terms of the BSD license.
+ * See README for more details.
+ */
+
+#pragma once
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+struct MD5Context {
+	uint32_t buf[4];
+	uint32_t bits[2];
+	uint8_t in[64];
+};
+
+void MD5Init(struct MD5Context *context);
+void MD5Update(struct MD5Context *context, unsigned char const *buf, unsigned len);
+void MD5Final(unsigned char digest[16], struct MD5Context *context);
+
+#ifdef __cplusplus
+}
+#endif
\ No newline at end of file
diff --git a/esp32/serial_comm.c b/esp32/serial_comm.c
new file mode 100644
index 000000000..664340055
--- /dev/null
+++ b/esp32/serial_comm.c
@@ -0,0 +1,431 @@
+/* Copyright 2020 Espressif Systems (Shanghai) PTE LTD
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "serial_comm_prv.h"
+#include "serial_comm.h"
+#include "serial_io.h"
+#include <stddef.h>
+#include <string.h>
+
+#define CMD_SIZE(cmd) ( sizeof(cmd) - sizeof(command_common_t) )
+
+static uint32_t s_sequence_number = 0;
+
+static const uint8_t DELIMITER = 0xC0;
+static const uint8_t C0_REPLACEMENT[2] = {0xDB, 0xDC};
+static const uint8_t DB_REPLACEMENT[2] = {0xDB, 0xDD};
+
+static esp_loader_error_t check_response(command_t cmd, uint32_t *reg_value, void* resp, uint32_t resp_size);
+
+
+static inline esp_loader_error_t serial_read(uint8_t *buff, size_t size)
+{
+    return loader_port_serial_read(buff, size, loader_port_remaining_time());
+}
+
+static inline esp_loader_error_t serial_write(const uint8_t *buff, size_t size)
+{
+    return loader_port_serial_write(buff, size, loader_port_remaining_time());
+}
+
+static uint8_t compute_checksum(const uint8_t *data, uint32_t size)
+{
+    uint8_t checksum = 0xEF;
+
+    while (size--) {
+        checksum ^= *data++;
+    }
+
+    return checksum;
+}
+
+static esp_loader_error_t SLIP_receive_data(uint8_t *buff, uint32_t size)
+{
+    uint8_t ch;
+
+    for (uint32_t i = 0; i < size; i++) {
+        RETURN_ON_ERROR( serial_read(&ch, 1) );
+
+        if (ch == 0xDB) {
+            RETURN_ON_ERROR( serial_read(&ch, 1) );
+            if (ch == 0xDC) {
+                buff[i] = 0xC0;
+            } else if (ch == 0xDD) {
+                buff[i] = 0xDB;
+            } else {
+                return ESP_LOADER_ERROR_INVALID_RESPONSE;
+            }
+        } else {
+            buff[i] = ch;
+        }
+    }
+
+    return ESP_LOADER_SUCCESS;
+}
+
+
+static esp_loader_error_t SLIP_receive_packet(uint8_t *buff, uint32_t size)
+{
+    uint8_t ch;
+
+    // Wait for delimiter
+    do {
+        RETURN_ON_ERROR( serial_read(&ch, 1) );
+    } while (ch != DELIMITER);
+
+    // Workaround: bootloader sends two dummy(0xC0) bytes after response when baud rate is changed.
+    do {
+        RETURN_ON_ERROR( serial_read(&ch, 1) );
+    } while (ch == DELIMITER);
+
+    buff[0] = ch;
+
+    RETURN_ON_ERROR( SLIP_receive_data(&buff[1], size - 1) );
+
+    // Wait for delimiter
+    do {
+        RETURN_ON_ERROR( serial_read(&ch, 1) );
+    } while (ch != DELIMITER);
+
+    return ESP_LOADER_SUCCESS;
+}
+
+
+static esp_loader_error_t SLIP_send(const uint8_t *data, uint32_t size)
+{
+    uint32_t to_write = 0;  // Bytes ready to write as they are
+    uint32_t written = 0;   // Bytes already written
+
+    for (uint32_t i = 0; i < size; i++) {
+        if (data[i] != 0xC0 && data[i] != 0xDB) {
+            to_write++; // Queue this byte for writing
+            continue;
+        }
+
+        // We have a byte that needs encoding, write the queue first
+        if (to_write > 0) {
+            RETURN_ON_ERROR( serial_write(&data[written], to_write) );
+        }
+
+        // Write the encoded byte
+        if (data[i] == 0xC0) {
+            RETURN_ON_ERROR( serial_write(C0_REPLACEMENT, 2) );
+        } else {
+            RETURN_ON_ERROR( serial_write(DB_REPLACEMENT, 2) );
+        }
+
+        // Update to start again after the encoded byte
+        written = i + 1;
+        to_write = 0;
+    }
+
+    // Write the rest of the bytes that didn't need encoding
+    if (to_write > 0) {
+        RETURN_ON_ERROR( serial_write(&data[written], to_write) );
+    }
+
+    return ESP_LOADER_SUCCESS;
+}
+
+
+static esp_loader_error_t SLIP_send_delimiter(void)
+{
+    return serial_write(&DELIMITER, 1);
+}
+
+
+static esp_loader_error_t send_cmd(const void *cmd_data, uint32_t size, uint32_t *reg_value)
+{
+    response_t response;
+    command_t command = ((command_common_t *)cmd_data)->command;
+
+    RETURN_ON_ERROR( SLIP_send_delimiter() );
+    RETURN_ON_ERROR( SLIP_send((const uint8_t *)cmd_data, size) );
+    RETURN_ON_ERROR( SLIP_send_delimiter() );
+
+    return check_response(command, reg_value, &response, sizeof(response));
+}
+
+
+static esp_loader_error_t send_cmd_with_data(const void *cmd_data, size_t cmd_size,
+                                             const void *data, size_t data_size)
+{
+    response_t response;
+    command_t command = ((command_common_t *)cmd_data)->command;
+
+    RETURN_ON_ERROR( SLIP_send_delimiter() );
+    RETURN_ON_ERROR( SLIP_send((const uint8_t *)cmd_data, cmd_size) );
+    RETURN_ON_ERROR( SLIP_send(data, data_size) );
+    RETURN_ON_ERROR( SLIP_send_delimiter() );
+
+    return check_response(command, NULL, &response, sizeof(response));
+}
+
+
+static esp_loader_error_t send_cmd_md5(const void *cmd_data, size_t cmd_size, uint8_t md5_out[MD5_SIZE])
+{
+    rom_md5_response_t response;
+    command_t command = ((command_common_t *)cmd_data)->command;
+
+    RETURN_ON_ERROR( SLIP_send_delimiter() );
+    RETURN_ON_ERROR( SLIP_send((const uint8_t *)cmd_data, cmd_size) );
+    RETURN_ON_ERROR( SLIP_send_delimiter() );
+
+    RETURN_ON_ERROR( check_response(command, NULL, &response, sizeof(response)) );
+
+    memcpy(md5_out, response.md5, MD5_SIZE);
+
+    return ESP_LOADER_SUCCESS;
+}
+
+
+static void log_loader_internal_error(error_code_t error)
+{
+    loader_port_debug_print("Error: ");
+
+    switch (error) {
+        case INVALID_CRC:     loader_port_debug_print("INVALID_CRC"); break;
+        case INVALID_COMMAND: loader_port_debug_print("INVALID_COMMAND"); break;
+        case COMMAND_FAILED:  loader_port_debug_print("COMMAND_FAILED"); break;
+        case FLASH_WRITE_ERR: loader_port_debug_print("FLASH_WRITE_ERR"); break;
+        case FLASH_READ_ERR:  loader_port_debug_print("FLASH_READ_ERR"); break;
+        case READ_LENGTH_ERR: loader_port_debug_print("READ_LENGTH_ERR"); break;
+        case DEFLATE_ERROR:   loader_port_debug_print("DEFLATE_ERROR"); break;
+        default:              loader_port_debug_print("UNKNOWN ERROR"); break;
+    }
+    
+    loader_port_debug_print("\n");
+}
+
+
+static esp_loader_error_t check_response(command_t cmd, uint32_t *reg_value, void* resp, uint32_t resp_size)
+{
+    esp_loader_error_t err;
+    common_response_t *response = (common_response_t *)resp;
+
+    do {
+        err = SLIP_receive_packet(resp, resp_size);
+        if (err != ESP_LOADER_SUCCESS) {
+            return err;
+        }
+    } while ((response->direction != READ_DIRECTION) || (response->command != cmd));
+
+    response_status_t *status = (response_status_t *)((uint8_t *)resp + resp_size - sizeof(response_status_t));
+
+    if (status->failed) {
+        log_loader_internal_error(status->error);
+        return ESP_LOADER_ERROR_INVALID_RESPONSE;
+    }
+
+    if (reg_value != NULL) {
+        *reg_value = response->value;
+    }
+
+    return ESP_LOADER_SUCCESS;
+}
+
+esp_loader_error_t loader_flash_begin_cmd(uint32_t offset,
+                                          uint32_t erase_size,
+                                          uint32_t block_size,
+                                          uint32_t blocks_to_write,
+                                          bool encryption)
+{
+    uint32_t encryption_size = encryption ? sizeof(uint32_t) : 0;
+
+    begin_command_t begin_cmd = {
+        .common = {
+            .direction = WRITE_DIRECTION,
+            .command = FLASH_BEGIN,
+            .size = CMD_SIZE(begin_cmd) - encryption_size,
+            .checksum = 0
+        },
+        .erase_size = erase_size,
+        .packet_count = blocks_to_write,
+        .packet_size = block_size,
+        .offset = offset,
+        .encrypted = 0
+    };
+
+    s_sequence_number = 0;
+
+    return send_cmd(&begin_cmd, sizeof(begin_cmd) - encryption_size, NULL);
+}
+
+
+esp_loader_error_t loader_flash_data_cmd(const uint8_t *data, uint32_t size)
+{
+    data_command_t data_cmd = {
+        .common = {
+            .direction = WRITE_DIRECTION,
+            .command = FLASH_DATA,
+            .size = CMD_SIZE(data_cmd) + size,
+            .checksum = compute_checksum(data, size)
+        },
+        .data_size = size,
+        .sequence_number = s_sequence_number++,
+    };
+
+    return send_cmd_with_data(&data_cmd, sizeof(data_cmd), data, size);
+}
+
+
+esp_loader_error_t loader_flash_end_cmd(bool stay_in_loader)
+{
+    flash_end_command_t end_cmd = {
+        .common = {
+            .direction = WRITE_DIRECTION,
+            .command = FLASH_END,
+            .size = CMD_SIZE(end_cmd),
+            .checksum = 0
+        },
+        .stay_in_loader = stay_in_loader
+    };
+
+    return send_cmd(&end_cmd, sizeof(end_cmd), NULL);
+}
+
+
+esp_loader_error_t loader_sync_cmd(void)
+{
+    sync_command_t sync_cmd = {
+        .common = {
+            .direction = WRITE_DIRECTION,
+            .command = SYNC,
+            .size = CMD_SIZE(sync_cmd),
+            .checksum = 0
+        },
+        .sync_sequence = {
+            0x07, 0x07, 0x12, 0x20,
+            0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
+            0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
+            0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
+            0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55,
+        }
+    };
+
+    return send_cmd(&sync_cmd, sizeof(sync_cmd), NULL);
+}
+
+
+esp_loader_error_t loader_write_reg_cmd(uint32_t address, uint32_t value,
+                                        uint32_t mask, uint32_t delay_us)
+{
+    write_reg_command_t write_cmd = {
+        .common = {
+            .direction = WRITE_DIRECTION,
+            .command = WRITE_REG,
+            .size = CMD_SIZE(write_cmd),
+            .checksum = 0
+        },
+        .address = address,
+        .value = value,
+        .mask = mask,
+        .delay_us = delay_us
+    };
+
+    return send_cmd(&write_cmd, sizeof(write_cmd), NULL);
+}
+
+
+esp_loader_error_t loader_read_reg_cmd(uint32_t address, uint32_t *reg)
+{
+    read_reg_command_t read_cmd = {
+        .common = {
+            .direction = WRITE_DIRECTION,
+            .command = READ_REG,
+            .size = CMD_SIZE(read_cmd),
+            .checksum = 0
+        },
+        .address = address,
+    };
+
+    return send_cmd(&read_cmd, sizeof(read_cmd), reg);
+}
+
+
+esp_loader_error_t loader_spi_attach_cmd(uint32_t config)
+{
+    spi_attach_command_t attach_cmd = {
+        .common = {
+            .direction = WRITE_DIRECTION,
+            .command = SPI_ATTACH,
+            .size = CMD_SIZE(attach_cmd),
+            .checksum = 0
+        },
+        .configuration = config,
+        .zero = 0
+    };
+
+    return send_cmd(&attach_cmd, sizeof(attach_cmd), NULL);
+}
+
+esp_loader_error_t loader_change_baudrate_cmd(uint32_t baudrate)
+{
+    change_baudrate_command_t baudrate_cmd = {
+        .common = {
+            .direction = WRITE_DIRECTION,
+            .command = CHANGE_BAUDRATE,
+            .size = CMD_SIZE(baudrate_cmd),
+            .checksum = 0
+        },
+        .new_baudrate = baudrate,
+        .old_baudrate = 0 // ESP32 ROM only
+    };
+
+    return send_cmd(&baudrate_cmd, sizeof(baudrate_cmd), NULL);
+}
+
+esp_loader_error_t loader_md5_cmd(uint32_t address, uint32_t size, uint8_t *md5_out)
+{
+    spi_flash_md5_command_t md5_cmd = {
+        .common = {
+            .direction = WRITE_DIRECTION,
+            .command = SPI_FLASH_MD5,
+            .size = CMD_SIZE(md5_cmd),
+            .checksum = 0
+        },
+        .address = address,
+        .size = size,
+        .reserved_0 = 0,
+        .reserved_1 = 0
+    };
+
+    return send_cmd_md5(&md5_cmd, sizeof(md5_cmd), md5_out);
+}
+
+esp_loader_error_t loader_spi_parameters(uint32_t total_size)
+{
+    write_spi_command_t spi_cmd = {
+        .common = {
+            .direction = WRITE_DIRECTION,
+            .command = SPI_SET_PARAMS,
+            .size = 24,
+            .checksum = 0
+        },
+        .id = 0,
+        .total_size = total_size,
+        .block_size = 64 * 1024,
+        .sector_size = 4 * 1024,
+        .page_size = 0x100,
+        .status_mask = 0xFFFF,
+    };
+
+    return send_cmd(&spi_cmd, sizeof(spi_cmd), NULL);
+}
+
+__attribute__ ((weak)) void loader_port_debug_print(const char *str)
+{
+
+}
diff --git a/esp32/serial_comm.h b/esp32/serial_comm.h
new file mode 100644
index 000000000..3379a7f80
--- /dev/null
+++ b/esp32/serial_comm.h
@@ -0,0 +1,48 @@
+/* Copyright 2020 Espressif Systems (Shanghai) PTE LTD
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "esp_loader.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+esp_loader_error_t loader_flash_begin_cmd(uint32_t offset, uint32_t erase_size, uint32_t block_size, uint32_t blocks_to_write, bool encryption);
+
+esp_loader_error_t loader_flash_data_cmd(const uint8_t *data, uint32_t size);
+
+esp_loader_error_t loader_flash_end_cmd(bool stay_in_loader);
+
+esp_loader_error_t loader_write_reg_cmd(uint32_t address, uint32_t value, uint32_t mask, uint32_t delay_us);
+
+esp_loader_error_t loader_read_reg_cmd(uint32_t address, uint32_t *reg);
+
+esp_loader_error_t loader_sync_cmd(void);
+
+esp_loader_error_t loader_spi_attach_cmd(uint32_t config);
+
+esp_loader_error_t loader_change_baudrate_cmd(uint32_t baudrate);
+
+esp_loader_error_t loader_md5_cmd(uint32_t address, uint32_t size, uint8_t *md5_out);
+
+esp_loader_error_t loader_spi_parameters(uint32_t total_size);
+
+#ifdef __cplusplus
+}
+#endif
\ No newline at end of file
diff --git a/esp32/serial_comm_prv.h b/esp32/serial_comm_prv.h
new file mode 100644
index 000000000..4d21fcdfd
--- /dev/null
+++ b/esp32/serial_comm_prv.h
@@ -0,0 +1,191 @@
+/* Copyright 2020 Espressif Systems (Shanghai) PTE LTD
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define STATUS_FAILURE  1
+#define STATUS_SUCCESS  0
+
+#define READ_DIRECTION  1
+#define WRITE_DIRECTION 0
+
+#define MD5_SIZE 32
+
+typedef enum __attribute__((packed))
+{
+    FLASH_BEGIN = 0x02,
+    FLASH_DATA  = 0x03,
+    FLASH_END   = 0x04,
+    MEM_BEGIN   = 0x05,
+    MEM_END     = 0x06,
+    MEM_DATA    = 0x07,
+    SYNC        = 0x08,
+    WRITE_REG   = 0x09,
+    READ_REG    = 0x0a,
+
+    SPI_SET_PARAMS   = 0x0b,
+    SPI_ATTACH       = 0x0d,
+    CHANGE_BAUDRATE  = 0x0f,
+    FLASH_DEFL_BEGIN = 0x10,
+    FLASH_DEFL_DATA  = 0x11,
+    FLASH_DEFL_END   = 0x12,
+    SPI_FLASH_MD5    = 0x13,
+} command_t;
+
+typedef enum __attribute__((packed))
+{
+    RESPONSE_OK     = 0x00,
+    INVALID_COMMAND = 0x05, // parameters or length field is invalid
+    COMMAND_FAILED  = 0x06, // Failed to act on received message
+    INVALID_CRC     = 0x07, // Invalid CRC in message
+    FLASH_WRITE_ERR = 0x08, // After writing a block of data to flash, the ROM loader reads the value back and the 8-bit CRC is compared to the data read from flash. If they don't match, this error is returned.
+    FLASH_READ_ERR  = 0x09, // SPI read failed
+    READ_LENGTH_ERR = 0x0a, // SPI read request length is too long
+    DEFLATE_ERROR   = 0x0b, // ESP32 compressed uploads only
+} error_code_t;
+
+typedef struct __attribute__((packed))
+{
+    uint8_t direction;
+    uint8_t command;    // One of command_t
+    uint16_t size;
+    uint32_t checksum;
+} command_common_t;
+
+typedef struct __attribute__((packed))
+{
+    command_common_t common;
+    uint32_t erase_size;
+    uint32_t packet_count;
+    uint32_t packet_size;
+    uint32_t offset;
+    uint32_t encrypted;
+} begin_command_t;
+
+typedef struct __attribute__((packed))
+{
+    command_common_t common;
+    uint32_t data_size;
+    uint32_t sequence_number;
+    uint32_t zero_0;
+    uint32_t zero_1;
+} data_command_t;
+
+typedef struct __attribute__((packed))
+{
+    command_common_t common;
+    uint32_t stay_in_loader;
+} flash_end_command_t;
+
+typedef struct __attribute__((packed))
+{
+    command_common_t common;
+    uint32_t stay_in_loader;
+    uint32_t entry_point_address;
+} mem_end_command_t;
+
+typedef struct __attribute__((packed))
+{
+    command_common_t common;
+    uint8_t sync_sequence[36];
+} sync_command_t;
+
+typedef struct __attribute__((packed))
+{
+    command_common_t common;
+    uint32_t address;
+    uint32_t value;
+    uint32_t mask;
+    uint32_t delay_us;
+} write_reg_command_t;
+
+typedef struct __attribute__((packed))
+{
+    command_common_t common;
+    uint32_t address;
+} read_reg_command_t;
+
+typedef struct __attribute__((packed))
+{
+    command_common_t common;
+    uint32_t configuration;
+    uint32_t zero; // ESP32 ROM only
+} spi_attach_command_t;
+
+typedef struct __attribute__((packed))
+{
+    command_common_t common;
+    uint32_t new_baudrate;
+    uint32_t old_baudrate;
+} change_baudrate_command_t;
+
+typedef struct __attribute__((packed))
+{
+    command_common_t common;
+    uint32_t address;
+    uint32_t size;
+    uint32_t reserved_0;
+    uint32_t reserved_1;
+} spi_flash_md5_command_t;
+
+typedef struct __attribute__((packed))
+{
+    uint8_t direction;
+    uint8_t command;    // One of command_t
+    uint16_t size;
+    uint32_t value;
+} common_response_t;
+
+typedef struct __attribute__((packed))
+{
+    uint8_t failed;
+    uint8_t error;
+} response_status_t;
+
+typedef struct __attribute__((packed))
+{
+    common_response_t common;
+    response_status_t status;
+} response_t;
+
+typedef struct __attribute__((packed))
+{
+    common_response_t common;
+    uint8_t md5[MD5_SIZE];     // ROM only
+    response_status_t status;
+} rom_md5_response_t;
+
+typedef struct __attribute__((packed))
+{
+    command_common_t common;
+    uint32_t id;
+    uint32_t total_size;
+    uint32_t block_size;
+    uint32_t sector_size;
+    uint32_t page_size;
+    uint32_t status_mask;
+} write_spi_command_t;
+
+
+#ifdef __cplusplus
+}
+#endif
\ No newline at end of file
diff --git a/esp32/serial_io.h b/esp32/serial_io.h
new file mode 100644
index 000000000..13987f31e
--- /dev/null
+++ b/esp32/serial_io.h
@@ -0,0 +1,105 @@
+/* Copyright 2020 Espressif Systems (Shanghai) PTE LTD
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+ #pragma once
+
+#include <stdint.h>
+#include "esp_loader.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+  * @brief Changes baud rate of serial peripheral.
+  */
+esp_loader_error_t loader_port_change_baudrate(uint32_t baudrate);
+
+/**
+  * @brief Writes data to serial interface.
+  *
+  * @param data[in]     Buffer with data to be written.
+  * @param size[in]     Size of data in bytes.
+  * @param timeout[in]  Timeout in milliseconds.
+  *
+  * @return
+  *     - ESP_LOADER_SUCCESS Success
+  *     - ESP_LOADER_ERROR_TIMEOUT Timeout elapsed
+  */
+esp_loader_error_t loader_port_serial_write(const uint8_t *data, uint16_t size, uint32_t timeout);
+
+/**
+  * @brief Reads data from serial interface.
+  *
+  * @param data[out]    Buffer into which received data will be written.
+  * @param size[in]     Number of bytes to read.
+  * @param timeout[in]  Timeout in milliseconds.
+  *
+  * @return
+  *     - ESP_LOADER_SUCCESS Success
+  *     - ESP_LOADER_ERROR_TIMEOUT Timeout elapsed
+  */
+esp_loader_error_t loader_port_serial_read(uint8_t *data, uint16_t size, uint32_t timeout);
+
+/**
+  * @brief Delay in milliseconds.
+  *
+  * @param ms[in]   Number of milliseconds.
+  *
+  */
+void loader_port_delay_ms(uint32_t ms);
+
+/**
+  * @brief Starts timeout timer.
+  *
+  * @param ms[in]   Number of milliseconds.
+  *
+  */
+void loader_port_start_timer(uint32_t ms);
+
+/**
+  * @brief Returns remaining time since timer was started by calling esp_loader_start_timer.
+  *        0 if timer has elapsed.
+  *
+  * @return   Number of milliseconds.
+  *
+  */
+uint32_t loader_port_remaining_time(void);
+
+/**
+  * @brief Asserts bootstrap pins to enter boot mode and toggles reset pin.
+  *
+  * @note  Reset pin should stay asserted for at least 20 milliseconds.
+  */
+void loader_port_enter_bootloader(void);
+
+/**
+  * @brief Toggles reset pin.
+  *
+  * @note  Reset pin should stay asserted for at least 20 milliseconds.
+  */
+void loader_port_reset_target(void);
+
+/**
+  * @brief Function can be defined by user to print debug message.
+  *
+  * @note  Empty weak function is used, otherwise.
+  *
+  */
+void loader_port_debug_print(const char *str);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/mainwindow.cpp b/mainwindow.cpp
index ee3678acd..6b186ea10 100755
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -1531,6 +1531,11 @@ void MainWindow::reloadPages()
     ui->pageWidget->addWidget(mPageSwdProg);
     addPageItem(tr("SWD Programmer"),  theme + "icons/Electronics-96.png", "", true);
 
+    mPageEspProg = new PageEspProg(this);
+    mPageEspProg->setVesc(mVesc);
+    ui->pageWidget->addWidget(mPageEspProg);
+    addPageItem(tr("ESP Programmer"),  theme + "icons/Electronics-96.png", "", true);
+
     /*
      * Page IDs
      *
diff --git a/mainwindow.h b/mainwindow.h
index 1106afe6e..8057618c1 100644
--- a/mainwindow.h
+++ b/mainwindow.h
@@ -68,6 +68,7 @@
 #include "pages/pagescripting.h"
 #include "pages/pagemotorcomparison.h"
 #include "pages/pagelisp.h"
+#include "pages/pageespprog.h"
 
 namespace Ui {
 class MainWindow;
@@ -211,6 +212,7 @@ private slots:
     PageCustomConfig *mPageCustomConfig2;
     PageScripting *mPageScripting;
     PageLisp *mPageLisp;
+    PageEspProg *mPageEspProg;
     QTabWidget *mPageVESCDev;
     Preferences *mPreferences;
 
diff --git a/pages/pageespprog.cpp b/pages/pageespprog.cpp
new file mode 100644
index 000000000..dc6cdea2c
--- /dev/null
+++ b/pages/pageespprog.cpp
@@ -0,0 +1,266 @@
+/*
+    Copyright 2022 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#include "pageespprog.h"
+#include "ui_pageespprog.h"
+#include "utility.h"
+
+PageEspProg::PageEspProg(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::PageEspProg)
+{
+    ui->setupUi(this);
+    layout()->setContentsMargins(0, 0, 0, 0);
+    mVesc = nullptr;
+
+    QString theme = Utility::getThemePath();
+    ui->blChooseButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
+    ui->partChooseButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
+    ui->appChooseButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
+    ui->flashButton->setIcon(QPixmap(theme + "icons/Download-96.png"));
+    ui->serialConnectButton->setIcon(QPixmap(theme + "icons/Connected-96.png"));
+    ui->serialDisconnectButton->setIcon(QPixmap(theme + "icons/Disconnected-96.png"));
+    ui->serialRefreshButton->setIcon(QPixmap(theme + "icons/Refresh-96.png"));
+
+    QSettings set;
+    if (set.contains("pageespprog/lastcustomblfile")) {
+        ui->blEdit->setText(set.value("pageespprog/lastcustomblfile").toString());
+    }
+    if (set.contains("pageespprog/lastcustompartfile")) {
+        ui->partEdit->setText(set.value("pageespprog/lastcustompartfile").toString());
+    }
+    if (set.contains("pageespprog/lastcustomappfile")) {
+        ui->appEdit->setText(set.value("pageespprog/lastcustomappfile").toString());
+    }
+
+    mTimer = new QTimer(this);
+    connect(mTimer, SIGNAL(timeout()), this, SLOT(timerSlot()));
+    mTimer->start(50);
+
+    connect(&mEspFlash, &Esp32Flash::flashProgress, [this](double progress) {
+        ui->progWidget->setValue(progress * 100.0);
+    });
+
+    connect(&mEspFlash, &Esp32Flash::stateUpdate, [this](QString msg) {
+        ui->progWidget->setText(msg);
+    });
+}
+
+PageEspProg::~PageEspProg()
+{
+    QSettings set;
+    set.setValue("pageespprog/lastcustomblfile", ui->blEdit->text());
+    set.setValue("pageespprog/lastcustompartfile", ui->partEdit->text());
+    set.setValue("pageespprog/lastcustomappfile", ui->appEdit->text());
+    delete ui;
+}
+
+VescInterface *PageEspProg::vesc() const
+{
+    return mVesc;
+}
+
+void PageEspProg::setVesc(VescInterface *vesc)
+{
+    mVesc = vesc;
+    on_serialRefreshButton_clicked();
+}
+
+void PageEspProg::timerSlot()
+{
+    ui->serialConnectButton->setEnabled(ui->flashButton->isEnabled() && !mEspFlash.isEspConnected());
+    ui->serialDisconnectButton->setEnabled(ui->flashButton->isEnabled() && mEspFlash.isEspConnected());
+
+    if (ui->fwList->count() > 0 && !mEspFlash.isEspConnected()) {
+        ui->fwList->clear();
+    }
+}
+
+void PageEspProg::on_serialRefreshButton_clicked()
+{
+    if (mVesc) {
+        ui->serialPortBox->clear();
+        QList<VSerialInfo_t> ports = mVesc->listSerialPorts();
+        foreach(const VSerialInfo_t &port, ports) {
+            ui->serialPortBox->addItem(port.name, port.systemPath);
+        }
+        ui->serialPortBox->setCurrentIndex(0);
+    }
+}
+
+void PageEspProg::on_serialDisconnectButton_clicked()
+{
+    mEspFlash.disconnectEsp();
+}
+
+void PageEspProg::on_serialConnectButton_clicked()
+{
+    if (mEspFlash.connectEsp(ui->serialPortBox->currentData().toString())) {
+        switch (mEspFlash.getTarget()) {
+        case ESP32C3_CHIP: {
+            QDir dir("://res/firmwares_esp/ESP32-C3");
+            dir.setSorting(QDir::Name);
+            for (auto fi: dir.entryInfoList()) {
+                QFileInfo fiApp(fi.absoluteFilePath() + "/app.bin");
+                QFileInfo fiBl(fi.absoluteFilePath() + "/bootloader.bin");
+                QFileInfo fiPart(fi.absoluteFilePath() + "/partition-table.bin");
+
+                if (fiApp.exists() && fiBl.exists() && fiPart.exists()) {
+                    addFwToList(fi.fileName(), fi.canonicalFilePath());
+                }
+            }
+        } break;
+
+        default:
+            break;
+        }
+    }
+}
+
+void PageEspProg::on_flashButton_clicked()
+{
+    QString blPath;
+    QString partPath;
+    QString appPath;
+
+    if (ui->tabWidget->currentIndex() == 0) {
+        auto item = ui->fwList->currentItem();
+        if (item != nullptr) {
+            QString path = item->data(Qt::UserRole).toString();
+            blPath = path + "/bootloader.bin";
+            partPath = path + "/partition-table.bin";
+            appPath = path + "/app.bin";
+        } else {
+            mVesc->emitMessageDialog("Flash Firmware",
+                                     "No Firmware Selected",
+                                     false, false);
+            return;
+        }
+    } else {
+        blPath = ui->blEdit->text();
+        partPath = ui->partEdit->text();
+        appPath = ui->appEdit->text();
+    }
+
+    ui->flashButton->setEnabled(false);
+
+    QFile fBl(blPath);
+    if (!fBl.open(QIODevice::ReadOnly)) {
+        qWarning() << "Could not open bootloader";
+        ui->flashButton->setEnabled(true);
+        return;
+    }
+
+    QFile fPart(partPath);
+    if (!fPart.open(QIODevice::ReadOnly)) {
+        qWarning() << "Could not open partition table";
+        ui->flashButton->setEnabled(true);
+        return;
+    }
+
+    QFile fApp(appPath);
+    if (!fApp.open(QIODevice::ReadOnly)) {
+        qWarning() << "Could not open application";
+        ui->flashButton->setEnabled(true);
+        return;
+    }
+
+#if 0 // This suddenly started working??
+    // The builtin USB disconnects after a while for some reason. This does not
+    // happen in esptool.py, but even after looking through that source code I
+    // have not figured out what they are doing differently. This hack erases
+    // the bootloader, which will make the ESP reboot and not boot properly.
+    // Connecting to it in that state seems to not disconnect.
+    if (mEspFlash.isBuiltinUsb()) {
+        mEspFlash.eraseFlash(fBl.size(), 0x0);
+
+        auto port = mEspFlash.espPort();
+        mEspFlash.disconnectEsp();
+        ui->progWidget->setText("Waiting for reboot...");
+        Utility::sleepWithEventLoop(9000);
+
+        for (int i = 0; i < 5;i++) {
+            if (mEspFlash.connectEsp(port)) {
+                break;
+            }
+            Utility::sleepWithEventLoop(500);
+        }
+    }
+#endif
+
+    if (!mEspFlash.isEspConnected()) {
+        ui->flashButton->setEnabled(true);
+        ui->progWidget->setText("Could not reconnect");
+        return;
+    }
+
+    ui->progWidget->setText("Flashing bootloader...");
+    mEspFlash.flashFirmware(fBl.readAll(), 0x0);
+
+    ui->progWidget->setText("Flashing firmware...");
+    ui->progWidget->setValue(0.0);
+    mEspFlash.flashFirmware(fApp.readAll(), 0x10000);
+
+    ui->progWidget->setText("Flashing partition table...");
+    ui->progWidget->setValue(0.0);
+    mEspFlash.flashFirmware(fPart.readAll(), 0x8000);
+
+    ui->flashButton->setEnabled(true);
+}
+
+void PageEspProg::on_blChooseButton_clicked()
+{
+    QString filename = QFileDialog::getOpenFileName(this,
+                                                    tr("Choose Bootloader"),
+                                                    ui->blEdit->text(),
+                                                    tr("Binary files (*.bin)"));
+    if (!filename.isNull()) {
+        ui->blEdit->setText(filename);
+    }
+}
+
+void PageEspProg::on_partChooseButton_clicked()
+{
+    QString filename = QFileDialog::getOpenFileName(this,
+                                                    tr("Choose Partition Table"),
+                                                    ui->partEdit->text(),
+                                                    tr("Binary files (*.bin)"));
+    if (!filename.isNull()) {
+        ui->partEdit->setText(filename);
+    }
+}
+
+void PageEspProg::on_appChooseButton_clicked()
+{
+    QString filename = QFileDialog::getOpenFileName(this,
+                                                    tr("Choose Application"),
+                                                    ui->appEdit->text(),
+                                                    tr("Binary files (*.bin)"));
+    if (!filename.isNull()) {
+        ui->appEdit->setText(filename);
+    }
+}
+
+void PageEspProg::addFwToList(QString name, QString path)
+{
+    QListWidgetItem *item = new QListWidgetItem;
+    item->setText(name);
+    item->setData(Qt::UserRole, QVariant::fromValue(path));
+    ui->fwList->insertItem(ui->fwList->count(), item);
+}
diff --git a/pages/pageespprog.h b/pages/pageespprog.h
new file mode 100644
index 000000000..5a37bd1bc
--- /dev/null
+++ b/pages/pageespprog.h
@@ -0,0 +1,63 @@
+/*
+    Copyright 2022 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#ifndef PAGEESPPROG_H
+#define PAGEESPPROG_H
+
+#include <QWidget>
+#include <QTimer>
+#include "vescinterface.h"
+#include "esp32/esp32flash.h"
+
+namespace Ui {
+class PageEspProg;
+}
+
+class PageEspProg : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit PageEspProg(QWidget *parent = nullptr);
+    ~PageEspProg();
+
+    VescInterface *vesc() const;
+    void setVesc(VescInterface *vesc);
+
+private slots:
+    void timerSlot();
+    void on_serialRefreshButton_clicked();
+    void on_serialDisconnectButton_clicked();
+    void on_serialConnectButton_clicked();
+    void on_flashButton_clicked();
+    void on_blChooseButton_clicked();
+    void on_partChooseButton_clicked();
+    void on_appChooseButton_clicked();
+
+private:
+    QTimer *mTimer;
+    Ui::PageEspProg *ui;
+    VescInterface *mVesc;
+    Esp32Flash mEspFlash;
+
+    void addFwToList(QString name, QString path);
+
+};
+
+#endif // PAGEESPPROG_H
diff --git a/pages/pageespprog.ui b/pages/pageespprog.ui
new file mode 100644
index 000000000..930789c73
--- /dev/null
+++ b/pages/pageespprog.ui
@@ -0,0 +1,296 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>PageEspProg</class>
+ <widget class="QWidget" name="PageEspProg">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>895</width>
+    <height>467</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout_2">
+   <item>
+    <widget class="QGroupBox" name="groupBox">
+     <property name="title">
+      <string>Connection</string>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout">
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout">
+        <item>
+         <widget class="QLabel" name="label_2">
+          <property name="text">
+           <string>Port</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QComboBox" name="serialPortBox">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="toolTip">
+           <string>Serial port</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="serialRefreshButton">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="toolTip">
+           <string>Refresh serial port list</string>
+          </property>
+          <property name="text">
+           <string/>
+          </property>
+          <property name="icon">
+           <iconset resource="../res.qrc">
+            <normaloff>:/res/icons/Refresh-96.png</normaloff>:/res/icons/Refresh-96.png</iconset>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="serialDisconnectButton">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="toolTip">
+           <string>Disconnect</string>
+          </property>
+          <property name="text">
+           <string/>
+          </property>
+          <property name="icon">
+           <iconset resource="../res.qrc">
+            <normaloff>:/res/icons/Disconnected-96.png</normaloff>:/res/icons/Disconnected-96.png</iconset>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="serialConnectButton">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="toolTip">
+           <string>Connect</string>
+          </property>
+          <property name="text">
+           <string/>
+          </property>
+          <property name="icon">
+           <iconset resource="../res.qrc">
+            <normaloff>:/res/icons/Connected-96.png</normaloff>:/res/icons/Connected-96.png</iconset>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="tabShape">
+      <enum>QTabWidget::Triangular</enum>
+     </property>
+     <property name="currentIndex">
+      <number>0</number>
+     </property>
+     <widget class="QWidget" name="tab">
+      <attribute name="title">
+       <string>Included</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_5">
+       <item>
+        <widget class="QListWidget" name="fwList">
+         <property name="selectionBehavior">
+          <enum>QAbstractItemView::SelectRows</enum>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="tab_2">
+      <attribute name="title">
+       <string>Custom</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_3">
+       <item>
+        <layout class="QGridLayout" name="gridLayout">
+         <item row="0" column="0">
+          <widget class="QLabel" name="label">
+           <property name="text">
+            <string>Bootloader</string>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="1">
+          <widget class="QLineEdit" name="blEdit"/>
+         </item>
+         <item row="0" column="2">
+          <widget class="QPushButton" name="blChooseButton">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="toolTip">
+            <string>Choose file...</string>
+           </property>
+           <property name="text">
+            <string/>
+           </property>
+           <property name="icon">
+            <iconset resource="../res.qrc">
+             <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="0">
+          <widget class="QLabel" name="label_3">
+           <property name="text">
+            <string>Partition Table</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="1">
+          <widget class="QLineEdit" name="partEdit"/>
+         </item>
+         <item row="1" column="2">
+          <widget class="QPushButton" name="partChooseButton">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="toolTip">
+            <string>Choose file...</string>
+           </property>
+           <property name="text">
+            <string/>
+           </property>
+           <property name="icon">
+            <iconset resource="../res.qrc">
+             <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="0">
+          <widget class="QLabel" name="label_4">
+           <property name="text">
+            <string>Application</string>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="1">
+          <widget class="QLineEdit" name="appEdit"/>
+         </item>
+         <item row="2" column="2">
+          <widget class="QPushButton" name="appChooseButton">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="toolTip">
+            <string>Choose file...</string>
+           </property>
+           <property name="text">
+            <string/>
+           </property>
+           <property name="icon">
+            <iconset resource="../res.qrc">
+             <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
+           </property>
+          </widget>
+         </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>148</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+   <item>
+    <widget class="QGroupBox" name="groupBox_2">
+     <property name="title">
+      <string>Flash</string>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout_4">
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout_2">
+        <item>
+         <widget class="DisplayPercentage" name="progWidget" native="true">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="flashButton">
+          <property name="text">
+           <string>Flash</string>
+          </property>
+          <property name="icon">
+           <iconset resource="../res.qrc">
+            <normaloff>:/res/icons/Download-96.png</normaloff>:/res/icons/Download-96.png</iconset>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>DisplayPercentage</class>
+   <extends>QWidget</extends>
+   <header>widgets/displaypercentage.h</header>
+   <container>1</container>
+  </customwidget>
+ </customwidgets>
+ <resources>
+  <include location="../res.qrc"/>
+ </resources>
+ <connections/>
+</ui>
diff --git a/pages/pages.pri b/pages/pages.pri
index 2d5b5486f..a21b9d6ca 100644
--- a/pages/pages.pri
+++ b/pages/pages.pri
@@ -5,6 +5,7 @@ FORMS += \
     $$PWD/pagecananalyzer.ui \
     $$PWD/pageconnection.ui \
     $$PWD/pagecustomconfig.ui \
+    $$PWD/pageespprog.ui \
     $$PWD/pagelisp.ui \
     $$PWD/pagemotor.ui \
     $$PWD/pagedebugprint.ui \
@@ -44,6 +45,7 @@ HEADERS += \
     $$PWD/pagecananalyzer.h \
     $$PWD/pageconnection.h \
     $$PWD/pagecustomconfig.h \
+    $$PWD/pageespprog.h \
     $$PWD/pagelisp.h \
     $$PWD/pagemotor.h \
     $$PWD/pagedebugprint.h \
@@ -83,6 +85,7 @@ SOURCES += \
     $$PWD/pagecananalyzer.cpp \
     $$PWD/pageconnection.cpp \
     $$PWD/pagecustomconfig.cpp \
+    $$PWD/pageespprog.cpp \
     $$PWD/pagelisp.cpp \
     $$PWD/pagemotor.cpp \
     $$PWD/pagedebugprint.cpp \
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diff --git a/res/firmwares_esp/ESP32-C3/Devkit Blink/bootloader.bin b/res/firmwares_esp/ESP32-C3/Devkit Blink/bootloader.bin
new file mode 100644
index 0000000000000000000000000000000000000000..323d78f7f6d21e2ff3d6459245d2ea7b938244a3
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zCs_$d?R3S$aoULEQ_RwqMRwm}myOK7optkd+7PI)#@&~*Y6<vA8Tuxa0e)#qk(@t|
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z7fsL!dh+bw7v`^1$+|=E9pS&9{`<n-QZgB5Ojk?)ewy`oR*vz4pDw_Dx=sE9csR%X
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literal 0
HcmV?d00001

diff --git a/res/firmwares_esp/ESP32-C3/Devkit Blink/partition-table.bin b/res/firmwares_esp/ESP32-C3/Devkit Blink/partition-table.bin
new file mode 100644
index 0000000000000000000000000000000000000000..b8fa03b4b3536b1f4d0def4c1fed550e8fc2acc7
GIT binary patch
literal 3072
zcmZ1#z{tcffq{V`fq@~ftQg2Z1*-xW85uqR#RM1_3Nk9=GxIV_kX5V-0Pz^X3epmj
zOY(~<k);`4zy6N`zO40kwFvW$Eiv7uQ@U-c3X0??XEX#xLtr!nMnhmU1V%$(Gz3ON
NU^E0qLx83s002kkm~Q|8

literal 0
HcmV?d00001

diff --git a/res/firmwares_esp/res_fw_esp.qrc b/res/firmwares_esp/res_fw_esp.qrc
new file mode 100644
index 000000000..0d92f2ae3
--- /dev/null
+++ b/res/firmwares_esp/res_fw_esp.qrc
@@ -0,0 +1,9 @@
+
+<RCC>
+   <qresource prefix="/res/firmwares_esp/">
+        <file>ESP32-C3/Devkit Blink/app.bin</file>
+        <file>ESP32-C3/Devkit Blink/bootloader.bin</file>
+        <file>ESP32-C3/Devkit Blink/partition-table.bin</file>
+   </qresource>
+</RCC>
+
diff --git a/utility.h b/utility.h
index 2e44572b2..a0199d1c9 100644
--- a/utility.h
+++ b/utility.h
@@ -118,6 +118,8 @@ class Utility : public QObject
         return QString(QMetaEnum::fromType<QEnum>().valueToKey(value));
     }
 
+    Q_INVOKABLE static QString arr2str(QByteArray a) {return QString(a);}
+
     Q_INVOKABLE static bool hasSerialport() {
 #ifdef HAS_SERIALPORT
         return true;
diff --git a/vesc_tool.pro b/vesc_tool.pro
index 836892979..b3c689db2 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -10,7 +10,7 @@ VT_INTRO_VERSION = 1
 VT_CONFIG_VERSION = 2
 
 # Set to 0 for stable versions and to test version number for development versions.
-VT_IS_TEST_VERSION = 6
+VT_IS_TEST_VERSION = 7
 
 VT_ANDROID_VERSION_ARMV7 = 108
 VT_ANDROID_VERSION_ARM64 = 109
@@ -247,12 +247,14 @@ include(map/map.pri)
 include(lzokay/lzokay.pri)
 include(heatshrink/heatshrink.pri)
 include(QCodeEditor/qcodeeditor.pri)
+include(esp32/esp32.pri)
 
 RESOURCES += res.qrc \
     res_fw_bms.qrc \
     res/firmwares/res_fw.qrc \
     res_lisp.qrc \
-    res_qml.qrc
+    res_qml.qrc \
+    res/firmwares_esp/res_fw_esp.qrc
 RESOURCES += res_config.qrc
 
 build_original {
diff --git a/vescinterface.cpp b/vescinterface.cpp
index ec22d04d5..42959c09d 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -2305,7 +2305,7 @@ QList<VSerialInfo_t> VescInterface::listSerialPorts()
         info.systemPath = port.systemLocation();
         int index = res.size();
 
-        if(port.manufacturer().startsWith("STMicroelectronics")) {
+        if (port.manufacturer().startsWith("STMicroelectronics")) {
             info.name.insert(0, "VESC - ");
             info.isVesc = true;
             index = 0;
@@ -2313,6 +2313,11 @@ QList<VSerialInfo_t> VescInterface::listSerialPorts()
             info.isVesc = false;
         }
 
+        if (port.productIdentifier() == 0x1001) {
+            info.name.insert(0, "ESP32 - ");
+            index = 0;
+        }
+
         res.insert(index, info);
     }
 #endif

From 3892918b0edd763e2809b3f7a68a60258948a39b Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 11 Jul 2022 21:23:08 +0200
Subject: [PATCH 140/559] String serialization support

---
 configparam.cpp             |  4 +++-
 configparam.h               |  3 ++-
 configparams.cpp            | 39 ++++++++++++++++++++++++++----
 configparams.h              |  1 +
 mobile/ParamEditString.qml  |  7 +++++-
 pages/pagefirmware.cpp      |  8 +++----
 parametereditor.cpp         | 47 ++++++++++++++++++++++++++++++-------
 parametereditor.ui          | 31 ++++++++++++++++++------
 utility.cpp                 | 25 ++++++++++++++++----
 widgets/parameditstring.cpp |  3 +++
 10 files changed, 137 insertions(+), 31 deletions(-)

diff --git a/configparam.cpp b/configparam.cpp
index 06e7f894d..f24e71bf3 100644
--- a/configparam.cpp
+++ b/configparam.cpp
@@ -41,6 +41,7 @@ void ConfigParam::reset()
     maxInt = 99;
     minInt = 0;
     stepInt = 1;
+    maxLen = 0;
     vTx = VESC_TX_UNDEFINED;
     vTxDoubleScale = 1.0;
     suffix = "";
@@ -82,10 +83,11 @@ void ConfigParam::setEnum(int val, QStringList names)
     enumNames = names;
 }
 
-void ConfigParam::setString(QString val)
+void ConfigParam::setString(QString val, int maxStrLen)
 {
     type = CFG_T_QSTRING;
     valString = val;
+    maxLen = maxStrLen;
 }
 
 void ConfigParam::setBool(bool val)
diff --git a/configparam.h b/configparam.h
index d7122d646..e98e37803 100644
--- a/configparam.h
+++ b/configparam.h
@@ -34,7 +34,7 @@ class ConfigParam
                    double step = 1.0, int decimals = 2);
     void setDoubleTx(VESC_TX_T tx, double scale);
     void setEnum(int val, QStringList names);
-    void setString(QString val);
+    void setString(QString val, int maxLen);
     void setBool(bool val);
 
     CFG_T type;
@@ -52,6 +52,7 @@ class ConfigParam
     int maxInt;
     int minInt;
     int stepInt;
+    int maxLen;
     VESC_TX_T vTx;
     double vTxDoubleScale;
     QString suffix;
diff --git a/configparams.cpp b/configparams.cpp
index 8b9f3409e..cba7e4325 100644
--- a/configparams.cpp
+++ b/configparams.cpp
@@ -440,6 +440,25 @@ int ConfigParams::getParamStepInt(const QString &name)
     return retVal;
 }
 
+int ConfigParams::getParamMaxLen(const QString &name)
+{
+    int retVal = 0;
+
+    if (mParams.contains(name)) {
+        ConfigParam &p = mParams[name];
+
+        if (p.type == CFG_T_QSTRING) {
+            retVal = p.maxLen;
+        } else {
+            qWarning() << name << "wrong type";
+        }
+    } else {
+        qWarning() << name << "not found";
+    }
+
+    return retVal;
+}
+
 QStringList ConfigParams::getParamEnumNames(const QString &name)
 {
     QStringList retVal;
@@ -645,7 +664,7 @@ void ConfigParams::getParamSerial(VByteArray &vb, const QString &name)
             break;
 
         case CFG_T_QSTRING:
-            qWarning() << name << ": QString not supported.";
+            vb.vbAppendString(p.valString);
             break;
 
         case CFG_T_ENUM:
@@ -717,9 +736,16 @@ void ConfigParams::setParamSerial(VByteArray &vb, const QString &name, QObject *
             }
         } break;
 
-        case CFG_T_QSTRING:
-            qWarning() << name << ": QString not supported.";
-            break;
+        case CFG_T_QSTRING: {
+            QString val = vb.vbPopFrontString();
+
+            if (mUpdatesEnabled && (mUpdateOnlyName.isEmpty() || mUpdateOnlyName == name)) {
+                if (p.valString != val) {
+                    p.valString = val;
+                    emit paramChangedQString(src, name, val);
+                }
+            }
+        } break;
 
         case CFG_T_ENUM:
         case CFG_T_BOOL: {
@@ -1219,6 +1245,7 @@ void ConfigParams::getParamsXML(QXmlStreamWriter &stream)
 
         case CFG_T_QSTRING:
             stream.writeTextElement("valString", p->valString);
+            stream.writeTextElement("maxLen", QString::number(p->maxLen));
             break;
 
         case CFG_T_ENUM:
@@ -1322,6 +1349,8 @@ bool ConfigParams::setParamsXML(QXmlStreamReader &stream)
                             p.stepDouble = stream.readElementText().toDouble();
                         } else if (name == "stepInt") {
                             p.stepInt = stream.readElementText().toInt();
+                        } else if (name == "maxLen") {
+                            p.maxLen = stream.readElementText().toInt();
                         } else if (name == "suffix") {
                             p.suffix = stream.readElementText();
                         } else if (name == "type") {
@@ -1521,7 +1550,7 @@ bool ConfigParams::saveCDefines(const QString &fileName, bool wrapIfdef)
                     break;
 
                 case CFG_T_QSTRING:
-                    out << "#define " + p.cDefine + " " + p.valString + "\n";
+                    out << "#define " + p.cDefine + " \"" + p.valString + "\"\n";
                     break;
 
                 default:
diff --git a/configparams.h b/configparams.h
index cbcc6490c..66c3acd29 100644
--- a/configparams.h
+++ b/configparams.h
@@ -67,6 +67,7 @@ class ConfigParams : public QObject
     Q_INVOKABLE int getParamMaxInt(const QString &name);
     Q_INVOKABLE int getParamMinInt(const QString &name);
     Q_INVOKABLE int getParamStepInt(const QString &name);
+    Q_INVOKABLE int getParamMaxLen(const QString &name);
     Q_INVOKABLE QStringList getParamEnumNames(const QString &name);
     Q_INVOKABLE double getParamEditorScale(const QString &name);
     Q_INVOKABLE QString getParamSuffix(const QString &name);
diff --git a/mobile/ParamEditString.qml b/mobile/ParamEditString.qml
index 6c5fd990c..fd0ed723e 100644
--- a/mobile/ParamEditString.qml
+++ b/mobile/ParamEditString.qml
@@ -34,10 +34,15 @@ Item {
     property real maxVal: 1.0
 
     Component.onCompleted: {
-        if (params !== null) {
+        if (params != null) {
             nameText.text = params.getLongName(paramName)
             stringInput.text = params.getParamQString(paramName)
 
+            var maxLen = params.getParamMaxLen()
+            if (maxLen > 0) {
+                stringInput.maximumLength = maxLen
+            }
+
             if (params.getParamTransmittable(paramName)) {
                 nowButton.visible = true
                 defaultButton.visible = true
diff --git a/pages/pagefirmware.cpp b/pages/pagefirmware.cpp
index e4a1af290..d58f89f67 100755
--- a/pages/pagefirmware.cpp
+++ b/pages/pagefirmware.cpp
@@ -363,7 +363,7 @@ void PageFirmware::updateBlList(FW_RX_PARAMS params)
 void PageFirmware::on_chooseButton_clicked()
 {
     QString filename = QFileDialog::getOpenFileName(this,
-                                                    tr("Choose Firmware File"), ".",
+                                                    tr("Choose Firmware File"), ui->fwEdit->text(),
                                                     tr("Firmware files (*.bin *.hex)"));
     if (!filename.isNull()) {
         ui->fwEdit->setText(filename);
@@ -373,7 +373,7 @@ void PageFirmware::on_chooseButton_clicked()
 void PageFirmware::on_choose2Button_clicked()
 {
     QString filename = QFileDialog::getOpenFileName(this,
-                                                    tr("Choose Firmware File"), ".",
+                                                    tr("Choose Firmware File"), ui->fw2Edit->text(),
                                                     tr("Firmware files (*.bin *.hex)"));
     if (!filename.isNull()) {
         ui->fw2Edit->setText(filename);
@@ -383,7 +383,7 @@ void PageFirmware::on_choose2Button_clicked()
 void PageFirmware::on_choose3Button_clicked()
 {
     QString filename = QFileDialog::getOpenFileName(this,
-                                                    tr("Choose Firmware File"), ".",
+                                                    tr("Choose Firmware File"), ui->fw3Edit->text(),
                                                     tr("Firmware files (*.bin *.hex)"));
     if (!filename.isNull()) {
         ui->fw3Edit->setText(filename);
@@ -393,7 +393,7 @@ void PageFirmware::on_choose3Button_clicked()
 void PageFirmware::on_choose4Button_clicked()
 {
     QString filename = QFileDialog::getOpenFileName(this,
-                                                    tr("Choose Firmware File"), ".",
+                                                    tr("Choose Firmware File"), ui->fw4Edit->text(),
                                                     tr("Firmware files (*.bin *.hex)"));
     if (!filename.isNull()) {
         ui->fw4Edit->setText(filename);
diff --git a/parametereditor.cpp b/parametereditor.cpp
index 4badf3996..9f13e5cee 100644
--- a/parametereditor.cpp
+++ b/parametereditor.cpp
@@ -253,7 +253,7 @@ void ParameterEditor::on_paramSaveButton_clicked()
         ui->previewTable->removeRow(0);
     }
 
-    if (p.type != CFG_T_QSTRING && p.type != CFG_T_UNDEFINED) {
+    if (p.type != CFG_T_UNDEFINED) {
         ui->previewTable->addParamRow(&mParams, name);
     }
 }
@@ -430,7 +430,7 @@ void ParameterEditor::on_actionSave_XML_as_triggered()
         return;
     }
 
-    if (!path.toLower().endsWith(".xml")) {
+    if (!path.endsWith(".xml", Qt::CaseInsensitive)) {
         path += ".xml";
     }
 
@@ -522,6 +522,7 @@ void ParameterEditor::setEditorValues(QString name, ConfigParam p)
 
     // String
     ui->stringValEdit->setText(p.valString);
+    ui->stringMaxLenBox->setValue(p.maxLen);
 
     // Enum
     ui->enumList->clear();
@@ -583,6 +584,7 @@ QString ParameterEditor::getEditorValues(ConfigParam *p)
 
         case CFG_T_QSTRING:
             p->valString = ui->stringValEdit->text();
+            p->maxLen = ui->stringMaxLenBox->value();
             break;
 
         case CFG_T_ENUM:
@@ -705,7 +707,7 @@ void ParameterEditor::saveParamFileDialog(bool wrapIfdef)
         return;
     }
 
-    if (!path.toLower().endsWith(".h")) {
+    if (!path.endsWith(".h", Qt::CaseInsensitive)) {
         path += ".h";
     }
 
@@ -736,8 +738,42 @@ void ParameterEditor::on_doubleTxTypeBox_currentIndexChanged(int index)
 
 void ParameterEditor::on_actionCalculatePacketSize_triggered()
 {
+    QMap<QString, QString> oldStrings;
+
+    bool updatesEnabledLast = mParams.getUpdatesEnabled();
+    mParams.setUpdatesEnabled(true);
+
+    // Fill all strings to get maximum possible size
+    for (auto name: mParams.getSerializeOrder()) {
+        auto p = mParams.getParam(name);
+        if (p->type == CFG_T_QSTRING) {
+            oldStrings[name] = mParams.getParamQString(name);
+
+            QString updStr = "";
+
+            if (p->maxLen > 0) {
+                updStr = updStr.leftJustified(p->maxLen, 'x');
+            } else {
+                updStr = updStr.leftJustified(512, 'x');
+            }
+
+            mParams.updateParamString(name, updStr);
+        }
+    }
+
     VByteArray bytes;
     mParams.serialize(bytes);
+
+    // Restore
+    for (auto name: mParams.getSerializeOrder()) {
+        auto p = mParams.getParam(name);
+        if (p->type == CFG_T_QSTRING) {
+            mParams.updateParamString(name, oldStrings[name]);
+        }
+    }
+
+    mParams.setUpdatesEnabled(updatesEnabledLast);
+
     QMessageBox::information(this,
                              tr("Packet Size"),
                              tr("%1 Bytes").arg(bytes.size()));
@@ -1081,11 +1117,6 @@ void ParameterEditor::on_actionSave_XML_and_export_config_parser_and_compressed_
     QString pathParser = path + "confparser.c";
     QString pathCompressed = path + "confxml.c";
 
-    qDebug() << pathXml;
-    qDebug() << pathDefines;
-    qDebug() << pathParser;
-    qDebug() << pathCompressed;
-
     Utility::createCompressedConfigC(&mParams, nameConfig, pathCompressed);
     Utility::createParamParserC(&mParams, nameConfig, pathParser);
     mParams.saveCDefines(pathDefines, true);
diff --git a/parametereditor.ui b/parametereditor.ui
index a5d05f8bf..3a2973fb8 100644
--- a/parametereditor.ui
+++ b/parametereditor.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1267</width>
-    <height>720</height>
+    <width>1269</width>
+    <height>773</height>
    </rect>
   </property>
   <property name="font">
@@ -704,17 +704,34 @@
                 <widget class="QWidget" name="page_4">
                  <layout class="QVBoxLayout" name="verticalLayout_12">
                   <item>
-                   <layout class="QHBoxLayout" name="horizontalLayout_4">
-                    <item>
+                   <layout class="QGridLayout" name="gridLayout_5">
+                    <item row="0" column="0">
                      <widget class="QLabel" name="label_23">
                       <property name="text">
                        <string>Default Value</string>
                       </property>
                      </widget>
                     </item>
-                    <item>
+                    <item row="0" column="1">
                      <widget class="QLineEdit" name="stringValEdit"/>
                     </item>
+                    <item row="1" column="0">
+                     <widget class="QLabel" name="label_30">
+                      <property name="text">
+                       <string>Max Length</string>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="1" column="1">
+                     <widget class="QSpinBox" name="stringMaxLenBox">
+                      <property name="minimum">
+                       <number>0</number>
+                      </property>
+                      <property name="maximum">
+                       <number>999</number>
+                      </property>
+                     </widget>
+                    </item>
                    </layout>
                   </item>
                   <item>
@@ -1589,8 +1606,8 @@
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>1267</width>
-     <height>23</height>
+     <width>1269</width>
+     <height>26</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuFile">
diff --git a/utility.cpp b/utility.cpp
index 0dd8e52af..a26a1ea35 100755
--- a/utility.cpp
+++ b/utility.cpp
@@ -1202,6 +1202,7 @@ bool Utility::createParamParserC(VescInterface *vesc, QString filename)
     outHeader << "#endif\n";
 
     outSource << "// This file is autogenerated by VESC Tool\n\n";
+    outSource << "#include <string.h>\n";
     outSource << "#include \"buffer.h\"\n";
     outSource << "#include \"conf_general.h\"\n";
     outSource << "#include \"" << headerInfo.fileName() << "\"\n\n";
@@ -1307,6 +1308,7 @@ bool Utility::createParamParserC(ConfigParams *params, QString configName, QStri
     outHeader << "#endif\n";
 
     outSource << "// This file is autogenerated by VESC Tool\n\n";
+    outSource << "#include <string.h>\n";
     outSource << "#include \"buffer.h\"\n";
     outSource << "#include \"conf_general.h\"\n";
     outSource << "#include \"" << headerInfo.fileName() << "\"\n\n";
@@ -1900,6 +1902,11 @@ void Utility::serialFunc(ConfigParams *params, QTextStream &s) {
                 }
                 break;
 
+            case CFG_T_QSTRING:
+                s << "\t" << "strcpy((char*)buffer + ind, conf->" << name << ");\n";
+                s << "\t" << "ind += strlen(conf->" << name << ") + 1;\n";
+                break;
+
             default:
                 qWarning() << name << ": type not supported.";
                 break;
@@ -1989,6 +1996,11 @@ void Utility::deserialFunc(ConfigParams *params, QTextStream &s) {
                 }
                 break;
 
+            case CFG_T_QSTRING:
+                s << "\t" << "strcpy(conf->" << name << ", (char*)buffer + ind);\n";
+                s << "\t" << "ind += strlen(conf->" << name << ") + 1;\n";
+                break;
+
             default:
                 qWarning() << name << ": type not supported.";
                 break;
@@ -2019,11 +2031,16 @@ void Utility::defaultFunc(ConfigParams *params, QTextStream &s) {
 
         if (p) {
             QString def = p->cDefine;
-            // Kind of a hack...
-            if (name == "controller_id") {
-                def = "HW_DEFAULT_ID";
+
+            if (p->type == CFG_T_QSTRING) {
+                s << "\t" << "strcpy(conf->" << name << ", " << def << ");\n";
+            } else {
+                // Kind of a hack...
+                if (name == "controller_id") {
+                    def = "HW_DEFAULT_ID";
+                }
+                s << "\tconf->" << name << " = " << def << ";\n";
             }
-            s << "\tconf->" << name << " = " << def << ";\n";
         } else {
             qWarning() << name << "not found.";
         }
diff --git a/widgets/parameditstring.cpp b/widgets/parameditstring.cpp
index 40acb89fe..2b8c931b5 100644
--- a/widgets/parameditstring.cpp
+++ b/widgets/parameditstring.cpp
@@ -44,6 +44,9 @@ void ParamEditString::setConfig(ConfigParams *config)
 
     if (param) {
         ui->valueEdit->setText(param->valString);
+        if (param->maxLen > 0) {
+            ui->valueEdit->setMaxLength(param->maxLen);
+        }
     }
 
     connect(mConfig, SIGNAL(paramChangedQString(QObject*,QString,QString)),

From fd92e43dea952e5b57dffc65e2cb06fd247be2ba Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 11 Jul 2022 21:45:26 +0200
Subject: [PATCH 141/559] Wait for custom configs before can scan

---
 mainwindow.cpp    | 2 +-
 vescinterface.cpp | 8 ++++++++
 vescinterface.h   | 2 ++
 3 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/mainwindow.cpp b/mainwindow.cpp
index 6b186ea10..9ecd76f3f 100755
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -701,7 +701,7 @@ void MainWindow::timerSlot()
     }
 
     // Scan can bus on connect
-    if (mVesc->isPortConnected() && ui->canList->count() == 0 && ui->scanCanButton->isEnabled() && mVesc->fwRx()) {
+    if (mVesc->isPortConnected() && ui->canList->count() == 0 && ui->scanCanButton->isEnabled() && mVesc->fwRx() && mVesc->customConfigRxDone()) {
         on_scanCanButton_clicked();
     }
 
diff --git a/vescinterface.cpp b/vescinterface.cpp
index 42959c09d..0deba4150 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -52,6 +52,7 @@ VescInterface::VescInterface(QObject *parent) : QObject(parent)
     mInfoConfig = new ConfigParams(this);
     mFwConfig = new ConfigParams(this);
     mCustomConfigsLoaded = false;
+    mCustomConfigRxDone = false;
     mQmlHwLoaded = false;
     mQmlAppLoaded = false;
     mPacket = new Packet(this);
@@ -3571,6 +3572,7 @@ void VescInterface::fwVersionReceived(FW_RX_PARAMS params)
         mCustomConfigsLoaded = readConfigsOk;
     }
 
+    mCustomConfigRxDone = true;
     emit customConfigLoadDone();
 
     // Read qmlui
@@ -4011,6 +4013,11 @@ bool VescInterface::customConfigsLoaded()
     return mCustomConfigsLoaded;
 }
 
+bool VescInterface::customConfigRxDone()
+{
+    return mCustomConfigRxDone;
+}
+
 ConfigParams *VescInterface::customConfig(int configNum)
 {
     if (customConfigsLoaded() && configNum < mCustomConfigs.size()) {
@@ -4050,6 +4057,7 @@ void VescInterface::updateFwRx(bool fwRx)
 
     if (!mFwVersionReceived) {
         mCustomConfigsLoaded = false;
+        mCustomConfigRxDone = false;
         mQmlHwLoaded = false;
         mQmlAppLoaded = false;
     }
diff --git a/vescinterface.h b/vescinterface.h
index 69db9e6ab..f836f428e 100755
--- a/vescinterface.h
+++ b/vescinterface.h
@@ -224,6 +224,7 @@ class VescInterface : public QObject
 
     Q_INVOKABLE int customConfigNum();
     Q_INVOKABLE bool customConfigsLoaded();
+    Q_INVOKABLE bool customConfigRxDone();
     ConfigParams *customConfig(int configNum);
 
     Q_INVOKABLE bool qmlHwLoaded();
@@ -311,6 +312,7 @@ private slots:
     ConfigParams *mFwConfig;
     QVector<ConfigParams*> mCustomConfigs;
     bool mCustomConfigsLoaded;
+    bool mCustomConfigRxDone;
 
     bool mQmlHwLoaded;
     QString mQmlHw;

From b7361018235f64aad06f17c4e35c2b07ca97e0e3 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 12 Jul 2022 09:20:42 +0200
Subject: [PATCH 142/559] Added read and read default buttons to
 parameditstring

---
 widgets/parameditstring.cpp | 21 ++++++++++++++++++
 widgets/parameditstring.h   |  2 ++
 widgets/parameditstring.ui  | 44 +++++++++++++++++++++++++++++++++++--
 3 files changed, 65 insertions(+), 2 deletions(-)

diff --git a/widgets/parameditstring.cpp b/widgets/parameditstring.cpp
index 2b8c931b5..507f659e7 100644
--- a/widgets/parameditstring.cpp
+++ b/widgets/parameditstring.cpp
@@ -27,8 +27,11 @@ ParamEditString::ParamEditString(QWidget *parent) :
     ui(new Ui::ParamEditString)
 {
     ui->setupUi(this);
+
     QString theme = Utility::getThemePath();
     ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
+    ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
+    ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
 }
 
 ParamEditString::~ParamEditString()
@@ -43,6 +46,8 @@ void ParamEditString::setConfig(ConfigParams *config)
     ConfigParam *param = mConfig->getParam(mName);
 
     if (param) {
+        ui->readButton->setVisible(param->transmittable);
+        ui->readDefaultButton->setVisible(param->transmittable);
         ui->valueEdit->setText(param->valString);
         if (param->maxLen > 0) {
             ui->valueEdit->setMaxLength(param->maxLen);
@@ -86,3 +91,19 @@ void ParamEditString::on_valueEdit_textChanged(const QString &arg1)
         mConfig->updateParamString(mName, arg1, this);
     }
 }
+
+void ParamEditString::on_readButton_clicked()
+{
+    if (mConfig) {
+        mConfig->setUpdateOnly(mName);
+        mConfig->requestUpdate();
+    }
+}
+
+void ParamEditString::on_readDefaultButton_clicked()
+{
+    if (mConfig) {
+        mConfig->setUpdateOnly(mName);
+        mConfig->requestUpdateDefault();
+    }
+}
diff --git a/widgets/parameditstring.h b/widgets/parameditstring.h
index 5d6294158..55cf36c9a 100644
--- a/widgets/parameditstring.h
+++ b/widgets/parameditstring.h
@@ -43,6 +43,8 @@ private slots:
 
     void on_helpButton_clicked();
     void on_valueEdit_textChanged(const QString &arg1);
+    void on_readButton_clicked();
+    void on_readDefaultButton_clicked();
 
 private:
     Ui::ParamEditString *ui;
diff --git a/widgets/parameditstring.ui b/widgets/parameditstring.ui
index a38a767a5..4694e9cc0 100644
--- a/widgets/parameditstring.ui
+++ b/widgets/parameditstring.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>258</width>
-    <height>32</height>
+    <width>367</width>
+    <height>25</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -32,6 +32,46 @@
    <item>
     <widget class="QLineEdit" name="valueEdit"/>
    </item>
+   <item>
+    <widget class="QPushButton" name="readButton">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="toolTip">
+      <string>Read current setting</string>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+     <property name="icon">
+      <iconset resource="../res.qrc">
+       <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QPushButton" name="readDefaultButton">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="toolTip">
+      <string>Read default setting</string>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+     <property name="icon">
+      <iconset resource="../res.qrc">
+       <normaloff>:/res/icons/Data Backup-96.png</normaloff>:/res/icons/Data Backup-96.png</iconset>
+     </property>
+    </widget>
+   </item>
    <item>
     <widget class="QPushButton" name="helpButton">
      <property name="sizePolicy">

From 2b490d74ad3a8e8cd482c0909e345af7d9ef3aed Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 13 Jul 2022 11:48:43 +0200
Subject: [PATCH 143/559] Created encoder detection result struct and added
 blocking encoder detection command that can be used from QML too

---
 QCodeEditor/src/internal/QVescCompleter.cpp |  1 +
 commands.cpp                                | 10 +++++----
 commands.h                                  |  2 +-
 datatypes.h                                 | 24 +++++++++++++++++++++
 main.cpp                                    |  1 +
 mobile/DetectFocEncoder.qml                 |  8 +++----
 utility.cpp                                 | 17 ++++++++++++++-
 utility.h                                   |  2 ++
 widgets/detectfocencoder.cpp                | 14 ++++++------
 widgets/detectfocencoder.h                  |  2 +-
 10 files changed, 63 insertions(+), 18 deletions(-)

diff --git a/QCodeEditor/src/internal/QVescCompleter.cpp b/QCodeEditor/src/internal/QVescCompleter.cpp
index e49ca15ee..c030af145 100644
--- a/QCodeEditor/src/internal/QVescCompleter.cpp
+++ b/QCodeEditor/src/internal/QVescCompleter.cpp
@@ -260,6 +260,7 @@ QVescCompleter::QVescCompleter(QObject *parent) :
         addItem("measureHallFocBlocking(VescIf, current)");
         addItem("getMcValuesBlocking(VescIf)");
         addItem("waitMotorStop(VescIf, erpmTres, timeoutMs)");
+        addItem("measureEncoderBlocking(VescIf, current)");
         level--;
     }
 
diff --git a/commands.cpp b/commands.cpp
index 18c572124..79bca0ce0 100755
--- a/commands.cpp
+++ b/commands.cpp
@@ -357,10 +357,12 @@ void Commands::processPacket(QByteArray data)
     } break;
 
     case COMM_DETECT_ENCODER: {
-        double offset = vb.vbPopFrontDouble32(1e6);
-        double ratio = vb.vbPopFrontDouble32(1e6);
-        bool inverted = vb.vbPopFrontInt8();
-        emit encoderParamReceived(offset, ratio, inverted);
+        ENCODER_DETECT_RES res;
+        res.offset = vb.vbPopFrontDouble32(1e6);
+        res.ratio = vb.vbPopFrontDouble32(1e6);
+        res.inverted = vb.vbPopFrontInt8();
+        res.detect_rx = true;
+        emit encoderParamReceived(res);
     } break;
 
     case COMM_DETECT_HALL_FOC: {
diff --git a/commands.h b/commands.h
index b4f3988d6..93dfd2e14 100644
--- a/commands.h
+++ b/commands.h
@@ -95,7 +95,7 @@ class Commands : public QObject
     void decodedBalanceReceived(BALANCE_VALUES values);
     void motorRLReceived(double r, double l, double ld_lq_diff);
     void motorLinkageReceived(double flux_linkage);
-    void encoderParamReceived(double offset, double ratio, bool inverted);
+    void encoderParamReceived(ENCODER_DETECT_RES res);
     void customAppDataReceived(QByteArray data);
     void customHwDataReceived(QByteArray data);
     void focHallTableReceived(QVector<int> hall_table, int res);
diff --git a/datatypes.h b/datatypes.h
index 891cf8270..81fc8f100 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -1128,4 +1128,28 @@ struct LISP_STATS {
 
 Q_DECLARE_METATYPE(LISP_STATS)
 
+struct ENCODER_DETECT_RES {
+    Q_GADGET
+
+public:
+    Q_PROPERTY(double offset MEMBER offset)
+    Q_PROPERTY(double ratio MEMBER ratio)
+    Q_PROPERTY(bool inverted MEMBER inverted)
+    Q_PROPERTY(bool detect_rx MEMBER detect_rx)
+
+    ENCODER_DETECT_RES() {
+        offset = 0.0;
+        ratio = 0.0;
+        inverted = false;
+        detect_rx = false;
+    }
+
+    double offset;
+    double ratio;
+    bool inverted;
+    bool detect_rx;
+};
+
+Q_DECLARE_METATYPE(ENCODER_DETECT_RES)
+
 #endif // DATATYPES_H
diff --git a/main.cpp b/main.cpp
index 1c843f809..d1bd26914 100755
--- a/main.cpp
+++ b/main.cpp
@@ -195,6 +195,7 @@ int main(int argc, char *argv[])
     qRegisterMetaType<PSW_STATUS>();
     qRegisterMetaType<IO_BOARD_VALUES>();
     qRegisterMetaType<MotorData>();
+    qRegisterMetaType<ENCODER_DETECT_RES>();
 
 #ifdef USE_MOBILE
 #ifndef DEBUG_BUILD
diff --git a/mobile/DetectFocEncoder.qml b/mobile/DetectFocEncoder.qml
index c8ad6dc26..52a245d9c 100644
--- a/mobile/DetectFocEncoder.qml
+++ b/mobile/DetectFocEncoder.qml
@@ -189,16 +189,16 @@ Item {
         target: mCommands
 
         onEncoderParamReceived: {
-            if (offset > 1000.0) {
+            if (res.offset > 1000.0) {
                 VescIf.emitStatusMessage("Encoder not enabled in firmware", false)
                 VescIf.emitMessageDialog("Error",
                                          "Encoder support is not enabled. Enable it in the general settings.",
                                          false, false)
             } else {
                 VescIf.emitStatusMessage("Encoder Result Received", true)
-                mOffset = offset
-                mRatio = ratio
-                mInverted = inverted
+                mOffset = res.offset
+                mRatio = res.ratio
+                mInverted = res.inverted
                 updateDisplay()
             }
         }
diff --git a/utility.cpp b/utility.cpp
index a26a1ea35..ac5bf38f8 100755
--- a/utility.cpp
+++ b/utility.cpp
@@ -561,7 +561,6 @@ double Utility::measureLinkageOpenloopBlocking(VescInterface *vesc, double curre
 QVector<int> Utility::measureHallFocBlocking(VescInterface *vesc, double current)
 {
     QVector<int> resDetect;
-
     vesc->commands()->measureHallFoc(current);
 
     auto conn = connect(vesc->commands(), &Commands::focHallTableReceived,
@@ -580,6 +579,22 @@ QVector<int> Utility::measureHallFocBlocking(VescInterface *vesc, double current
     return resDetect;
 }
 
+ENCODER_DETECT_RES Utility::measureEncoderBlocking(VescInterface *vesc, double current)
+{
+    ENCODER_DETECT_RES resDetect;
+    vesc->commands()->measureEncoder(current);
+
+    auto conn = connect(vesc->commands(), &Commands::encoderParamReceived,
+                        [&resDetect](ENCODER_DETECT_RES res) {
+            resDetect = res;
+    });
+
+    waitSignal(vesc->commands(), SIGNAL(encoderParamReceived(ENCODER_DETECT_RES)), 50000);
+    disconnect(conn);
+
+    return resDetect;
+}
+
 bool Utility::waitMotorStop(VescInterface *vesc, double erpmTres, int timeoutMs)
 {
     QTimer t;
diff --git a/utility.h b/utility.h
index a0199d1c9..d9f1e17b3 100644
--- a/utility.h
+++ b/utility.h
@@ -27,6 +27,7 @@
 #include <QtGui/qpa/qplatformwindow.h>
 #include "vescinterface.h"
 #include "widgets/qcustomplot.h"
+#include "datatypes.h"
 
 #define FE_WGS84        (1.0/298.257223563) // earth flattening (WGS84)
 #define RE_WGS84        6378137.0           // earth semimajor axis (WGS84) (m)
@@ -62,6 +63,7 @@ class Utility : public QObject
     Q_INVOKABLE static double measureLinkageOpenloopBlocking(VescInterface *vesc, double current, double erpm_per_sec, double low_duty,
                                                              double resistance, double inductance);
     Q_INVOKABLE static QVector<int> measureHallFocBlocking(VescInterface *vesc, double current);
+    Q_INVOKABLE static ENCODER_DETECT_RES measureEncoderBlocking(VescInterface *vesc, double current);
     Q_INVOKABLE static bool waitMotorStop(VescInterface *vesc, double erpmTres, int timeoutMs);
     Q_INVOKABLE static bool resetInputCan(VescInterface *vesc, QVector<int> canIds);
     Q_INVOKABLE static bool setBatteryCutCan(VescInterface *vesc, QVector<int> canIds, double cutStart, double cutEnd);
diff --git a/widgets/detectfocencoder.cpp b/widgets/detectfocencoder.cpp
index 7ff0e9dde..47a025e0b 100644
--- a/widgets/detectfocencoder.cpp
+++ b/widgets/detectfocencoder.cpp
@@ -86,20 +86,20 @@ void DetectFocEncoder::setVesc(VescInterface *vesc)
     mVesc = vesc;
 
     if (mVesc) {
-        connect(mVesc->commands(), SIGNAL(encoderParamReceived(double,double,bool)),
-                this, SLOT(encoderParamReceived(double,double,bool)));
+        connect(mVesc->commands(), SIGNAL(encoderParamReceived(ENCODER_DETECT_RES)),
+                this, SLOT(encoderParamReceived(ENCODER_DETECT_RES)));
     }
 }
 
-void DetectFocEncoder::encoderParamReceived(double offset, double ratio, bool inverted)
+void DetectFocEncoder::encoderParamReceived(ENCODER_DETECT_RES res)
 {
-    if (offset > 1000.0) {
+    if (res.offset > 1000.0) {
         mVesc->emitStatusMessage(tr("Encoder not enabled in firmware"), false);
         QMessageBox::critical(this, "Error", "Encoder support is not enabled. Enable it in the general settings.");
     } else {
         mVesc->emitStatusMessage(tr("Encoder Result Received"), true);
-        ui->offsetBox->setValue(offset);
-        ui->ratioBox->setValue(ratio);
-        ui->invertedBox->setCurrentIndex(inverted ? 1 : 0);
+        ui->offsetBox->setValue(res.offset);
+        ui->ratioBox->setValue(res.ratio);
+        ui->invertedBox->setCurrentIndex(res.inverted ? 1 : 0);
     }
 }
diff --git a/widgets/detectfocencoder.h b/widgets/detectfocencoder.h
index 88687b1de..54f0bb5f9 100644
--- a/widgets/detectfocencoder.h
+++ b/widgets/detectfocencoder.h
@@ -39,7 +39,7 @@ class DetectFocEncoder : public QWidget
     void setVesc(VescInterface *vesc);
 
 private slots:
-    void encoderParamReceived(double offset, double ratio, bool inverted);
+    void encoderParamReceived(ENCODER_DETECT_RES res);
 
     void on_helpButton_clicked();
     void on_startButton_clicked();

From bb063863f7bbde79ec00087fe3ded71043ed783e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 13 Jul 2022 13:38:37 +0200
Subject: [PATCH 144/559] Added assoc and cossa to lisp syntax

---
 QCodeEditor/resources/languages/lisp.xml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 2abf8ed90..e4a32e78c 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -72,5 +72,7 @@
         <name>and</name>
         <name>or</name>
         <name>eq</name>
+        <name>assoc</name>
+        <name>cossa</name>
     </section>
 </root>

From 3af1aaf7cc96dbdd68ce5b0cceee5f06b6d36753 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 13 Jul 2022 21:06:39 +0200
Subject: [PATCH 145/559] lbm syntax update

---
 QCodeEditor/resources/languages/lisp.xml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index e4a32e78c..6606150df 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -71,8 +71,10 @@
         <name>systime</name>
         <name>and</name>
         <name>or</name>
+        <name>not</name>
         <name>eq</name>
         <name>assoc</name>
         <name>cossa</name>
+        <name>setassoc</name>
     </section>
 </root>

From 1ba3ac2e246e694a0e6ca702594f4ac96703b43d Mon Sep 17 00:00:00 2001
From: Lukas Pfitscher <75246068+lukaspfitscher@users.noreply.github.com>
Date: Thu, 14 Jul 2022 21:16:09 +0200
Subject: [PATCH 146/559] Update mainwindow.ui

---
 mainwindow.ui | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mainwindow.ui b/mainwindow.ui
index 275f9dc9f..6b074e22e 100644
--- a/mainwindow.ui
+++ b/mainwindow.ui
@@ -966,7 +966,7 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;left corner.&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Right and Left Arrow Keys&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Duty cycle control. Slowly ramps up and down the cuty&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Duty cycle control. Slowly ramps up and down the duty&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;cycle. When e.g. starting with right and then also holding&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;left, the duty cycle is ramped higher.&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;

From 34cb4a7eec5a8d0cd45bd09b64282fb16ae1e3f6 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Thu, 14 Jul 2022 19:20:48 +0000
Subject: [PATCH 147/559] @lukaspfitscher has signed the CLA from Pull Request
 #235

---
 signatures/version1/cla.json | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/signatures/version1/cla.json b/signatures/version1/cla.json
index 880ddee60..8b1148cd1 100644
--- a/signatures/version1/cla.json
+++ b/signatures/version1/cla.json
@@ -63,6 +63,14 @@
       "created_at": "2022-05-24T20:10:09Z",
       "repoId": 102395117,
       "pullRequestNo": 232
+    },
+    {
+      "name": "lukaspfitscher",
+      "id": 75246068,
+      "comment_id": 1184810641,
+      "created_at": "2022-07-14T19:20:28Z",
+      "repoId": 102395117,
+      "pullRequestNo": 235
     }
   ]
 }
\ No newline at end of file

From 2ab84e1dce8982e7f56d6ef83021ca4701debeb5 Mon Sep 17 00:00:00 2001
From: Dado Mista <dadomista@gmail.com>
Date: Sat, 16 Jul 2022 13:55:59 -0700
Subject: [PATCH 148/559] Balance app: dual adc switch (single combined switch)
 support

Support for combining both adc switches into a single one.

Signed-off-by: Dado Mista <dadomista@gmail.com>
---
 res/config/6.00/parameters_appconf.xml | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/res/config/6.00/parameters_appconf.xml b/res/config/6.00/parameters_appconf.xml
index 3ff555fef..c479e67eb 100644
--- a/res/config/6.00/parameters_appconf.xml
+++ b/res/config/6.00/parameters_appconf.xml
@@ -2407,6 +2407,18 @@ p, li { white-space: pre-wrap; }
             <suffix> ERPM</suffix>
             <vTx>3</vTx>
         </app_balance_conf.fault_adc_half_erpm>
+        <app_balance_conf.fault_is_dual_switch>
+            <longName>Treat both sensors as one</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Treat both sensors as a single one, i.e. startup only requires one of the sensors, and heel lifts aren't possible (for advanced riders only!).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_IS_DUAL_SWITCH</cDefine>
+            <valInt>0</valInt>
+        </app_balance_conf.fault_is_dual_switch>
         <app_balance_conf.tiltback_duty_angle>
             <longName>Angle</longName>
             <type>1</type>
@@ -4124,6 +4136,7 @@ p, li { white-space: pre-wrap; }
         <ser>app_balance_conf.fault_delay_switch_half</ser>
         <ser>app_balance_conf.fault_delay_switch_full</ser>
         <ser>app_balance_conf.fault_adc_half_erpm</ser>
+        <ser>app_balance_conf.fault_is_dual_switch</ser>
         <ser>app_balance_conf.tiltback_duty_angle</ser>
         <ser>app_balance_conf.tiltback_duty_speed</ser>
         <ser>app_balance_conf.tiltback_duty</ser>
@@ -4476,6 +4489,7 @@ p, li { white-space: pre-wrap; }
                     <param>app_balance_conf.fault_delay_switch_half</param>
                     <param>app_balance_conf.fault_delay_switch_full</param>
                     <param>app_balance_conf.fault_adc_half_erpm</param>
+                    <param>app_balance_conf.fault_is_dual_switch</param>
                 </subgroupParams>
             </subgroup>
             <subgroup>

From a9c768bf43b6ccc36e23e9a6381c16208d9e97aa Mon Sep 17 00:00:00 2001
From: Zach O'Brien <zach.obrien@tortugaagtech.com>
Date: Mon, 18 Jul 2022 16:02:00 -0600
Subject: [PATCH 149/559] Adding configuration option for AS5x47U encoder

---
 commands.cpp                          | 1 +
 datatypes.h                           | 3 ++-
 res/config/6.00/parameters_mcconf.xml | 5 +++++
 setupwizardmotor.cpp                  | 9 +++++++++
 setupwizardmotor.h                    | 3 ++-
 5 files changed, 19 insertions(+), 2 deletions(-)

diff --git a/commands.cpp b/commands.cpp
index 79bca0ce0..acbe2a739 100755
--- a/commands.cpp
+++ b/commands.cpp
@@ -2205,6 +2205,7 @@ QString Commands::faultToStr(mc_fault_code fault)
     case FAULT_CODE_ENCODER_NO_MAGNET: return "FAULT_CODE_ENCODER_NO_MAGNET";
     case FAULT_CODE_ENCODER_MAGNET_TOO_STRONG: return "FAULT_CODE_ENCODER_MAGNET_TOO_STRONG";
     case FAULT_CODE_PHASE_FILTER: return "FAULT_CODE_PHASE_FILTER";
+    case FAULT_CODE_ENCODER_FAULT: return "FAULT_CODE_ENCODER_FAULT";
     }
 
     return "Unknown fault";
diff --git a/datatypes.h b/datatypes.h
index 81fc8f100..42cccc533 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -99,7 +99,8 @@ typedef enum {
     FAULT_CODE_FLASH_CORRUPTION_MC_CFG,
     FAULT_CODE_ENCODER_NO_MAGNET,
     FAULT_CODE_ENCODER_MAGNET_TOO_STRONG,
-    FAULT_CODE_PHASE_FILTER
+    FAULT_CODE_PHASE_FILTER,
+    FAULT_CODE_ENCODER_FAULT
 } mc_fault_code;
 
 typedef enum {
diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index 11c3c9bc4..faa78c0db 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -3482,6 +3482,9 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;AS5047 Encoder&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;An AS5047 magnetic encoder connected over SPI. This one provides absolute positions from start, but tends to have a bit of nonlinearity.&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;AS5X47U Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;An AS5147U or AS5247U magnetic encoder connected over SPI. It is similar to the AS5047 but with additional safety features making it capable of automotive safety levels. It must be connected to SPI in the COMM port. To use this encoder, you have to make sure that no app uses UART, I2C, ADC2, or ADC3.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;SIN/COS Encoder&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;A Sin/Cos encoder is a position feedback device similar to a quadrature encoder, except instead of outputting digital pulses, it outputs analog voltages with sinusoidal shapes offset by 90°. Provides absolute positions from the start, but its sensitive to EMI and requires special filtering,  transient protections and shielded wiring.&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
@@ -3504,6 +3507,7 @@ p, li { white-space: pre-wrap; }
             <enumNames>TS5700N8501 Encoder</enumNames>
             <enumNames>TS5700N8501 Encoder (Multiturn)</enumNames>
             <enumNames>MT6816 Encoder (SPI)</enumNames>
+            <enumNames>AS5X47U Encoder (SPI)</enumNames>
         </m_sensor_port_mode>
         <m_invert_direction>
             <longName>Invert Motor Direction</longName>
@@ -3997,6 +4001,7 @@ p, li { white-space: pre-wrap; }
             <enumNames>Hall Sensors</enumNames>
             <enumNames>ABI Encoder</enumNames>
             <enumNames>AS5047 Encoder</enumNames>
+            <enumNames>AS5X47U Encoder</enumNames>
             <enumNames>Other Sensor</enumNames>
         </motor_sensor_type>
         <motor_description>
diff --git a/setupwizardmotor.cpp b/setupwizardmotor.cpp
index a994f3850..b3eeec10d 100644
--- a/setupwizardmotor.cpp
+++ b/setupwizardmotor.cpp
@@ -450,6 +450,12 @@ bool SensorsPage::validatePage()
         mVesc->mcConfig()->updateParamEnum("foc_sensor_mode", 1);
         break;
 
+    case SetupWizardMotor::Sensor_EncoderAs5x47u:
+        mVesc->mcConfig()->updateParamEnum("m_sensor_port_mode", 8);
+        mVesc->mcConfig()->updateParamEnum("sensor_mode", 0);
+        mVesc->mcConfig()->updateParamEnum("foc_sensor_mode", 1);
+        break;
+
     default:
         break;
     }
@@ -475,12 +481,14 @@ void SensorsPage::initializePage()
         case 1: // DC
             mSensorMode->addItem("ABI Encoder", SetupWizardMotor::Sensor_EncoderAbi);
             mSensorMode->addItem("AS5047 Encoder", SetupWizardMotor::Sensor_EncoderAs);
+            mSensorMode->addItem("AS5X47U Encoder", SetupWizardMotor::Sensor_EncoderAs5x47u);
             break;
 
         case 2: // FOC
             mSensorMode->addItem("Hall Sensors", SetupWizardMotor::Sensor_Hall);
             mSensorMode->addItem("ABI Encoder", SetupWizardMotor::Sensor_EncoderAbi);
             mSensorMode->addItem("AS5047 Encoder", SetupWizardMotor::Sensor_EncoderAs);
+            mSensorMode->addItem("AS5X47U Encoder", SetupWizardMotor::Sensor_EncoderAs5x47u);
             mSensorMode->addItem("Resolver", SetupWizardMotor::Sensor_Resolver_AD2S1205);
             mSensorMode->addItem("Sin/Cos Encoder", SetupWizardMotor::Sensor_Encoder_SinCos);
             mSensorMode->addItem("BiSS Encoder", SetupWizardMotor::Sensor_EncoderBiSS);
@@ -597,6 +605,7 @@ int FocPage::nextId() const
     case SetupWizardMotor::Sensor_Resolver_AD2S1205:
     case SetupWizardMotor::Sensor_Encoder_SinCos:
     case SetupWizardMotor::Sensor_EncoderAs:
+    case SetupWizardMotor::Sensor_EncoderAs5x47u:
         retval = SetupWizardMotor::Page_FocEncoder;
         break;
 
diff --git a/setupwizardmotor.h b/setupwizardmotor.h
index 804f0f897..4f73546e3 100644
--- a/setupwizardmotor.h
+++ b/setupwizardmotor.h
@@ -62,7 +62,8 @@ class SetupWizardMotor : public QWizard
         Sensor_EncoderAs,
         Sensor_Resolver_AD2S1205,
         Sensor_Encoder_SinCos,
-        Sensor_EncoderBiSS
+        Sensor_EncoderBiSS,
+        Sensor_EncoderAs5x47u
     };
 
     SetupWizardMotor(VescInterface *vesc, QWidget *parent = 0);

From 65ac85cb2d1eaf5d9fb5063eea6976bffdacd7f4 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Wed, 20 Jul 2022 16:37:27 +0000
Subject: [PATCH 150/559] @ZachOB has signed the CLA from Pull Request #237

---
 signatures/version1/cla.json | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/signatures/version1/cla.json b/signatures/version1/cla.json
index 8b1148cd1..9c297dab3 100644
--- a/signatures/version1/cla.json
+++ b/signatures/version1/cla.json
@@ -71,6 +71,14 @@
       "created_at": "2022-07-14T19:20:28Z",
       "repoId": 102395117,
       "pullRequestNo": 235
+    },
+    {
+      "name": "ZachOB",
+      "id": 109545859,
+      "comment_id": 1190505856,
+      "created_at": "2022-07-20T16:37:12Z",
+      "repoId": 102395117,
+      "pullRequestNo": 237
     }
   ]
 }
\ No newline at end of file

From db3949b5665b487e63e8d7a05bc737fe561ffc85 Mon Sep 17 00:00:00 2001
From: Lukas Pfitscher <75246068+lukaspfitscher@users.noreply.github.com>
Date: Fri, 22 Jul 2022 19:09:16 +0200
Subject: [PATCH 151/559] Update parameters_appconf.xml

---
 res/config/6.00/parameters_appconf.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/res/config/6.00/parameters_appconf.xml b/res/config/6.00/parameters_appconf.xml
index c479e67eb..1ff32c91d 100644
--- a/res/config/6.00/parameters_appconf.xml
+++ b/res/config/6.00/parameters_appconf.xml
@@ -836,7 +836,7 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Enable traction control between multiple VESCs connected over CAN-bus. This is only is only used for current control modes.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Enable traction control between multiple VESCs connected over CAN-bus. This is only used for current control modes.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_PPM_TC</cDefine>
             <valInt>0</valInt>
         </app_ppm_conf.tc>

From 3309a828f0c532da9eb8930356beb280d194d8d6 Mon Sep 17 00:00:00 2001
From: Lukas Pfitscher <75246068+lukaspfitscher@users.noreply.github.com>
Date: Fri, 22 Jul 2022 19:38:15 +0200
Subject: [PATCH 152/559] Update parameters_appconf.xml

---
 res/config/6.00/parameters_appconf.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/res/config/6.00/parameters_appconf.xml b/res/config/6.00/parameters_appconf.xml
index 1ff32c91d..9703a3e01 100644
--- a/res/config/6.00/parameters_appconf.xml
+++ b/res/config/6.00/parameters_appconf.xml
@@ -462,7 +462,7 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The output is switched off regardless of the input.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it it starts in the reverse direction.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it starts in the reverse direction.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current No Reverse&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is at minimum.&lt;/p&gt;

From 1b6ffd7015198e3cd3b49b647eae0962b4c0215d Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 25 Jul 2022 14:26:51 +0200
Subject: [PATCH 153/559] LispBM file import support

---
 QCodeEditor/resources/languages/lisp.xml |   1 +
 pages/pagelisp.cpp                       | 208 ++++++++++++++++++++---
 2 files changed, 186 insertions(+), 23 deletions(-)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 6606150df..239900e99 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -18,6 +18,7 @@
         <name>break</name>
         <name>fn</name>
         <name>def</name>
+        <name>import</name>
     </section>
     <section name="PrimitiveType">
         <name>nil</name>
diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index 70c211d31..f92e765d5 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -642,27 +642,6 @@ void PageLisp::on_uploadButton_clicked()
         return;
     }
 
-    auto waitWriteRes = [this]() {
-        int res = -10;
-
-        QEventLoop loop;
-        QTimer timeoutTimer;
-        timeoutTimer.setSingleShot(true);
-        timeoutTimer.start(1000);
-        auto conn = connect(mVesc->commands(), &Commands::lispWriteCodeRx,
-                            [&res,&loop](bool erRes, quint32 offset) {
-            (void)offset;
-            res = erRes ? 1 : -1;
-            loop.quit();
-        });
-
-        connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
-        loop.exec();
-
-        disconnect(conn);
-        return res;
-    };
-
     QProgressDialog dialog(tr("Uploading..."), QString(), 0, 0, this);
     dialog.setWindowModality(Qt::WindowModal);
     dialog.show();
@@ -672,16 +651,128 @@ void PageLisp::on_uploadButton_clicked()
 
     auto e = qobject_cast<ScriptEditor*>(ui->fileTabs->widget(ui->fileTabs->currentIndex()));
 
+    QString codeStr = "";
+    QString editorPath = QDir::currentPath();
+
     if (e != nullptr) {
-        vb.append(e->codeEditor()->toPlainText());
+        codeStr = e->codeEditor()->toPlainText();
+        QFileInfo fi(e->fileNow());
+        if (fi.exists()) {
+            editorPath = fi.canonicalPath();
+        }
     } else {
-        vb.append(ui->mainEdit->codeEditor()->toPlainText());
+        ui->mainEdit->codeEditor()->toPlainText();
+        QFileInfo fi(ui->mainEdit->fileNow());
+        if (fi.exists()) {
+            editorPath = fi.canonicalPath();
+        }
     }
 
+    vb.append(codeStr);
+
     if (vb.at(vb.size() - 1) != '\0') {
         vb.append('\0');
     }
 
+    // Create and append data table
+    {
+        QList<QPair<QString, QByteArray> > files;
+        auto lines = codeStr.split("\n");
+        int line_num = 0;
+
+        for (auto line: lines) {
+            line_num++;
+
+            while (line.startsWith(" ")) {
+                line.remove(0, 1);
+            }
+
+            while (line.startsWith("( ")) {
+                line.remove(1, 1);
+            }
+
+            if (line.startsWith("(import ", Qt::CaseInsensitive)) {
+                int start = line.indexOf("\"");
+                int end = line.lastIndexOf("\"");
+
+                if (start > 0 && end > start) {
+                    auto path = line.mid(start + 1, end - start - 1);
+                    auto tag = line.mid(end + 1).replace(" ", "").replace(")", "").replace("'", "");
+                    if (tag.indexOf(";") >= 0) {
+                        tag = tag.mid(0, tag.indexOf(";"));
+                    }
+
+                    if (tag.isEmpty()) {
+                        mVesc->emitMessageDialog(tr("Upload Code"),
+                                                 tr("Invalid import tag. Line: %1").arg(line_num),
+                                                 false);
+                        return;
+                    }
+
+                    QFileInfo fi(editorPath + "/" + path);
+                    if (!fi.exists()) {
+                        fi = QFileInfo(path);
+                    }
+
+                    if (fi.exists()) {
+                        QFile f(fi.absoluteFilePath());
+                        if (f.open(QIODevice::ReadOnly)) {
+                            auto fileData = f.readAll();
+
+                            // Pad with 0 in case it is a text file
+                            fileData.append('\0');
+
+                            files.append(qMakePair(tag, fileData));
+                        } else {
+                            mVesc->emitMessageDialog(tr("Upload Code"),
+                                                     tr("Imported file cannot be opened. Line: %1").arg(line_num),
+                                                     false);
+                            return;
+                        }
+                    } else {
+                        mVesc->emitMessageDialog(tr("Upload Code"),
+                                                 tr("Imported file not found: %1 Line: %2").arg(fi.absoluteFilePath()).arg(line_num),
+                                                 false);
+                        return;
+                    }
+                } else {
+                    mVesc->emitMessageDialog(tr("Upload Code"),
+                                             tr("Invalid import on line %1").arg(line_num),
+                                             false);
+                    return;
+                }
+            }
+        }
+
+        int file_table_size = 0;
+        for (auto f: files) {
+            file_table_size += f.first.length() + 9;
+        }
+
+        vb.vbAppendInt16(files.size());
+
+        int file_offset = vb.size() + file_table_size - 2;
+
+        for (auto f: files) {
+            // Align on 4 bytes in case this is loaded as code
+            while (file_offset % 4 != 0) {
+                file_offset++;
+            }
+
+            vb.vbAppendString(f.first);
+            vb.vbAppendInt32(file_offset);
+            vb.vbAppendInt32(f.second.size());
+            file_offset += f.second.size();
+        }
+
+        for (auto f: files) {
+            while ((vb.size() - 2) % 4 != 0) {
+                vb.append('\0');
+            }
+            vb.append(f.second);
+        }
+    }
+
     quint16 crc = Packet::crc16((const unsigned char*)vb.constData(), uint32_t(vb.size()));
     VByteArray data;
     data.vbAppendUint32(vb.size() - 2);
@@ -694,6 +785,27 @@ void PageLisp::on_uploadButton_clicked()
         return;
     }
 
+    auto waitWriteRes = [this]() {
+        int res = -10;
+
+        QEventLoop loop;
+        QTimer timeoutTimer;
+        timeoutTimer.setSingleShot(true);
+        timeoutTimer.start(1000);
+        auto conn = connect(mVesc->commands(), &Commands::lispWriteCodeRx,
+                            [&res,&loop](bool erRes, quint32 offset) {
+            (void)offset;
+            res = erRes ? 1 : -1;
+            loop.quit();
+        });
+
+        connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
+        loop.exec();
+
+        disconnect(conn);
+        return res;
+    };
+
     quint32 offset = 0;
     bool ok = true;
     while (data.size() > 0) {
@@ -759,6 +871,56 @@ void PageLisp::on_readExistingButton_clicked()
         }
 
         if (lispData.size() == lenLispLast) {
+            int end = lispData.indexOf(QByteArray("\0", 1));
+            if (end > 0) {
+                VByteArray vb = lispData.mid(end + 1);
+                QList<QPair<QString, QByteArray> > imports;
+
+                if (vb.size() > 3) {
+                    auto num_imports = vb.vbPopFrontInt16();
+                    if (num_imports > 0 && num_imports < 500) {
+                        for (int i = 0;i < num_imports;i++) {
+                            auto name = vb.vbPopFrontString();
+                            auto offset = vb.vbPopFrontInt32();
+                            auto len = vb.vbPopFrontInt32() - 1; // Remove 1 as the files are padded with one 0
+                            imports.append(qMakePair(name, lispData.mid(offset, len)));
+                        }
+
+                        QMessageBox::StandardButton reply =
+                                QMessageBox::warning(this,
+                                                     tr("Imports"),
+                                                     tr("%1 imports found. Do you want to save them as files?").arg(num_imports),
+                                                     QMessageBox::Yes | QMessageBox::Cancel);
+
+                        QString lastDir = "";
+                        if (reply == QMessageBox::Yes) {
+                            for (auto i: imports) {
+                                QString fileName = QFileDialog::getSaveFileName(this,
+                                                                                tr("Save Import %1").arg(i.first),
+                                                                                lastDir + "/" + i.first + ".bin");
+
+                                if (!fileName.isEmpty()) {
+                                    QFile file(fileName);
+                                    if (!file.open(QIODevice::WriteOnly)) {
+                                        QMessageBox::critical(this, tr("Save Import"),
+                                                              "Could not open\n" + fileName + "\nfor writing");
+                                        return;
+                                    }
+
+                                    QFileInfo fi(file);
+                                    lastDir = fi.canonicalPath();
+
+                                    file.write(i.second);
+                                    file.close();
+                                }
+                            }
+                        }
+                    }
+                }
+
+                lispData = lispData.left(end);
+            }
+
             if (ui->mainEdit->codeEditor()->toPlainText().isEmpty()) {
                 ui->mainEdit->codeEditor()->setPlainText(lispData);
                 ui->fileTabs->setTabText(ui->fileTabs->indexOf(ui->mainEdit), "From VESC");

From cd502742a7579e80518cfb3159ba0121db23d18a Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 25 Jul 2022 21:52:10 +0200
Subject: [PATCH 154/559] Updated build script instructions

---
 build_lin | 18 ++----------------
 1 file changed, 2 insertions(+), 16 deletions(-)
 mode change 100755 => 100644 build_lin

diff --git a/build_lin b/build_lin
old mode 100755
new mode 100644
index afa632f97..4b3970cea
--- a/build_lin
+++ b/build_lin
@@ -18,20 +18,6 @@
 # sudo make install
 # sudo ldconfig
 
-# Qt 5.9:
-# cd /opt
-# sudo mkdir qt5
-# sudo chown $USER qt5
-# git clone https://code.qt.io/qt/qt5.git
-# cd qt5
-# git checkout 5.9
-# perl init-repository --module-subset=default,-qtwebkit,-qtwebkit-examples,-qtwebengine
-# mkdir build
-# cd build
-# ../configure -prefix /opt/Qt/5.9-static/ -release -opensource -confirm-license -static -no-sql-mysql -no-sql-psql -no-sql-sqlite -no-journald -qt-zlib -no-mtdev -no-gif -qt-libpng -qt-libjpeg -qt-harfbuzz -qt-pcre -qt-xcb -no-xinput2 -no-glib -qt-xkbcommon-x11 -no-compile-examples -no-cups -no-iconv -no-tslib -dbus-linked -no-xcb-xlib -no-eglfs -no-directfb -no-linuxfb -no-kms -nomake examples -nomake tests -skip qtwebsockets -skip qtwebchannel -skip qtwebengine -skip qtwayland -skip qtwinextras -skip qtsvg -skip qtsensors -skip multimedia -no-xkbcommon-evdev -no-evdev -no-libproxy -no-icu -skip imageformats -no-xinput2 -qt-freetype -opengl es2
-# make -j9
-# sudo make install
-
 # Qt 5.12:
 # cd /opt
 # sudo mkdir qt5
@@ -42,7 +28,7 @@
 # perl init-repository --module-subset=default,-qtwebkit,-qtwebkit-examples,-qtwebengine
 # mkdir build
 # cd build
-# ../configure -prefix /opt/Qt/5.12-static/ -release -opensource -confirm-license -static -no-sql-mysql -no-sql-psql -no-sql-sqlite -no-journald -qt-zlib -no-mtdev -no-gif -qt-libpng -qt-libjpeg -qt-harfbuzz -qt-pcre -qt-xcb -no-glib -no-compile-examples -no-cups -no-iconv -no-tslib -dbus-linked -no-xcb-xlib -no-eglfs -no-directfb -no-linuxfb -no-kms -nomake examples -nomake tests -skip qtwebsockets -skip qtwebchannel -skip qtwebengine -skip qtwayland -skip qtwinextras -skip qtsensors -skip multimedia -no-evdev -no-libproxy -no-icu -qt-freetype -skip qtimageformats -opengl es2
+# ../configure -prefix /opt/Qt/5.12-static/ -release -opensource -confirm-license -static -no-sql-mysql -no-sql-psql -no-sql-sqlite -no-journald -qt-zlib -no-mtdev -no-gif -qt-libpng -qt-libjpeg -qt-harfbuzz -qt-pcre -qt-xcb -no-glib -no-compile-examples -no-cups -no-iconv -no-tslib -dbus-linked -no-xcb-xlib -no-eglfs -no-directfb -no-linuxfb -no-kms -nomake examples -nomake tests -skip qtwebsockets -skip qtwebchannel -skip qtwebengine -skip qtwayland -skip qtwinextras -skip qtsensors -skip multimedia -no-libproxy -no-icu -qt-freetype -skip qtimageformats -opengl es2
 # make -j9
 # sudo make install
 
@@ -56,7 +42,7 @@
 # perl init-repository --module-subset=default,-qtwebkit,-qtwebkit-examples,-qtwebengine
 # mkdir build
 # cd build
-# ../configure -prefix /opt/Qt/5.15-static/ -release -opensource -confirm-license -static -no-sql-mysql -no-sql-psql -no-sql-sqlite -no-journald -qt-zlib -no-mtdev -no-gif -qt-libpng -qt-libjpeg -qt-harfbuzz -qt-pcre -no-glib -no-compile-examples -no-cups -no-iconv -no-tslib -dbus-linked -no-xcb-xlib -no-eglfs -no-directfb -no-linuxfb -no-kms -nomake examples -nomake tests -skip qtwebsockets -skip qtwebchannel -skip qtwebengine -skip qtwayland -skip qtwinextras -skip qtsensors -skip multimedia -no-evdev -no-libproxy -no-icu -no-accessibility -qt-freetype -skip qtimageformats -opengl es2
+# ../configure -prefix /opt/Qt/5.15-static/ -release -opensource -confirm-license -static -no-sql-mysql -no-sql-psql -no-sql-sqlite -no-journald -qt-zlib -no-mtdev -no-gif -qt-libpng -qt-libjpeg -qt-harfbuzz -qt-pcre -no-glib -no-compile-examples -no-cups -no-iconv -no-tslib -dbus-linked -no-xcb-xlib -no-eglfs -no-directfb -no-linuxfb -no-kms -nomake examples -nomake tests -skip qtwebsockets -skip qtwebchannel -skip qtwebengine -skip qtwayland -skip qtwinextras -skip qtsensors -skip multimedia -no-libproxy -no-icu -no-accessibility -qt-freetype -skip qtimageformats -opengl es2
 # make -j9
 # sudo make install
 

From c75c473e93aeaa32c46bac11316dcb5a357e7990 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 25 Jul 2022 21:56:15 +0200
Subject: [PATCH 155/559] Moved qml and lisp erase and upload functions into
 codeloader class

---
 codeloader.cpp          | 478 ++++++++++++++++++++++++++++++++++++++++
 codeloader.h            |  52 +++++
 pages/pagelisp.cpp      | 321 +--------------------------
 pages/pagelisp.h        |   2 +
 pages/pagescripting.cpp | 103 +--------
 pages/pagescripting.h   |   2 +
 vesc_tool.pro           |   4 +-
 7 files changed, 559 insertions(+), 403 deletions(-)
 create mode 100644 codeloader.cpp
 create mode 100644 codeloader.h

diff --git a/codeloader.cpp b/codeloader.cpp
new file mode 100644
index 000000000..3eceadab8
--- /dev/null
+++ b/codeloader.cpp
@@ -0,0 +1,478 @@
+/*
+    Copyright 2022 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#include "codeloader.h"
+#include "utility.h"
+#include <QEventLoop>
+#include <QFileDialog>
+#include <QMessageBox>
+
+CodeLoader::CodeLoader(QObject *parent) : QObject(parent)
+{
+    mVesc = nullptr;
+}
+
+VescInterface *CodeLoader::vesc() const
+{
+    return mVesc;
+}
+
+void CodeLoader::setVesc(VescInterface *vesc)
+{
+    mVesc = vesc;
+}
+
+bool CodeLoader::lispErase()
+{
+    if (!mVesc) {
+        return false;
+    }
+
+    if (!mVesc->isPortConnected()) {
+        mVesc->emitMessageDialog(tr("Erase old code"), tr("Not Connected"), false);
+        return false;
+    }
+
+    auto waitEraseRes = [this]() {
+        int res = -10;
+
+        QEventLoop loop;
+        QTimer timeoutTimer;
+        timeoutTimer.setSingleShot(true);
+        timeoutTimer.start(6000);
+        auto conn = connect(mVesc->commands(), &Commands::lispEraseCodeRx,
+                            [&res,&loop](bool erRes) {
+            res = erRes ? 1 : -1;
+            loop.quit();
+        });
+
+        connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
+        loop.exec();
+
+        disconnect(conn);
+        return res;
+    };
+
+    mVesc->commands()->lispEraseCode();
+
+    int erRes = waitEraseRes();
+    if (erRes != 1) {
+        QString msg = tr("Unknown failure");
+
+        if (erRes == -10) {
+            msg = tr("Erase timed out");
+        } else if (erRes == -1) {
+            msg = tr("Erasing Lisp Code failed");
+        }
+
+        mVesc->emitMessageDialog(tr("Erase Lisp"), msg, false);
+        return false;
+    }
+
+    return true;
+}
+
+QByteArray CodeLoader::lispAppendImports(QString codeStr, QString editorPath)
+{
+    VByteArray vb;
+    vb.vbAppendUint16(0);
+    vb.append(codeStr);
+
+    if (vb.at(vb.size() - 1) != '\0') {
+        vb.append('\0');
+    }
+
+    // Create and append data table
+    {
+        QList<QPair<QString, QByteArray> > files;
+        auto lines = codeStr.split("\n");
+        int line_num = 0;
+
+        for (auto line: lines) {
+            line_num++;
+
+            while (line.startsWith(" ")) {
+                line.remove(0, 1);
+            }
+
+            while (line.startsWith("( ")) {
+                line.remove(1, 1);
+            }
+
+            if (line.startsWith("(import ", Qt::CaseInsensitive)) {
+                int start = line.indexOf("\"");
+                int end = line.lastIndexOf("\"");
+
+                if (start > 0 && end > start) {
+                    auto path = line.mid(start + 1, end - start - 1);
+                    auto tag = line.mid(end + 1).replace(" ", "").replace(")", "").replace("'", "");
+                    if (tag.indexOf(";") >= 0) {
+                        tag = tag.mid(0, tag.indexOf(";"));
+                    }
+
+                    if (tag.isEmpty()) {
+                        mVesc->emitMessageDialog(tr("Upload Code"),
+                                                 tr("Invalid import tag. Line: %1").arg(line_num),
+                                                 false);
+                        return QByteArray();
+                    }
+
+                    QFileInfo fi(editorPath + "/" + path);
+                    if (!fi.exists()) {
+                        fi = QFileInfo(path);
+                    }
+
+                    if (fi.exists()) {
+                        QFile f(fi.absoluteFilePath());
+                        if (f.open(QIODevice::ReadOnly)) {
+                            auto fileData = f.readAll();
+
+                            // Pad with 0 in case it is a text file
+                            fileData.append('\0');
+
+                            files.append(qMakePair(tag, fileData));
+                        } else {
+                            mVesc->emitMessageDialog(tr("Upload Code"),
+                                                     tr("Imported file cannot be opened. Line: %1").arg(line_num),
+                                                     false);
+                            return QByteArray();
+                        }
+                    } else {
+                        mVesc->emitMessageDialog(tr("Upload Code"),
+                                                 tr("Imported file not found: %1 Line: %2").arg(fi.absoluteFilePath()).arg(line_num),
+                                                 false);
+                        return QByteArray();
+                    }
+                } else {
+                    mVesc->emitMessageDialog(tr("Upload Code"),
+                                             tr("Invalid import on line %1").arg(line_num),
+                                             false);
+                    return QByteArray();
+                }
+            }
+        }
+
+        int file_table_size = 0;
+        for (auto f: files) {
+            file_table_size += f.first.length() + 9;
+        }
+
+        vb.vbAppendInt16(files.size());
+
+        int file_offset = vb.size() + file_table_size - 2;
+
+        for (auto f: files) {
+            // Align on 4 bytes in case this is loaded as code
+            while (file_offset % 4 != 0) {
+                file_offset++;
+            }
+
+            vb.vbAppendString(f.first);
+            vb.vbAppendInt32(file_offset);
+            vb.vbAppendInt32(f.second.size());
+            file_offset += f.second.size();
+        }
+
+        for (auto f: files) {
+            while ((vb.size() - 2) % 4 != 0) {
+                vb.append('\0');
+            }
+            vb.append(f.second);
+        }
+    }
+
+    return std::move(vb);
+}
+
+bool CodeLoader::lispUpload(VByteArray vb)
+{
+    quint16 crc = Packet::crc16((const unsigned char*)vb.constData(), uint32_t(vb.size()));
+    VByteArray data;
+    data.vbAppendUint32(vb.size() - 2);
+    data.vbAppendUint16(crc);
+    data.append(vb);
+
+    if (data.size() > (1024 * 120)) {
+        mVesc->emitMessageDialog(tr("Upload Code"), tr("Not enough space"), false);
+        return false;
+    }
+
+    auto waitWriteRes = [this]() {
+        int res = -10;
+
+        QEventLoop loop;
+        QTimer timeoutTimer;
+        timeoutTimer.setSingleShot(true);
+        timeoutTimer.start(1000);
+        auto conn = connect(mVesc->commands(), &Commands::lispWriteCodeRx,
+                            [&res,&loop](bool erRes, quint32 offset) {
+            (void)offset;
+            res = erRes ? 1 : -1;
+            loop.quit();
+        });
+
+        connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
+        loop.exec();
+
+        disconnect(conn);
+        return res;
+    };
+
+    quint32 offset = 0;
+    bool ok = true;
+    while (data.size() > 0) {
+        const int chunkSize = 384;
+        int sz = data.size() > chunkSize ? chunkSize : data.size();
+
+        mVesc->commands()->lispWriteCode(data.mid(0, sz), offset);
+        if (!waitWriteRes()) {
+            mVesc->emitMessageDialog(tr("Upload Code"), tr("Write failed"), false);
+            ok = false;
+            break;
+        }
+
+        offset += sz;
+        data.remove(0, sz);
+    }
+
+    return ok;
+}
+
+bool CodeLoader::lispUpload(QString codeStr, QString editorPath)
+{
+    VByteArray vb = lispAppendImports(codeStr, editorPath);
+
+    if (vb.isEmpty()) {
+        return false;
+    }
+
+    return lispUpload(vb);
+}
+
+QByteArray CodeLoader::lispRead(QWidget *parent)
+{
+    if (!mVesc->isPortConnected()) {
+        mVesc->emitMessageDialog(tr("Read code"), tr("Not Connected"), false);
+        return QByteArray();
+    }
+
+    QByteArray lispData;
+    int lenLispLast = 0;
+    auto conn = connect(mVesc->commands(), &Commands::lispReadCodeRx,
+                        [&](int lenLisp, int ofsLisp, QByteArray data) {
+        if (lispData.size() <= ofsLisp) {
+            lispData.append(data);
+        }
+        lenLispLast = lenLisp;
+    });
+
+    auto getLispChunk = [&](int size, int offset, int tries, int timeout) {
+        bool res = false;
+
+        for (int j = 0;j < tries;j++) {
+            mVesc->commands()->lispReadCode(size, offset);
+            res = Utility::waitSignal(mVesc->commands(), SIGNAL(lispReadCodeRx(int,int,QByteArray)), timeout);
+            if (res) {
+                break;
+            }
+        }
+        return res;
+    };
+
+    if (getLispChunk(10, 0, 5, 1500)) {
+        while (lispData.size() < lenLispLast) {
+            int dataLeft = lenLispLast - lispData.size();
+            if (!getLispChunk(dataLeft > 400 ? 400 : dataLeft, lispData.size(), 5, 1500)) {
+                break;
+            }
+        }
+
+        if (lispData.size() == lenLispLast) {
+            int end = lispData.indexOf(QByteArray("\0", 1));
+            if (end > 0) {
+                VByteArray vb = lispData.mid(end + 1);
+                QList<QPair<QString, QByteArray> > imports;
+
+                if (vb.size() > 3) {
+                    auto num_imports = vb.vbPopFrontInt16();
+                    if (num_imports > 0 && num_imports < 500) {
+                        for (int i = 0;i < num_imports;i++) {
+                            auto name = vb.vbPopFrontString();
+                            auto offset = vb.vbPopFrontInt32();
+                            auto len = vb.vbPopFrontInt32() - 1; // Remove 1 as the files are padded with one 0
+                            imports.append(qMakePair(name, lispData.mid(offset, len)));
+                        }
+
+                        auto reply = QMessageBox::warning(parent,
+                                                          tr("Imports"),
+                                                          tr("%1 imports found. Do you want to save them as files?").arg(num_imports),
+                                                          QMessageBox::Yes | QMessageBox::No);
+
+                        QString lastDir = "";
+                        if (reply == QMessageBox::Yes) {
+                            for (auto i: imports) {
+                                QString fileName = QFileDialog::getSaveFileName(parent,
+                                                                                tr("Save Import %1").arg(i.first),
+                                                                                lastDir + "/" + i.first + ".bin");
+
+                                if (!fileName.isEmpty()) {
+                                    QFile file(fileName);
+                                    if (!file.open(QIODevice::WriteOnly)) {
+                                        QMessageBox::critical(parent, tr("Save Import"),
+                                                              "Could not open\n" + fileName + "\nfor writing");
+                                        return QByteArray();
+                                    }
+
+                                    QFileInfo fi(file);
+                                    lastDir = fi.canonicalPath();
+
+                                    file.write(i.second);
+                                    file.close();
+                                }
+                            }
+                        }
+                    }
+                }
+
+                lispData = lispData.left(end);
+            }
+
+            return lispData;
+        }
+    }
+
+    mVesc->emitMessageDialog(tr("Get Lisp"),
+                             tr("Could not read Lisp code"),
+                             false);
+
+    disconnect(conn);
+
+    return QByteArray();
+}
+
+bool CodeLoader::qmlErase()
+{
+    if (!mVesc) {
+        return false;
+    }
+
+    if (!mVesc->isPortConnected()) {
+        mVesc->emitMessageDialog(tr("Erase Qml"), tr("Not Connected"), false);
+        return false;
+    }
+
+    auto waitEraseRes = [this]() {
+        int res = -10;
+
+        QEventLoop loop;
+        QTimer timeoutTimer;
+        timeoutTimer.setSingleShot(true);
+        timeoutTimer.start(6000);
+        auto conn = connect(mVesc->commands(), &Commands::eraseQmluiResReceived,
+                            [&res,&loop](bool erRes) {
+            res = erRes ? 1 : -1;
+            loop.quit();
+        });
+
+        connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
+        loop.exec();
+
+        disconnect(conn);
+        return res;
+    };
+
+    mVesc->commands()->qmlUiErase();
+
+    int erRes = waitEraseRes();
+    if (erRes != 1) {
+        QString msg = "Unknown failure";
+
+        if (erRes == -10) {
+            msg = "Erase timed out";
+        } else if (erRes == -1) {
+            msg = "Erasing QMLUI failed";
+        }
+
+        mVesc->emitMessageDialog(tr("Erase Qml"), msg, false);
+        return false;
+    }
+
+    return true;
+}
+
+bool CodeLoader::qmlUpload(QString script, bool isFullscreen)
+{
+    script.prepend("import \"qrc:/mobile\";");
+    script.prepend("import Vedder.vesc.vescinterface 1.0;");
+
+    auto waitWriteRes = [this]() {
+        int res = -10;
+
+        QEventLoop loop;
+        QTimer timeoutTimer;
+        timeoutTimer.setSingleShot(true);
+        timeoutTimer.start(1000);
+        auto conn = connect(mVesc->commands(), &Commands::writeQmluiResReceived,
+                            [&res,&loop](bool erRes, quint32 offset) {
+            (void)offset;
+            res = erRes ? 1 : -1;
+            loop.quit();
+        });
+
+        connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
+        loop.exec();
+
+        disconnect(conn);
+        return res;
+    };
+
+    VByteArray vb;
+    vb.vbAppendUint16(isFullscreen ? 2 : 1);
+    vb.append(qCompress(script.toUtf8(), 9));
+    quint16 crc = Packet::crc16((const unsigned char*)vb.constData(),
+                                uint32_t(vb.size()));
+    VByteArray data;
+    data.vbAppendUint32(vb.size() - 2);
+    data.vbAppendUint16(crc);
+    data.append(vb);
+
+    if (data.size() > (1024 * 120)) {
+        mVesc->emitMessageDialog(tr("Upload Qml"), tr("Not enough space"), false);
+        return false;
+    }
+
+    quint32 offset = 0;
+    bool ok = true;
+    while (data.size() > 0) {
+        const int chunkSize = 384;
+        int sz = data.size() > chunkSize ? chunkSize : data.size();
+
+        mVesc->commands()->qmlUiWrite(data.mid(0, sz), offset);
+        if (!waitWriteRes()) {
+            mVesc->emitMessageDialog(tr("Upload Qml"), tr("Qml write failed"), false);
+            ok = false;
+            break;
+        }
+
+        offset += sz;
+        data.remove(0, sz);
+    }
+
+    return ok;
+}
diff --git a/codeloader.h b/codeloader.h
new file mode 100644
index 000000000..b5425075b
--- /dev/null
+++ b/codeloader.h
@@ -0,0 +1,52 @@
+/*
+    Copyright 2022 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#ifndef CODELOADER_H
+#define CODELOADER_H
+
+#include <QObject>
+#include <QDir>
+#include "vescinterface.h"
+
+class CodeLoader : public QObject
+{
+    Q_OBJECT
+public:
+    explicit CodeLoader(QObject *parent = nullptr);
+
+    VescInterface *vesc() const;
+    void setVesc(VescInterface *vesc);
+
+    bool lispErase();
+    QByteArray lispAppendImports(QString codeStr, QString editorPath = QDir::currentPath());
+    bool lispUpload(VByteArray vb);
+    bool lispUpload(QString codeStr, QString editorPath = QDir::currentPath());
+    QByteArray lispRead(QWidget *parent = nullptr);
+
+    bool qmlErase();
+    bool qmlUpload(QString script, bool isFullscreen);
+
+signals:
+
+private:
+    VescInterface *mVesc;
+
+};
+
+#endif // CODELOADER_H
diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index f92e765d5..6780ac239 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -221,6 +221,7 @@ VescInterface *PageLisp::vesc() const
 void PageLisp::setVesc(VescInterface *vesc)
 {
     mVesc = vesc;
+    mLoader.setVesc(vesc);
 
     connect(mVesc->commands(), &Commands::lispPrintReceived, [this](QString str) {
         ui->debugEdit->moveCursor(QTextCursor::End);
@@ -531,57 +532,12 @@ void PageLisp::openRecentList()
 
 bool PageLisp::eraseCode()
 {
-    if (!mVesc) {
-        return false;
-    }
-
-    if (!mVesc->isPortConnected()) {
-        mVesc->emitMessageDialog(tr("Erase old code"), tr("Not Connected"), false);
-        return false;
-    }
-
     QProgressDialog dialog("Erasing old script...", QString(), 0, 0, this);
     dialog.setWindowModality(Qt::WindowModal);
     dialog.show();
-
-    auto waitEraseRes = [this]() {
-        int res = -10;
-
-        QEventLoop loop;
-        QTimer timeoutTimer;
-        timeoutTimer.setSingleShot(true);
-        timeoutTimer.start(6000);
-        auto conn = connect(mVesc->commands(), &Commands::lispEraseCodeRx,
-                            [&res,&loop](bool erRes) {
-            res = erRes ? 1 : -1;
-            loop.quit();
-        });
-
-        connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
-        loop.exec();
-
-        disconnect(conn);
-        return res;
-    };
-
-    mVesc->commands()->lispEraseCode();
-
-    int erRes = waitEraseRes();
-    if (erRes != 1) {
-        QString msg = tr("Unknown failure");
-
-        if (erRes == -10) {
-            msg = tr("Erase timed out");
-        } else if (erRes == -1) {
-            msg = tr("Erasing Lisp Code failed");
-        }
-
-        dialog.close();
-        mVesc->emitMessageDialog(tr("Erase Lisp"), msg, false);
-        return false;
-    }
-
-    return true;
+    auto res = mLoader.lispErase();
+    dialog.close();
+    return res;
 }
 
 void PageLisp::on_openRecentButton_clicked()
@@ -646,9 +602,6 @@ void PageLisp::on_uploadButton_clicked()
     dialog.setWindowModality(Qt::WindowModal);
     dialog.show();
 
-    VByteArray vb;
-    vb.vbAppendUint16(0);
-
     auto e = qobject_cast<ScriptEditor*>(ui->fileTabs->widget(ui->fileTabs->currentIndex()));
 
     QString codeStr = "";
@@ -668,160 +621,7 @@ void PageLisp::on_uploadButton_clicked()
         }
     }
 
-    vb.append(codeStr);
-
-    if (vb.at(vb.size() - 1) != '\0') {
-        vb.append('\0');
-    }
-
-    // Create and append data table
-    {
-        QList<QPair<QString, QByteArray> > files;
-        auto lines = codeStr.split("\n");
-        int line_num = 0;
-
-        for (auto line: lines) {
-            line_num++;
-
-            while (line.startsWith(" ")) {
-                line.remove(0, 1);
-            }
-
-            while (line.startsWith("( ")) {
-                line.remove(1, 1);
-            }
-
-            if (line.startsWith("(import ", Qt::CaseInsensitive)) {
-                int start = line.indexOf("\"");
-                int end = line.lastIndexOf("\"");
-
-                if (start > 0 && end > start) {
-                    auto path = line.mid(start + 1, end - start - 1);
-                    auto tag = line.mid(end + 1).replace(" ", "").replace(")", "").replace("'", "");
-                    if (tag.indexOf(";") >= 0) {
-                        tag = tag.mid(0, tag.indexOf(";"));
-                    }
-
-                    if (tag.isEmpty()) {
-                        mVesc->emitMessageDialog(tr("Upload Code"),
-                                                 tr("Invalid import tag. Line: %1").arg(line_num),
-                                                 false);
-                        return;
-                    }
-
-                    QFileInfo fi(editorPath + "/" + path);
-                    if (!fi.exists()) {
-                        fi = QFileInfo(path);
-                    }
-
-                    if (fi.exists()) {
-                        QFile f(fi.absoluteFilePath());
-                        if (f.open(QIODevice::ReadOnly)) {
-                            auto fileData = f.readAll();
-
-                            // Pad with 0 in case it is a text file
-                            fileData.append('\0');
-
-                            files.append(qMakePair(tag, fileData));
-                        } else {
-                            mVesc->emitMessageDialog(tr("Upload Code"),
-                                                     tr("Imported file cannot be opened. Line: %1").arg(line_num),
-                                                     false);
-                            return;
-                        }
-                    } else {
-                        mVesc->emitMessageDialog(tr("Upload Code"),
-                                                 tr("Imported file not found: %1 Line: %2").arg(fi.absoluteFilePath()).arg(line_num),
-                                                 false);
-                        return;
-                    }
-                } else {
-                    mVesc->emitMessageDialog(tr("Upload Code"),
-                                             tr("Invalid import on line %1").arg(line_num),
-                                             false);
-                    return;
-                }
-            }
-        }
-
-        int file_table_size = 0;
-        for (auto f: files) {
-            file_table_size += f.first.length() + 9;
-        }
-
-        vb.vbAppendInt16(files.size());
-
-        int file_offset = vb.size() + file_table_size - 2;
-
-        for (auto f: files) {
-            // Align on 4 bytes in case this is loaded as code
-            while (file_offset % 4 != 0) {
-                file_offset++;
-            }
-
-            vb.vbAppendString(f.first);
-            vb.vbAppendInt32(file_offset);
-            vb.vbAppendInt32(f.second.size());
-            file_offset += f.second.size();
-        }
-
-        for (auto f: files) {
-            while ((vb.size() - 2) % 4 != 0) {
-                vb.append('\0');
-            }
-            vb.append(f.second);
-        }
-    }
-
-    quint16 crc = Packet::crc16((const unsigned char*)vb.constData(), uint32_t(vb.size()));
-    VByteArray data;
-    data.vbAppendUint32(vb.size() - 2);
-    data.vbAppendUint16(crc);
-    data.append(vb);
-
-    if (data.size() > (1024 * 120)) {
-        ui->uploadButton->setEnabled(true);
-        mVesc->emitMessageDialog(tr("Upload Code"), tr("Not enough space"), false);
-        return;
-    }
-
-    auto waitWriteRes = [this]() {
-        int res = -10;
-
-        QEventLoop loop;
-        QTimer timeoutTimer;
-        timeoutTimer.setSingleShot(true);
-        timeoutTimer.start(1000);
-        auto conn = connect(mVesc->commands(), &Commands::lispWriteCodeRx,
-                            [&res,&loop](bool erRes, quint32 offset) {
-            (void)offset;
-            res = erRes ? 1 : -1;
-            loop.quit();
-        });
-
-        connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
-        loop.exec();
-
-        disconnect(conn);
-        return res;
-    };
-
-    quint32 offset = 0;
-    bool ok = true;
-    while (data.size() > 0) {
-        const int chunkSize = 384;
-        int sz = data.size() > chunkSize ? chunkSize : data.size();
-
-        mVesc->commands()->lispWriteCode(data.mid(0, sz), offset);
-        if (!waitWriteRes()) {
-            mVesc->emitMessageDialog(tr("Upload Code"), tr("Write failed"), false);
-            ok = false;
-            break;
-        }
-
-        offset += sz;
-        data.remove(0, sz);
-    }
+    bool ok = mLoader.lispUpload(codeStr, editorPath);
 
     if (ok && ui->autoRunBox->isChecked()) {
         on_runButton_clicked();
@@ -830,115 +630,16 @@ void PageLisp::on_uploadButton_clicked()
 
 void PageLisp::on_readExistingButton_clicked()
 {
-    if (!mVesc->isPortConnected()) {
-        mVesc->emitMessageDialog(tr("Read code"), tr("Not Connected"), false);
-        return;
-    }
-
-    QByteArray lispData;
-    int lenLispLast = 0;
-    auto conn = connect(mVesc->commands(), &Commands::lispReadCodeRx,
-                        [&](int lenLisp, int ofsLisp, QByteArray data) {
-        if (lispData.size() <= ofsLisp) {
-            lispData.append(data);
-        }
-        lenLispLast = lenLisp;
-    });
+    auto code = mLoader.lispRead(this);
 
-    auto getLispChunk = [&](int size, int offset, int tries, int timeout) {
-        bool res = false;
-
-        for (int j = 0;j < tries;j++) {
-            mVesc->commands()->lispReadCode(size, offset);
-            res = Utility::waitSignal(mVesc->commands(), SIGNAL(lispReadCodeRx(int,int,QByteArray)), timeout);
-            if (res) {
-                break;
-            }
-        }
-        return res;
-    };
-
-    QProgressDialog dialog(tr("Reading Lisp..."), QString(), 0, 0, this);
-    dialog.setWindowModality(Qt::WindowModal);
-    dialog.show();
-
-    if (getLispChunk(10, 0, 5, 1500)) {
-        while (lispData.size() < lenLispLast) {
-            int dataLeft = lenLispLast - lispData.size();
-            if (!getLispChunk(dataLeft > 400 ? 400 : dataLeft, lispData.size(), 5, 1500)) {
-                break;
-            }
-        }
-
-        if (lispData.size() == lenLispLast) {
-            int end = lispData.indexOf(QByteArray("\0", 1));
-            if (end > 0) {
-                VByteArray vb = lispData.mid(end + 1);
-                QList<QPair<QString, QByteArray> > imports;
-
-                if (vb.size() > 3) {
-                    auto num_imports = vb.vbPopFrontInt16();
-                    if (num_imports > 0 && num_imports < 500) {
-                        for (int i = 0;i < num_imports;i++) {
-                            auto name = vb.vbPopFrontString();
-                            auto offset = vb.vbPopFrontInt32();
-                            auto len = vb.vbPopFrontInt32() - 1; // Remove 1 as the files are padded with one 0
-                            imports.append(qMakePair(name, lispData.mid(offset, len)));
-                        }
-
-                        QMessageBox::StandardButton reply =
-                                QMessageBox::warning(this,
-                                                     tr("Imports"),
-                                                     tr("%1 imports found. Do you want to save them as files?").arg(num_imports),
-                                                     QMessageBox::Yes | QMessageBox::Cancel);
-
-                        QString lastDir = "";
-                        if (reply == QMessageBox::Yes) {
-                            for (auto i: imports) {
-                                QString fileName = QFileDialog::getSaveFileName(this,
-                                                                                tr("Save Import %1").arg(i.first),
-                                                                                lastDir + "/" + i.first + ".bin");
-
-                                if (!fileName.isEmpty()) {
-                                    QFile file(fileName);
-                                    if (!file.open(QIODevice::WriteOnly)) {
-                                        QMessageBox::critical(this, tr("Save Import"),
-                                                              "Could not open\n" + fileName + "\nfor writing");
-                                        return;
-                                    }
-
-                                    QFileInfo fi(file);
-                                    lastDir = fi.canonicalPath();
-
-                                    file.write(i.second);
-                                    file.close();
-                                }
-                            }
-                        }
-                    }
-                }
-
-                lispData = lispData.left(end);
-            }
-
-            if (ui->mainEdit->codeEditor()->toPlainText().isEmpty()) {
-                ui->mainEdit->codeEditor()->setPlainText(lispData);
-                ui->fileTabs->setTabText(ui->fileTabs->indexOf(ui->mainEdit), "From VESC");
-            } else {
-                createEditorTab("From VESC", lispData);
-            }
+    if (!code.isEmpty()) {
+        if (ui->mainEdit->codeEditor()->toPlainText().isEmpty()) {
+            ui->mainEdit->codeEditor()->setPlainText(code);
+            ui->fileTabs->setTabText(ui->fileTabs->indexOf(ui->mainEdit), "From VESC");
         } else {
-            mVesc->emitMessageDialog(tr("Get Lisp"),
-                                     tr("Could not read Lisp code"),
-                                     false);
+            createEditorTab("From VESC", code);
         }
-    } else {
-        mVesc->emitMessageDialog(tr("Get Lisp"),
-                                 tr("Could not read Lisp code"),
-                                 false);
     }
-
-    disconnect(conn);
 }
 
 void PageLisp::on_eraseButton_clicked()
diff --git a/pages/pagelisp.h b/pages/pagelisp.h
index 0c324d579..474ed57ba 100644
--- a/pages/pagelisp.h
+++ b/pages/pagelisp.h
@@ -23,6 +23,7 @@
 #include <QWidget>
 #include "vescinterface.h"
 #include "widgets/scripteditor.h"
+#include "codeloader.h"
 
 namespace Ui {
 class PageLisp;
@@ -64,6 +65,7 @@ private slots:
     QString mDirNow;
     QTimer mPollTimer;
     QMap<QString, QVector<QPair<qint64, double> > > mBindingData;
+    CodeLoader mLoader;
 
     void updateRecentList();
     void makeEditorConnections(ScriptEditor *editor);
diff --git a/pages/pagescripting.cpp b/pages/pagescripting.cpp
index b5ce43702..3a5145996 100755
--- a/pages/pagescripting.cpp
+++ b/pages/pagescripting.cpp
@@ -183,6 +183,7 @@ VescInterface *PageScripting::vesc() const
 void PageScripting::setVesc(VescInterface *vesc)
 {
     mVesc = vesc;
+    mLoader.setVesc(vesc);
 
     ui->qmlWidget->engine()->rootContext()->setContextProperty("VescIf", mVesc);
     ui->qmlWidget->engine()->rootContext()->setContextProperty("QmlUi", this);
@@ -645,46 +646,16 @@ bool PageScripting::eraseQml()
         return false;
     }
 
-    auto waitEraseRes = [this]() {
-        int res = -10;
-
-        QEventLoop loop;
-        QTimer timeoutTimer;
-        timeoutTimer.setSingleShot(true);
-        timeoutTimer.start(6000);
-        auto conn = connect(mVesc->commands(), &Commands::eraseQmluiResReceived,
-                            [&res,&loop](bool erRes) {
-            res = erRes ? 1 : -1;
-            loop.quit();
-        });
-
-        connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
-        loop.exec();
-
-        disconnect(conn);
-        return res;
-    };
-
-    mVesc->commands()->qmlUiErase();
-
     ui->uploadTextEdit->appendPlainText("Erasing QMLUI...");
+    bool res = mLoader.qmlErase();
 
-    int erRes = waitEraseRes();
-    if (erRes != 1) {
-        QString msg = "Unknown failure";
-
-        if (erRes == -10) {
-            msg = "Erase timed out";
-        } else if (erRes == -1) {
-            msg = "Erasing QMLUI failed";
-        }
-
-        ui->uploadTextEdit->appendPlainText(msg);
-        return false;
+    if (res) {
+        ui->uploadTextEdit->appendPlainText("Erase OK!");
+    } else {
+        ui->uploadTextEdit->appendPlainText("Erasing QMLUI failed");
     }
 
-    ui->uploadTextEdit->appendPlainText("Erase OK!");
-    return true;
+    return res;
 }
 
 void PageScripting::on_helpButton_clicked()
@@ -756,65 +727,13 @@ void PageScripting::on_uploadButton_clicked()
         return;
     }
 
-    auto waitWriteRes = [this]() {
-        int res = -10;
-
-        QEventLoop loop;
-        QTimer timeoutTimer;
-        timeoutTimer.setSingleShot(true);
-        timeoutTimer.start(1000);
-        auto conn = connect(mVesc->commands(), &Commands::writeQmluiResReceived,
-                            [&res,&loop](bool erRes, quint32 offset) {
-            (void)offset;
-            res = erRes ? 1 : -1;
-            loop.quit();
-        });
-
-        connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
-        loop.exec();
-
-        disconnect(conn);
-        return res;
-    };
-
-    VByteArray vb;
-    vb.vbAppendUint16(ui->uploadFullscreenBox->isChecked() ? 2 : 1);
-    vb.append(qCompress(qmlToRun(false).toUtf8(), 9));
-    quint16 crc = Packet::crc16((const unsigned char*)vb.constData(),
-                                uint32_t(vb.size()));
-    VByteArray data;
-    data.vbAppendUint32(vb.size() - 2);
-    data.vbAppendUint16(crc);
-    data.append(vb);
-
-    if (data.size() > (1024 * 120)) {
-        ui->uploadTextEdit->appendPlainText("Not enough space");
-        ui->uploadButton->setEnabled(true);
-        ui->eraseOnlyButton->setEnabled(true);
-        return;
-    }
-
     ui->uploadTextEdit->appendPlainText("Writing data...");
+    bool res = mLoader.qmlUpload(qmlToRun(false), ui->uploadFullscreenBox->isChecked());
 
-    quint32 offset = 0;
-    bool ok = true;
-    while (data.size() > 0) {
-        const int chunkSize = 384;
-        int sz = data.size() > chunkSize ? chunkSize : data.size();
-
-        mVesc->commands()->qmlUiWrite(data.mid(0, sz), offset);
-        if (!waitWriteRes()) {
-            ui->uploadTextEdit->appendPlainText("Write failed");
-            ok = false;
-            break;
-        }
-
-        offset += sz;
-        data.remove(0, sz);
-    }
-
-    if (ok) {
+    if (res) {
         ui->uploadTextEdit->appendPlainText("Write OK!");
+    } else {
+        ui->uploadTextEdit->appendPlainText("Write failed");
     }
 
     ui->uploadButton->setEnabled(true);
diff --git a/pages/pagescripting.h b/pages/pagescripting.h
index 9c72c9e00..c425a566d 100644
--- a/pages/pagescripting.h
+++ b/pages/pagescripting.h
@@ -27,6 +27,7 @@
 #include "mobile/qmlui.h"
 #include "widgets/scripteditor.h"
 #include "utility.h"
+#include "codeloader.h"
 
 namespace Ui {
 class PageScripting;
@@ -77,6 +78,7 @@ private slots:
     QStringList mRecentFiles;
     QString mDirNow;
     Utility mUtil;
+    CodeLoader mLoader;
 
     void updateRecentList();
     void makeEditorConnections(ScriptEditor *editor);
diff --git a/vesc_tool.pro b/vesc_tool.pro
index b3c689db2..1eeb7a6e4 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -10,7 +10,7 @@ VT_INTRO_VERSION = 1
 VT_CONFIG_VERSION = 2
 
 # Set to 0 for stable versions and to test version number for development versions.
-VT_IS_TEST_VERSION = 7
+VT_IS_TEST_VERSION = 8
 
 VT_ANDROID_VERSION_ARMV7 = 108
 VT_ANDROID_VERSION_ARM64 = 109
@@ -194,6 +194,7 @@ build_mobile {
 }
 
 SOURCES += main.cpp\
+    codeloader.cpp \
     mainwindow.cpp \
     packet.cpp \
     preferences.cpp \
@@ -213,6 +214,7 @@ SOURCES += main.cpp\
     hexfile.cpp
 
 HEADERS  += mainwindow.h \
+    codeloader.h \
     packet.h \
     preferences.h \
     udpserversimple.h \

From cc7a7fdfa7fd76d65248dcb0044b7ef42c54992f Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 26 Jul 2022 21:07:37 +0200
Subject: [PATCH 156/559] First attempt at VESC packages

---
 codeloader.cpp            | 226 ++++++++++++++++++++-------
 codeloader.h              |  23 ++-
 mainwindow.cpp            |   6 +
 mainwindow.h              |   2 +
 pages/pages.pri           |   3 +
 pages/pagevescpackage.cpp | 230 ++++++++++++++++++++++++++++
 pages/pagevescpackage.h   |  60 ++++++++
 pages/pagevescpackage.ui  | 313 ++++++++++++++++++++++++++++++++++++++
 res/CHANGELOG             |   1 +
 9 files changed, 809 insertions(+), 55 deletions(-)
 create mode 100644 pages/pagevescpackage.cpp
 create mode 100644 pages/pagevescpackage.h
 create mode 100644 pages/pagevescpackage.ui

diff --git a/codeloader.cpp b/codeloader.cpp
index 3eceadab8..f48370c85 100644
--- a/codeloader.cpp
+++ b/codeloader.cpp
@@ -88,7 +88,7 @@ bool CodeLoader::lispErase()
     return true;
 }
 
-QByteArray CodeLoader::lispAppendImports(QString codeStr, QString editorPath)
+QByteArray CodeLoader::lispPackImports(QString codeStr, QString editorPath)
 {
     VByteArray vb;
     vb.vbAppendUint16(0);
@@ -127,7 +127,7 @@ QByteArray CodeLoader::lispAppendImports(QString codeStr, QString editorPath)
                     }
 
                     if (tag.isEmpty()) {
-                        mVesc->emitMessageDialog(tr("Upload Code"),
+                        mVesc->emitMessageDialog(tr("Append Imports"),
                                                  tr("Invalid import tag. Line: %1").arg(line_num),
                                                  false);
                         return QByteArray();
@@ -148,19 +148,19 @@ QByteArray CodeLoader::lispAppendImports(QString codeStr, QString editorPath)
 
                             files.append(qMakePair(tag, fileData));
                         } else {
-                            mVesc->emitMessageDialog(tr("Upload Code"),
+                            mVesc->emitMessageDialog(tr("Append Imports"),
                                                      tr("Imported file cannot be opened. Line: %1").arg(line_num),
                                                      false);
                             return QByteArray();
                         }
                     } else {
-                        mVesc->emitMessageDialog(tr("Upload Code"),
+                        mVesc->emitMessageDialog(tr("Append Imports"),
                                                  tr("Imported file not found: %1 Line: %2").arg(fi.absoluteFilePath()).arg(line_num),
                                                  false);
                         return QByteArray();
                     }
                 } else {
-                    mVesc->emitMessageDialog(tr("Upload Code"),
+                    mVesc->emitMessageDialog(tr("Append Imports"),
                                              tr("Invalid import on line %1").arg(line_num),
                                              false);
                     return QByteArray();
@@ -200,6 +200,32 @@ QByteArray CodeLoader::lispAppendImports(QString codeStr, QString editorPath)
     return std::move(vb);
 }
 
+QPair<QString, QList<QPair<QString, QByteArray> > > CodeLoader::lispUnpackImports(QByteArray data)
+{
+    QList<QPair<QString, QByteArray> > imports;
+    int end = data.indexOf(QByteArray("\0", 1));
+
+    if (end > 0) {
+        VByteArray vb = data.mid(end + 1);
+
+        if (vb.size() > 3) {
+            auto num_imports = vb.vbPopFrontInt16();
+            if (num_imports > 0 && num_imports < 500) {
+                for (int i = 0;i < num_imports;i++) {
+                    auto name = vb.vbPopFrontString();
+                    auto offset = vb.vbPopFrontInt32();
+                    auto len = vb.vbPopFrontInt32() - 1; // Remove 1 as the files are padded with one 0
+                    imports.append(qMakePair(name, data.mid(offset, len)));
+                }
+            }
+        }
+
+        data = data.left(end);
+    }
+
+    return qMakePair(QString::fromLocal8Bit(data), imports);
+}
+
 bool CodeLoader::lispUpload(VByteArray vb)
 {
     quint16 crc = Packet::crc16((const unsigned char*)vb.constData(), uint32_t(vb.size()));
@@ -256,7 +282,7 @@ bool CodeLoader::lispUpload(VByteArray vb)
 
 bool CodeLoader::lispUpload(QString codeStr, QString editorPath)
 {
-    VByteArray vb = lispAppendImports(codeStr, editorPath);
+    VByteArray vb = lispPackImports(codeStr, editorPath);
 
     if (vb.isEmpty()) {
         return false;
@@ -265,11 +291,11 @@ bool CodeLoader::lispUpload(QString codeStr, QString editorPath)
     return lispUpload(vb);
 }
 
-QByteArray CodeLoader::lispRead(QWidget *parent)
+QString CodeLoader::lispRead(QWidget *parent)
 {
     if (!mVesc->isPortConnected()) {
         mVesc->emitMessageDialog(tr("Read code"), tr("Not Connected"), false);
-        return QByteArray();
+        return "";
     }
 
     QByteArray lispData;
@@ -295,6 +321,8 @@ QByteArray CodeLoader::lispRead(QWidget *parent)
         return res;
     };
 
+    QString res = "";
+
     if (getLispChunk(10, 0, 5, 1500)) {
         while (lispData.size() < lenLispLast) {
             int dataLeft = lenLispLast - lispData.size();
@@ -304,56 +332,43 @@ QByteArray CodeLoader::lispRead(QWidget *parent)
         }
 
         if (lispData.size() == lenLispLast) {
-            int end = lispData.indexOf(QByteArray("\0", 1));
-            if (end > 0) {
-                VByteArray vb = lispData.mid(end + 1);
-                QList<QPair<QString, QByteArray> > imports;
-
-                if (vb.size() > 3) {
-                    auto num_imports = vb.vbPopFrontInt16();
-                    if (num_imports > 0 && num_imports < 500) {
-                        for (int i = 0;i < num_imports;i++) {
-                            auto name = vb.vbPopFrontString();
-                            auto offset = vb.vbPopFrontInt32();
-                            auto len = vb.vbPopFrontInt32() - 1; // Remove 1 as the files are padded with one 0
-                            imports.append(qMakePair(name, lispData.mid(offset, len)));
-                        }
-
-                        auto reply = QMessageBox::warning(parent,
-                                                          tr("Imports"),
-                                                          tr("%1 imports found. Do you want to save them as files?").arg(num_imports),
-                                                          QMessageBox::Yes | QMessageBox::No);
-
-                        QString lastDir = "";
-                        if (reply == QMessageBox::Yes) {
-                            for (auto i: imports) {
-                                QString fileName = QFileDialog::getSaveFileName(parent,
-                                                                                tr("Save Import %1").arg(i.first),
-                                                                                lastDir + "/" + i.first + ".bin");
-
-                                if (!fileName.isEmpty()) {
-                                    QFile file(fileName);
-                                    if (!file.open(QIODevice::WriteOnly)) {
-                                        QMessageBox::critical(parent, tr("Save Import"),
-                                                              "Could not open\n" + fileName + "\nfor writing");
-                                        return QByteArray();
-                                    }
-
-                                    QFileInfo fi(file);
-                                    lastDir = fi.canonicalPath();
-
-                                    file.write(i.second);
-                                    file.close();
-                                }
+            auto unpacked = lispUnpackImports(lispData);
+
+            res = unpacked.first;
+            auto num_imports = unpacked.second.length();
+
+            if (num_imports > 0) {
+                auto reply = QMessageBox::warning(parent,
+                                                  tr("Imports"),
+                                                  tr("%1 imports found. Do you want to save them as files?").arg(num_imports),
+                                                  QMessageBox::Yes | QMessageBox::No);
+
+                QString lastDir = "";
+                if (reply == QMessageBox::Yes) {
+                    for (auto i: unpacked.second) {
+                        QString fileName = QFileDialog::getSaveFileName(parent,
+                                                                        tr("Save Import %1").arg(i.first),
+                                                                        lastDir + "/" + i.first + ".bin");
+
+                        if (!fileName.isEmpty()) {
+                            QFile file(fileName);
+                            if (!file.open(QIODevice::WriteOnly)) {
+                                QMessageBox::critical(parent, tr("Save Import"),
+                                                      "Could not open\n" + fileName + "\nfor writing");
+                                return QByteArray();
                             }
+
+                            QFileInfo fi(file);
+                            lastDir = fi.canonicalPath();
+
+                            file.write(i.second);
+                            file.close();
                         }
                     }
                 }
-
-                lispData = lispData.left(end);
             }
 
-            return lispData;
+            return res;
         }
     }
 
@@ -363,7 +378,7 @@ QByteArray CodeLoader::lispRead(QWidget *parent)
 
     disconnect(conn);
 
-    return QByteArray();
+    return "";
 }
 
 bool CodeLoader::qmlErase()
@@ -476,3 +491,108 @@ bool CodeLoader::qmlUpload(QString script, bool isFullscreen)
 
     return ok;
 }
+
+QByteArray CodeLoader::packVescPackage(VescPackage pkg)
+{
+    VByteArray data;
+
+    data.vbAppendString("VESC Packet");
+
+    if (!pkg.description.isEmpty()) {
+        auto dataRaw = pkg.description.toUtf8();
+        data.vbAppendString("description");
+        data.vbAppendInt32(dataRaw.size());
+        data.append(dataRaw);
+    }
+
+    if (!pkg.lispData.isEmpty()) {
+        data.vbAppendString("lispData");
+        data.vbAppendInt32(pkg.lispData.size());
+        data.append(pkg.lispData);
+    }
+
+    if (!pkg.qmlFile.isEmpty()) {
+        auto dataRaw = pkg.qmlFile.toUtf8();
+        data.vbAppendString("qmlFile");
+        data.vbAppendInt32(dataRaw.size());
+        data.append(dataRaw);
+    }
+
+    data.vbAppendString("qmlIsFullscreen");
+    data.vbAppendInt8(pkg.qmlIsFullscreen);
+
+    return qCompress(data, 9);
+}
+
+VescPackage CodeLoader::unpackVescPackage(QByteArray data)
+{
+    VescPackage pkg;
+    VByteArray vb(qUncompress(data));
+
+    if (vb.vbPopFrontString() != "VESC Packet") {
+        qWarning() << "Invalid VESC Packet";
+        return pkg;
+    }
+
+    while (!vb.isEmpty()) {
+        QString name = vb.vbPopFrontString();
+
+        if (name.isEmpty()) {
+            qWarning() << "Empty name";
+            break;
+        }
+
+        if (name == "description") {
+            auto len = vb.vbPopFrontInt32();
+            auto dataRaw = vb.left(len);
+            vb.remove(0, len);
+            pkg.description = QString::fromUtf8(dataRaw);
+        } else if (name == "lispData") {
+            auto len = vb.vbPopFrontInt32();
+            auto dataRaw = vb.left(len);
+            vb.remove(0, len);
+            pkg.lispData = dataRaw;
+        } else if (name == "qmlFile") {
+            auto len = vb.vbPopFrontInt32();
+            auto dataRaw = vb.left(len);
+            vb.remove(0, len);
+            pkg.qmlFile = QString::fromUtf8(dataRaw);
+        } else if (name == "qmlIsFullscreen") {
+            pkg.qmlIsFullscreen = vb.vbPopFrontInt8();
+        }
+    }
+
+    return pkg;
+}
+
+bool CodeLoader::installVescPackage(VescPackage pkg)
+{
+    bool res = true;
+
+    if (res && !pkg.qmlFile.isEmpty()) {
+        res = qmlErase();
+    }
+
+    if (res && !pkg.qmlFile.isEmpty()) {
+        res = qmlUpload(pkg.qmlFile, pkg.qmlIsFullscreen);
+    }
+
+    if (res && !pkg.lispData.isEmpty()) {
+        res = lispErase();
+    }
+
+    if (res && !pkg.lispData.isEmpty()) {
+        res = lispUpload(VByteArray(pkg.lispData));
+    }
+
+    if (res && !pkg.lispData.isEmpty()) {
+        mVesc->commands()->lispSetRunning(1);
+    }
+
+    return res;
+}
+
+bool CodeLoader::installVescPackage(QByteArray data)
+{
+    return installVescPackage(unpackVescPackage(data));
+}
diff --git a/codeloader.h b/codeloader.h
index b5425075b..f9eef4e78 100644
--- a/codeloader.h
+++ b/codeloader.h
@@ -24,6 +24,19 @@
 #include <QDir>
 #include "vescinterface.h"
 
+struct VescPackage {
+
+public:
+    VescPackage () {
+        qmlIsFullscreen = false;
+    }
+
+    QString description;
+    QByteArray lispData;
+    QString qmlFile;
+    bool qmlIsFullscreen;
+};
+
 class CodeLoader : public QObject
 {
     Q_OBJECT
@@ -34,14 +47,20 @@ class CodeLoader : public QObject
     void setVesc(VescInterface *vesc);
 
     bool lispErase();
-    QByteArray lispAppendImports(QString codeStr, QString editorPath = QDir::currentPath());
+    QByteArray lispPackImports(QString codeStr, QString editorPath = QDir::currentPath());
+    QPair<QString, QList<QPair<QString, QByteArray> > > lispUnpackImports(QByteArray data);
     bool lispUpload(VByteArray vb);
     bool lispUpload(QString codeStr, QString editorPath = QDir::currentPath());
-    QByteArray lispRead(QWidget *parent = nullptr);
+    QString lispRead(QWidget *parent = nullptr);
 
     bool qmlErase();
     bool qmlUpload(QString script, bool isFullscreen);
 
+    QByteArray packVescPackage(VescPackage pkg);
+    VescPackage unpackVescPackage(QByteArray data);
+    bool installVescPackage(VescPackage pkg);
+    bool installVescPackage(QByteArray data);
+
 signals:
 
 private:
diff --git a/mainwindow.cpp b/mainwindow.cpp
index 9ecd76f3f..e29f3202d 100755
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -420,6 +420,7 @@ MainWindow::MainWindow(QWidget *parent) :
         mPageAppPas->reloadParams();
         mPageAppImu->reloadParams();
         mPageFirmware->reloadParams();
+        mPagePackage->reloadParams();
         mPageCanAnalyzer->reloadParams();
         mPageScripting->reloadParams();
         mPageLisp->reloadParams();
@@ -1298,6 +1299,11 @@ void MainWindow::reloadPages()
     ui->pageWidget->addWidget(mPageFirmware);
     addPageItem(tr("Firmware"),  theme + "icons/Electronics-96.png", "", true);
 
+    mPagePackage = new PageVescPackage(this);
+    mPagePackage->setVesc(mVesc);
+    ui->pageWidget->addWidget(mPagePackage);
+    addPageItem(tr("VESC Packages"),  theme + "icons/v_icon-96.png", "", true);
+
     mPageMotorSettings = new PageMotorSettings(this);
     mPageMotorSettings->setVesc(mVesc);
     ui->pageWidget->addWidget(mPageMotorSettings);
diff --git a/mainwindow.h b/mainwindow.h
index 8057618c1..f43ee6eeb 100644
--- a/mainwindow.h
+++ b/mainwindow.h
@@ -69,6 +69,7 @@
 #include "pages/pagemotorcomparison.h"
 #include "pages/pagelisp.h"
 #include "pages/pageespprog.h"
+#include "pages/pagevescpackage.h"
 
 namespace Ui {
 class MainWindow;
@@ -181,6 +182,7 @@ private slots:
     PageSampledData *mPageSampledData;
     PageImu *mPageImu;
     PageFirmware *mPageFirmware;
+    PageVescPackage *mPagePackage;
     PageDebugPrint *mPageDebugPrint;
     PageMotorSettings *mPageMotorSettings;
     PageMotor *mPageMotor;
diff --git a/pages/pages.pri b/pages/pages.pri
index a21b9d6ca..69ea0280f 100644
--- a/pages/pages.pri
+++ b/pages/pages.pri
@@ -25,6 +25,7 @@ FORMS += \
     $$PWD/pagefirmware.ui \
     $$PWD/pagertdata.ui \
     $$PWD/pagesampleddata.ui \
+    $$PWD/pagevescpackage.ui \
     $$PWD/pagewelcome.ui \
     $$PWD/pagemotorsettings.ui \
     $$PWD/pageappsettings.ui \
@@ -65,6 +66,7 @@ HEADERS += \
     $$PWD/pagefirmware.h \
     $$PWD/pagertdata.h \
     $$PWD/pagesampleddata.h \
+    $$PWD/pagevescpackage.h \
     $$PWD/pagewelcome.h \
     $$PWD/pagemotorsettings.h \
     $$PWD/pageappsettings.h \
@@ -105,6 +107,7 @@ SOURCES += \
     $$PWD/pagefirmware.cpp \
     $$PWD/pagertdata.cpp \
     $$PWD/pagesampleddata.cpp \
+    $$PWD/pagevescpackage.cpp \
     $$PWD/pagewelcome.cpp \
     $$PWD/pagemotorsettings.cpp \
     $$PWD/pageappsettings.cpp \
diff --git a/pages/pagevescpackage.cpp b/pages/pagevescpackage.cpp
new file mode 100644
index 000000000..255c074d7
--- /dev/null
+++ b/pages/pagevescpackage.cpp
@@ -0,0 +1,230 @@
+/*
+    Copyright 2022 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#include "pagevescpackage.h"
+#include "ui_pagevescpackage.h"
+#include "utility.h"
+
+PageVescPackage::PageVescPackage(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::PageVescPackage)
+{
+    ui->setupUi(this);
+    mVesc = nullptr;
+    layout()->setContentsMargins(0, 0, 0, 0);
+
+    QString theme = Utility::getThemePath();
+    ui->chooseLoadButton->setIcon(QIcon(theme +"icons/Open Folder-96.png"));
+    ui->chooseLispButton->setIcon(QIcon(theme +"icons/Open Folder-96.png"));
+    ui->chooseOutputButton->setIcon(QIcon(theme +"icons/Open Folder-96.png"));
+    ui->chooseQmlButton->setIcon(QIcon(theme +"icons/Open Folder-96.png"));
+    ui->writeButton->setIcon(QIcon(theme +"icons/Download-96.png"));
+    ui->loadRefreshButton->setIcon(QIcon(theme +"icons/Refresh-96.png"));
+    ui->outputRefreshButton->setIcon(QIcon(theme +"icons/Refresh-96.png"));
+    ui->saveButton->setIcon(QIcon(theme +"icons/Save-96.png"));
+
+    QSettings set;
+    ui->loadEdit->setText(set.value("pagevescpackage/lastpkgload", "").toString());
+    ui->lispEdit->setText(set.value("pagevescpackage/lastlisp", "").toString());
+    ui->qmlEdit->setText(set.value("pagevescpackage/lastqml", "").toString());
+    ui->outputEdit->setText(set.value("pagevescpackage/lastoutput", "").toString());
+
+    on_loadRefreshButton_clicked();
+    on_outputRefreshButton_clicked();
+}
+
+PageVescPackage::~PageVescPackage()
+{
+    QSettings set;
+    set.setValue("pagevescpackage/lastpkgload", ui->loadEdit->text());
+    set.setValue("pagevescpackage/lastlisp", ui->lispEdit->text());
+    set.setValue("pagevescpackage/lastqml", ui->qmlEdit->text());
+    set.setValue("pagevescpackage/lastoutput", ui->outputEdit->text());
+    delete ui;
+}
+
+VescInterface *PageVescPackage::vesc() const
+{
+    return mVesc;
+}
+
+void PageVescPackage::setVesc(VescInterface *vesc)
+{
+    mVesc = vesc;
+    mLoader.setVesc(vesc);
+}
+
+void PageVescPackage::reloadParams()
+{
+
+}
+
+void PageVescPackage::on_chooseLoadButton_clicked()
+{
+    QString filename = QFileDialog::getOpenFileName(this,
+                                                    tr("Choose Package File"), ui->loadEdit->text(),
+                                                    tr("VESC Package Files (*.vescpkg)"));
+    if (!filename.isNull()) {
+        ui->loadEdit->setText(filename);
+        on_loadRefreshButton_clicked();
+    }
+}
+
+void PageVescPackage::on_chooseLispButton_clicked()
+{
+    QString filename = QFileDialog::getOpenFileName(this,
+                                                    tr("Choose Lisp File"), ui->lispEdit->text(),
+                                                    tr("Lisp files (*.lisp)"));
+    if (!filename.isNull()) {
+        ui->lispEdit->setText(filename);
+    }
+}
+
+void PageVescPackage::on_chooseQmlButton_clicked()
+{
+    QString filename = QFileDialog::getOpenFileName(this,
+                                                    tr("Choose Qml File"), ui->qmlEdit->text(),
+                                                    tr("Qml files (*.qml)"));
+    if (!filename.isNull()) {
+        ui->qmlEdit->setText(filename);
+    }
+}
+
+void PageVescPackage::on_chooseOutputButton_clicked()
+{
+    QString filename = QFileDialog::getSaveFileName(this,
+                                                    tr("Choose Package Output File"), ui->outputEdit->text(),
+                                                    tr("VESC Package Files (*.vescpkg)"));
+
+    if (!filename.isNull()) {
+        if (!filename.endsWith(".vescpkg", Qt::CaseInsensitive)) {
+            filename += ".vescpkg";
+        }
+
+        ui->outputEdit->setText(filename);
+        on_outputRefreshButton_clicked();
+    }
+}
+
+void PageVescPackage::on_saveButton_clicked()
+{
+    if (!mVesc) {
+        return;
+    }
+
+    if (ui->outputEdit->text().isEmpty()) {
+        on_chooseOutputButton_clicked();
+    }
+
+    QFile file(ui->outputEdit->text());
+
+    if (!file.open(QIODevice::WriteOnly)) {
+        mVesc->emitMessageDialog(tr("Save Package"),
+                                 tr("Could not open %1 for writing.").arg(ui->outputEdit->text()),
+                                 false, false);
+        return;
+    }
+
+    VescPackage pkg;
+
+    if (ui->lispBox->isChecked()) {
+        QFile f(ui->lispEdit->text());
+        if (!f.open(QIODevice::ReadOnly)) {
+            mVesc->emitMessageDialog(tr("Save Package"),
+                                     tr("Could not open lisp file for reading."),
+                                     false, false);
+            return;
+        }
+
+        QFileInfo fi(f);
+        pkg.lispData = mLoader.lispPackImports(f.readAll(), fi.canonicalPath());
+        f.close();
+    }
+
+    if (ui->qmlBox->isChecked()) {
+        QFile f(ui->qmlEdit->text());
+        if (!f.open(QIODevice::ReadOnly)) {
+            mVesc->emitMessageDialog(tr("Save Package"),
+                                     tr("Could not open qml file for reading."),
+                                     false, false);
+            return;
+        }
+
+        pkg.qmlFile = f.readAll();
+        pkg.qmlIsFullscreen = ui->qmlFullscreenBox->isChecked();
+        f.close();
+    }
+
+    pkg.description = ui->descriptionEdit->document()->toHtml();
+
+    file.write(mLoader.packVescPackage(pkg));
+    file.close();
+
+    mVesc->emitMessageDialog(tr("Save Package"),
+                             tr("Package Saved"),
+                             true, false);
+}
+
+void PageVescPackage::on_loadRefreshButton_clicked()
+{
+    QFile f(ui->loadEdit->text());
+    if (!f.open(QIODevice::ReadOnly)) {
+        return;
+    }
+
+    auto pkg = mLoader.unpackVescPackage(f.readAll());
+    ui->loadBrowser->document()->setHtml(pkg.description);
+}
+
+void PageVescPackage::on_writeButton_clicked()
+{
+    if (!mVesc) {
+        return;
+    }
+
+    if (!mVesc->isPortConnected()) {
+        mVesc->emitMessageDialog(tr("Write Package"), tr("Not Connected"), false);
+        return;
+    }
+
+    QFile f(ui->loadEdit->text());
+    if (!f.open(QIODevice::ReadOnly)) {
+        mVesc->emitMessageDialog(tr("Write Package"),
+                                 tr("Could not open package file for reading."),
+                                 false, false);
+        return;
+    }
+
+    QProgressDialog dialog(tr("Writing..."), QString(), 0, 0, this);
+    dialog.setWindowModality(Qt::WindowModal);
+    dialog.show();
+
+    mLoader.installVescPackage(f.readAll());
+}
+
+void PageVescPackage::on_outputRefreshButton_clicked()
+{
+    QFile f(ui->outputEdit->text());
+    if (!f.open(QIODevice::ReadOnly)) {
+        return;
+    }
+
+    auto pkg = mLoader.unpackVescPackage(f.readAll());
+    ui->descriptionEdit->document()->setHtml(pkg.description);
+}
diff --git a/pages/pagevescpackage.h b/pages/pagevescpackage.h
new file mode 100644
index 000000000..188cd3b65
--- /dev/null
+++ b/pages/pagevescpackage.h
@@ -0,0 +1,60 @@
+/*
+    Copyright 2022 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#ifndef PAGEVESCPACKAGE_H
+#define PAGEVESCPACKAGE_H
+
+#include <QWidget>
+#include "vescinterface.h"
+#include "codeloader.h"
+
+namespace Ui {
+class PageVescPackage;
+}
+
+class PageVescPackage : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit PageVescPackage(QWidget *parent = nullptr);
+    ~PageVescPackage();
+
+    VescInterface *vesc() const;
+    void setVesc(VescInterface *vesc);
+    void reloadParams();
+
+private slots:
+    void on_chooseLoadButton_clicked();
+    void on_chooseLispButton_clicked();
+    void on_chooseQmlButton_clicked();
+    void on_chooseOutputButton_clicked();
+    void on_saveButton_clicked();
+    void on_loadRefreshButton_clicked();
+    void on_writeButton_clicked();
+    void on_outputRefreshButton_clicked();
+
+private:
+    Ui::PageVescPackage *ui;
+    VescInterface *mVesc;
+    CodeLoader mLoader;
+
+};
+
+#endif // PAGEVESCPACKAGE_H
diff --git a/pages/pagevescpackage.ui b/pages/pagevescpackage.ui
new file mode 100644
index 000000000..33267eb0e
--- /dev/null
+++ b/pages/pagevescpackage.ui
@@ -0,0 +1,313 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>PageVescPackage</class>
+ <widget class="QWidget" name="PageVescPackage">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>1035</width>
+    <height>590</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="tabShape">
+      <enum>QTabWidget::Triangular</enum>
+     </property>
+     <property name="currentIndex">
+      <number>0</number>
+     </property>
+     <widget class="QWidget" name="tab">
+      <attribute name="title">
+       <string>Load Package</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_3">
+       <item>
+        <widget class="QGroupBox" name="lispBox_3">
+         <property name="title">
+          <string>Load Package</string>
+         </property>
+         <layout class="QHBoxLayout" name="horizontalLayout_4">
+          <property name="spacing">
+           <number>2</number>
+          </property>
+          <property name="leftMargin">
+           <number>6</number>
+          </property>
+          <property name="topMargin">
+           <number>6</number>
+          </property>
+          <property name="rightMargin">
+           <number>6</number>
+          </property>
+          <property name="bottomMargin">
+           <number>6</number>
+          </property>
+          <item>
+           <widget class="QLineEdit" name="loadEdit"/>
+          </item>
+          <item>
+           <widget class="QPushButton" name="chooseLoadButton">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="toolTip">
+             <string>Choose file...</string>
+            </property>
+            <property name="text">
+             <string/>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="loadRefreshButton">
+            <property name="text">
+             <string/>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Refresh-96.png</normaloff>:/res/icons/Refresh-96.png</iconset>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="writeButton">
+            <property name="text">
+             <string>Write to VESC</string>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Download-96.png</normaloff>:/res/icons/Download-96.png</iconset>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <widget class="QTextBrowser" name="loadBrowser"/>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="tab_2">
+      <attribute name="title">
+       <string>Create Package</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_2">
+       <item>
+        <widget class="QGroupBox" name="lispBox">
+         <property name="title">
+          <string>Lisp</string>
+         </property>
+         <property name="checkable">
+          <bool>true</bool>
+         </property>
+         <layout class="QHBoxLayout" name="horizontalLayout">
+          <property name="spacing">
+           <number>2</number>
+          </property>
+          <property name="leftMargin">
+           <number>6</number>
+          </property>
+          <property name="topMargin">
+           <number>6</number>
+          </property>
+          <property name="rightMargin">
+           <number>6</number>
+          </property>
+          <property name="bottomMargin">
+           <number>6</number>
+          </property>
+          <item>
+           <widget class="QLineEdit" name="lispEdit"/>
+          </item>
+          <item>
+           <widget class="QPushButton" name="chooseLispButton">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="toolTip">
+             <string>Choose file...</string>
+            </property>
+            <property name="text">
+             <string/>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="qmlBox">
+         <property name="title">
+          <string>Qml</string>
+         </property>
+         <property name="checkable">
+          <bool>true</bool>
+         </property>
+         <layout class="QGridLayout" name="gridLayout">
+          <property name="leftMargin">
+           <number>6</number>
+          </property>
+          <property name="topMargin">
+           <number>6</number>
+          </property>
+          <property name="rightMargin">
+           <number>6</number>
+          </property>
+          <property name="bottomMargin">
+           <number>6</number>
+          </property>
+          <property name="spacing">
+           <number>2</number>
+          </property>
+          <item row="0" column="1">
+           <widget class="QPushButton" name="chooseQmlButton">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="toolTip">
+             <string>Choose file...</string>
+            </property>
+            <property name="text">
+             <string/>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="0">
+           <widget class="QLineEdit" name="qmlEdit"/>
+          </item>
+          <item row="1" column="0">
+           <widget class="QCheckBox" name="qmlFullscreenBox">
+            <property name="text">
+             <string>Fullscreen</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <widget class="MRichTextEdit" name="descriptionEdit" native="true">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="lispBox_2">
+         <property name="title">
+          <string>Output</string>
+         </property>
+         <layout class="QHBoxLayout" name="horizontalLayout_2">
+          <property name="spacing">
+           <number>2</number>
+          </property>
+          <property name="leftMargin">
+           <number>6</number>
+          </property>
+          <property name="topMargin">
+           <number>6</number>
+          </property>
+          <property name="rightMargin">
+           <number>6</number>
+          </property>
+          <property name="bottomMargin">
+           <number>6</number>
+          </property>
+          <item>
+           <widget class="QLineEdit" name="outputEdit"/>
+          </item>
+          <item>
+           <widget class="QPushButton" name="outputRefreshButton">
+            <property name="text">
+             <string/>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Refresh-96.png</normaloff>:/res/icons/Refresh-96.png</iconset>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="chooseOutputButton">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="toolTip">
+             <string>Choose file...</string>
+            </property>
+            <property name="text">
+             <string/>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="saveButton">
+            <property name="text">
+             <string>Save Package</string>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Save-96.png</normaloff>:/res/icons/Save-96.png</iconset>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>MRichTextEdit</class>
+   <extends>QWidget</extends>
+   <header>widgets/mrichtextedit.h</header>
+   <container>1</container>
+  </customwidget>
+ </customwidgets>
+ <resources>
+  <include location="../res.qrc"/>
+ </resources>
+ <connections/>
+</ui>
diff --git a/res/CHANGELOG b/res/CHANGELOG
index b8602c2f6..cc06e7f78 100644
--- a/res/CHANGELOG
+++ b/res/CHANGELOG
@@ -10,6 +10,7 @@
 * Added custom load code support to motor comparison tool.
 * Added support for bitfield parameters.
 * Added VESC UDP broadcast listener.
+* Added VESC package creation and loading support.
 
 == 3.01 ==
 * Fixed simultaneous CAN FW upload when other devices (such as BMS) are on the CAN-bus.

From d8f5701c47da1f3264ae166ed458a4fdbe1951d8 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 26 Jul 2022 23:01:45 +0200
Subject: [PATCH 157/559] Added name field to vesc packages

---
 codeloader.cpp            | 14 +++++++++++++-
 codeloader.h              |  2 ++
 pages/pagevescpackage.cpp |  4 ++++
 pages/pagevescpackage.ui  | 14 ++++++++++++++
 4 files changed, 33 insertions(+), 1 deletion(-)

diff --git a/codeloader.cpp b/codeloader.cpp
index f48370c85..c70d94ee8 100644
--- a/codeloader.cpp
+++ b/codeloader.cpp
@@ -498,6 +498,13 @@ QByteArray CodeLoader::packVescPackage(VescPackage pkg)
 
     data.vbAppendString("VESC Packet");
 
+    if (!pkg.name.isEmpty()) {
+        auto dataRaw = pkg.name.toUtf8();
+        data.vbAppendString("name");
+        data.vbAppendInt32(dataRaw.size());
+        data.append(dataRaw);
+    }
+
     if (!pkg.description.isEmpty()) {
         auto dataRaw = pkg.description.toUtf8();
         data.vbAppendString("description");
@@ -542,7 +549,12 @@ VescPackage CodeLoader::unpackVescPackage(QByteArray data)
             break;
         }
 
-        if (name == "description") {
+        if (name == "name") {
+            auto len = vb.vbPopFrontInt32();
+            auto dataRaw = vb.left(len);
+            vb.remove(0, len);
+            pkg.name = QString::fromUtf8(dataRaw);
+        } else if (name == "description") {
             auto len = vb.vbPopFrontInt32();
             auto dataRaw = vb.left(len);
             vb.remove(0, len);
diff --git a/codeloader.h b/codeloader.h
index f9eef4e78..643b75c59 100644
--- a/codeloader.h
+++ b/codeloader.h
@@ -28,9 +28,11 @@ struct VescPackage {
 
 public:
     VescPackage () {
+        name = "VESC Package Name";
         qmlIsFullscreen = false;
     }
 
+    QString name;
     QString description;
     QByteArray lispData;
     QString qmlFile;
diff --git a/pages/pagevescpackage.cpp b/pages/pagevescpackage.cpp
index 255c074d7..0a49d02db 100644
--- a/pages/pagevescpackage.cpp
+++ b/pages/pagevescpackage.cpp
@@ -45,6 +45,8 @@ PageVescPackage::PageVescPackage(QWidget *parent) :
     ui->qmlEdit->setText(set.value("pagevescpackage/lastqml", "").toString());
     ui->outputEdit->setText(set.value("pagevescpackage/lastoutput", "").toString());
 
+    ui->descriptionEdit->document()->setHtml("Package Description");
+
     on_loadRefreshButton_clicked();
     on_outputRefreshButton_clicked();
 }
@@ -171,6 +173,7 @@ void PageVescPackage::on_saveButton_clicked()
         f.close();
     }
 
+    pkg.name = ui->nameEdit->text();
     pkg.description = ui->descriptionEdit->document()->toHtml();
 
     file.write(mLoader.packVescPackage(pkg));
@@ -227,4 +230,5 @@ void PageVescPackage::on_outputRefreshButton_clicked()
 
     auto pkg = mLoader.unpackVescPackage(f.readAll());
     ui->descriptionEdit->document()->setHtml(pkg.description);
+    ui->nameEdit->setText(pkg.name);
 }
diff --git a/pages/pagevescpackage.ui b/pages/pagevescpackage.ui
index 33267eb0e..eaf078aea 100644
--- a/pages/pagevescpackage.ui
+++ b/pages/pagevescpackage.ui
@@ -213,6 +213,20 @@
          </layout>
         </widget>
        </item>
+       <item>
+        <layout class="QHBoxLayout" name="horizontalLayout_3">
+         <item>
+          <widget class="QLabel" name="label">
+           <property name="text">
+            <string>Package Name</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLineEdit" name="nameEdit"/>
+         </item>
+        </layout>
+       </item>
        <item>
         <widget class="MRichTextEdit" name="descriptionEdit" native="true">
          <property name="sizePolicy">

From d369359afa9b71f2a37534e2307a79ac3004f678 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 27 Jul 2022 21:50:14 +0200
Subject: [PATCH 158/559] Use length on all fields so that unknown fields can
 be skipped

---
 codeloader.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/codeloader.cpp b/codeloader.cpp
index c70d94ee8..4cbf8d80f 100644
--- a/codeloader.cpp
+++ b/codeloader.cpp
@@ -526,6 +526,7 @@ QByteArray CodeLoader::packVescPackage(VescPackage pkg)
     }
 
     data.vbAppendString("qmlIsFullscreen");
+    data.vbAppendInt32(1);
     data.vbAppendInt8(pkg.qmlIsFullscreen);
 
     return qCompress(data, 9);
@@ -570,7 +571,12 @@ VescPackage CodeLoader::unpackVescPackage(QByteArray data)
             vb.remove(0, len);
             pkg.qmlFile = QString::fromUtf8(dataRaw);
         } else if (name == "qmlIsFullscreen") {
+            vb.vbPopFrontInt32(); // Discard length
             pkg.qmlIsFullscreen = vb.vbPopFrontInt8();
+        } else {
+            // Unknown identifier, skip
+            auto len = vb.vbPopFrontInt32();
+            vb.remove(0, len);
         }
     }
 

From dc7e34e2e44422fb7e325f7255d889b34c0da0b2 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 28 Jul 2022 10:54:50 +0200
Subject: [PATCH 159/559] Dialog title fixes

---
 widgets/scripteditor.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/widgets/scripteditor.cpp b/widgets/scripteditor.cpp
index 3375ec9a0..afb943c36 100644
--- a/widgets/scripteditor.cpp
+++ b/widgets/scripteditor.cpp
@@ -107,13 +107,13 @@ void ScriptEditor::keyPressEvent(QKeyEvent *event)
 void ScriptEditor::on_openFileButton_clicked()
 {
     QString fileName = QFileDialog::getOpenFileName(this,
-                                                    tr("Open QML File"), "",
+                                                    tr("Open %1 File").arg(mIsModeLisp ? "Lisp" : "Qml"), "",
                                                     mIsModeLisp ? tr("Lisp files (*.lisp)") : tr("QML files (*.qml)"));
 
     if (!fileName.isEmpty()) {
         QFile file(fileName);
         if (!file.open(QIODevice::ReadOnly)) {
-            QMessageBox::critical(this, "Open QML File",
+            QMessageBox::critical(this, tr("Open %1 File").arg(mIsModeLisp ? "Lisp" : "Qml"),
                                   "Could not open\n" + fileName + "\nfor reading");
             return;
         }
@@ -141,7 +141,7 @@ void ScriptEditor::on_saveButton_clicked()
 
     QFile file(fileName);
     if (!file.open(QIODevice::WriteOnly)) {
-        QMessageBox::critical(this, "Save QML File",
+        QMessageBox::critical(this, tr("Save %1 File").arg(mIsModeLisp ? "Lisp" : "Qml"),
                               "Could not open\n" + fileName + "\nfor writing");
         return;
     }
@@ -155,7 +155,7 @@ void ScriptEditor::on_saveButton_clicked()
 void ScriptEditor::on_saveAsButton_clicked()
 {
     QString fileName = QFileDialog::getSaveFileName(this,
-                                                    tr("Save QML"), "",
+                                                    tr("Save %1").arg(mIsModeLisp ? "Lisp" : "Qml"), "",
                                                     mIsModeLisp ? tr("Lisp files (*.lisp)") : tr("QML files (*.qml)"));
 
     QString ending = mIsModeLisp ? ".lisp" : ".qml";
@@ -167,7 +167,7 @@ void ScriptEditor::on_saveAsButton_clicked()
 
         QFile file(fileName);
         if (!file.open(QIODevice::WriteOnly)) {
-            QMessageBox::critical(this, "Save QML File",
+            QMessageBox::critical(this, tr("Save %1 File").arg(mIsModeLisp ? "Lisp" : "Qml"),
                                   "Could not open\n" + fileName + "\nfor writing");
             return;
         }

From 2d707870f4d10f50e9c671f734f5f6ba5a31223e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 3 Aug 2022 18:52:10 +0200
Subject: [PATCH 160/559] Remember xml path in parameter editor

---
 parametereditor.cpp | 15 +++++++++++----
 parametereditor.h   |  1 +
 2 files changed, 12 insertions(+), 4 deletions(-)

diff --git a/parametereditor.cpp b/parametereditor.cpp
index 9f13e5cee..9e70c1b0e 100644
--- a/parametereditor.cpp
+++ b/parametereditor.cpp
@@ -98,10 +98,15 @@ ParameterEditor::ParameterEditor(QWidget *parent) :
         (void)row;
         updateGroupParamList();
     });
+
+    QSettings set;
+    mLastXmlPath = (set.value("parametereditor/lastxmlpath", ".").toString());
 }
 
 ParameterEditor::~ParameterEditor()
 {
+    QSettings set;
+    set.setValue("parametereditor/lastxmlpath", mLastXmlPath);
     delete ui;
 }
 
@@ -397,7 +402,7 @@ void ParameterEditor::on_actionLoad_XML_triggered()
     QString path;
     path = QFileDialog::getOpenFileName(this,
                                         tr("Choose parameter file to load"),
-                                        ".",
+                                        mLastXmlPath,
                                         tr("Xml files (*.xml)"));
 
     if (path.isNull()) {
@@ -413,6 +418,7 @@ void ParameterEditor::on_actionLoad_XML_triggered()
                                     "%1").arg(mParams.xmlStatus()));
     } else {
         showStatusInfo(tr("Configuration Loaded"), true);
+        mLastXmlPath = path;
     }
 
     updateUi();
@@ -423,7 +429,7 @@ void ParameterEditor::on_actionSave_XML_as_triggered()
     QString path;
     path = QFileDialog::getSaveFileName(this,
                                         tr("Choose where to save the parameter XML file"),
-                                        ".",
+                                        mLastXmlPath,
                                         tr("Xml files (*.xml)"));
 
     if (path.isNull()) {
@@ -443,6 +449,7 @@ void ParameterEditor::on_actionSave_XML_as_triggered()
                                     "%1").arg(mParams.xmlStatus()));
     } else {
         showStatusInfo(tr("Configuration Saved"), true);
+        mLastXmlPath = path;
     }
 }
 
@@ -1089,8 +1096,8 @@ void ParameterEditor::on_actionSave_XML_and_export_config_parser_and_compressed_
     path = QFileDialog::getSaveFileName(this,
                                         tr("Choose the XML file or one of the C files. All files will be created with default "
                                            "names and/or overwritten if they already exist in the directory."),
-                                        ".",
-                                        tr("C Source/Header files (*.c *.h)"));
+                                        mLastXmlPath,
+                                        tr("C Source/Header files (*.c *.h *.xml)"));
 
     if (path.isNull()) {
         return;
diff --git a/parametereditor.h b/parametereditor.h
index 9d7fc596a..9bc713724 100644
--- a/parametereditor.h
+++ b/parametereditor.h
@@ -89,6 +89,7 @@ private slots:
     QTimer *mTimer;
     QLabel *mStatusLabel;
     int mStatusInfoTime;
+    QString mLastXmlPath;
 
     void updateUi();
     void setEditorValues(QString name, ConfigParam p);

From 1a96733600b9688eaa1433421a42539d9aa84304 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 28 Aug 2022 21:11:38 +0200
Subject: [PATCH 161/559] Increased ADC abs max voltage setting limit

---
 res/config/6.00/parameters_appconf.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/res/config/6.00/parameters_appconf.xml b/res/config/6.00/parameters_appconf.xml
index 9703a3e01..9235a0549 100644
--- a/res/config/6.00/parameters_appconf.xml
+++ b/res/config/6.00/parameters_appconf.xml
@@ -1099,11 +1099,11 @@ p, li { white-space: pre-wrap; }
             <editorDecimalsDouble>2</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
-            <maxDouble>3.4</maxDouble>
+            <maxDouble>3.6</maxDouble>
             <minDouble>0</minDouble>
             <showDisplay>1</showDisplay>
             <stepDouble>0.01</stepDouble>
-            <valDouble>3.4</valDouble>
+            <valDouble>3.6</valDouble>
             <vTxDoubleScale>1000</vTxDoubleScale>
             <suffix> V</suffix>
             <vTx>7</vTx>

From 5ac6e7f3f4f7123f021d1776c282a10615e88460 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 3 Sep 2022 13:37:34 +0200
Subject: [PATCH 162/559] Added uavcan status current mode

---
 res/config/6.00/parameters_appconf.xml | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/res/config/6.00/parameters_appconf.xml b/res/config/6.00/parameters_appconf.xml
index 9235a0549..e22c023ec 100644
--- a/res/config/6.00/parameters_appconf.xml
+++ b/res/config/6.00/parameters_appconf.xml
@@ -380,6 +380,20 @@ p, li { white-space: pre-wrap; }
             <suffix></suffix>
             <vTx>9</vTx>
         </uavcan_raw_rpm_max>
+        <uavcan_status_current_mode>
+            <longName>UAVCAN Status Current Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current to send in status message.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_UAVCAN_STATUS_CURRENT_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Motor Current</enumNames>
+            <enumNames>Input Current</enumNames>
+        </uavcan_status_current_mode>
         <servo_out_enable>
             <longName>Enable Servo Output</longName>
             <type>5</type>
@@ -4045,6 +4059,7 @@ p, li { white-space: pre-wrap; }
         <ser>uavcan_esc_index</ser>
         <ser>uavcan_raw_mode</ser>
         <ser>uavcan_raw_rpm_max</ser>
+        <ser>uavcan_status_current_mode</ser>
         <ser>servo_out_enable</ser>
         <ser>kill_sw_mode</ser>
         <ser>app_to_use</ser>
@@ -4233,6 +4248,7 @@ p, li { white-space: pre-wrap; }
                     <param>uavcan_esc_index</param>
                     <param>uavcan_raw_mode</param>
                     <param>uavcan_raw_rpm_max</param>
+                    <param>uavcan_status_current_mode</param>
                     <param>servo_out_enable</param>
                     <param>kill_sw_mode</param>
                     <param>::sep::CAN Messages Rate 1</param>

From c008c74dc1c42263da975beb00aa7f29129159eb Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 5 Sep 2022 21:04:26 +0200
Subject: [PATCH 163/559] Set path in script save dialog

---
 widgets/scripteditor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/widgets/scripteditor.cpp b/widgets/scripteditor.cpp
index afb943c36..5d6d225c5 100644
--- a/widgets/scripteditor.cpp
+++ b/widgets/scripteditor.cpp
@@ -155,7 +155,7 @@ void ScriptEditor::on_saveButton_clicked()
 void ScriptEditor::on_saveAsButton_clicked()
 {
     QString fileName = QFileDialog::getSaveFileName(this,
-                                                    tr("Save %1").arg(mIsModeLisp ? "Lisp" : "Qml"), "",
+                                                    tr("Save %1").arg(mIsModeLisp ? "Lisp" : "Qml"), ui->fileNowLabel->text(),
                                                     mIsModeLisp ? tr("Lisp files (*.lisp)") : tr("QML files (*.qml)"));
 
     QString ending = mIsModeLisp ? ".lisp" : ".qml";

From 78afb422ae4994a03fbc8b16e09efa39f3383a2b Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 5 Sep 2022 21:27:58 +0200
Subject: [PATCH 164/559] Added more types to code editor

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 QCodeEditor/resources/languages/qml.xml  | 1 +
 2 files changed, 2 insertions(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 239900e99..7c613d272 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -19,6 +19,7 @@
         <name>fn</name>
         <name>def</name>
         <name>import</name>
+        <name>atomic</name>
     </section>
     <section name="PrimitiveType">
         <name>nil</name>
diff --git a/QCodeEditor/resources/languages/qml.xml b/QCodeEditor/resources/languages/qml.xml
index 090b0c48f..ba27d1009 100644
--- a/QCodeEditor/resources/languages/qml.xml
+++ b/QCodeEditor/resources/languages/qml.xml
@@ -123,5 +123,6 @@
         <name>ComboBox</name>
         <name>ListModel</name>
         <name>RadioButton</name>
+        <name>FwHelper</name>
     </section>
 </root>

From a9fbcb3c5fd04e5271f1134ed4021e8306f6bbd8 Mon Sep 17 00:00:00 2001
From: Mitch Lustig <moesk8er2@gmail.com>
Date: Mon, 5 Sep 2022 18:45:14 -0700
Subject: [PATCH 165/559] Balance App: Add I-Term Limiter, Remove D-Term Biquad
 Filters

---
 res/config/6.00/parameters_appconf.xml | 72 +++++++++-----------------
 1 file changed, 24 insertions(+), 48 deletions(-)

diff --git a/res/config/6.00/parameters_appconf.xml b/res/config/6.00/parameters_appconf.xml
index e22c023ec..3cf0b3c27 100644
--- a/res/config/6.00/parameters_appconf.xml
+++ b/res/config/6.00/parameters_appconf.xml
@@ -3035,6 +3035,28 @@ p, li { white-space: pre-wrap; }
             <suffix> A</suffix>
             <vTx>9</vTx>
         </app_balance_conf.yaw_current_clamp>
+        <app_balance_conf.ki_limit>
+            <longName>I term limit</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;I term limiter, used to prevent windup. 0 = disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KI_LIMIT</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>2</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.ki_limit>
         <app_balance_conf.kd_pt1_lowpass_frequency>
             <longName>D term PT1 Low Pass Filter</longName>
             <type>2</type>
@@ -3075,50 +3097,6 @@ p, li { white-space: pre-wrap; }
             <suffix> Hz</suffix>
             <vTx>3</vTx>
         </app_balance_conf.kd_pt1_highpass_frequency>
-        <app_balance_conf.kd_biquad_lowpass>
-            <longName>D term Biquad Low Pass Filter</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D term filter above this frequency. 0 = Disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_KD_BIQUAD_LOWPASS</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>500</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>1</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> Hz</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.kd_biquad_lowpass>
-        <app_balance_conf.kd_biquad_highpass>
-            <longName>D term Biquad High Pass Filter</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D term filter below this frequency. 0 = Disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_KD_BIQUAD_HIGHPASS</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>500</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>1</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> Hz</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.kd_biquad_highpass>
         <app_balance_conf.booster_angle>
             <longName>Start Angle</longName>
             <type>1</type>
@@ -4180,10 +4158,9 @@ p, li { white-space: pre-wrap; }
         <ser>app_balance_conf.brake_current</ser>
         <ser>app_balance_conf.brake_timeout</ser>
         <ser>app_balance_conf.yaw_current_clamp</ser>
+        <ser>app_balance_conf.ki_limit</ser>
         <ser>app_balance_conf.kd_pt1_lowpass_frequency</ser>
         <ser>app_balance_conf.kd_pt1_highpass_frequency</ser>
-        <ser>app_balance_conf.kd_biquad_lowpass</ser>
-        <ser>app_balance_conf.kd_biquad_highpass</ser>
         <ser>app_balance_conf.booster_angle</ser>
         <ser>app_balance_conf.booster_ramp</ser>
         <ser>app_balance_conf.booster_current</ser>
@@ -4418,10 +4395,9 @@ p, li { white-space: pre-wrap; }
                     <param>app_balance_conf.hertz</param>
                     <param>app_balance_conf.loop_time_filter</param>
                     <param>::sep::Filters</param>
+                    <param>app_balance_conf.ki_limit</param>
                     <param>app_balance_conf.kd_pt1_lowpass_frequency</param>
                     <param>app_balance_conf.kd_pt1_highpass_frequency</param>
-                    <param>app_balance_conf.kd_biquad_lowpass</param>
-                    <param>app_balance_conf.kd_biquad_highpass</param>
                     <param>::sep::Experimental</param>
                     <param>app_balance_conf.deadzone</param>
                 </subgroupParams>

From cd6bfc71da1590d40c4af0ba9d35a88e2d535a2f Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 6 Sep 2022 13:20:38 +0200
Subject: [PATCH 166/559] Updated completer

---
 QCodeEditor/src/internal/QVescCompleter.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/QCodeEditor/src/internal/QVescCompleter.cpp b/QCodeEditor/src/internal/QVescCompleter.cpp
index c030af145..214b37616 100644
--- a/QCodeEditor/src/internal/QVescCompleter.cpp
+++ b/QCodeEditor/src/internal/QVescCompleter.cpp
@@ -261,6 +261,7 @@ QVescCompleter::QVescCompleter(QObject *parent) :
         addItem("getMcValuesBlocking(VescIf)");
         addItem("waitMotorStop(VescIf, erpmTres, timeoutMs)");
         addItem("measureEncoderBlocking(VescIf, current)");
+        addItem("sleepWithEventLoop(timeMs)");
         level--;
     }
 

From 212af8d13cb0206ab374abf0187c1eaebd737cc8 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 18 Sep 2022 22:56:30 +0200
Subject: [PATCH 167/559] Lisp stream support, added custom config params to
 paramlist

---
 QCodeEditor/resources/languages/qml.xml |  1 +
 codeloader.cpp                          | 47 ++++++++++++-
 codeloader.h                            |  1 +
 commands.cpp                            | 17 +++++
 commands.h                              |  2 +
 datatypes.h                             |  1 +
 mainwindow.cpp                          |  2 +-
 mobile/ParamEditors.qml                 |  9 +++
 mobile/ParamList.qml                    | 24 +++++++
 pages/pagelisp.cpp                      | 20 ++++++
 pages/pagelisp.h                        |  1 +
 pages/pagelisp.ui                       | 92 +++++++++++++++++++++----
 vescinterface.h                         |  2 +-
 13 files changed, 203 insertions(+), 16 deletions(-)

diff --git a/QCodeEditor/resources/languages/qml.xml b/QCodeEditor/resources/languages/qml.xml
index ba27d1009..a14b919a6 100644
--- a/QCodeEditor/resources/languages/qml.xml
+++ b/QCodeEditor/resources/languages/qml.xml
@@ -124,5 +124,6 @@
         <name>ListModel</name>
         <name>RadioButton</name>
         <name>FwHelper</name>
+        <name>ParamList</name>
     </section>
 </root>
diff --git a/codeloader.cpp b/codeloader.cpp
index 4cbf8d80f..2cca69652 100644
--- a/codeloader.cpp
+++ b/codeloader.cpp
@@ -267,7 +267,7 @@ bool CodeLoader::lispUpload(VByteArray vb)
         int sz = data.size() > chunkSize ? chunkSize : data.size();
 
         mVesc->commands()->lispWriteCode(data.mid(0, sz), offset);
-        if (!waitWriteRes()) {
+        if (waitWriteRes() < 0) {
             mVesc->emitMessageDialog(tr("Upload Code"), tr("Write failed"), false);
             ok = false;
             break;
@@ -291,6 +291,51 @@ bool CodeLoader::lispUpload(QString codeStr, QString editorPath)
     return lispUpload(vb);
 }
 
+bool CodeLoader::lispStream(VByteArray vb, qint8 mode)
+{
+    auto waitWriteRes = [this]() {
+        int res = -10;
+
+        QEventLoop loop;
+        QTimer timeoutTimer;
+        timeoutTimer.setSingleShot(true);
+        timeoutTimer.start(4000);
+        auto conn = connect(mVesc->commands(), &Commands::lispStreamCodeRx,
+                            [&res,&loop](qint32 offset, qint16 result) {
+            (void)offset;
+            res = result;
+            loop.quit();
+        });
+
+        connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
+        loop.exec();
+
+        disconnect(conn);
+        return res;
+    };
+
+    qint32 offset = 0;
+    qint32 size_tot = vb.size();
+    bool ok = true;
+    while (vb.size() > 0) {
+        const int chunkSize = 384;
+        int sz = vb.size() > chunkSize ? chunkSize : vb.size();
+
+        mVesc->commands()->lispStreamCode(vb.mid(0, sz), offset, size_tot, mode);
+        auto writeRes = waitWriteRes();
+        if (writeRes != 0) {
+            mVesc->emitMessageDialog(tr("Stream Code"), tr("Stream failed. Result: %1").arg(writeRes), false);
+            ok = false;
+            break;
+        }
+
+        offset += sz;
+        vb.remove(0, sz);
+    }
+
+    return ok;
+}
+
 QString CodeLoader::lispRead(QWidget *parent)
 {
     if (!mVesc->isPortConnected()) {
diff --git a/codeloader.h b/codeloader.h
index 643b75c59..94bd89f6b 100644
--- a/codeloader.h
+++ b/codeloader.h
@@ -53,6 +53,7 @@ class CodeLoader : public QObject
     QPair<QString, QList<QPair<QString, QByteArray> > > lispUnpackImports(QByteArray data);
     bool lispUpload(VByteArray vb);
     bool lispUpload(QString codeStr, QString editorPath = QDir::currentPath());
+    bool lispStream(VByteArray vb, qint8 mode);
     QString lispRead(QWidget *parent = nullptr);
 
     bool qmlErase();
diff --git a/commands.cpp b/commands.cpp
index acbe2a739..61cff96e4 100755
--- a/commands.cpp
+++ b/commands.cpp
@@ -1003,6 +1003,12 @@ void Commands::processPacket(QByteArray data)
         emit lispRunningResRx(vb.at(0));
         break;
 
+    case COMM_LISP_STREAM_CODE: {
+        quint32 offset = vb.vbPopFrontInt32();
+        quint32 res = vb.vbPopFrontInt16();
+        emit lispStreamCodeRx(offset, res);
+    } break;
+
     default:
         break;
     }
@@ -2032,6 +2038,17 @@ void Commands::lispWriteCode(QByteArray data, quint32 offset)
     emitData(vb);
 }
 
+void Commands::lispStreamCode(QByteArray data, quint32 offset, quint32 totLen, qint8 mode)
+{
+    VByteArray vb;
+    vb.vbAppendUint8(COMM_LISP_STREAM_CODE);
+    vb.vbAppendInt32(offset);
+    vb.vbAppendInt32(totLen);
+    vb.vbAppendInt8(mode);
+    vb.append(data);
+    emitData(vb);
+}
+
 void Commands::lispEraseCode()
 {
     VByteArray vb;
diff --git a/commands.h b/commands.h
index 93dfd2e14..d3041cb56 100644
--- a/commands.h
+++ b/commands.h
@@ -137,6 +137,7 @@ class Commands : public QObject
     void lispPrintReceived(QString str);
     void lispStatsRx(LISP_STATS stats);
     void lispRunningResRx(bool ok);
+    void lispStreamCodeRx(quint32 offset, qint16 res);
 
 public slots:
     void processPacket(QByteArray data);
@@ -243,6 +244,7 @@ public slots:
 
     void lispReadCode(int len, int offset);
     void lispWriteCode(QByteArray data, quint32 offset);
+    void lispStreamCode(QByteArray data, quint32 offset, quint32 totLen, qint8 mode);
     void lispEraseCode();
     void lispSetRunning(bool running);
     void lispGetStats();
diff --git a/datatypes.h b/datatypes.h
index 42cccc533..ada87d10a 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -963,6 +963,7 @@ typedef enum {
     COMM_BMS_GET_BATT_TYPE,
 
     COMM_LISP_REPL_CMD,
+    COMM_LISP_STREAM_CODE,
 } COMM_PACKET_ID;
 
 // CAN commands
diff --git a/mainwindow.cpp b/mainwindow.cpp
index e29f3202d..9931cda17 100755
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -1464,7 +1464,7 @@ void MainWindow::reloadPages()
     mPageCustomConfig2->setVesc(mVesc);
     mPageCustomConfig2->setConfNum(2);
     ui->pageWidget->addWidget(mPageCustomConfig2);
-    addPageItem(tr("Config0"),  theme + "icons/Electronics-96.png", "", true);
+    addPageItem(tr("Config2"),  theme + "icons/Electronics-96.png", "", true);
     mPageNameIdList.insert("app_custom_config_2", ui->pageList->count() - 1);
     ui->pageList->item(ui->pageList->count() - 1)->setHidden(true);
 
diff --git a/mobile/ParamEditors.qml b/mobile/ParamEditors.qml
index 57e7b37a7..746b7da7d 100644
--- a/mobile/ParamEditors.qml
+++ b/mobile/ParamEditors.qml
@@ -29,6 +29,11 @@ Item {
     property ConfigParams mAppConf: VescIf.appConfig()
 
     function createEditor(parent, name, conf) {
+        if (conf === null) {
+            console.log("Config is null, cannot create editor")
+            return null
+        }
+
         if (conf.hasParam(name)) {
             if (conf.isParamDouble(name)) {
                 var component = Qt.createComponent("ParamEditDouble.qml");
@@ -64,6 +69,10 @@ Item {
         return createEditor(parent, name, mAppConf)
     }
 
+    function createEditorCustom(parent, name, customInd) {
+        return createEditor(parent, name, VescIf.customConfig(customInd))
+    }
+
     function createSeparator(parent, text) {
         var component = Qt.createComponent("ParamEditSeparator.qml");
         return component.createObject(parent, {"sepName": text});
diff --git a/mobile/ParamList.qml b/mobile/ParamList.qml
index 48f698e56..e1bb87a56 100644
--- a/mobile/ParamList.qml
+++ b/mobile/ParamList.qml
@@ -52,6 +52,11 @@ Item {
 
     function addEditorMc(param) {
         var e = editors.createEditorMc(scrollCol, param)
+
+        if (e === null) {
+            return
+        }
+
         e.Layout.preferredWidth = 500
         e.Layout.fillsWidth = true
         editorsVisible.push(e)
@@ -61,6 +66,25 @@ Item {
 
     function addEditorApp(param) {
         var e = editors.createEditorApp(scrollCol, param)
+
+        if (e === null) {
+            return
+        }
+
+        e.Layout.preferredWidth = 500
+        e.Layout.fillsWidth = true
+        editorsVisible.push(e)
+        paramNames.push(param)
+        paramNamesAll.push(param)
+    }
+
+    function addEditorCustom(param, customInd) {
+        var e = editors.createEditorCustom(scrollCol, param, customInd)
+
+        if (e === null) {
+            return
+        }
+
         e.Layout.preferredWidth = 500
         e.Layout.fillsWidth = true
         editorsVisible.push(e)
diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index 6780ac239..54cbc9877 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -52,6 +52,7 @@ PageLisp::PageLisp(QWidget *parent) :
     ui->readExistingButton->setIcon(QIcon(theme +"icons/Upload-96.png"));
     ui->eraseButton->setIcon(QIcon(theme +"icons/Delete-96.png"));
     ui->replHelpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
+    ui->streamButton->setIcon(QIcon(theme +"icons/Download-96.png"));
 
     QIcon mycon = QIcon(theme + "icons/expand_off.png");
     mycon.addPixmap(QPixmap(theme + "icons/expand_on.png"), QIcon::Normal, QIcon::On);
@@ -688,3 +689,22 @@ void PageLisp::on_replHelpButton_clicked()
 {
     mVesc->commands()->lispSendReplCmd(":help");
 }
+
+void PageLisp::on_streamButton_clicked()
+{
+    QProgressDialog dialog(tr("Streaming..."), QString(), 0, 0, this);
+    dialog.setWindowModality(Qt::WindowModal);
+    dialog.show();
+
+    auto e = qobject_cast<ScriptEditor*>(ui->fileTabs->widget(ui->fileTabs->currentIndex()));
+
+    QString codeStr = "";
+
+    if (e != nullptr) {
+        codeStr = e->codeEditor()->toPlainText();
+    } else {
+        ui->mainEdit->codeEditor()->toPlainText();
+    }
+
+    mLoader.lispStream(codeStr.toLocal8Bit(), ui->streamModeBox->currentIndex());
+}
diff --git a/pages/pagelisp.h b/pages/pagelisp.h
index 474ed57ba..5fa2e8664 100644
--- a/pages/pagelisp.h
+++ b/pages/pagelisp.h
@@ -57,6 +57,7 @@ private slots:
     void on_helpButton_clicked();
     void on_replEdit_returnPressed();
     void on_replHelpButton_clicked();
+    void on_streamButton_clicked();
 
 private:
     Ui::PageLisp *ui;
diff --git a/pages/pagelisp.ui b/pages/pagelisp.ui
index 3a607adc5..174ded2a7 100644
--- a/pages/pagelisp.ui
+++ b/pages/pagelisp.ui
@@ -30,9 +30,6 @@
         </property>
         <item>
          <layout class="QHBoxLayout" name="horizontalLayout">
-          <property name="spacing">
-           <number>0</number>
-          </property>
           <item>
            <widget class="QPushButton" name="eraseButton">
             <property name="toolTip">
@@ -52,6 +49,9 @@
           </item>
           <item>
            <widget class="QPushButton" name="uploadButton">
+            <property name="toolTip">
+             <string>Upload code to flash. This is persistent and starts the code on every boot.</string>
+            </property>
             <property name="text">
              <string>Upload</string>
             </property>
@@ -65,16 +65,16 @@
            </widget>
           </item>
           <item>
-           <widget class="QPushButton" name="readExistingButton">
+           <widget class="QPushButton" name="streamButton">
             <property name="toolTip">
-             <string>Read lisp code from connected VESC</string>
+             <string>Stream code. This is faster and not persistent, but does not work with imports.</string>
             </property>
             <property name="text">
-             <string>Read Existing</string>
+             <string>Stream</string>
             </property>
             <property name="icon">
              <iconset resource="../res.qrc">
-              <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
+              <normaloff>:/res/icons/Download-96.png</normaloff>:/res/icons/Download-96.png</iconset>
             </property>
             <property name="flat">
              <bool>true</bool>
@@ -82,14 +82,18 @@
            </widget>
           </item>
           <item>
-           <widget class="QCheckBox" name="autoRunBox">
+           <widget class="QPushButton" name="readExistingButton">
             <property name="toolTip">
-             <string>Automatically run program on upload</string>
+             <string>Read lisp code from connected VESC</string>
             </property>
             <property name="text">
-             <string>AutoRun</string>
+             <string>Read Existing</string>
             </property>
-            <property name="checked">
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
+            </property>
+            <property name="flat">
              <bool>true</bool>
             </property>
            </widget>
@@ -143,10 +147,10 @@
         </item>
        </layout>
       </widget>
-      <widget class="QWidget" name="layoutWidget2">
+      <widget class="QWidget" name="">
        <layout class="QVBoxLayout" name="verticalLayout_2">
         <item>
-         <layout class="QHBoxLayout" name="horizontalLayout_5">
+         <layout class="QHBoxLayout" name="horizontalLayout_8">
           <item>
            <widget class="QPushButton" name="runButton">
             <property name="text">
@@ -300,6 +304,68 @@
           </column>
          </widget>
         </item>
+        <item>
+         <layout class="QHBoxLayout" name="horizontalLayout_5">
+          <item>
+           <widget class="QLabel" name="label_6">
+            <property name="text">
+             <string>Stream Mode:</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QComboBox" name="streamModeBox">
+            <property name="currentIndex">
+             <number>1</number>
+            </property>
+            <item>
+             <property name="text">
+              <string>Load on top</string>
+             </property>
+            </item>
+            <item>
+             <property name="text">
+              <string>Reset &amp; Load</string>
+             </property>
+            </item>
+            <item>
+             <property name="text">
+              <string>Reload Flash &amp; Load</string>
+             </property>
+            </item>
+           </widget>
+          </item>
+          <item>
+           <spacer name="horizontalSpacer_2">
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>40</width>
+              <height>20</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
+          <item>
+           <widget class="QCheckBox" name="autoRunBox">
+            <property name="toolTip">
+             <string>Automatically run program on upload</string>
+            </property>
+            <property name="text">
+             <string>AutoRun</string>
+            </property>
+            <property name="checked">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
        </layout>
       </widget>
      </widget>
diff --git a/vescinterface.h b/vescinterface.h
index f836f428e..05f119936 100755
--- a/vescinterface.h
+++ b/vescinterface.h
@@ -225,7 +225,7 @@ class VescInterface : public QObject
     Q_INVOKABLE int customConfigNum();
     Q_INVOKABLE bool customConfigsLoaded();
     Q_INVOKABLE bool customConfigRxDone();
-    ConfigParams *customConfig(int configNum);
+    Q_INVOKABLE ConfigParams *customConfig(int configNum);
 
     Q_INVOKABLE bool qmlHwLoaded();
     Q_INVOKABLE bool qmlAppLoaded();

From a69b58f2f6eb44cb068fc5332580bff1b89cf20f Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 19 Sep 2022 22:58:06 +0200
Subject: [PATCH 168/559] Custom config qml read and write support

---
 QCodeEditor/src/internal/QVescCompleter.cpp | 3 +++
 commands.cpp                                | 4 ++--
 commands.h                                  | 2 +-
 configparams.h                              | 4 ++--
 pages/pagecustomconfig.cpp                  | 4 +---
 5 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/QCodeEditor/src/internal/QVescCompleter.cpp b/QCodeEditor/src/internal/QVescCompleter.cpp
index 214b37616..8cd3770fb 100644
--- a/QCodeEditor/src/internal/QVescCompleter.cpp
+++ b/QCodeEditor/src/internal/QVescCompleter.cpp
@@ -97,6 +97,8 @@ QVescCompleter::QVescCompleter(QObject *parent) :
         addItem("setBleName(name)");
         addItem("setBlePin(pin)");
         addItem("sendCustomAppData(data)");
+        addItem("customConfigGet(confInd, isDefault)");
+        addItem("customConfigSet(confInd, config)");
         level--;
     };
 
@@ -134,6 +136,7 @@ QVescCompleter::QVescCompleter(QObject *parent) :
         addItem("canTmpOverrideEnd()");
         addItem("emitMessageDialog(title, text, isGood, isRichText)");
         addItem("emitStatusMessage(msg, isGood)");
+        addItem("customConfig(confInd)");
         level--;
     }
 
diff --git a/commands.cpp b/commands.cpp
index 61cff96e4..666da09c2 100755
--- a/commands.cpp
+++ b/commands.cpp
@@ -1908,12 +1908,12 @@ void Commands::customConfigGet(int confInd, bool isDefault)
     emitData(vb);
 }
 
-void Commands::customConfigSet(int confInd, QByteArray confData)
+void Commands::customConfigSet(int confInd, ConfigParams *conf)
 {
     VByteArray vb;
     vb.vbAppendUint8(COMM_SET_CUSTOM_CONFIG);
     vb.vbAppendInt8(int8_t(confInd));
-    vb.append(confData);
+    conf->serialize(vb);
     emitData(vb);
 }
 
diff --git a/commands.h b/commands.h
index d3041cb56..7d8b44994 100644
--- a/commands.h
+++ b/commands.h
@@ -225,7 +225,7 @@ public slots:
 
     void customConfigGetChunk(int confInd, int len, int offset);
     void customConfigGet(int confInd, bool isDefault);
-    void customConfigSet(int confInd, QByteArray confData);
+    void customConfigSet(int confInd, ConfigParams *conf);
 
     void pswGetStatus(bool by_id, int id_ind);
     void pswSwitch(int id, bool is_on, bool plot);
diff --git a/configparams.h b/configparams.h
index 66c3acd29..267dfe438 100644
--- a/configparams.h
+++ b/configparams.h
@@ -87,8 +87,8 @@ class ConfigParams : public QObject
     void setSerializeOrder(const QStringList &serializeOrder);
     void clearSerializeOrder();
 
-    void serialize(VByteArray &vb);
-    bool deSerialize(VByteArray &vb);
+    Q_INVOKABLE void serialize(VByteArray &vb);
+    Q_INVOKABLE bool deSerialize(VByteArray &vb);
 
     void getXML(QXmlStreamWriter &stream, QString configName);
     bool setXML(QXmlStreamReader &stream, QString configName);
diff --git a/pages/pagecustomconfig.cpp b/pages/pagecustomconfig.cpp
index 5359230b4..fc35d6835 100644
--- a/pages/pagecustomconfig.cpp
+++ b/pages/pagecustomconfig.cpp
@@ -117,9 +117,7 @@ void PageCustomConfig::on_writeButton_clicked()
     if (mVesc) {
         ConfigParams *params = mVesc->customConfig(mConfNum);
         if (params) {
-            VByteArray data;
-            params->serialize(data);
-            mVesc->commands()->customConfigSet(mConfNum, data);
+            mVesc->commands()->customConfigSet(mConfNum, params);
         }
     }
 }

From aafd151337b5656da9087221bda5215df6adff2e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 19 Sep 2022 23:48:05 +0200
Subject: [PATCH 169/559] Added BMS limit mode

---
 res/config/6.00/parameters_mcconf.xml | 33 +++++++++++++++++++++++++++
 1 file changed, 33 insertions(+)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index faa78c0db..3610332f2 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -3951,6 +3951,7 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The motor brand, e.g. Turnigy.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine></cDefine>
             <valString>Unnamed</valString>
+            <maxLen>0</maxLen>
         </motor_brand>
         <motor_model>
             <longName>Motor Model</longName>
@@ -3963,6 +3964,7 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The motor model, e.g. 6374 168KV.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine></cDefine>
             <valString>Not Specified</valString>
+            <maxLen>0</maxLen>
         </motor_model>
         <motor_weight>
             <longName>Motor Weight</longName>
@@ -4015,6 +4017,7 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;This is an editor where a description can be stored for your motor configuration. Images can also be inserted. Notice that this information is not written to the VESC, so it has to be stored in an XML file.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine></cDefine>
             <valString>A motor description can be edited here.</valString>
+            <maxLen>0</maxLen>
         </motor_description>
         <motor_quality_bearings>
             <longName>Bearing Quality</longName>
@@ -4087,6 +4090,7 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A text summary of the motor quality.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine></cDefine>
             <valString>Some comments about the motor quality. Images can be added as well.</valString>
+            <maxLen>0</maxLen>
         </motor_quality_description>
         <bms.type>
             <longName>BMS Type</longName>
@@ -4108,6 +4112,33 @@ p, li { white-space: pre-wrap; }
             <enumNames>None</enumNames>
             <enumNames>VESC BMS</enumNames>
         </bms.type>
+        <bms.limit_mode>
+            <longName>BMS Limit Mode</longName>
+            <type>6</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Choose how to limit the motor current based on data from the BMS.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Overtemp&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Decrease the input and regen current as the battery gets to hot.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;SOC&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Decrease the input current as the state of charge (SOC) gets too low.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_BMS_LIMIT_MODE</cDefine>
+            <valInt>3</valInt>
+            <enumNames>Overtemp</enumNames>
+            <enumNames>SOC</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+        </bms.limit_mode>
         <bms.t_limit_start>
             <longName>Temperature Limit Start</longName>
             <type>1</type>
@@ -4415,6 +4446,7 @@ p, li { white-space: pre-wrap; }
         <ser>si_battery_ah</ser>
         <ser>si_motor_nl_current</ser>
         <ser>bms.type</ser>
+        <ser>bms.limit_mode</ser>
         <ser>bms.t_limit_start</ser>
         <ser>bms.t_limit_end</ser>
         <ser>bms.soc_limit_start</ser>
@@ -4490,6 +4522,7 @@ p, li { white-space: pre-wrap; }
                 <subgroupName>BMS</subgroupName>
                 <subgroupParams>
                     <param>bms.type</param>
+                    <param>bms.limit_mode</param>
                     <param>bms.t_limit_start</param>
                     <param>bms.t_limit_end</param>
                     <param>bms.soc_limit_start</param>

From e90755a4784a812c926dc82f819c8fad7e5e812d Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 20 Sep 2022 07:42:03 +0200
Subject: [PATCH 170/559] Hide unused bitfield entries

---
 mobile/ParamEditBitfield.qml  | 25 +++++++++++++++++++++++++
 widgets/parameditbitfield.cpp |  9 +++++++++
 2 files changed, 34 insertions(+)

diff --git a/mobile/ParamEditBitfield.qml b/mobile/ParamEditBitfield.qml
index 43b1ec760..34b3ad6ec 100644
--- a/mobile/ParamEditBitfield.qml
+++ b/mobile/ParamEditBitfield.qml
@@ -51,6 +51,31 @@ Item {
                 if (i === 7) b7Box.text = names[i]
             }
 
+            b0Box.visible = b0Box.text.toLowerCase() != "unused"
+            b1Box.visible = b1Box.text.toLowerCase() != "unused"
+            b2Box.visible = b2Box.text.toLowerCase() != "unused"
+            b3Box.visible = b3Box.text.toLowerCase() != "unused"
+            b4Box.visible = b4Box.text.toLowerCase() != "unused"
+            b5Box.visible = b5Box.text.toLowerCase() != "unused"
+            b6Box.visible = b6Box.text.toLowerCase() != "unused"
+            b7Box.visible = b7Box.text.toLowerCase() != "unused"
+
+            var visibleCount = 0
+            if (b0Box.text.toLowerCase() != "unused") visibleCount++
+            if (b1Box.text.toLowerCase() != "unused") visibleCount++
+            if (b2Box.text.toLowerCase() != "unused") visibleCount++
+            if (b3Box.text.toLowerCase() != "unused") visibleCount++
+            if (b4Box.text.toLowerCase() != "unused") visibleCount++
+            if (b5Box.text.toLowerCase() != "unused") visibleCount++
+            if (b6Box.text.toLowerCase() != "unused") visibleCount++
+            if (b7Box.text.toLowerCase() != "unused") visibleCount++
+
+            visibleCount = Math.ceil(visibleCount / 2.0) - 1.0
+            if (visibleCount < 0.0) visibleCount = 0.0
+
+            height = 120 + visibleCount * 40
+            Layout.preferredHeight = height
+
             if (params.getParamTransmittable(paramName)) {
                 nowButton.visible = true
                 defaultButton.visible = true
diff --git a/widgets/parameditbitfield.cpp b/widgets/parameditbitfield.cpp
index 515969f03..d26b0a26a 100644
--- a/widgets/parameditbitfield.cpp
+++ b/widgets/parameditbitfield.cpp
@@ -71,6 +71,15 @@ void ParamEditBitfield::setConfig(ConfigParams *config)
         if (param->enumNames.size() > 5) ui->b5Box->setText(param->enumNames.at(5));
         if (param->enumNames.size() > 6) ui->b6Box->setText(param->enumNames.at(6));
         if (param->enumNames.size() > 7) ui->b7Box->setText(param->enumNames.at(7));
+
+        ui->b0Box->setVisible(ui->b0Box->text().toLower() != "unused");
+        ui->b1Box->setVisible(ui->b1Box->text().toLower() != "unused");
+        ui->b2Box->setVisible(ui->b2Box->text().toLower() != "unused");
+        ui->b3Box->setVisible(ui->b3Box->text().toLower() != "unused");
+        ui->b4Box->setVisible(ui->b4Box->text().toLower() != "unused");
+        ui->b5Box->setVisible(ui->b5Box->text().toLower() != "unused");
+        ui->b6Box->setVisible(ui->b6Box->text().toLower() != "unused");
+        ui->b7Box->setVisible(ui->b7Box->text().toLower() != "unused");
     }
 
     connect(mConfig, SIGNAL(paramChangedInt(QObject*,QString,int)),

From 3c404380a5d24b24cf38048990d852cda9317332 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 20 Sep 2022 09:51:29 +0200
Subject: [PATCH 171/559] Fixed rt data icons

---
 mainwindow.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/mainwindow.cpp b/mainwindow.cpp
index 9931cda17..037436f68 100755
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -1482,13 +1482,13 @@ void MainWindow::reloadPages()
     mPageSampledData = new PageSampledData(this);
     mPageSampledData->setVesc(mVesc);
     ui->pageWidget->addWidget(mPageSampledData);
-    addPageItem(tr("Sampled Data"),  theme + "icons/Gyroscope-96.png", "", false, true);
+    addPageItem(tr("Sampled Data"),  theme + "icons/Line Chart-96.png", "", false, true);
     mPageNameIdList.insert("data_sampled", ui->pageList->count() - 1);
 
     mPageImu = new PageImu(this);
     mPageImu->setVesc(mVesc);
     ui->pageWidget->addWidget(mPageImu);
-    addPageItem(tr("IMU Data"),  theme + "icons/Line Chart-96.png", "", false, true);
+    addPageItem(tr("IMU Data"),  theme + "icons/Gyroscope-96.png", "", false, true);
     mPageNameIdList.insert("data_imu", ui->pageList->count() - 1);
 
     mPageBms = new PageBms(this);

From c0486f8ec16eca07e352da3ea1dd19dbab27aef9 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 20 Sep 2022 09:52:12 +0200
Subject: [PATCH 172/559] Added VESC Package store

---
 pages/pagevescpackage.cpp | 175 ++++++++++++++++++++++++++++++++++++++
 pages/pagevescpackage.h   |   6 ++
 pages/pagevescpackage.ui  |  79 ++++++++++++++++-
 3 files changed, 259 insertions(+), 1 deletion(-)

diff --git a/pages/pagevescpackage.cpp b/pages/pagevescpackage.cpp
index 0a49d02db..2a5f949ca 100644
--- a/pages/pagevescpackage.cpp
+++ b/pages/pagevescpackage.cpp
@@ -20,6 +20,14 @@
 #include "pagevescpackage.h"
 #include "ui_pagevescpackage.h"
 #include "utility.h"
+#include <QMessageBox>
+#include <QFileDialog>
+#include <QDirIterator>
+#include <QNetworkAccessManager>
+#include <QUrl>
+#include <QNetworkRequest>
+#include <QNetworkReply>
+#include <QEventLoop>
 
 PageVescPackage::PageVescPackage(QWidget *parent) :
     QWidget(parent),
@@ -38,6 +46,9 @@ PageVescPackage::PageVescPackage(QWidget *parent) :
     ui->loadRefreshButton->setIcon(QIcon(theme +"icons/Refresh-96.png"));
     ui->outputRefreshButton->setIcon(QIcon(theme +"icons/Refresh-96.png"));
     ui->saveButton->setIcon(QIcon(theme +"icons/Save-96.png"));
+    ui->dlArchiveButton->setIcon(QPixmap(theme + "icons/Refresh-96.png"));
+    ui->installButton->setIcon(QIcon(theme +"icons/Download-96.png"));
+    ui->uninstallButton->setIcon(QIcon(theme +"icons/Delete-96.png"));
 
     QSettings set;
     ui->loadEdit->setText(set.value("pagevescpackage/lastpkgload", "").toString());
@@ -49,6 +60,10 @@ PageVescPackage::PageVescPackage(QWidget *parent) :
 
     on_loadRefreshButton_clicked();
     on_outputRefreshButton_clicked();
+
+    ui->splitter->setSizes(QList<int>({500, 1000}));
+
+    reloadArchive();
 }
 
 PageVescPackage::~PageVescPackage()
@@ -232,3 +247,163 @@ void PageVescPackage::on_outputRefreshButton_clicked()
     ui->descriptionEdit->document()->setHtml(pkg.description);
     ui->nameEdit->setText(pkg.name);
 }
+
+void PageVescPackage::on_dlArchiveButton_clicked()
+{
+    ui->dlArchiveButton->setEnabled(false);
+
+    ui->displayDl->setText("Preparing download...");
+
+    QString version = QString::number(VT_VERSION);
+    QUrl url("http://home.vedder.se/vesc_pkg/vesc_pkg_all.rcc");
+    QNetworkAccessManager manager;
+    QNetworkRequest request(url);
+    QNetworkReply *reply = manager.get(request);
+
+    connect(reply, &QNetworkReply::downloadProgress, [this](qint64 bytesReceived, qint64 bytesTotal) {
+        ui->displayDl->setText("Downloading...");
+        ui->displayDl->setValue(100.0 * (double)bytesReceived / (double)bytesTotal);
+    });
+
+    QEventLoop loop;
+    connect(reply, SIGNAL(finished()), &loop, SLOT(quit()));
+    loop.exec();
+
+    if (reply->error() == QNetworkReply::NoError) {
+        ui->displayDl->setText("Download Finished");
+        QString path = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation) +
+                "/vesc_pkg_all.rcc";
+        QFile file(path);
+        if (file.open(QIODevice::WriteOnly)) {
+            file.write(reply->readAll());
+            file.close();
+            reloadArchive();
+        }
+    } else {
+        ui->displayDl->setText("Download Failed");
+    }
+
+    reply->abort();
+    reply->deleteLater();
+
+    ui->dlArchiveButton->setEnabled(true);
+}
+
+void PageVescPackage::on_uninstallButton_clicked()
+{
+    if (!mVesc) {
+        return;
+    }
+
+    if (!mVesc->isPortConnected()) {
+        mVesc->emitMessageDialog(tr("Uninstall Package"), tr("Not Connected"), false);
+        return;
+    }
+
+    QProgressDialog dialog(tr("Erasing..."), QString(), 0, 0, this);
+    dialog.setWindowModality(Qt::WindowModal);
+    dialog.show();
+
+    mLoader.qmlErase();
+    mLoader.lispErase();
+
+    mVesc->emitMessageDialog(tr("Uninstall Package"),
+                             tr("Uninstallation Done! Please disconnect and reconnect to "
+                                "revert possible VESC Tool GUI updates."),
+                             true);
+}
+
+void PageVescPackage::on_installButton_clicked()
+{
+    if (!mVesc) {
+        return;
+    }
+
+    if (!mVesc->isPortConnected()) {
+        mVesc->emitMessageDialog(tr("Install Package"), tr("Not Connected"), false);
+        return;
+    }
+
+    QListWidgetItem *item = ui->storeList->currentItem();
+    if (item != nullptr) {
+        QString path = item->data(Qt::UserRole).toString();
+
+        QFile f(path);
+        if (!f.open(QIODevice::ReadOnly)) {
+            mVesc->emitMessageDialog(tr("Install Package"),
+                                     tr("Could not open package file for reading."),
+                                     false, false);
+            return;
+        }
+
+        QProgressDialog dialog(tr("Writing..."), QString(), 0, 0, this);
+        dialog.setWindowModality(Qt::WindowModal);
+        dialog.show();
+
+        mLoader.installVescPackage(f.readAll());
+
+        mVesc->emitMessageDialog(tr("Install Package"),
+                                 tr("Install Done! Please disconnect and reconnect to "
+                                    "apply possible VESC Tool GUI updates from this package."),
+                                 true);
+    } else {
+        mVesc->emitMessageDialog(tr("Install Package"),
+                                 tr("No package selected."),
+                                 false, false);
+    }
+}
+
+void PageVescPackage::reloadArchive()
+{
+    QString path = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation) +
+            "/vesc_pkg_all.rcc";
+    QFile file(path);
+    if (file.exists()) {
+        QResource::unregisterResource(path);
+        QResource::registerResource(path);
+
+        QString pkgDir = "://vesc_packages";
+
+        ui->storeList->clear();
+
+        QDirIterator it(pkgDir);
+        while (it.hasNext()) {
+            QFileInfo fi(it.next());
+
+            QDirIterator it2(fi.absoluteFilePath());
+            while (it2.hasNext()) {
+                QFileInfo fi2(it2.next());
+
+                if (fi2.absoluteFilePath().toLower().endsWith(".vescpkg")) {
+                    QListWidgetItem *item = new QListWidgetItem;
+                    QString name = fi2.fileName();
+
+                    QFile f(fi2.absoluteFilePath());
+                    if (f.open(QIODevice::ReadOnly)) {
+                        auto pkg = mLoader.unpackVescPackage(f.readAll());
+                        name = pkg.name;
+                    }
+
+                    item->setText(name);
+                    item->setData(Qt::UserRole, fi2.absoluteFilePath());
+                    ui->storeList->insertItem(ui->storeList->count(), item);
+                }
+            }
+        }
+    }
+}
+
+void PageVescPackage::on_storeList_currentRowChanged(int currentRow)
+{
+    (void)currentRow;
+    QListWidgetItem *item = ui->storeList->currentItem();
+    if (item != nullptr) {
+        QString path = item->data(Qt::UserRole).toString();
+
+        QFile f(path);
+        if (f.open(QIODevice::ReadOnly)) {
+            auto pkg = mLoader.unpackVescPackage(f.readAll());
+            ui->storeBrowser->document()->setHtml(pkg.description);
+        }
+    }
+}
diff --git a/pages/pagevescpackage.h b/pages/pagevescpackage.h
index 188cd3b65..09d4bb35d 100644
--- a/pages/pagevescpackage.h
+++ b/pages/pagevescpackage.h
@@ -49,12 +49,18 @@ private slots:
     void on_loadRefreshButton_clicked();
     void on_writeButton_clicked();
     void on_outputRefreshButton_clicked();
+    void on_dlArchiveButton_clicked();
+    void on_uninstallButton_clicked();
+    void on_installButton_clicked();
+    void on_storeList_currentRowChanged(int currentRow);
 
 private:
     Ui::PageVescPackage *ui;
     VescInterface *mVesc;
     CodeLoader mLoader;
 
+    void reloadArchive();
+
 };
 
 #endif // PAGEVESCPACKAGE_H
diff --git a/pages/pagevescpackage.ui b/pages/pagevescpackage.ui
index eaf078aea..058d31fc3 100644
--- a/pages/pagevescpackage.ui
+++ b/pages/pagevescpackage.ui
@@ -22,9 +22,80 @@
      <property name="currentIndex">
       <number>0</number>
      </property>
+     <widget class="QWidget" name="tab_3">
+      <attribute name="title">
+       <string>Package Store</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_5">
+       <item>
+        <layout class="QHBoxLayout" name="horizontalLayout_6">
+         <item>
+          <widget class="DisplayPercentage" name="displayDl" native="true">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QPushButton" name="dlArchiveButton">
+           <property name="text">
+            <string>Update Archive</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item>
+        <widget class="QSplitter" name="splitter">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Expanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+         <widget class="QListWidget" name="storeList">
+          <property name="editTriggers">
+           <set>QAbstractItemView::NoEditTriggers</set>
+          </property>
+         </widget>
+         <widget class="QWidget" name="">
+          <layout class="QVBoxLayout" name="verticalLayout_4">
+           <item>
+            <widget class="QTextBrowser" name="storeBrowser"/>
+           </item>
+           <item>
+            <layout class="QHBoxLayout" name="horizontalLayout_5">
+             <item>
+              <widget class="QPushButton" name="uninstallButton">
+               <property name="text">
+                <string>Uninstall All</string>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <widget class="QPushButton" name="installButton">
+               <property name="text">
+                <string>Install</string>
+               </property>
+              </widget>
+             </item>
+            </layout>
+           </item>
+          </layout>
+         </widget>
+        </widget>
+       </item>
+      </layout>
+     </widget>
      <widget class="QWidget" name="tab">
       <attribute name="title">
-       <string>Load Package</string>
+       <string>Load Custom</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_3">
        <item>
@@ -319,6 +390,12 @@
    <header>widgets/mrichtextedit.h</header>
    <container>1</container>
   </customwidget>
+  <customwidget>
+   <class>DisplayPercentage</class>
+   <extends>QWidget</extends>
+   <header>widgets/displaypercentage.h</header>
+   <container>1</container>
+  </customwidget>
  </customwidgets>
  <resources>
   <include location="../res.qrc"/>

From a443196adbaee82fdcf2210383afed8a158934a7 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 20 Sep 2022 11:40:05 +0200
Subject: [PATCH 173/559] Updated changelog

---
 res/CHANGELOG | 1 +
 1 file changed, 1 insertion(+)

diff --git a/res/CHANGELOG b/res/CHANGELOG
index cc06e7f78..2ec09a207 100644
--- a/res/CHANGELOG
+++ b/res/CHANGELOG
@@ -11,6 +11,7 @@
 * Added support for bitfield parameters.
 * Added VESC UDP broadcast listener.
 * Added VESC package creation and loading support.
+* Added VESC package store. See https://github.com/vedderb/vesc_pkg
 
 == 3.01 ==
 * Fixed simultaneous CAN FW upload when other devices (such as BMS) are on the CAN-bus.

From abd1f4edc8f180932cf8b22e416598cc2e3eaf11 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 20 Sep 2022 21:20:32 +0200
Subject: [PATCH 174/559] Custom config save and load support

---
 pages/pagecustomconfig.cpp | 60 ++++++++++++++++++++++++++++++++++++++
 pages/pagecustomconfig.h   |  2 ++
 pages/pagecustomconfig.ui  | 14 +++++++++
 3 files changed, 76 insertions(+)

diff --git a/pages/pagecustomconfig.cpp b/pages/pagecustomconfig.cpp
index fc35d6835..250a69a88 100644
--- a/pages/pagecustomconfig.cpp
+++ b/pages/pagecustomconfig.cpp
@@ -20,6 +20,7 @@
 #include "pagecustomconfig.h"
 #include "ui_pagecustomconfig.h"
 #include "widgets/paramtable.h"
+#include "utility.h"
 
 PageCustomConfig::PageCustomConfig(QWidget *parent) :
     QWidget(parent),
@@ -28,6 +29,13 @@ PageCustomConfig::PageCustomConfig(QWidget *parent) :
     ui->setupUi(this);
     mVesc = nullptr;
     mConfNum = 0;
+
+    QString theme = Utility::getThemePath();
+    ui->readButton->setIcon(QPixmap(theme + "/icons/Upload-96.png"));
+    ui->readDefaultButton->setIcon(QPixmap(theme + "/icons/Upload-96.png"));
+    ui->writeButton->setIcon(QPixmap(theme + "/icons/Download-96.png"));
+    ui->saveXmlButton->setIcon(QPixmap(theme + "/icons/Save as-96.png"));
+    ui->loadXmlButton->setIcon(QPixmap(theme + "/icons/Open Folder-96.png"));
 }
 
 PageCustomConfig::~PageCustomConfig()
@@ -121,3 +129,55 @@ void PageCustomConfig::on_writeButton_clicked()
         }
     }
 }
+
+void PageCustomConfig::on_saveXmlButton_clicked()
+{
+    QString path;
+    path = QFileDialog::getSaveFileName(this,
+                                        tr("Choose where to save the motor configuration XML file"),
+                                        ".",
+                                        tr("Xml files (*.xml)"));
+
+    if (path.isNull()) {
+        return;
+    }
+
+    if (!path.toLower().endsWith(".xml")) {
+        path += ".xml";
+    }
+
+    bool res = mVesc->customConfig(mConfNum)->saveXml(path, "CustomConfiguration");
+
+    if (res) {
+        mVesc->emitStatusMessage("Saved custom configuration", true);
+    } else {
+        mVesc->emitMessageDialog(tr("Save custom configuration"),
+                                 tr("Could not save custom configuration:<BR>"
+                                    "%1").arg(mVesc->mcConfig()->xmlStatus()),
+                                 false, false);
+    }
+}
+
+void PageCustomConfig::on_loadXmlButton_clicked()
+{
+    QString path;
+    path = QFileDialog::getOpenFileName(this,
+                                        tr("Choose custom configuration file to load"),
+                                        ".",
+                                        tr("Xml files (*.xml)"));
+
+    if (path.isNull()) {
+        return;
+    }
+
+    bool res = mVesc->customConfig(mConfNum)->loadXml(path, "CustomConfiguration");
+
+    if (res) {
+        mVesc->emitStatusMessage("Loaded custom configuration", true);
+    } else {
+        mVesc->emitMessageDialog(tr("Load custom configuration"),
+                                 tr("Could not load custom configuration:<BR>"
+                                    "%1").arg(mVesc->mcConfig()->xmlStatus()),
+                                 false, false);
+    }
+}
diff --git a/pages/pagecustomconfig.h b/pages/pagecustomconfig.h
index 5e10b4931..5d8508540 100644
--- a/pages/pagecustomconfig.h
+++ b/pages/pagecustomconfig.h
@@ -46,6 +46,8 @@ private slots:
     void on_readButton_clicked();
     void on_readDefaultButton_clicked();
     void on_writeButton_clicked();
+    void on_saveXmlButton_clicked();
+    void on_loadXmlButton_clicked();
 
 private:
     Ui::PageCustomConfig *ui;
diff --git a/pages/pagecustomconfig.ui b/pages/pagecustomconfig.ui
index fb44cd81a..e12fcdb09 100644
--- a/pages/pagecustomconfig.ui
+++ b/pages/pagecustomconfig.ui
@@ -59,6 +59,20 @@
        </property>
       </widget>
      </item>
+     <item>
+      <widget class="QPushButton" name="saveXmlButton">
+       <property name="text">
+        <string>Save XML</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="loadXmlButton">
+       <property name="text">
+        <string>Load XML</string>
+       </property>
+      </widget>
+     </item>
     </layout>
    </item>
   </layout>

From 701473dfb7960186586b69b311e86bc8d6e28c67 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 21 Sep 2022 09:11:32 +0200
Subject: [PATCH 175/559] Added VESC Express firmware

---
 .../ESP32-C3/VESC Express/app.bin             | Bin 0 -> 1207552 bytes
 .../ESP32-C3/VESC Express/bootloader.bin      | Bin 0 -> 18848 bytes
 .../ESP32-C3/VESC Express/partition-table.bin | Bin 0 -> 3072 bytes
 res/firmwares_esp/res_fw_esp.qrc              |   9 +++++----
 4 files changed, 5 insertions(+), 4 deletions(-)
 create mode 100644 res/firmwares_esp/ESP32-C3/VESC Express/app.bin
 create mode 100644 res/firmwares_esp/ESP32-C3/VESC Express/bootloader.bin
 create mode 100644 res/firmwares_esp/ESP32-C3/VESC Express/partition-table.bin

diff --git a/res/firmwares_esp/ESP32-C3/VESC Express/app.bin b/res/firmwares_esp/ESP32-C3/VESC Express/app.bin
new file mode 100644
index 0000000000000000000000000000000000000000..cd9ff0583bf1897fc7fa5b5aebc313722bbeb4d4
GIT binary patch
literal 1207552
zcmeFaeSln7S@?fvW_OdOp-oFEZ7I!d=|WnQG)dDEmZW56cQzTiZ|uw_X(>);cV@Fg
zc6XMU*-cWb7OaRUrM!rss8vDU3Krx|s9L2;LBy)4RZ%MfRzO6kP@ux^^E~IAJNM4q
z*=$<BfBl@z$#d_y=RD`_Ip;j*InQ~{zxO3KZ|~W&|LdOT^?E7(*I&Z-&fdG_y-9CZ
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diff --git a/res/firmwares_esp/ESP32-C3/VESC Express/bootloader.bin b/res/firmwares_esp/ESP32-C3/VESC Express/bootloader.bin
new file mode 100644
index 0000000000000000000000000000000000000000..988318085c3b0d97c4bab5964df9af22a66c1354
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z*4irkHm}A$lU!NEfyC7xmO<2+WP7Oh5bpK9p9pIZXm%Me&qwE182OjN9`6Ryf3_zO
zzgEZo&e_os4RHp%UeCHD1NMTqb>Lx|$;7pAFC21`lYrDtyXK74#~mMUl{U?52rcy6
z#QxLQILoMyhBL~@J2Fly0Ut@BZ(~^Cm$5r!!u>F|H8L@?{q_B9EVEN9##+(>58%f;
zJO4bgHgB4JOf1?vHOU|za{_cGSSOxQwGTYOyKSP;Mvt95|HYiV^-8KU8oxsQ;`A4D
zx{JxxIOn)h{KaW5=qVY-3x3*${dBABIq-1aSCZJau;lDzjYG5@z5W%{&0_8Qkl~T!
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PuFVPio_?ZiW61vp*93js

literal 0
HcmV?d00001

diff --git a/res/firmwares_esp/ESP32-C3/VESC Express/partition-table.bin b/res/firmwares_esp/ESP32-C3/VESC Express/partition-table.bin
new file mode 100644
index 0000000000000000000000000000000000000000..10fbb7d6d58e008490c540826bafec46b72f4dd2
GIT binary patch
literal 3072
zcmZ1#z{tcffq{V`fq@~ftQg2Z1*-xW85uqR#RM1_3Nk9=GxIV_kX5V-0Pz@slHv?$
ziOD7TMU}|X46k4RM*%F#k^N6K>e7>bhQ2@f^>Y)7<S1t}1V%$(Gz3ONU^E0qLtr!n
PMnhmU1V%%ErXc_TYC@Xd

literal 0
HcmV?d00001

diff --git a/res/firmwares_esp/res_fw_esp.qrc b/res/firmwares_esp/res_fw_esp.qrc
index 0d92f2ae3..333d63483 100644
--- a/res/firmwares_esp/res_fw_esp.qrc
+++ b/res/firmwares_esp/res_fw_esp.qrc
@@ -1,9 +1,10 @@
-
 <RCC>
-   <qresource prefix="/res/firmwares_esp/">
+    <qresource prefix="/res/firmwares_esp">
         <file>ESP32-C3/Devkit Blink/app.bin</file>
         <file>ESP32-C3/Devkit Blink/bootloader.bin</file>
         <file>ESP32-C3/Devkit Blink/partition-table.bin</file>
-   </qresource>
+        <file>ESP32-C3/VESC Express/bootloader.bin</file>
+        <file>ESP32-C3/VESC Express/partition-table.bin</file>
+        <file>ESP32-C3/VESC Express/app.bin</file>
+    </qresource>
 </RCC>
-

From 8edc539b32c0740d128d3309a69f9635cd8b0c7e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 21 Sep 2022 14:45:08 +0200
Subject: [PATCH 176/559] Support lisp imports from other vesc packages

---
 codeloader.cpp            | 71 ++++++++++++++++++++++++++++++++++-----
 pages/pagefirmware.cpp    |  2 --
 pages/pagevescpackage.cpp |  2 --
 3 files changed, 62 insertions(+), 13 deletions(-)

diff --git a/codeloader.cpp b/codeloader.cpp
index 2cca69652..e78bf7e69 100644
--- a/codeloader.cpp
+++ b/codeloader.cpp
@@ -91,7 +91,7 @@ bool CodeLoader::lispErase()
 QByteArray CodeLoader::lispPackImports(QString codeStr, QString editorPath)
 {
     VByteArray vb;
-    vb.vbAppendUint16(0);
+    vb.vbAppendUint16(0); // Flags: 0
     vb.append(codeStr);
 
     if (vb.at(vb.size() - 1) != '\0') {
@@ -128,11 +128,34 @@ QByteArray CodeLoader::lispPackImports(QString codeStr, QString editorPath)
 
                     if (tag.isEmpty()) {
                         mVesc->emitMessageDialog(tr("Append Imports"),
-                                                 tr("Invalid import tag. Line: %1").arg(line_num),
+                                                 tr("Line: %1: Invalid import tag.").arg(line_num),
                                                  false);
                         return QByteArray();
                     }
 
+                    auto pkgErrorMsg = "If you are importing from a package in the git repository you might "
+                                       "need to update the package archive. That can be done from the the "
+                                       "VESC Packages page.";
+
+                    bool isPkgImport = false;
+                    QString pkgImportName;
+                    if (path.startsWith("pkg::")) {
+                        path.remove(0, 5);
+
+                        auto atInd = path.indexOf("@");
+                        if (atInd > 0) {
+                            pkgImportName = path.mid(0, atInd);
+                            path.remove(0, atInd + 1);
+                        } else {
+                            mVesc->emitMessageDialog(tr("Append Imports"),
+                                                     tr("Line: %1: Invalid import tag.").arg(line_num),
+                                                     false);
+                            return QByteArray();
+                        }
+
+                        isPkgImport = true;
+                    }
+
                     QFileInfo fi(editorPath + "/" + path);
                     if (!fi.exists()) {
                         fi = QFileInfo(path);
@@ -143,25 +166,48 @@ QByteArray CodeLoader::lispPackImports(QString codeStr, QString editorPath)
                         if (f.open(QIODevice::ReadOnly)) {
                             auto fileData = f.readAll();
 
-                            // Pad with 0 in case it is a text file
-                            fileData.append('\0');
-
-                            files.append(qMakePair(tag, fileData));
+                            if (isPkgImport) {
+                                auto pkg = unpackVescPackage(fileData);
+                                auto imports = lispUnpackImports(pkg.lispData);
+                                bool found = false;
+                                for (auto i: imports.second) {
+                                    qDebug() << i.first;
+                                    if (i.first == pkgImportName) {
+                                        auto fileData = i.second;
+                                        fileData.append('\0'); // Pad with 0 in case it is a text file
+                                        files.append(qMakePair(tag, fileData));
+                                        found = true;
+                                        break;
+                                    }
+                                }
+
+                                if (!found) {
+                                    mVesc->emitMessageDialog(tr("Append Imports"),
+                                                             tr("Tag %1 not found in package %2. %3").
+                                                             arg(pkgImportName).arg(path).arg(pkgErrorMsg),
+                                                             false);
+                                    return QByteArray();
+                                }
+                            } else {
+                                fileData.append('\0'); // Pad with 0 in case it is a text file
+                                files.append(qMakePair(tag, fileData));
+                            }
                         } else {
                             mVesc->emitMessageDialog(tr("Append Imports"),
-                                                     tr("Imported file cannot be opened. Line: %1").arg(line_num),
+                                                     tr("Line: %1: Imported file cannot be opened.").arg(line_num),
                                                      false);
                             return QByteArray();
                         }
                     } else {
                         mVesc->emitMessageDialog(tr("Append Imports"),
-                                                 tr("Imported file not found: %1 Line: %2").arg(fi.absoluteFilePath()).arg(line_num),
+                                                 tr("Line: %1: Imported file not found: %2. %3").
+                                                 arg(line_num).arg(fi.absoluteFilePath()).arg(pkgErrorMsg),
                                                  false);
                         return QByteArray();
                     }
                 } else {
                     mVesc->emitMessageDialog(tr("Append Imports"),
-                                             tr("Invalid import on line %1").arg(line_num),
+                                             tr("Line %1: Invalid import.").arg(line_num),
                                              false);
                     return QByteArray();
                 }
@@ -202,6 +248,13 @@ QByteArray CodeLoader::lispPackImports(QString codeStr, QString editorPath)
 
 QPair<QString, QList<QPair<QString, QByteArray> > > CodeLoader::lispUnpackImports(QByteArray data)
 {
+    // In case the import starts with a flag it is removed here. Note: The flag is a
+    // bit confusing and there is a slightly more consistent way of handling it, but
+    // I left it as is to not break compatibility.
+    if (data.size() > 2 && data[0] == '\0' && data[1] == '\0') {
+        data.remove(0, 2);
+    }
+
     QList<QPair<QString, QByteArray> > imports;
     int end = data.indexOf(QByteArray("\0", 1));
 
diff --git a/pages/pagefirmware.cpp b/pages/pagefirmware.cpp
index d58f89f67..419ef4ddb 100755
--- a/pages/pagefirmware.cpp
+++ b/pages/pagefirmware.cpp
@@ -659,10 +659,8 @@ void PageFirmware::reloadArchive()
 void PageFirmware::on_dlArchiveButton_clicked()
 {
     ui->dlArchiveButton->setEnabled(false);
-
     ui->displayDl->setText("Preparing download...");
 
-    QString version = QString::number(VT_VERSION);
     QUrl url("http://home.vedder.se/vesc_fw_archive/res_fw.rcc");
     QNetworkAccessManager manager;
     QNetworkRequest request(url);
diff --git a/pages/pagevescpackage.cpp b/pages/pagevescpackage.cpp
index 2a5f949ca..da2f6edc1 100644
--- a/pages/pagevescpackage.cpp
+++ b/pages/pagevescpackage.cpp
@@ -251,10 +251,8 @@ void PageVescPackage::on_outputRefreshButton_clicked()
 void PageVescPackage::on_dlArchiveButton_clicked()
 {
     ui->dlArchiveButton->setEnabled(false);
-
     ui->displayDl->setText("Preparing download...");
 
-    QString version = QString::number(VT_VERSION);
     QUrl url("http://home.vedder.se/vesc_pkg/vesc_pkg_all.rcc");
     QNetworkAccessManager manager;
     QNetworkRequest request(url);

From 8fd182c4b983669bea9ef933d5a05ec67c66a822 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 21 Sep 2022 22:15:34 +0200
Subject: [PATCH 177/559] Removed debug line

---
 codeloader.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/codeloader.cpp b/codeloader.cpp
index e78bf7e69..4a0d9c3bb 100644
--- a/codeloader.cpp
+++ b/codeloader.cpp
@@ -171,7 +171,6 @@ QByteArray CodeLoader::lispPackImports(QString codeStr, QString editorPath)
                                 auto imports = lispUnpackImports(pkg.lispData);
                                 bool found = false;
                                 for (auto i: imports.second) {
-                                    qDebug() << i.first;
                                     if (i.first == pkgImportName) {
                                         auto fileData = i.second;
                                         fileData.append('\0'); // Pad with 0 in case it is a text file

From 49078aec1cf679a2648d457180070be20e5ef71d Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 22 Sep 2022 09:19:36 +0200
Subject: [PATCH 178/559] Split store into applications and libraries

---
 pages/pagevescpackage.cpp | 57 +++++++++++++++++++++++++++------------
 pages/pagevescpackage.h   |  6 ++++-
 pages/pagevescpackage.ui  | 51 ++++++++++++++++++++++++++++++-----
 3 files changed, 90 insertions(+), 24 deletions(-)

diff --git a/pages/pagevescpackage.cpp b/pages/pagevescpackage.cpp
index da2f6edc1..49715c618 100644
--- a/pages/pagevescpackage.cpp
+++ b/pages/pagevescpackage.cpp
@@ -322,11 +322,8 @@ void PageVescPackage::on_installButton_clicked()
         return;
     }
 
-    QListWidgetItem *item = ui->storeList->currentItem();
-    if (item != nullptr) {
-        QString path = item->data(Qt::UserRole).toString();
-
-        QFile f(path);
+    if (!mCurrentPath.isEmpty()) {
+        QFile f(mCurrentPath);
         if (!f.open(QIODevice::ReadOnly)) {
             mVesc->emitMessageDialog(tr("Install Package"),
                                      tr("Could not open package file for reading."),
@@ -362,7 +359,8 @@ void PageVescPackage::reloadArchive()
 
         QString pkgDir = "://vesc_packages";
 
-        ui->storeList->clear();
+        ui->applicationList->clear();
+        ui->libraryList->clear();
 
         QDirIterator it(pkgDir);
         while (it.hasNext()) {
@@ -384,24 +382,49 @@ void PageVescPackage::reloadArchive()
 
                     item->setText(name);
                     item->setData(Qt::UserRole, fi2.absoluteFilePath());
-                    ui->storeList->insertItem(ui->storeList->count(), item);
+
+                    if (fi2.absoluteFilePath().startsWith("://vesc_packages/lib_")) {
+                        ui->libraryList->insertItem(ui->libraryList->count(), item);
+                    } else {
+                        ui->applicationList->insertItem(ui->applicationList->count(), item);
+                    }
                 }
             }
         }
     }
 }
 
-void PageVescPackage::on_storeList_currentRowChanged(int currentRow)
+void PageVescPackage::packageSelected(QString path)
 {
-    (void)currentRow;
-    QListWidgetItem *item = ui->storeList->currentItem();
-    if (item != nullptr) {
-        QString path = item->data(Qt::UserRole).toString();
-
-        QFile f(path);
-        if (f.open(QIODevice::ReadOnly)) {
-            auto pkg = mLoader.unpackVescPackage(f.readAll());
-            ui->storeBrowser->document()->setHtml(pkg.description);
+    mCurrentPath = path;
+    QFile f(path);
+    if (f.open(QIODevice::ReadOnly)) {
+        auto pkg = mLoader.unpackVescPackage(f.readAll());
+        ui->storeBrowser->document()->setHtml(pkg.description);
+        ui->installButton->setEnabled(!path.startsWith("://vesc_packages/lib_"));
+        if (ui->installButton->isEnabled()) {
+            ui->installButton->setToolTip("");
+        } else {
+            ui->installButton->setToolTip("This is a library, so it is not supposed to be installed. You can use "
+                                          "it from your own LispBM-scripts without installing it.");
         }
     }
 }
+
+void PageVescPackage::on_applicationList_currentItemChanged(QListWidgetItem *current, QListWidgetItem *previous)
+{
+    (void)previous;
+    if (current != nullptr) {
+        packageSelected(current->data(Qt::UserRole).toString());
+        ui->libraryList->setCurrentItem(nullptr);
+    }
+}
+
+void PageVescPackage::on_libraryList_currentItemChanged(QListWidgetItem *current, QListWidgetItem *previous)
+{
+    (void)previous;
+    if (current != nullptr) {
+        packageSelected(current->data(Qt::UserRole).toString());
+        ui->applicationList->setCurrentItem(nullptr);
+    }
+}
diff --git a/pages/pagevescpackage.h b/pages/pagevescpackage.h
index 09d4bb35d..d6e95ffd7 100644
--- a/pages/pagevescpackage.h
+++ b/pages/pagevescpackage.h
@@ -21,6 +21,7 @@
 #define PAGEVESCPACKAGE_H
 
 #include <QWidget>
+#include <QListWidgetItem>
 #include "vescinterface.h"
 #include "codeloader.h"
 
@@ -52,14 +53,17 @@ private slots:
     void on_dlArchiveButton_clicked();
     void on_uninstallButton_clicked();
     void on_installButton_clicked();
-    void on_storeList_currentRowChanged(int currentRow);
+    void on_applicationList_currentItemChanged(QListWidgetItem *current, QListWidgetItem *previous);
+    void on_libraryList_currentItemChanged(QListWidgetItem *current, QListWidgetItem *previous);
 
 private:
     Ui::PageVescPackage *ui;
     VescInterface *mVesc;
     CodeLoader mLoader;
+    QString mCurrentPath;
 
     void reloadArchive();
+    void packageSelected(QString path);
 
 };
 
diff --git a/pages/pagevescpackage.ui b/pages/pagevescpackage.ui
index 058d31fc3..51d1d13e3 100644
--- a/pages/pagevescpackage.ui
+++ b/pages/pagevescpackage.ui
@@ -26,7 +26,7 @@
       <attribute name="title">
        <string>Package Store</string>
       </attribute>
-      <layout class="QVBoxLayout" name="verticalLayout_5">
+      <layout class="QVBoxLayout" name="verticalLayout_6">
        <item>
         <layout class="QHBoxLayout" name="horizontalLayout_6">
          <item>
@@ -59,12 +59,51 @@
          <property name="orientation">
           <enum>Qt::Horizontal</enum>
          </property>
-         <widget class="QListWidget" name="storeList">
-          <property name="editTriggers">
-           <set>QAbstractItemView::NoEditTriggers</set>
-          </property>
-         </widget>
          <widget class="QWidget" name="">
+          <layout class="QVBoxLayout" name="verticalLayout_5">
+           <item>
+            <widget class="QLabel" name="label_2">
+             <property name="font">
+              <font>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="text">
+              <string>Applications</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QListWidget" name="applicationList">
+             <property name="editTriggers">
+              <set>QAbstractItemView::NoEditTriggers</set>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_3">
+             <property name="font">
+              <font>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="text">
+              <string>Libraries</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QListWidget" name="libraryList">
+             <property name="editTriggers">
+              <set>QAbstractItemView::NoEditTriggers</set>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </widget>
+         <widget class="QWidget" name="layoutWidget">
           <layout class="QVBoxLayout" name="verticalLayout_4">
            <item>
             <widget class="QTextBrowser" name="storeBrowser"/>

From b3a5d6482afa0fa4a712ef8ce82434a52b021784 Mon Sep 17 00:00:00 2001
From: Mitch Lustig <moesk8er2@gmail.com>
Date: Thu, 22 Sep 2022 20:31:23 -0700
Subject: [PATCH 179/559] Updates to IMU display to help with manual
 calibrations.

---
 mobile/RtDataIMU.qml | 18 +++++++++---------
 pages/pageappimu.cpp | 12 ++++++++++++
 2 files changed, 21 insertions(+), 9 deletions(-)

diff --git a/mobile/RtDataIMU.qml b/mobile/RtDataIMU.qml
index 0dac49d13..414894942 100644
--- a/mobile/RtDataIMU.qml
+++ b/mobile/RtDataIMU.qml
@@ -12,19 +12,19 @@ Item {
     height: rect.height
     function updateText(values) {
         valText1.text =
-                "Roll   : " + (values.roll * 57.2958).toFixed(2) + "\n" +
-                "Acc X  : " + values.accX.toFixed(2) + "\n" +
-                "Gyro X : " + values.gyroX.toFixed(2)
+                "Roll   : " + (values.roll * 57.2958).toFixed(3) + "\n" +
+                "Acc X  : " + values.accX.toFixed(3) + "\n" +
+                "Gyro X : " + values.gyroX.toFixed(3)
 
         valText2.text =
-                "Pitch  : " + (values.pitch * 57.2958).toFixed(2) + "\n" +
-                "Acc Y  : " + values.accY.toFixed(2) + "\n" +
-                "Gyro Y : " + values.gyroY.toFixed(2)
+                "Pitch  : " + (values.pitch * 57.2958).toFixed(3) + "\n" +
+                "Acc Y  : " + values.accY.toFixed(3) + "\n" +
+                "Gyro Y : " + values.gyroY.toFixed(3)
 
         valText3.text =
-                "yaw    : " + (values.yaw * 57.2958).toFixed(2) + "\n" +
-                "Acc Z  : " + values.accZ.toFixed(2) + "\n" +
-                "Gyro Z : " + values.gyroZ.toFixed(2)
+                "yaw    : " + (values.yaw * 57.2958).toFixed(3) + "\n" +
+                "Acc Z  : " + values.accZ.toFixed(3) + "\n" +
+                "Gyro Z : " + values.gyroZ.toFixed(3)
     }
 
     Rectangle {
diff --git a/pages/pageappimu.cpp b/pages/pageappimu.cpp
index 1710ab578..7d2e92e57 100644
--- a/pages/pageappimu.cpp
+++ b/pages/pageappimu.cpp
@@ -175,16 +175,28 @@ void PageAppImu::timerSlot()
         ui->rpyPlot->graph(graphIndex++)->setData(xAxis, mRollVec);
         ui->rpyPlot->graph(graphIndex++)->setData(xAxis, mPitchVec);
         ui->rpyPlot->graph(graphIndex++)->setData(xAxis, mYawVec);
+        ui->rpyPlot->xAxis->setLabel(QString("Seconds (s) \n Roll: %1 Pitch: %2 Yaw: %3")
+                    .arg(mRollVec.last(), 8, 'f', 3, QLatin1Char(' '))
+                    .arg(mPitchVec.last(), 8, 'f', 3, QLatin1Char(' '))
+                    .arg(mYawVec.last(), 8, 'f', 3, QLatin1Char(' ')));
 
         graphIndex = 0;
         ui->accelPlot->graph(graphIndex++)->setData(xAxis, mAccXVec);
         ui->accelPlot->graph(graphIndex++)->setData(xAxis, mAccYVec);
         ui->accelPlot->graph(graphIndex++)->setData(xAxis, mAccZVec);
+        ui->accelPlot->xAxis->setLabel(QString("Seconds (s) \n X: %1 Y: %2 Z: %3")
+                    .arg(mAccXVec.last(), 8, 'f', 3, QLatin1Char(' '))
+                    .arg(mAccYVec.last(), 8, 'f', 3, QLatin1Char(' '))
+                    .arg(mAccZVec.last(), 8, 'f', 3, QLatin1Char(' ')));
 
         graphIndex = 0;
         ui->gyroPlot->graph(graphIndex++)->setData(xAxis, mGyroXVec);
         ui->gyroPlot->graph(graphIndex++)->setData(xAxis, mGyroYVec);
         ui->gyroPlot->graph(graphIndex++)->setData(xAxis, mGyroZVec);
+        ui->gyroPlot->xAxis->setLabel(QString("Seconds (s) \n X: %1 Y: %2 Z: %3")
+                    .arg(mGyroXVec.last(), 8, 'f', 3, QLatin1Char(' '))
+                    .arg(mGyroYVec.last(), 8, 'f', 3, QLatin1Char(' '))
+                    .arg(mGyroZVec.last(), 8, 'f', 3, QLatin1Char(' ')));
 
         ui->rpyPlot->rescaleAxes();
         ui->accelPlot->rescaleAxes();

From 60352857415512648a6c33848fc9286bd30cf2b0 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 23 Sep 2022 11:26:57 +0200
Subject: [PATCH 180/559] Added PT1000 enum

---
 res/config/6.00/parameters_mcconf.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index 3610332f2..34e8b200f 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -3694,6 +3694,7 @@ p, li { white-space: pre-wrap; }
             <enumNames>KTY84/130</enumNames>
             <enumNames>NTC Custom</enumNames>
             <enumNames>PTC Custom</enumNames>
+            <enumNames>PT1000</enumNames>
         </m_motor_temp_sens_type>
         <m_ptc_motor_coeff>
             <longName>Coefficient for PTC Motor Thermistor</longName>

From 976a2600b83e55838f5c702f713c38947295d280 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 23 Sep 2022 14:13:15 +0200
Subject: [PATCH 181/559] Updated can_js example

---
 res/Lisp/Examples/can_js.lisp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/res/Lisp/Examples/can_js.lisp b/res/Lisp/Examples/can_js.lisp
index 312001a42..49235d235 100644
--- a/res/Lisp/Examples/can_js.lisp
+++ b/res/Lisp/Examples/can_js.lisp
@@ -5,7 +5,7 @@
 (define my-id 2)
 
 ; ID to send data to the joysick
-(define id-send (bits-enc-int (bits-enc-int 0x18EF0000 8 js-sa 8) 0 my-id 8))
+(define id-send (bits-enc-int (bits-enc-int 0x18EF0000u32 8 js-sa 8) 0 my-id 8))
 
 ; Received X- and Y-axis values from the joystick
 (define x-axis 0)
@@ -16,7 +16,7 @@
 
 ; Handler for EID CAN-frames
 (define proc-eid (lambda (id data)
-    (if (= id 0x18ff03f1)
+    (if (= id 0x18ff03f1u32)
         (progn
             (define can-cnt (+ can-cnt 1))
             

From 5b7d8f84282ec5c6e3fd7f6eb52569c7cd39c401 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 23 Sep 2022 16:41:14 +0200
Subject: [PATCH 182/559] Added stream keyboard command

---
 pages/pagelisp.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index 54cbc9877..523932b2c 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -353,6 +353,9 @@ void PageLisp::makeEditorConnections(ScriptEditor *editor)
     connect(editor->codeEditor(), &QCodeEditor::runEmbeddedTriggered, [this]() {
         on_uploadButton_clicked();
     });
+    connect(editor->codeEditor(), &QCodeEditor::runWindowTriggered, [this]() {
+        on_streamButton_clicked();
+    });
     connect(editor->codeEditor(), &QCodeEditor::stopTriggered, [this]() {
         on_stopButton_clicked();
     });
@@ -672,6 +675,7 @@ void PageLisp::on_helpButton_clicked()
                    "Ctrl + 'i'   : Remove trailing whitespaces from selected lines<br>"
                    "Ctrl + 'f'   : Open search (and replace) bar<br>"
                    "Ctrl + 'e'   : Upload (and run if set) application<br>"
+                   "Ctrl + 'w'   : Stream application<br>"
                    "Ctrl + 'q'   : Stop application<br>"
                    "Ctrl + 'd'   : Clear console<br>"
                    "Ctrl + 's'   : Save file<br>";

From c4f2a85994c1c8c9ba3ee2830d1b49a938a3f531 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 24 Sep 2022 23:25:21 +0200
Subject: [PATCH 183/559] Added more import syntax

---
 codeloader.cpp | 45 ++++++++++++++++++++++++++++++---------------
 1 file changed, 30 insertions(+), 15 deletions(-)

diff --git a/codeloader.cpp b/codeloader.cpp
index 4a0d9c3bb..6e60ffe61 100644
--- a/codeloader.cpp
+++ b/codeloader.cpp
@@ -153,6 +153,9 @@ QByteArray CodeLoader::lispPackImports(QString codeStr, QString editorPath)
                             return QByteArray();
                         }
 
+                        isPkgImport = true;
+                    } else if (path.startsWith("pkg@")) {
+                        path.remove(0, 4);
                         isPkgImport = true;
                     }
 
@@ -169,23 +172,30 @@ QByteArray CodeLoader::lispPackImports(QString codeStr, QString editorPath)
                             if (isPkgImport) {
                                 auto pkg = unpackVescPackage(fileData);
                                 auto imports = lispUnpackImports(pkg.lispData);
-                                bool found = false;
-                                for (auto i: imports.second) {
-                                    if (i.first == pkgImportName) {
-                                        auto fileData = i.second;
-                                        fileData.append('\0'); // Pad with 0 in case it is a text file
-                                        files.append(qMakePair(tag, fileData));
-                                        found = true;
-                                        break;
+
+                                if (pkgImportName.isEmpty()) {
+                                    auto importData = imports.first.toLocal8Bit();
+                                    importData.append('\0'); // Pad with 0 in case it is a text file
+                                    files.append(qMakePair(tag, importData));
+                                } else {
+                                    bool found = false;
+                                    for (auto i: imports.second) {
+                                        if (i.first == pkgImportName) {
+                                            auto importData = i.second;
+                                            importData.append('\0'); // Pad with 0 in case it is a text file
+                                            files.append(qMakePair(tag, importData));
+                                            found = true;
+                                            break;
+                                        }
                                     }
-                                }
 
-                                if (!found) {
-                                    mVesc->emitMessageDialog(tr("Append Imports"),
-                                                             tr("Tag %1 not found in package %2. %3").
-                                                             arg(pkgImportName).arg(path).arg(pkgErrorMsg),
-                                                             false);
-                                    return QByteArray();
+                                    if (!found) {
+                                        mVesc->emitMessageDialog(tr("Append Imports"),
+                                                                 tr("Tag %1 not found in package %2. %3").
+                                                                 arg(pkgImportName).arg(path).arg(pkgErrorMsg),
+                                                                 false);
+                                        return QByteArray();
+                                    }
                                 }
                             } else {
                                 fileData.append('\0'); // Pad with 0 in case it is a text file
@@ -345,6 +355,11 @@ bool CodeLoader::lispUpload(QString codeStr, QString editorPath)
 
 bool CodeLoader::lispStream(VByteArray vb, qint8 mode)
 {
+    if (!mVesc->isPortConnected()) {
+        mVesc->emitMessageDialog(tr("Stream code"), tr("Not Connected"), false);
+        return false;
+    }
+
     auto waitWriteRes = [this]() {
         int res = -10;
 

From fcca3e4be28531873da6729d1f980525db32a3de Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 26 Sep 2022 13:24:51 +0200
Subject: [PATCH 184/559] Added plot example

---
 QCodeEditor/resources/languages/lisp.xml |  1 +
 res/Lisp/Examples/plot_vesc_tool.lisp    | 15 +++++++++++++++
 res_lisp.qrc                             |  1 +
 3 files changed, 17 insertions(+)
 create mode 100644 res/Lisp/Examples/plot_vesc_tool.lisp

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 7c613d272..94a93462b 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -20,6 +20,7 @@
         <name>def</name>
         <name>import</name>
         <name>atomic</name>
+        <name>undefine</name>
     </section>
     <section name="PrimitiveType">
         <name>nil</name>
diff --git a/res/Lisp/Examples/plot_vesc_tool.lisp b/res/Lisp/Examples/plot_vesc_tool.lisp
new file mode 100644
index 000000000..64b5d372a
--- /dev/null
+++ b/res/Lisp/Examples/plot_vesc_tool.lisp
@@ -0,0 +1,15 @@
+; This makes a plot on the Realtime Data -> Experiment page
+
+(plot-init "x-name" "y-name")
+(plot-add-graph "sin")
+(plot-add-graph "cos")
+
+(plot-set-graph 0)
+(looprange i 0 200
+    (plot-send-points (/ i 10.0) (sin (/ i 10.0)))
+)
+
+(plot-set-graph 1)
+(looprange i 0 200
+    (plot-send-points (/ i 10.0) (cos (/ i 10.0)))
+)
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 51e8d5783..6b5477e8d 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -32,5 +32,6 @@
         <file>res/Lisp/Examples/m365_dash.lisp</file>
         <file>res/Lisp/Examples/ssd1306_oled_cube_native.lisp</file>
         <file>res/Lisp/Examples/ws2812_native.lisp</file>
+        <file>res/Lisp/Examples/plot_vesc_tool.lisp</file>
     </qresource>
 </RCC>

From 9bba1f14537e6b1bb8502c31df849e383823772c Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 27 Sep 2022 22:34:14 +0200
Subject: [PATCH 185/559] App ADC button bitfield

---
 res/config/6.00/parameters_appconf.xml | 56 +++++++++++++++-----------
 1 file changed, 33 insertions(+), 23 deletions(-)

diff --git a/res/config/6.00/parameters_appconf.xml b/res/config/6.00/parameters_appconf.xml
index 3cf0b3c27..72e52617f 100644
--- a/res/config/6.00/parameters_appconf.xml
+++ b/res/config/6.00/parameters_appconf.xml
@@ -1226,30 +1226,42 @@ p, li { white-space: pre-wrap; }
             <enumNames>Regular</enumNames>
             <enumNames>No Fault</enumNames>
         </app_adc_conf.safe_start>
-        <app_adc_conf.cc_button_inverted>
-            <longName>Invert Cruise Control Button</longName>
-            <type>5</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Invert the cruise control button. For supporting both normally-closed and normally-open buttons.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_ADC_CC_BUTTON_INVERTED</cDefine>
-            <valInt>1</valInt>
-        </app_adc_conf.cc_button_inverted>
-        <app_adc_conf.rev_button_inverted>
-            <longName>Invert Reverse Button</longName>
-            <type>5</type>
+        <app_adc_conf.buttons>
+            <longName>Button Inputs</longName>
+            <type>6</type>
             <transmittable>1</transmittable>
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Invert the reverse button. For supporting both normally-closed and normally-open buttons.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_ADC_REV_BUTTON_INVERTED</cDefine>
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A cruise control and a reverse button can be used with the ADC app. The reverse button is only used on the control modes that have button in their name, but cruise control can be used on all control modes when enabled. The buttons can be connected as follows:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Comm TX: Cruise Control&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Comm RX: Reverse&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If the UART app is active the PPM-input is used for the button instead. That means you only have one button, which will be the reverse button for the button-modes (not cruise control available) or cruise control for non-button control modes.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;By default the button inputs have a pull-up resistor and are active low.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Enable Cruise Control&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Enable cruise control button input.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Invert CC Button&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Invert the polarity of the cruise control button.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Invert Reverse Button&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Invert the polarity of the reverse button.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_BUTTONS</cDefine>
             <valInt>0</valInt>
-        </app_adc_conf.rev_button_inverted>
+            <enumNames>Enable Cruise Control</enumNames>
+            <enumNames>Invert CC Button</enumNames>
+            <enumNames>Invert Reverse Button</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+        </app_adc_conf.buttons>
         <app_adc_conf.voltage_inverted>
             <longName>Invert ADC1 Voltage</longName>
             <type>5</type>
@@ -4071,8 +4083,7 @@ p, li { white-space: pre-wrap; }
         <ser>app_adc_conf.voltage2_end</ser>
         <ser>app_adc_conf.use_filter</ser>
         <ser>app_adc_conf.safe_start</ser>
-        <ser>app_adc_conf.cc_button_inverted</ser>
-        <ser>app_adc_conf.rev_button_inverted</ser>
+        <ser>app_adc_conf.buttons</ser>
         <ser>app_adc_conf.voltage_inverted</ser>
         <ser>app_adc_conf.voltage2_inverted</ser>
         <ser>app_adc_conf.throttle_exp</ser>
@@ -4283,11 +4294,10 @@ p, li { white-space: pre-wrap; }
                     <param>app_adc_conf.ctrl_type</param>
                     <param>app_adc_conf.use_filter</param>
                     <param>app_adc_conf.safe_start</param>
-                    <param>app_adc_conf.cc_button_inverted</param>
-                    <param>app_adc_conf.rev_button_inverted</param>
                     <param>app_adc_conf.update_rate_hz</param>
                     <param>app_adc_conf.ramp_time_pos</param>
                     <param>app_adc_conf.ramp_time_neg</param>
+                    <param>app_adc_conf.buttons</param>
                     <param>::sep::Multiple VESCs over CAN-bus</param>
                     <param>app_adc_conf.multi_esc</param>
                     <param>app_adc_conf.tc</param>

From c429b58f6d0794c92f4cefded60d5abda27cb847 Mon Sep 17 00:00:00 2001
From: Mitch Lustig <moesk8er2@gmail.com>
Date: Tue, 27 Sep 2022 21:29:14 -0700
Subject: [PATCH 186/559] Add accel filter

---
 res/config/6.00/parameters_appconf.xml | 28 ++++++++++++++++++++++++++
 1 file changed, 28 insertions(+)

diff --git a/res/config/6.00/parameters_appconf.xml b/res/config/6.00/parameters_appconf.xml
index 72e52617f..75d6ccd0f 100644
--- a/res/config/6.00/parameters_appconf.xml
+++ b/res/config/6.00/parameters_appconf.xml
@@ -3714,6 +3714,32 @@ p, li { white-space: pre-wrap; }
             <enumNames>IMU_FILTER_MEDIUM</enumNames>
             <enumNames>IMU_FILTER_HIGH</enumNames>
         </imu_conf.filter>
+        <imu_conf.accel_lowpass_filter>
+            <longName>Accel lowpass filter</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Accelerometer lowpass filter&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Biquad lowpass filter applied to all 3 axes. This is run on the ESC and will be applied regardless of IMU model.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Setting the filter to 0Hz will disable it.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_ACCEL_LOWPASS_FILTER</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> Hz</suffix>
+            <vTx>9</vTx>
+        </imu_conf.accel_lowpass_filter>
         <imu_conf.sample_rate_hz>
             <longName>Sample Rate</longName>
             <type>2</type>
@@ -4202,6 +4228,7 @@ p, li { white-space: pre-wrap; }
         <ser>imu_conf.type</ser>
         <ser>imu_conf.mode</ser>
         <ser>imu_conf.filter</ser>
+        <ser>imu_conf.accel_lowpass_filter</ser>
         <ser>imu_conf.sample_rate_hz</ser>
         <ser>imu_conf.use_magnetometer</ser>
         <ser>imu_conf.accel_confidence_decay</ser>
@@ -4519,6 +4546,7 @@ p, li { white-space: pre-wrap; }
                     <param>imu_conf.use_magnetometer</param>
                     <param>imu_conf.sample_rate_hz</param>
                     <param>imu_conf.filter</param>
+                    <param>imu_conf.accel_lowpass_filter</param>
                     <param>::sep::AHRS</param>
                     <param>imu_conf.mode</param>
                     <param>imu_conf.accel_confidence_decay</param>

From d54773f8be80a0384d25771ebe8af1efca8fed76 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 2 Oct 2022 13:04:15 +0200
Subject: [PATCH 187/559] Custom config support in mobile app

---
 mainwindow.cpp              |   3 +-
 mobile/ConfigPageCustom.qml | 164 ++++++++++++++++++++++++++++++++++++
 mobile/main.qml             |  43 +++++++++-
 mobile/qml.qrc              |   1 +
 pages/pagecustomconfig.cpp  |  19 -----
 pages/pagecustomconfig.h    |   1 -
 vescinterface.cpp           |  18 ++++
 vescinterface.h             |   1 +
 8 files changed, 228 insertions(+), 22 deletions(-)
 create mode 100644 mobile/ConfigPageCustom.qml

diff --git a/mainwindow.cpp b/mainwindow.cpp
index 037436f68..befa0649e 100755
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -702,7 +702,8 @@ void MainWindow::timerSlot()
     }
 
     // Scan can bus on connect
-    if (mVesc->isPortConnected() && ui->canList->count() == 0 && ui->scanCanButton->isEnabled() && mVesc->fwRx() && mVesc->customConfigRxDone()) {
+    if (mVesc->isPortConnected() && ui->canList->count() == 0 &&
+            ui->scanCanButton->isEnabled() && mVesc->fwRx() && mVesc->customConfigRxDone()) {
         on_scanCanButton_clicked();
     }
 
diff --git a/mobile/ConfigPageCustom.qml b/mobile/ConfigPageCustom.qml
new file mode 100644
index 000000000..edf7611ab
--- /dev/null
+++ b/mobile/ConfigPageCustom.qml
@@ -0,0 +1,164 @@
+/*
+    Copyright 2022 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+import QtQuick 2.7
+import QtQuick.Controls 2.10
+import QtQuick.Layouts 1.3
+
+import Vedder.vesc.vescinterface 1.0
+import Vedder.vesc.commands 1.0
+import Vedder.vesc.configparams 1.0
+import Vedder.vesc.utility 1.0
+
+Item {
+    id: appPageItem
+    property Commands mCommands: VescIf.commands()
+    property bool isHorizontal: width > height
+    property int confInd: 0
+
+    ParamEditors {
+        id: editors
+    }
+
+    onIsHorizontalChanged: {
+        updateEditors()
+    }
+
+    function reloadConfig() {
+        if (VescIf.customConfig(confInd) === null) {
+            return
+        }
+
+        tabBox.model = VescIf.customConfig(confInd).getParamSubgroups("General")
+        updateEditors()
+    }
+
+    function addSeparator(text) {
+        var e = editors.createSeparator(scrollCol, text)
+        e.Layout.columnSpan = isHorizontal ? 2 : 1
+    }
+
+    function destroyEditors() {
+        for(var i = scrollCol.children.length;i > 0;i--) {
+            scrollCol.children[i - 1].destroy(1) // Only works with delay on android, seems to be a bug
+        }
+    }
+
+    function createEditorCustom(param) {
+        var e = editors.createEditorCustom(scrollCol, param, confInd)
+        e.Layout.preferredWidth = 500
+        e.Layout.fillsWidth = true
+    }
+
+    function updateEditors() {
+        if (tabBox.currentText == "") {
+            return
+        }
+
+        destroyEditors()
+
+        if (VescIf.customConfig(confInd) === null) {
+            return
+        }
+
+        var params = VescIf.customConfig(confInd).getParamsFromSubgroup("General", tabBox.currentText)
+
+        for (var i = 0;i < params.length;i++) {
+            if (params[i].startsWith("::sep::")) {
+                addSeparator(params[i].substr(7))
+            } else {
+                createEditorCustom(params[i])
+            }
+        }
+    }
+
+    ColumnLayout {
+        id: column
+        anchors.fill: parent
+        spacing: 0
+
+        ComboBox {
+            id: tabBox
+            Layout.fillWidth: true
+
+            onCurrentTextChanged: {
+                updateEditors()
+            }
+        }
+
+        ScrollView {
+            id: scroll
+            Layout.fillWidth: true
+            Layout.fillHeight: true
+            contentWidth: column.width
+            clip: true
+
+            GridLayout {
+                id: scrollCol
+                anchors.fill: parent
+                columns: isHorizontal ? 2 : 1
+            }
+        }
+
+        RowLayout {
+            Layout.fillWidth: true
+            Button {
+                Layout.preferredWidth: 100
+                Layout.fillWidth: true
+                text: "Write"
+
+                onClicked: {
+                    if (VescIf.customConfig(confInd) === null) {
+                        return
+                    }
+
+                    mCommands.customConfigSet(confInd, VescIf.customConfig(confInd))
+                }
+            }
+
+            Button {
+                Layout.preferredWidth: 100
+                Layout.fillWidth: true
+                text: "Read"
+
+                onClicked: {
+                    mCommands.customConfigGet(confInd, false)
+                }
+            }
+
+            Button {
+                Layout.preferredWidth: 100
+                Layout.fillWidth: true
+                text: "Read Default"
+
+                onClicked: {
+                    mCommands.customConfigGet(confInd, true)
+                }
+            }
+        }
+    }
+
+    Connections {
+        target: VescIf
+
+        onCustomConfigLoadDone: {
+            updateEditors()
+        }
+    }
+}
diff --git a/mobile/main.qml b/mobile/main.qml
index 765946160..914e962e0 100644
--- a/mobile/main.qml
+++ b/mobile/main.qml
@@ -577,6 +577,27 @@ ApplicationWindow {
         }
     }
 
+    TabButton {
+        id: confCustomButton
+        visible: confCustomPage.visible
+        text: "ConfCustom"
+        width: tabBar.buttonWidth
+    }
+
+    Page {
+        id: confCustomPage
+        visible: false
+
+        Loader {
+            id: confCustomLoader
+            anchors.fill: parent
+            asynchronous: true
+            sourceComponent: ConfigPageCustom {
+                anchors.fill: parent
+            }
+        }
+    }
+
     Page {
         id: rtDataBalance
         visible: false
@@ -963,6 +984,20 @@ ApplicationWindow {
         }
     }
 
+    function updateConfCustom () {
+        if (VescIf.isPortConnected() && VescIf.customConfig(0) !== null) {
+            swipeView.insertItem(5, confCustomPage)
+            tabBar.insertItem(5, confCustomButton)
+            confCustomPage.visible = true
+            confCustomLoader.item.reloadConfig()
+            confCustomButton.text = VescIf.customConfig(0).getLongName("hw_name")
+        } else {
+            confCustomPage.visible = false
+            confCustomPage.parent = null
+            confCustomButton.parent = null
+        }
+    }
+
     function indexOffset() {
         var res = 0
         if (uiHwButton.visible) {
@@ -1019,7 +1054,7 @@ ApplicationWindow {
                 if (limited && !VescIf.getFwSupportsConfiguration()) {
                     confPageMotor.enabled = false
                     confPageApp.enabled = false
-                    swipeView.setCurrentIndex(4 + indexOffset())
+                    swipeView.setCurrentIndex(4 + indexOffset() + (confCustomPage.visible ? 1 : 0))
                 } else {
                     confPageMotor.enabled = true
                     confPageApp.enabled = true
@@ -1028,6 +1063,8 @@ ApplicationWindow {
                 }
                 fwReadCorrectly = true
                 bleDisconnectTimer.stop()
+            } else {
+                updateConfCustom()
             }
 
             updateHwUi()
@@ -1037,6 +1074,10 @@ ApplicationWindow {
         onQmlLoadDone: {
             qmlLoadDialog.open()
         }
+
+        onCustomConfigLoadDone: {
+            updateConfCustom()
+        }
     }
 
     Connections {
diff --git a/mobile/qml.qrc b/mobile/qml.qrc
index 2f771517b..81414d639 100644
--- a/mobile/qml.qrc
+++ b/mobile/qml.qrc
@@ -57,5 +57,6 @@
         <file>StatPage.qml</file>
         <file>BleSetupDialog.qml</file>
         <file>ParamEditBitfield.qml</file>
+        <file>ConfigPageCustom.qml</file>
     </qresource>
 </RCC>
diff --git a/pages/pagecustomconfig.cpp b/pages/pagecustomconfig.cpp
index 250a69a88..80170041e 100644
--- a/pages/pagecustomconfig.cpp
+++ b/pages/pagecustomconfig.cpp
@@ -53,8 +53,6 @@ void PageCustomConfig::setVesc(VescInterface *vesc)
     mVesc = vesc;
 
     if (mVesc) {
-        connect(mVesc->commands(), SIGNAL(customConfigRx(int,QByteArray)),
-                this, SLOT(customConfigRx(int,QByteArray)));
         connect(mVesc, SIGNAL(customConfigLoadDone()),
                 this, SLOT(customConfigLoadDone()));
     }
@@ -65,23 +63,6 @@ void PageCustomConfig::setConfNum(int num)
     mConfNum = num;
 }
 
-void PageCustomConfig::customConfigRx(int confInd, QByteArray data)
-{
-    if (confInd == mConfNum) {
-        ConfigParams *params = mVesc->customConfig(mConfNum);
-        if (params) {
-            auto vb = VByteArray(data);
-            if (params->deSerialize(vb)) {
-                mVesc->emitStatusMessage(tr("Custom config %1 updated").arg(mConfNum), true);
-            } else {
-                mVesc->emitMessageDialog(tr("Custom Configuration"),
-                                         tr("Could not deserialize custom config %1").arg(mConfNum),
-                                         false, false);
-            }
-        }
-    }
-}
-
 void PageCustomConfig::customConfigLoadDone()
 {
     ConfigParams *p = mVesc->customConfig(mConfNum);
diff --git a/pages/pagecustomconfig.h b/pages/pagecustomconfig.h
index 5d8508540..b60151ae8 100644
--- a/pages/pagecustomconfig.h
+++ b/pages/pagecustomconfig.h
@@ -40,7 +40,6 @@ class PageCustomConfig : public QWidget
     void setConfNum(int num);
 
 private slots:
-    void customConfigRx(int confId, QByteArray data);
     void customConfigLoadDone();
 
     void on_readButton_clicked();
diff --git a/vescinterface.cpp b/vescinterface.cpp
index 0deba4150..d43aa39ce 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -456,6 +456,9 @@ VescInterface::VescInterface(QObject *parent) : QObject(parent)
         }
     });
 
+    connect(mCommands, SIGNAL(customConfigRx(int,QByteArray)),
+            this, SLOT(customConfigRx(int,QByteArray)));
+
 #if VT_IS_TEST_VERSION
     QTimer::singleShot(1000, [this]() {
         emitMessageDialog("VESC Tool Test Version",
@@ -3709,6 +3712,21 @@ void VescInterface::ackReceived(QString ackType)
     emit statusMessage(ackType, true);
 }
 
+void VescInterface::customConfigRx(int confId, QByteArray data)
+{
+    ConfigParams *params = customConfig(confId);
+    if (params) {
+        auto vb = VByteArray(data);
+        if (params->deSerialize(vb)) {
+            emitStatusMessage(tr("Custom config %1 updated").arg(confId), true);
+        } else {
+            emitMessageDialog(tr("Custom Configuration"),
+                              tr("Could not deserialize custom config %1").arg(confId),
+                              false, false);
+        }
+    }
+}
+
 bool VescInterface::getFwSupportsConfiguration() const
 {
     return mFwSupportsConfiguration;
diff --git a/vescinterface.h b/vescinterface.h
index 05f119936..1186c46d6 100755
--- a/vescinterface.h
+++ b/vescinterface.h
@@ -286,6 +286,7 @@ private slots:
     void appconfUpdated();
     void mcconfUpdated();
     void ackReceived(QString ackType);
+    void customConfigRx(int confId, QByteArray data);
 
 private:
     typedef enum {

From f392dd39e19022e7dbf871f05d3284cd97af57f0 Mon Sep 17 00:00:00 2001
From: Vincent Manoukian <10980775+manoukianv@users.noreply.github.com>
Date: Sun, 2 Oct 2022 14:27:46 +0200
Subject: [PATCH 188/559] Add bissC settings

---
 res/config/6.00/parameters_mcconf.xml | 13 ++++++++++---
 1 file changed, 10 insertions(+), 3 deletions(-)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index 34e8b200f..fdaa35d35 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -3440,14 +3440,18 @@ p, li { white-space: pre-wrap; }
             <vTx>9</vTx>
         </m_current_backoff_gain>
         <m_encoder_counts>
-            <longName>ABI Encoder Counts</longName>
+            <longName>Encoder counts</longName>
             <type>2</type>
             <transmittable>1</transmittable>
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Number of counts for the A-B-Index encoder. This usually is the encoder resolution times 4, since every edge in the quadrature signal is counted. This setting only matters when using an ABI encoder.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600; font-style:italic;&quot;&gt;ABI Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Number of counts for the A-B-Index encoder. This usually is the encoder resolution times 4, since every edge in the quadrature signal is counted. This setting only matters when using an ABI encoder.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600; font-style:italic;&quot;&gt;BISSC Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Number of bit for the BISSC encoder. This is the encoder resolution bit number for monoturn encoder.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_M_ENCODER_COUNTS</cDefine>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
@@ -3496,7 +3500,9 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'sans-serif';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;MT6816 Encoder&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;A magnetic encoder using a high speed SPI communication. Provides absolute position from start. It has to be connected to a hardware-based SPI peripheral.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;BISSC Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This encoder uses  RS422, si it has be connected to the COMM port for high speed communication. A RS422-transceiver such as the MAX490 is required, where CLK and MISO are used as click and data input lines. To use this encoder, you have to make sure that no app uses UART or ADC1. The ABI resolution field is used to setted the BISSC encoder accuracy : 2^(BissC Resolution)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_M_SENSOR_PORT_MODE</cDefine>
             <valInt>0</valInt>
             <enumNames>Hall Sensors</enumNames>
@@ -3508,6 +3514,7 @@ p, li { white-space: pre-wrap; }
             <enumNames>TS5700N8501 Encoder (Multiturn)</enumNames>
             <enumNames>MT6816 Encoder (SPI)</enumNames>
             <enumNames>AS5X47U Encoder (SPI)</enumNames>
+            <enumNames>BISSC Encoder (SPI)</enumNames>
         </m_sensor_port_mode>
         <m_invert_direction>
             <longName>Invert Motor Direction</longName>

From 2c97287faf7f35e1860f2595d099a4ff6440610b Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 3 Oct 2022 13:00:10 +0200
Subject: [PATCH 189/559] Updated native examples for breaking changes

---
 .../Examples/ssd1306_oled_cube_native.lisp    |  35 ++-
 res/Lisp/Examples/ws2812_native.lisp          | 265 +++++++++---------
 2 files changed, 149 insertions(+), 151 deletions(-)

diff --git a/res/Lisp/Examples/ssd1306_oled_cube_native.lisp b/res/Lisp/Examples/ssd1306_oled_cube_native.lisp
index e79377232..646aad375 100644
--- a/res/Lisp/Examples/ssd1306_oled_cube_native.lisp
+++ b/res/Lisp/Examples/ssd1306_oled_cube_native.lisp
@@ -35,25 +35,22 @@
 
 (def ssdacc [
 0x00 0x00 0x00 0x00 0x08 0xb5 0x07 0x4b 0x07 0x49 0x08 0x48 0x7b 0x44 0x79 0x44 0x1b 0x68 0x03 0x4b
-0x78 0x44 0x1b 0x68 0x98 0x47 0x01 0x20 0x08 0xbd 0x00 0xbf 0x00 0xfc 0x00 0x10 0xf0 0xff 0xff 0xff
-0x63 0x00 0x00 0x00 0x18 0x00 0x00 0x00 0x65 0x78 0x74 0x2d 0x64 0x72 0x61 0x77 0x6c 0x69 0x6e 0x65
-0x00 0x00 0xc2 0x07 0x4c 0xbf 0x00 0xf0 0x7c 0x40 0x00 0xf0 0x0c 0x00 0x08 0x28 0x0f 0xd0 0x20 0xf0
-0x08 0x03 0x04 0x2b 0x0b 0xd0 0x20 0xf0 0x80 0x53 0x20 0xf0 0xa0 0x40 0xb0 0xf1 0x00 0x5f 0x04 0xd0
-0x03 0xf1 0x40 0x43 0x58 0x42 0x58 0x41 0x70 0x47 0x01 0x20 0x70 0x47 0x00 0x00 0x05 0x29 0x2d 0xe9
-0xf7 0x4f 0x06 0x46 0x7a 0xd1 0xdf 0xf8 0x04 0x91 0x00 0x68 0xd9 0xf8 0x28 0x30 0x98 0x47 0x00 0x28
-0x72 0xd0 0x70 0x68 0xff 0xf7 0xd5 0xff 0x00 0x28 0x6d 0xd0 0xb0 0x68 0xff 0xf7 0xd0 0xff 0x00 0x28
-0x68 0xd0 0xf0 0x68 0xff 0xf7 0xcb 0xff 0x00 0x28 0x63 0xd0 0x30 0x69 0xff 0xf7 0xc6 0xff 0x00 0x28
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 ])
 
 (load-native-lib ssdacc)
diff --git a/res/Lisp/Examples/ws2812_native.lisp b/res/Lisp/Examples/ws2812_native.lisp
index f7cf0d5c1..2c18878da 100644
--- a/res/Lisp/Examples/ws2812_native.lisp
+++ b/res/Lisp/Examples/ws2812_native.lisp
@@ -2,144 +2,145 @@
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+0x98 0x42 0x09 0xd1 0x01 0x21 0x08 0x46 0xff 0xf7 0xec 0xff 0x00 0x21 0x01 0x20 0xbd 0xe8 0x08 0x40
+0xff 0xf7 0xe6 0xbf 0xb0 0xf1 0x80 0x4f 0x09 0xd1 0x01 0x21 0x08 0x46 0xff 0xf7 0xd3 0xff 0x00 0x21
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+0xff 0xf7 0xc6 0xff 0x00 0x21 0x02 0x20 0xf1 0xe7 0x3d 0x4b 0x98 0x42 0x06 0xd1 0x01 0x21 0x04 0x20
+0xff 0xf7 0xbc 0xff 0x00 0x21 0x04 0x20 0xe7 0xe7 0x39 0x4b 0x98 0x42 0x06 0xd1 0x01 0x21 0x08 0x20
+0xff 0xf7 0xb2 0xff 0x00 0x21 0x08 0x20 0xdd 0xe7 0x35 0x4b 0x98 0x42 0x06 0xd1 0x01 0x21 0x10 0x20
+0xff 0xf7 0xa8 0xff 0x00 0x21 0x10 0x20 0xd3 0xe7 0x31 0x4b 0x98 0x42 0x06 0xd1 0x01 0x21 0x20 0x20
+0xff 0xf7 0x9e 0xff 0x00 0x21 0x20 0x20 0xc9 0xe7 0x2d 0x4b 0x98 0x42 0x06 0xd1 0x01 0x21 0x02 0x20
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+0x01 0x21 0x4f 0xf4 0x00 0x30 0xff 0xf7 0x89 0xff 0x00 0x21 0x4f 0xf4 0x00 0x30 0x9a 0xe7 0x1f 0x4b
+0x98 0x42 0x08 0xd1 0x01 0x21 0x4f 0xf4 0x80 0x20 0xff 0xf7 0x7d 0xff 0x00 0x21 0x4f 0xf4 0x80 0x20
+0x8e 0xe7 0x1a 0x4b 0x98 0x42 0x06 0xd1 0x01 0x21 0x40 0x20 0xff 0xf7 0x66 0xff 0x00 0x21 0x40 0x20
+0x91 0xe7 0x16 0x4b 0x98 0x42 0x06 0xd1 0x01 0x21 0x80 0x20 0xff 0xf7 0x5c 0xff 0x00 0x21 0x80 0x20
+0x87 0xe7 0x12 0x4b 0x98 0x42 0x08 0xd1 0x01 0x21 0x4f 0xf4 0x80 0x70 0xff 0xf7 0x51 0xff 0x00 0x21
+0x4f 0xf4 0x80 0x70 0x7b 0xe7 0x08 0xbd 0x00 0x00 0x01 0x40 0x00 0x04 0x00 0x40 0x00 0x08 0x00 0x40
+0x00 0x0c 0x00 0x40 0x00 0x10 0x00 0x40 0x00 0x14 0x00 0x40 0x00 0x04 0x01 0x40 0x00 0x40 0x01 0x40
+0x00 0x44 0x01 0x40 0x00 0x48 0x01 0x40 0x00 0x18 0x00 0x40 0x00 0x1c 0x00 0x40 0x00 0x20 0x00 0x40
+0x1b 0x4a 0x03 0x68 0x90 0x42 0x10 0xb5 0x9b 0xb2 0x11 0xd0 0x19 0x4c 0xa0 0x42 0x0e 0xd0 0xb0 0xf1
+0x80 0x4f 0x0b 0xd0 0xa4 0xf5 0x80 0x34 0xa0 0x42 0x07 0xd0 0x04 0xf5 0x80 0x64 0xa0 0x42 0x03 0xd0
+0x04 0xf5 0x80 0x64 0xa0 0x42 0x03 0xd1 0x4c 0x88 0x23 0xf0 0x70 0x03 0x23 0x43 0x0f 0x4c 0xa0 0x42
+0x08 0xd0 0x04 0xf5 0x80 0x64 0xa0 0x42 0x1f 0xbf 0x23 0xf4 0x40 0x73 0x0c 0x89 0x9b 0xb2 0x23 0x43
+0x03 0x60 0x4b 0x68 0xc3 0x62 0x90 0x42 0x0b 0x88 0x83 0x62 0x02 0xd0 0x05 0x4b 0x98 0x42 0x01 0xd1
+0x8b 0x7a 0x03 0x63 0x01 0x23 0x43 0x61 0x10 0xbd 0x00 0xbf 0x00 0x00 0x01 0x40 0x00 0x04 0x01 0x40
+0x00 0x10 0x00 0x40 0x03 0x68 0x19 0xb1 0x43 0xf0 0x80 0x03 0x03 0x60 0x70 0x47 0x23 0xf0 0x80 0x03
+0x1b 0x04 0x1b 0x0c 0xf8 0xe7 0x03 0x68 0x19 0xb1 0x43 0xf0 0x01 0x03 0x03 0x60 0x70 0x47 0x23 0xf0
+0x01 0x03 0x1b 0x04 0x1b 0x0c 0xf8 0xe7 0x03 0x6a 0x23 0xf0 0x01 0x03 0x1b 0x04 0x1b 0x0c 0x03 0x62
+0x70 0xb5 0x04 0x6a 0x42 0x68 0x85 0x69 0x4e 0x88 0x4f 0xf6 0x8c 0x73 0x2b 0x40 0x0d 0x88 0x1d 0x43
+0x4f 0xf6 0xfd 0x73 0x23 0x40 0x8c 0x89 0x34 0x43 0x23 0x43 0x0d 0x4c 0xa0 0x42 0x92 0xb2 0x03 0xd0
+0x04 0xf5 0x80 0x64 0xa0 0x42 0x0d 0xd1 0xcc 0x89 0x4e 0x8a 0x23 0xf0 0x08 0x03 0x23 0x43 0x8c 0x88
+0x23 0xf0 0x04 0x03 0x23 0x43 0x0c 0x8a 0x22 0xf4 0x40 0x72 0x34 0x43 0x22 0x43 0x42 0x60 0x8a 0x68
+0x85 0x61 0x42 0x63 0x03 0x62 0x70 0xbd 0x00 0x00 0x01 0x40 0x03 0x6a 0x23 0xf0 0x10 0x03 0x1b 0x04
+0x1b 0x0c 0x03 0x62 0x70 0xb5 0x04 0x6a 0x42 0x68 0x85 0x69 0x4e 0x88 0x48 0xf6 0xff 0x43 0x2b 0x40
+0x0d 0x88 0x43 0xea 0x05 0x23 0x9d 0xb2 0x4f 0xf6 0xdf 0x73 0x23 0x40 0x8c 0x89 0x34 0x43 0x43 0xea
+0x04 0x13 0x11 0x4c 0xa0 0x42 0x92 0xb2 0x9b 0xb2 0x03 0xd0 0x04 0xf5 0x80 0x64 0xa0 0x42 0x13 0xd1
+0xcc 0x89 0x4e 0x8a 0x23 0xf0 0x80 0x03 0x43 0xea 0x04 0x13 0x4f 0xf6 0xbf 0x74 0x1c 0x40 0x8b 0x88
+0x44 0xea 0x03 0x13 0x0c 0x8a 0x22 0xf4 0x40 0x62 0x34 0x43 0x42 0xea 0x84 0x02 0x9b 0xb2 0x92 0xb2
+0x42 0x60 0x8a 0x68 0x85 0x61 0x82 0x63 0x03 0x62 0x70 0xbd 0x00 0x00 0x01 0x40 0x82 0x69 0x4f 0xf6
+0xf7 0x73 0x13 0x40 0x19 0x43 0x81 0x61 0x70 0x47 0x82 0x69 0x4f 0xf2 0xff 0x73 0x13 0x40 0x43 0xea
+0x01 0x21 0x89 0xb2 0x81 0x61 0x70 0x47 0xc3 0x68 0x12 0xb1 0x19 0x43 0xc1 0x60 0x70 0x47 0xc9 0x43
+0x89 0xb2 0x19 0x40 0xf9 0xe7 0xff 0xf7 0xf5 0xbf
 ])
 
 (load-native-lib ws2812)

From b0e2644b8a2dc6e750bb63caa849ca4872ac423c Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 3 Oct 2022 21:36:08 +0200
Subject: [PATCH 190/559] Load custom config on connect

---
 pages/pagecustomconfig.cpp | 2 --
 vescinterface.cpp          | 4 ++++
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/pages/pagecustomconfig.cpp b/pages/pagecustomconfig.cpp
index 80170041e..960527150 100644
--- a/pages/pagecustomconfig.cpp
+++ b/pages/pagecustomconfig.cpp
@@ -82,8 +82,6 @@ void PageCustomConfig::customConfigLoadDone()
             t->clearParams();
             t->addParamSubgroup(p, "General", tabNames.at(i));
         }
-
-        on_readButton_clicked();
     }
 }
 
diff --git a/vescinterface.cpp b/vescinterface.cpp
index d43aa39ce..c8038962d 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -3678,6 +3678,10 @@ void VescInterface::fwVersionReceived(FW_RX_PARAMS params)
     if (params.hasQmlApp || params.hasQmlHw) {
         emit qmlLoadDone();
     }
+
+    for (int i = 0;i < mCustomConfigs.size();i++) {
+        commands()->customConfigGet(i, false);
+    }
 }
 
 void VescInterface::appconfUpdated()

From 952104e5a6458bd9b00ef2ff496105bedcd79e76 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 4 Oct 2022 11:16:34 +0200
Subject: [PATCH 191/559] Fixed custom config margins

---
 mobile/main.qml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/mobile/main.qml b/mobile/main.qml
index 914e962e0..860f46b7b 100644
--- a/mobile/main.qml
+++ b/mobile/main.qml
@@ -594,6 +594,8 @@ ApplicationWindow {
             asynchronous: true
             sourceComponent: ConfigPageCustom {
                 anchors.fill: parent
+                anchors.leftMargin: 10
+                anchors.rightMargin: 10
             }
         }
     }

From d0507926a8fb9108582ed3eea0267368745606e7 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 6 Oct 2022 13:53:39 +0200
Subject: [PATCH 192/559] Small tweak

---
 res/config/6.00/parameters_mcconf.xml | 58 +++++++++++++--------------
 1 file changed, 29 insertions(+), 29 deletions(-)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index fdaa35d35..2c5d47eb4 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -3471,38 +3471,38 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Mode for the sensor port. Can be changed for compatibility with different rotor position sensors. Notice that this setting does not have any impact when running sensorless. &lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The modes are:&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Hall Sensors&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The motor has hall sensors built in which give a position resolution of 120 degrees.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;ABI Encoder&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;A rotary encoder with A-B-Index output. Notice that this encoder does not help until the index pulse is found, so when running FOC open loop mode will be used for up to one mechanical revolution to find the index position when trying to run a motor for the first time after a power cycle.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Notice that you also have to set the number of encoder counts in order to use this type of encoder. This usually is the number of pulses per revolution times 4, since every edge of both pulse trains is counted.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;AS5047 Encoder&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;An AS5047 magnetic encoder connected over SPI. This one provides absolute positions from start, but tends to have a bit of nonlinearity.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;AS5X47U Encoder&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;An AS5147U or AS5247U magnetic encoder connected over SPI. It is similar to the AS5047 but with additional safety features making it capable of automotive safety levels. It must be connected to SPI in the COMM port. To use this encoder, you have to make sure that no app uses UART, I2C, ADC2, or ADC3.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;SIN/COS Encoder&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;A Sin/Cos encoder is a position feedback device similar to a quadrature encoder, except instead of outputting digital pulses, it outputs analog voltages with sinusoidal shapes offset by 90°. Provides absolute positions from the start, but its sensitive to EMI and requires special filtering,  transient protections and shielded wiring.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;TS5700N8501 Encoder&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;This encoder uses RS485, so it has to be connected to the COMM port. A RS485-transceiver such as the &lt;/span&gt;&lt;span style=&quot; font-family:'sans-serif';&quot;&gt;ADM485 is required, where RX and TX are used as the data lines. ADC1 is used to trigger between RX and TX, which is needed as the communication is half duplex. To use this encoder, you have to make sure that no app uses UART or ADC1.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Mode for the sensor port. Can be changed for compatibility with different rotor position sensors. Notice that this setting does not have any impact when running sensorless. &lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The modes are:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Hall Sensors&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The motor has hall sensors built in which give a position resolution of 120 degrees.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ABI Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A rotary encoder with A-B-Index output. Notice that this encoder does not help until the index pulse is found, so when running FOC open loop mode will be used for up to one mechanical revolution to find the index position when trying to run a motor for the first time after a power cycle.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Notice that you also have to set the number of encoder counts in order to use this type of encoder. This usually is the number of pulses per revolution times 4, since every edge of both pulse trains is counted.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;AS5047 Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;An AS5047 magnetic encoder connected over SPI. This one provides absolute positions from start, but tends to have a bit of nonlinearity.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;AS5X47U Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;An AS5147U or AS5247U magnetic encoder connected over SPI. It is similar to the AS5047 but with additional safety features making it capable of automotive safety levels. It must be connected to SPI in the COMM port. To use this encoder, you have to make sure that no app uses UART, I2C, ADC2, or ADC3.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;SIN/COS Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A Sin/Cos encoder is a position feedback device similar to a quadrature encoder, except instead of outputting digital pulses, it outputs analog voltages with sinusoidal shapes offset by 90°. Provides absolute positions from the start, but its sensitive to EMI and requires special filtering,  transient protections and shielded wiring.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TS5700N8501 Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This encoder uses RS485, so it has to be connected to the COMM port. A RS485-transceiver such as the &lt;span style=&quot; font-family:'sans-serif';&quot;&gt;ADM485 is required, where RX and TX are used as the data lines. ADC1 is used to trigger between RX and TX, which is needed as the communication is half duplex. To use this encoder, you have to make sure that no app uses UART or ADC1.&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'sans-serif';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;TS5700N8501 Encoder Multiturn&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Same as above, but uses the multiturn function. The angle is divided by 10000, thus can be used for up to 10000 revolutions. The position PID parameters need to be increased by a factor of around 10000 for this to work similarly to the single turn mode. Note that this is not a good implementation and needs improvement in the future. 180 degrees PID setpoint corresponds to multiturn position 0.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TS5700N8501 Encoder Multiturn&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as above, but uses the multiturn function. The angle is divided by 10000, thus can be used for up to 10000 revolutions. The position PID parameters need to be increased by a factor of around 10000 for this to work similarly to the single turn mode. Note that this is not a good implementation and needs improvement in the future. 180 degrees PID setpoint corresponds to multiturn position 0.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'sans-serif';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;MT6816 Encoder&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;A magnetic encoder using a high speed SPI communication. Provides absolute position from start. It has to be connected to a hardware-based SPI peripheral.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;MT6816 Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A magnetic encoder using a high speed SPI communication. Provides absolute position from start. It has to be connected to a hardware-based SPI peripheral.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;BISSC Encoder&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This encoder uses  RS422, si it has be connected to the COMM port for high speed communication. A RS422-transceiver such as the MAX490 is required, where CLK and MISO are used as click and data input lines. To use this encoder, you have to make sure that no app uses UART or ADC1. The ABI resolution field is used to setted the BISSC encoder accuracy : 2^(BissC Resolution)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This encoder uses  RS422, so it has to be connected to the COMM port for high speed communication. A RS422-transceiver such as the MAX490 is required, where CLK and MISO are used as clock and data input lines. To use this encoder, you have to make sure that no app uses UART or ADC1. The ABI resolution field is used to set the BISSC encoder accuracy: 2^(BissC Resolution)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_M_SENSOR_PORT_MODE</cDefine>
             <valInt>0</valInt>
             <enumNames>Hall Sensors</enumNames>

From 5ec5c0662ad3cf374bde8c3561bfde89e6fa8721 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 7 Oct 2022 17:10:24 +0200
Subject: [PATCH 193/559] Added unused can-mode

---
 res/config/6.00/parameters_appconf.xml | 25 +++++++++++++++----------
 1 file changed, 15 insertions(+), 10 deletions(-)

diff --git a/res/config/6.00/parameters_appconf.xml b/res/config/6.00/parameters_appconf.xml
index 75d6ccd0f..677366122 100644
--- a/res/config/6.00/parameters_appconf.xml
+++ b/res/config/6.00/parameters_appconf.xml
@@ -294,21 +294,26 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;CAN-bus mode.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;VESC&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Default VESC CAN-bus. Required for CAN forwarding and configuring multiple VESCs using VESC Tool.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;UAVCAN&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Basic implementation of UAVCAN. Currently needs some work.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Comm Brigde&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Bridge CAN-bus to commands. Useful for using the VESC as a generic CAN interface.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;CAN-bus mode.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;VESC&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Default VESC CAN-bus. Required for CAN forwarding and configuring multiple VESCs using VESC Tool.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;UAVCAN&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Basic implementation of UAVCAN. Currently needs some work.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Comm Brigde&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Bridge CAN-bus to commands. Useful for using the VESC and VESC Tool as a generic CAN interface and debugger.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Unused&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;CAN-frames are not processed at all and just ignored. Custom applications and scripts can still process CAN-frames. This is very similar to &lt;span style=&quot; font-weight:600;&quot;&gt;Comm Bridge&lt;/span&gt;, but the received frames are not forwarded using commands.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_CAN_MODE</cDefine>
             <valInt>0</valInt>
             <enumNames>VESC</enumNames>
             <enumNames>UAVCAN</enumNames>
             <enumNames>Comm Bridge</enumNames>
+            <enumNames>Unused</enumNames>
         </can_mode>
         <uavcan_esc_index>
             <longName>UAVCAN ESC Index</longName>

From 1e12d011b7a27f6496066b36825a27394268f457 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Sat, 8 Oct 2022 11:58:59 +0000
Subject: [PATCH 194/559] @svenssonjoel has signed the CLA from Pull Request
 #250

---
 signatures/version1/cla.json | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/signatures/version1/cla.json b/signatures/version1/cla.json
index 9c297dab3..682517e89 100644
--- a/signatures/version1/cla.json
+++ b/signatures/version1/cla.json
@@ -79,6 +79,14 @@
       "created_at": "2022-07-20T16:37:12Z",
       "repoId": 102395117,
       "pullRequestNo": 237
+    },
+    {
+      "name": "svenssonjoel",
+      "id": 598672,
+      "comment_id": 1272302560,
+      "created_at": "2022-10-08T11:58:44Z",
+      "repoId": 102395117,
+      "pullRequestNo": 250
     }
   ]
 }
\ No newline at end of file

From 5cbb1881385b763a6ff7ae142702c438c83b14bb Mon Sep 17 00:00:00 2001
From: Joel Svensson <bo.joel.svensson@gmail.com>
Date: Sat, 8 Oct 2022 14:00:19 +0200
Subject: [PATCH 195/559] Work on TCP Hub (#250)

* template in place
* Structure of hub
* removed extra complicating step
* just plumbing values around
* removed a bunch of weird code
* removed more unneeded code
---
 main.cpp                 |  30 +++++-
 pages/pageconnection.cpp |  16 ++++
 pages/pageconnection.h   |   2 +
 pages/pageconnection.ui  | 201 +++++++++++++++++++++++++++++++++------
 tcphub.cpp               |  37 +++++++
 tcphub.h                 |  60 ++++++++++++
 vesc_tool.pro            |   2 +
 vescinterface.cpp        |  21 ++++
 vescinterface.h          |   6 ++
 9 files changed, 344 insertions(+), 31 deletions(-)
 create mode 100644 tcphub.cpp
 create mode 100644 tcphub.h

diff --git a/main.cpp b/main.cpp
index d1bd26914..5ae4a9890 100755
--- a/main.cpp
+++ b/main.cpp
@@ -32,6 +32,8 @@
 #include <QDesktopWidget>
 #include <QFontDatabase>
 
+#include "tcphub.h"
+
 #ifdef Q_OS_IOS
 #include "ios/src/setIosParameters.h"
 #endif
@@ -71,6 +73,7 @@ static void showHelp()
     qDebug() << "--qmlRotation [deg] : Rotate screen by deg degrees";
     qDebug() << "--retryConn : Keep trying to reconnect to the VESC when the connection fails";
     qDebug() << "--useMobileUi : Start the mobile UI instead of the full desktop UI";
+    qDebug() << "--tcpHub [port] : Start a TCP hub for remote access to connected VESCs";
 
 }
 
@@ -225,6 +228,7 @@ int main(int argc, char *argv[])
     bool qmlOtherScreen = false;
     bool useMobileUi = false;
     double qmlRot = 0.0;
+    bool isTcpHub = false;
 
     for (int i = 0;i < args.size();i++) {
         // Skip the program argument
@@ -314,6 +318,14 @@ int main(int argc, char *argv[])
                 return 1;
             }
         }
+        if (str == "--tcpHub") {
+            if ((i + 1) < args.size()) {
+                i++;
+                tcpPort = args.at(i).toInt();
+                isTcpHub = true;
+                found = true;
+            }
+        }
 
         if (!found) {
             if (dash) {
@@ -360,6 +372,7 @@ int main(int argc, char *argv[])
     });
 #else
     VescInterface *vesc = nullptr;
+    TcpHub *tcpHub = nullptr;
     MainWindow *w = nullptr;
     QmlUi *qmlUi = nullptr;
     QString qmlStr;
@@ -407,7 +420,18 @@ int main(int argc, char *argv[])
                 qWarning() << msg;
             }
         });
-    } else {
+    } else if (isTcpHub) {
+        qputenv("QT_QPA_PLATFORM", "offscreen");
+        app = new QCoreApplication(argc, argv);
+        tcpHub = new TcpHub;
+        if (tcpHub->start(tcpPort)) {
+            qDebug() << "TcpHub started";
+        } else {
+            qCritical() << "Could not start TcpHub on port" << tcpPort;
+            qApp->quit();
+        }
+    }
+    else {
         QApplication *a = new QApplication(argc, argv);
         app = a;
 
@@ -558,6 +582,10 @@ int main(int argc, char *argv[])
         delete vesc;
     }
 
+    if (tcpHub) {
+        delete tcpHub;
+    }
+
     if (w) {
         delete w;
     }
diff --git a/pages/pageconnection.cpp b/pages/pageconnection.cpp
index feb2d544b..8c3048f20 100644
--- a/pages/pageconnection.cpp
+++ b/pages/pageconnection.cpp
@@ -707,3 +707,19 @@ void PageConnection::on_tcpDetectDisconnectButton_clicked()
         mVesc->disconnectPort();
     }
 }
+
+void PageConnection::on_tcpHubConnectButton_clicked()
+{
+    if (mVesc) {
+        QString tcpServer = ui->tcpHubServerEdit->text();
+        int tcpPort = ui->tcpHubPortBox->value();
+        mVesc->connectTcpHub(tcpServer, tcpPort, ui->tcpHubVescIDlineEdit->text(),ui->tcpHubVescPasswordlineEdit->text());
+    }
+}
+
+void PageConnection::on_tcpHubDisconnectButton_clicked()
+{
+    if (mVesc) {
+        mVesc->disconnectPort();
+    }
+}
diff --git a/pages/pageconnection.h b/pages/pageconnection.h
index c58047755..3f24fe2e0 100644
--- a/pages/pageconnection.h
+++ b/pages/pageconnection.h
@@ -78,6 +78,8 @@ private slots:
     void on_udpServerEnableBox_toggled(bool isEnabled);
     void on_tcpDetectConnectButton_clicked();
     void on_tcpDetectDisconnectButton_clicked();
+    void on_tcpHubConnectButton_clicked();
+    void on_tcpHubDisconnectButton_clicked();
 
 private:
     Ui::PageConnection *ui;
diff --git a/pages/pageconnection.ui b/pages/pageconnection.ui
index 9050873bc..e58541d83 100644
--- a/pages/pageconnection.ui
+++ b/pages/pageconnection.ui
@@ -349,6 +349,33 @@
             </property>
            </widget>
           </item>
+          <item row="0" column="1">
+           <widget class="QLineEdit" name="tcpServerEdit">
+            <property name="text">
+             <string>127.0.0.1</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1" colspan="2">
+           <widget class="QComboBox" name="tcpDetectBox"/>
+          </item>
+          <item row="1" column="3">
+           <widget class="QPushButton" name="tcpDetectDisconnectButton">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="text">
+             <string/>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Disconnected-96.png</normaloff>:/res/icons/Disconnected-96.png</iconset>
+            </property>
+           </widget>
+          </item>
           <item row="0" column="0">
            <widget class="QLabel" name="label">
             <property name="text">
@@ -376,10 +403,10 @@
             </property>
            </widget>
           </item>
-          <item row="0" column="1">
-           <widget class="QLineEdit" name="tcpServerEdit">
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_8">
             <property name="text">
-             <string>127.0.0.1</string>
+             <string>Detected Devices</string>
             </property>
            </widget>
           </item>
@@ -396,13 +423,6 @@
             </property>
            </widget>
           </item>
-          <item row="1" column="0">
-           <widget class="QLabel" name="label_8">
-            <property name="text">
-             <string>Detected Devices</string>
-            </property>
-           </widget>
-          </item>
           <item row="1" column="4">
            <widget class="QPushButton" name="tcpDetectConnectButton">
             <property name="sizePolicy">
@@ -420,26 +440,6 @@
             </property>
            </widget>
           </item>
-          <item row="1" column="1" colspan="2">
-           <widget class="QComboBox" name="tcpDetectBox"/>
-          </item>
-          <item row="1" column="3">
-           <widget class="QPushButton" name="tcpDetectDisconnectButton">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="text">
-             <string/>
-            </property>
-            <property name="icon">
-             <iconset resource="../res.qrc">
-              <normaloff>:/res/icons/Disconnected-96.png</normaloff>:/res/icons/Disconnected-96.png</iconset>
-            </property>
-           </widget>
-          </item>
          </layout>
         </widget>
        </item>
@@ -893,6 +893,147 @@
        </item>
       </layout>
      </widget>
+     <widget class="QWidget" name="tab_6">
+      <attribute name="title">
+       <string>TCP Hub</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_11">
+       <item>
+        <widget class="QGroupBox" name="groupBox_5">
+         <property name="title">
+          <string>TCP Hub</string>
+         </property>
+         <layout class="QGridLayout" name="gridLayout_2">
+          <property name="leftMargin">
+           <number>6</number>
+          </property>
+          <property name="topMargin">
+           <number>6</number>
+          </property>
+          <property name="rightMargin">
+           <number>6</number>
+          </property>
+          <property name="bottomMargin">
+           <number>6</number>
+          </property>
+          <property name="horizontalSpacing">
+           <number>6</number>
+          </property>
+          <property name="verticalSpacing">
+           <number>2</number>
+          </property>
+          <item row="1" column="2">
+           <widget class="QLineEdit" name="tcpHubVescIDlineEdit"/>
+          </item>
+          <item row="0" column="4">
+           <widget class="QPushButton" name="tcpHubDisconnectButton">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="toolTip">
+             <string>Disconnect</string>
+            </property>
+            <property name="text">
+             <string/>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Disconnected-96.png</normaloff>:/res/icons/Disconnected-96.png</iconset>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="5">
+           <widget class="QPushButton" name="tcpHubConnectButton">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="toolTip">
+             <string>Connect</string>
+            </property>
+            <property name="text">
+             <string/>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Connected-96.png</normaloff>:/res/icons/Connected-96.png</iconset>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="3">
+           <widget class="QSpinBox" name="tcpHubPortBox">
+            <property name="prefix">
+             <string>Port: </string>
+            </property>
+            <property name="maximum">
+             <number>65535</number>
+            </property>
+            <property name="value">
+             <number>65101</number>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_10">
+            <property name="text">
+             <string>VESC ID</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QLineEdit" name="tcpHubServerEdit">
+            <property name="text">
+             <string>127.0.0.1</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="0">
+           <widget class="QLabel" name="label_9">
+            <property name="text">
+             <string>Address</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QLabel" name="label_11">
+            <property name="text">
+             <string>Password</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="2">
+           <widget class="QLineEdit" name="tcpHubVescPasswordlineEdit"/>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <layout class="QHBoxLayout" name="horizontalLayout_3">
+         <item>
+          <widget class="QPlainTextEdit" name="tcpHubplainTextEdit"/>
+         </item>
+         <item>
+          <spacer name="verticalSpacer_2">
+           <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>
+       </item>
+      </layout>
+     </widget>
     </widget>
    </item>
    <item>
diff --git a/tcphub.cpp b/tcphub.cpp
new file mode 100644
index 000000000..4bc6345a3
--- /dev/null
+++ b/tcphub.cpp
@@ -0,0 +1,37 @@
+#include "tcphub.h"
+#include <QDateTime>
+
+TcpHub::TcpHub(QObject *parent)
+    : QObject{parent}
+{
+    mTcpHubServer = new QTcpServer(this);
+    connect(mTcpHubServer, SIGNAL(newConnection()), this, SLOT(newTcpHubConnection()));
+
+    mPeriodic = new QTimer(this);
+    connect(mPeriodic, SIGNAL(timeout()), this, SLOT(periodic()));
+    mPeriodic->start(1000);
+}
+
+bool TcpHub::start(int port, QHostAddress addr)
+{
+    if (!mTcpHubServer->listen(addr,  port)) {
+        return false;
+    }
+    return true;
+}
+
+void TcpHub::newTcpHubConnection()
+{
+    QTcpSocket *socket = mTcpHubServer->nextPendingConnection();
+    socket->setSocketOption(QAbstractSocket::LowDelayOption, true);
+
+    QHostAddress addr = socket->peerAddress();
+
+    qDebug() << "new connection to hub: " << addr.toString();
+}
+
+void TcpHub::periodic()
+{
+    qDebug("periodic");
+}
+
diff --git a/tcphub.h b/tcphub.h
new file mode 100644
index 000000000..37355a58d
--- /dev/null
+++ b/tcphub.h
@@ -0,0 +1,60 @@
+#ifndef TCPHUB_H
+#define TCPHUB_H
+
+#include <QObject>
+#include <QMap>
+#include <QTcpServer>
+#include <QTcpSocket>
+#include <QTimer>
+#include "packet.h"
+
+/*
+ *  - VESC connects to Server (HUB) and gets registered.
+ *  - Timeout if no valid data from connected thing.
+ *  - VESC sends its FW-info and a password message that gets associated with the TCP connection
+ *    - Break out the FW_info command (assemble info) make callable form VESC_C_IF extension.
+ *  - Connected vesc sends IM-ALIVE messages periodically.
+ *
+ *  - VESC_TOOL connects to server and and can list connected VESCS
+ *  - VESC_TOOL can connect to a VESC, via the HUB, if it provides the correct password.
+ *
+ *  - If VESC_TOOL drops, reconnect if made avaialable again
+ *  - If the VESC drops, kill connection.
+ */
+
+class TcpConnectedVesc : public QObject
+{
+    Q_OBJECT
+
+public:
+    explicit TcpConnectedVesc(QObject *parent = nullptr);
+    Packet *mPacket;
+    QTcpSocket *mTcpSocket;
+
+signals:
+    void connectionChanged(bool state, QHostAddress addr);
+public slots:
+};
+
+class TcpHub : public QObject
+{
+    Q_OBJECT
+public:
+    explicit TcpHub(QObject *parent = nullptr);
+    bool start(int port, QHostAddress addr = QHostAddress::Any);
+
+signals:
+
+public slots:
+    void newTcpHubConnection();
+    void periodic();
+
+private:
+    QTimer *mPeriodic;
+
+    // Not entirely happy with a QString key. But QHostAddress is not possible.
+    QMap<QString, TcpConnectedVesc*> mTcpConnectedVescs;
+    QTcpServer *mTcpHubServer;
+};
+
+#endif // TCPHUB_H
diff --git a/vesc_tool.pro b/vesc_tool.pro
index 1eeb7a6e4..d356e09e4 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -198,6 +198,7 @@ SOURCES += main.cpp\
     mainwindow.cpp \
     packet.cpp \
     preferences.cpp \
+    tcphub.cpp \
     udpserversimple.cpp \
     vbytearray.cpp \
     commands.cpp \
@@ -217,6 +218,7 @@ HEADERS  += mainwindow.h \
     codeloader.h \
     packet.h \
     preferences.h \
+    tcphub.h \
     udpserversimple.h \
     vbytearray.h \
     commands.h \
diff --git a/vescinterface.cpp b/vescinterface.cpp
index c8038962d..682b1ab57 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -2456,6 +2456,27 @@ void VescInterface::connectTcp(QString server, int port)
     mTcpSocket->connectToHost(host, port);
 }
 
+void VescInterface::connectTcpHub(QString server, int port, QString id, QString pass) {
+
+    mLastTcpServer = server;
+    mLastTcpPort = port;
+
+    QHostAddress host;
+    host.setAddress(server);
+
+    if (host.isNull()) {
+        QList<QHostAddress> addresses = QHostInfo::fromName(server).addresses();
+
+        if (!addresses.isEmpty()) {
+            host.setAddress(addresses.first().toString());
+        }
+    }
+    mTcpSocket->abort();
+    mTcpSocket->connectToHost(host,port);
+    mTcpHubVescID = id;
+    mTcpHubVescPass = pass;
+}
+
 void VescInterface::connectUdp(QString server, int port)
 {
     QHostAddress host;
diff --git a/vescinterface.h b/vescinterface.h
index 1186c46d6..bf72b1948 100755
--- a/vescinterface.h
+++ b/vescinterface.h
@@ -232,6 +232,8 @@ class VescInterface : public QObject
     Q_INVOKABLE QString qmlHw();
     Q_INVOKABLE QString qmlApp();
 
+    Q_INVOKABLE void connectTcpHub(QString server, int port, QString id, QString pass);
+
 signals:
     void statusMessage(const QString &msg, bool isGood);
     void messageDialog(const QString &title, const QString &msg, bool isGood, bool richText);
@@ -422,6 +424,10 @@ private slots:
     void updateFwRx(bool fwRx);
     void setLastConnectionType(conn_t type);
 
+    // TCP HUB Connection related
+    QString mTcpHubVescID;
+    QString mTcpHubVescPass;
+
 };
 
 #endif // VESCINTERFACE_H

From 2bf428c144dad483bc5034dd1a1807b8d6045373 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 8 Oct 2022 17:30:38 +0200
Subject: [PATCH 196/559] Finished first tcp hub

---
 pages/pageconnection.cpp |  11 ++-
 pages/pageconnection.ui  |  87 +++++++++++-------------
 tcphub.cpp               | 140 +++++++++++++++++++++++++++++++++++----
 tcphub.h                 |  63 +++++++++++++-----
 vescinterface.cpp        |  49 ++++++++------
 vescinterface.h          |   8 +--
 6 files changed, 252 insertions(+), 106 deletions(-)

diff --git a/pages/pageconnection.cpp b/pages/pageconnection.cpp
index 8c3048f20..1d6dcc584 100644
--- a/pages/pageconnection.cpp
+++ b/pages/pageconnection.cpp
@@ -65,6 +65,8 @@ PageConnection::PageConnection(QWidget *parent) :
     ui->autoConnectButton->setIcon(QPixmap(theme + "icons/Wizard-96.png"));
     ui->bleSetNameButton->setIcon(QPixmap(theme + "icons/Ok-96.png"));
     ui->pairConnectedButton->setIcon(QPixmap(theme + "icons/Circled Play-96.png"));
+    ui->tcpHubConnectButton->setIcon(QPixmap(theme + "icons/Connected-96.png"));
+    ui->tcpHubDisconnectButton->setIcon(QPixmap(theme + "icons/Disconnected-96.png"));
 
     QIcon mycon = QIcon(theme + "icons/can_off.png");
     mycon.addPixmap(QPixmap(theme + "icons/can_off.png"), QIcon::Normal, QIcon::Off);
@@ -121,6 +123,11 @@ void PageConnection::setVesc(VescInterface *vesc)
     ui->udpServerEdit->setText(mVesc->getLastUdpServer());
     ui->udpPortBox->setValue(mVesc->getLastUdpPort());
 
+    ui->tcpHubServerEdit->setText(mVesc->getLastTcpServer());
+    ui->tcpHubPortBox->setValue(mVesc->getLastTcpPort());
+    ui->tcpHubVescIdLineEdit->setText(mVesc->getLastTcpHubVescID());
+    ui->tcpHubVescPasswordLineEdit->setText(mVesc->getLastTcpHubVescPass());
+
 #ifdef HAS_BLUETOOTH
     connect(mVesc->bleDevice(), SIGNAL(scanDone(QVariantMap,bool)),
             this, SLOT(bleScanDone(QVariantMap,bool)));
@@ -713,7 +720,9 @@ void PageConnection::on_tcpHubConnectButton_clicked()
     if (mVesc) {
         QString tcpServer = ui->tcpHubServerEdit->text();
         int tcpPort = ui->tcpHubPortBox->value();
-        mVesc->connectTcpHub(tcpServer, tcpPort, ui->tcpHubVescIDlineEdit->text(),ui->tcpHubVescPasswordlineEdit->text());
+        mVesc->connectTcpHub(tcpServer, tcpPort,
+                             ui->tcpHubVescIdLineEdit->text().replace(" ", "").replace(":", "").toUpper(),
+                             ui->tcpHubVescPasswordLineEdit->text());
     }
 }
 
diff --git a/pages/pageconnection.ui b/pages/pageconnection.ui
index e58541d83..2ea78d243 100644
--- a/pages/pageconnection.ui
+++ b/pages/pageconnection.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1164</width>
-    <height>700</height>
+    <width>1218</width>
+    <height>701</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -922,11 +922,15 @@
           <property name="verticalSpacing">
            <number>2</number>
           </property>
-          <item row="1" column="2">
-           <widget class="QLineEdit" name="tcpHubVescIDlineEdit"/>
+          <item row="0" column="0">
+           <widget class="QLabel" name="label_9">
+            <property name="text">
+             <string>Address</string>
+            </property>
+           </widget>
           </item>
           <item row="0" column="4">
-           <widget class="QPushButton" name="tcpHubDisconnectButton">
+           <widget class="QPushButton" name="tcpHubConnectButton">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
               <horstretch>0</horstretch>
@@ -934,19 +938,22 @@
              </sizepolicy>
             </property>
             <property name="toolTip">
-             <string>Disconnect</string>
+             <string>Connect</string>
             </property>
             <property name="text">
              <string/>
             </property>
             <property name="icon">
              <iconset resource="../res.qrc">
-              <normaloff>:/res/icons/Disconnected-96.png</normaloff>:/res/icons/Disconnected-96.png</iconset>
+              <normaloff>:/res/icons/Connected-96.png</normaloff>:/res/icons/Connected-96.png</iconset>
             </property>
            </widget>
           </item>
-          <item row="0" column="5">
-           <widget class="QPushButton" name="tcpHubConnectButton">
+          <item row="1" column="1">
+           <widget class="QLineEdit" name="tcpHubVescIdLineEdit"/>
+          </item>
+          <item row="0" column="3">
+           <widget class="QPushButton" name="tcpHubDisconnectButton">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
               <horstretch>0</horstretch>
@@ -954,18 +961,18 @@
              </sizepolicy>
             </property>
             <property name="toolTip">
-             <string>Connect</string>
+             <string>Disconnect</string>
             </property>
             <property name="text">
              <string/>
             </property>
             <property name="icon">
              <iconset resource="../res.qrc">
-              <normaloff>:/res/icons/Connected-96.png</normaloff>:/res/icons/Connected-96.png</iconset>
+              <normaloff>:/res/icons/Disconnected-96.png</normaloff>:/res/icons/Disconnected-96.png</iconset>
             </property>
            </widget>
           </item>
-          <item row="0" column="3">
+          <item row="0" column="2">
            <widget class="QSpinBox" name="tcpHubPortBox">
             <property name="prefix">
              <string>Port: </string>
@@ -978,27 +985,13 @@
             </property>
            </widget>
           </item>
-          <item row="1" column="0">
-           <widget class="QLabel" name="label_10">
-            <property name="text">
-             <string>VESC ID</string>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="2">
+          <item row="0" column="1">
            <widget class="QLineEdit" name="tcpHubServerEdit">
             <property name="text">
              <string>127.0.0.1</string>
             </property>
            </widget>
           </item>
-          <item row="0" column="0">
-           <widget class="QLabel" name="label_9">
-            <property name="text">
-             <string>Address</string>
-            </property>
-           </widget>
-          </item>
           <item row="2" column="0">
            <widget class="QLabel" name="label_11">
             <property name="text">
@@ -1006,31 +999,31 @@
             </property>
            </widget>
           </item>
-          <item row="2" column="2">
-           <widget class="QLineEdit" name="tcpHubVescPasswordlineEdit"/>
+          <item row="2" column="1">
+           <widget class="QLineEdit" name="tcpHubVescPasswordLineEdit"/>
+          </item>
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_10">
+            <property name="text">
+             <string>VESC ID</string>
+            </property>
+           </widget>
           </item>
          </layout>
         </widget>
        </item>
        <item>
-        <layout class="QHBoxLayout" name="horizontalLayout_3">
-         <item>
-          <widget class="QPlainTextEdit" name="tcpHubplainTextEdit"/>
-         </item>
-         <item>
-          <spacer name="verticalSpacer_2">
-           <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 class="QPlainTextEdit" name="tcpHubplainTextEdit">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Expanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="readOnly">
+          <bool>true</bool>
+         </property>
+        </widget>
        </item>
       </layout>
      </widget>
diff --git a/tcphub.cpp b/tcphub.cpp
index 4bc6345a3..1464193e9 100644
--- a/tcphub.cpp
+++ b/tcphub.cpp
@@ -1,23 +1,47 @@
+/*
+    Copyright 2022 Benjamin Vedder	benjamin@vedder.se
+    Copyright 2022 Joel Svensson    svenssonjoel@yahoo.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
 #include "tcphub.h"
 #include <QDateTime>
+#include <QEventLoop>
+#include <QtDebug>
 
 TcpHub::TcpHub(QObject *parent)
     : QObject{parent}
 {
     mTcpHubServer = new QTcpServer(this);
     connect(mTcpHubServer, SIGNAL(newConnection()), this, SLOT(newTcpHubConnection()));
+}
 
-    mPeriodic = new QTimer(this);
-    connect(mPeriodic, SIGNAL(timeout()), this, SLOT(periodic()));
-    mPeriodic->start(1000);
+TcpHub::~TcpHub()
+{
+    QMapIterator<QString, TcpConnectedVesc*> i(mConnectedVescs);
+    while (i.hasNext()) {
+        i.next();
+        delete i.value();
+    }
 }
 
 bool TcpHub::start(int port, QHostAddress addr)
 {
-    if (!mTcpHubServer->listen(addr,  port)) {
-        return false;
-    }
-    return true;
+    return mTcpHubServer->listen(addr,  port);
 }
 
 void TcpHub::newTcpHubConnection()
@@ -25,13 +49,101 @@ void TcpHub::newTcpHubConnection()
     QTcpSocket *socket = mTcpHubServer->nextPendingConnection();
     socket->setSocketOption(QAbstractSocket::LowDelayOption, true);
 
-    QHostAddress addr = socket->peerAddress();
+    QEventLoop loop;
+    QTimer timeoutTimer;
+    timeoutTimer.setSingleShot(true);
+    timeoutTimer.start(5000);
+    auto conn = QObject::connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
 
-    qDebug() << "new connection to hub: " << addr.toString();
-}
+    QByteArray rxLine;
+    auto conn2 = connect(socket, &QTcpSocket::readyRead, [&rxLine,socket,&loop]() {
+        while (socket->bytesAvailable() > 0) {
+            QByteArray rxb = socket->read(1);
+            if (rxb.size() == 1) {
+                if (rxb[0] != '\n') {
+                    rxLine.append(rxb[0]);
+                } else {
+                    loop.quit();
+                }
+            } else {
+                break;
+            }
+        }
+    });
 
-void TcpHub::periodic()
-{
-    qDebug("periodic");
-}
+    loop.exec();
+
+    disconnect(conn);
+    disconnect(conn2);
 
+    if (!timeoutTimer.isActive()) {
+        socket->close();
+        socket->deleteLater();
+        qWarning() << "Waiting for connect string timed out";
+        return;
+    }
+
+    QString connStr(rxLine);
+    auto tokens = connStr.split(":");
+    if (tokens.size() == 3) {
+        auto type = tokens.at(0).toUpper().replace(" ", "");
+        auto uuid = tokens.at(1).toUpper().replace(" ", "");
+        auto pass = tokens.at(2);
+
+        if (type == "VESC") {
+            if (mConnectedVescs.contains(uuid)) {
+                delete mConnectedVescs[uuid];
+                mConnectedVescs.remove(uuid);
+            }
+
+            TcpConnectedVesc *v = new TcpConnectedVesc;
+            v->vescSocket = socket;
+            v->pass = pass;
+
+            mConnectedVescs.insert(uuid, v);
+            qDebug() << tr("VESC with UUID %1 connected").arg(uuid);
+            return;
+        } else if (type == "VESCTOOL") {
+            if (mConnectedVescs.contains(uuid)) {
+                TcpConnectedVesc *v = mConnectedVescs[uuid];
+                if (v->pass == pass) {
+                    if (v->vescToolSocket != nullptr) {
+                        v->vescSocket->close();
+                        v->vescToolSocket->deleteLater();
+                    }
+                    v->vescToolSocket = socket;
+
+                    connect(v->vescToolSocket, &QTcpSocket::readyRead, [v]() {
+                        if (v->vescSocket != nullptr && v->vescSocket->isOpen()) {
+                            v->vescSocket->write(v->vescToolSocket->readAll());
+                        }
+                    });
+
+                    connect(v->vescSocket, &QTcpSocket::readyRead, [v]() {
+                        if (v->vescToolSocket != nullptr && v->vescToolSocket->isOpen()) {
+                            v->vescToolSocket->write(v->vescSocket->readAll());
+                        }
+                    });
+
+                    connect(v->vescSocket, &QTcpSocket::disconnected, [v, uuid, this]() {
+                        delete v;
+                        mConnectedVescs.remove(uuid);
+                    });
+
+                    return;
+                } else {
+                    qWarning() << "Invalid password";
+                }
+            } else {
+                qWarning() << tr("No VESC with UUID %1 found").arg(uuid);
+            }
+        } else {
+            qWarning() << "Invalid connect string";
+        }
+    } else {
+        qWarning() << "Invalid connect string";
+    }
+
+    socket->close();
+    socket->deleteLater();
+}
diff --git a/tcphub.h b/tcphub.h
index 37355a58d..37a42d0ab 100644
--- a/tcphub.h
+++ b/tcphub.h
@@ -1,3 +1,23 @@
+/*
+    Copyright 2022 Benjamin Vedder	benjamin@vedder.se
+    Copyright 2022 Joel Svensson    svenssonjoel@yahoo.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
 #ifndef TCPHUB_H
 #define TCPHUB_H
 
@@ -6,34 +26,42 @@
 #include <QTcpServer>
 #include <QTcpSocket>
 #include <QTimer>
-#include "packet.h"
 
 /*
  *  - VESC connects to Server (HUB) and gets registered.
  *  - Timeout if no valid data from connected thing.
  *  - VESC sends its FW-info and a password message that gets associated with the TCP connection
- *    - Break out the FW_info command (assemble info) make callable form VESC_C_IF extension.
  *  - Connected vesc sends IM-ALIVE messages periodically.
  *
- *  - VESC_TOOL connects to server and and can list connected VESCS
+ *  - VESC_TOOL connects to server and asks if vesc id is online
  *  - VESC_TOOL can connect to a VESC, via the HUB, if it provides the correct password.
  *
  *  - If VESC_TOOL drops, reconnect if made avaialable again
  *  - If the VESC drops, kill connection.
  */
 
-class TcpConnectedVesc : public QObject
+struct TcpConnectedVesc
 {
-    Q_OBJECT
+    TcpConnectedVesc() {
+        vescSocket = nullptr;
+        vescToolSocket = nullptr;
+    }
 
-public:
-    explicit TcpConnectedVesc(QObject *parent = nullptr);
-    Packet *mPacket;
-    QTcpSocket *mTcpSocket;
+    ~TcpConnectedVesc() {
+        if (vescSocket != nullptr) {
+            vescSocket->close();
+            vescSocket->deleteLater();
+        }
 
-signals:
-    void connectionChanged(bool state, QHostAddress addr);
-public slots:
+        if (vescToolSocket != nullptr) {
+            vescToolSocket->close();
+            vescToolSocket->deleteLater();
+        }
+    }
+
+    QString pass;
+    QTcpSocket *vescSocket;
+    QTcpSocket *vescToolSocket;
 };
 
 class TcpHub : public QObject
@@ -41,20 +69,19 @@ class TcpHub : public QObject
     Q_OBJECT
 public:
     explicit TcpHub(QObject *parent = nullptr);
+    ~TcpHub();
+
     bool start(int port, QHostAddress addr = QHostAddress::Any);
 
 signals:
 
-public slots:
+private slots:
     void newTcpHubConnection();
-    void periodic();
 
 private:
-    QTimer *mPeriodic;
-
-    // Not entirely happy with a QString key. But QHostAddress is not possible.
-    QMap<QString, TcpConnectedVesc*> mTcpConnectedVescs;
+    QMap<QString, TcpConnectedVesc*> mConnectedVescs;
     QTcpServer *mTcpHubServer;
+
 };
 
 #endif // TCPHUB_H
diff --git a/vescinterface.cpp b/vescinterface.cpp
index 682b1ab57..d3f6454e8 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -81,6 +81,8 @@ VescInterface::VescInterface(QObject *parent) : QObject(parent)
     mLastConnType = static_cast<conn_t>(mSettings.value("connection_type", CONN_NONE).toInt());
     mLastTcpServer = mSettings.value("tcp_server", "127.0.0.1").toString();
     mLastTcpPort = mSettings.value("tcp_port", 65102).toInt();
+    mLastTcpHubVescID = mSettings.value("tcp_hub_vesc_id", "").toString();
+    mLastTcpHubVescPass = mSettings.value("tcp_hub_vesc_pass", "").toString();
     mLastUdpServer = QHostAddress(mSettings.value("udp_server", "127.0.0.1").toString());
     mLastUdpPort = mSettings.value("udp_port", 65102).toInt();
 
@@ -2099,7 +2101,7 @@ bool VescInterface::reconnectLastPort()
         return false;
 #endif
     } else if (mLastConnType == CONN_TCP) {
-        connectTcp(mLastTcpServer, mLastTcpPort);
+        connectTcpHub(mLastTcpServer, mLastTcpPort, mLastTcpHubVescID, mLastTcpHubVescPass);
         return true;
     } else if (mLastConnType == CONN_UDP) {
         connectUdp(mLastUdpServer.toString(), mLastUdpPort);
@@ -2437,33 +2439,20 @@ void VescInterface::setCANbusReceiverID(int node_ID)
 
 void VescInterface::connectTcp(QString server, int port)
 {
-    mLastTcpServer = server;
-    mLastTcpPort = port;
-
-    QHostAddress host;
-    host.setAddress(server);
-
-    // Try DNS lookup
-    if (host.isNull()) {
-        QList<QHostAddress> addresses = QHostInfo::fromName(server).addresses();
-
-        if (!addresses.isEmpty()) {
-            host.setAddress(addresses.first().toString());
-        }
-    }
-
-    mTcpSocket->abort();
-    mTcpSocket->connectToHost(host, port);
+    connectTcpHub(server, port, "", "");
 }
 
-void VescInterface::connectTcpHub(QString server, int port, QString id, QString pass) {
-
+void VescInterface::connectTcpHub(QString server, int port, QString id, QString pass)
+{
     mLastTcpServer = server;
     mLastTcpPort = port;
+    mLastTcpHubVescID = id;
+    mLastTcpHubVescPass = pass;
 
     QHostAddress host;
     host.setAddress(server);
 
+    // Try DNS lookup
     if (host.isNull()) {
         QList<QHostAddress> addresses = QHostInfo::fromName(server).addresses();
 
@@ -2471,10 +2460,9 @@ void VescInterface::connectTcpHub(QString server, int port, QString id, QString
             host.setAddress(addresses.first().toString());
         }
     }
+
     mTcpSocket->abort();
     mTcpSocket->connectToHost(host,port);
-    mTcpHubVescID = id;
-    mTcpHubVescPass = pass;
 }
 
 void VescInterface::connectUdp(QString server, int port)
@@ -2873,8 +2861,15 @@ void VescInterface::tcpInputConnected()
 {
     mTcpSocket->setSocketOption(QAbstractSocket::LowDelayOption, true);
 
+    if (!mLastTcpHubVescID.isEmpty()) {
+        QString login = QString("VESCTOOL:%1:%2\n").arg(mLastTcpHubVescID).arg(mLastTcpHubVescPass);
+        mTcpSocket->write(login.toLocal8Bit());
+    }
+
     mSettings.setValue("tcp_server", mLastTcpServer);
     mSettings.setValue("tcp_port", mLastTcpPort);
+    mSettings.setValue("tcp_hub_vesc_id", mLastTcpHubVescID);
+    mSettings.setValue("tcp_hub_vesc_pass", mLastTcpHubVescPass);
     setLastConnectionType(CONN_TCP);
 
     mTcpConnected = true;
@@ -3752,6 +3747,16 @@ void VescInterface::customConfigRx(int confId, QByteArray data)
     }
 }
 
+QString VescInterface::getLastTcpHubVescPass() const
+{
+    return mLastTcpHubVescPass;
+}
+
+QString VescInterface::getLastTcpHubVescID() const
+{
+    return mLastTcpHubVescID;
+}
+
 bool VescInterface::getFwSupportsConfiguration() const
 {
     return mFwSupportsConfiguration;
diff --git a/vescinterface.h b/vescinterface.h
index bf72b1948..617b8b81c 100755
--- a/vescinterface.h
+++ b/vescinterface.h
@@ -233,6 +233,8 @@ class VescInterface : public QObject
     Q_INVOKABLE QString qmlApp();
 
     Q_INVOKABLE void connectTcpHub(QString server, int port, QString id, QString pass);
+    Q_INVOKABLE QString getLastTcpHubVescID() const;
+    Q_INVOKABLE QString getLastTcpHubVescPass() const;
 
 signals:
     void statusMessage(const QString &msg, bool isGood);
@@ -369,6 +371,8 @@ private slots:
     bool mTcpConnected;
     QString mLastTcpServer;
     int mLastTcpPort;
+    QString mLastTcpHubVescID;
+    QString mLastTcpHubVescPass;
 
     QUdpSocket *mUdpSocket;
     bool mUdpConnected;
@@ -424,10 +428,6 @@ private slots:
     void updateFwRx(bool fwRx);
     void setLastConnectionType(conn_t type);
 
-    // TCP HUB Connection related
-    QString mTcpHubVescID;
-    QString mTcpHubVescPass;
-
 };
 
 #endif // VESCINTERFACE_H

From 5044b0805e3a4a596a2b4a485ea28e1c769c29f3 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 8 Oct 2022 19:45:45 +0200
Subject: [PATCH 197/559] Added tcp hub server mode, fixed some segfaults

---
 pages/pageconnection.cpp | 23 +++++++++++---
 pages/pageconnection.h   |  1 +
 pages/pageconnection.ui  | 67 +++++++++++++++++++++++++++++-----------
 tcphub.cpp               | 28 +++++++++++++----
 tcpserversimple.cpp      | 57 +++++++++++++++++++++++++++++++---
 tcpserversimple.h        |  1 +
 vescinterface.cpp        | 18 +++++++++++
 vescinterface.h          |  2 +-
 8 files changed, 164 insertions(+), 33 deletions(-)

diff --git a/pages/pageconnection.cpp b/pages/pageconnection.cpp
index 1d6dcc584..0513cc2b8 100644
--- a/pages/pageconnection.cpp
+++ b/pages/pageconnection.cpp
@@ -67,6 +67,7 @@ PageConnection::PageConnection(QWidget *parent) :
     ui->pairConnectedButton->setIcon(QPixmap(theme + "icons/Circled Play-96.png"));
     ui->tcpHubConnectButton->setIcon(QPixmap(theme + "icons/Connected-96.png"));
     ui->tcpHubDisconnectButton->setIcon(QPixmap(theme + "icons/Disconnected-96.png"));
+    ui->hubDefaultButton->setIcon(QPixmap(theme + "icons/Restart-96.png"));
 
     QIcon mycon = QIcon(theme + "icons/can_off.png");
     mycon.addPixmap(QPixmap(theme + "icons/can_off.png"), QIcon::Normal, QIcon::Off);
@@ -720,15 +721,29 @@ void PageConnection::on_tcpHubConnectButton_clicked()
     if (mVesc) {
         QString tcpServer = ui->tcpHubServerEdit->text();
         int tcpPort = ui->tcpHubPortBox->value();
-        mVesc->connectTcpHub(tcpServer, tcpPort,
-                             ui->tcpHubVescIdLineEdit->text().replace(" ", "").replace(":", "").toUpper(),
-                             ui->tcpHubVescPasswordLineEdit->text());
+        QString uuid = ui->tcpHubVescIdLineEdit->text().replace(" ", "").replace(":", "").toUpper();
+        QString pass = ui->tcpHubVescPasswordLineEdit->text();
+
+        if (ui->hubClientButton->isChecked()) {
+            mVesc->connectTcpHub(tcpServer, tcpPort, uuid, pass);
+        } else {
+            mVesc->tcpServerConnectToHub(tcpServer, tcpPort, uuid, pass);
+        }
     }
 }
 
 void PageConnection::on_tcpHubDisconnectButton_clicked()
 {
     if (mVesc) {
-        mVesc->disconnectPort();
+        if (ui->hubClientButton->isChecked()) {
+            mVesc->disconnectPort();
+        } else {
+            mVesc->tcpServerStop();
+        }
     }
 }
+
+void PageConnection::on_hubDefaultButton_clicked()
+{
+    ui->tcpHubServerEdit->setText("veschub.vedder.se");
+}
diff --git a/pages/pageconnection.h b/pages/pageconnection.h
index 3f24fe2e0..2ff7331b7 100644
--- a/pages/pageconnection.h
+++ b/pages/pageconnection.h
@@ -80,6 +80,7 @@ private slots:
     void on_tcpDetectDisconnectButton_clicked();
     void on_tcpHubConnectButton_clicked();
     void on_tcpHubDisconnectButton_clicked();
+    void on_hubDefaultButton_clicked();
 
 private:
     Ui::PageConnection *ui;
diff --git a/pages/pageconnection.ui b/pages/pageconnection.ui
index 2ea78d243..f7b20ebdb 100644
--- a/pages/pageconnection.ui
+++ b/pages/pageconnection.ui
@@ -901,7 +901,7 @@
        <item>
         <widget class="QGroupBox" name="groupBox_5">
          <property name="title">
-          <string>TCP Hub</string>
+          <string>Login Details</string>
          </property>
          <layout class="QGridLayout" name="gridLayout_2">
           <property name="leftMargin">
@@ -922,6 +922,16 @@
           <property name="verticalSpacing">
            <number>2</number>
           </property>
+          <item row="1" column="3" colspan="3">
+           <widget class="QRadioButton" name="hubClientButton">
+            <property name="text">
+             <string>Client</string>
+            </property>
+            <property name="checked">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
           <item row="0" column="0">
            <widget class="QLabel" name="label_9">
             <property name="text">
@@ -929,7 +939,7 @@
             </property>
            </widget>
           </item>
-          <item row="0" column="4">
+          <item row="0" column="5">
            <widget class="QPushButton" name="tcpHubConnectButton">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -949,10 +959,14 @@
             </property>
            </widget>
           </item>
-          <item row="1" column="1">
-           <widget class="QLineEdit" name="tcpHubVescIdLineEdit"/>
+          <item row="2" column="3" colspan="3">
+           <widget class="QRadioButton" name="hubServerButton">
+            <property name="text">
+             <string>Server</string>
+            </property>
+           </widget>
           </item>
-          <item row="0" column="3">
+          <item row="0" column="4">
            <widget class="QPushButton" name="tcpHubDisconnectButton">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -972,7 +986,7 @@
             </property>
            </widget>
           </item>
-          <item row="0" column="2">
+          <item row="0" column="3">
            <widget class="QSpinBox" name="tcpHubPortBox">
             <property name="prefix">
              <string>Port: </string>
@@ -999,9 +1013,6 @@
             </property>
            </widget>
           </item>
-          <item row="2" column="1">
-           <widget class="QLineEdit" name="tcpHubVescPasswordLineEdit"/>
-          </item>
           <item row="1" column="0">
            <widget class="QLabel" name="label_10">
             <property name="text">
@@ -1009,21 +1020,41 @@
             </property>
            </widget>
           </item>
+          <item row="0" column="2">
+           <widget class="QPushButton" name="hubDefaultButton">
+            <property name="toolTip">
+             <string>Restore default</string>
+            </property>
+            <property name="text">
+             <string/>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Restart-96.png</normaloff>:/res/icons/Restart-96.png</iconset>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1" colspan="2">
+           <widget class="QLineEdit" name="tcpHubVescIdLineEdit"/>
+          </item>
+          <item row="2" column="1" colspan="2">
+           <widget class="QLineEdit" name="tcpHubVescPasswordLineEdit"/>
+          </item>
          </layout>
         </widget>
        </item>
        <item>
-        <widget class="QPlainTextEdit" name="tcpHubplainTextEdit">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Expanding" vsizetype="MinimumExpanding">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
+        <spacer name="verticalSpacer_2">
+         <property name="orientation">
+          <enum>Qt::Vertical</enum>
          </property>
-         <property name="readOnly">
-          <bool>true</bool>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>40</height>
+          </size>
          </property>
-        </widget>
+        </spacer>
        </item>
       </layout>
      </widget>
diff --git a/tcphub.cpp b/tcphub.cpp
index 1464193e9..f7f186af8 100644
--- a/tcphub.cpp
+++ b/tcphub.cpp
@@ -90,6 +90,13 @@ void TcpHub::newTcpHubConnection()
         auto uuid = tokens.at(1).toUpper().replace(" ", "");
         auto pass = tokens.at(2);
 
+        if (uuid.length() < 3) {
+            qWarning() << "Too short UUID";
+            socket->close();
+            socket->deleteLater();
+            return;
+        }
+
         if (type == "VESC") {
             if (mConnectedVescs.contains(uuid)) {
                 delete mConnectedVescs[uuid];
@@ -99,8 +106,16 @@ void TcpHub::newTcpHubConnection()
             TcpConnectedVesc *v = new TcpConnectedVesc;
             v->vescSocket = socket;
             v->pass = pass;
-
             mConnectedVescs.insert(uuid, v);
+
+            connect(v->vescSocket, &QTcpSocket::disconnected, [v, uuid, this]() {
+                qDebug() << tr("VESC with UUID %1 disconnected").arg(uuid);
+                mConnectedVescs.remove(uuid);
+                QTimer::singleShot(0, [v]() {
+                    delete v;
+                });
+            });
+
             qDebug() << tr("VESC with UUID %1 connected").arg(uuid);
             return;
         } else if (type == "VESCTOOL") {
@@ -108,7 +123,7 @@ void TcpHub::newTcpHubConnection()
                 TcpConnectedVesc *v = mConnectedVescs[uuid];
                 if (v->pass == pass) {
                     if (v->vescToolSocket != nullptr) {
-                        v->vescSocket->close();
+                        v->vescToolSocket->close();
                         v->vescToolSocket->deleteLater();
                     }
                     v->vescToolSocket = socket;
@@ -125,14 +140,15 @@ void TcpHub::newTcpHubConnection()
                         }
                     });
 
-                    connect(v->vescSocket, &QTcpSocket::disconnected, [v, uuid, this]() {
-                        delete v;
-                        mConnectedVescs.remove(uuid);
+                    connect(v->vescToolSocket, &QTcpSocket::disconnected, [uuid]() {
+                        qDebug() << "VESC Tool disconnected from" << uuid;
                     });
 
+                    qDebug() << "VESC Tool connected to" << uuid;
+
                     return;
                 } else {
-                    qWarning() << "Invalid password";
+                    qWarning() << "Invalid password" << pass << v->pass;
                 }
             } else {
                 qWarning() << tr("No VESC with UUID %1 found").arg(uuid);
diff --git a/tcpserversimple.cpp b/tcpserversimple.cpp
index cf3f77f0f..bb3569ca0 100644
--- a/tcpserversimple.cpp
+++ b/tcpserversimple.cpp
@@ -19,6 +19,9 @@
 
 #include "tcpserversimple.h"
 #include <QDebug>
+#include <QHostInfo>
+#include <QEventLoop>
+#include <QTimer>
 
 TcpServerSimple::TcpServerSimple(QObject *parent) : QObject(parent)
 {
@@ -34,11 +37,57 @@ TcpServerSimple::TcpServerSimple(QObject *parent) : QObject(parent)
 
 bool TcpServerSimple::startServer(int port, QHostAddress addr)
 {
-    if (!mTcpServer->listen(addr,  port)) {
-        return false;
+    return mTcpServer->listen(addr,  port);
+}
+
+bool TcpServerSimple::connectToHub(QString server, int port, QString id, QString pass)
+{
+    QHostAddress host;
+    host.setAddress(server);
+
+    // Try DNS lookup
+    if (host.isNull()) {
+        QList<QHostAddress> addresses = QHostInfo::fromName(server).addresses();
+
+        if (!addresses.isEmpty()) {
+            host.setAddress(addresses.first().toString());
+        }
     }
 
-    return true;
+    stopServer();
+
+    mTcpSocket = new QTcpSocket(this);
+    mTcpSocket->connectToHost(host, port);
+
+    QEventLoop loop;
+    QTimer timeoutTimer;
+    timeoutTimer.setSingleShot(true);
+    timeoutTimer.start(3000);
+    auto conn = QObject::connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
+
+    connect(mTcpSocket, &QTcpSocket::connected, [&id, &pass, this, &loop]() {
+        QString login = QString("VESC:%1:%2\n").arg(id).arg(pass);
+        mTcpSocket->write(login.toLocal8Bit());
+        loop.quit();
+    });
+
+    loop.exec();
+    disconnect(conn);
+
+    if (timeoutTimer.isActive()) {
+        connect(mTcpSocket, SIGNAL(readyRead()), this, SLOT(tcpInputDataAvailable()));
+        connect(mTcpSocket, SIGNAL(disconnected()),
+                this, SLOT(tcpInputDisconnected()));
+        connect(mTcpSocket, SIGNAL(error(QAbstractSocket::SocketError)),
+                this, SLOT(tcpInputError(QAbstractSocket::SocketError)));
+        emit connectionChanged(true, mTcpSocket->peerAddress().toString());
+        return true;
+    } else {
+        qWarning() << "Connection timed out";
+    }
+
+    stopServer();
+    return false;
 }
 
 void TcpServerSimple::stopServer()
@@ -101,7 +150,7 @@ void TcpServerSimple::tcpInputDisconnected()
 {
     emit connectionChanged(false, mTcpSocket->peerAddress().toString());
     mTcpSocket->deleteLater();
-    mTcpSocket = 0;
+    mTcpSocket = nullptr;
 }
 
 void TcpServerSimple::tcpInputDataAvailable()
diff --git a/tcpserversimple.h b/tcpserversimple.h
index 22dac7a21..16a619729 100644
--- a/tcpserversimple.h
+++ b/tcpserversimple.h
@@ -31,6 +31,7 @@ class TcpServerSimple : public QObject
 public:
     explicit TcpServerSimple(QObject *parent = nullptr);
     Q_INVOKABLE bool startServer(int port, QHostAddress addr = QHostAddress::Any);
+    Q_INVOKABLE bool connectToHub(QString server, int port, QString id, QString pass);
     Q_INVOKABLE void stopServer();
     Q_INVOKABLE bool sendData(const QByteArray &data);
     Q_INVOKABLE QString errorString();
diff --git a/vescinterface.cpp b/vescinterface.cpp
index d3f6454e8..ee932d090 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -2673,6 +2673,24 @@ QString VescInterface::tcpServerClientIp()
     return mTcpServer->getConnectedClientIp();
 }
 
+bool VescInterface::tcpServerConnectToHub(QString server, int port, QString id, QString pass)
+{
+    bool res = mTcpServer->connectToHub(server, port, id, pass);
+
+    mLastTcpServer = server;
+    mLastTcpPort = port;
+    mLastTcpHubVescID = id;
+    mLastTcpHubVescPass = pass;
+
+    if (!res) {
+        emitMessageDialog("Connecto to Hub",
+                          "Could not connect to hub",
+                          false, false);
+    }
+
+    return res;
+}
+
 bool VescInterface::udpServerStart(int port)
 {
     bool res = mUdpServer->startServer(port);
diff --git a/vescinterface.h b/vescinterface.h
index 617b8b81c..f2af95734 100755
--- a/vescinterface.h
+++ b/vescinterface.h
@@ -158,7 +158,6 @@ class VescInterface : public QObject
     Q_INVOKABLE bool speedGaugeUseNegativeValues();
     Q_INVOKABLE void setSpeedGaugeUseNegativeValues(bool useNegativeValues);
 
-
 #ifdef HAS_BLUETOOTH
     Q_INVOKABLE BleUart* bleDevice();
     Q_INVOKABLE void storeBleName(QString address, QString name);
@@ -199,6 +198,7 @@ class VescInterface : public QObject
     Q_INVOKABLE bool tcpServerIsRunning();
     Q_INVOKABLE bool tcpServerIsClientConnected();
     Q_INVOKABLE QString tcpServerClientIp();
+    Q_INVOKABLE bool tcpServerConnectToHub(QString server, int port, QString id, QString pass);
 
     Q_INVOKABLE bool udpServerStart(int port);
     Q_INVOKABLE void udpServerStop();

From f00712d40ec93a12adc4f86e72548f2215d07d13 Mon Sep 17 00:00:00 2001
From: Mitch Lustig <Mitchlol@users.noreply.github.com>
Date: Mon, 10 Oct 2022 05:38:06 -0500
Subject: [PATCH 198/559] Split accel filter by axis, and change to 16bit value
 (#251)

---
 res/config/6.00/parameters_appconf.xml | 74 ++++++++++++++++++++++----
 1 file changed, 65 insertions(+), 9 deletions(-)

diff --git a/res/config/6.00/parameters_appconf.xml b/res/config/6.00/parameters_appconf.xml
index 677366122..3526ccc5a 100644
--- a/res/config/6.00/parameters_appconf.xml
+++ b/res/config/6.00/parameters_appconf.xml
@@ -3719,8 +3719,8 @@ p, li { white-space: pre-wrap; }
             <enumNames>IMU_FILTER_MEDIUM</enumNames>
             <enumNames>IMU_FILTER_HIGH</enumNames>
         </imu_conf.filter>
-        <imu_conf.accel_lowpass_filter>
-            <longName>Accel lowpass filter</longName>
+        <imu_conf.accel_lowpass_filter_x>
+            <longName>Accel lowpass filter X</longName>
             <type>1</type>
             <transmittable>1</transmittable>
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -3729,11 +3729,11 @@ p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Accelerometer lowpass filter&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Biquad lowpass filter applied to all 3 axes. This is run on the ESC and will be applied regardless of IMU model.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Biquad lowpass filter applied to X axis. This is run on the ESC and will be applied regardless of IMU model.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Setting the filter to 0Hz will disable it.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_IMU_ACCEL_LOWPASS_FILTER</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <cDefine>APPCONF_IMU_ACCEL_LOWPASS_FILTER_X</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
             <maxDouble>1000</maxDouble>
@@ -3743,8 +3743,60 @@ p, li { white-space: pre-wrap; }
             <valDouble>0</valDouble>
             <vTxDoubleScale>1</vTxDoubleScale>
             <suffix> Hz</suffix>
-            <vTx>9</vTx>
-        </imu_conf.accel_lowpass_filter>
+            <vTx>7</vTx>
+        </imu_conf.accel_lowpass_filter_x>
+        <imu_conf.accel_lowpass_filter_y>
+            <longName>Accel lowpass filter Y</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Accelerometer lowpass filter&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Biquad lowpass filter applied to Y axis. This is run on the ESC and will be applied regardless of IMU model.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Setting the filter to 0Hz will disable it.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_ACCEL_LOWPASS_FILTER_Y</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> Hz</suffix>
+            <vTx>7</vTx>
+        </imu_conf.accel_lowpass_filter_y>
+        <imu_conf.accel_lowpass_filter_z>
+            <longName>Accel lowpass filter Z</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Accelerometer lowpass filter&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Biquad lowpass filter applied to Z axis. This is run on the ESC and will be applied regardless of IMU model.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Setting the filter to 0Hz will disable it.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_ACCEL_LOWPASS_FILTER_Z</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> Hz</suffix>
+            <vTx>7</vTx>
+        </imu_conf.accel_lowpass_filter_z>
         <imu_conf.sample_rate_hz>
             <longName>Sample Rate</longName>
             <type>2</type>
@@ -4233,7 +4285,9 @@ p, li { white-space: pre-wrap; }
         <ser>imu_conf.type</ser>
         <ser>imu_conf.mode</ser>
         <ser>imu_conf.filter</ser>
-        <ser>imu_conf.accel_lowpass_filter</ser>
+        <ser>imu_conf.accel_lowpass_filter_x</ser>
+        <ser>imu_conf.accel_lowpass_filter_y</ser>
+        <ser>imu_conf.accel_lowpass_filter_z</ser>
         <ser>imu_conf.sample_rate_hz</ser>
         <ser>imu_conf.use_magnetometer</ser>
         <ser>imu_conf.accel_confidence_decay</ser>
@@ -4551,7 +4605,9 @@ p, li { white-space: pre-wrap; }
                     <param>imu_conf.use_magnetometer</param>
                     <param>imu_conf.sample_rate_hz</param>
                     <param>imu_conf.filter</param>
-                    <param>imu_conf.accel_lowpass_filter</param>
+                    <param>imu_conf.accel_lowpass_filter_x</param>
+                    <param>imu_conf.accel_lowpass_filter_y</param>
+                    <param>imu_conf.accel_lowpass_filter_z</param>
                     <param>::sep::AHRS</param>
                     <param>imu_conf.mode</param>
                     <param>imu_conf.accel_confidence_decay</param>

From 4fcc1284e07589e4052dfc933e101e12485ebe34 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 10 Oct 2022 15:21:28 +0200
Subject: [PATCH 199/559] Fixed qml string editor

---
 mobile/ParamEditString.qml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/mobile/ParamEditString.qml b/mobile/ParamEditString.qml
index fd0ed723e..93683488b 100644
--- a/mobile/ParamEditString.qml
+++ b/mobile/ParamEditString.qml
@@ -29,7 +29,7 @@ Item {
     id: editor
     property string paramName: ""
     property ConfigParams params: null
-    height: column.implicitHeight + 2 * column.anchors.margins
+    height: 140
     Layout.fillWidth: true
     property real maxVal: 1.0
 
@@ -38,7 +38,7 @@ Item {
             nameText.text = params.getLongName(paramName)
             stringInput.text = params.getParamQString(paramName)
 
-            var maxLen = params.getParamMaxLen()
+            var maxLen = params.getParamMaxLen(paramName)
             if (maxLen > 0) {
                 stringInput.maximumLength = maxLen
             }

From 51f9510f41dbc3921c02da913e8b09c3fcae0777 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 10 Oct 2022 15:31:20 +0200
Subject: [PATCH 200/559] Clear fw-list when hw-list changes

---
 mobile/FwUpdate.qml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/mobile/FwUpdate.qml b/mobile/FwUpdate.qml
index 2cd2cd02e..e85ff0bd6 100755
--- a/mobile/FwUpdate.qml
+++ b/mobile/FwUpdate.qml
@@ -517,6 +517,7 @@ Item {
         var hws = fwHelper.getHardwares(params, params.hw)
 
         hwItems.clear()
+        fwItems.clear()
 
         for (var name in hws) {
             if (name.indexOf("412") !== -1) {

From 9d96159504b996609a59233c3b84f0016bcfd5bd Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 11 Oct 2022 10:46:45 +0200
Subject: [PATCH 201/559] TCP hub fixes

---
 pages/pageconnection.cpp |  5 +--
 tcphub.cpp               |  3 +-
 vescinterface.cpp        | 67 ++++++++++++++++++++++++++++++----------
 vescinterface.h          |  5 +++
 4 files changed, 60 insertions(+), 20 deletions(-)

diff --git a/pages/pageconnection.cpp b/pages/pageconnection.cpp
index 0513cc2b8..bbc1057e2 100644
--- a/pages/pageconnection.cpp
+++ b/pages/pageconnection.cpp
@@ -124,8 +124,8 @@ void PageConnection::setVesc(VescInterface *vesc)
     ui->udpServerEdit->setText(mVesc->getLastUdpServer());
     ui->udpPortBox->setValue(mVesc->getLastUdpPort());
 
-    ui->tcpHubServerEdit->setText(mVesc->getLastTcpServer());
-    ui->tcpHubPortBox->setValue(mVesc->getLastTcpPort());
+    ui->tcpHubServerEdit->setText(mVesc->getLastTcpHubServer());
+    ui->tcpHubPortBox->setValue(mVesc->getLastTcpHubPort());
     ui->tcpHubVescIdLineEdit->setText(mVesc->getLastTcpHubVescID());
     ui->tcpHubVescPasswordLineEdit->setText(mVesc->getLastTcpHubVescPass());
 
@@ -746,4 +746,5 @@ void PageConnection::on_tcpHubDisconnectButton_clicked()
 void PageConnection::on_hubDefaultButton_clicked()
 {
     ui->tcpHubServerEdit->setText("veschub.vedder.se");
+    ui->tcpHubPortBox->setValue(65101);
 }
diff --git a/tcphub.cpp b/tcphub.cpp
index f7f186af8..2117d78ba 100644
--- a/tcphub.cpp
+++ b/tcphub.cpp
@@ -99,8 +99,7 @@ void TcpHub::newTcpHubConnection()
 
         if (type == "VESC") {
             if (mConnectedVescs.contains(uuid)) {
-                delete mConnectedVescs[uuid];
-                mConnectedVescs.remove(uuid);
+                mConnectedVescs[uuid]->vescSocket->close();
             }
 
             TcpConnectedVesc *v = new TcpConnectedVesc;
diff --git a/vescinterface.cpp b/vescinterface.cpp
index ee932d090..c995b5247 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -81,6 +81,8 @@ VescInterface::VescInterface(QObject *parent) : QObject(parent)
     mLastConnType = static_cast<conn_t>(mSettings.value("connection_type", CONN_NONE).toInt());
     mLastTcpServer = mSettings.value("tcp_server", "127.0.0.1").toString();
     mLastTcpPort = mSettings.value("tcp_port", 65102).toInt();
+    mLastTcpHubServer = mSettings.value("tcp_hub_server", "veschub.vedder.se").toString();
+    mLastTcpHubPort = mSettings.value("tcp_hub_port", 65101).toInt();
     mLastTcpHubVescID = mSettings.value("tcp_hub_vesc_id", "").toString();
     mLastTcpHubVescPass = mSettings.value("tcp_hub_vesc_pass", "").toString();
     mLastUdpServer = QHostAddress(mSettings.value("udp_server", "127.0.0.1").toString());
@@ -2101,7 +2103,10 @@ bool VescInterface::reconnectLastPort()
         return false;
 #endif
     } else if (mLastConnType == CONN_TCP) {
-        connectTcpHub(mLastTcpServer, mLastTcpPort, mLastTcpHubVescID, mLastTcpHubVescPass);
+        connectTcp(mLastTcpServer, mLastTcpPort);
+        return true;
+    } else if (mLastConnType == CONN_TCP_HUB) {
+        connectTcpHub(mLastTcpHubServer, mLastTcpHubPort, mLastTcpHubVescID, mLastTcpHubVescPass);
         return true;
     } else if (mLastConnType == CONN_UDP) {
         connectUdp(mLastUdpServer.toString(), mLastUdpPort);
@@ -2439,13 +2444,29 @@ void VescInterface::setCANbusReceiverID(int node_ID)
 
 void VescInterface::connectTcp(QString server, int port)
 {
-    connectTcpHub(server, port, "", "");
+    mLastTcpServer = server;
+    mLastTcpPort = port;
+
+    QHostAddress host;
+    host.setAddress(server);
+
+    // Try DNS lookup
+    if (host.isNull()) {
+        QList<QHostAddress> addresses = QHostInfo::fromName(server).addresses();
+
+        if (!addresses.isEmpty()) {
+            host.setAddress(addresses.first().toString());
+        }
+    }
+
+    mTcpSocket->abort();
+    mTcpSocket->connectToHost(host,port);
 }
 
 void VescInterface::connectTcpHub(QString server, int port, QString id, QString pass)
 {
-    mLastTcpServer = server;
-    mLastTcpPort = port;
+    mLastTcpHubServer = server;
+    mLastTcpHubPort = port;
     mLastTcpHubVescID = id;
     mLastTcpHubVescPass = pass;
 
@@ -2677,12 +2698,12 @@ bool VescInterface::tcpServerConnectToHub(QString server, int port, QString id,
 {
     bool res = mTcpServer->connectToHub(server, port, id, pass);
 
-    mLastTcpServer = server;
-    mLastTcpPort = port;
-    mLastTcpHubVescID = id;
-    mLastTcpHubVescPass = pass;
-
-    if (!res) {
+    if (res) {
+        mLastTcpHubServer = server;
+        mLastTcpHubPort = port;
+        mLastTcpHubVescID = id;
+        mLastTcpHubVescPass = pass;
+    } else {
         emitMessageDialog("Connecto to Hub",
                           "Could not connect to hub",
                           false, false);
@@ -2882,13 +2903,17 @@ void VescInterface::tcpInputConnected()
     if (!mLastTcpHubVescID.isEmpty()) {
         QString login = QString("VESCTOOL:%1:%2\n").arg(mLastTcpHubVescID).arg(mLastTcpHubVescPass);
         mTcpSocket->write(login.toLocal8Bit());
-    }
 
-    mSettings.setValue("tcp_server", mLastTcpServer);
-    mSettings.setValue("tcp_port", mLastTcpPort);
-    mSettings.setValue("tcp_hub_vesc_id", mLastTcpHubVescID);
-    mSettings.setValue("tcp_hub_vesc_pass", mLastTcpHubVescPass);
-    setLastConnectionType(CONN_TCP);
+        mSettings.setValue("tcp_hub_server", mLastTcpHubServer);
+        mSettings.setValue("tcp_hub_port", mLastTcpHubPort);
+        mSettings.setValue("tcp_hub_vesc_id", mLastTcpHubVescID);
+        mSettings.setValue("tcp_hub_vesc_pass", mLastTcpHubVescPass);
+        setLastConnectionType(CONN_TCP_HUB);
+    } else {
+        mSettings.setValue("tcp_server", mLastTcpServer);
+        mSettings.setValue("tcp_port", mLastTcpPort);
+        setLastConnectionType(CONN_TCP);
+    }
 
     mTcpConnected = true;
     updateFwRx(false);
@@ -3765,6 +3790,16 @@ void VescInterface::customConfigRx(int confId, QByteArray data)
     }
 }
 
+int VescInterface::getLastTcpHubPort() const
+{
+    return mLastTcpHubPort;
+}
+
+QString VescInterface::getLastTcpHubServer() const
+{
+    return mLastTcpHubServer;
+}
+
 QString VescInterface::getLastTcpHubVescPass() const
 {
     return mLastTcpHubVescPass;
diff --git a/vescinterface.h b/vescinterface.h
index f2af95734..95e7c58bf 100755
--- a/vescinterface.h
+++ b/vescinterface.h
@@ -235,6 +235,8 @@ class VescInterface : public QObject
     Q_INVOKABLE void connectTcpHub(QString server, int port, QString id, QString pass);
     Q_INVOKABLE QString getLastTcpHubVescID() const;
     Q_INVOKABLE QString getLastTcpHubVescPass() const;
+    Q_INVOKABLE QString getLastTcpHubServer() const;
+    Q_INVOKABLE int getLastTcpHubPort() const;
 
 signals:
     void statusMessage(const QString &msg, bool isGood);
@@ -300,6 +302,7 @@ private slots:
         CONN_TCP,
         CONN_BLE,
         CONN_UDP,
+        CONN_TCP_HUB,
     } conn_t;
 
     QSettings mSettings;
@@ -371,6 +374,8 @@ private slots:
     bool mTcpConnected;
     QString mLastTcpServer;
     int mLastTcpPort;
+    QString mLastTcpHubServer;
+    int mLastTcpHubPort;
     QString mLastTcpHubVescID;
     QString mLastTcpHubVescPass;
 

From 2259222599e0670119ba0677b91f562246804261 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 11 Oct 2022 19:16:29 +0200
Subject: [PATCH 202/559] Added tcp-bridge to mobile ui

---
 mobile/StartPage.qml |  11 ++-
 mobile/TcpBox.qml    |   1 -
 mobile/TcpHubBox.qml | 195 +++++++++++++++++++++++++++++++++++++++++++
 mobile/qml.qrc       |   1 +
 res/CHANGELOG        |   1 +
 utility.cpp          |  20 +++++
 utility.h            |   1 +
 vesc_tool.pro        |   2 +-
 8 files changed, 229 insertions(+), 3 deletions(-)
 create mode 100644 mobile/TcpHubBox.qml

diff --git a/mobile/StartPage.qml b/mobile/StartPage.qml
index 21a9654d9..911af44cf 100644
--- a/mobile/StartPage.qml
+++ b/mobile/StartPage.qml
@@ -306,13 +306,22 @@ Item {
 
             GroupBox {
                 title: qsTr("Wireless Bridge to Computer (TCP)")
-                Layout.bottomMargin: isHorizontal ? 0 : 10
                 Layout.fillWidth: true
 
                 TcpBox {
                     anchors.fill: parent
                 }
             }
+
+            GroupBox {
+                title: qsTr("TCP Hub (Internet Bridge)")
+                Layout.bottomMargin: isHorizontal ? 0 : 10
+                Layout.fillWidth: true
+
+                TcpHubBox {
+                    anchors.fill: parent
+                }
+            }
         }
     }
 
diff --git a/mobile/TcpBox.qml b/mobile/TcpBox.qml
index 669ae2b8d..e8789c946 100644
--- a/mobile/TcpBox.qml
+++ b/mobile/TcpBox.qml
@@ -20,7 +20,6 @@
 import QtQuick 2.7
 import QtQuick.Controls 2.2
 import QtQuick.Layouts 1.3
-import Qt.labs.settings 1.0 as QSettings
 
 import Vedder.vesc.vescinterface 1.0
 import Vedder.vesc.utility 1.0
diff --git a/mobile/TcpHubBox.qml b/mobile/TcpHubBox.qml
new file mode 100644
index 000000000..c61874676
--- /dev/null
+++ b/mobile/TcpHubBox.qml
@@ -0,0 +1,195 @@
+/*
+    Copyright 2022 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+import QtQuick 2.7
+import QtQuick.Controls 2.2
+import QtQuick.Layouts 1.3
+import Qt.labs.settings 1.0 as QSettings
+
+import Vedder.vesc.vescinterface 1.0
+import Vedder.vesc.utility 1.0
+
+Item {
+    implicitHeight: grid.implicitHeight
+
+    GridLayout {
+        id: grid
+        anchors.topMargin: -5
+        anchors.bottomMargin: -5
+        anchors.fill: parent
+
+        clip: false
+        visible: true
+        rowSpacing: -10
+        columnSpacing: 5
+        columns: 2
+
+        CheckBox {
+            id: enableBox
+            text: "Connect Hub"
+            Layout.fillWidth: true
+            Layout.columnSpan: 2
+
+            onClicked: {
+                if (checked) {
+                    VescIf.tcpServerConnectToHub(
+                                serverText.text,
+                                portBox.value,
+                                idText.text,
+                                passText.text)
+                } else {
+                    VescIf.tcpServerStop()
+                }
+            }
+        }
+
+        Text {
+            text: "Server"
+            color: Utility.getAppHexColor("lightText")
+            Layout.fillWidth: false
+        }
+
+        Rectangle {
+            Layout.fillWidth: true
+            Layout.topMargin: 6
+            Layout.bottomMargin: 6
+            height: serverText.implicitHeight + 14
+            border.width: 2
+            border.color: Utility.getAppHexColor("disabledText")
+            color: Utility.getAppHexColor("normalBackground")
+            radius: 3
+            enabled: !enableBox.checked
+
+            TextInput {
+                color: Utility.getAppHexColor("lightText")
+                id: serverText
+                anchors.fill: parent
+                anchors.margins: 7
+                font.pointSize: 12
+                text: "veschub.vedder.se"
+                clip: true
+                QSettings.Settings {
+                    property alias tcp_hub_server: serverText.text
+                }
+            }
+        }
+
+        Text {
+            text: "TCP Port"
+            color: Utility.getAppHexColor("lightText")
+            Layout.fillWidth: false
+        }
+
+        SpinBox {
+            id: portBox
+            from: 0
+            to: 65535
+            value: 65101
+            enabled: !enableBox.checked
+            Layout.fillWidth: true
+            editable: true
+        }
+
+        Text {
+            text: "VESC ID"
+            color: Utility.getAppHexColor("lightText")
+            Layout.fillWidth: false
+        }
+
+        Rectangle {
+            Layout.fillWidth: true
+            Layout.topMargin: 6
+            Layout.bottomMargin: 6
+            height: idText.implicitHeight + 14
+            border.width: 2
+            border.color: Utility.getAppHexColor("disabledText")
+            color: Utility.getAppHexColor("normalBackground")
+            radius: 3
+            enabled: !enableBox.checked
+
+            TextInput {
+                color: Utility.getAppHexColor("lightText")
+                id: idText
+                anchors.fill: parent
+                anchors.margins: 7
+                font.pointSize: 12
+                text: ""
+                clip: true
+                QSettings.Settings {
+                    property alias tcp_hub_vesc_id: idText.text
+                }
+            }
+        }
+
+        Text {
+            text: "Password"
+            color: Utility.getAppHexColor("lightText")
+            Layout.fillWidth: false
+        }
+
+        Rectangle {
+            Layout.fillWidth: true
+            Layout.topMargin: 6
+            Layout.bottomMargin: 6
+            height: passText.implicitHeight + 14
+            border.width: 2
+            border.color: Utility.getAppHexColor("disabledText")
+            color: Utility.getAppHexColor("normalBackground")
+            radius: 3
+            enabled: !enableBox.checked
+
+            TextInput {
+                color: Utility.getAppHexColor("lightText")
+                id: passText
+                anchors.fill: parent
+                anchors.margins: 7
+                font.pointSize: 12
+                text: ""
+                clip: true
+                QSettings.Settings {
+                    property alias tcp_hub_vesc_pass: passText.text
+                }
+            }
+        }
+
+        Button {
+            Layout.topMargin: 5
+            Layout.columnSpan: 2
+            Layout.fillWidth: true
+            text: "Reset Defaults"
+            enabled: !enableBox.checked
+
+            onClicked: {
+                serverText.text = "veschub.vedder.se"
+                portBox.value = 65101
+                idText.text = Utility.strCrc32(VescIf.getConnectedUuid())
+            }
+        }
+
+        Timer {
+            repeat: true
+            running: true
+            interval: 500
+
+            onTriggered: {
+                enableBox.checked = VescIf.tcpServerIsClientConnected()
+            }
+        }
+    }
+}
diff --git a/mobile/qml.qrc b/mobile/qml.qrc
index 81414d639..a18614e1e 100644
--- a/mobile/qml.qrc
+++ b/mobile/qml.qrc
@@ -58,5 +58,6 @@
         <file>BleSetupDialog.qml</file>
         <file>ParamEditBitfield.qml</file>
         <file>ConfigPageCustom.qml</file>
+        <file>TcpHubBox.qml</file>
     </qresource>
 </RCC>
diff --git a/res/CHANGELOG b/res/CHANGELOG
index 2ec09a207..206356a5a 100644
--- a/res/CHANGELOG
+++ b/res/CHANGELOG
@@ -12,6 +12,7 @@
 * Added VESC UDP broadcast listener.
 * Added VESC package creation and loading support.
 * Added VESC package store. See https://github.com/vedderb/vesc_pkg
+* Added TCP bridge.
 
 == 3.01 ==
 * Fixed simultaneous CAN FW upload when other devices (such as BMS) are on the CAN-bus.
diff --git a/utility.cpp b/utility.cpp
index ac5bf38f8..d0e389dea 100755
--- a/utility.cpp
+++ b/utility.cpp
@@ -1573,6 +1573,26 @@ bool Utility::isBleScanEnabled()
 #endif
 }
 
+QString Utility::strCrc32(QString str)
+{
+    uint32_t crc = 0xFFFFFFFF;
+    auto data = str.toLocal8Bit();
+
+    for (auto b: data) {
+        uint32_t byte = quint8(b);
+        crc = crc ^ byte;
+
+        for (int j = 7;j >= 0;j--) {
+            uint32_t mask = -(crc & 1);
+            crc = (crc >> 1) ^ (0x82F63B78 & mask);
+        }
+    }
+
+    crc = ~crc;
+
+    return QString::number(crc);
+}
+
 void Utility::llhToXyz(double lat, double lon, double height, double *x, double *y, double *z)
 {
     double sinp = sin(lat * M_PI / 180.0);
diff --git a/utility.h b/utility.h
index d9f1e17b3..07c5da326 100644
--- a/utility.h
+++ b/utility.h
@@ -88,6 +88,7 @@ class Utility : public QObject
     Q_INVOKABLE static void startGnssForegroundService();
     Q_INVOKABLE static void stopGnssForegroundService();
     Q_INVOKABLE static bool isBleScanEnabled();
+    Q_INVOKABLE static QString strCrc32(QString str);
 
     static void llhToXyz(double lat, double lon, double height, double *x, double *y, double *z);
     static void xyzToLlh(double x, double y, double z, double *lat, double *lon, double *height);
diff --git a/vesc_tool.pro b/vesc_tool.pro
index d356e09e4..b65d90525 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -10,7 +10,7 @@ VT_INTRO_VERSION = 1
 VT_CONFIG_VERSION = 2
 
 # Set to 0 for stable versions and to test version number for development versions.
-VT_IS_TEST_VERSION = 8
+VT_IS_TEST_VERSION = 9
 
 VT_ANDROID_VERSION_ARMV7 = 108
 VT_ANDROID_VERSION_ARM64 = 109

From e16670694438459cca018d5e2be93fee9e8ee680 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 11 Oct 2022 19:46:48 +0200
Subject: [PATCH 203/559] TCP connect fix

---
 vescinterface.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/vescinterface.cpp b/vescinterface.cpp
index c995b5247..48aa1c9b0 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -2446,6 +2446,8 @@ void VescInterface::connectTcp(QString server, int port)
 {
     mLastTcpServer = server;
     mLastTcpPort = port;
+    mLastTcpHubVescID = "";
+    mLastTcpHubVescPass = "";
 
     QHostAddress host;
     host.setAddress(server);

From 0464969abf631e11d7d63d78a69dedaea0d1c880 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 12 Oct 2022 14:25:52 +0200
Subject: [PATCH 204/559] Added tcphub ping and qml support

---
 QCodeEditor/resources/languages/qml.xml |  1 +
 main.cpp                                |  1 +
 tcphub.cpp                              | 65 ++++++++++++++-----------
 tcphub.h                                |  3 +-
 utility.cpp                             | 37 ++++++++++++++
 utility.h                               |  2 +
 6 files changed, 80 insertions(+), 29 deletions(-)

diff --git a/QCodeEditor/resources/languages/qml.xml b/QCodeEditor/resources/languages/qml.xml
index a14b919a6..40d290ca2 100644
--- a/QCodeEditor/resources/languages/qml.xml
+++ b/QCodeEditor/resources/languages/qml.xml
@@ -125,5 +125,6 @@
         <name>RadioButton</name>
         <name>FwHelper</name>
         <name>ParamList</name>
+        <name>TcpHub</name>
     </section>
 </root>
diff --git a/main.cpp b/main.cpp
index 5ae4a9890..48f2b9bb3 100755
--- a/main.cpp
+++ b/main.cpp
@@ -190,6 +190,7 @@ int main(int argc, char *argv[])
     qmlRegisterType<Vesc3dItem>("Vedder.vesc.vesc3ditem", 1, 0, "Vesc3dItem");
     qmlRegisterType<LogWriter>("Vedder.vesc.logwriter", 1, 0, "LogWriter");
     qmlRegisterType<LogReader>("Vedder.vesc.logreader", 1, 0, "LogReader");
+    qmlRegisterType<TcpHub>("Vedder.vesc.tcphub", 1, 0, "TcpHub");
 
     qRegisterMetaType<MCCONF_TEMP>();
     qRegisterMetaType<MC_VALUES>();
diff --git a/tcphub.cpp b/tcphub.cpp
index 2117d78ba..0e6910135 100644
--- a/tcphub.cpp
+++ b/tcphub.cpp
@@ -19,9 +19,11 @@
     */
 
 #include "tcphub.h"
+#include "utility.h"
 #include <QDateTime>
 #include <QEventLoop>
 #include <QtDebug>
+#include <QHostInfo>
 
 TcpHub::TcpHub(QObject *parent)
     : QObject{parent}
@@ -44,46 +46,48 @@ bool TcpHub::start(int port, QHostAddress addr)
     return mTcpHubServer->listen(addr,  port);
 }
 
-void TcpHub::newTcpHubConnection()
+bool TcpHub::ping(QString server, int port, QString uuid)
 {
-    QTcpSocket *socket = mTcpHubServer->nextPendingConnection();
-    socket->setSocketOption(QAbstractSocket::LowDelayOption, true);
+    QHostAddress host;
+    host.setAddress(server);
 
-    QEventLoop loop;
-    QTimer timeoutTimer;
-    timeoutTimer.setSingleShot(true);
-    timeoutTimer.start(5000);
-    auto conn = QObject::connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
-
-    QByteArray rxLine;
-    auto conn2 = connect(socket, &QTcpSocket::readyRead, [&rxLine,socket,&loop]() {
-        while (socket->bytesAvailable() > 0) {
-            QByteArray rxb = socket->read(1);
-            if (rxb.size() == 1) {
-                if (rxb[0] != '\n') {
-                    rxLine.append(rxb[0]);
-                } else {
-                    loop.quit();
-                }
-            } else {
-                break;
-            }
+    // Try DNS lookup
+    if (host.isNull()) {
+        QList<QHostAddress> addresses = QHostInfo::fromName(server).addresses();
+
+        if (!addresses.isEmpty()) {
+            host.setAddress(addresses.first().toString());
         }
-    });
+    }
+
+    QTcpSocket socket;
+    socket.connectToHost(host, port);
+    if (!Utility::waitSignal(&socket, SIGNAL(connected()), 1000)) {
+        return false;
+    }
 
-    loop.exec();
+    socket.write(QString("PING:%1:0\n").arg(uuid).toLocal8Bit());
+    socket.flush();
 
-    disconnect(conn);
-    disconnect(conn2);
+    auto res = Utility::waitForLine(&socket, 1000);
 
-    if (!timeoutTimer.isActive()) {
+    return res == "PONG";
+}
+
+void TcpHub::newTcpHubConnection()
+{
+    QTcpSocket *socket = mTcpHubServer->nextPendingConnection();
+    socket->setSocketOption(QAbstractSocket::LowDelayOption, true);
+
+    QString connStr = Utility::waitForLine(socket, 5000);
+
+    if (connStr.isEmpty()) {
         socket->close();
         socket->deleteLater();
         qWarning() << "Waiting for connect string timed out";
         return;
     }
 
-    QString connStr(rxLine);
     auto tokens = connStr.split(":");
     if (tokens.size() == 3) {
         auto type = tokens.at(0).toUpper().replace(" ", "");
@@ -152,6 +156,11 @@ void TcpHub::newTcpHubConnection()
             } else {
                 qWarning() << tr("No VESC with UUID %1 found").arg(uuid);
             }
+        } else if (type == "PING") {
+            if (mConnectedVescs.contains(uuid)) {
+                socket->write("PONG\n");
+                socket->flush();
+            }
         } else {
             qWarning() << "Invalid connect string";
         }
diff --git a/tcphub.h b/tcphub.h
index 37a42d0ab..ec80c60d6 100644
--- a/tcphub.h
+++ b/tcphub.h
@@ -71,7 +71,8 @@ class TcpHub : public QObject
     explicit TcpHub(QObject *parent = nullptr);
     ~TcpHub();
 
-    bool start(int port, QHostAddress addr = QHostAddress::Any);
+    Q_INVOKABLE bool start(int port, QHostAddress addr = QHostAddress::Any);
+    Q_INVOKABLE static bool ping(QString server, int port, QString uuid);
 
 signals:
 
diff --git a/utility.cpp b/utility.cpp
index d0e389dea..9fbed96e5 100755
--- a/utility.cpp
+++ b/utility.cpp
@@ -2207,6 +2207,43 @@ void Utility::plotSavePng(QCustomPlot *plot, int width, int height, QString titl
     }
 }
 
+QString Utility::waitForLine(QTcpSocket *socket, int timeoutMs)
+{
+    QEventLoop loop;
+    QTimer timeoutTimer;
+    timeoutTimer.setSingleShot(true);
+    timeoutTimer.start(timeoutMs);
+    auto conn = QObject::connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
+
+    QByteArray rxLine;
+    auto conn2 = connect(socket, &QTcpSocket::readyRead, [&rxLine,socket,&loop]() {
+        while (socket->bytesAvailable() > 0) {
+            QByteArray rxb = socket->read(1);
+            if (rxb.size() == 1) {
+                if (rxb[0] != '\n') {
+                    rxLine.append(rxb[0]);
+                } else {
+                    loop.quit();
+                }
+            } else {
+                break;
+            }
+        }
+    });
+
+    loop.exec();
+
+    disconnect(conn);
+    disconnect(conn2);
+
+    auto res = QString::fromLocal8Bit(rxLine);
+    if (!timeoutTimer.isActive()) {
+        res = "";
+    }
+
+    return res;
+}
+
 void Utility::setDarkMode(bool isDarkSetting)
 {
     isDark = isDarkSetting;
diff --git a/utility.h b/utility.h
index 07c5da326..07060d4f9 100644
--- a/utility.h
+++ b/utility.h
@@ -131,6 +131,8 @@ class Utility : public QObject
 #endif
     };
 
+    static QString waitForLine(QTcpSocket *socket, int timeoutMs);
+
 signals:
 
 public slots:

From 6528b505ed0aacac72aec1a439cd6d4919a96e51 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 14 Oct 2022 13:46:38 +0200
Subject: [PATCH 205/559] Removed preferred-dialog

---
 mobile/ConnectScreen.qml | 73 +++++++++-------------------------------
 1 file changed, 15 insertions(+), 58 deletions(-)

diff --git a/mobile/ConnectScreen.qml b/mobile/ConnectScreen.qml
index c929ae2ad..2b7ff9a74 100644
--- a/mobile/ConnectScreen.qml
+++ b/mobile/ConnectScreen.qml
@@ -274,6 +274,18 @@ Item {
                             Layout.rightMargin: 10
                             spacing: -5
 
+                            Timer {
+                                id: workaroundTimerConnect
+                                property var bleAddr: ""
+                                interval: 0
+                                repeat: false
+                                running: false
+                                onTriggered: {
+                                    VescIf.connectBle(workaroundTimerConnect.bleAddr)
+                                }
+                            }
+
+
                             Button {
                                 Layout.alignment: Qt.AlignHCenter | Qt.AlignBottom
                                 Layout.preferredHeight: 55
@@ -286,14 +298,9 @@ Item {
                                     } else if (isSerial == 2) {
                                         VescIf.connectTcp(bleAddr, 65102)
                                     } else {
-                                        if (!VescIf.getBlePreferred(bleAddr)) {
-                                            preferredDialog.bleAddr = bleAddr
-                                            preferredDialog.open()
-                                        } else {
-                                            disableDialog()
-                                            preferredDialog.bleAddr = bleAddr
-                                            workaroundTimerConnectPref.start()
-                                        }
+                                        disableDialog()
+                                        workaroundTimerConnect.bleAddr = bleAddr
+                                        workaroundTimerConnect.start()
                                     }
                                 }
                             }
@@ -534,56 +541,6 @@ Item {
         }
     }
 
-    Dialog {
-        id: preferredDialog
-        property var bleAddr: ""
-        standardButtons: Dialog.Yes | Dialog.No
-        modal: true
-        focus: true
-        rightMargin: 10
-        leftMargin: 10
-        closePolicy: Popup.CloseOnEscape
-        title: "Preferred BLE Devices"
-        y: 10 + parent.height / 2 - height / 2
-        x: parent.width/2 - width/2
-        width: parent.width - 20 - notchLeft - notchRight
-        parent: ApplicationWindow.overlay
-        Overlay.modal: Rectangle {
-            color: "#AA000000"
-        }
-
-        Text {
-            color: Utility.getAppHexColor("lightText")
-            verticalAlignment: Text.AlignVCenter
-            anchors.fill: parent
-            wrapMode: Text.WordWrap
-            text: "Do you want to make this a preferred device? That will make it show " +
-                  "up a bit faster in BLE scans and it will be shown at the top of the device list."
-        }
-
-        onAccepted: {
-            VescIf.storeBlePreferred(bleAddr, true)
-            bleModel.clear()
-            mBle.emitScanDone()
-            disableDialog()
-            workaroundTimerConnectPref.start()
-        }
-
-        onRejected: {
-            disableDialog()
-            workaroundTimerConnectPref.start()
-        }
-        Timer {
-            id: workaroundTimerConnectPref
-            interval: 0
-            repeat: false
-            running: false
-            onTriggered: {
-                VescIf.connectBle(preferredDialog.bleAddr)
-            }
-        }
-    }
-
     Dialog {
         id: bleEn
         standardButtons: Dialog.Ok

From 745bbbfb3f576bfe50af2b83d749929f2f0b41c3 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 18 Oct 2022 01:14:09 +0200
Subject: [PATCH 206/559] Commands file system and log reading support

---
 QCodeEditor/src/internal/QVescCompleter.cpp |   5 +
 commands.cpp                                | 383 +++++++++++++++++++-
 commands.h                                  |  31 +-
 datatypes.h                                 |  26 ++
 main.cpp                                    |   1 +
 mainwindow.ui                               |   4 +-
 mobile/ConnectScreen.qml                    |   1 -
 packet.cpp                                  |   2 +-
 pages/pageloganalysis.cpp                   | 117 ++++++
 pages/pageloganalysis.h                     |   6 +
 pages/pageloganalysis.ui                    | 287 +++++++++++----
 vescinterface.cpp                           | 191 +++++-----
 vescinterface.h                             |   1 +
 13 files changed, 886 insertions(+), 169 deletions(-)

diff --git a/QCodeEditor/src/internal/QVescCompleter.cpp b/QCodeEditor/src/internal/QVescCompleter.cpp
index 8cd3770fb..c7c8068ee 100644
--- a/QCodeEditor/src/internal/QVescCompleter.cpp
+++ b/QCodeEditor/src/internal/QVescCompleter.cpp
@@ -99,6 +99,11 @@ QVescCompleter::QVescCompleter(QObject *parent) :
         addItem("sendCustomAppData(data)");
         addItem("customConfigGet(confInd, isDefault)");
         addItem("customConfigSet(confInd, config)");
+        addItem("fileBlockList(path)");
+        addItem("fileBlockRead(path)");
+        addItem("fileBlockWrite(path, data)");
+        addItem("fileBlockMkdir(path)");
+        addItem("fileBlockRemove(path)");
         level--;
     };
 
diff --git a/commands.cpp b/commands.cpp
index 666da09c2..930c7fc7f 100755
--- a/commands.cpp
+++ b/commands.cpp
@@ -1,5 +1,5 @@
 /*
-    Copyright 2016 - 2019 Benjamin Vedder	benjamin@vedder.se
+    Copyright 2016 - 2022 Benjamin Vedder	benjamin@vedder.se
 
     This file is part of VESC Tool.
 
@@ -53,6 +53,9 @@ Commands::Commands(QObject *parent) : QObject(parent)
     mTimeoutCustomConf = 0;
     mTimeoutBmsVal = 0;
 
+    mFilePercentage = 0.0;
+    mFileSpeed = 0.0;
+
     connect(mTimer, SIGNAL(timeout()), this, SLOT(timerSlot()));
 }
 
@@ -1009,6 +1012,41 @@ void Commands::processPacket(QByteArray data)
         emit lispStreamCodeRx(offset, res);
     } break;
 
+    case COMM_FILE_LIST: {
+        auto hasMore = vb.vbPopFrontInt8();
+        QList<FILE_LIST_ENTRY> files;
+        while (vb.size() > 0) {
+            FILE_LIST_ENTRY f;
+            f.isDir = vb.vbPopFrontInt8();
+            f.size = vb.vbPopFrontInt32();
+            f.name = vb.vbPopFrontString();
+            files.append(f);
+        }
+        emit fileListRx(hasMore, files);
+    } break;
+
+    case COMM_FILE_READ: {
+        auto offset = vb.vbPopFrontInt32();
+        auto size = vb.vbPopFrontInt32();
+        emit fileReadRx(offset, size, vb);
+    } break;
+
+    case COMM_FILE_WRITE: {
+        auto offset = vb.vbPopFrontInt32();
+        auto ok = vb.vbPopFrontInt8();
+        emit fileWriteRx(offset, ok);
+    } break;
+
+    case COMM_FILE_MKDIR: {
+        auto ok = vb.vbPopFrontInt8();
+        emit fileMkdirRx(ok);
+    } break;
+
+    case COMM_FILE_REMOVE: {
+        auto ok = vb.vbPopFrontInt8();
+        emit fileRemoveRx(ok);
+    } break;
+
     default:
         break;
     }
@@ -2095,6 +2133,51 @@ void Commands::setBlePin(QString pin)
     emitData(vb);
 }
 
+void Commands::fileList(QString path, QString from)
+{
+    VByteArray vb;
+    vb.vbAppendUint8(COMM_FILE_LIST);
+    vb.vbAppendString(path);
+    vb.vbAppendString(from);
+    emitData(vb);
+}
+
+void Commands::fileRead(QString path, qint32 offset)
+{
+    VByteArray vb;
+    vb.vbAppendUint8(COMM_FILE_READ);
+    vb.vbAppendString(path);
+    vb.vbAppendInt32(offset);
+    emitData(vb);
+}
+
+void Commands::fileWrite(QString path, qint32 offset, qint32 size, QByteArray data)
+{
+    VByteArray vb;
+    vb.vbAppendUint8(COMM_FILE_WRITE);
+    vb.vbAppendString(path);
+    vb.vbAppendInt32(offset);
+    vb.vbAppendInt32(size);
+    vb.append(data);
+    emitData(vb);
+}
+
+void Commands::fileMkdir(QString path)
+{
+    VByteArray vb;
+    vb.vbAppendUint8(COMM_FILE_MKDIR);
+    vb.vbAppendString(path);
+    emitData(vb);
+}
+
+void Commands::fileRemove(QString path)
+{
+    VByteArray vb;
+    vb.vbAppendUint8(COMM_FILE_REMOVE);
+    vb.vbAppendString(path);
+    emitData(vb);
+}
+
 void Commands::timerSlot()
 {
     if (mTimeoutFwVer > 0) mTimeoutFwVer--;
@@ -2151,6 +2234,16 @@ void Commands::emitData(QByteArray data)
     emit dataToSend(data);
 }
 
+double Commands::getFileSpeed() const
+{
+    return mFileSpeed;
+}
+
+double Commands::getFilePercentage() const
+{
+    return mFilePercentage;
+}
+
 bool Commands::getMaxPowerLossBug() const
 {
     return mMaxPowerLossBug;
@@ -2161,6 +2254,294 @@ void Commands::setMaxPowerLossBug(bool maxPowerLossBug)
     mMaxPowerLossBug = maxPowerLossBug;
 }
 
+QVariantList Commands::fileBlockList(QString path)
+{
+    mFileShouldCancel = false;
+
+    auto waitRes = [this](QList<FILE_LIST_ENTRY> &filesNow) {
+        bool res = false;
+        bool more = false;
+
+        QEventLoop loop;
+        QTimer timeoutTimer;
+        timeoutTimer.setSingleShot(true);
+        timeoutTimer.start(1500);
+        auto conn = connect(this, &Commands::fileListRx,
+                            [&res,&loop,&filesNow,&more](bool hasMore, QList<FILE_LIST_ENTRY> files) {
+            filesNow.append(files);
+            res = true;
+            more = hasMore;
+            loop.quit();
+        });
+
+        connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
+        loop.exec();
+
+        disconnect(conn);
+        return qMakePair(res, more);
+    };
+
+    auto waitResRetry = [waitRes,path,this](QList<FILE_LIST_ENTRY> &filesNow) {
+        QString from = "";
+        if (!filesNow.isEmpty()) {
+            from = filesNow.last().name;
+        }
+        fileList(path, from);
+        auto res = waitRes(filesNow);
+        int retries = 3;
+        while (!res.first && retries > 0) {
+            fileList(path, from);
+            res = waitRes(filesNow);
+            retries--;
+        }
+        return res;
+    };
+
+    QList<FILE_LIST_ENTRY> files;
+    auto res = waitResRetry(files);
+
+    while (res.second) {
+        res = waitResRetry(files);
+
+        if (mFileShouldCancel) {
+            break;
+        }
+    }
+
+    if (!res.first) {
+        qWarning() << "Could not list files";
+    }
+
+    QVariantList retVal;
+    for (auto f: files) {
+        retVal.append(QVariant::fromValue(f));
+    }
+
+    return retVal;
+}
+
+QByteArray Commands::fileBlockRead(QString path)
+{
+    mFileShouldCancel = false;
+
+    auto waitRes = [this](QByteArray &dataNow, qint32 offsetNow) {
+        qint32 sizeRet = -1.0;
+
+        QEventLoop loop;
+        QTimer timeoutTimer;
+        timeoutTimer.setSingleShot(true);
+        timeoutTimer.start(1500);
+        auto conn = connect(this, &Commands::fileReadRx,
+                            [&sizeRet,&loop,&dataNow,&offsetNow]
+                            (qint32 offset, qint32 size, QByteArray data) {
+            if (offset == offsetNow) {
+                sizeRet = size;
+                dataNow.append(data);
+            } else {
+                qWarning() << "Wrong offset";
+            }
+            loop.quit();
+        });
+
+        connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
+        loop.exec();
+
+        disconnect(conn);
+        return sizeRet;
+    };
+
+    auto waitResRetry = [waitRes,path,this](QByteArray &dataNow, qint32 offsetNow) {
+        fileRead(path, offsetNow);
+        auto res = waitRes(dataNow, offsetNow);
+        int retries = 3;
+        while (res < 0 && retries > 0) {
+            fileRead(path, offsetNow);
+            res = waitRes(dataNow, offsetNow);
+            retries--;
+        }
+        return res;
+    };
+
+    QTime t;
+    t.start();
+
+    QByteArray data;
+    auto res = waitResRetry(data, 0);
+
+    while (res >= 0 && data.size() < res) {
+        mFilePercentage = (double(data.size()) / double(res)) * 100.0;
+        mFileSpeed = (double(data.size()) / double(t.elapsed())) * 1000.0;
+        emit fileProgress(data.size(), res, mFilePercentage, mFileSpeed);
+        res = waitResRetry(data, data.size());
+
+        if (mFileShouldCancel) {
+            return QByteArray();
+            break;
+        }
+    }
+
+    if (res < 0) {
+        qWarning() << "Could not read file";
+        return QByteArray();
+    }
+
+    return data;
+}
+
+bool Commands::fileBlockWrite(QString path, QByteArray data)
+{
+    mFileShouldCancel = false;
+
+    auto waitRes = [this]() {
+        bool res = false;
+
+        QEventLoop loop;
+        QTimer timeoutTimer;
+        timeoutTimer.setSingleShot(true);
+        timeoutTimer.start(1500);
+        auto conn = connect(this, &Commands::fileWriteRx,
+                            [&res,&loop]
+                            (qint32 offset, bool ok) {
+            (void)offset;
+            res = ok;
+            loop.quit();
+        });
+
+        connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
+        loop.exec();
+        disconnect(conn);
+
+        return res;
+    };
+
+    auto waitResRetry = [waitRes,path,this](qint32 offsetNow, qint32 size, QByteArray dataNow) {
+        fileWrite(path, offsetNow, size, dataNow);
+        auto res = waitRes();
+        int retries = 3;
+        while (!res && retries > 0) {
+            fileWrite(path, offsetNow, size, dataNow);
+            res = waitRes();
+            retries--;
+        }
+        return res;
+    };
+
+    const int chunkSize = 384;
+    qint32 size = data.size();
+    int sz = data.size() > chunkSize ? chunkSize : data.size();
+
+    QTime t;
+    t.start();
+
+    qint32 offset = 0;
+    auto res = waitResRetry(offset, size, data.mid(0, sz));
+    offset += sz;
+    data.remove(0, sz);
+
+    while (res && data.size() > 0) {
+        mFilePercentage = (double(size - data.size()) / double(size)) * 100.0;
+        mFileSpeed = (double(size - data.size()) / double(t.elapsed())) * 1000.0;
+        emit fileProgress(size - data.size(), size, mFilePercentage, mFileSpeed);
+
+        sz = data.size() > chunkSize ? chunkSize : data.size();
+        res = waitResRetry(offset, size, data.mid(0, sz));
+        offset += sz;
+        data.remove(0, sz);
+
+        if (mFileShouldCancel) {
+            return false;
+        }
+    }
+
+    return res;
+}
+
+bool Commands::fileBlockMkdir(QString path)
+{
+    mFileShouldCancel = false;
+
+    auto waitRes = [this]() {
+        bool res = false;
+
+        QEventLoop loop;
+        QTimer timeoutTimer;
+        timeoutTimer.setSingleShot(true);
+        timeoutTimer.start(1500);
+        auto conn = connect(this, &Commands::fileMkdirRx,
+                            [&res,&loop](bool ok) {
+            res = ok;
+            loop.quit();
+        });
+
+        connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
+        loop.exec();
+        disconnect(conn);
+
+        return res;
+    };
+
+    auto waitResRetry = [waitRes,path,this]() {
+        fileMkdir(path);
+        auto res = waitRes();
+        int retries = 3;
+        while (!res && retries > 0) {
+            fileMkdir(path);
+            res = waitRes();
+            retries--;
+        }
+        return res;
+    };
+
+    return waitResRetry();
+}
+
+bool Commands::fileBlockRemove(QString path)
+{
+    mFileShouldCancel = false;
+
+    auto waitRes = [this]() {
+        bool res = false;
+
+        QEventLoop loop;
+        QTimer timeoutTimer;
+        timeoutTimer.setSingleShot(true);
+        timeoutTimer.start(1500);
+        auto conn = connect(this, &Commands::fileRemoveRx,
+                            [&res,&loop](bool ok) {
+            res = ok;
+            loop.quit();
+        });
+
+        connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
+        loop.exec();
+        disconnect(conn);
+
+        return res;
+    };
+
+    auto waitResRetry = [waitRes,path,this]() {
+        fileRemove(path);
+        auto res = waitRes();
+        int retries = 3;
+        while (!res && retries > 0) {
+            fileRemove(path);
+            res = waitRes();
+            retries--;
+        }
+        return res;
+    };
+
+    return waitResRetry();
+}
+
+void Commands::fileBlockCancel()
+{
+    mFileShouldCancel = true;
+    mFilePercentage = 0.0;
+    mFileSpeed = 0;
+    emit fileProgress(0, 0, mFilePercentage, mFileSpeed);
+}
+
 bool Commands::getLimitedSupportsFwdAllCan() const
 {
     return mLimitedSupportsFwdAllCan;
diff --git a/commands.h b/commands.h
index 7d8b44994..c5d92eb8b 100644
--- a/commands.h
+++ b/commands.h
@@ -1,5 +1,5 @@
 /*
-    Copyright 2016 - 2019 Benjamin Vedder	benjamin@vedder.se
+    Copyright 2016 - 2022 Benjamin Vedder	benjamin@vedder.se
 
     This file is part of VESC Tool.
 
@@ -23,6 +23,8 @@
 #include <QObject>
 #include <QTimer>
 #include <QMap>
+#include <QVariant>
+#include <QVariantList>
 #include "vbytearray.h"
 #include "datatypes.h"
 #include "packet.h"
@@ -75,6 +77,16 @@ class Commands : public QObject
     Q_INVOKABLE bool getMaxPowerLossBug() const;
     void setMaxPowerLossBug(bool maxPowerLossBug);
 
+    Q_INVOKABLE QVariantList fileBlockList(QString path);
+    Q_INVOKABLE QByteArray fileBlockRead(QString path);
+    Q_INVOKABLE bool fileBlockWrite(QString path, QByteArray data);
+    Q_INVOKABLE bool fileBlockMkdir(QString path);
+    Q_INVOKABLE bool fileBlockRemove(QString path);
+    Q_INVOKABLE void fileBlockCancel();
+
+    Q_INVOKABLE double getFilePercentage() const;
+    Q_INVOKABLE double getFileSpeed() const;
+
 signals:
     void dataToSend(QByteArray &data);
 
@@ -139,6 +151,13 @@ class Commands : public QObject
     void lispRunningResRx(bool ok);
     void lispStreamCodeRx(quint32 offset, qint16 res);
 
+    void fileListRx(bool hasMore, QList<FILE_LIST_ENTRY> files);
+    void fileReadRx(qint32 offset, qint32 size, QByteArray data);
+    void fileWriteRx(qint32 offset, bool ok);
+    void fileMkdirRx(bool ok);
+    void fileRemoveRx(bool ok);
+    void fileProgress(int32_t prog, int32_t tot, double percentage, double bytesPerSec);
+
 public slots:
     void processPacket(QByteArray data);
 
@@ -253,6 +272,12 @@ public slots:
     void setBleName(QString name);
     void setBlePin(QString pin);
 
+    void fileList(QString path, QString from);
+    void fileRead(QString path, qint32 offset);
+    void fileWrite(QString path, qint32 offset, qint32 size, QByteArray data);
+    void fileMkdir(QString path);
+    void fileRemove(QString path);
+
 private slots:
     void timerSlot();
 
@@ -290,6 +315,10 @@ private slots:
     int mTimeoutBmsVal;
     int mTimeoutStats;
 
+    double mFilePercentage;
+    double mFileSpeed;
+    bool mFileShouldCancel;
+
 };
 
 #endif // COMMANDS_H
diff --git a/datatypes.h b/datatypes.h
index ada87d10a..80a15e2c5 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -964,6 +964,12 @@ typedef enum {
 
     COMM_LISP_REPL_CMD,
     COMM_LISP_STREAM_CODE,
+
+    COMM_FILE_LIST,
+    COMM_FILE_READ,
+    COMM_FILE_WRITE,
+    COMM_FILE_MKDIR,
+    COMM_FILE_REMOVE,
 } COMM_PACKET_ID;
 
 // CAN commands
@@ -1154,4 +1160,24 @@ struct ENCODER_DETECT_RES {
 
 Q_DECLARE_METATYPE(ENCODER_DETECT_RES)
 
+struct FILE_LIST_ENTRY {
+    Q_GADGET
+
+public:
+    Q_PROPERTY(QString name MEMBER name)
+    Q_PROPERTY(bool isDir MEMBER isDir)
+    Q_PROPERTY(qint32 size MEMBER size)
+
+    FILE_LIST_ENTRY() {
+        isDir = false;
+        size = false;
+    }
+
+    QString name;
+    bool isDir;
+    qint32 size;
+};
+
+Q_DECLARE_METATYPE(FILE_LIST_ENTRY)
+
 #endif // DATATYPES_H
diff --git a/main.cpp b/main.cpp
index 48f2b9bb3..d6c813237 100755
--- a/main.cpp
+++ b/main.cpp
@@ -200,6 +200,7 @@ int main(int argc, char *argv[])
     qRegisterMetaType<IO_BOARD_VALUES>();
     qRegisterMetaType<MotorData>();
     qRegisterMetaType<ENCODER_DETECT_RES>();
+    qRegisterMetaType<FILE_LIST_ENTRY>();
 
 #ifdef USE_MOBILE
 #ifndef DEBUG_BUILD
diff --git a/mainwindow.ui b/mainwindow.ui
index 6b074e22e..719d2aae2 100644
--- a/mainwindow.ui
+++ b/mainwindow.ui
@@ -76,7 +76,7 @@
            <string/>
           </property>
           <property name="pixmap">
-           <pixmap resource="res_free.qrc">:/res/logo.png</pixmap>
+           <pixmap resource="res_silver.qrc">:/res/logo.png</pixmap>
           </property>
           <property name="scaledContents">
            <bool>true</bool>
@@ -1413,7 +1413,7 @@ p, li { white-space: pre-wrap; }
   </customwidget>
  </customwidgets>
  <resources>
-  <include location="res_free.qrc"/>
+  <include location="res_silver.qrc"/>
   <include location="res.qrc"/>
  </resources>
  <connections/>
diff --git a/mobile/ConnectScreen.qml b/mobile/ConnectScreen.qml
index 2b7ff9a74..b23c78551 100644
--- a/mobile/ConnectScreen.qml
+++ b/mobile/ConnectScreen.qml
@@ -285,7 +285,6 @@ Item {
                                 }
                             }
 
-
                             Button {
                                 Layout.alignment: Qt.AlignHCenter | Qt.AlignBottom
                                 Layout.preferredHeight: 55
diff --git a/packet.cpp b/packet.cpp
index cee8d2a62..a55564058 100644
--- a/packet.cpp
+++ b/packet.cpp
@@ -58,7 +58,7 @@ Packet::Packet(QObject *parent) : QObject(parent)
 {
     mRxTimer = 0;
     mByteTimeout = 50;
-    mMaxPacketLen = 512;
+    mMaxPacketLen = 10000;
     mRxReadPtr = 0;
     mRxWritePtr = 0;
     mBytesLeft = 0;
diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index a6a61a88a..29a3d049f 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -43,6 +43,9 @@ PageLogAnalysis::PageLogAnalysis(QWidget *parent) :
     ui->savePlotPngButton->setIcon(QPixmap(theme + "icons/Line Chart-96.png"));
     ui->saveMapPdfButton->setIcon(QPixmap(theme + "icons/Waypoint Map-96.png"));
     ui->saveMapPngButton->setIcon(QPixmap(theme + "icons/Waypoint Map-96.png"));
+    ui->vescLogListRefreshButton->setIcon(QPixmap(theme + "icons/Refresh-96.png"));
+    ui->vescLogListOpenButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
+    ui->vescUpButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
 
     updateTileServers();
 
@@ -65,6 +68,7 @@ PageLogAnalysis::PageLogAnalysis(QWidget *parent) :
     ui->dataTable->setColumnWidth(1, 120);
     ui->statTable->setColumnWidth(0, 140);
     ui->logTable->setColumnWidth(0, 250);
+    ui->vescLogTable->setColumnWidth(0, 250);
 
     m3dView = new Vesc3DView(this);
     m3dView->setMinimumWidth(200);
@@ -282,6 +286,16 @@ VescInterface *PageLogAnalysis::vesc() const
 void PageLogAnalysis::setVesc(VescInterface *vesc)
 {
     mVesc = vesc;
+
+    if (mVesc) {
+        connect(mVesc->commands(), &Commands::fileProgress, [this]
+                (int32_t prog, int32_t tot, double percentage, double bytesPerSec) {
+            (void)prog;
+            (void)tot;
+            ui->vescDisplay->setValue(percentage);
+            ui->vescDisplay->setText(tr("Speed: %1 KB/s").arg(bytesPerSec / 1024, 0, 'f', 2));
+        });
+    }
 }
 
 void PageLogAnalysis::on_openCsvButton_clicked()
@@ -1212,3 +1226,106 @@ void PageLogAnalysis::on_logTable_cellDoubleClicked(int row, int column)
     (void)row; (void)column;
     on_logListOpenButton_clicked();
 }
+
+void PageLogAnalysis::on_vescLogListRefreshButton_clicked()
+{
+    if (!mVesc->isPortConnected()) {
+        mVesc->emitMessageDialog("Refresh", "Not conected", false, false);
+        mVescLastPath = "";
+        return;
+    }
+
+    ui->vescLogTable->setRowCount(0);
+
+    ui->vescLogTab->setEnabled(false);
+    auto res = mVesc->commands()->fileBlockList(mVescLastPath);
+    ui->vescLogTab->setEnabled(true);
+
+    for (auto f: res) {
+        FILE_LIST_ENTRY fe;
+        if (f.canConvert<FILE_LIST_ENTRY>()) {
+            fe = f.value<FILE_LIST_ENTRY>();
+        }
+
+        if (!fe.isDir && !fe.name.toLower().endsWith(".csv")) {
+            continue;
+        }
+
+        QTableWidgetItem *itName = new QTableWidgetItem(fe.name);
+        itName->setData(Qt::UserRole, QVariant::fromValue(fe));
+        ui->vescLogTable->setRowCount(ui->vescLogTable->rowCount() + 1);
+        ui->vescLogTable->setItem(ui->vescLogTable->rowCount() - 1, 0, itName);
+
+        if (fe.isDir) {
+            ui->vescLogTable->setItem(ui->vescLogTable->rowCount() - 1, 1,
+                                      new QTableWidgetItem("Dir"));
+        } else {
+            ui->vescLogTable->setItem(ui->vescLogTable->rowCount() - 1, 1,
+                                      new QTableWidgetItem(QString("%1 MB").
+                                                           arg(double(fe.size)
+                                                               / 1024.0 / 1024.0,
+                                                               0, 'f', 2)));
+        }
+    }
+}
+
+void PageLogAnalysis::on_vescLogListOpenButton_clicked()
+{
+    if (!ui->vescLogListOpenButton->isEnabled()) {
+        return;
+    }
+
+    if (!mVesc->isPortConnected()) {
+        mVesc->emitMessageDialog("Open", "Not conected", false, false);
+        mVescLastPath = "";
+        return;
+    }
+
+    auto item = ui->vescLogTable->currentItem();
+    if (item != nullptr) {
+        FILE_LIST_ENTRY fe;
+        if (item->data(Qt::UserRole).canConvert<FILE_LIST_ENTRY>()) {
+            fe = item->data(Qt::UserRole).value<FILE_LIST_ENTRY>();
+        }
+
+        if (fe.isDir) {
+            mVescLastPath += "/" + fe.name;
+            mVescLastPath.replace("//", "/");
+            on_vescLogListRefreshButton_clicked();
+        } else {
+            ui->vescLogListOpenButton->setEnabled(false);
+            auto data = mVesc->commands()->fileBlockRead(mVescLastPath + "/" + fe.name);
+            ui->vescLogListOpenButton->setEnabled(true);
+            if (!data.isEmpty()) {
+                if (mVesc->loadRtLogFile(data)) {
+                    on_openCurrentButton_clicked();
+                }
+            }
+        }
+    }
+}
+
+void PageLogAnalysis::on_vescUpButton_clicked()
+{
+    if (!mVesc->isPortConnected()) {
+        mVesc->emitMessageDialog("Up", "Not conected", false, false);
+        mVescLastPath = "";
+        return;
+    }
+
+    if (mVescLastPath.lastIndexOf("/") >= 0) {
+        mVescLastPath = mVescLastPath.mid(0, mVescLastPath.lastIndexOf("/"));
+        on_vescLogListRefreshButton_clicked();
+    }
+}
+
+void PageLogAnalysis::on_vescLogCancelButton_clicked()
+{
+    mVesc->commands()->fileBlockCancel();
+}
+
+void PageLogAnalysis::on_vescLogTable_cellDoubleClicked(int row, int column)
+{
+    (void)row; (void)column;
+    on_vescLogListOpenButton_clicked();
+}
diff --git a/pages/pageloganalysis.h b/pages/pageloganalysis.h
index 0197d3a04..692bd7656 100644
--- a/pages/pageloganalysis.h
+++ b/pages/pageloganalysis.h
@@ -56,6 +56,11 @@ private slots:
     void on_logListOpenButton_clicked();
     void on_logListRefreshButton_clicked();
     void on_logTable_cellDoubleClicked(int row, int column);
+    void on_vescLogListRefreshButton_clicked();
+    void on_vescLogListOpenButton_clicked();
+    void on_vescUpButton_clicked();
+    void on_vescLogCancelButton_clicked();
+    void on_vescLogTable_cellDoubleClicked(int row, int column);
 
 private:
     Ui::PageLogAnalysis *ui;
@@ -68,6 +73,7 @@ private slots:
     QVector<LOG_DATA> mLogDataTruncated;
     QTimer *mPlayTimer;
     double mPlayPosNow;
+    QString mVescLastPath;
 
     void truncateDataAndPlot(bool zoomGraph = true);
     void updateGraphs();
diff --git a/pages/pageloganalysis.ui b/pages/pageloganalysis.ui
index ab208761c..539c443b9 100644
--- a/pages/pageloganalysis.ui
+++ b/pages/pageloganalysis.ui
@@ -167,7 +167,7 @@
             <string/>
            </property>
            <property name="icon">
-            <iconset>
+            <iconset resource="../res.qrc">
              <normaloff>:/res/icons/icons8-target-96.png</normaloff>:/res/icons/icons8-target-96.png</iconset>
            </property>
           </widget>
@@ -181,7 +181,7 @@
             <string/>
            </property>
            <property name="icon">
-            <iconset>
+            <iconset resource="../res.qrc">
              <normaloff>:/res/icons/Circled Play-96.png</normaloff>:/res/icons/Circled Play-96.png</iconset>
            </property>
            <property name="checkable">
@@ -331,84 +331,227 @@
         </attribute>
         <layout class="QVBoxLayout" name="verticalLayout_7">
          <property name="spacing">
-          <number>3</number>
+          <number>0</number>
          </property>
          <property name="leftMargin">
-          <number>3</number>
+          <number>0</number>
          </property>
          <property name="topMargin">
-          <number>3</number>
+          <number>0</number>
          </property>
          <property name="rightMargin">
-          <number>3</number>
+          <number>0</number>
          </property>
          <property name="bottomMargin">
-          <number>3</number>
+          <number>0</number>
          </property>
          <item>
-          <widget class="QTableWidget" name="logTable">
-           <property name="editTriggers">
-            <set>QAbstractItemView::NoEditTriggers</set>
+          <widget class="QTabWidget" name="tabWidget_2">
+           <property name="tabPosition">
+            <enum>QTabWidget::East</enum>
            </property>
-           <property name="selectionMode">
-            <enum>QAbstractItemView::SingleSelection</enum>
+           <property name="tabShape">
+            <enum>QTabWidget::Triangular</enum>
            </property>
-           <property name="selectionBehavior">
-            <enum>QAbstractItemView::SelectRows</enum>
+           <property name="currentIndex">
+            <number>0</number>
            </property>
-           <attribute name="horizontalHeaderStretchLastSection">
-            <bool>true</bool>
-           </attribute>
-           <column>
-            <property name="text">
-             <string>Name</string>
-            </property>
-           </column>
-           <column>
-            <property name="text">
-             <string>Size</string>
-            </property>
-           </column>
-          </widget>
-         </item>
-         <item>
-          <layout class="QHBoxLayout" name="horizontalLayout_4">
-           <item>
-            <spacer name="horizontalSpacer_2">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
+           <widget class="QWidget" name="tab_5">
+            <attribute name="title">
+             <string>Filesystem</string>
+            </attribute>
+            <layout class="QVBoxLayout" name="verticalLayout_8">
+             <property name="spacing">
+              <number>3</number>
              </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>40</width>
-               <height>20</height>
-              </size>
+             <property name="leftMargin">
+              <number>3</number>
              </property>
-            </spacer>
-           </item>
-           <item>
-            <widget class="QPushButton" name="logListRefreshButton">
-             <property name="text">
-              <string>Refresh</string>
+             <property name="topMargin">
+              <number>3</number>
              </property>
-             <property name="icon">
-              <iconset>
-               <normaloff>:/res/icons/Refresh-96.png</normaloff>:/res/icons/Refresh-96.png</iconset>
+             <property name="rightMargin">
+              <number>3</number>
              </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="logListOpenButton">
-             <property name="text">
-              <string>Open</string>
+             <property name="bottomMargin">
+              <number>3</number>
              </property>
-             <property name="icon">
-              <iconset>
-               <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
+             <item>
+              <widget class="QTableWidget" name="logTable">
+               <property name="editTriggers">
+                <set>QAbstractItemView::NoEditTriggers</set>
+               </property>
+               <property name="selectionMode">
+                <enum>QAbstractItemView::SingleSelection</enum>
+               </property>
+               <property name="selectionBehavior">
+                <enum>QAbstractItemView::SelectRows</enum>
+               </property>
+               <attribute name="horizontalHeaderStretchLastSection">
+                <bool>true</bool>
+               </attribute>
+               <column>
+                <property name="text">
+                 <string>Name</string>
+                </property>
+               </column>
+               <column>
+                <property name="text">
+                 <string>Size</string>
+                </property>
+               </column>
+              </widget>
+             </item>
+             <item>
+              <layout class="QHBoxLayout" name="horizontalLayout_4">
+               <item>
+                <spacer name="horizontalSpacer_2">
+                 <property name="orientation">
+                  <enum>Qt::Horizontal</enum>
+                 </property>
+                 <property name="sizeHint" stdset="0">
+                  <size>
+                   <width>40</width>
+                   <height>20</height>
+                  </size>
+                 </property>
+                </spacer>
+               </item>
+               <item>
+                <widget class="QPushButton" name="logListRefreshButton">
+                 <property name="text">
+                  <string>Refresh</string>
+                 </property>
+                 <property name="icon">
+                  <iconset resource="../res.qrc">
+                   <normaloff>:/res/icons/Refresh-96.png</normaloff>:/res/icons/Refresh-96.png</iconset>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QPushButton" name="logListOpenButton">
+                 <property name="text">
+                  <string>Open</string>
+                 </property>
+                 <property name="icon">
+                  <iconset resource="../res.qrc">
+                   <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
+                 </property>
+                </widget>
+               </item>
+              </layout>
+             </item>
+            </layout>
+           </widget>
+           <widget class="QWidget" name="vescLogTab">
+            <attribute name="title">
+             <string>Connected VESC</string>
+            </attribute>
+            <layout class="QVBoxLayout" name="verticalLayout_9">
+             <property name="spacing">
+              <number>3</number>
              </property>
-            </widget>
-           </item>
-          </layout>
+             <property name="leftMargin">
+              <number>3</number>
+             </property>
+             <property name="topMargin">
+              <number>3</number>
+             </property>
+             <property name="rightMargin">
+              <number>3</number>
+             </property>
+             <property name="bottomMargin">
+              <number>3</number>
+             </property>
+             <item>
+              <widget class="QTableWidget" name="vescLogTable">
+               <property name="editTriggers">
+                <set>QAbstractItemView::NoEditTriggers</set>
+               </property>
+               <property name="selectionMode">
+                <enum>QAbstractItemView::SingleSelection</enum>
+               </property>
+               <property name="selectionBehavior">
+                <enum>QAbstractItemView::SelectRows</enum>
+               </property>
+               <attribute name="horizontalHeaderStretchLastSection">
+                <bool>true</bool>
+               </attribute>
+               <column>
+                <property name="text">
+                 <string>Name</string>
+                </property>
+               </column>
+               <column>
+                <property name="text">
+                 <string>Size</string>
+                </property>
+               </column>
+              </widget>
+             </item>
+             <item>
+              <layout class="QHBoxLayout" name="horizontalLayout_5">
+               <property name="spacing">
+                <number>2</number>
+               </property>
+               <item>
+                <widget class="DisplayPercentage" name="vescDisplay" native="true">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QPushButton" name="vescLogCancelButton">
+                 <property name="text">
+                  <string>Cancel</string>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QPushButton" name="vescLogListRefreshButton">
+                 <property name="text">
+                  <string>Refresh</string>
+                 </property>
+                 <property name="icon">
+                  <iconset resource="../res.qrc">
+                   <normaloff>:/res/icons/Refresh-96.png</normaloff>:/res/icons/Refresh-96.png</iconset>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QPushButton" name="vescLogListOpenButton">
+                 <property name="text">
+                  <string>Open</string>
+                 </property>
+                 <property name="icon">
+                  <iconset resource="../res.qrc">
+                   <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QPushButton" name="vescUpButton">
+                 <property name="toolTip">
+                  <string>Go up one directory</string>
+                 </property>
+                 <property name="text">
+                  <string>Up</string>
+                 </property>
+                 <property name="icon">
+                  <iconset resource="../res.qrc">
+                   <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
+                 </property>
+                </widget>
+               </item>
+              </layout>
+             </item>
+            </layout>
+           </widget>
+          </widget>
          </item>
         </layout>
        </widget>
@@ -434,7 +577,7 @@
         <string>Open CSV</string>
        </property>
        <property name="icon">
-        <iconset>
+        <iconset resource="../res.qrc">
          <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
        </property>
       </widget>
@@ -445,7 +588,7 @@
         <string>Open Current</string>
        </property>
        <property name="icon">
-        <iconset>
+        <iconset resource="../res.qrc">
          <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
        </property>
       </widget>
@@ -510,7 +653,7 @@
         <string>PDF</string>
        </property>
        <property name="icon">
-        <iconset>
+        <iconset resource="../res.qrc">
          <normaloff>:/res/icons/Line Chart-96.png</normaloff>:/res/icons/Line Chart-96.png</iconset>
        </property>
       </widget>
@@ -524,7 +667,7 @@
         <string>PNG</string>
        </property>
        <property name="icon">
-        <iconset>
+        <iconset resource="../res.qrc">
          <normaloff>:/res/icons/Line Chart-96.png</normaloff>:/res/icons/Line Chart-96.png</iconset>
        </property>
       </widget>
@@ -538,7 +681,7 @@
         <string>PDF</string>
        </property>
        <property name="icon">
-        <iconset>
+        <iconset resource="../res.qrc">
          <normaloff>:/res/icons/Waypoint Map-96.png</normaloff>:/res/icons/Waypoint Map-96.png</iconset>
        </property>
       </widget>
@@ -552,7 +695,7 @@
         <string>PNG</string>
        </property>
        <property name="icon">
-        <iconset>
+        <iconset resource="../res.qrc">
          <normaloff>:/res/icons/Waypoint Map-96.png</normaloff>:/res/icons/Waypoint Map-96.png</iconset>
        </property>
       </widget>
@@ -579,7 +722,15 @@
    <extends>QSlider</extends>
    <header>widgets/superslider.h</header>
   </customwidget>
+  <customwidget>
+   <class>DisplayPercentage</class>
+   <extends>QWidget</extends>
+   <header>widgets/displaypercentage.h</header>
+   <container>1</container>
+  </customwidget>
  </customwidgets>
- <resources/>
+ <resources>
+  <include location="../res.qrc"/>
+ </resources>
  <connections/>
 </ui>
diff --git a/vescinterface.cpp b/vescinterface.cpp
index 48aa1c9b0..e1f8bb435 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -1722,112 +1722,113 @@ bool VescInterface::loadRtLogFile(QString file)
     QFile inFile(file);
 
     if (inFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
-        QTextStream in(&inFile);
-        int lineNum = 0;
+        auto data = inFile.readAll();
+        inFile.close();
+        return loadRtLogFile(data);
+    } else {
+        emitMessageDialog("Read Log File",
+                          "Could not open\n" +
+                          file +
+                          "\nfor reading.",
+                          false, false);
+    }
 
-        mRtLogData.clear();
-        while (!in.atEnd()) {
-            QStringList tokens = in.readLine().split(";");
+    return res;
+}
 
-            if (tokens.size() == 1) {
-                tokens = tokens.at(0).split(",");
-            }
+bool VescInterface::loadRtLogFile(QByteArray data)
+{
+    bool res = false;
 
-            if (tokens.size() < 22) {
-                continue;
-            }
+    QTextStream in(&data);
+    int lineNum = 0;
 
-            if (lineNum > 0) {
-                LOG_DATA d;
-                d.valTime = tokens.at(0).toInt();
-                d.values.v_in = tokens.at(1).toDouble();
-                d.values.temp_mos = tokens.at(2).toDouble();
-                d.values.temp_mos_1 = tokens.at(3).toDouble();
-                d.values.temp_mos_2 = tokens.at(4).toDouble();
-                d.values.temp_mos_3 = tokens.at(5).toDouble();
-                d.values.temp_motor = tokens.at(6).toDouble();
-                d.values.current_motor = tokens.at(7).toDouble();
-                d.values.current_in = tokens.at(8).toDouble();
-                d.values.id = tokens.at(9).toDouble();
-                d.values.iq = tokens.at(10).toDouble();
-                d.values.rpm = tokens.at(11).toDouble();
-                d.values.duty_now = tokens.at(12).toDouble();
-                d.values.amp_hours = tokens.at(13).toDouble();
-                d.values.amp_hours_charged = tokens.at(14).toDouble();
-                d.values.watt_hours = tokens.at(15).toDouble();
-                d.values.watt_hours_charged = tokens.at(16).toDouble();
-                d.values.tachometer = tokens.at(17).toInt();
-                d.values.tachometer_abs = tokens.at(18).toInt();
-                d.values.position = tokens.at(19).toDouble();
-                d.values.fault_code = mc_fault_code(tokens.at(20).toInt());
-                d.values.vesc_id = tokens.at(21).toInt();
-
-                // Possibly populate setup values too, but these values would
-                // not correspond to setupValTime.
-//                d.setupValues.v_in = d.values.v_in;
-//                d.setupValues.duty_now = d.values.duty_now;
-//                d.setupValues.temp_mos = d.values.temp_mos;
-//                d.setupValues.temp_motor = d.values.temp_motor;
-//                d.setupValues.fault_code = d.values.fault_code;
-//                d.setupValues.vesc_id = d.values.vesc_id;
-
-                if (tokens.size() >= 55) {
-                    d.values.vd = tokens.at(22).toDouble();
-                    d.values.vq = tokens.at(23).toDouble();
-
-                    d.setupValTime = tokens.at(24).toInt();
-                    d.setupValues.amp_hours = tokens.at(25).toDouble();
-                    d.setupValues.amp_hours_charged = tokens.at(26).toDouble();
-                    d.setupValues.watt_hours = tokens.at(27).toDouble();
-                    d.setupValues.watt_hours_charged = tokens.at(28).toDouble();
-                    d.setupValues.battery_level = tokens.at(29).toDouble();
-                    d.setupValues.battery_wh = tokens.at(30).toDouble();
-                    d.setupValues.current_in = tokens.at(31).toDouble();
-                    d.setupValues.current_motor = tokens.at(32).toDouble();
-                    d.setupValues.speed = tokens.at(33).toDouble();
-                    d.setupValues.tachometer = tokens.at(34).toDouble();
-                    d.setupValues.tachometer_abs = tokens.at(35).toDouble();
-                    d.setupValues.num_vescs = tokens.at(36).toInt();
-
-                    d.imuValTime = tokens.at(37).toInt();
-                    d.imuValues.roll = tokens.at(38).toDouble();
-                    d.imuValues.pitch = tokens.at(39).toDouble();
-                    d.imuValues.yaw = tokens.at(40).toDouble();
-                    d.imuValues.accX = tokens.at(41).toDouble();
-                    d.imuValues.accY = tokens.at(42).toDouble();
-                    d.imuValues.accZ = tokens.at(43).toDouble();
-                    d.imuValues.gyroX = tokens.at(44).toDouble();
-                    d.imuValues.gyroY = tokens.at(45).toDouble();
-                    d.imuValues.gyroZ = tokens.at(46).toDouble();
-
-                    d.posTime = tokens.at(47).toInt();
-                    d.lat = tokens.at(48).toDouble();
-                    d.lon = tokens.at(49).toDouble();
-                    d.alt = tokens.at(50).toDouble();
-                    d.gVel = tokens.at(51).toDouble();
-                    d.vVel = tokens.at(52).toDouble();
-                    d.hAcc = tokens.at(53).toDouble();
-                    d.vAcc = tokens.at(54).toDouble();
-                }
+    mRtLogData.clear();
+    while (!in.atEnd()) {
+        QStringList tokens = in.readLine().split(";");
 
-                mRtLogData.append(d);
-            }
+        if (tokens.size() == 1) {
+            tokens = tokens.at(0).split(",");
+        }
 
-            lineNum++;
+        if (tokens.size() < 22) {
+            continue;
         }
 
-        inFile.close();
-        res = true;
+        if (lineNum > 0) {
+            LOG_DATA d;
+            d.valTime = tokens.at(0).toInt();
+            d.values.v_in = tokens.at(1).toDouble();
+            d.values.temp_mos = tokens.at(2).toDouble();
+            d.values.temp_mos_1 = tokens.at(3).toDouble();
+            d.values.temp_mos_2 = tokens.at(4).toDouble();
+            d.values.temp_mos_3 = tokens.at(5).toDouble();
+            d.values.temp_motor = tokens.at(6).toDouble();
+            d.values.current_motor = tokens.at(7).toDouble();
+            d.values.current_in = tokens.at(8).toDouble();
+            d.values.id = tokens.at(9).toDouble();
+            d.values.iq = tokens.at(10).toDouble();
+            d.values.rpm = tokens.at(11).toDouble();
+            d.values.duty_now = tokens.at(12).toDouble();
+            d.values.amp_hours = tokens.at(13).toDouble();
+            d.values.amp_hours_charged = tokens.at(14).toDouble();
+            d.values.watt_hours = tokens.at(15).toDouble();
+            d.values.watt_hours_charged = tokens.at(16).toDouble();
+            d.values.tachometer = tokens.at(17).toInt();
+            d.values.tachometer_abs = tokens.at(18).toInt();
+            d.values.position = tokens.at(19).toDouble();
+            d.values.fault_code = mc_fault_code(tokens.at(20).toInt());
+            d.values.vesc_id = tokens.at(21).toInt();
+
+            if (tokens.size() >= 55) {
+                d.values.vd = tokens.at(22).toDouble();
+                d.values.vq = tokens.at(23).toDouble();
+
+                d.setupValTime = tokens.at(24).toInt();
+                d.setupValues.amp_hours = tokens.at(25).toDouble();
+                d.setupValues.amp_hours_charged = tokens.at(26).toDouble();
+                d.setupValues.watt_hours = tokens.at(27).toDouble();
+                d.setupValues.watt_hours_charged = tokens.at(28).toDouble();
+                d.setupValues.battery_level = tokens.at(29).toDouble();
+                d.setupValues.battery_wh = tokens.at(30).toDouble();
+                d.setupValues.current_in = tokens.at(31).toDouble();
+                d.setupValues.current_motor = tokens.at(32).toDouble();
+                d.setupValues.speed = tokens.at(33).toDouble();
+                d.setupValues.tachometer = tokens.at(34).toDouble();
+                d.setupValues.tachometer_abs = tokens.at(35).toDouble();
+                d.setupValues.num_vescs = tokens.at(36).toInt();
+
+                d.imuValTime = tokens.at(37).toInt();
+                d.imuValues.roll = tokens.at(38).toDouble();
+                d.imuValues.pitch = tokens.at(39).toDouble();
+                d.imuValues.yaw = tokens.at(40).toDouble();
+                d.imuValues.accX = tokens.at(41).toDouble();
+                d.imuValues.accY = tokens.at(42).toDouble();
+                d.imuValues.accZ = tokens.at(43).toDouble();
+                d.imuValues.gyroX = tokens.at(44).toDouble();
+                d.imuValues.gyroY = tokens.at(45).toDouble();
+                d.imuValues.gyroZ = tokens.at(46).toDouble();
+
+                d.posTime = tokens.at(47).toInt();
+                d.lat = tokens.at(48).toDouble();
+                d.lon = tokens.at(49).toDouble();
+                d.alt = tokens.at(50).toDouble();
+                d.gVel = tokens.at(51).toDouble();
+                d.vVel = tokens.at(52).toDouble();
+                d.hAcc = tokens.at(53).toDouble();
+                d.vAcc = tokens.at(54).toDouble();
+            }
 
-        emitStatusMessage(QString("Loaded %1 log entries").arg(lineNum - 1), true);
-    } else {
-        emitMessageDialog("Read Log File",
-                          "Could not open\n" +
-                          file +
-                          "\nfor reading.",
-                          false, false);
+            mRtLogData.append(d);
+        }
+
+        lineNum++;
     }
 
+    res = true;
+
+    emitStatusMessage(QString("Loaded %1 log entries").arg(lineNum - 1), true);
+
     return res;
 }
 
diff --git a/vescinterface.h b/vescinterface.h
index 95e7c58bf..6c3351839 100755
--- a/vescinterface.h
+++ b/vescinterface.h
@@ -140,6 +140,7 @@ class VescInterface : public QObject
     Q_INVOKABLE QString rtLogFilePath();
     Q_INVOKABLE QVector<LOG_DATA> getRtLogData();
     Q_INVOKABLE bool loadRtLogFile(QString file);
+    Q_INVOKABLE bool loadRtLogFile(QByteArray data);
     Q_INVOKABLE LOG_DATA getRtLogSample(double progress);
     Q_INVOKABLE LOG_DATA getRtLogSampleAtValTimeFromStart(int time);
 

From 5e22e1bb88b7e891b2442a0366c6ef382a7f9d63 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 18 Oct 2022 03:46:26 +0200
Subject: [PATCH 207/559] Fixed selection

---
 pages/pageloganalysis.cpp | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index 29a3d049f..0f37047e5 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -1281,11 +1281,12 @@ void PageLogAnalysis::on_vescLogListOpenButton_clicked()
         return;
     }
 
-    auto item = ui->vescLogTable->currentItem();
-    if (item != nullptr) {
+    auto items = ui->vescLogTable->selectedItems();
+
+    if (items.size() > 0) {
         FILE_LIST_ENTRY fe;
-        if (item->data(Qt::UserRole).canConvert<FILE_LIST_ENTRY>()) {
-            fe = item->data(Qt::UserRole).value<FILE_LIST_ENTRY>();
+        if (items.first()->data(Qt::UserRole).canConvert<FILE_LIST_ENTRY>()) {
+            fe = items.first()->data(Qt::UserRole).value<FILE_LIST_ENTRY>();
         }
 
         if (fe.isDir) {

From 28c134cae0321db07949020da533b5de6389497d Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 20 Oct 2022 00:11:13 +0200
Subject: [PATCH 208/559] Autoindentation improvements, first attempt at lisp
 autoindentation

---
 QCodeEditor/src/internal/QCodeEditor.cpp | 23 +++++++++++++----------
 widgets/scripteditor.cpp                 |  2 +-
 2 files changed, 14 insertions(+), 11 deletions(-)

diff --git a/QCodeEditor/src/internal/QCodeEditor.cpp b/QCodeEditor/src/internal/QCodeEditor.cpp
index 4fbb20945..3557b7ea4 100755
--- a/QCodeEditor/src/internal/QCodeEditor.cpp
+++ b/QCodeEditor/src/internal/QCodeEditor.cpp
@@ -622,18 +622,27 @@ void QCodeEditor::keyPressEvent(QKeyEvent* e) {
                     }
                 }
 
+                int indentLine = 0;
+                for (auto c: line) {
+                    if (c == m_indentStartStr) {
+                        indentNow++;
+                        indentLine++;
+                    }
+                }
+
                 for (auto c: line) {
                     if (c == m_indentEndStr) {
                         indentNow--;
+                        indentLine--;
                     }
+                }
 
-                    if (indentNow < 0) {
-                        indentNow = 0;
-                    }
+                if (indentLine < 0) {
+                    indentLine = 0;
                 }
 
                 if (indent) {
-                    for (int i = 0;i < indentNow;i++) {
+                    for (int i = 0;i < (indentNow - indentLine);i++) {
                         line.prepend(m_tabReplace);
                     }
                 }
@@ -653,12 +662,6 @@ void QCodeEditor::keyPressEvent(QKeyEvent* e) {
                         tc.setPosition(posStart++);
                     }
                 }
-
-                for (auto c: line) {
-                    if (c == m_indentStartStr) {
-                        indentNow++;
-                    }
-                }
             }
 
             return;
diff --git a/widgets/scripteditor.cpp b/widgets/scripteditor.cpp
index 5d6d225c5..dbab1c116 100644
--- a/widgets/scripteditor.cpp
+++ b/widgets/scripteditor.cpp
@@ -90,7 +90,7 @@ void ScriptEditor::setModeLisp()
     ui->codeEdit->setHighlighter(new LispHighlighter);
     ui->codeEdit->setCompleter(new QLispCompleter);
     ui->codeEdit->setCommentStr(";");
-    ui->codeEdit->setIndentStrs("", "");
+    ui->codeEdit->setIndentStrs("(", ")");
     ui->codeEdit->setAutoParentheses(false);
     mIsModeLisp = true;
 }

From 177dcbd30bcd72258733b3993794ce763427c1de Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 20 Oct 2022 00:12:20 +0200
Subject: [PATCH 209/559] Loganalysis rewrite in preparation for handling
 arbitrary log files

---
 datatypes.h               |  66 +++
 pages/pageloganalysis.cpp | 981 ++++++++++++++------------------------
 pages/pageloganalysis.h   |  70 ++-
 3 files changed, 489 insertions(+), 628 deletions(-)

diff --git a/datatypes.h b/datatypes.h
index 80a15e2c5..b88d9e858 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -26,6 +26,7 @@
 #include <QVector>
 #include <QDateTime>
 #include <QTime>
+#include <QMap>
 #include <stdint.h>
 
 typedef struct {
@@ -520,6 +521,71 @@ struct LOG_DATA {
 
 Q_DECLARE_METATYPE(LOG_DATA)
 
+struct LOG_ENTRY {
+    Q_GADGET
+
+    Q_PROPERTY(QString name MEMBER name)
+    Q_PROPERTY(QString unit MEMBER unit)
+    Q_PROPERTY(int precision MEMBER precision)
+    Q_PROPERTY(double value MEMBER value)
+    Q_PROPERTY(QString valueString MEMBER valueString)
+    Q_PROPERTY(bool isTimeStamp MEMBER isTimeStamp)
+    Q_PROPERTY(bool isRelativeToFirst MEMBER isRelativeToFirst)
+    Q_PROPERTY(bool hasScale MEMBER hasScale)
+    Q_PROPERTY(double scaleStep MEMBER scaleStep)
+    Q_PROPERTY(double scaleMax MEMBER scaleMax)
+
+public:
+    LOG_ENTRY() {
+        value = 0.0;
+        precision = 2;
+        isRelativeToFirst = false;
+        isTimeStamp = false;
+        hasScale = true;
+        scaleStep = 0.1;
+        scaleMax = 99.99;
+    }
+
+    LOG_ENTRY(QString key,
+              QString name,
+              QString unit,
+              double value,
+              int precision = 2,
+              QString valueString = "",
+              bool isRelativeToFirst = false,
+              bool isTimeStamp = false,
+              bool hasScale = true,
+              double scaleStep = 0.1,
+              double scaleMax = 99.99) {
+        this->key = key;
+        this->name = name;
+        this->unit = unit;
+        this->value = value;
+        this->precision = precision;
+        this->valueString = valueString;
+        this->isRelativeToFirst = isRelativeToFirst;
+        this->isTimeStamp = isTimeStamp;
+        this->hasScale = hasScale;
+        this->scaleStep = scaleStep;
+        this->scaleMax = scaleMax;
+    }
+
+    QString key;
+    QString name;
+    QString unit;
+    double value;
+    int precision;
+    QString valueString;
+    bool isRelativeToFirst;
+    bool isTimeStamp;
+    bool hasScale;
+    double scaleStep;
+    double scaleMax;
+
+};
+
+Q_DECLARE_METATYPE(LOG_ENTRY)
+
 struct MCCONF_TEMP {
     Q_GADGET
 
diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index 0f37047e5..f566b9ad2 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -32,6 +32,8 @@ PageLogAnalysis::PageLogAnalysis(QWidget *parent) :
     ui->setupUi(this);
     mVesc = nullptr;
 
+    resetInds();
+
     QString theme = Utility::getThemePath();
     ui->centerButton->setIcon(QPixmap(theme + "icons/icons8-target-96.png"));
     ui->playButton->setIcon(QPixmap(theme + "icons/Circled Play-96.png"));
@@ -84,19 +86,21 @@ PageLogAnalysis::PageLogAnalysis(QWidget *parent) :
     mPlayTimer->start(100);
 
     connect(mPlayTimer, &QTimer::timeout, [this]() {
-        if (ui->playButton->isChecked()) {
+        if (ui->playButton->isChecked() && !mLogTruncated.isEmpty()) {
             mPlayPosNow += double(mPlayTimer->interval()) / 1000.0;
 
-            int timeMs = mLogDataTruncated.last().valTime - mLogDataTruncated.first().valTime;
-            if (timeMs < 0) { // Handle midnight
-                timeMs += 60 * 60 * 24 * 1000;
-            }
+            if (mInd_t_day >= 0) {
+                double time = (mLogTruncated.last()[mInd_t_day]->value - mLogTruncated.first()[mInd_t_day]->value);
+                if (time < 0.0) { // Handle midnight
+                    time += 60.0 * 60.0 * 24.0;
+                }
 
-            if (mLogDataTruncated.size() > 0 &&
-                    mPlayPosNow <= double(timeMs) / 1000.0) {
-                updateDataAndPlot(mPlayPosNow);
-            } else {
-                ui->playButton->setChecked(false);
+                if (mLogTruncated.size() > 0 &&
+                        mPlayPosNow <= time) {
+                    updateDataAndPlot(mPlayPosNow);
+                } else {
+                    ui->playButton->setChecked(false);
+                }
             }
         }
     });
@@ -109,81 +113,6 @@ PageLogAnalysis::PageLogAnalysis(QWidget *parent) :
     ui->plot->axisRect()->insetLayout()->setInsetAlignment(0, Qt::AlignRight|Qt::AlignBottom);
     ui->plot->xAxis->setLabel("Seconds (s)");
 
-    auto addDataItem = [this](QString name, bool hasScale = true,
-            double scale = 1.0, double scaleStep = 0.1) {
-        ui->dataTable->setRowCount(ui->dataTable->rowCount() + 1);
-        ui->dataTable->setItem(ui->dataTable->rowCount() - 1, 0, new QTableWidgetItem(name));
-        ui->dataTable->setItem(ui->dataTable->rowCount() - 1, 1, new QTableWidgetItem(""));
-        if (hasScale) {
-            QDoubleSpinBox *sb = new QDoubleSpinBox;
-            sb->setSingleStep(scaleStep);
-            sb->setValue(scale);
-            // Prevent mouse wheel focus to avoid changing the selection
-            sb->setFocusPolicy(Qt::StrongFocus);
-            ui->dataTable->setCellWidget(ui->dataTable->rowCount() - 1, 2, sb);
-            connect(sb, QOverload<double>::of(&QDoubleSpinBox::valueChanged),
-                    [this](double value) {
-                (void)value;
-                updateGraphs();
-            });
-        } else {
-            ui->dataTable->setItem(ui->dataTable->rowCount() - 1, 2, new QTableWidgetItem("Not Plottable"));
-        }
-    };
-
-    addDataItem("Speed VESC");      // 0
-    addDataItem("Speed GNSS");      // 1
-    addDataItem("Time of Day", false);     // 2
-    addDataItem("Time of trip", false);    // 3
-    addDataItem("Trip VESC");       // 4
-    addDataItem("Trip ABS VESC");   // 5
-    addDataItem("Trip GNSS");       // 6
-    addDataItem("Current Motors");  // 7
-    addDataItem("Current Battery"); // 8
-    addDataItem("Power");           // 9
-    addDataItem("ERPM");            // 10
-    addDataItem("Duty Cycle");      // 11
-    addDataItem("Fault Code");      // 12
-    addDataItem("Input Voltage");   // 13
-    addDataItem("Battery Level");   // 14
-    addDataItem("Temp MOSFET");     // 15
-    addDataItem("Temp Motor");      // 16
-    addDataItem("Ah Used");         // 17
-    addDataItem("Ah Charged");      // 18
-    addDataItem("Wh Used");         // 19
-    addDataItem("Wh Charged");      // 20
-    addDataItem("id");              // 21
-    addDataItem("iq");              // 22
-    addDataItem("vd");              // 23
-    addDataItem("vq");              // 24
-    addDataItem("Temp MOSFET 1");   // 25
-    addDataItem("Temp MOSFET 2");   // 26
-    addDataItem("Temp MOSFET 3");   // 27
-    addDataItem("Motor Pos");       // 28
-    addDataItem("Altitude GNSS");   // 29
-    addDataItem("Roll");            // 30
-    addDataItem("Pitch");           // 31
-    addDataItem("Yaw");             // 32
-    addDataItem("Accel X");         // 33
-    addDataItem("Accel Y");         // 34
-    addDataItem("Accel Z");         // 35
-    addDataItem("Gyro X");          // 36
-    addDataItem("Gyro Y");          // 37
-    addDataItem("Gyro Z");          // 38
-    addDataItem("GNSS Accuracy");   // 39
-    addDataItem("V1 Current");      // 40
-    addDataItem("V1 Current In");   // 41
-    addDataItem("V1 Power");        // 42
-    addDataItem("V1 Ah Used");      // 43
-    addDataItem("V1 Ah Charged");   // 44
-    addDataItem("V1 Wh Used");      // 45
-    addDataItem("V1 Wh Charged");   // 46
-    addDataItem("Latitude");        // 47
-    addDataItem("Longitude");       // 48
-    addDataItem("V. Speed GNSS");   // 49
-    addDataItem("GNSS V. Acc.");    // 50
-    addDataItem("VESC num");        // 51
-
     mVerticalLine = new QCPCurve(ui->plot->xAxis, ui->plot->yAxis);
     mVerticalLine->removeFromLegend();
     mVerticalLine->setPen(QPen(Utility::getAppQColor("normalText")));
@@ -205,7 +134,9 @@ PageLogAnalysis::PageLogAnalysis(QWidget *parent) :
     };
 
     connect(ui->map, &MapWidget::infoPointClicked, [this](LocPoint info) {
-        updateDataAndPlot(double(info.getInfo().toInt() - mLogDataTruncated.first().valTime) / 1000.0);
+        if (mInd_t_day >= 0 && !mLogTruncated.isEmpty()) {
+            updateDataAndPlot(info.getInfo().toDouble() - mLogTruncated.first()[mInd_t_day]->value);
+        }
     });
 
     connect(ui->plot, &QCustomPlot::mousePress, [updateMouse](QMouseEvent *event) {
@@ -298,6 +229,168 @@ void PageLogAnalysis::setVesc(VescInterface *vesc)
     }
 }
 
+void PageLogAnalysis::loadVescLog(QVector<LOG_DATA> log)
+{
+    resetInds();
+
+    for (auto e: mLog) {
+        for (auto e2: e) {
+            delete e2;
+        }
+    }
+
+    mLog.clear();
+    mLogTruncated.clear();
+
+    double i_llh[3];
+    for (auto d: log) {
+        if (d.posTime >= 0 && (!ui->filterOutlierBox->isChecked() ||
+                               d.hAcc < ui->filterhAccBox->value())) {
+            i_llh[0] = d.lat;
+            i_llh[1] = d.lon;
+            i_llh[2] = d.alt;
+            ui->map->setEnuRef(i_llh[0], i_llh[1], i_llh[2]);
+            break;
+        }
+    }
+
+    LOG_DATA prevSampleGnss;
+    bool prevSampleGnssSet = false;
+    double metersGnss = 0.0;
+
+    for (auto d: log) {
+        if (d.posTime >= 0 &&
+                (!ui->filterOutlierBox->isChecked() ||
+                 d.hAcc < ui->filterhAccBox->value())) {
+            if (prevSampleGnssSet) {
+                double i_llh[3];
+                double llh[3];
+                double xyz[3];
+                ui->map->getEnuRef(i_llh);
+
+                llh[0] = d.lat;
+                llh[1] = d.lon;
+                llh[2] = d.alt;
+                Utility::llhToEnu(i_llh, llh, xyz);
+
+                LocPoint p, p2;
+                p.setXY(xyz[0], xyz[1]);
+                p.setRadius(10);
+
+                llh[0] = prevSampleGnss.lat;
+                llh[1] = prevSampleGnss.lon;
+                llh[2] = prevSampleGnss.alt;
+                Utility::llhToEnu(i_llh, llh, xyz);
+
+                p2.setXY(xyz[0], xyz[1]);
+                p2.setRadius(10);
+
+                metersGnss += p.getDistanceTo(p2);
+            }
+
+            prevSampleGnssSet = true;
+            prevSampleGnss = d;
+        }
+
+        // Todo: There is a lot of duplication here, which leads to high memory usage for large logs. A log with
+        // 30000 samples (10 MB file size) takes around 500 MB RAM to load.
+        QVector<LOG_ENTRY*> e;
+        e.append(new LOG_ENTRY("kmh_vesc", "Speed VESC", "km/h", d.setupValues.speed * 3.6));
+        e.append(new LOG_ENTRY("kmh_gnss", "Speed GNSS", "km/h", d.gVel * 3.6));
+        e.append(new LOG_ENTRY("t_day", "Time", "s", double(d.valTime) / 1000.0, 0, "", false, true, false));
+        e.append(new LOG_ENTRY("t_day_pos", "Time GNSS", "", double(d.posTime) / 1000.0, 0, "", false, true, false));
+        e.append(new LOG_ENTRY("t_trip", "Time of trip", "", double(d.valTime) / 1000.0, 0, "", true, true, false));
+        e.append(new LOG_ENTRY("trip_vesc", "Trip VESC", "m", d.setupValues.tachometer, 3, "", true));
+        e.append(new LOG_ENTRY("trip_vesc_abs", "Trip VESC ABS", "m", d.setupValues.tachometer, 3, "", true));
+        e.append(new LOG_ENTRY("trip_gnss", "Trip GNSS", "m", metersGnss, 3, "", false));
+        e.append(new LOG_ENTRY("setup_curr_motor", "Current Motors", "A", d.setupValues.current_motor));
+        e.append(new LOG_ENTRY("setup_curr_battery", "Current Battery", "A", d.setupValues.current_in));
+        e.append(new LOG_ENTRY("setup_power", "Power", "W", d.setupValues.current_in * d.values.v_in, 0));
+        e.append(new LOG_ENTRY("erpm", "ERPM", "1/1000", d.values.rpm / 1000, 0));
+        e.append(new LOG_ENTRY("duty", "Duty", "%", d.values.duty_now * 100, 1));
+        e.append(new LOG_ENTRY("fault", "Fault Code", "", d.values.fault_code,
+                           0, Commands::faultToStr(mc_fault_code(d.values.fault_code)).mid(11)));
+        e.append(new LOG_ENTRY("v_in", "Input Voltage", "V", d.values.v_in));
+        e.append(new LOG_ENTRY("soc", "Battery Level", "%", d.setupValues.battery_level * 100.0, 1));
+        e.append(new LOG_ENTRY("t_mosfet", "Temp MOSFET", "°C", d.values.temp_mos, 1));
+        e.append(new LOG_ENTRY("t_motor", "Temp Motor", "°C", d.values.temp_motor, 1));
+        e.append(new LOG_ENTRY("cnt_ah", "Ah Used", "Ah", d.setupValues.amp_hours, 3));
+        e.append(new LOG_ENTRY("cnt_ah_chg", "Ah Charged", "Ah", d.setupValues.amp_hours_charged, 3));
+        e.append(new LOG_ENTRY("cnt_wh", "Wh Used", "Wh", d.setupValues.watt_hours, 3));
+        e.append(new LOG_ENTRY("cnt_wh_chg", "Wh Charged", "Wh", d.setupValues.watt_hours_charged, 3));
+        e.append(new LOG_ENTRY("id", "id", "A", d.values.id));
+        e.append(new LOG_ENTRY("iq", "iq", "A", d.values.iq));
+        e.append(new LOG_ENTRY("vd", "vd", "V", d.values.vd));
+        e.append(new LOG_ENTRY("vq", "vq", "V", d.values.vq));
+        e.append(new LOG_ENTRY("t_mosfet_1", "Temp MOSFET 1", "°C", d.values.temp_mos_1, 1));
+        e.append(new LOG_ENTRY("t_mosfet_2", "Temp MOSFET 2", "°C", d.values.temp_mos_2, 1));
+        e.append(new LOG_ENTRY("t_mosfet_3", "Temp MOSFET 3", "°C", d.values.temp_mos_3, 1));
+        e.append(new LOG_ENTRY("position", "Motor Pos", "°", d.values.position, 1));
+        e.append(new LOG_ENTRY("roll", "Roll", "°", d.imuValues.roll, 1));
+        e.append(new LOG_ENTRY("pitch", "Pitch", "°", d.imuValues.pitch, 1));
+        e.append(new LOG_ENTRY("yaw", "Yaw", "°", d.imuValues.yaw, 1));
+        e.append(new LOG_ENTRY("acc_x", "Accel X", "G", d.imuValues.accX));
+        e.append(new LOG_ENTRY("acc_y", "Accel Y", "G", d.imuValues.accY));
+        e.append(new LOG_ENTRY("acc_z", "Accel Z", "G", d.imuValues.accZ));
+        e.append(new LOG_ENTRY("gyro_x", "Gyro X", "°/s", d.imuValues.gyroX, 1));
+        e.append(new LOG_ENTRY("gyro_y", "Gyro Y", "°/s", d.imuValues.gyroY, 1));
+        e.append(new LOG_ENTRY("gyro_z", "Gyro Z", "°/s", d.imuValues.gyroZ, 1));
+        e.append(new LOG_ENTRY("v1_curr_motor", "V1 Current", "A", d.values.current_motor));
+        e.append(new LOG_ENTRY("v1_curr_battery", "V1 Current Battery", "A", d.values.current_in));
+        e.append(new LOG_ENTRY("v1_cnt_ah", "V1 Ah Used", "Ah", d.values.amp_hours, 3));
+        e.append(new LOG_ENTRY("v1_cnt_ah_chg", "V1 Ah Charged", "Ah", d.values.amp_hours_charged, 3));
+        e.append(new LOG_ENTRY("v1_cnt_wh", "V1 Wh Used", "Wh", d.values.watt_hours, 3));
+        e.append(new LOG_ENTRY("v1_cnt_wh_chg", "V1 Wh Charged", "Wh", d.values.watt_hours_charged, 3));
+        e.append(new LOG_ENTRY("gnss_lat", "Latitude", "°", d.lat, 6));
+        e.append(new LOG_ENTRY("gnss_lon", "Longitude", "°", d.lon, 6));
+        e.append(new LOG_ENTRY("gnss_alt", "Altitude", "m", d.alt));
+        e.append(new LOG_ENTRY("gnss_v_vel", "V. Speed GNSS", "km/h", d.vVel * 3.6));
+        e.append(new LOG_ENTRY("gnss_h_acc", "H. Accuracy GNSS", "m", d.hAcc));
+        e.append(new LOG_ENTRY("gnss_v_acc", "V. Accuracy GNSS", "m", d.vAcc));
+        e.append(new LOG_ENTRY("num_vesc", "VESC num", "", d.setupValues.num_vescs, 0));
+
+        mLog.append(e);
+    }
+
+    updateInds();
+
+    ui->dataTable->setRowCount(0);
+
+    if (mLog.size() == 0) {
+        return;
+    }
+
+    auto addDataItem = [this](QString name, bool hasScale = true,
+            double scaleStep = 0.1, double scaleMax = 99.99) {
+        ui->dataTable->setRowCount(ui->dataTable->rowCount() + 1);
+        auto item1 = new QTableWidgetItem(name);
+        ui->dataTable->setItem(ui->dataTable->rowCount() - 1, 0, item1);
+        ui->dataTable->setItem(ui->dataTable->rowCount() - 1, 1, new QTableWidgetItem(""));
+        if (hasScale) {
+            QDoubleSpinBox *sb = new QDoubleSpinBox;
+            sb->setSingleStep(scaleStep);
+            sb->setValue(1.0);
+            sb->setMaximum(scaleMax);
+            // Prevent mouse wheel focus to avoid changing the selection
+            sb->setFocusPolicy(Qt::StrongFocus);
+            ui->dataTable->setCellWidget(ui->dataTable->rowCount() - 1, 2, sb);
+            connect(sb, QOverload<double>::of(&QDoubleSpinBox::valueChanged),
+                    [this](double value) {
+                (void)value;
+                updateGraphs();
+            });
+        } else {
+            ui->dataTable->setItem(ui->dataTable->rowCount() - 1, 2, new QTableWidgetItem("Not Plottable"));
+        }
+    };
+
+    for (auto e: mLog.first()) {
+        addDataItem(e->name, e->hasScale, e->scaleStep, e->scaleMax);
+    }
+
+    truncateDataAndPlot();
+}
+
 void PageLogAnalysis::on_openCsvButton_clicked()
 {
     if (mVesc) {
@@ -322,21 +415,7 @@ void PageLogAnalysis::on_openCsvButton_clicked()
 void PageLogAnalysis::on_openCurrentButton_clicked()
 {
     if (mVesc) {
-        mLogData = mVesc->getRtLogData();
-
-        double i_llh[3];
-        for (auto d: mLogData) {
-            if (d.posTime >= 0 && (!ui->filterOutlierBox->isChecked() ||
-                                   d.hAcc < ui->filterhAccBox->value())) {
-                i_llh[0] = d.lat;
-                i_llh[1] = d.lon;
-                i_llh[2] = d.alt;
-                ui->map->setEnuRef(i_llh[0], i_llh[1], i_llh[2]);
-                break;
-            }
-        }
-
-        truncateDataAndPlot();
+        loadVescLog(mVesc->getRtLogData());
     }
 }
 
@@ -372,36 +451,58 @@ void PageLogAnalysis::truncateDataAndPlot(bool zoomGraph)
     int posTimeLast = -1;
 
     ui->map->getEnuRef(i_llh);
-    mLogDataTruncated.clear();
+    mLogTruncated.clear();
 
-    for (auto d: mLogData) {
+    for (const auto &d: mLog) {
         ind++;
-        double prop = double(ind) / double(mLogData.size());
+        double prop = double(ind) / double(mLog.size());
         if (prop < start || prop > end) {
             continue;
         }
 
-        mLogDataTruncated.append(d);
+        mLogTruncated.append(d);
+        bool skip = false;
 
-        if (d.posTime >= 0 &&
-                (!ui->filterOutlierBox->isChecked() ||
-                 d.hAcc < ui->filterhAccBox->value()) &&
-                posTimeLast != d.posTime) {
+        if (mInd_t_day_pos >= 0 && mInd_gnss_h_acc >= 0) {
+            int postime = int(d[mInd_t_day_pos]->value * 1000.0);
+            double h_acc = d[mInd_gnss_h_acc]->value;
+
+            skip = true;
+            if (postime >= 0 &&
+                    (!ui->filterOutlierBox->isChecked() ||
+                     h_acc < ui->filterhAccBox->value()) &&
+                    posTimeLast != postime) {
+                skip = false;
+                posTimeLast = postime;
+            }
+        }
+
+        if (mInd_gnss_lat < 0 || mInd_gnss_lon < 0) {
+            skip = true;
+        }
+
+        if (!skip) {
             double llh[3];
             double xyz[3];
 
-            llh[0] = d.lat;
-            llh[1] = d.lon;
-            llh[2] = d.alt;
+            llh[0] = d[mInd_gnss_lat]->value;
+            llh[1] = d[mInd_gnss_lon]->value;
+            if (mInd_gnss_alt >= 0) {
+                llh[2] = d[mInd_gnss_alt]->value;
+            } else {
+                llh[2] = 0.0;
+            }
             Utility::llhToEnu(i_llh, llh, xyz);
 
             LocPoint p;
             p.setXY(xyz[0], xyz[1]);
             p.setRadius(5);
-            p.setInfo(QString("%1").arg(d.valTime));
+
+            if (mInd_t_day >= 0) {
+                p.setInfo(QString("%1").arg(d[mInd_t_day]->value));
+            }
 
             ui->map->addInfoPoint(p, false);
-            posTimeLast = d.posTime;
         }
     }
 
@@ -422,68 +523,28 @@ void PageLogAnalysis::updateGraphs()
     QVector<QVector<double> > yAxes;
     QVector<QString> names;
 
-    int startTime = -1;
-    LOG_DATA prevSampleGnss;
-    bool prevSampleGnssSet = false;
-    double metersGnss = 0.0;
-    LOG_DATA firstData;
-
-    if (mLogDataTruncated.size() > 0) {
-        firstData = mLogDataTruncated.first();
-    }
-
+    double startTime = -1.0;
     double verticalTime = -1.0;
     LocPoint p, p2;
 
-    for (LOG_DATA d: mLogDataTruncated) {
-        if (startTime < 0) {
-            startTime = d.valTime;
-        }
-
-        int timeMs = d.valTime - startTime;
-        if (timeMs < 0) { // Handle midnight
-            timeMs += 60 * 60 * 24 * 1000;
-        }
-
-        if (mVerticalLineMsLast == d.valTime) {
-            verticalTime = double(timeMs) / 1000.0;
-        }
-
-        xAxis.append(double(timeMs) / 1000.0);
-
-        if (d.posTime >= 0 &&
-                (!ui->filterOutlierBox->isChecked() ||
-                 d.hAcc < ui->filterhAccBox->value())) {
-            if (prevSampleGnssSet) {
-                double i_llh[3];
-                double llh[3];
-                double xyz[3];
-                ui->map->getEnuRef(i_llh);
-
-                llh[0] = d.lat;
-                llh[1] = d.lon;
-                llh[2] = d.alt;
-                Utility::llhToEnu(i_llh, llh, xyz);
-
-                p.setXY(xyz[0], xyz[1]);
-                p.setRadius(10);
-
-                llh[0] = prevSampleGnss.lat;
-                llh[1] = prevSampleGnss.lon;
-                llh[2] = prevSampleGnss.alt;
-                Utility::llhToEnu(i_llh, llh, xyz);
-
-                p2.setXY(xyz[0], xyz[1]);
-                p2.setRadius(10);
-
-                metersGnss += p.getDistanceTo(p2);
+    int timeMs = 0;
+    for (const auto &d: mLogTruncated) {
+        if (mInd_t_day >= 0) {
+            if (startTime < 0) {
+                startTime = d[mInd_t_day]->value;
             }
 
-            prevSampleGnssSet = true;
-            prevSampleGnss = d;
+            timeMs = int((d[mInd_t_day]->value - startTime) * 1000.0);
+            if (timeMs < 0) { // Handle midnight
+                timeMs += 60 * 60 * 24 * 1000;
+            }
+        } else {
+            timeMs += 1000.0;
         }
 
+        xAxis.append(double(timeMs) / 1000.0);
         int rowInd = 0;
+
         for (int r = 0;r < rows.size();r++) {
             int row = rows.at(r).row();
             double rowScale = 1.0;
@@ -491,257 +552,14 @@ void PageLogAnalysis::updateGraphs()
                     (ui->dataTable->cellWidget(row, 2))) {
                 rowScale = sb->value();
             }
-            if (row == 0) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.setupValues.speed * 3.6 * rowScale);
-                names.append(QString("Speed VESC (km/h * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 1) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.gVel * 3.6 * rowScale);
-                names.append(QString("Speed GNSS (km/h * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 4) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append((d.setupValues.tachometer -
-                                      firstData.setupValues.tachometer) * rowScale);
-                names.append(QString("Trip VESC (m * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 5) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append((d.setupValues.tachometer_abs -
-                                      firstData.setupValues.tachometer_abs) * rowScale);
-                names.append(QString("Trip ABS VESC (m * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 6) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(metersGnss * rowScale);
-                names.append(QString("Trip GNSS (m * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 7) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.setupValues.current_motor * rowScale);
-                names.append(QString("Current Motor (A * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 8) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.setupValues.current_in * rowScale);
-                names.append(QString("Current Battery (A * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 9) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.setupValues.current_in * d.values.v_in * rowScale);
-                names.append(QString("Power (W * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 10) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.values.rpm / 1000 * rowScale);
-                names.append(QString("ERPM (1/1000 * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 11) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.values.duty_now * 100.0 * rowScale);
-                names.append(QString("Duty (% * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 12) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(double(d.values.fault_code) * rowScale);
-                names.append(QString("Fault Code (* %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 13) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.values.v_in * rowScale);
-                names.append(QString("Input Voltage (V * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 14) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.setupValues.battery_level * 100.0 * rowScale);
-                names.append(QString("Input Voltage (% * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 15) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.values.temp_mos * rowScale);
-                names.append(QString("Temp MOSFET (°C * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 16) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.values.temp_motor * rowScale);
-                names.append(QString("Temp Motor (°C * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 17) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.setupValues.amp_hours * rowScale);
-                names.append(QString("Ah Used (Ah * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 18) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.setupValues.amp_hours_charged * rowScale);
-                names.append(QString("Ah Charged (Ah * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 19) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.setupValues.watt_hours * rowScale);
-                names.append(QString("Wh Used (Wh * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 20) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.setupValues.watt_hours_charged * rowScale);
-                names.append(QString("Wh Charged (Wh * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 21) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.values.id * rowScale);
-                names.append(QString("id (A * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 22) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.values.iq * rowScale);
-                names.append(QString("iq (A * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 23) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.values.vd * rowScale);
-                names.append(QString("vd (V * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 24) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.values.vq * rowScale);
-                names.append(QString("vq (A * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 25) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.values.temp_mos_1 * rowScale);
-                names.append(QString("Temp MOSFET 1 (°C * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 26) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.values.temp_mos_2 * rowScale);
-                names.append(QString("Temp MOSFET 2 (°C * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 27) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.values.temp_mos_3 * rowScale);
-                names.append(QString("Temp MOSFET 3 (°C * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 28) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.values.position * rowScale);
-                names.append(QString("Motor Pos (° * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 29) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.alt * rowScale);
-                names.append(QString("Altitude GNSS (m * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 30) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.imuValues.roll * 180.0 / M_PI * rowScale);
-                names.append(QString("Roll (° * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 31) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.imuValues.pitch * 180.0 / M_PI * rowScale);
-                names.append(QString("Pitch (° * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 32) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.imuValues.yaw * 180.0 / M_PI * rowScale);
-                names.append(QString("Yaw (° * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 33) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.imuValues.accX * rowScale);
-                names.append(QString("Accel X (G * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 34) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.imuValues.accY * rowScale);
-                names.append(QString("Accel Y (G * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 35) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.imuValues.accZ * rowScale);
-                names.append(QString("Accel Z (G * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 36) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.imuValues.gyroX * rowScale);
-                names.append(QString("Gyro X (°/s * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 37) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.imuValues.gyroY * rowScale);
-                names.append(QString("Gyro Y (°/s * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 38) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.imuValues.gyroZ * rowScale);
-                names.append(QString("Gyro Z (°/s * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 39) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.hAcc * rowScale);
-                names.append(QString("GNSS Accuracy (m * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 40) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.values.current_motor * rowScale);
-                names.append(QString("V1 Current (A * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 41) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.values.current_in * rowScale);
-                names.append(QString("V1 Current In (A * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 42) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.values.current_in * d.values.v_in * rowScale);
-                names.append(QString("Power (W * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 43) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.values.amp_hours * rowScale);
-                names.append(QString("V1 Ah Used (Ah * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 44) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.values.amp_hours_charged * rowScale);
-                names.append(QString("V1 Ah Charged (Ah * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 45) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.values.watt_hours * rowScale);
-                names.append(QString("V1 Wh Used (Wh * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 46) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.values.watt_hours_charged * rowScale);
-                names.append(QString("V1 Wh Charged (Wh * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 47) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.lat * rowScale);
-                names.append(QString("Latitude (° * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 48) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.lon * rowScale);
-                names.append(QString("Longitude (° * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 49) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.vVel * 3.6 * rowScale);
-                names.append(QString("V. Speed GNSS (km/h * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 50) {
-                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(d.vAcc * rowScale);
-                names.append(QString("GNSS V. Accuracy (m * %1)").arg(rowScale));
-                rowInd++;
-            } else if (row == 51) {
+
+            auto entry = d[row];
+
+            if (entry->hasScale) {
                 if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(double(d.setupValues.num_vescs) * rowScale);
-                names.append(QString("VESC num (* %1)").arg(rowScale));
+                yAxes[rowInd].append(entry->value * rowScale);
+                names.append(QString("%1 (%2 * %3)").arg(entry->name).
+                             arg(entry->unit).arg(rowScale));
                 rowInd++;
             }
         }
@@ -792,12 +610,27 @@ void PageLogAnalysis::updateGraphs()
 
 void PageLogAnalysis::updateStats()
 {
-    bool startSampleSet = false;
-    LOG_DATA startSample;
-    LOG_DATA endSample;
+    if (mLogTruncated.size() < 2) {
+            return;
+    }
+
+    auto startSample = mLogTruncated.first();
+    auto endSample = mLogTruncated.last();
 
-    int samples = 0;
+    int samples = mLogTruncated.size();
     int timeTotMs = 0;
+
+    if (samples < 2) {
+        return;
+    }
+
+    if (mInd_t_day >= 0) {
+        timeTotMs = (endSample[mInd_t_day]->value - startSample[mInd_t_day]->value) * 1000.0;
+        if (timeTotMs < 0) { // Handle midnight
+            timeTotMs += 60 * 60 * 24 * 1000;
+        }
+    }
+
     double meters = 0.0;
     double metersAbs = 0.0;
     double metersGnss = 0.0;
@@ -805,69 +638,36 @@ void PageLogAnalysis::updateStats()
     double whCharge = 0.0;
     double ah = 0.0;
     double ahCharge = 0.0;
-    LOG_DATA prevSampleGnss;
-    bool prevSampleGnssSet = false;
-
-    for (LOG_DATA d: mLogDataTruncated) {
-        if (!startSampleSet) {
-            startSample = d;
-            startSampleSet = true;
-        }
-
-        samples++;
 
-        if (d.posTime >= 0 &&
-                (!ui->filterOutlierBox->isChecked() ||
-                 d.hAcc < ui->filterhAccBox->value())) {
-            if (prevSampleGnssSet) {
-                double i_llh[3];
-                double llh[3];
-                double xyz[3];
-                ui->map->getEnuRef(i_llh);
-
-                llh[0] = d.lat;
-                llh[1] = d.lon;
-                llh[2] = d.alt;
-                Utility::llhToEnu(i_llh, llh, xyz);
-
-                LocPoint p;
-                p.setXY(xyz[0], xyz[1]);
-                p.setRadius(10);
-
-                llh[0] = prevSampleGnss.lat;
-                llh[1] = prevSampleGnss.lon;
-                llh[2] = prevSampleGnss.alt;
-                Utility::llhToEnu(i_llh, llh, xyz);
-
-                LocPoint p2;
-                p2.setXY(xyz[0], xyz[1]);
-                p2.setRadius(10);
+    if (mInd_trip_vesc >= 0) {
+        meters = endSample[mInd_trip_vesc]->value - startSample[mInd_trip_vesc]->value;
+    }
 
-                metersGnss += p.getDistanceTo(p2);
-            }
+    if (mInd_trip_vesc_abs >= 0) {
+        metersAbs = endSample[mInd_trip_vesc_abs]->value - startSample[mInd_trip_vesc_abs]->value;
+    }
 
-            prevSampleGnssSet = true;
-            prevSampleGnss = d;
-        }
+    if (mInd_trip_gnss >= 0) {
+        metersGnss = endSample[mInd_trip_gnss]->value - startSample[mInd_trip_gnss]->value;
+    }
 
-        endSample = d;
+    if (mInd_cnt_wh >= 0) {
+        wh = endSample[mInd_cnt_wh]->value - startSample[mInd_cnt_wh]->value;
     }
 
-    timeTotMs = endSample.valTime - startSample.valTime;
-    if (timeTotMs < 0) { // Handle midnight
-        timeTotMs += 60 * 60 * 24 * 1000;
+    if (mInd_cnt_wh_chg >= 0) {
+        whCharge = endSample[mInd_cnt_wh_chg]->value - startSample[mInd_cnt_wh_chg]->value;
     }
 
-    meters = endSample.setupValues.tachometer - startSample.setupValues.tachometer;
-    metersAbs = endSample.setupValues.tachometer_abs - startSample.setupValues.tachometer_abs;
-    wh = endSample.setupValues.watt_hours - startSample.setupValues.watt_hours;
-    whCharge = endSample.setupValues.watt_hours_charged - startSample.setupValues.watt_hours_charged;
-    ah = endSample.setupValues.amp_hours - startSample.setupValues.amp_hours;
-    ahCharge = endSample.setupValues.amp_hours_charged - startSample.setupValues.amp_hours_charged;
+    if (mInd_cnt_ah >= 0) {
+        ah = endSample[mInd_cnt_ah]->value - startSample[mInd_cnt_ah]->value;
+    }
 
-    while (ui->statTable->rowCount() > 0) {
-        ui->statTable->removeRow(0);
+    if (mInd_cnt_ah_chg >= 0) {
+        ahCharge = endSample[mInd_cnt_ah_chg]->value - startSample[mInd_cnt_ah_chg]->value;
     }
+
+    ui->statTable->setRowCount(0);
     auto addStatItem = [this](QString name) {
         ui->statTable->setRowCount(ui->statTable->rowCount() + 1);
         ui->statTable->setItem(ui->statTable->rowCount() - 1, 0, new QTableWidgetItem(name));
@@ -910,6 +710,10 @@ void PageLogAnalysis::updateStats()
 
 void PageLogAnalysis::updateDataAndPlot(double time)
 {
+    if (mLogTruncated.isEmpty()) {
+        return;
+    }
+
     mPlayPosNow = time;
 
     double upper = ui->plot->xAxis->range().upper;
@@ -926,81 +730,72 @@ void PageLogAnalysis::updateDataAndPlot(double time)
     mVerticalLine->setVisible(true);
     ui->plot->replotWhenVisible();
 
-    LOG_DATA d = getLogSample(int(time * 1000));
-    mVerticalLineMsLast = d.valTime;
+    auto sample = getLogSample(int(time * 1000));
+    auto first = mLogTruncated.first();
 
-    int timeTotMs = d.valTime - getLogSample(0).valTime;
-    if (timeTotMs < 0) { // Handle midnight
-        timeTotMs += 60 * 60 * 24 * 1000;
+    if (mInd_t_day >= 0) {
+        mVerticalLineMsLast = int(sample[mInd_t_day]->value * 1000.0);
     }
 
-    ui->dataTable->item(0, 1)->setText(QString::number(d.setupValues.speed * 3.6, 'f', 2) + " km/h");
-    ui->dataTable->item(1, 1)->setText(QString::number(d.gVel * 3.6, 'f', 2) + " km/h");
-    QTime t(0, 0, 0, 0);
-    t = t.addMSecs(d.valTime);
-    ui->dataTable->item(2, 1)->setText(t.toString("hh:mm:ss.zzz"));
-    QTime t2(0, 0, 0, 0);
-    t2 = t2.addMSecs(timeTotMs);
-    ui->dataTable->item(3, 1)->setText(t2.toString("hh:mm:ss.zzz"));
-    ui->dataTable->item(4, 1)->setText(QString::number(d.setupValues.tachometer - getLogSample(0).setupValues.tachometer, 'f', 2) + "m");
-    ui->dataTable->item(5, 1)->setText(QString::number(d.setupValues.tachometer_abs - getLogSample(0).setupValues.tachometer_abs, 'f', 2) + "m");
-    ui->dataTable->item(6, 1)->setText(QString::number(getDistGnssSample(int(time * 1000)), 'f', 2) + "m");
-    ui->dataTable->item(7, 1)->setText(QString::number(d.setupValues.current_motor, 'f', 2) + " A");
-    ui->dataTable->item(8, 1)->setText(QString::number(d.setupValues.current_in, 'f', 2) + " A");
-    ui->dataTable->item(9, 1)->setText(QString::number(d.setupValues.current_in * d.values.v_in, 'f', 2) + " w");
-    ui->dataTable->item(10, 1)->setText(QString::number(d.values.rpm / 1000.0, 'f', 2) + " k");
-    ui->dataTable->item(11, 1)->setText(QString::number(d.values.duty_now * 100.0, 'f', 2) + " %");
-    ui->dataTable->item(12, 1)->setText(Commands::faultToStr(mc_fault_code(d.values.fault_code)).mid(11));
-    ui->dataTable->item(13, 1)->setText(QString::number(d.values.v_in, 'f', 2) + " V");
-    ui->dataTable->item(14, 1)->setText(QString::number(d.setupValues.battery_level * 100.0, 'f', 2) + " %");
-    ui->dataTable->item(15, 1)->setText(QString::number(d.values.temp_mos, 'f', 2) + " °C");
-    ui->dataTable->item(16, 1)->setText(QString::number(d.values.temp_motor, 'f', 2) + " °C");
-    ui->dataTable->item(17, 1)->setText(QString::number(d.setupValues.amp_hours, 'f', 2) + " Ah");
-    ui->dataTable->item(18, 1)->setText(QString::number(d.setupValues.amp_hours_charged, 'f', 2) + " Ah");
-    ui->dataTable->item(19, 1)->setText(QString::number(d.setupValues.watt_hours, 'f', 2) + " Wh");
-    ui->dataTable->item(20, 1)->setText(QString::number(d.setupValues.watt_hours_charged, 'f', 2) + " Wh");
-    ui->dataTable->item(21, 1)->setText(QString::number(d.values.id, 'f', 2) + " A");
-    ui->dataTable->item(22, 1)->setText(QString::number(d.values.iq, 'f', 2) + " A");
-    ui->dataTable->item(23, 1)->setText(QString::number(d.values.vd, 'f', 2) + " V");
-    ui->dataTable->item(24, 1)->setText(QString::number(d.values.vq, 'f', 2) + " V");
-    ui->dataTable->item(25, 1)->setText(QString::number(d.values.temp_mos_1, 'f', 2) + " °C");
-    ui->dataTable->item(26, 1)->setText(QString::number(d.values.temp_mos_2, 'f', 2) + " °C");
-    ui->dataTable->item(27, 1)->setText(QString::number(d.values.temp_mos_3, 'f', 2) + " °C");
-    ui->dataTable->item(28, 1)->setText(QString::number(d.values.position, 'f', 2) + " °");
-    ui->dataTable->item(29, 1)->setText(QString::number(d.alt, 'f', 2) + " m");
-    ui->dataTable->item(30, 1)->setText(QString::number(d.imuValues.roll * 180.0 / M_PI, 'f', 2) + " °");
-    ui->dataTable->item(31, 1)->setText(QString::number(d.imuValues.pitch * 180.0 / M_PI, 'f', 2) + " °");
-    ui->dataTable->item(32, 1)->setText(QString::number(d.imuValues.yaw * 180.0 / M_PI, 'f', 2) + " °");
-    ui->dataTable->item(33, 1)->setText(QString::number(d.imuValues.accX, 'f', 2) + " G");
-    ui->dataTable->item(34, 1)->setText(QString::number(d.imuValues.accY, 'f', 2) + " G");
-    ui->dataTable->item(35, 1)->setText(QString::number(d.imuValues.accZ, 'f', 2) + " G");
-    ui->dataTable->item(36, 1)->setText(QString::number(d.imuValues.gyroX, 'f', 2) + " °/s");
-    ui->dataTable->item(37, 1)->setText(QString::number(d.imuValues.gyroY, 'f', 2) + " °/s");
-    ui->dataTable->item(38, 1)->setText(QString::number(d.imuValues.gyroZ, 'f', 2) + " °/s");
-    ui->dataTable->item(39, 1)->setText(QString::number(d.hAcc, 'f', 2) + " m");
-    ui->dataTable->item(40, 1)->setText(QString::number(d.values.current_motor, 'f', 2) + " A");
-    ui->dataTable->item(41, 1)->setText(QString::number(d.values.current_in, 'f', 2) + " A");
-    ui->dataTable->item(42, 1)->setText(QString::number(d.values.current_in * d.values.v_in, 'f', 2) + " w");
-    ui->dataTable->item(43, 1)->setText(QString::number(d.values.amp_hours, 'f', 2) + " Ah");
-    ui->dataTable->item(44, 1)->setText(QString::number(d.values.amp_hours_charged, 'f', 2) + " Ah");
-    ui->dataTable->item(45, 1)->setText(QString::number(d.values.watt_hours, 'f', 2) + " Wh");
-    ui->dataTable->item(46, 1)->setText(QString::number(d.values.watt_hours_charged, 'f', 2) + " Wh");
-    ui->dataTable->item(47, 1)->setText(QString::number(d.lat, 'f', 7) + " °");
-    ui->dataTable->item(48, 1)->setText(QString::number(d.lon, 'f', 7) + " °");
-    ui->dataTable->item(49, 1)->setText(QString::number(d.vVel * 3.6, 'f', 2) + " km/h");
-    ui->dataTable->item(50, 1)->setText(QString::number(d.vAcc, 'f', 2) + " m");
-    ui->dataTable->item(51, 1)->setText(QString::number(d.setupValues.num_vescs));
-
-    if (d.posTime >= 0 &&
-            (!ui->filterOutlierBox->isChecked() ||
-             d.hAcc < ui->filterhAccBox->value())) {
+    int ind = 0;
+    for (int i = 0;i < sample.size();i++) {
+        const auto &e = sample.at(i);
+
+        auto value = e->value;
+        if (e->isRelativeToFirst) {
+            value -= first[i]->value;
+
+            if (e->isTimeStamp && value < 0) {
+                value += 60 * 60 * 24;
+            }
+        }
+
+        if (e->valueString.isEmpty()) {
+            if (e->isTimeStamp) {
+                QTime t(0, 0, 0, 0);
+                t = t.addMSecs(value * 1000);
+                ui->dataTable->item(ind, 1)->setText(t.toString("hh:mm:ss.zzz"));
+            } else {
+                ui->dataTable->item(ind, 1)->setText(
+                            QString::number(value, 'f', e->precision) + " " + e->unit);
+            }
+        } else {
+            ui->dataTable->item(ind, 1)->setText(e->valueString);
+        }
+
+        ind++;
+    }
+
+    bool skip = false;
+    if (mInd_t_day_pos >= 0 && mInd_gnss_h_acc >= 0) {
+        int postime = int(sample[mInd_t_day_pos]->value * 1000.0);
+        double h_acc = sample[mInd_gnss_h_acc]->value;
+
+        skip = true;
+        if (postime >= 0 &&
+                (!ui->filterOutlierBox->isChecked() ||
+                 h_acc < ui->filterhAccBox->value())) {
+            skip = false;
+        }
+    }
+
+    if (mInd_gnss_lat < 0 || mInd_gnss_lon < 0) {
+        skip = true;
+    }
+
+    if (!skip) {
         double i_llh[3];
         double llh[3];
         double xyz[3];
+
         ui->map->getEnuRef(i_llh);
-        llh[0] = d.lat;
-        llh[1] = d.lon;
-        llh[2] = d.alt;
+        llh[0] = sample[mInd_gnss_lat]->value;
+        llh[1] = sample[mInd_gnss_lon]->value;
+        if (mInd_gnss_alt >= 0) {
+            llh[2] = sample[mInd_gnss_alt]->value;
+        } else {
+            llh[2] = 0.0;
+        }
         Utility::llhToEnu(i_llh, llh, xyz);
 
         LocPoint p;
@@ -1016,99 +811,37 @@ void PageLogAnalysis::updateDataAndPlot(double time)
         }
     }
 
-    m3dView->setRollPitchYaw(d.imuValues.roll * 180.0 / M_PI, d.imuValues.pitch * 180.0 / M_PI,
-                             mUseYawBox->isChecked() ? d.imuValues.yaw * 180.0 / M_PI : 0.0);
-}
-
-LOG_DATA PageLogAnalysis::getLogSample(int timeMs)
-{
-    LOG_DATA d;
-
-    if (mLogDataTruncated.size() > 0) {
-        d = mLogDataTruncated.first();
-        int startTime = d.valTime;
-
-        for (LOG_DATA dn: mLogDataTruncated) {
-            int timeMsNow = dn.valTime - startTime;
-            if (timeMsNow < 0) { // Handle midnight
-                timeMsNow += 60 * 60 * 24 * 1000;
-            }
-
-            if (timeMsNow >= timeMs) {
-                d = dn;
-                break;
-            }
-        }
+    if (mInd_roll >= 0 && mInd_pitch >= 0 && mInd_yaw >= 0) {
+        m3dView->setRollPitchYaw(sample[mInd_roll]->value * 180.0 / M_PI, sample[mInd_pitch]->value * 180.0 / M_PI,
+                                 mUseYawBox->isChecked() ? sample[mInd_yaw]->value * 180.0 / M_PI : 0.0);
     }
-
-    return d;
 }
 
-double PageLogAnalysis::getDistGnssSample(int timeMs)
+QVector<LOG_ENTRY*> PageLogAnalysis::getLogSample(int timeMs)
 {
-    if (mLogDataTruncated.size() < 2) {
-        return 0.0;
-    }
+    QVector<LOG_ENTRY*> d;
 
-    double metersGnss = 0.0;
-    LOG_DATA prevSample;
-    bool prevSampleSet = false;
+    if (!mLogTruncated.isEmpty()) {
+        d = mLogTruncated.first();
 
-    for (LOG_DATA d: mLogDataTruncated) {
-        int timeMsNow = d.valTime - mLogDataTruncated.first().valTime;
-        if (timeMsNow < 0) { // Handle midnight
-            timeMsNow += 60 * 60 * 24 * 1000;
-        }
+        if (mInd_t_day >= 0) {
+            int startTime = int(d[mInd_t_day]->value * 1000.0);
 
-        if (d.posTime < 0) {
-            if (timeMsNow >= timeMs) {
-                break;
-            }
-            continue;
-        }
+            for (auto dn: mLogTruncated) {
+                int timeMsNow = (dn[mInd_t_day]->value * 1000) - startTime;
+                if (timeMsNow < 0) { // Handle midnight
+                    timeMsNow += 60 * 60 * 24 * 1000;
+                }
 
-        if (!prevSampleSet) {
-            prevSampleSet = true;
-            prevSample = d;
-            if (timeMsNow >= timeMs) {
-                break;
+                if (timeMsNow >= timeMs) {
+                    d = dn;
+                    break;
+                }
             }
-            continue;
-        }
-
-        double i_llh[3];
-        double llh[3];
-        double xyz[3];
-        ui->map->getEnuRef(i_llh);
-
-        llh[0] = d.lat;
-        llh[1] = d.lon;
-        llh[2] = d.alt;
-        Utility::llhToEnu(i_llh, llh, xyz);
-
-        LocPoint p;
-        p.setXY(xyz[0], xyz[1]);
-        p.setRadius(10);
-
-        llh[0] = prevSample.lat;
-        llh[1] = prevSample.lon;
-        llh[2] = prevSample.alt;
-        Utility::llhToEnu(i_llh, llh, xyz);
-
-        LocPoint p2;
-        p2.setXY(xyz[0], xyz[1]);
-        p2.setRadius(10);
-
-        metersGnss += p.getDistanceTo(p2);
-
-        prevSample = d;
-
-        if (timeMsNow >= timeMs) {
-            break;
         }
     }
 
-    return metersGnss;
+    return d;
 }
 
 void PageLogAnalysis::updateTileServers()
diff --git a/pages/pageloganalysis.h b/pages/pageloganalysis.h
index 692bd7656..8a403aa54 100644
--- a/pages/pageloganalysis.h
+++ b/pages/pageloganalysis.h
@@ -42,6 +42,8 @@ class PageLogAnalysis : public QWidget
     VescInterface *vesc() const;
     void setVesc(VescInterface *vesc);
 
+    void loadVescLog(QVector<LOG_DATA> log);
+
 private slots:
     void on_openCsvButton_clicked();
     void on_openCurrentButton_clicked();
@@ -69,18 +71,78 @@ private slots:
     int mVerticalLineMsLast;
     Vesc3DView *m3dView;
     QCheckBox *mUseYawBox;
-    QVector<LOG_DATA> mLogData;
-    QVector<LOG_DATA> mLogDataTruncated;
     QTimer *mPlayTimer;
     double mPlayPosNow;
     QString mVescLastPath;
 
+    QVector<QVector<LOG_ENTRY*> > mLog;
+    QVector<QVector<LOG_ENTRY*> > mLogTruncated;
+
+    int mInd_t_day;
+    int mInd_t_day_pos;
+    int mInd_gnss_h_acc;
+    int mInd_gnss_lat;
+    int mInd_gnss_lon;
+    int mInd_gnss_alt;
+    int mInd_trip_vesc;
+    int mInd_trip_vesc_abs;
+    int mInd_trip_gnss;
+    int mInd_cnt_wh;
+    int mInd_cnt_wh_chg;
+    int mInd_cnt_ah;
+    int mInd_cnt_ah_chg;
+    int mInd_roll;
+    int mInd_pitch;
+    int mInd_yaw;
+
+    void resetInds() {
+        mInd_t_day = -1;
+        mInd_t_day_pos = -1;
+        mInd_gnss_h_acc = -1;
+        mInd_gnss_lat = -1;
+        mInd_gnss_lon = -1;
+        mInd_gnss_alt = -1;
+        mInd_trip_vesc = -1;
+        mInd_trip_vesc_abs = -1;
+        mInd_trip_gnss = -1;
+        mInd_cnt_wh = -1;
+        mInd_cnt_wh_chg = -1;
+        mInd_cnt_ah = -1;
+        mInd_cnt_ah_chg = -1;
+        mInd_roll = -1;
+        mInd_pitch = -1;
+        mInd_yaw = -1;
+    }
+
+    void updateInds() {
+        if (!mLog.isEmpty()) {
+            for (int i = 0;i < mLog.first().size();i++) {
+                auto e = mLog.first().at(i);
+                if (e->key == "t_day") mInd_t_day = i;
+                else if (e->key == "t_day_pos") mInd_t_day_pos = i;
+                else if (e->key == "gnss_h_acc") mInd_gnss_h_acc = i;
+                else if (e->key == "gnss_lat") mInd_gnss_lat = i;
+                else if (e->key == "gnss_lon") mInd_gnss_lon = i;
+                else if (e->key == "gnss_alt") mInd_gnss_alt = i;
+                else if (e->key == "trip_vesc") mInd_trip_vesc = i;
+                else if (e->key == "trip_vesc_abs") mInd_trip_vesc_abs = i;
+                else if (e->key == "trip_gnss") mInd_trip_gnss = i;
+                else if (e->key == "cnt_wh") mInd_cnt_wh = i;
+                else if (e->key == "cnt_wh_chg") mInd_cnt_wh_chg = i;
+                else if (e->key == "cnt_ah") mInd_cnt_ah = i;
+                else if (e->key == "cnt_ah_chg") mInd_cnt_ah_chg = i;
+                else if (e->key == "roll") mInd_roll = i;
+                else if (e->key == "pitch") mInd_pitch = i;
+                else if (e->key == "yaw") mInd_yaw = i;
+            }
+        }
+    }
+
     void truncateDataAndPlot(bool zoomGraph = true);
     void updateGraphs();
     void updateStats();
     void updateDataAndPlot(double time);
-    LOG_DATA getLogSample(int timeMs);
-    double getDistGnssSample(int timeMs);
+    QVector<LOG_ENTRY *> getLogSample(int timeMs);
     void updateTileServers();
     void logListRefresh();
 

From 988494737096af7e0cf96c215df6cb3f70435717 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 20 Oct 2022 09:47:49 +0200
Subject: [PATCH 210/559] Made large log analysis vastly lighter on memory by
 separating out header from samples

---
 datatypes.h               |  33 ++++---
 pages/pageloganalysis.cpp | 181 ++++++++++++++++++++++++--------------
 pages/pageloganalysis.h   |  39 ++++----
 3 files changed, 157 insertions(+), 96 deletions(-)

diff --git a/datatypes.h b/datatypes.h
index b88d9e858..96f94979b 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -521,14 +521,12 @@ struct LOG_DATA {
 
 Q_DECLARE_METATYPE(LOG_DATA)
 
-struct LOG_ENTRY {
+struct LOG_HEADER {
     Q_GADGET
 
     Q_PROPERTY(QString name MEMBER name)
     Q_PROPERTY(QString unit MEMBER unit)
     Q_PROPERTY(int precision MEMBER precision)
-    Q_PROPERTY(double value MEMBER value)
-    Q_PROPERTY(QString valueString MEMBER valueString)
     Q_PROPERTY(bool isTimeStamp MEMBER isTimeStamp)
     Q_PROPERTY(bool isRelativeToFirst MEMBER isRelativeToFirst)
     Q_PROPERTY(bool hasScale MEMBER hasScale)
@@ -536,8 +534,7 @@ struct LOG_ENTRY {
     Q_PROPERTY(double scaleMax MEMBER scaleMax)
 
 public:
-    LOG_ENTRY() {
-        value = 0.0;
+    LOG_HEADER() {
         precision = 2;
         isRelativeToFirst = false;
         isTimeStamp = false;
@@ -546,12 +543,10 @@ struct LOG_ENTRY {
         scaleMax = 99.99;
     }
 
-    LOG_ENTRY(QString key,
+    LOG_HEADER(QString key,
               QString name,
               QString unit,
-              double value,
               int precision = 2,
-              QString valueString = "",
               bool isRelativeToFirst = false,
               bool isTimeStamp = false,
               bool hasScale = true,
@@ -560,9 +555,7 @@ struct LOG_ENTRY {
         this->key = key;
         this->name = name;
         this->unit = unit;
-        this->value = value;
         this->precision = precision;
-        this->valueString = valueString;
         this->isRelativeToFirst = isRelativeToFirst;
         this->isTimeStamp = isTimeStamp;
         this->hasScale = hasScale;
@@ -573,9 +566,7 @@ struct LOG_ENTRY {
     QString key;
     QString name;
     QString unit;
-    double value;
     int precision;
-    QString valueString;
     bool isRelativeToFirst;
     bool isTimeStamp;
     bool hasScale;
@@ -584,7 +575,23 @@ struct LOG_ENTRY {
 
 };
 
-Q_DECLARE_METATYPE(LOG_ENTRY)
+Q_DECLARE_METATYPE(LOG_HEADER)
+
+// Lightweight log entry
+struct LOG_ENTRY {
+public:
+    LOG_ENTRY() {
+        value = 0.0;
+    }
+
+    LOG_ENTRY(double value, QString valueString = "") {
+        this->value = value;
+        this->valueString = valueString;
+    }
+
+    double value;
+    QString valueString;
+};
 
 struct MCCONF_TEMP {
     Q_GADGET
diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index f566b9ad2..a9152a2fd 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -241,6 +241,60 @@ void PageLogAnalysis::loadVescLog(QVector<LOG_DATA> log)
 
     mLog.clear();
     mLogTruncated.clear();
+    mLogHeader.clear();
+
+    mLogHeader.append(LOG_HEADER("kmh_vesc", "Speed VESC", "km/h"));
+    mLogHeader.append(LOG_HEADER("kmh_gnss", "Speed GNSS", "km/h"));
+    mLogHeader.append(LOG_HEADER("t_day", "Time", "s", 0, "", false, true, false));
+    mLogHeader.append(LOG_HEADER("t_day_pos", "Time GNSS", "", 0, "", false, true, false));
+    mLogHeader.append(LOG_HEADER("t_trip", "Time of trip", "", 0, "", true, true, false));
+    mLogHeader.append(LOG_HEADER("trip_vesc", "Trip VESC", "m", 3, "", true));
+    mLogHeader.append(LOG_HEADER("trip_vesc_abs", "Trip VESC ABS", "m", 3, "", true));
+    mLogHeader.append(LOG_HEADER("trip_gnss", "Trip GNSS", "m", 3, "", false));
+    mLogHeader.append(LOG_HEADER("setup_curr_motor", "Current Motors", "A"));
+    mLogHeader.append(LOG_HEADER("setup_curr_battery", "Current Battery", "A"));
+    mLogHeader.append(LOG_HEADER("setup_power", "Power", "W", 0));
+    mLogHeader.append(LOG_HEADER("erpm", "ERPM", "1/1000", 0));
+    mLogHeader.append(LOG_HEADER("duty", "Duty", "%", 1));
+    mLogHeader.append(LOG_HEADER("fault", "Fault Code", "", 0));
+    mLogHeader.append(LOG_HEADER("v_in", "Input Voltage", "V"));
+    mLogHeader.append(LOG_HEADER("soc", "Battery Level", "%", 1));
+    mLogHeader.append(LOG_HEADER("t_mosfet", "Temp MOSFET", "°C", 1));
+    mLogHeader.append(LOG_HEADER("t_motor", "Temp Motor", "°C", 1));
+    mLogHeader.append(LOG_HEADER("cnt_ah", "Ah Used", "Ah", 3));
+    mLogHeader.append(LOG_HEADER("cnt_ah_chg", "Ah Charged", "Ah", 3));
+    mLogHeader.append(LOG_HEADER("cnt_wh", "Wh Used", "Wh", 3));
+    mLogHeader.append(LOG_HEADER("cnt_wh_chg", "Wh Charged", "Wh", 3));
+    mLogHeader.append(LOG_HEADER("id", "id", "A"));
+    mLogHeader.append(LOG_HEADER("iq", "iq", "A"));
+    mLogHeader.append(LOG_HEADER("vd", "vd", "V"));
+    mLogHeader.append(LOG_HEADER("vq", "vq", "V"));
+    mLogHeader.append(LOG_HEADER("t_mosfet_1", "Temp MOSFET 1", "°C", 1));
+    mLogHeader.append(LOG_HEADER("t_mosfet_2", "Temp MOSFET 2", "°C", 1));
+    mLogHeader.append(LOG_HEADER("t_mosfet_3", "Temp MOSFET 3", "°C", 1));
+    mLogHeader.append(LOG_HEADER("position", "Motor Pos", "°", 1));
+    mLogHeader.append(LOG_HEADER("roll", "Roll", "°", 1));
+    mLogHeader.append(LOG_HEADER("pitch", "Pitch", "°", 1));
+    mLogHeader.append(LOG_HEADER("yaw", "Yaw", "°", 1));
+    mLogHeader.append(LOG_HEADER("acc_x", "Accel X", "G"));
+    mLogHeader.append(LOG_HEADER("acc_y", "Accel Y", "G"));
+    mLogHeader.append(LOG_HEADER("acc_z", "Accel Z", "G"));
+    mLogHeader.append(LOG_HEADER("gyro_x", "Gyro X", "°/s", 1));
+    mLogHeader.append(LOG_HEADER("gyro_y", "Gyro Y", "°/s", 1));
+    mLogHeader.append(LOG_HEADER("gyro_z", "Gyro Z", "°/s", 1));
+    mLogHeader.append(LOG_HEADER("v1_curr_motor", "V1 Current", "A"));
+    mLogHeader.append(LOG_HEADER("v1_curr_battery", "V1 Current Battery", "A"));
+    mLogHeader.append(LOG_HEADER("v1_cnt_ah", "V1 Ah Used", "Ah", 3));
+    mLogHeader.append(LOG_HEADER("v1_cnt_ah_chg", "V1 Ah Charged", "Ah", 3));
+    mLogHeader.append(LOG_HEADER("v1_cnt_wh", "V1 Wh Used", "Wh", 3));
+    mLogHeader.append(LOG_HEADER("v1_cnt_wh_chg", "V1 Wh Charged", "Wh", 3));
+    mLogHeader.append(LOG_HEADER("gnss_lat", "Latitude", "°", 6));
+    mLogHeader.append(LOG_HEADER("gnss_lon", "Longitude", "°", 6));
+    mLogHeader.append(LOG_HEADER("gnss_alt", "Altitude", "m"));
+    mLogHeader.append(LOG_HEADER("gnss_v_vel", "V. Speed GNSS", "km/h"));
+    mLogHeader.append(LOG_HEADER("gnss_h_acc", "H. Accuracy GNSS", "m"));
+    mLogHeader.append(LOG_HEADER("gnss_v_acc", "V. Accuracy GNSS", "m"));
+    mLogHeader.append(LOG_HEADER("num_vesc", "VESC num", "", 0));
 
     double i_llh[3];
     for (auto d: log) {
@@ -292,62 +346,59 @@ void PageLogAnalysis::loadVescLog(QVector<LOG_DATA> log)
             prevSampleGnss = d;
         }
 
-        // Todo: There is a lot of duplication here, which leads to high memory usage for large logs. A log with
-        // 30000 samples (10 MB file size) takes around 500 MB RAM to load.
         QVector<LOG_ENTRY*> e;
-        e.append(new LOG_ENTRY("kmh_vesc", "Speed VESC", "km/h", d.setupValues.speed * 3.6));
-        e.append(new LOG_ENTRY("kmh_gnss", "Speed GNSS", "km/h", d.gVel * 3.6));
-        e.append(new LOG_ENTRY("t_day", "Time", "s", double(d.valTime) / 1000.0, 0, "", false, true, false));
-        e.append(new LOG_ENTRY("t_day_pos", "Time GNSS", "", double(d.posTime) / 1000.0, 0, "", false, true, false));
-        e.append(new LOG_ENTRY("t_trip", "Time of trip", "", double(d.valTime) / 1000.0, 0, "", true, true, false));
-        e.append(new LOG_ENTRY("trip_vesc", "Trip VESC", "m", d.setupValues.tachometer, 3, "", true));
-        e.append(new LOG_ENTRY("trip_vesc_abs", "Trip VESC ABS", "m", d.setupValues.tachometer, 3, "", true));
-        e.append(new LOG_ENTRY("trip_gnss", "Trip GNSS", "m", metersGnss, 3, "", false));
-        e.append(new LOG_ENTRY("setup_curr_motor", "Current Motors", "A", d.setupValues.current_motor));
-        e.append(new LOG_ENTRY("setup_curr_battery", "Current Battery", "A", d.setupValues.current_in));
-        e.append(new LOG_ENTRY("setup_power", "Power", "W", d.setupValues.current_in * d.values.v_in, 0));
-        e.append(new LOG_ENTRY("erpm", "ERPM", "1/1000", d.values.rpm / 1000, 0));
-        e.append(new LOG_ENTRY("duty", "Duty", "%", d.values.duty_now * 100, 1));
-        e.append(new LOG_ENTRY("fault", "Fault Code", "", d.values.fault_code,
-                           0, Commands::faultToStr(mc_fault_code(d.values.fault_code)).mid(11)));
-        e.append(new LOG_ENTRY("v_in", "Input Voltage", "V", d.values.v_in));
-        e.append(new LOG_ENTRY("soc", "Battery Level", "%", d.setupValues.battery_level * 100.0, 1));
-        e.append(new LOG_ENTRY("t_mosfet", "Temp MOSFET", "°C", d.values.temp_mos, 1));
-        e.append(new LOG_ENTRY("t_motor", "Temp Motor", "°C", d.values.temp_motor, 1));
-        e.append(new LOG_ENTRY("cnt_ah", "Ah Used", "Ah", d.setupValues.amp_hours, 3));
-        e.append(new LOG_ENTRY("cnt_ah_chg", "Ah Charged", "Ah", d.setupValues.amp_hours_charged, 3));
-        e.append(new LOG_ENTRY("cnt_wh", "Wh Used", "Wh", d.setupValues.watt_hours, 3));
-        e.append(new LOG_ENTRY("cnt_wh_chg", "Wh Charged", "Wh", d.setupValues.watt_hours_charged, 3));
-        e.append(new LOG_ENTRY("id", "id", "A", d.values.id));
-        e.append(new LOG_ENTRY("iq", "iq", "A", d.values.iq));
-        e.append(new LOG_ENTRY("vd", "vd", "V", d.values.vd));
-        e.append(new LOG_ENTRY("vq", "vq", "V", d.values.vq));
-        e.append(new LOG_ENTRY("t_mosfet_1", "Temp MOSFET 1", "°C", d.values.temp_mos_1, 1));
-        e.append(new LOG_ENTRY("t_mosfet_2", "Temp MOSFET 2", "°C", d.values.temp_mos_2, 1));
-        e.append(new LOG_ENTRY("t_mosfet_3", "Temp MOSFET 3", "°C", d.values.temp_mos_3, 1));
-        e.append(new LOG_ENTRY("position", "Motor Pos", "°", d.values.position, 1));
-        e.append(new LOG_ENTRY("roll", "Roll", "°", d.imuValues.roll, 1));
-        e.append(new LOG_ENTRY("pitch", "Pitch", "°", d.imuValues.pitch, 1));
-        e.append(new LOG_ENTRY("yaw", "Yaw", "°", d.imuValues.yaw, 1));
-        e.append(new LOG_ENTRY("acc_x", "Accel X", "G", d.imuValues.accX));
-        e.append(new LOG_ENTRY("acc_y", "Accel Y", "G", d.imuValues.accY));
-        e.append(new LOG_ENTRY("acc_z", "Accel Z", "G", d.imuValues.accZ));
-        e.append(new LOG_ENTRY("gyro_x", "Gyro X", "°/s", d.imuValues.gyroX, 1));
-        e.append(new LOG_ENTRY("gyro_y", "Gyro Y", "°/s", d.imuValues.gyroY, 1));
-        e.append(new LOG_ENTRY("gyro_z", "Gyro Z", "°/s", d.imuValues.gyroZ, 1));
-        e.append(new LOG_ENTRY("v1_curr_motor", "V1 Current", "A", d.values.current_motor));
-        e.append(new LOG_ENTRY("v1_curr_battery", "V1 Current Battery", "A", d.values.current_in));
-        e.append(new LOG_ENTRY("v1_cnt_ah", "V1 Ah Used", "Ah", d.values.amp_hours, 3));
-        e.append(new LOG_ENTRY("v1_cnt_ah_chg", "V1 Ah Charged", "Ah", d.values.amp_hours_charged, 3));
-        e.append(new LOG_ENTRY("v1_cnt_wh", "V1 Wh Used", "Wh", d.values.watt_hours, 3));
-        e.append(new LOG_ENTRY("v1_cnt_wh_chg", "V1 Wh Charged", "Wh", d.values.watt_hours_charged, 3));
-        e.append(new LOG_ENTRY("gnss_lat", "Latitude", "°", d.lat, 6));
-        e.append(new LOG_ENTRY("gnss_lon", "Longitude", "°", d.lon, 6));
-        e.append(new LOG_ENTRY("gnss_alt", "Altitude", "m", d.alt));
-        e.append(new LOG_ENTRY("gnss_v_vel", "V. Speed GNSS", "km/h", d.vVel * 3.6));
-        e.append(new LOG_ENTRY("gnss_h_acc", "H. Accuracy GNSS", "m", d.hAcc));
-        e.append(new LOG_ENTRY("gnss_v_acc", "V. Accuracy GNSS", "m", d.vAcc));
-        e.append(new LOG_ENTRY("num_vesc", "VESC num", "", d.setupValues.num_vescs, 0));
+        e.append(new LOG_ENTRY(d.setupValues.speed * 3.6));
+        e.append(new LOG_ENTRY(d.gVel * 3.6));
+        e.append(new LOG_ENTRY(double(d.valTime) / 1000.0));
+        e.append(new LOG_ENTRY(double(d.posTime) / 1000.0));
+        e.append(new LOG_ENTRY(double(d.valTime) / 1000.0));
+        e.append(new LOG_ENTRY(d.setupValues.tachometer));
+        e.append(new LOG_ENTRY(d.setupValues.tachometer));
+        e.append(new LOG_ENTRY(metersGnss));
+        e.append(new LOG_ENTRY(d.setupValues.current_motor));
+        e.append(new LOG_ENTRY(d.setupValues.current_in));
+        e.append(new LOG_ENTRY(d.setupValues.current_in * d.values.v_in));
+        e.append(new LOG_ENTRY(d.values.rpm / 1000, 0));
+        e.append(new LOG_ENTRY(d.values.duty_now * 100));
+        e.append(new LOG_ENTRY(d.values.fault_code, Commands::faultToStr(mc_fault_code(d.values.fault_code)).mid(11)));
+        e.append(new LOG_ENTRY(d.values.v_in));
+        e.append(new LOG_ENTRY(d.setupValues.battery_level * 100.0));
+        e.append(new LOG_ENTRY(d.values.temp_mos));
+        e.append(new LOG_ENTRY(d.values.temp_motor));
+        e.append(new LOG_ENTRY(d.setupValues.amp_hours));
+        e.append(new LOG_ENTRY(d.setupValues.amp_hours_charged));
+        e.append(new LOG_ENTRY(d.setupValues.watt_hours));
+        e.append(new LOG_ENTRY(d.setupValues.watt_hours_charged));
+        e.append(new LOG_ENTRY(d.values.id));
+        e.append(new LOG_ENTRY(d.values.iq));
+        e.append(new LOG_ENTRY(d.values.vd));
+        e.append(new LOG_ENTRY(d.values.vq));
+        e.append(new LOG_ENTRY(d.values.temp_mos_1));
+        e.append(new LOG_ENTRY(d.values.temp_mos_2));
+        e.append(new LOG_ENTRY(d.values.temp_mos_3));
+        e.append(new LOG_ENTRY(d.values.position));
+        e.append(new LOG_ENTRY(d.imuValues.roll));
+        e.append(new LOG_ENTRY(d.imuValues.pitch));
+        e.append(new LOG_ENTRY(d.imuValues.yaw));
+        e.append(new LOG_ENTRY(d.imuValues.accX));
+        e.append(new LOG_ENTRY(d.imuValues.accY));
+        e.append(new LOG_ENTRY(d.imuValues.accZ));
+        e.append(new LOG_ENTRY(d.imuValues.gyroX));
+        e.append(new LOG_ENTRY(d.imuValues.gyroY));
+        e.append(new LOG_ENTRY(d.imuValues.gyroZ));
+        e.append(new LOG_ENTRY(d.values.current_motor));
+        e.append(new LOG_ENTRY(d.values.current_in));
+        e.append(new LOG_ENTRY(d.values.amp_hours));
+        e.append(new LOG_ENTRY(d.values.amp_hours_charged));
+        e.append(new LOG_ENTRY(d.values.watt_hours));
+        e.append(new LOG_ENTRY(d.values.watt_hours_charged));
+        e.append(new LOG_ENTRY(d.lat));
+        e.append(new LOG_ENTRY(d.lon));
+        e.append(new LOG_ENTRY(d.alt));
+        e.append(new LOG_ENTRY(d.vVel * 3.6));
+        e.append(new LOG_ENTRY(d.hAcc));
+        e.append(new LOG_ENTRY(d.vAcc));
+        e.append(new LOG_ENTRY(d.setupValues.num_vescs));
 
         mLog.append(e);
     }
@@ -384,8 +435,8 @@ void PageLogAnalysis::loadVescLog(QVector<LOG_DATA> log)
         }
     };
 
-    for (auto e: mLog.first()) {
-        addDataItem(e->name, e->hasScale, e->scaleStep, e->scaleMax);
+    for (auto e: mLogHeader) {
+        addDataItem(e.name, e.hasScale, e.scaleStep, e.scaleMax);
     }
 
     truncateDataAndPlot();
@@ -554,12 +605,13 @@ void PageLogAnalysis::updateGraphs()
             }
 
             auto entry = d[row];
+            const auto &header = mLogHeader[row];
 
-            if (entry->hasScale) {
+            if (header.hasScale) {
                 if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
                 yAxes[rowInd].append(entry->value * rowScale);
-                names.append(QString("%1 (%2 * %3)").arg(entry->name).
-                             arg(entry->unit).arg(rowScale));
+                names.append(QString("%1 (%2 * %3)").arg(header.name).
+                             arg(header.unit).arg(rowScale));
                 rowInd++;
             }
         }
@@ -740,24 +792,25 @@ void PageLogAnalysis::updateDataAndPlot(double time)
     int ind = 0;
     for (int i = 0;i < sample.size();i++) {
         const auto &e = sample.at(i);
+        const auto &header = mLogHeader[i];
 
         auto value = e->value;
-        if (e->isRelativeToFirst) {
+        if (header.isRelativeToFirst) {
             value -= first[i]->value;
 
-            if (e->isTimeStamp && value < 0) {
+            if (header.isTimeStamp && value < 0) {
                 value += 60 * 60 * 24;
             }
         }
 
         if (e->valueString.isEmpty()) {
-            if (e->isTimeStamp) {
+            if (header.isTimeStamp) {
                 QTime t(0, 0, 0, 0);
                 t = t.addMSecs(value * 1000);
                 ui->dataTable->item(ind, 1)->setText(t.toString("hh:mm:ss.zzz"));
             } else {
                 ui->dataTable->item(ind, 1)->setText(
-                            QString::number(value, 'f', e->precision) + " " + e->unit);
+                            QString::number(value, 'f', header.precision) + " " + header.unit);
             }
         } else {
             ui->dataTable->item(ind, 1)->setText(e->valueString);
diff --git a/pages/pageloganalysis.h b/pages/pageloganalysis.h
index 8a403aa54..8582bd2bd 100644
--- a/pages/pageloganalysis.h
+++ b/pages/pageloganalysis.h
@@ -75,6 +75,7 @@ private slots:
     double mPlayPosNow;
     QString mVescLastPath;
 
+    QVector<LOG_HEADER> mLogHeader;
     QVector<QVector<LOG_ENTRY*> > mLog;
     QVector<QVector<LOG_ENTRY*> > mLogTruncated;
 
@@ -115,25 +116,25 @@ private slots:
     }
 
     void updateInds() {
-        if (!mLog.isEmpty()) {
-            for (int i = 0;i < mLog.first().size();i++) {
-                auto e = mLog.first().at(i);
-                if (e->key == "t_day") mInd_t_day = i;
-                else if (e->key == "t_day_pos") mInd_t_day_pos = i;
-                else if (e->key == "gnss_h_acc") mInd_gnss_h_acc = i;
-                else if (e->key == "gnss_lat") mInd_gnss_lat = i;
-                else if (e->key == "gnss_lon") mInd_gnss_lon = i;
-                else if (e->key == "gnss_alt") mInd_gnss_alt = i;
-                else if (e->key == "trip_vesc") mInd_trip_vesc = i;
-                else if (e->key == "trip_vesc_abs") mInd_trip_vesc_abs = i;
-                else if (e->key == "trip_gnss") mInd_trip_gnss = i;
-                else if (e->key == "cnt_wh") mInd_cnt_wh = i;
-                else if (e->key == "cnt_wh_chg") mInd_cnt_wh_chg = i;
-                else if (e->key == "cnt_ah") mInd_cnt_ah = i;
-                else if (e->key == "cnt_ah_chg") mInd_cnt_ah_chg = i;
-                else if (e->key == "roll") mInd_roll = i;
-                else if (e->key == "pitch") mInd_pitch = i;
-                else if (e->key == "yaw") mInd_yaw = i;
+        if (!mLogHeader.isEmpty()) {
+            for (int i = 0;i < mLogHeader.size();i++) {
+                auto e = mLogHeader.at(i);
+                if (e.key == "t_day") mInd_t_day = i;
+                else if (e.key == "t_day_pos") mInd_t_day_pos = i;
+                else if (e.key == "gnss_h_acc") mInd_gnss_h_acc = i;
+                else if (e.key == "gnss_lat") mInd_gnss_lat = i;
+                else if (e.key == "gnss_lon") mInd_gnss_lon = i;
+                else if (e.key == "gnss_alt") mInd_gnss_alt = i;
+                else if (e.key == "trip_vesc") mInd_trip_vesc = i;
+                else if (e.key == "trip_vesc_abs") mInd_trip_vesc_abs = i;
+                else if (e.key == "trip_gnss") mInd_trip_gnss = i;
+                else if (e.key == "cnt_wh") mInd_cnt_wh = i;
+                else if (e.key == "cnt_wh_chg") mInd_cnt_wh_chg = i;
+                else if (e.key == "cnt_ah") mInd_cnt_ah = i;
+                else if (e.key == "cnt_ah_chg") mInd_cnt_ah_chg = i;
+                else if (e.key == "roll") mInd_roll = i;
+                else if (e.key == "pitch") mInd_pitch = i;
+                else if (e.key == "yaw") mInd_yaw = i;
             }
         }
     }

From 66c3d20ac085409d858cfff94518517ca25c8421 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 20 Oct 2022 13:54:01 +0200
Subject: [PATCH 211/559] Further simplified and optimized log analysis

---
 datatypes.h               |  16 ---
 pages/pageloganalysis.cpp | 242 ++++++++++++++++++--------------------
 pages/pageloganalysis.h   |  15 ++-
 3 files changed, 126 insertions(+), 147 deletions(-)

diff --git a/datatypes.h b/datatypes.h
index 96f94979b..1c4cfe509 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -577,22 +577,6 @@ struct LOG_HEADER {
 
 Q_DECLARE_METATYPE(LOG_HEADER)
 
-// Lightweight log entry
-struct LOG_ENTRY {
-public:
-    LOG_ENTRY() {
-        value = 0.0;
-    }
-
-    LOG_ENTRY(double value, QString valueString = "") {
-        this->value = value;
-        this->valueString = valueString;
-    }
-
-    double value;
-    QString valueString;
-};
-
 struct MCCONF_TEMP {
     Q_GADGET
 
diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index a9152a2fd..2e912a9c7 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -90,7 +90,7 @@ PageLogAnalysis::PageLogAnalysis(QWidget *parent) :
             mPlayPosNow += double(mPlayTimer->interval()) / 1000.0;
 
             if (mInd_t_day >= 0) {
-                double time = (mLogTruncated.last()[mInd_t_day]->value - mLogTruncated.first()[mInd_t_day]->value);
+                double time = (mLogTruncated.last()[mInd_t_day] - mLogTruncated.first()[mInd_t_day]);
                 if (time < 0.0) { // Handle midnight
                     time += 60.0 * 60.0 * 24.0;
                 }
@@ -116,7 +116,6 @@ PageLogAnalysis::PageLogAnalysis(QWidget *parent) :
     mVerticalLine = new QCPCurve(ui->plot->xAxis, ui->plot->yAxis);
     mVerticalLine->removeFromLegend();
     mVerticalLine->setPen(QPen(Utility::getAppQColor("normalText")));
-    mVerticalLineMsLast = -1;
 
     auto updateMouse = [this](QMouseEvent *event) {
         if (event->modifiers() == Qt::ShiftModifier) {
@@ -135,7 +134,7 @@ PageLogAnalysis::PageLogAnalysis(QWidget *parent) :
 
     connect(ui->map, &MapWidget::infoPointClicked, [this](LocPoint info) {
         if (mInd_t_day >= 0 && !mLogTruncated.isEmpty()) {
-            updateDataAndPlot(info.getInfo().toDouble() - mLogTruncated.first()[mInd_t_day]->value);
+            updateDataAndPlot(info.getInfo().toDouble() - mLogTruncated.first()[mInd_t_day]);
         }
     });
 
@@ -233,12 +232,6 @@ void PageLogAnalysis::loadVescLog(QVector<LOG_DATA> log)
 {
     resetInds();
 
-    for (auto e: mLog) {
-        for (auto e2: e) {
-            delete e2;
-        }
-    }
-
     mLog.clear();
     mLogTruncated.clear();
     mLogHeader.clear();
@@ -346,59 +339,59 @@ void PageLogAnalysis::loadVescLog(QVector<LOG_DATA> log)
             prevSampleGnss = d;
         }
 
-        QVector<LOG_ENTRY*> e;
-        e.append(new LOG_ENTRY(d.setupValues.speed * 3.6));
-        e.append(new LOG_ENTRY(d.gVel * 3.6));
-        e.append(new LOG_ENTRY(double(d.valTime) / 1000.0));
-        e.append(new LOG_ENTRY(double(d.posTime) / 1000.0));
-        e.append(new LOG_ENTRY(double(d.valTime) / 1000.0));
-        e.append(new LOG_ENTRY(d.setupValues.tachometer));
-        e.append(new LOG_ENTRY(d.setupValues.tachometer));
-        e.append(new LOG_ENTRY(metersGnss));
-        e.append(new LOG_ENTRY(d.setupValues.current_motor));
-        e.append(new LOG_ENTRY(d.setupValues.current_in));
-        e.append(new LOG_ENTRY(d.setupValues.current_in * d.values.v_in));
-        e.append(new LOG_ENTRY(d.values.rpm / 1000, 0));
-        e.append(new LOG_ENTRY(d.values.duty_now * 100));
-        e.append(new LOG_ENTRY(d.values.fault_code, Commands::faultToStr(mc_fault_code(d.values.fault_code)).mid(11)));
-        e.append(new LOG_ENTRY(d.values.v_in));
-        e.append(new LOG_ENTRY(d.setupValues.battery_level * 100.0));
-        e.append(new LOG_ENTRY(d.values.temp_mos));
-        e.append(new LOG_ENTRY(d.values.temp_motor));
-        e.append(new LOG_ENTRY(d.setupValues.amp_hours));
-        e.append(new LOG_ENTRY(d.setupValues.amp_hours_charged));
-        e.append(new LOG_ENTRY(d.setupValues.watt_hours));
-        e.append(new LOG_ENTRY(d.setupValues.watt_hours_charged));
-        e.append(new LOG_ENTRY(d.values.id));
-        e.append(new LOG_ENTRY(d.values.iq));
-        e.append(new LOG_ENTRY(d.values.vd));
-        e.append(new LOG_ENTRY(d.values.vq));
-        e.append(new LOG_ENTRY(d.values.temp_mos_1));
-        e.append(new LOG_ENTRY(d.values.temp_mos_2));
-        e.append(new LOG_ENTRY(d.values.temp_mos_3));
-        e.append(new LOG_ENTRY(d.values.position));
-        e.append(new LOG_ENTRY(d.imuValues.roll));
-        e.append(new LOG_ENTRY(d.imuValues.pitch));
-        e.append(new LOG_ENTRY(d.imuValues.yaw));
-        e.append(new LOG_ENTRY(d.imuValues.accX));
-        e.append(new LOG_ENTRY(d.imuValues.accY));
-        e.append(new LOG_ENTRY(d.imuValues.accZ));
-        e.append(new LOG_ENTRY(d.imuValues.gyroX));
-        e.append(new LOG_ENTRY(d.imuValues.gyroY));
-        e.append(new LOG_ENTRY(d.imuValues.gyroZ));
-        e.append(new LOG_ENTRY(d.values.current_motor));
-        e.append(new LOG_ENTRY(d.values.current_in));
-        e.append(new LOG_ENTRY(d.values.amp_hours));
-        e.append(new LOG_ENTRY(d.values.amp_hours_charged));
-        e.append(new LOG_ENTRY(d.values.watt_hours));
-        e.append(new LOG_ENTRY(d.values.watt_hours_charged));
-        e.append(new LOG_ENTRY(d.lat));
-        e.append(new LOG_ENTRY(d.lon));
-        e.append(new LOG_ENTRY(d.alt));
-        e.append(new LOG_ENTRY(d.vVel * 3.6));
-        e.append(new LOG_ENTRY(d.hAcc));
-        e.append(new LOG_ENTRY(d.vAcc));
-        e.append(new LOG_ENTRY(d.setupValues.num_vescs));
+        QVector<double> e;
+        e.append(d.setupValues.speed * 3.6);
+        e.append(d.gVel * 3.6);
+        e.append(double(d.valTime) / 1000.0);
+        e.append(double(d.posTime) / 1000.0);
+        e.append(double(d.valTime) / 1000.0);
+        e.append(d.setupValues.tachometer);
+        e.append(d.setupValues.tachometer);
+        e.append(metersGnss);
+        e.append(d.setupValues.current_motor);
+        e.append(d.setupValues.current_in);
+        e.append(d.setupValues.current_in * d.values.v_in);
+        e.append(d.values.rpm / 1000);
+        e.append(d.values.duty_now * 100);
+        e.append(d.values.fault_code);
+        e.append(d.values.v_in);
+        e.append(d.setupValues.battery_level * 100.0);
+        e.append(d.values.temp_mos);
+        e.append(d.values.temp_motor);
+        e.append(d.setupValues.amp_hours);
+        e.append(d.setupValues.amp_hours_charged);
+        e.append(d.setupValues.watt_hours);
+        e.append(d.setupValues.watt_hours_charged);
+        e.append(d.values.id);
+        e.append(d.values.iq);
+        e.append(d.values.vd);
+        e.append(d.values.vq);
+        e.append(d.values.temp_mos_1);
+        e.append(d.values.temp_mos_2);
+        e.append(d.values.temp_mos_3);
+        e.append(d.values.position);
+        e.append(d.imuValues.roll);
+        e.append(d.imuValues.pitch);
+        e.append(d.imuValues.yaw);
+        e.append(d.imuValues.accX);
+        e.append(d.imuValues.accY);
+        e.append(d.imuValues.accZ);
+        e.append(d.imuValues.gyroX);
+        e.append(d.imuValues.gyroY);
+        e.append(d.imuValues.gyroZ);
+        e.append(d.values.current_motor);
+        e.append(d.values.current_in);
+        e.append(d.values.amp_hours);
+        e.append(d.values.amp_hours_charged);
+        e.append(d.values.watt_hours);
+        e.append(d.values.watt_hours_charged);
+        e.append(d.lat);
+        e.append(d.lon);
+        e.append(d.alt);
+        e.append(d.vVel * 3.6);
+        e.append(d.hAcc);
+        e.append(d.vAcc);
+        e.append(d.setupValues.num_vescs);
 
         mLog.append(e);
     }
@@ -411,30 +404,6 @@ void PageLogAnalysis::loadVescLog(QVector<LOG_DATA> log)
         return;
     }
 
-    auto addDataItem = [this](QString name, bool hasScale = true,
-            double scaleStep = 0.1, double scaleMax = 99.99) {
-        ui->dataTable->setRowCount(ui->dataTable->rowCount() + 1);
-        auto item1 = new QTableWidgetItem(name);
-        ui->dataTable->setItem(ui->dataTable->rowCount() - 1, 0, item1);
-        ui->dataTable->setItem(ui->dataTable->rowCount() - 1, 1, new QTableWidgetItem(""));
-        if (hasScale) {
-            QDoubleSpinBox *sb = new QDoubleSpinBox;
-            sb->setSingleStep(scaleStep);
-            sb->setValue(1.0);
-            sb->setMaximum(scaleMax);
-            // Prevent mouse wheel focus to avoid changing the selection
-            sb->setFocusPolicy(Qt::StrongFocus);
-            ui->dataTable->setCellWidget(ui->dataTable->rowCount() - 1, 2, sb);
-            connect(sb, QOverload<double>::of(&QDoubleSpinBox::valueChanged),
-                    [this](double value) {
-                (void)value;
-                updateGraphs();
-            });
-        } else {
-            ui->dataTable->setItem(ui->dataTable->rowCount() - 1, 2, new QTableWidgetItem("Not Plottable"));
-        }
-    };
-
     for (auto e: mLogHeader) {
         addDataItem(e.name, e.hasScale, e.scaleStep, e.scaleMax);
     }
@@ -515,8 +484,8 @@ void PageLogAnalysis::truncateDataAndPlot(bool zoomGraph)
         bool skip = false;
 
         if (mInd_t_day_pos >= 0 && mInd_gnss_h_acc >= 0) {
-            int postime = int(d[mInd_t_day_pos]->value * 1000.0);
-            double h_acc = d[mInd_gnss_h_acc]->value;
+            int postime = int(d[mInd_t_day_pos] * 1000.0);
+            double h_acc = d[mInd_gnss_h_acc];
 
             skip = true;
             if (postime >= 0 &&
@@ -536,10 +505,10 @@ void PageLogAnalysis::truncateDataAndPlot(bool zoomGraph)
             double llh[3];
             double xyz[3];
 
-            llh[0] = d[mInd_gnss_lat]->value;
-            llh[1] = d[mInd_gnss_lon]->value;
+            llh[0] = d[mInd_gnss_lat];
+            llh[1] = d[mInd_gnss_lon];
             if (mInd_gnss_alt >= 0) {
-                llh[2] = d[mInd_gnss_alt]->value;
+                llh[2] = d[mInd_gnss_alt];
             } else {
                 llh[2] = 0.0;
             }
@@ -550,7 +519,7 @@ void PageLogAnalysis::truncateDataAndPlot(bool zoomGraph)
             p.setRadius(5);
 
             if (mInd_t_day >= 0) {
-                p.setInfo(QString("%1").arg(d[mInd_t_day]->value));
+                p.setInfo(QString("%1").arg(d[mInd_t_day]));
             }
 
             ui->map->addInfoPoint(p, false);
@@ -582,10 +551,10 @@ void PageLogAnalysis::updateGraphs()
     for (const auto &d: mLogTruncated) {
         if (mInd_t_day >= 0) {
             if (startTime < 0) {
-                startTime = d[mInd_t_day]->value;
+                startTime = d[mInd_t_day];
             }
 
-            timeMs = int((d[mInd_t_day]->value - startTime) * 1000.0);
+            timeMs = int((d[mInd_t_day] - startTime) * 1000.0);
             if (timeMs < 0) { // Handle midnight
                 timeMs += 60 * 60 * 24 * 1000;
             }
@@ -609,7 +578,7 @@ void PageLogAnalysis::updateGraphs()
 
             if (header.hasScale) {
                 if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
-                yAxes[rowInd].append(entry->value * rowScale);
+                yAxes[rowInd].append(entry * rowScale);
                 names.append(QString("%1 (%2 * %3)").arg(header.name).
                              arg(header.unit).arg(rowScale));
                 rowInd++;
@@ -677,7 +646,7 @@ void PageLogAnalysis::updateStats()
     }
 
     if (mInd_t_day >= 0) {
-        timeTotMs = (endSample[mInd_t_day]->value - startSample[mInd_t_day]->value) * 1000.0;
+        timeTotMs = (endSample[mInd_t_day] - startSample[mInd_t_day]) * 1000.0;
         if (timeTotMs < 0) { // Handle midnight
             timeTotMs += 60 * 60 * 24 * 1000;
         }
@@ -692,31 +661,31 @@ void PageLogAnalysis::updateStats()
     double ahCharge = 0.0;
 
     if (mInd_trip_vesc >= 0) {
-        meters = endSample[mInd_trip_vesc]->value - startSample[mInd_trip_vesc]->value;
+        meters = endSample[mInd_trip_vesc] - startSample[mInd_trip_vesc];
     }
 
     if (mInd_trip_vesc_abs >= 0) {
-        metersAbs = endSample[mInd_trip_vesc_abs]->value - startSample[mInd_trip_vesc_abs]->value;
+        metersAbs = endSample[mInd_trip_vesc_abs] - startSample[mInd_trip_vesc_abs];
     }
 
     if (mInd_trip_gnss >= 0) {
-        metersGnss = endSample[mInd_trip_gnss]->value - startSample[mInd_trip_gnss]->value;
+        metersGnss = endSample[mInd_trip_gnss] - startSample[mInd_trip_gnss];
     }
 
     if (mInd_cnt_wh >= 0) {
-        wh = endSample[mInd_cnt_wh]->value - startSample[mInd_cnt_wh]->value;
+        wh = endSample[mInd_cnt_wh] - startSample[mInd_cnt_wh];
     }
 
     if (mInd_cnt_wh_chg >= 0) {
-        whCharge = endSample[mInd_cnt_wh_chg]->value - startSample[mInd_cnt_wh_chg]->value;
+        whCharge = endSample[mInd_cnt_wh_chg] - startSample[mInd_cnt_wh_chg];
     }
 
     if (mInd_cnt_ah >= 0) {
-        ah = endSample[mInd_cnt_ah]->value - startSample[mInd_cnt_ah]->value;
+        ah = endSample[mInd_cnt_ah] - startSample[mInd_cnt_ah];
     }
 
     if (mInd_cnt_ah_chg >= 0) {
-        ahCharge = endSample[mInd_cnt_ah_chg]->value - startSample[mInd_cnt_ah_chg]->value;
+        ahCharge = endSample[mInd_cnt_ah_chg] - startSample[mInd_cnt_ah_chg];
     }
 
     ui->statTable->setRowCount(0);
@@ -782,28 +751,23 @@ void PageLogAnalysis::updateDataAndPlot(double time)
     mVerticalLine->setVisible(true);
     ui->plot->replotWhenVisible();
 
-    auto sample = getLogSample(int(time * 1000));
+    auto sample = getLogSample(time);
     auto first = mLogTruncated.first();
 
-    if (mInd_t_day >= 0) {
-        mVerticalLineMsLast = int(sample[mInd_t_day]->value * 1000.0);
-    }
-
     int ind = 0;
     for (int i = 0;i < sample.size();i++) {
-        const auto &e = sample.at(i);
+        auto value = sample.at(i);
         const auto &header = mLogHeader[i];
 
-        auto value = e->value;
         if (header.isRelativeToFirst) {
-            value -= first[i]->value;
+            value -= first[i];
 
             if (header.isTimeStamp && value < 0) {
                 value += 60 * 60 * 24;
             }
         }
 
-        if (e->valueString.isEmpty()) {
+        if (ind != mInd_fault) {
             if (header.isTimeStamp) {
                 QTime t(0, 0, 0, 0);
                 t = t.addMSecs(value * 1000);
@@ -813,7 +777,7 @@ void PageLogAnalysis::updateDataAndPlot(double time)
                             QString::number(value, 'f', header.precision) + " " + header.unit);
             }
         } else {
-            ui->dataTable->item(ind, 1)->setText(e->valueString);
+            ui->dataTable->item(ind, 1)->setText(Commands::faultToStr(mc_fault_code(round(value))).mid(11));
         }
 
         ind++;
@@ -821,8 +785,8 @@ void PageLogAnalysis::updateDataAndPlot(double time)
 
     bool skip = false;
     if (mInd_t_day_pos >= 0 && mInd_gnss_h_acc >= 0) {
-        int postime = int(sample[mInd_t_day_pos]->value * 1000.0);
-        double h_acc = sample[mInd_gnss_h_acc]->value;
+        int postime = int(sample[mInd_t_day_pos] * 1000.0);
+        double h_acc = sample[mInd_gnss_h_acc];
 
         skip = true;
         if (postime >= 0 &&
@@ -842,10 +806,10 @@ void PageLogAnalysis::updateDataAndPlot(double time)
         double xyz[3];
 
         ui->map->getEnuRef(i_llh);
-        llh[0] = sample[mInd_gnss_lat]->value;
-        llh[1] = sample[mInd_gnss_lon]->value;
+        llh[0] = sample[mInd_gnss_lat];
+        llh[1] = sample[mInd_gnss_lon];
         if (mInd_gnss_alt >= 0) {
-            llh[2] = sample[mInd_gnss_alt]->value;
+            llh[2] = sample[mInd_gnss_alt];
         } else {
             llh[2] = 0.0;
         }
@@ -865,28 +829,28 @@ void PageLogAnalysis::updateDataAndPlot(double time)
     }
 
     if (mInd_roll >= 0 && mInd_pitch >= 0 && mInd_yaw >= 0) {
-        m3dView->setRollPitchYaw(sample[mInd_roll]->value * 180.0 / M_PI, sample[mInd_pitch]->value * 180.0 / M_PI,
-                                 mUseYawBox->isChecked() ? sample[mInd_yaw]->value * 180.0 / M_PI : 0.0);
+        m3dView->setRollPitchYaw(sample[mInd_roll] * 180.0 / M_PI, sample[mInd_pitch] * 180.0 / M_PI,
+                                 mUseYawBox->isChecked() ? sample[mInd_yaw] * 180.0 / M_PI : 0.0);
     }
 }
 
-QVector<LOG_ENTRY*> PageLogAnalysis::getLogSample(int timeMs)
+QVector<double> PageLogAnalysis::getLogSample(double time)
 {
-    QVector<LOG_ENTRY*> d;
+    QVector<double> d;
 
     if (!mLogTruncated.isEmpty()) {
         d = mLogTruncated.first();
 
         if (mInd_t_day >= 0) {
-            int startTime = int(d[mInd_t_day]->value * 1000.0);
+            int startTime = d[mInd_t_day];
 
             for (auto dn: mLogTruncated) {
-                int timeMsNow = (dn[mInd_t_day]->value * 1000) - startTime;
-                if (timeMsNow < 0) { // Handle midnight
-                    timeMsNow += 60 * 60 * 24 * 1000;
+                int timeNow = dn[mInd_t_day] - startTime;
+                if (timeNow < 0) { // Handle midnight
+                    timeNow += 60 * 60 * 24;
                 }
 
-                if (timeMsNow >= timeMs) {
+                if (timeNow >= time) {
                     d = dn;
                     break;
                 }
@@ -938,6 +902,30 @@ void PageLogAnalysis::logListRefresh()
     }
 }
 
+void PageLogAnalysis::addDataItem(QString name, bool hasScale, double scaleStep, double scaleMax)
+{
+    ui->dataTable->setRowCount(ui->dataTable->rowCount() + 1);
+    auto item1 = new QTableWidgetItem(name);
+    ui->dataTable->setItem(ui->dataTable->rowCount() - 1, 0, item1);
+    ui->dataTable->setItem(ui->dataTable->rowCount() - 1, 1, new QTableWidgetItem(""));
+    if (hasScale) {
+        QDoubleSpinBox *sb = new QDoubleSpinBox;
+        sb->setSingleStep(scaleStep);
+        sb->setValue(1.0);
+        sb->setMaximum(scaleMax);
+        // Prevent mouse wheel focus to avoid changing the selection
+        sb->setFocusPolicy(Qt::StrongFocus);
+        ui->dataTable->setCellWidget(ui->dataTable->rowCount() - 1, 2, sb);
+        connect(sb, QOverload<double>::of(&QDoubleSpinBox::valueChanged),
+                [this](double value) {
+            (void)value;
+            updateGraphs();
+        });
+    } else {
+        ui->dataTable->setItem(ui->dataTable->rowCount() - 1, 2, new QTableWidgetItem("Not Plottable"));
+    }
+}
+
 void PageLogAnalysis::on_saveMapPdfButton_clicked()
 {
     QString fileName = QFileDialog::getSaveFileName(this,
diff --git a/pages/pageloganalysis.h b/pages/pageloganalysis.h
index 8582bd2bd..bcebd1486 100644
--- a/pages/pageloganalysis.h
+++ b/pages/pageloganalysis.h
@@ -68,7 +68,6 @@ private slots:
     Ui::PageLogAnalysis *ui;
     VescInterface *mVesc;
     QCPCurve *mVerticalLine;
-    int mVerticalLineMsLast;
     Vesc3DView *m3dView;
     QCheckBox *mUseYawBox;
     QTimer *mPlayTimer;
@@ -76,9 +75,12 @@ private slots:
     QString mVescLastPath;
 
     QVector<LOG_HEADER> mLogHeader;
-    QVector<QVector<LOG_ENTRY*> > mLog;
-    QVector<QVector<LOG_ENTRY*> > mLogTruncated;
+    QVector<QVector<double> > mLog;
+    QVector<QVector<double> > mLogTruncated;
 
+    // Lightweight pre-calculated offsets in the log. These
+    // need to be looked up a lot and finding them in the
+    // header each time slows down the responsiveness.
     int mInd_t_day;
     int mInd_t_day_pos;
     int mInd_gnss_h_acc;
@@ -95,6 +97,7 @@ private slots:
     int mInd_roll;
     int mInd_pitch;
     int mInd_yaw;
+    int mInd_fault;
 
     void resetInds() {
         mInd_t_day = -1;
@@ -113,6 +116,7 @@ private slots:
         mInd_roll = -1;
         mInd_pitch = -1;
         mInd_yaw = -1;
+        mInd_fault = -1;
     }
 
     void updateInds() {
@@ -135,6 +139,7 @@ private slots:
                 else if (e.key == "roll") mInd_roll = i;
                 else if (e.key == "pitch") mInd_pitch = i;
                 else if (e.key == "yaw") mInd_yaw = i;
+                else if (e.key == "fault") mInd_fault = i;
             }
         }
     }
@@ -143,9 +148,11 @@ private slots:
     void updateGraphs();
     void updateStats();
     void updateDataAndPlot(double time);
-    QVector<LOG_ENTRY *> getLogSample(int timeMs);
+    QVector<double> getLogSample(double time);
     void updateTileServers();
     void logListRefresh();
+    void addDataItem(QString name, bool hasScale = true,
+                     double scaleStep = 0.1, double scaleMax = 99.99);
 
 };
 

From 50c97e08986d5b09142b1b9fabd636441d87fa18 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 20 Oct 2022 13:57:15 +0200
Subject: [PATCH 212/559] Got rid of another unneeded millisecond conversion

---
 pages/pageloganalysis.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index 2e912a9c7..b183bbc7a 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -547,22 +547,22 @@ void PageLogAnalysis::updateGraphs()
     double verticalTime = -1.0;
     LocPoint p, p2;
 
-    int timeMs = 0;
+    double time = 0;
     for (const auto &d: mLogTruncated) {
         if (mInd_t_day >= 0) {
             if (startTime < 0) {
                 startTime = d[mInd_t_day];
             }
 
-            timeMs = int((d[mInd_t_day] - startTime) * 1000.0);
-            if (timeMs < 0) { // Handle midnight
-                timeMs += 60 * 60 * 24 * 1000;
+            time = d[mInd_t_day] - startTime;
+            if (time < 0) { // Handle midnight
+                time += 60 * 60 * 24;
             }
         } else {
-            timeMs += 1000.0;
+            time++;;
         }
 
-        xAxis.append(double(timeMs) / 1000.0);
+        xAxis.append(time);
         int rowInd = 0;
 
         for (int r = 0;r < rows.size();r++) {

From 8775263ac582d5e60fbd8257ed8a4664c76065c2 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 20 Oct 2022 16:15:05 +0200
Subject: [PATCH 213/559] More log tweaks

---
 datatypes.h               |  5 -----
 pages/pageloganalysis.cpp | 22 +++++++++++-----------
 2 files changed, 11 insertions(+), 16 deletions(-)

diff --git a/datatypes.h b/datatypes.h
index 1c4cfe509..bed704999 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -529,7 +529,6 @@ struct LOG_HEADER {
     Q_PROPERTY(int precision MEMBER precision)
     Q_PROPERTY(bool isTimeStamp MEMBER isTimeStamp)
     Q_PROPERTY(bool isRelativeToFirst MEMBER isRelativeToFirst)
-    Q_PROPERTY(bool hasScale MEMBER hasScale)
     Q_PROPERTY(double scaleStep MEMBER scaleStep)
     Q_PROPERTY(double scaleMax MEMBER scaleMax)
 
@@ -538,7 +537,6 @@ struct LOG_HEADER {
         precision = 2;
         isRelativeToFirst = false;
         isTimeStamp = false;
-        hasScale = true;
         scaleStep = 0.1;
         scaleMax = 99.99;
     }
@@ -549,7 +547,6 @@ struct LOG_HEADER {
               int precision = 2,
               bool isRelativeToFirst = false,
               bool isTimeStamp = false,
-              bool hasScale = true,
               double scaleStep = 0.1,
               double scaleMax = 99.99) {
         this->key = key;
@@ -558,7 +555,6 @@ struct LOG_HEADER {
         this->precision = precision;
         this->isRelativeToFirst = isRelativeToFirst;
         this->isTimeStamp = isTimeStamp;
-        this->hasScale = hasScale;
         this->scaleStep = scaleStep;
         this->scaleMax = scaleMax;
     }
@@ -569,7 +565,6 @@ struct LOG_HEADER {
     int precision;
     bool isRelativeToFirst;
     bool isTimeStamp;
-    bool hasScale;
     double scaleStep;
     double scaleMax;
 
diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index b183bbc7a..0721feb66 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -238,16 +238,16 @@ void PageLogAnalysis::loadVescLog(QVector<LOG_DATA> log)
 
     mLogHeader.append(LOG_HEADER("kmh_vesc", "Speed VESC", "km/h"));
     mLogHeader.append(LOG_HEADER("kmh_gnss", "Speed GNSS", "km/h"));
-    mLogHeader.append(LOG_HEADER("t_day", "Time", "s", 0, "", false, true, false));
-    mLogHeader.append(LOG_HEADER("t_day_pos", "Time GNSS", "", 0, "", false, true, false));
-    mLogHeader.append(LOG_HEADER("t_trip", "Time of trip", "", 0, "", true, true, false));
-    mLogHeader.append(LOG_HEADER("trip_vesc", "Trip VESC", "m", 3, "", true));
-    mLogHeader.append(LOG_HEADER("trip_vesc_abs", "Trip VESC ABS", "m", 3, "", true));
-    mLogHeader.append(LOG_HEADER("trip_gnss", "Trip GNSS", "m", 3, "", false));
+    mLogHeader.append(LOG_HEADER("t_day", "Time", "s", 0, false, true));
+    mLogHeader.append(LOG_HEADER("t_day_pos", "Time GNSS", "s", 0, false, true));
+    mLogHeader.append(LOG_HEADER("t_trip", "Time of trip", "s", 0, true, true));
+    mLogHeader.append(LOG_HEADER("trip_vesc", "Trip VESC", "m", 3, true));
+    mLogHeader.append(LOG_HEADER("trip_vesc_abs", "Trip VESC ABS", "m", 3, true));
+    mLogHeader.append(LOG_HEADER("trip_gnss", "Trip GNSS", "m", 3, true));
     mLogHeader.append(LOG_HEADER("setup_curr_motor", "Current Motors", "A"));
     mLogHeader.append(LOG_HEADER("setup_curr_battery", "Current Battery", "A"));
     mLogHeader.append(LOG_HEADER("setup_power", "Power", "W", 0));
-    mLogHeader.append(LOG_HEADER("erpm", "ERPM", "1/1000", 0));
+    mLogHeader.append(LOG_HEADER("erpm", "ERPM", "", 0));
     mLogHeader.append(LOG_HEADER("duty", "Duty", "%", 1));
     mLogHeader.append(LOG_HEADER("fault", "Fault Code", "", 0));
     mLogHeader.append(LOG_HEADER("v_in", "Input Voltage", "V"));
@@ -351,7 +351,7 @@ void PageLogAnalysis::loadVescLog(QVector<LOG_DATA> log)
         e.append(d.setupValues.current_motor);
         e.append(d.setupValues.current_in);
         e.append(d.setupValues.current_in * d.values.v_in);
-        e.append(d.values.rpm / 1000);
+        e.append(d.values.rpm);
         e.append(d.values.duty_now * 100);
         e.append(d.values.fault_code);
         e.append(d.values.v_in);
@@ -405,7 +405,7 @@ void PageLogAnalysis::loadVescLog(QVector<LOG_DATA> log)
     }
 
     for (auto e: mLogHeader) {
-        addDataItem(e.name, e.hasScale, e.scaleStep, e.scaleMax);
+        addDataItem(e.name, !e.isTimeStamp, e.scaleStep, e.scaleMax);
     }
 
     truncateDataAndPlot();
@@ -576,7 +576,7 @@ void PageLogAnalysis::updateGraphs()
             auto entry = d[row];
             const auto &header = mLogHeader[row];
 
-            if (header.hasScale) {
+            if (!header.isTimeStamp) {
                 if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
                 yAxes[rowInd].append(entry * rowScale);
                 names.append(QString("%1 (%2 * %3)").arg(header.name).
@@ -845,7 +845,7 @@ QVector<double> PageLogAnalysis::getLogSample(double time)
             int startTime = d[mInd_t_day];
 
             for (auto dn: mLogTruncated) {
-                int timeNow = dn[mInd_t_day] - startTime;
+                double timeNow = dn[mInd_t_day] - startTime;
                 if (timeNow < 0) { // Handle midnight
                     timeNow += 60 * 60 * 24;
                 }

From 417862fee440a2e53302669ef3bbd8e2a917ea14 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 21 Oct 2022 19:26:47 +0200
Subject: [PATCH 214/559] Custom log read support

---
 pages/pageloganalysis.cpp | 174 ++++++++++++++++++++++++++++++++++++--
 pages/pageloganalysis.h   |   1 +
 2 files changed, 170 insertions(+), 5 deletions(-)

diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index 0721feb66..9cdccb9ce 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -103,6 +103,15 @@ PageLogAnalysis::PageLogAnalysis(QWidget *parent) :
                 }
             }
         }
+
+        if (mVesc) {
+            if (!mVesc->isPortConnected()) {
+                mVescLastPath.clear();
+                if (ui->vescLogTable->rowCount() > 0) {
+                    ui->vescLogTable->setRowCount(0);
+                }
+            }
+        }
     });
 
     QFont legendFont = font();
@@ -926,6 +935,161 @@ void PageLogAnalysis::addDataItem(QString name, bool hasScale, double scaleStep,
     }
 }
 
+void PageLogAnalysis::openLog(QByteArray data)
+{
+    QTextStream in(&data);
+    auto tokensLine1 = in.readLine().split(";");
+    if (tokensLine1.size() < 1) {
+        mVesc->emitStatusMessage("Invalid log file", false);
+        return;
+    }
+    auto entry1 = tokensLine1.first().split(":");
+    if (entry1.size() == 1) {
+        if (mVesc->loadRtLogFile(data)) {
+            on_openCurrentButton_clicked();
+        }
+    } else {
+        resetInds();
+
+        mLog.clear();
+        mLogTruncated.clear();
+        mLogHeader.clear();
+
+        QVector<double> entryLastData;
+
+        for (auto t: tokensLine1) {
+            auto token = t.split(":");
+            LOG_HEADER h;
+            for (int i = 0;i < t.size();i++) {
+                switch (i) {
+                case 0: h.key = token.at(i);
+                case 1: h.name = token.at(i);
+                case 2: h.unit = token.at(i);
+                case 3: h.precision = token.at(i).toDouble();
+                case 4: h.isRelativeToFirst = token.at(i).toInt();
+                case 5: h.isTimeStamp = token.at(i).toInt();
+                default: break;
+                }
+            }
+            mLogHeader.append(h);
+            entryLastData.append(0.0);
+        }
+
+        while (!in.atEnd()) {
+            QStringList tokens = in.readLine().split(";");
+            QVector<double> entry;
+            for (int i = 0;i < tokens.size();i++) {
+                if (!tokens.at(i).isEmpty()) {
+                    entryLastData[i] = tokens.at(i).toDouble();
+                }
+                entry.append(entryLastData.at(i));
+            }
+            mLog.append(entry);
+        }
+
+        updateInds();
+
+        // Create sample array if t_day is missing
+        if (mInd_t_day < 0) {
+            mLogHeader.append(LOG_HEADER("t_day", "Sample", "", 0));
+
+            for (int i = 0;i < mLog.size();i++) {
+                mLog[i].append(i);
+            }
+        }
+
+        updateInds();
+
+        if (mInd_gnss_lat >= 0 && mInd_gnss_lon >= 0 &&
+                mInd_gnss_alt >= 0 && mInd_gnss_h_acc >= 0) {
+
+            // Initialize map enu ref
+            double i_llh[3] = {57.71495867, 12.89134921, 220.0};
+            for (auto d: mLog) {
+                double lat = d.at(mInd_gnss_lat);
+                double lon = d.at(mInd_gnss_lon);
+                double alt = d.at(mInd_gnss_alt);
+                double hacc = d.at(mInd_gnss_h_acc);
+
+                if (hacc > 0 && (!ui->filterOutlierBox->isChecked() ||
+                                 hacc < ui->filterhAccBox->value())) {
+                    i_llh[0] = lat;
+                    i_llh[1] = lon;
+                    i_llh[2] = alt;
+                    ui->map->setEnuRef(i_llh[0], i_llh[1], i_llh[2]);
+                    break;
+                }
+            }
+
+            // Create GNSS trip counter if it is missing
+            if (mInd_trip_vesc < 0) {
+                mLogHeader.append(LOG_HEADER("trip_gnss", "Trip GNSS", "m", 3, true));
+
+                double prevSampleGnss[3];
+                bool prevSampleGnssSet = false;
+                double metersGnss = 0.0;
+
+                for (int i = 0;i < mLog.size();i++) {
+                    double lat = mLog.at(i).at(mInd_gnss_lat);
+                    double lon = mLog.at(i).at(mInd_gnss_lon);
+                    double alt = mLog.at(i).at(mInd_gnss_alt);
+                    double hacc = mLog.at(i).at(mInd_gnss_h_acc);
+
+                    if (hacc > 0 && (!ui->filterOutlierBox->isChecked() ||
+                                     hacc < ui->filterhAccBox->value())) {
+                        if (prevSampleGnssSet) {
+                            double i_llh[3];
+                            double llh[3];
+                            double xyz[3];
+                            ui->map->getEnuRef(i_llh);
+
+                            llh[0] = lat;
+                            llh[1] = lon;
+                            llh[2] = alt;
+                            Utility::llhToEnu(i_llh, llh, xyz);
+
+                            LocPoint p, p2;
+                            p.setXY(xyz[0], xyz[1]);
+                            p.setRadius(10);
+
+                            llh[0] = prevSampleGnss[0];
+                            llh[1] = prevSampleGnss[1];
+                            llh[2] = prevSampleGnss[2];
+                            Utility::llhToEnu(i_llh, llh, xyz);
+
+                            p2.setXY(xyz[0], xyz[1]);
+                            p2.setRadius(10);
+
+                            metersGnss += p.getDistanceTo(p2);
+                        }
+
+                        prevSampleGnssSet = true;
+                        prevSampleGnss[0] = lat;
+                        prevSampleGnss[1] = lon;
+                        prevSampleGnss[2] = alt;
+                    }
+
+                    mLog[i].append(metersGnss);
+                }
+            }
+        }
+
+        updateInds();
+
+        ui->dataTable->setRowCount(0);
+
+        if (mLog.size() == 0) {
+            return;
+        }
+
+        for (auto e: mLogHeader) {
+            addDataItem(e.name, !e.isTimeStamp, e.scaleStep, e.scaleMax);
+        }
+
+        truncateDataAndPlot();
+    }
+}
+
 void PageLogAnalysis::on_saveMapPdfButton_clicked()
 {
     QString fileName = QFileDialog::getSaveFileName(this,
@@ -982,8 +1146,10 @@ void PageLogAnalysis::on_logListOpenButton_clicked()
     if (items.size() > 0) {
         QString fileName = items.
                 first()->data(Qt::UserRole).toString();
-        if (mVesc->loadRtLogFile(fileName)) {
-            on_openCurrentButton_clicked();
+
+        QFile inFile(fileName);
+        if (inFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
+            openLog(inFile.readAll());
         }
     } else {
         mVesc->emitMessageDialog("Open Log", "No Log Selected", false);
@@ -1072,9 +1238,7 @@ void PageLogAnalysis::on_vescLogListOpenButton_clicked()
             auto data = mVesc->commands()->fileBlockRead(mVescLastPath + "/" + fe.name);
             ui->vescLogListOpenButton->setEnabled(true);
             if (!data.isEmpty()) {
-                if (mVesc->loadRtLogFile(data)) {
-                    on_openCurrentButton_clicked();
-                }
+                openLog(data);
             }
         }
     }
diff --git a/pages/pageloganalysis.h b/pages/pageloganalysis.h
index bcebd1486..60a736f87 100644
--- a/pages/pageloganalysis.h
+++ b/pages/pageloganalysis.h
@@ -153,6 +153,7 @@ private slots:
     void logListRefresh();
     void addDataItem(QString name, bool hasScale = true,
                      double scaleStep = 0.1, double scaleMax = 99.99);
+    void openLog(QByteArray data);
 
 };
 

From 94d79fb253616298315afc5e1f525b9885ece99b Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 23 Oct 2022 18:33:15 +0200
Subject: [PATCH 215/559] Added log save and delete buttons, moved things
 around in ui

---
 pages/pageloganalysis.cpp | 138 +++++++++++---
 pages/pageloganalysis.h   |   2 +
 pages/pageloganalysis.ui  | 368 ++++++++++++++++++++++----------------
 3 files changed, 322 insertions(+), 186 deletions(-)

diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index 9cdccb9ce..7438e4953 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -48,6 +48,8 @@ PageLogAnalysis::PageLogAnalysis(QWidget *parent) :
     ui->vescLogListRefreshButton->setIcon(QPixmap(theme + "icons/Refresh-96.png"));
     ui->vescLogListOpenButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
     ui->vescUpButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
+    ui->vescSaveAsButton->setIcon(QPixmap(theme + "icons/Save as-96.png"));
+    ui->vescLogDeleteButton->setIcon(QPixmap(theme + "icons/Delete-96.png"));
 
     updateTileServers();
 
@@ -210,6 +212,7 @@ PageLogAnalysis::PageLogAnalysis(QWidget *parent) :
     });
 
     on_gridBox_toggled(ui->gridBox->isChecked());
+    logListRefresh();
 }
 
 PageLogAnalysis::~PageLogAnalysis()
@@ -427,16 +430,15 @@ void PageLogAnalysis::on_openCsvButton_clicked()
                                                         tr("Load CSV File"), "",
                                                         tr("CSV files (*.csv)"));
 
-        if (!fileName.isEmpty()) {            
+        if (!fileName.isEmpty()) {
             QSettings set;
             set.setValue("pageloganalysis/lastdir",
                          QFileInfo(fileName).absolutePath());
 
-            if (mVesc->loadRtLogFile(fileName)) {
-                on_openCurrentButton_clicked();
+            QFile inFile(fileName);
+            if (inFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
+                openLog(inFile.readAll());
             }
-
-            logListRefresh();
         }
     }
 }
@@ -497,7 +499,7 @@ void PageLogAnalysis::truncateDataAndPlot(bool zoomGraph)
             double h_acc = d[mInd_gnss_h_acc];
 
             skip = true;
-            if (postime >= 0 &&
+            if (h_acc > 0.0 &&
                     (!ui->filterOutlierBox->isChecked() ||
                      h_acc < ui->filterhAccBox->value()) &&
                     posTimeLast != postime) {
@@ -798,7 +800,7 @@ void PageLogAnalysis::updateDataAndPlot(double time)
         double h_acc = sample[mInd_gnss_h_acc];
 
         skip = true;
-        if (postime >= 0 &&
+        if (h_acc > 0.0 &&
                 (!ui->filterOutlierBox->isChecked() ||
                  h_acc < ui->filterhAccBox->value())) {
             skip = false;
@@ -887,25 +889,23 @@ void PageLogAnalysis::updateTileServers()
 
 void PageLogAnalysis::logListRefresh()
 {
-    if (ui->tabWidget->currentIndex() == 3) {
-        ui->logTable->setRowCount(0);
-        QSettings set;
-        if (set.contains("pageloganalysis/lastdir")) {
-            QString dirPath = set.value("pageloganalysis/lastdir").toString();
-            QDir dir(dirPath);
-            if (dir.exists()) {
-                for (QFileInfo f: dir.entryInfoList(QStringList() << "*.csv" << "*.Csv" << "*.CSV",
-                                              QDir::Files, QDir::Name)) {
-                    QTableWidgetItem *itName = new QTableWidgetItem(f.fileName());
-                    itName->setData(Qt::UserRole, f.absoluteFilePath());
-                    ui->logTable->setRowCount(ui->logTable->rowCount() + 1);
-                    ui->logTable->setItem(ui->logTable->rowCount() - 1, 0, itName);
-                    ui->logTable->setItem(ui->logTable->rowCount() - 1, 1,
-                                          new QTableWidgetItem(QString("%1 MB").
-                                                               arg(double(f.size())
-                                                                   / 1024.0 / 1024.0,
-                                                                   0, 'f', 2)));
-                }
+    ui->logTable->setRowCount(0);
+    QSettings set;
+    if (set.contains("pageloganalysis/lastdir")) {
+        QString dirPath = set.value("pageloganalysis/lastdir").toString();
+        QDir dir(dirPath);
+        if (dir.exists()) {
+            for (QFileInfo f: dir.entryInfoList(QStringList() << "*.csv" << "*.Csv" << "*.CSV",
+                                                QDir::Files, QDir::Name)) {
+                QTableWidgetItem *itName = new QTableWidgetItem(f.fileName());
+                itName->setData(Qt::UserRole, f.absoluteFilePath());
+                ui->logTable->setRowCount(ui->logTable->rowCount() + 1);
+                ui->logTable->setItem(ui->logTable->rowCount() - 1, 0, itName);
+                ui->logTable->setItem(ui->logTable->rowCount() - 1, 1,
+                                      new QTableWidgetItem(QString("%1 MB").
+                                                           arg(double(f.size())
+                                                               / 1024.0 / 1024.0,
+                                                               0, 'f', 2)));
             }
         }
     }
@@ -984,6 +984,9 @@ void PageLogAnalysis::openLog(QByteArray data)
                 }
                 entry.append(entryLastData.at(i));
             }
+            while (entry.size() < entryLastData.size()) {
+                entry.append(entryLastData[entry.size()]);
+            }
             mLog.append(entry);
         }
 
@@ -1011,7 +1014,7 @@ void PageLogAnalysis::openLog(QByteArray data)
                 double alt = d.at(mInd_gnss_alt);
                 double hacc = d.at(mInd_gnss_h_acc);
 
-                if (hacc > 0 && (!ui->filterOutlierBox->isChecked() ||
+                if (hacc > 0.0 && (!ui->filterOutlierBox->isChecked() ||
                                  hacc < ui->filterhAccBox->value())) {
                     i_llh[0] = lat;
                     i_llh[1] = lon;
@@ -1198,7 +1201,7 @@ void PageLogAnalysis::on_vescLogListRefreshButton_clicked()
 
         if (fe.isDir) {
             ui->vescLogTable->setItem(ui->vescLogTable->rowCount() - 1, 1,
-                                      new QTableWidgetItem("Dir"));
+                                      new QTableWidgetItem(QString("Dir, %1 files").arg(fe.size)));
         } else {
             ui->vescLogTable->setItem(ui->vescLogTable->rowCount() - 1, 1,
                                       new QTableWidgetItem(QString("%1 MB").
@@ -1235,8 +1238,10 @@ void PageLogAnalysis::on_vescLogListOpenButton_clicked()
             on_vescLogListRefreshButton_clicked();
         } else {
             ui->vescLogListOpenButton->setEnabled(false);
+            ui->vescSaveAsButton->setEnabled(false);
             auto data = mVesc->commands()->fileBlockRead(mVescLastPath + "/" + fe.name);
             ui->vescLogListOpenButton->setEnabled(true);
+            ui->vescSaveAsButton->setEnabled(true);
             if (!data.isEmpty()) {
                 openLog(data);
             }
@@ -1268,3 +1273,80 @@ void PageLogAnalysis::on_vescLogTable_cellDoubleClicked(int row, int column)
     (void)row; (void)column;
     on_vescLogListOpenButton_clicked();
 }
+
+void PageLogAnalysis::on_vescSaveAsButton_clicked()
+{
+    auto items = ui->vescLogTable->selectedItems();
+
+    if (items.size() <= 0) {
+        mVesc->emitMessageDialog("Save File", "No file selected", false);
+        return;
+    }
+
+    FILE_LIST_ENTRY fe;
+    if (items.first()->data(Qt::UserRole).canConvert<FILE_LIST_ENTRY>()) {
+        fe = items.first()->data(Qt::UserRole).value<FILE_LIST_ENTRY>();
+    }
+
+    if (fe.isDir) {
+        mVesc->emitMessageDialog("Save File", "Cannot save directory, only files", false);
+    } else {
+        QString fileName = QFileDialog::getSaveFileName(this,
+                                                        tr("Save Log File"), "",
+                                                        tr("CSV files (*.csv)"));
+
+        if (!fileName.isEmpty()) {
+            if (!fileName.toLower().endsWith(".csv")) {
+                fileName += ".csv";
+            }
+
+            QFile file(fileName);
+
+            if (!file.open(QIODevice::WriteOnly)) {
+                mVesc->emitMessageDialog("Save File", "Cannot open destination", false);
+                return;
+            }
+
+            ui->vescLogListOpenButton->setEnabled(false);
+            ui->vescSaveAsButton->setEnabled(false);
+            auto data = mVesc->commands()->fileBlockRead(mVescLastPath + "/" + fe.name);
+            ui->vescLogListOpenButton->setEnabled(true);
+            ui->vescSaveAsButton->setEnabled(true);
+
+            file.write(data);
+            file.close();
+        }
+    }
+}
+
+void PageLogAnalysis::on_vescLogDeleteButton_clicked()
+{
+    auto items = ui->vescLogTable->selectedItems();
+
+    if (items.size() <= 0) {
+        mVesc->emitMessageDialog("Delete File", "No file selected", false);
+        return;
+    }
+
+    FILE_LIST_ENTRY fe;
+    if (items.first()->data(Qt::UserRole).canConvert<FILE_LIST_ENTRY>()) {
+        fe = items.first()->data(Qt::UserRole).value<FILE_LIST_ENTRY>();
+    }
+
+    if (fe.isDir) {
+        mVesc->emitMessageDialog("Delete File", "Cannot delete directory, only files", false);
+    } else {
+        int ret = QMessageBox::warning(this,
+                                       tr("Delete File"),
+                                       tr("This is going to delete %1 permanently. Are you sure?").arg(fe.name),
+                                       QMessageBox::Yes | QMessageBox::Cancel);
+
+        if (ret == QMessageBox::Yes) {
+            bool ok = mVesc->commands()->fileBlockRemove(mVescLastPath + "/" + fe.name);
+            if (ok) {
+                on_vescLogListRefreshButton_clicked();
+                mVesc->emitStatusMessage("File deleted", true);
+            }
+        }
+    }
+}
diff --git a/pages/pageloganalysis.h b/pages/pageloganalysis.h
index 60a736f87..d74852c33 100644
--- a/pages/pageloganalysis.h
+++ b/pages/pageloganalysis.h
@@ -63,6 +63,8 @@ private slots:
     void on_vescUpButton_clicked();
     void on_vescLogCancelButton_clicked();
     void on_vescLogTable_cellDoubleClicked(int row, int column);
+    void on_vescSaveAsButton_clicked();
+    void on_vescLogDeleteButton_clicked();
 
 private:
     Ui::PageLogAnalysis *ui;
diff --git a/pages/pageloganalysis.ui b/pages/pageloganalysis.ui
index 539c443b9..3f4011370 100644
--- a/pages/pageloganalysis.ui
+++ b/pages/pageloganalysis.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1070</width>
-    <height>668</height>
+    <width>1325</width>
+    <height>783</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -215,113 +215,6 @@
        <property name="currentIndex">
         <number>0</number>
        </property>
-       <widget class="QWidget" name="tab">
-        <attribute name="title">
-         <string>Data</string>
-        </attribute>
-        <layout class="QVBoxLayout" name="verticalLayout">
-         <property name="leftMargin">
-          <number>3</number>
-         </property>
-         <property name="topMargin">
-          <number>3</number>
-         </property>
-         <property name="rightMargin">
-          <number>3</number>
-         </property>
-         <property name="bottomMargin">
-          <number>3</number>
-         </property>
-         <item>
-          <widget class="QTableWidget" name="dataTable">
-           <property name="editTriggers">
-            <set>QAbstractItemView::NoEditTriggers</set>
-           </property>
-           <property name="alternatingRowColors">
-            <bool>true</bool>
-           </property>
-           <property name="selectionMode">
-            <enum>QAbstractItemView::ExtendedSelection</enum>
-           </property>
-           <property name="selectionBehavior">
-            <enum>QAbstractItemView::SelectRows</enum>
-           </property>
-           <attribute name="horizontalHeaderStretchLastSection">
-            <bool>true</bool>
-           </attribute>
-           <column>
-            <property name="text">
-             <string>Name</string>
-            </property>
-           </column>
-           <column>
-            <property name="text">
-             <string>Value</string>
-            </property>
-           </column>
-           <column>
-            <property name="text">
-             <string>Plot Scale</string>
-            </property>
-           </column>
-          </widget>
-         </item>
-        </layout>
-       </widget>
-       <widget class="QWidget" name="tab_2">
-        <attribute name="title">
-         <string>Stats</string>
-        </attribute>
-        <layout class="QVBoxLayout" name="verticalLayout_5">
-         <property name="leftMargin">
-          <number>3</number>
-         </property>
-         <property name="topMargin">
-          <number>3</number>
-         </property>
-         <property name="rightMargin">
-          <number>3</number>
-         </property>
-         <property name="bottomMargin">
-          <number>3</number>
-         </property>
-         <item>
-          <widget class="QTableWidget" name="statTable">
-           <property name="editTriggers">
-            <set>QAbstractItemView::NoEditTriggers</set>
-           </property>
-           <property name="alternatingRowColors">
-            <bool>true</bool>
-           </property>
-           <property name="selectionMode">
-            <enum>QAbstractItemView::NoSelection</enum>
-           </property>
-           <property name="selectionBehavior">
-            <enum>QAbstractItemView::SelectRows</enum>
-           </property>
-           <attribute name="horizontalHeaderStretchLastSection">
-            <bool>true</bool>
-           </attribute>
-           <column>
-            <property name="text">
-             <string>Name</string>
-            </property>
-           </column>
-           <column>
-            <property name="text">
-             <string>Value</string>
-            </property>
-           </column>
-          </widget>
-         </item>
-        </layout>
-       </widget>
-       <widget class="QWidget" name="tab_3">
-        <attribute name="title">
-         <string>IMU</string>
-        </attribute>
-        <layout class="QVBoxLayout" name="verticalLayout_4"/>
-       </widget>
        <widget class="QWidget" name="tab_4">
         <attribute name="title">
          <string>Browse</string>
@@ -346,7 +239,7 @@
           <number>0</number>
          </property>
          <item>
-          <widget class="QTabWidget" name="tabWidget_2">
+          <widget class="QTabWidget" name="browseTabWidget">
            <property name="tabPosition">
             <enum>QTabWidget::East</enum>
            </property>
@@ -404,6 +297,17 @@
              </item>
              <item>
               <layout class="QHBoxLayout" name="horizontalLayout_4">
+               <item>
+                <widget class="QPushButton" name="openCsvButton">
+                 <property name="text">
+                  <string>Open CSV...</string>
+                 </property>
+                 <property name="icon">
+                  <iconset resource="../res.qrc">
+                   <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
+                 </property>
+                </widget>
+               </item>
                <item>
                 <spacer name="horizontalSpacer_2">
                  <property name="orientation">
@@ -431,7 +335,7 @@
                <item>
                 <widget class="QPushButton" name="logListOpenButton">
                  <property name="text">
-                  <string>Open</string>
+                  <string>Open Selected</string>
                  </property>
                  <property name="icon">
                   <iconset resource="../res.qrc">
@@ -511,50 +415,209 @@
                  </property>
                 </widget>
                </item>
-               <item>
-                <widget class="QPushButton" name="vescLogListRefreshButton">
-                 <property name="text">
-                  <string>Refresh</string>
-                 </property>
-                 <property name="icon">
-                  <iconset resource="../res.qrc">
-                   <normaloff>:/res/icons/Refresh-96.png</normaloff>:/res/icons/Refresh-96.png</iconset>
-                 </property>
-                </widget>
-               </item>
-               <item>
-                <widget class="QPushButton" name="vescLogListOpenButton">
-                 <property name="text">
-                  <string>Open</string>
-                 </property>
-                 <property name="icon">
-                  <iconset resource="../res.qrc">
-                   <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
-                 </property>
-                </widget>
-               </item>
-               <item>
-                <widget class="QPushButton" name="vescUpButton">
-                 <property name="toolTip">
-                  <string>Go up one directory</string>
-                 </property>
-                 <property name="text">
-                  <string>Up</string>
-                 </property>
-                 <property name="icon">
-                  <iconset resource="../res.qrc">
-                   <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
-                 </property>
-                </widget>
-               </item>
               </layout>
              </item>
+             <item>
+              <widget class="QWidget" name="widget" native="true">
+               <layout class="QHBoxLayout" name="horizontalLayout_6">
+                <property name="spacing">
+                 <number>2</number>
+                </property>
+                <property name="leftMargin">
+                 <number>0</number>
+                </property>
+                <property name="topMargin">
+                 <number>0</number>
+                </property>
+                <property name="rightMargin">
+                 <number>0</number>
+                </property>
+                <property name="bottomMargin">
+                 <number>0</number>
+                </property>
+                <item>
+                 <spacer name="horizontalSpacer_3">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item>
+                 <widget class="QPushButton" name="vescSaveAsButton">
+                  <property name="text">
+                   <string>Save as...</string>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QPushButton" name="vescLogDeleteButton">
+                  <property name="text">
+                   <string>Delete</string>
+                  </property>
+                  <property name="icon">
+                   <iconset resource="../res.qrc">
+                    <normaloff>:/res/icons/Delete-96.png</normaloff>:/res/icons/Delete-96.png</iconset>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QPushButton" name="vescLogListOpenButton">
+                  <property name="text">
+                   <string>Open</string>
+                  </property>
+                  <property name="icon">
+                   <iconset resource="../res.qrc">
+                    <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QPushButton" name="vescLogListRefreshButton">
+                  <property name="text">
+                   <string>Refresh</string>
+                  </property>
+                  <property name="icon">
+                   <iconset resource="../res.qrc">
+                    <normaloff>:/res/icons/Refresh-96.png</normaloff>:/res/icons/Refresh-96.png</iconset>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QPushButton" name="vescUpButton">
+                  <property name="toolTip">
+                   <string>Go up one directory</string>
+                  </property>
+                  <property name="text">
+                   <string>Up</string>
+                  </property>
+                  <property name="icon">
+                   <iconset resource="../res.qrc">
+                    <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
+                  </property>
+                 </widget>
+                </item>
+               </layout>
+              </widget>
+             </item>
             </layout>
            </widget>
           </widget>
          </item>
         </layout>
        </widget>
+       <widget class="QWidget" name="tab">
+        <attribute name="title">
+         <string>Data</string>
+        </attribute>
+        <layout class="QVBoxLayout" name="verticalLayout">
+         <property name="leftMargin">
+          <number>3</number>
+         </property>
+         <property name="topMargin">
+          <number>3</number>
+         </property>
+         <property name="rightMargin">
+          <number>3</number>
+         </property>
+         <property name="bottomMargin">
+          <number>3</number>
+         </property>
+         <item>
+          <widget class="QTableWidget" name="dataTable">
+           <property name="editTriggers">
+            <set>QAbstractItemView::NoEditTriggers</set>
+           </property>
+           <property name="alternatingRowColors">
+            <bool>true</bool>
+           </property>
+           <property name="selectionMode">
+            <enum>QAbstractItemView::ExtendedSelection</enum>
+           </property>
+           <property name="selectionBehavior">
+            <enum>QAbstractItemView::SelectRows</enum>
+           </property>
+           <attribute name="horizontalHeaderStretchLastSection">
+            <bool>true</bool>
+           </attribute>
+           <column>
+            <property name="text">
+             <string>Name</string>
+            </property>
+           </column>
+           <column>
+            <property name="text">
+             <string>Value</string>
+            </property>
+           </column>
+           <column>
+            <property name="text">
+             <string>Plot Scale</string>
+            </property>
+           </column>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+       <widget class="QWidget" name="tab_2">
+        <attribute name="title">
+         <string>Stats</string>
+        </attribute>
+        <layout class="QVBoxLayout" name="verticalLayout_5">
+         <property name="leftMargin">
+          <number>3</number>
+         </property>
+         <property name="topMargin">
+          <number>3</number>
+         </property>
+         <property name="rightMargin">
+          <number>3</number>
+         </property>
+         <property name="bottomMargin">
+          <number>3</number>
+         </property>
+         <item>
+          <widget class="QTableWidget" name="statTable">
+           <property name="editTriggers">
+            <set>QAbstractItemView::NoEditTriggers</set>
+           </property>
+           <property name="alternatingRowColors">
+            <bool>true</bool>
+           </property>
+           <property name="selectionMode">
+            <enum>QAbstractItemView::NoSelection</enum>
+           </property>
+           <property name="selectionBehavior">
+            <enum>QAbstractItemView::SelectRows</enum>
+           </property>
+           <attribute name="horizontalHeaderStretchLastSection">
+            <bool>true</bool>
+           </attribute>
+           <column>
+            <property name="text">
+             <string>Name</string>
+            </property>
+           </column>
+           <column>
+            <property name="text">
+             <string>Value</string>
+            </property>
+           </column>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+       <widget class="QWidget" name="tab_3">
+        <attribute name="title">
+         <string>IMU</string>
+        </attribute>
+        <layout class="QVBoxLayout" name="verticalLayout_4"/>
+       </widget>
       </widget>
      </widget>
     </widget>
@@ -571,17 +634,6 @@
      <property name="spacing">
       <number>2</number>
      </property>
-     <item>
-      <widget class="QPushButton" name="openCsvButton">
-       <property name="text">
-        <string>Open CSV</string>
-       </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
-       </property>
-      </widget>
-     </item>
      <item>
       <widget class="QPushButton" name="openCurrentButton">
        <property name="text">

From 7ad6d8ef2f805dfbfc0c8566fe3248433eb5dc1a Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 23 Oct 2022 22:05:57 +0200
Subject: [PATCH 216/559] Open files from current directory

---
 widgets/scripteditor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/widgets/scripteditor.cpp b/widgets/scripteditor.cpp
index dbab1c116..d8f348e87 100644
--- a/widgets/scripteditor.cpp
+++ b/widgets/scripteditor.cpp
@@ -107,7 +107,7 @@ void ScriptEditor::keyPressEvent(QKeyEvent *event)
 void ScriptEditor::on_openFileButton_clicked()
 {
     QString fileName = QFileDialog::getOpenFileName(this,
-                                                    tr("Open %1 File").arg(mIsModeLisp ? "Lisp" : "Qml"), "",
+                                                    tr("Open %1 File").arg(mIsModeLisp ? "Lisp" : "Qml"), ui->fileNowLabel->text(),
                                                     mIsModeLisp ? tr("Lisp files (*.lisp)") : tr("QML files (*.qml)"));
 
     if (!fileName.isEmpty()) {

From fd7966456f0e40b13dbcdb52c734b2de75791a48 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 24 Oct 2022 13:26:55 +0200
Subject: [PATCH 217/559] Major lisp syntax highlighting and autocompletion
 improvement

---
 .../include/internal/LispHighlighter.hpp      |   1 +
 QCodeEditor/include/internal/QCodeEditor.hpp  |   4 +
 .../include/internal/QLispCompleter.hpp       |   4 -
 QCodeEditor/resources/languages/lisp.xml      | 238 ++++++++++++++++--
 QCodeEditor/src/internal/LispHighlighter.cpp  |  29 ++-
 QCodeEditor/src/internal/QCodeEditor.cpp      |  24 +-
 QCodeEditor/src/internal/QLispCompleter.cpp   |  23 --
 widgets/scripteditor.cpp                      |   1 +
 8 files changed, 260 insertions(+), 64 deletions(-)

diff --git a/QCodeEditor/include/internal/LispHighlighter.hpp b/QCodeEditor/include/internal/LispHighlighter.hpp
index 0bd59b7a9..44854394d 100644
--- a/QCodeEditor/include/internal/LispHighlighter.hpp
+++ b/QCodeEditor/include/internal/LispHighlighter.hpp
@@ -30,6 +30,7 @@ class LispHighlighter : public QStyleSyntaxHighlighter
 
 private:
     QVector<QHighlightRule> m_highlightRules;
+    QVector<QHighlightRule> m_highlightRulesLang;
     QRegularExpression m_keyRegex;
 
 };
diff --git a/QCodeEditor/include/internal/QCodeEditor.hpp b/QCodeEditor/include/internal/QCodeEditor.hpp
index 8db737878..b4c8ae256 100755
--- a/QCodeEditor/include/internal/QCodeEditor.hpp
+++ b/QCodeEditor/include/internal/QCodeEditor.hpp
@@ -56,6 +56,9 @@ class QCodeEditor : public QTextEdit
 
     void setIndentStrs(const QString &start, const QString &end);
 
+    bool getSeparateMinus() const;
+    void setSeparateMinus(bool separateMinus);
+
 signals:
     void saveTriggered();
     void runEmbeddedTriggered();
@@ -218,6 +221,7 @@ public Q_SLOTS:
     QString m_commentStr;
     QString m_indentStartStr;
     QString m_indentEndStr;
+    bool m_separateMinus;
 
 };
 
diff --git a/QCodeEditor/include/internal/QLispCompleter.hpp b/QCodeEditor/include/internal/QLispCompleter.hpp
index 327e615ce..21cd7a6fa 100644
--- a/QCodeEditor/include/internal/QLispCompleter.hpp
+++ b/QCodeEditor/include/internal/QLispCompleter.hpp
@@ -9,10 +9,6 @@ class QLispCompleter : public QCompleter
 public:
     explicit QLispCompleter(QObject* parent=nullptr);
 
-protected:
-    QStringList splitPath(const QString &path) const override;
-    QString pathFromIndex(const QModelIndex &index) const override;
-
 };
 
 
diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 94a93462b..1d0e64833 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -32,30 +32,9 @@
         <name>print</name>
         <name>yield</name>
         <name>ix</name>
-        <name>sleep</name>
-        <name>map</name>
-        <name>foldl</name>
-        <name>foldr</name>
         <name>list</name>
-        <name>iota</name>
         <name>range</name>
-        <name>reverse</name>
         <name>length</name>
-        <name>apply</name>
-        <name>zipwith</name>
-        <name>filter</name>
-        <name>sort</name>
-        <name>sin</name>
-        <name>cos</name>
-        <name>tan</name>
-        <name>asin</name>
-        <name>acos</name>
-        <name>atan</name>
-        <name>atan2</name>
-        <name>pow</name>
-        <name>sqrt</name>
-        <name>log</name>
-        <name>log10</name>
         <name>shl</name>
         <name>shr</name>
         <name>first</name>
@@ -63,14 +42,10 @@
         <name>car</name>
         <name>cons</name>
         <name>cdr</name>
-        <name>second</name>
-        <name>third</name>
         <name>setcar</name>
         <name>setcdr</name>
         <name>setvar</name>
         <name>setix</name>
-        <name>bufcpy</name>
-        <name>bufclear</name>
         <name>systime</name>
         <name>and</name>
         <name>or</name>
@@ -79,5 +54,218 @@
         <name>assoc</name>
         <name>cossa</name>
         <name>setassoc</name>
+
+        <name>timeout-reset</name>
+        <name>get-ppm</name>
+        <name>get-ppm-age</name>
+        <name>get-encoder</name>
+        <name>set-servo</name>
+        <name>get-vin</name>
+        <name>select-motor</name>
+        <name>get-selected-motor</name>
+        <name>get-bms-val</name>
+        <name>get-adc</name>
+        <name>get-adc-decoded</name>
+        <name>secs-since</name>
+        <name>set-aux</name>
+        <name>event-register-handler</name>
+        <name>event-enable</name>
+        <name>get-imu-rpy</name>
+        <name>get-imu-quat</name>
+        <name>get-imu-acc</name>
+        <name>get-imu-gyro</name>
+        <name>get-imu-mag</name>
+        <name>get-imu-acc-derot</name>
+        <name>get-imu-gyro-derot</name>
+        <name>send-data</name>
+        <name>get-remote-state</name>
+        <name>eeprom-store-f</name>
+        <name>eeprom-read-f</name>
+        <name>eeprom-store-i</name>
+        <name>eeprom-read-i</name>
+        <name>sysinfo</name>
+        <name>import</name>
+
+        <name>app-adc-detach</name>
+        <name>app-adc-override</name>
+        <name>app-ppm-detach</name>
+        <name>app-ppm-override</name>
+        <name>set-remote-state</name>
+        <name>app-disable-output</name>
+
+        <name>set-current</name>
+        <name>set-current-rel</name>
+        <name>set-duty</name>
+        <name>set-brake</name>
+        <name>set-brake-rel</name>
+        <name>set-handbrake</name>
+        <name>set-handbrake-rel</name>
+        <name>set-rpm</name>
+        <name>set-pos</name>
+        <name>foc-openloop</name>
+        <name>foc-beep</name>
+
+        <name>get-current</name>
+        <name>get-current-dir</name>
+        <name>get-current-in</name>
+        <name>get-id</name>
+        <name>get-iq</name>
+        <name>get-vd</name>
+        <name>get-vq</name>
+        <name>get-duty</name>
+        <name>get-rpm</name>
+        <name>get-temp-fet</name>
+        <name>get-temp-mot</name>
+        <name>get-speed</name>
+        <name>get-dist</name>
+        <name>get-dist-abs</name>
+        <name>get-batt</name>
+        <name>get-fault</name>
+
+        <name>canset-current</name>
+        <name>canset-current-rel</name>
+        <name>canset-duty</name>
+        <name>canset-brake</name>
+        <name>canset-brake-rel</name>
+        <name>canset-rpm</name>
+        <name>canset-pos</name>
+
+        <name>canget-current</name>
+        <name>canget-current-dir</name>
+        <name>canget-current-in</name>
+        <name>canget-duty</name>
+        <name>canget-rpm</name>
+        <name>canget-temp-fet</name>
+        <name>canget-temp-motor</name>
+        <name>canget-speed</name>
+        <name>canget-dist</name>
+        <name>canget-ppm</name>
+        <name>canget-adc</name>
+
+        <name>can-list-devs</name>
+        <name>can-scan</name>
+        <name>can-send-sid</name>
+        <name>can-send-eid</name>
+
+        <name>sin</name>
+        <name>cos</name>
+        <name>tan</name>
+        <name>asin</name>
+        <name>acos</name>
+        <name>atan</name>
+        <name>atan2</name>
+        <name>pow</name>
+        <name>sqrt</name>
+        <name>log</name>
+        <name>log10</name>
+        <name>deg2rad</name>
+        <name>rad2deg</name>
+        <name>vec3-rot</name>
+        <name>throttle-curve</name>
+
+        <name>bits-enc-int</name>
+        <name>bits-dec-int</name>
+
+        <name>raw-adc-current</name>
+        <name>raw-adc-voltage</name>
+        <name>raw-mod-alpha</name>
+        <name>raw-mod-beta</name>
+        <name>raw-mod-alpha-measured</name>
+        <name>raw-mod-beta-measured</name>
+        <name>raw-hall</name>
+
+        <name>uart-start</name>
+        <name>uart-write</name>
+        <name>uart-read</name>
+
+        <name>i2c-start</name>
+        <name>i2c-tx-rx</name>
+        <name>i2c-restore</name>
+
+        <name>gpio-configure</name>
+        <name>gpio-write</name>
+        <name>gpio-read</name>
+
+        <name>str-from-n</name>
+        <name>str-merge</name>
+        <name>str-to-i</name>
+        <name>str-to-f</name>
+        <name>str-part</name>
+        <name>str-split</name>
+        <name>str-replace</name>
+        <name>str-to-lower</name>
+        <name>str-to-upper</name>
+        <name>str-cmp</name>
+
+        <name>conf-set</name>
+        <name>conf-get</name>
+        <name>conf-store</name>
+        <name>conf-detect-foc</name>
+        <name>conf-set-pid-offset</name>
+        <name>conf-measure-res</name>
+
+        <name>free</name>
+        <name>bufset-i8</name>
+        <name>bufset-i16</name>
+        <name>bufset-i24</name>
+        <name>bufset-i32</name>
+        <name>bufset-u8</name>
+        <name>bufset-u16</name>
+        <name>bufset-u24</name>
+        <name>bufset-u32</name>
+        <name>bufset-f32</name>
+        <name>bufget-i8</name>
+        <name>bufget-i16</name>
+        <name>bufget-i32</name>
+        <name>bufget-u8</name>
+        <name>bufget-u16</name>
+        <name>bufget-u24</name>
+        <name>bufget-u32</name>
+        <name>bufget-f32</name>
+        <name>buflen</name>
+        <name>bufclear</name>
+        <name>bufcpy</name>
+        <name>bufset-bit</name>
+
+        <name>load-native-lib</name>
+        <name>unload-native-lib</name>
+
+        <name>uavcan-last-rawcmd</name>
+        <name>uavcan-last-rpmcmd</name>
+
+        <name>lbm-set-quota</name>
+
+        <name>plot-init</name>
+        <name>plot-add-graph</name>
+        <name>plot-set-graph</name>
+        <name>plot-send-points</name>
+
+        <name>ioboard-get-adc</name>
+        <name>ioboard-get-digital</name>
+        <name>ioboard-set-digital</name>
+        <name>ioboard-set-pwm</name>
+
+        <name>log-config-field</name>
+        <name>log-start</name>
+        <name>log-stop</name>
+        <name>log-send-f32</name>
+
+        <name>uart-read-bytes</name>
+        <name>uart-read-until</name>
+        <name>map</name>
+        <name>foldl</name>
+        <name>foldr</name>
+        <name>reverse</name>
+        <name>apply</name>
+        <name>zipwith</name>
+        <name>sleep</name>
+        <name>filter</name>
+        <name>str-len</name>
+        <name>sort</name>
+        <name>str-cmp-asc</name>
+        <name>str-cmp-dsc</name>
+        <name>second</name>
+        <name>third</name>
+        <name>abs</name>
     </section>
 </root>
diff --git a/QCodeEditor/src/internal/LispHighlighter.cpp b/QCodeEditor/src/internal/LispHighlighter.cpp
index e687986d8..cc34a55c0 100644
--- a/QCodeEditor/src/internal/LispHighlighter.cpp
+++ b/QCodeEditor/src/internal/LispHighlighter.cpp
@@ -10,6 +10,7 @@
 LispHighlighter::LispHighlighter(QTextDocument* document) :
     QStyleSyntaxHighlighter(document),
     m_highlightRules(),
+    m_highlightRulesLang(),
     m_keyRegex(R"(("[^\r\n:]+?")\s*:)")
 {
     Q_INIT_RESOURCE(qcodeeditor_resources);
@@ -33,8 +34,8 @@ LispHighlighter::LispHighlighter(QTextDocument* document) :
         auto names = language.names(key);
         for (auto&& name : names)
         {
-            m_highlightRules.append({
-                QRegularExpression(QString(R"(\b%1\b)").arg(name)),
+            m_highlightRulesLang.append({
+                QRegularExpression(QString(R"(\b%1\b)").arg(name.replace("-", "_"))),
                 key
             });
         }
@@ -59,15 +60,26 @@ LispHighlighter::LispHighlighter(QTextDocument* document) :
     });
 }
 
-
 void LispHighlighter::highlightBlock(const QString& text)
 {
-    for (auto&& rule : m_highlightRules)
-    {
+    for (auto&& rule : m_highlightRulesLang) {
+        auto matchIterator = rule.pattern.globalMatch(QString(text).replace("-", "_").replace("#", "_"));
+
+        while (matchIterator.hasNext()) {
+            auto match = matchIterator.next();
+
+            setFormat(
+                match.capturedStart(),
+                match.capturedLength(),
+                syntaxStyle()->getFormat(rule.formatName)
+            );
+        }
+    }
+
+    for (auto&& rule : m_highlightRules) {
         auto matchIterator = rule.pattern.globalMatch(text);
 
-        while (matchIterator.hasNext())
-        {
+        while (matchIterator.hasNext()) {
             auto match = matchIterator.next();
 
             setFormat(
@@ -81,8 +93,7 @@ void LispHighlighter::highlightBlock(const QString& text)
     // Special treatment for key regex
     auto matchIterator = m_keyRegex.globalMatch(text);
 
-    while (matchIterator.hasNext())
-    {
+    while (matchIterator.hasNext()) {
         auto match = matchIterator.next();
 
         setFormat(
diff --git a/QCodeEditor/src/internal/QCodeEditor.cpp b/QCodeEditor/src/internal/QCodeEditor.cpp
index 3557b7ea4..0bfec29cc 100755
--- a/QCodeEditor/src/internal/QCodeEditor.cpp
+++ b/QCodeEditor/src/internal/QCodeEditor.cpp
@@ -42,7 +42,8 @@ QCodeEditor::QCodeEditor(QWidget* widget) :
     m_tabReplace(QString(4, ' ')),
     m_commentStr("//"),
     m_indentStartStr("{"),
-    m_indentEndStr("}")
+    m_indentEndStr("}"),
+    m_separateMinus(true)
 {
 
     initFont();
@@ -455,16 +456,23 @@ void QCodeEditor::proceedCompleterEnd(QKeyEvent *e)
 
     auto isShortcut = ((e->modifiers() & Qt::ControlModifier) && e->key() == Qt::Key_Space);
     auto isDot = charUnderCursor(-1) == ".";
+    auto isMinus = charUnderCursor(-1) == "-";
     auto isSpace = charUnderCursor(-1) == " " || charUnderCursor(-1) == "\t";
 
-    if (isSpace || (word.isEmpty() && !isDot)) {
+    if (isSpace || (word.isEmpty() && !isDot && !(!m_separateMinus && isMinus))) {
         m_completer->popup()->hide();
         return;
     }
 
     QString completionPrefix = getCompletionWordNow(0, 0);
 
-    static QString eow(R"(~!@#$%^&*()_+{}|:"<>?,/;'[]\-=)");
+    QString eow;
+    if (m_separateMinus) {
+        eow = R"(~!@#$%^&*()-+{}|:"<>?,/;'[]\=)";
+    } else {
+        eow = R"(~!@#$%^&*()+{}|:"<>?,/;'[]\=)";
+    }
+
     if (!isShortcut &&
             (isComment ||
              e->text().isEmpty() ||
@@ -1027,6 +1035,16 @@ QString QCodeEditor::getCompletionWordNow(int *linePosStart, int *linePosEnd)
     return res;
 }
 
+bool QCodeEditor::getSeparateMinus() const
+{
+    return m_separateMinus;
+}
+
+void QCodeEditor::setSeparateMinus(bool separateMinus)
+{
+    m_separateMinus = separateMinus;
+}
+
 void QCodeEditor::setIndentStrs(const QString &start, const QString &end)
 {
     m_indentStartStr = start;
diff --git a/QCodeEditor/src/internal/QLispCompleter.cpp b/QCodeEditor/src/internal/QLispCompleter.cpp
index 92ac5d896..bc861a60b 100644
--- a/QCodeEditor/src/internal/QLispCompleter.cpp
+++ b/QCodeEditor/src/internal/QLispCompleter.cpp
@@ -51,14 +51,6 @@ QLispCompleter::QLispCompleter(QObject *parent) :
         }
     };
 
-    addItem("set");
-    {
-        level++;
-        addItem("duty dty");
-        addItem("current i)");
-        level--;
-    }
-
     Q_INIT_RESOURCE(qcodeeditor_resources);
     QFile fl(":/languages/lisp.xml");
 
@@ -84,18 +76,3 @@ QLispCompleter::QLispCompleter(QObject *parent) :
     setCaseSensitivity(Qt::CaseInsensitive);
     setWrapAround(true);
 }
-
-QStringList QLispCompleter::splitPath(const QString &path) const
-{
-    return path.split("-");
-}
-
-QString QLispCompleter::pathFromIndex(const QModelIndex &index) const
-{
-    QStringList dataList;
-    for (QModelIndex i = index; i.isValid(); i = i.parent()) {
-        dataList.prepend(model()->data(i, completionRole()).toString());
-    }
-
-    return dataList.join("-");
-}
diff --git a/widgets/scripteditor.cpp b/widgets/scripteditor.cpp
index d8f348e87..f99083940 100644
--- a/widgets/scripteditor.cpp
+++ b/widgets/scripteditor.cpp
@@ -92,6 +92,7 @@ void ScriptEditor::setModeLisp()
     ui->codeEdit->setCommentStr(";");
     ui->codeEdit->setIndentStrs("(", ")");
     ui->codeEdit->setAutoParentheses(false);
+    ui->codeEdit->setSeparateMinus(false);
     mIsModeLisp = true;
 }
 

From 9e58064350c5c6b281f1ff09b86af9fa17d970af Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 24 Oct 2022 16:25:38 +0200
Subject: [PATCH 218/559] Small lisp and log tweak

---
 QCodeEditor/resources/languages/lisp.xml | 2 +-
 pages/pageloganalysis.cpp                | 3 +--
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 1d0e64833..c88328959 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -10,7 +10,6 @@
         <name>progn</name>
         <name>if</name>
         <name>match</name>
-        <name>_</name>
         <name>loopfor</name>
         <name>loopwhile</name>
         <name>looprange</name>
@@ -54,6 +53,7 @@
         <name>assoc</name>
         <name>cossa</name>
         <name>setassoc</name>
+        <name>type-of</name>
 
         <name>timeout-reset</name>
         <name>get-ppm</name>
diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index 7438e4953..dcb20a5ed 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -795,8 +795,7 @@ void PageLogAnalysis::updateDataAndPlot(double time)
     }
 
     bool skip = false;
-    if (mInd_t_day_pos >= 0 && mInd_gnss_h_acc >= 0) {
-        int postime = int(sample[mInd_t_day_pos] * 1000.0);
+    if (mInd_gnss_h_acc >= 0) {
         double h_acc = sample[mInd_gnss_h_acc];
 
         skip = true;

From 6b11c86a0caef89d807b40d85039764165bf6ac6 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 24 Oct 2022 17:25:58 +0200
Subject: [PATCH 219/559] Added log example

---
 res/Lisp/Examples/log_can.lisp | 121 +++++++++++++++++++++++++++++++++
 res_lisp.qrc                   |   1 +
 vesc_tool.pro                  |   2 +-
 3 files changed, 123 insertions(+), 1 deletion(-)
 create mode 100644 res/Lisp/Examples/log_can.lisp

diff --git a/res/Lisp/Examples/log_can.lisp b/res/Lisp/Examples/log_can.lisp
new file mode 100644
index 000000000..342e34a64
--- /dev/null
+++ b/res/Lisp/Examples/log_can.lisp
@@ -0,0 +1,121 @@
+; Can ID of VESC express
+(def esp-can-id 2)
+
+; Log rate in Hz
+(def rate-hz 20.0)
+
+; Log GNSS. Setting this to 1 will enable GNSS-logging. Note that the log won't be started
+; until a valid position is available if GNSS-logging is enabled.
+(def log-gnss 0)
+
+; Close log if voltage goes below this value
+(def vin-min 9.0)
+
+; List with log fields and values. Format:
+;
+; (key optName optUnit optPrecision value-function)
+;
+; optName, optUnit and optPrecision are optional and
+; default values will be used if they are left out.
+(def loglist '(
+        ("v_in" "Input Voltage" "V"     (get-vin))
+        ("roll"                         (ix (get-imu-rpy) 0))
+        ("pitch"                        (ix (get-imu-rpy) 1))
+        ("yaw"                          (ix (get-imu-rpy) 2))
+        ("kmh_vesc" "Speed VESC" "km/h" (* (get-speed) 3.6))
+))
+
+; The code below runs the logging and can be left as is
+
+(looprange i 0 (length loglist)
+    (let (
+            (field (ix loglist i))
+            (p (ix field -2))
+            (has-prec (eq (type-of p) type-i))
+            (prec (if has-prec p 2))
+        )
+        (match (if has-prec (- (length field) 1) (length field))
+            (2
+                (log-config-field
+                    esp-can-id ; CAN id
+                    i ; Field
+                    (ix field 0) ; Key
+                    (ix field 0) ; Name
+                    "" ; Unit
+                    prec ; Precision
+                    0 ; Is relative
+                    0 ; Is timestamp
+                )
+            )
+            
+            (3
+                (log-config-field
+                    esp-can-id ; CAN id
+                    i ; Field
+                    (ix field 0) ; Key
+                    (ix field 0) ; Name
+                    (ix field 1) ; Unit
+                    prec ; Precision
+                    0 ; Is relative
+                    0 ; Is timestamp
+                )
+            )
+            
+            (4
+                (log-config-field
+                    esp-can-id ; CAN id
+                    i ; Field
+                    (ix field 0) ; Key
+                    (ix field 1) ; Name
+                    (ix field 2) ; Unit
+                    prec ; Precision
+                    0 ; Is relative
+                    0 ; Is timestamp
+                )
+            )
+            
+            (_ (print (str-from-n i "Row %d is invalid")))
+        )
+    )
+)
+
+(log-start
+    esp-can-id ; CAN id
+    (length loglist) ; Field num
+    rate-hz ; Rate Hz
+    1 ; Append time
+    log-gnss ; Append gnss
+    log-gnss ; Append gnss time
+)
+
+; Close the log on the shutdown event
+(defun event-handler ()
+    (loopwhile t
+        (recv
+            (event-shutdown (log-stop esp-can-id))
+            (_ nil) ; Ignore other events
+)))
+
+(event-register-handler (spawn 30 event-handler))
+(event-enable 'event-shutdown)
+
+(defun voltage-monitor ()
+    (progn
+        (if (< (get-vin) vin-min)
+            (log-stop esp-can-id)
+        )
+        (sleep 0.01)
+))
+
+(spawn 30 voltage-monitor)
+
+(loopwhile t
+    (progn
+        (log-send-f32 esp-can-id 0
+            (map
+                (fn (x) (eval (ix (ix loglist x) -1)))
+                (range (length loglist))
+            )
+        )
+        (sleep (/ 1.0 rate-hz))
+))
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 6b5477e8d..477f182e6 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -33,5 +33,6 @@
         <file>res/Lisp/Examples/ssd1306_oled_cube_native.lisp</file>
         <file>res/Lisp/Examples/ws2812_native.lisp</file>
         <file>res/Lisp/Examples/plot_vesc_tool.lisp</file>
+        <file>res/Lisp/Examples/log_can.lisp</file>
     </qresource>
 </RCC>
diff --git a/vesc_tool.pro b/vesc_tool.pro
index b65d90525..62c42267b 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -10,7 +10,7 @@ VT_INTRO_VERSION = 1
 VT_CONFIG_VERSION = 2
 
 # Set to 0 for stable versions and to test version number for development versions.
-VT_IS_TEST_VERSION = 9
+VT_IS_TEST_VERSION = 10
 
 VT_ANDROID_VERSION_ARMV7 = 108
 VT_ANDROID_VERSION_ARM64 = 109

From ff9a01d360421f416e0a9f4e09c39429c6eb3b75 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 25 Oct 2022 10:27:20 +0200
Subject: [PATCH 220/559] Updated lbm syntax, added time to log download

---
 QCodeEditor/resources/languages/lisp.xml | 562 ++++++++++++-----------
 pages/pageloganalysis.cpp                |   8 +-
 2 files changed, 301 insertions(+), 269 deletions(-)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index c88328959..955d76e71 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -1,271 +1,301 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <root>
-    <section name="Keyword">
-        <name>define</name>
-        <name>defun</name>
-        <name>macro</name>
-        <name>lambda</name>
-        <name>eval</name>
-        <name>let</name>
-        <name>progn</name>
-        <name>if</name>
-        <name>match</name>
-        <name>loopfor</name>
-        <name>loopwhile</name>
-        <name>looprange</name>
-        <name>loopforeach</name>
-        <name>break</name>
-        <name>fn</name>
-        <name>def</name>
-        <name>import</name>
-        <name>atomic</name>
-        <name>undefine</name>
-    </section>
-    <section name="PrimitiveType">
-        <name>nil</name>
-        <name>list</name>
-    </section>
-    <section name="Type">
-        <name>spawn</name>
-        <name>recv</name>
-        <name>print</name>
-        <name>yield</name>
-        <name>ix</name>
-        <name>list</name>
-        <name>range</name>
-        <name>length</name>
-        <name>shl</name>
-        <name>shr</name>
-        <name>first</name>
-        <name>rest</name>
-        <name>car</name>
-        <name>cons</name>
-        <name>cdr</name>
-        <name>setcar</name>
-        <name>setcdr</name>
-        <name>setvar</name>
-        <name>setix</name>
-        <name>systime</name>
-        <name>and</name>
-        <name>or</name>
-        <name>not</name>
-        <name>eq</name>
-        <name>assoc</name>
-        <name>cossa</name>
-        <name>setassoc</name>
-        <name>type-of</name>
+<section name="Keyword">
+<name>define</name>
+<name>undefine</name>
+<name>def</name>
+<name>defun</name>
+<name>macro</name>
+<name>lambda</name>
+<name>fn</name>
+<name>read</name>
+<name>read-program</name>
+<name>eval</name>
+<name>eval-program</name>
+<name>let</name>
+<name>progn</name>
+<name>if</name>
+<name>match</name>
+<name>loopfor</name>
+<name>loopwhile</name>
+<name>looprange</name>
+<name>loopforeach</name>
+<name>break</name>
+<name>import</name>
+<name>atomic</name>
+<name>call-cc</name>
+</section>
 
-        <name>timeout-reset</name>
-        <name>get-ppm</name>
-        <name>get-ppm-age</name>
-        <name>get-encoder</name>
-        <name>set-servo</name>
-        <name>get-vin</name>
-        <name>select-motor</name>
-        <name>get-selected-motor</name>
-        <name>get-bms-val</name>
-        <name>get-adc</name>
-        <name>get-adc-decoded</name>
-        <name>secs-since</name>
-        <name>set-aux</name>
-        <name>event-register-handler</name>
-        <name>event-enable</name>
-        <name>get-imu-rpy</name>
-        <name>get-imu-quat</name>
-        <name>get-imu-acc</name>
-        <name>get-imu-gyro</name>
-        <name>get-imu-mag</name>
-        <name>get-imu-acc-derot</name>
-        <name>get-imu-gyro-derot</name>
-        <name>send-data</name>
-        <name>get-remote-state</name>
-        <name>eeprom-store-f</name>
-        <name>eeprom-read-f</name>
-        <name>eeprom-store-i</name>
-        <name>eeprom-read-i</name>
-        <name>sysinfo</name>
-        <name>import</name>
+<section name="Label">
+<name>type-list</name>
+<name>type-i</name>
+<name>type-u</name>
+<name>type-float</name>
+<name>type-i32</name>
+<name>type-u32</name>
+<name>type-i64</name>
+<name>type-u64</name>
+<name>type-double</name>
+<name>type-array</name>
+<name>type-symbol</name>
+<name>type-char</name>
+<name>type-ref</name>
+<name>type-stream</name>
+<name>nil</name>
+<name>t</name>
+<name>true</name>
+<name>false</name>
+</section>
 
-        <name>app-adc-detach</name>
-        <name>app-adc-override</name>
-        <name>app-ppm-detach</name>
-        <name>app-ppm-override</name>
-        <name>set-remote-state</name>
-        <name>app-disable-output</name>
-
-        <name>set-current</name>
-        <name>set-current-rel</name>
-        <name>set-duty</name>
-        <name>set-brake</name>
-        <name>set-brake-rel</name>
-        <name>set-handbrake</name>
-        <name>set-handbrake-rel</name>
-        <name>set-rpm</name>
-        <name>set-pos</name>
-        <name>foc-openloop</name>
-        <name>foc-beep</name>
-
-        <name>get-current</name>
-        <name>get-current-dir</name>
-        <name>get-current-in</name>
-        <name>get-id</name>
-        <name>get-iq</name>
-        <name>get-vd</name>
-        <name>get-vq</name>
-        <name>get-duty</name>
-        <name>get-rpm</name>
-        <name>get-temp-fet</name>
-        <name>get-temp-mot</name>
-        <name>get-speed</name>
-        <name>get-dist</name>
-        <name>get-dist-abs</name>
-        <name>get-batt</name>
-        <name>get-fault</name>
-
-        <name>canset-current</name>
-        <name>canset-current-rel</name>
-        <name>canset-duty</name>
-        <name>canset-brake</name>
-        <name>canset-brake-rel</name>
-        <name>canset-rpm</name>
-        <name>canset-pos</name>
-
-        <name>canget-current</name>
-        <name>canget-current-dir</name>
-        <name>canget-current-in</name>
-        <name>canget-duty</name>
-        <name>canget-rpm</name>
-        <name>canget-temp-fet</name>
-        <name>canget-temp-motor</name>
-        <name>canget-speed</name>
-        <name>canget-dist</name>
-        <name>canget-ppm</name>
-        <name>canget-adc</name>
-
-        <name>can-list-devs</name>
-        <name>can-scan</name>
-        <name>can-send-sid</name>
-        <name>can-send-eid</name>
-
-        <name>sin</name>
-        <name>cos</name>
-        <name>tan</name>
-        <name>asin</name>
-        <name>acos</name>
-        <name>atan</name>
-        <name>atan2</name>
-        <name>pow</name>
-        <name>sqrt</name>
-        <name>log</name>
-        <name>log10</name>
-        <name>deg2rad</name>
-        <name>rad2deg</name>
-        <name>vec3-rot</name>
-        <name>throttle-curve</name>
-
-        <name>bits-enc-int</name>
-        <name>bits-dec-int</name>
-
-        <name>raw-adc-current</name>
-        <name>raw-adc-voltage</name>
-        <name>raw-mod-alpha</name>
-        <name>raw-mod-beta</name>
-        <name>raw-mod-alpha-measured</name>
-        <name>raw-mod-beta-measured</name>
-        <name>raw-hall</name>
-
-        <name>uart-start</name>
-        <name>uart-write</name>
-        <name>uart-read</name>
-
-        <name>i2c-start</name>
-        <name>i2c-tx-rx</name>
-        <name>i2c-restore</name>
-
-        <name>gpio-configure</name>
-        <name>gpio-write</name>
-        <name>gpio-read</name>
-
-        <name>str-from-n</name>
-        <name>str-merge</name>
-        <name>str-to-i</name>
-        <name>str-to-f</name>
-        <name>str-part</name>
-        <name>str-split</name>
-        <name>str-replace</name>
-        <name>str-to-lower</name>
-        <name>str-to-upper</name>
-        <name>str-cmp</name>
-
-        <name>conf-set</name>
-        <name>conf-get</name>
-        <name>conf-store</name>
-        <name>conf-detect-foc</name>
-        <name>conf-set-pid-offset</name>
-        <name>conf-measure-res</name>
-
-        <name>free</name>
-        <name>bufset-i8</name>
-        <name>bufset-i16</name>
-        <name>bufset-i24</name>
-        <name>bufset-i32</name>
-        <name>bufset-u8</name>
-        <name>bufset-u16</name>
-        <name>bufset-u24</name>
-        <name>bufset-u32</name>
-        <name>bufset-f32</name>
-        <name>bufget-i8</name>
-        <name>bufget-i16</name>
-        <name>bufget-i32</name>
-        <name>bufget-u8</name>
-        <name>bufget-u16</name>
-        <name>bufget-u24</name>
-        <name>bufget-u32</name>
-        <name>bufget-f32</name>
-        <name>buflen</name>
-        <name>bufclear</name>
-        <name>bufcpy</name>
-        <name>bufset-bit</name>
-
-        <name>load-native-lib</name>
-        <name>unload-native-lib</name>
-
-        <name>uavcan-last-rawcmd</name>
-        <name>uavcan-last-rpmcmd</name>
-
-        <name>lbm-set-quota</name>
-
-        <name>plot-init</name>
-        <name>plot-add-graph</name>
-        <name>plot-set-graph</name>
-        <name>plot-send-points</name>
-
-        <name>ioboard-get-adc</name>
-        <name>ioboard-get-digital</name>
-        <name>ioboard-set-digital</name>
-        <name>ioboard-set-pwm</name>
-
-        <name>log-config-field</name>
-        <name>log-start</name>
-        <name>log-stop</name>
-        <name>log-send-f32</name>
-
-        <name>uart-read-bytes</name>
-        <name>uart-read-until</name>
-        <name>map</name>
-        <name>foldl</name>
-        <name>foldr</name>
-        <name>reverse</name>
-        <name>apply</name>
-        <name>zipwith</name>
-        <name>sleep</name>
-        <name>filter</name>
-        <name>str-len</name>
-        <name>sort</name>
-        <name>str-cmp-asc</name>
-        <name>str-cmp-dsc</name>
-        <name>second</name>
-        <name>third</name>
-        <name>abs</name>
-    </section>
+<section name="Type">
+<name>to-byte</name>
+<name>to-i</name>
+<name>to-u</name>
+<name>to-i32</name>
+<name>to-u32</name>
+<name>to-float</name>
+<name>to-i64</name>
+<name>to-u64</name>
+<name>to-double</name>
+<name>spawn</name>
+<name>spawn-trap</name>
+<name>wait</name>
+<name>exit-ok</name>
+<name>exit-error</name>
+<name>recv</name>
+<name>send</name>
+<name>set-mailbox-size</name>
+<name>yield</name>
+<name>ix</name>
+<name>list</name>
+<name>append</name>
+<name>mod</name>
+<name>print</name>
+<name>range</name>
+<name>length</name>
+<name>shl</name>
+<name>shr</name>
+<name>bitwise-and</name>
+<name>bitwise-or</name>
+<name>bitwise-xor</name>
+<name>bitwise-not</name>
+<name>sym2str</name>
+<name>str2sym</name>
+<name>sym2u</name>
+<name>u2sym</name>
+<name>first</name>
+<name>rest</name>
+<name>car</name>
+<name>cons</name>
+<name>cdr</name>
+<name>setcar</name>
+<name>setcdr</name>
+<name>setvar</name>
+<name>setix</name>
+<name>systime</name>
+<name>and</name>
+<name>or</name>
+<name>not</name>
+<name>eq</name>
+<name>acons</name>
+<name>assoc</name>
+<name>cossa</name>
+<name>setassoc</name>
+<name>array-create</name>
+<name>array-size</name>
+<name>array-read</name>
+<name>array-write</name>
+<name>array-clear</name>
+<name>type-of</name>
+<name>timeout-reset</name>
+<name>get-ppm</name>
+<name>get-ppm-age</name>
+<name>get-encoder</name>
+<name>set-servo</name>
+<name>get-vin</name>
+<name>select-motor</name>
+<name>get-selected-motor</name>
+<name>get-bms-val</name>
+<name>get-adc</name>
+<name>get-adc-decoded</name>
+<name>secs-since</name>
+<name>set-aux</name>
+<name>event-register-handler</name>
+<name>event-enable</name>
+<name>get-imu-rpy</name>
+<name>get-imu-quat</name>
+<name>get-imu-acc</name>
+<name>get-imu-gyro</name>
+<name>get-imu-mag</name>
+<name>get-imu-acc-derot</name>
+<name>get-imu-gyro-derot</name>
+<name>send-data</name>
+<name>get-remote-state</name>
+<name>eeprom-store-f</name>
+<name>eeprom-read-f</name>
+<name>eeprom-store-i</name>
+<name>eeprom-read-i</name>
+<name>sysinfo</name>
+<name>import</name>
+<name>app-adc-detach</name>
+<name>app-adc-override</name>
+<name>app-ppm-detach</name>
+<name>app-ppm-override</name>
+<name>set-remote-state</name>
+<name>app-disable-output</name>
+<name>set-current</name>
+<name>set-current-rel</name>
+<name>set-duty</name>
+<name>set-brake</name>
+<name>set-brake-rel</name>
+<name>set-handbrake</name>
+<name>set-handbrake-rel</name>
+<name>set-rpm</name>
+<name>set-pos</name>
+<name>foc-openloop</name>
+<name>foc-beep</name>
+<name>get-current</name>
+<name>get-current-dir</name>
+<name>get-current-in</name>
+<name>get-id</name>
+<name>get-iq</name>
+<name>get-vd</name>
+<name>get-vq</name>
+<name>get-duty</name>
+<name>get-rpm</name>
+<name>get-temp-fet</name>
+<name>get-temp-mot</name>
+<name>get-speed</name>
+<name>get-dist</name>
+<name>get-dist-abs</name>
+<name>get-batt</name>
+<name>get-fault</name>
+<name>canset-current</name>
+<name>canset-current-rel</name>
+<name>canset-duty</name>
+<name>canset-brake</name>
+<name>canset-brake-rel</name>
+<name>canset-rpm</name>
+<name>canset-pos</name>
+<name>canget-current</name>
+<name>canget-current-dir</name>
+<name>canget-current-in</name>
+<name>canget-duty</name>
+<name>canget-rpm</name>
+<name>canget-temp-fet</name>
+<name>canget-temp-motor</name>
+<name>canget-speed</name>
+<name>canget-dist</name>
+<name>canget-ppm</name>
+<name>canget-adc</name>
+<name>can-list-devs</name>
+<name>can-scan</name>
+<name>can-send-sid</name>
+<name>can-send-eid</name>
+<name>sin</name>
+<name>cos</name>
+<name>tan</name>
+<name>asin</name>
+<name>acos</name>
+<name>atan</name>
+<name>atan2</name>
+<name>pow</name>
+<name>sqrt</name>
+<name>log</name>
+<name>log10</name>
+<name>deg2rad</name>
+<name>rad2deg</name>
+<name>vec3-rot</name>
+<name>throttle-curve</name>
+<name>bits-enc-int</name>
+<name>bits-dec-int</name>
+<name>raw-adc-current</name>
+<name>raw-adc-voltage</name>
+<name>raw-mod-alpha</name>
+<name>raw-mod-beta</name>
+<name>raw-mod-alpha-measured</name>
+<name>raw-mod-beta-measured</name>
+<name>raw-hall</name>
+<name>uart-start</name>
+<name>uart-write</name>
+<name>uart-read</name>
+<name>i2c-start</name>
+<name>i2c-tx-rx</name>
+<name>i2c-restore</name>
+<name>gpio-configure</name>
+<name>gpio-write</name>
+<name>gpio-read</name>
+<name>str-from-n</name>
+<name>str-merge</name>
+<name>str-to-i</name>
+<name>str-to-f</name>
+<name>str-part</name>
+<name>str-split</name>
+<name>str-replace</name>
+<name>str-to-lower</name>
+<name>str-to-upper</name>
+<name>str-cmp</name>
+<name>conf-set</name>
+<name>conf-get</name>
+<name>conf-store</name>
+<name>conf-detect-foc</name>
+<name>conf-set-pid-offset</name>
+<name>conf-measure-res</name>
+<name>free</name>
+<name>bufset-i8</name>
+<name>bufset-i16</name>
+<name>bufset-i24</name>
+<name>bufset-i32</name>
+<name>bufset-u8</name>
+<name>bufset-u16</name>
+<name>bufset-u24</name>
+<name>bufset-u32</name>
+<name>bufset-f32</name>
+<name>bufget-i8</name>
+<name>bufget-i16</name>
+<name>bufget-i32</name>
+<name>bufget-u8</name>
+<name>bufget-u16</name>
+<name>bufget-u24</name>
+<name>bufget-u32</name>
+<name>bufget-f32</name>
+<name>buflen</name>
+<name>bufclear</name>
+<name>bufcpy</name>
+<name>bufset-bit</name>
+<name>load-native-lib</name>
+<name>unload-native-lib</name>
+<name>uavcan-last-rawcmd</name>
+<name>uavcan-last-rpmcmd</name>
+<name>lbm-set-quota</name>
+<name>plot-init</name>
+<name>plot-add-graph</name>
+<name>plot-set-graph</name>
+<name>plot-send-points</name>
+<name>ioboard-get-adc</name>
+<name>ioboard-get-digital</name>
+<name>ioboard-set-digital</name>
+<name>ioboard-set-pwm</name>
+<name>log-config-field</name>
+<name>log-start</name>
+<name>log-stop</name>
+<name>log-send-f32</name>
+<name>uart-read-bytes</name>
+<name>uart-read-until</name>
+<name>map</name>
+<name>foldl</name>
+<name>foldr</name>
+<name>reverse</name>
+<name>apply</name>
+<name>zipwith</name>
+<name>sleep</name>
+<name>filter</name>
+<name>str-len</name>
+<name>sort</name>
+<name>str-cmp-asc</name>
+<name>str-cmp-dsc</name>
+<name>second</name>
+<name>third</name>
+<name>abs</name>
+</section>
 </root>
diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index dcb20a5ed..f64f39293 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -232,10 +232,12 @@ void PageLogAnalysis::setVesc(VescInterface *vesc)
     if (mVesc) {
         connect(mVesc->commands(), &Commands::fileProgress, [this]
                 (int32_t prog, int32_t tot, double percentage, double bytesPerSec) {
-            (void)prog;
-            (void)tot;
+            QTime t(0, 0, 0, 0);;
+            t = t.addSecs((tot - prog) / bytesPerSec);
             ui->vescDisplay->setValue(percentage);
-            ui->vescDisplay->setText(tr("Speed: %1 KB/s").arg(bytesPerSec / 1024, 0, 'f', 2));
+            ui->vescDisplay->setText(tr("%1 KB/s, %2").
+                                     arg(bytesPerSec / 1024, 0, 'f', 2).
+                                     arg(t.toString("hh:mm:ss")));
         });
     }
 }

From 248b5964fd4443e49d0bd8da1dfef2c1121527ea Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 25 Oct 2022 11:47:24 +0200
Subject: [PATCH 221/559] lisp updates

---
 QCodeEditor/resources/languages/lisp.xml | 28 ++++++++++++++++++++++++
 res/Lisp/Examples/log_can.lisp           | 17 +++++++-------
 2 files changed, 36 insertions(+), 9 deletions(-)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 955d76e71..3613de0c1 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -47,6 +47,34 @@
 <name>false</name>
 </section>
 
+<section name="Global">
+<name>little-endian</name>
+<name>big-endian</name>
+<name>pin-mode-out</name>
+<name>pin-mode-od</name>
+<name>pin-mode-od-pu</name>
+<name>pin-mode-od-pd</name>
+<name>pin-mode-in</name>
+<name>pin-mode-in-pu</name>
+<name>pin-mode-in-pd</name>
+<name>pin-mode-analog</name>
+<name>pin-rx</name>
+<name>pin-tx</name>
+<name>pin-swdio</name>
+<name>pin-swclk</name>
+<name>pin-hall1</name>
+<name>pin-hall2</name>
+<name>pin-hall3</name>
+<name>pin-adc1</name>
+<name>pin-adc2</name>
+<name>pin-ppm</name>
+<name>rate-100k</name>
+<name>rate-200k</name>
+<name>rate-400k</name>
+<name>rate-700k</name>
+<name>half-duplex</name>
+</section>
+
 <section name="Type">
 <name>to-byte</name>
 <name>to-i</name>
diff --git a/res/Lisp/Examples/log_can.lisp b/res/Lisp/Examples/log_can.lisp
index 342e34a64..5e0218e45 100644
--- a/res/Lisp/Examples/log_can.lisp
+++ b/res/Lisp/Examples/log_can.lisp
@@ -6,7 +6,7 @@
 
 ; Log GNSS. Setting this to 1 will enable GNSS-logging. Note that the log won't be started
 ; until a valid position is available if GNSS-logging is enabled.
-(def log-gnss 0)
+(def log-gnss false)
 
 ; Close log if voltage goes below this value
 (def vin-min 9.0)
@@ -43,8 +43,8 @@
                     (ix field 0) ; Name
                     "" ; Unit
                     prec ; Precision
-                    0 ; Is relative
-                    0 ; Is timestamp
+                    false ; Is relative
+                    false ; Is timestamp
                 )
             )
             
@@ -56,8 +56,8 @@
                     (ix field 0) ; Name
                     (ix field 1) ; Unit
                     prec ; Precision
-                    0 ; Is relative
-                    0 ; Is timestamp
+                    false ; Is relative
+                    false ; Is timestamp
                 )
             )
             
@@ -69,8 +69,8 @@
                     (ix field 1) ; Name
                     (ix field 2) ; Unit
                     prec ; Precision
-                    0 ; Is relative
-                    0 ; Is timestamp
+                    false ; Is relative
+                    false ; Is timestamp
                 )
             )
             
@@ -83,9 +83,8 @@
     esp-can-id ; CAN id
     (length loglist) ; Field num
     rate-hz ; Rate Hz
-    1 ; Append time
+    true ; Append time
     log-gnss ; Append gnss
-    log-gnss ; Append gnss time
 )
 
 ; Close the log on the shutdown event

From a8e4a47101e62414ec85da69bffdb0c05d1c6eaa Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 25 Oct 2022 13:15:00 +0200
Subject: [PATCH 222/559] lisp syntax and completer improvements

---
 QCodeEditor/resources/languages/lisp.xml | 4 ++++
 QCodeEditor/src/internal/QCodeEditor.cpp | 2 +-
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 3613de0c1..a12b8e854 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -73,6 +73,10 @@
 <name>rate-400k</name>
 <name>rate-700k</name>
 <name>half-duplex</name>
+<name>event-can-sid</name>
+<name>event-can-eid</name>
+<name>event-data-rx</name>
+<name>event-shutdown</name>
 </section>
 
 <section name="Type">
diff --git a/QCodeEditor/src/internal/QCodeEditor.cpp b/QCodeEditor/src/internal/QCodeEditor.cpp
index 0bfec29cc..e320c44fb 100755
--- a/QCodeEditor/src/internal/QCodeEditor.cpp
+++ b/QCodeEditor/src/internal/QCodeEditor.cpp
@@ -996,7 +996,7 @@ int QCodeEditor::getIndentationSpaces()
 
 QString QCodeEditor::getCompletionWordNow(int *linePosStart, int *linePosEnd)
 {
-    QString lineStartChars = " \t[{\"!";
+    QString lineStartChars = " \t[{\"!'";
     QString lineEndChars = " \t)]}\"!";
     auto posStart = textCursor().positionInBlock() - 1;
     auto posEnd = posStart;

From 6b068b125c685271458c25051178a7f470aeaf90 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 25 Oct 2022 14:54:48 +0200
Subject: [PATCH 223/559] Updated log example

---
 res/Lisp/Examples/log_can.lisp | 88 ++++++++++++++--------------------
 1 file changed, 35 insertions(+), 53 deletions(-)

diff --git a/res/Lisp/Examples/log_can.lisp b/res/Lisp/Examples/log_can.lisp
index 5e0218e45..1f66ea19f 100644
--- a/res/Lisp/Examples/log_can.lisp
+++ b/res/Lisp/Examples/log_can.lisp
@@ -13,71 +13,53 @@
 
 ; List with log fields and values. Format:
 ;
-; (key optName optUnit optPrecision value-function)
+; (optKey optName optUnit optPrecision optIsRel optIsTime value-function)
 ;
-; optName, optUnit and optPrecision are optional and
+; All entries except value-function are optional and
 ; default values will be used if they are left out.
 (def loglist '(
-        ("v_in" "Input Voltage" "V"     (get-vin))
-        ("roll"                         (ix (get-imu-rpy) 0))
+        ("v_in" "V" "Input Voltage"   2  (get-vin))
+        ("roll"                       4 (ix (get-imu-rpy) 0))
         ("pitch"                        (ix (get-imu-rpy) 1))
         ("yaw"                          (ix (get-imu-rpy) 2))
-        ("kmh_vesc" "Speed VESC" "km/h" (* (get-speed) 3.6))
+        ("kmh_vesc" "km/h" "Speed VESC" (* (get-speed) 3.6))
+        ((+ 15 4))
+        ((+ 2 1))
 ))
 
 ; The code below runs the logging and can be left as is
 
-(looprange i 0 (length loglist)
+(looprange row 0 (length loglist)
     (let (
-            (field (ix loglist i))
-            (p (ix field -2))
-            (has-prec (eq (type-of p) type-i))
-            (prec (if has-prec p 2))
+            (field (ix loglist row))
+            (get-field
+                (fn (type default)
+                    (let ((f (first field)))
+                        (if (eq (type-of f) type)
+                            (progn
+                                (setvar 'field (rest field))
+                                f
+                            )
+                            default
+            ))))
+            (key       (get-field type-array (str-from-n row "Field %d")))
+            (unit      (get-field type-array ""))
+            (name      (get-field type-array key))
+            (precision (get-field type-i 2))
+            (is-rel    (get-field type-symbol false))
+            (is-time   (get-field type-symbol false))
         )
-        (match (if has-prec (- (length field) 1) (length field))
-            (2
-                (log-config-field
-                    esp-can-id ; CAN id
-                    i ; Field
-                    (ix field 0) ; Key
-                    (ix field 0) ; Name
-                    "" ; Unit
-                    prec ; Precision
-                    false ; Is relative
-                    false ; Is timestamp
-                )
-            )
-            
-            (3
-                (log-config-field
-                    esp-can-id ; CAN id
-                    i ; Field
-                    (ix field 0) ; Key
-                    (ix field 0) ; Name
-                    (ix field 1) ; Unit
-                    prec ; Precision
-                    false ; Is relative
-                    false ; Is timestamp
-                )
-            )
-            
-            (4
-                (log-config-field
-                    esp-can-id ; CAN id
-                    i ; Field
-                    (ix field 0) ; Key
-                    (ix field 1) ; Name
-                    (ix field 2) ; Unit
-                    prec ; Precision
-                    false ; Is relative
-                    false ; Is timestamp
-                )
-            )
-            
-            (_ (print (str-from-n i "Row %d is invalid")))
+        (log-config-field
+            esp-can-id ; CAN id
+            row ; Field
+            key ; Key
+            name ; Name
+            unit ; Unit
+            precision ; Precision
+            is-rel ; Is relative
+            is-time ; Is timestamp
         )
-    )
-)
+))
 
 (log-start
     esp-can-id ; CAN id

From 69d34f59ba8cd38873be0e3ee601325e061dd1c4 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 25 Oct 2022 14:55:53 +0200
Subject: [PATCH 224/559] Updated log example

---
 res/Lisp/Examples/log_can.lisp | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/res/Lisp/Examples/log_can.lisp b/res/Lisp/Examples/log_can.lisp
index 1f66ea19f..605fef1d1 100644
--- a/res/Lisp/Examples/log_can.lisp
+++ b/res/Lisp/Examples/log_can.lisp
@@ -18,13 +18,11 @@
 ; All entries except value-function are optional and
 ; default values will be used if they are left out.
 (def loglist '(
-        ("v_in" "V" "Input Voltage"   2  (get-vin))
-        ("roll"                       4 (ix (get-imu-rpy) 0))
+        ("v_in" "V" "Input Voltage"     (get-vin))
+        ("roll"                         (ix (get-imu-rpy) 0))
         ("pitch"                        (ix (get-imu-rpy) 1))
         ("yaw"                          (ix (get-imu-rpy) 2))
         ("kmh_vesc" "km/h" "Speed VESC" (* (get-speed) 3.6))
-        ((+ 15 4))
-        ((+ 2 1))
 ))
 
 ; The code below runs the logging and can be left as is

From 79c9ec269395c522a861927e76d28d31ebdc0aa9 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 28 Oct 2022 11:00:51 +0200
Subject: [PATCH 225/559] Added experiment plot csv export

---
 pages/pagertdata.cpp | 46 ++++++++++++++++++++++++++++++++++++++++++++
 pages/pagertdata.h   |  1 +
 pages/pagertdata.ui  |  7 +++++++
 3 files changed, 54 insertions(+)

diff --git a/pages/pagertdata.cpp b/pages/pagertdata.cpp
index ca3c10252..57bf30f48 100644
--- a/pages/pagertdata.cpp
+++ b/pages/pagertdata.cpp
@@ -809,3 +809,49 @@ void PageRtData::on_logRtButton_toggled(bool checked)
         mVesc->closeRtLogFile();
     }
 }
+
+void PageRtData::on_experimentSaveCsvButton_clicked()
+{
+    QString filename = QFileDialog::getSaveFileName(this,
+                                                    tr("Save Plot"), "",
+                                                    tr("Csv files (*.csv)"));
+
+    if (filename.isEmpty()) {
+        return;
+    }
+
+    if (!filename.toLower().endsWith(".csv")) {
+        filename.append(".csv");
+    }
+
+    QFile file(filename);
+    if (!file.open(QIODevice::WriteOnly)) {
+        QMessageBox::critical(this, "Save Plot",
+                              "Could not open\n" + filename + "\nfor writing");
+        return;
+    }
+
+    QTextStream os(&file);
+
+    int maxLen = 0;
+    for (EXPERIMENT_PLOT p: mExperimentPlots) {
+        os << p.label << " x;" << p.label << " y;";
+        if (p.xData.length() > maxLen) {
+            maxLen = p.xData.length();
+        }
+    }
+    os << "\n";
+
+    for (int i = 0;i < maxLen;i++) {
+        for (EXPERIMENT_PLOT p: mExperimentPlots) {
+            if (p.xData.length() > i) {
+                os << p.xData.at(i) << ";" << p.yData.at(i) << ";";
+            } else {
+                os << ";;";
+            }
+        }
+        os << "\n";
+    }
+
+    file.close();
+}
diff --git a/pages/pagertdata.h b/pages/pagertdata.h
index 7f8289434..820f1d8a0 100644
--- a/pages/pagertdata.h
+++ b/pages/pagertdata.h
@@ -68,6 +68,7 @@ private slots:
     void on_experimentSavePdfButton_clicked();
     void on_experimentClearDataButton_clicked();
     void on_logRtButton_toggled(bool checked);
+    void on_experimentSaveCsvButton_clicked();
 
 private:
     Ui::PageRtData *ui;
diff --git a/pages/pagertdata.ui b/pages/pagertdata.ui
index 93bc5c197..67d2b6104 100644
--- a/pages/pagertdata.ui
+++ b/pages/pagertdata.ui
@@ -618,6 +618,13 @@
              </property>
             </widget>
            </item>
+           <item>
+            <widget class="QPushButton" name="experimentSaveCsvButton">
+             <property name="text">
+              <string>CSV</string>
+             </property>
+            </widget>
+           </item>
            <item>
             <widget class="QPushButton" name="experimentSavePngButton">
              <property name="text">

From af7c1f84e0690d42eec8407273e2e88abad13f33 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 30 Oct 2022 11:19:16 +0100
Subject: [PATCH 226/559] Added package store in mobile version

---
 codeloader.cpp                        |  78 +++++++++
 codeloader.h                          |  28 +--
 datatypes.h                           |  33 ++++
 main.cpp                              |   3 +
 mainwindow.cpp                        |   2 +-
 mobile/Packages.qml                   | 243 ++++++++++++++++++++++++++
 mobile/main.qml                       |  16 +-
 mobile/qml.qrc                        |   1 +
 pages/pagevescpackage.cpp             | 121 ++++---------
 pages/pagevescpackage.h               |   4 +-
 res.qrc                               |   2 +
 res/+theme_light/icons/Package-96.png | Bin 0 -> 880 bytes
 res/icons/Package-96.png              | Bin 0 -> 1031 bytes
 13 files changed, 417 insertions(+), 114 deletions(-)
 create mode 100644 mobile/Packages.qml
 create mode 100644 res/+theme_light/icons/Package-96.png
 create mode 100644 res/icons/Package-96.png

diff --git a/codeloader.cpp b/codeloader.cpp
index 6e60ffe61..cbe1ab97d 100644
--- a/codeloader.cpp
+++ b/codeloader.cpp
@@ -22,6 +22,11 @@
 #include <QEventLoop>
 #include <QFileDialog>
 #include <QMessageBox>
+#include <QNetworkAccessManager>
+#include <QUrl>
+#include <QNetworkRequest>
+#include <QNetworkReply>
+#include <QEventLoop>
 
 CodeLoader::CodeLoader(QObject *parent) : QObject(parent)
 {
@@ -654,6 +659,8 @@ VescPackage CodeLoader::unpackVescPackage(QByteArray data)
         return pkg;
     }
 
+    pkg.compressedData = data;
+
     while (!vb.isEmpty()) {
         QString name = vb.vbPopFrontString();
 
@@ -667,6 +674,7 @@ VescPackage CodeLoader::unpackVescPackage(QByteArray data)
             auto dataRaw = vb.left(len);
             vb.remove(0, len);
             pkg.name = QString::fromUtf8(dataRaw);
+            pkg.loadOk = true;
         } else if (name == "description") {
             auto len = vb.vbPopFrontInt32();
             auto dataRaw = vb.left(len);
@@ -726,3 +734,73 @@ bool CodeLoader::installVescPackage(QByteArray data)
 {
     return installVescPackage(unpackVescPackage(data));
 }
+
+
+QVariantList CodeLoader::reloadPackageArchive()
+{
+    QVariantList res;
+    QString path = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation) + "/vesc_pkg_all.rcc";
+    QFile file(path);
+    if (file.exists()) {
+        QResource::unregisterResource(path);
+        QResource::registerResource(path);
+
+        QString pkgDir = "://vesc_packages";
+
+        QDirIterator it(pkgDir);
+        while (it.hasNext()) {
+            QFileInfo fi(it.next());
+
+            QDirIterator it2(fi.absoluteFilePath());
+            while (it2.hasNext()) {
+                QFileInfo fi2(it2.next());
+
+                if (fi2.absoluteFilePath().toLower().endsWith(".vescpkg")) {
+                    QString name = fi2.fileName();
+                    QFile f(fi2.absoluteFilePath());
+                    if (f.open(QIODevice::ReadOnly)) {
+                        auto pkg = unpackVescPackage(f.readAll());
+                        name = pkg.name;
+                        pkg.isLibrary = fi2.absoluteFilePath().startsWith("://vesc_packages/lib_");
+                        res.append(QVariant::fromValue(pkg));
+                    }
+                }
+            }
+        }
+    }
+
+    return res;
+}
+
+bool CodeLoader::downloadPackageArchive()
+{
+    bool res = false;
+
+    QUrl url("http://home.vedder.se/vesc_pkg/vesc_pkg_all.rcc");
+    QNetworkAccessManager manager;
+    QNetworkRequest request(url);
+    QNetworkReply *reply = manager.get(request);
+
+    connect(reply, &QNetworkReply::downloadProgress, [this](qint64 bytesReceived, qint64 bytesTotal) {
+        emit downloadProgress(bytesReceived, bytesTotal);
+    });
+
+    QEventLoop loop;
+    connect(reply, SIGNAL(finished()), &loop, SLOT(quit()));
+    loop.exec();
+
+    if (reply->error() == QNetworkReply::NoError) {
+        QString path = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation) + "/vesc_pkg_all.rcc";
+        QFile file(path);
+        if (file.open(QIODevice::WriteOnly)) {
+            file.write(reply->readAll());
+            file.close();
+            res = true;
+        }
+    }
+
+    reply->abort();
+    reply->deleteLater();
+
+    return res;
+}
diff --git a/codeloader.h b/codeloader.h
index 94bd89f6b..b0a9de28e 100644
--- a/codeloader.h
+++ b/codeloader.h
@@ -23,21 +23,7 @@
 #include <QObject>
 #include <QDir>
 #include "vescinterface.h"
-
-struct VescPackage {
-
-public:
-    VescPackage () {
-        name = "VESC Package Name";
-        qmlIsFullscreen = false;
-    }
-
-    QString name;
-    QString description;
-    QByteArray lispData;
-    QString qmlFile;
-    bool qmlIsFullscreen;
-};
+#include "datatypes.h"
 
 class CodeLoader : public QObject
 {
@@ -46,9 +32,9 @@ class CodeLoader : public QObject
     explicit CodeLoader(QObject *parent = nullptr);
 
     VescInterface *vesc() const;
-    void setVesc(VescInterface *vesc);
+    Q_INVOKABLE void setVesc(VescInterface *vesc);
 
-    bool lispErase();
+    Q_INVOKABLE bool lispErase();
     QByteArray lispPackImports(QString codeStr, QString editorPath = QDir::currentPath());
     QPair<QString, QList<QPair<QString, QByteArray> > > lispUnpackImports(QByteArray data);
     bool lispUpload(VByteArray vb);
@@ -56,15 +42,19 @@ class CodeLoader : public QObject
     bool lispStream(VByteArray vb, qint8 mode);
     QString lispRead(QWidget *parent = nullptr);
 
-    bool qmlErase();
+    Q_INVOKABLE bool qmlErase();
     bool qmlUpload(QString script, bool isFullscreen);
 
     QByteArray packVescPackage(VescPackage pkg);
     VescPackage unpackVescPackage(QByteArray data);
     bool installVescPackage(VescPackage pkg);
-    bool installVescPackage(QByteArray data);
+    Q_INVOKABLE bool installVescPackage(QByteArray data);
+
+    Q_INVOKABLE QVariantList reloadPackageArchive();
+    Q_INVOKABLE bool downloadPackageArchive();
 
 signals:
+    void downloadProgress(qint64 bytesReceived, qint64 bytesTotal);
 
 private:
     VescInterface *mVesc;
diff --git a/datatypes.h b/datatypes.h
index bed704999..02680313b 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -1232,4 +1232,37 @@ struct FILE_LIST_ENTRY {
 
 Q_DECLARE_METATYPE(FILE_LIST_ENTRY)
 
+struct VescPackage {
+    Q_GADGET
+
+public:
+    Q_PROPERTY(QString name MEMBER name)
+    Q_PROPERTY(QString description MEMBER description)
+    Q_PROPERTY(QByteArray lispData MEMBER lispData)
+    Q_PROPERTY(QString qmlFile MEMBER qmlFile)
+    Q_PROPERTY(bool qmlIsFullscreen MEMBER qmlIsFullscreen)
+    Q_PROPERTY(bool isLibrary MEMBER isLibrary)
+    Q_PROPERTY(bool loadOk MEMBER loadOk)
+    Q_PROPERTY(QByteArray compressedData MEMBER compressedData)
+
+    VescPackage () {
+        name = "VESC Package Name";
+        qmlIsFullscreen = false;
+        isLibrary = false;
+        loadOk = false;
+    }
+
+    QByteArray compressedData;
+    QString name;
+    QString description;
+    QByteArray lispData;
+    QString qmlFile;
+    bool qmlIsFullscreen;
+    bool isLibrary;
+    bool loadOk;
+
+};
+
+Q_DECLARE_METATYPE(VescPackage)
+
 #endif // DATATYPES_H
diff --git a/main.cpp b/main.cpp
index d6c813237..bebc5603f 100755
--- a/main.cpp
+++ b/main.cpp
@@ -25,6 +25,7 @@
 #include "mobile/logreader.h"
 #include "tcpserversimple.h"
 #include "pages/pagemotorcomparison.h"
+#include "codeloader.h"
 
 #include <QApplication>
 #include <QStyleFactory>
@@ -191,6 +192,7 @@ int main(int argc, char *argv[])
     qmlRegisterType<LogWriter>("Vedder.vesc.logwriter", 1, 0, "LogWriter");
     qmlRegisterType<LogReader>("Vedder.vesc.logreader", 1, 0, "LogReader");
     qmlRegisterType<TcpHub>("Vedder.vesc.tcphub", 1, 0, "TcpHub");
+    qmlRegisterType<CodeLoader>("Vedder.vesc.codeloader", 1, 0, "CodeLoader");
 
     qRegisterMetaType<MCCONF_TEMP>();
     qRegisterMetaType<MC_VALUES>();
@@ -201,6 +203,7 @@ int main(int argc, char *argv[])
     qRegisterMetaType<MotorData>();
     qRegisterMetaType<ENCODER_DETECT_RES>();
     qRegisterMetaType<FILE_LIST_ENTRY>();
+    qRegisterMetaType<VescPackage>();
 
 #ifdef USE_MOBILE
 #ifndef DEBUG_BUILD
diff --git a/mainwindow.cpp b/mainwindow.cpp
index befa0649e..769fcc9d6 100755
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -1303,7 +1303,7 @@ void MainWindow::reloadPages()
     mPagePackage = new PageVescPackage(this);
     mPagePackage->setVesc(mVesc);
     ui->pageWidget->addWidget(mPagePackage);
-    addPageItem(tr("VESC Packages"),  theme + "icons/v_icon-96.png", "", true);
+    addPageItem(tr("VESC Packages"),  theme + "icons/Package-96.png", "", true);
 
     mPageMotorSettings = new PageMotorSettings(this);
     mPageMotorSettings->setVesc(mVesc);
diff --git a/mobile/Packages.qml b/mobile/Packages.qml
new file mode 100644
index 000000000..17aa7e680
--- /dev/null
+++ b/mobile/Packages.qml
@@ -0,0 +1,243 @@
+/*
+    Copyright 2022 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+import QtQuick 2.12
+import QtQuick.Controls 2.12
+import QtQuick.Layouts 1.3
+
+import Vedder.vesc.vescinterface 1.0
+import Vedder.vesc.commands 1.0
+import Vedder.vesc.configparams 1.0
+import Vedder.vesc.utility 1.0
+import Vedder.vesc.codeloader 1.0
+
+Item {
+    property var dialogParent: ApplicationWindow.overlay
+
+    // TODO: This is not pretty...
+    implicitHeight: text.implicitHeight +
+                    canIdList.contentHeight + 10
+
+    property ConfigParams mAppConf: VescIf.appConfig()
+    property Commands mCommands: VescIf.commands()
+
+    function updateArchive() {
+        disableDialog()
+        workaroundTimerDl.start()
+    }
+
+    Timer {
+        id: workaroundTimerDl
+        interval: 0
+        repeat: false
+        running: false
+        onTriggered: {
+            // dlArchive...
+            reloadArchive()
+        }
+    }
+
+    CodeLoader {
+        id: mLoader
+        Component.onCompleted: {
+            mLoader.setVesc(VescIf)
+        }
+    }
+
+    Component.onCompleted: {
+        reloadArchive()
+    }
+
+    function reloadArchive() {
+        pkgModel.clear()
+        var pkgs = mLoader.reloadPackageArchive()
+
+        for (var i = 0;i < pkgs.length;i++) {
+            if (!pkgs[i].isLibrary) {
+                pkgModel.append({"pkgName": pkgs[i].name,
+                                    "pkgDescription": pkgs[i].description,
+                                    "pkg": pkgs[i]})
+            }
+        }
+        enableDialog()
+    }
+
+    ColumnLayout {
+        id: column
+        anchors.fill: parent
+        anchors.leftMargin: notchLeft
+        anchors.rightMargin: notchRight
+
+        ListModel {
+            id: pkgModel
+        }
+
+        ListView {
+            id: canIdList
+            Layout.fillWidth: true
+            Layout.fillHeight: true
+            focus: true
+            clip: true
+            spacing: 5
+
+            Component {
+                id: canIdDelegate
+
+                Rectangle {
+                    property variant modelData: model
+
+                    width: canIdList.width
+                    height: 130
+                    color: Utility.getAppHexColor("darkBackground")
+                    radius: 5
+
+                    RowLayout {
+                        anchors.fill: parent
+                        spacing: 10
+
+                        Rectangle {
+                            Layout.leftMargin: 5
+                            Layout.fillWidth: true
+
+                            color: Utility.getAppHexColor("lightBackground")
+                            height: column.height
+                            radius: height / 2
+
+                            ColumnLayout {
+                                id: column
+                                anchors.centerIn: parent
+
+                                Image {
+                                    id: image
+                                    fillMode: Image.PreserveAspectFit
+                                    Layout.preferredWidth: 60
+                                    Layout.preferredHeight: 60
+                                    Layout.alignment: Qt.AlignHCenter | Qt.AlignVCenter
+                                    source: "qrc" + Utility.getThemePath() + "icons/Package-96.png"
+                                }
+
+                                Text {
+                                    Layout.fillWidth: true
+                                    Layout.alignment: Qt.AlignHCenter | Qt.AlignVCenter
+                                    text: pkgName
+                                    horizontalAlignment: Text.AlignHCenter
+                                    color: Utility.getAppHexColor("lightText")
+                                    wrapMode: Text.WordWrap
+                                }
+                            }
+                        }
+
+                        ColumnLayout {
+                            Layout.rightMargin: 10
+                            spacing: -5
+
+                            Button {
+                                Layout.alignment: Qt.AlignHCenter | Qt.AlignBottom
+                                Layout.preferredWidth: 120
+                                Layout.preferredHeight: 55
+                                text: "Install"
+
+                                onClicked: {
+                                    disableDialog()
+                                    workaroundTimerFWD.start()
+                                }
+                                Timer {
+                                    id: workaroundTimerFWD
+                                    interval: 0
+                                    repeat: false
+                                    running: false
+                                    onTriggered: {
+                                        mLoader.installVescPackage(pkg.compressedData)
+                                        enableDialog()
+                                    }
+                                }
+                            }
+
+                            Button {
+                                Layout.alignment: Qt.AlignHCenter | Qt.AlignTop
+                                Layout.preferredWidth: 120
+                                Layout.preferredHeight: 55
+                                text: "Info"
+
+                                onClicked: {
+                                    VescIf.emitMessageDialog(pkgName, pkgDescription, true, true)
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+
+            model: pkgModel
+            delegate: canIdDelegate
+        }
+
+        Button {
+            text: "Uninstall All"
+            Layout.fillWidth: true
+            onClicked: {
+                disableDialog()
+                workaroundTimerUninstall.start()
+            }
+
+            Timer {
+                id: workaroundTimerUninstall
+                interval: 0
+                repeat: false
+                running: false
+                onTriggered: {
+                    mLoader.lispErase()
+                    mLoader.qmlErase()
+                    enableDialog()
+                }
+            }
+        }
+    }
+
+    function disableDialog() {
+        dlDialog.open()
+        column.enabled = false
+    }
+
+    function enableDialog() {
+        dlDialog.close()
+        column.enabled = true
+    }
+
+    Dialog {
+        id: dlDialog
+        title: "Processing..."
+        closePolicy: Popup.NoAutoClose
+        modal: true
+        focus: true
+        Overlay.modal: Rectangle {
+            color: "#AA000000"
+        }
+
+        width: parent.width - 20
+        x: 10
+        y: parent.height / 2 - height / 2
+        parent: dialogParent
+
+        ProgressBar {
+            anchors.fill: parent
+            indeterminate: visible
+        }
+    }
+}
diff --git a/mobile/main.qml b/mobile/main.qml
index 860f46b7b..804d478be 100644
--- a/mobile/main.qml
+++ b/mobile/main.qml
@@ -495,6 +495,20 @@ ApplicationWindow {
                 }
             }
         }
+
+        Page {
+            Loader {
+                anchors.fill: parent
+                asynchronous: true
+                visible: status == Loader.Ready
+                sourceComponent: Packages {
+                    anchors.fill: parent
+                    anchors.leftMargin: 10
+                    anchors.rightMargin: 10
+                    anchors.topMargin: 10
+                }
+            }
+        }
     }
 
     header: Rectangle {
@@ -529,7 +543,7 @@ ApplicationWindow {
                 Repeater {
                     id: rep
                     model: ["Start", "RT Data", "Profiles", "BMS", "Firmware", "Motor Cfg",
-                        "App Cfg", "Terminal"]
+                        "App Cfg", "Terminal", "Packages"]
 
                     TabButton {
                         text: modelData
diff --git a/mobile/qml.qrc b/mobile/qml.qrc
index a18614e1e..cfad1207d 100644
--- a/mobile/qml.qrc
+++ b/mobile/qml.qrc
@@ -59,5 +59,6 @@
         <file>ParamEditBitfield.qml</file>
         <file>ConfigPageCustom.qml</file>
         <file>TcpHubBox.qml</file>
+        <file>Packages.qml</file>
     </qresource>
 </RCC>
diff --git a/pages/pagevescpackage.cpp b/pages/pagevescpackage.cpp
index 49715c618..0ae97299a 100644
--- a/pages/pagevescpackage.cpp
+++ b/pages/pagevescpackage.cpp
@@ -23,11 +23,6 @@
 #include <QMessageBox>
 #include <QFileDialog>
 #include <QDirIterator>
-#include <QNetworkAccessManager>
-#include <QUrl>
-#include <QNetworkRequest>
-#include <QNetworkReply>
-#include <QEventLoop>
 
 PageVescPackage::PageVescPackage(QWidget *parent) :
     QWidget(parent),
@@ -253,37 +248,21 @@ void PageVescPackage::on_dlArchiveButton_clicked()
     ui->dlArchiveButton->setEnabled(false);
     ui->displayDl->setText("Preparing download...");
 
-    QUrl url("http://home.vedder.se/vesc_pkg/vesc_pkg_all.rcc");
-    QNetworkAccessManager manager;
-    QNetworkRequest request(url);
-    QNetworkReply *reply = manager.get(request);
-
-    connect(reply, &QNetworkReply::downloadProgress, [this](qint64 bytesReceived, qint64 bytesTotal) {
+    connect(&mLoader, &CodeLoader::downloadProgress, [this](qint64 bytesReceived, qint64 bytesTotal) {
         ui->displayDl->setText("Downloading...");
         ui->displayDl->setValue(100.0 * (double)bytesReceived / (double)bytesTotal);
     });
 
-    QEventLoop loop;
-    connect(reply, SIGNAL(finished()), &loop, SLOT(quit()));
-    loop.exec();
+    bool ok = mLoader.downloadPackageArchive();
 
-    if (reply->error() == QNetworkReply::NoError) {
+    if (ok) {
         ui->displayDl->setText("Download Finished");
-        QString path = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation) +
-                "/vesc_pkg_all.rcc";
-        QFile file(path);
-        if (file.open(QIODevice::WriteOnly)) {
-            file.write(reply->readAll());
-            file.close();
-            reloadArchive();
-        }
+        mVesc->emitStatusMessage("Downloads OK", true);
     } else {
         ui->displayDl->setText("Download Failed");
+        mVesc->emitStatusMessage("Downloads Failed", false);
     }
 
-    reply->abort();
-    reply->deleteLater();
-
     ui->dlArchiveButton->setEnabled(true);
 }
 
@@ -322,20 +301,12 @@ void PageVescPackage::on_installButton_clicked()
         return;
     }
 
-    if (!mCurrentPath.isEmpty()) {
-        QFile f(mCurrentPath);
-        if (!f.open(QIODevice::ReadOnly)) {
-            mVesc->emitMessageDialog(tr("Install Package"),
-                                     tr("Could not open package file for reading."),
-                                     false, false);
-            return;
-        }
-
+    if (mCurrentPkg.loadOk) {
         QProgressDialog dialog(tr("Writing..."), QString(), 0, 0, this);
         dialog.setWindowModality(Qt::WindowModal);
         dialog.show();
 
-        mLoader.installVescPackage(f.readAll());
+        mLoader.installVescPackage(mCurrentPkg);
 
         mVesc->emitMessageDialog(tr("Install Package"),
                                  tr("Install Done! Please disconnect and reconnect to "
@@ -350,64 +321,32 @@ void PageVescPackage::on_installButton_clicked()
 
 void PageVescPackage::reloadArchive()
 {
-    QString path = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation) +
-            "/vesc_pkg_all.rcc";
-    QFile file(path);
-    if (file.exists()) {
-        QResource::unregisterResource(path);
-        QResource::registerResource(path);
-
-        QString pkgDir = "://vesc_packages";
-
-        ui->applicationList->clear();
-        ui->libraryList->clear();
-
-        QDirIterator it(pkgDir);
-        while (it.hasNext()) {
-            QFileInfo fi(it.next());
-
-            QDirIterator it2(fi.absoluteFilePath());
-            while (it2.hasNext()) {
-                QFileInfo fi2(it2.next());
-
-                if (fi2.absoluteFilePath().toLower().endsWith(".vescpkg")) {
-                    QListWidgetItem *item = new QListWidgetItem;
-                    QString name = fi2.fileName();
-
-                    QFile f(fi2.absoluteFilePath());
-                    if (f.open(QIODevice::ReadOnly)) {
-                        auto pkg = mLoader.unpackVescPackage(f.readAll());
-                        name = pkg.name;
-                    }
-
-                    item->setText(name);
-                    item->setData(Qt::UserRole, fi2.absoluteFilePath());
-
-                    if (fi2.absoluteFilePath().startsWith("://vesc_packages/lib_")) {
-                        ui->libraryList->insertItem(ui->libraryList->count(), item);
-                    } else {
-                        ui->applicationList->insertItem(ui->applicationList->count(), item);
-                    }
-                }
-            }
+    auto pList = mLoader.reloadPackageArchive();
+
+    for (auto p: pList) {
+        auto pVal = p.value<VescPackage>();
+        QListWidgetItem *item = new QListWidgetItem;
+        item->setText(pVal.name);
+        item->setData(Qt::UserRole, p);
+
+        if (pVal.isLibrary) {
+            ui->libraryList->insertItem(ui->libraryList->count(), item);
+        } else {
+            ui->applicationList->insertItem(ui->applicationList->count(), item);
         }
     }
 }
 
-void PageVescPackage::packageSelected(QString path)
+void PageVescPackage::packageSelected(VescPackage pkg)
 {
-    mCurrentPath = path;
-    QFile f(path);
-    if (f.open(QIODevice::ReadOnly)) {
-        auto pkg = mLoader.unpackVescPackage(f.readAll());
-        ui->storeBrowser->document()->setHtml(pkg.description);
-        ui->installButton->setEnabled(!path.startsWith("://vesc_packages/lib_"));
-        if (ui->installButton->isEnabled()) {
-            ui->installButton->setToolTip("");
-        } else {
-            ui->installButton->setToolTip("This is a library, so it is not supposed to be installed. You can use "
-                                          "it from your own LispBM-scripts without installing it.");
-        }
+    mCurrentPkg = pkg;
+    ui->storeBrowser->document()->setHtml(pkg.description);
+    ui->installButton->setEnabled(!pkg.isLibrary);
+    if (ui->installButton->isEnabled()) {
+        ui->installButton->setToolTip("");
+    } else {
+        ui->installButton->setToolTip("This is a library, so it is not supposed to be installed. You can use "
+                                      "it from your own LispBM-scripts without installing it.");
     }
 }
 
@@ -415,7 +354,7 @@ void PageVescPackage::on_applicationList_currentItemChanged(QListWidgetItem *cur
 {
     (void)previous;
     if (current != nullptr) {
-        packageSelected(current->data(Qt::UserRole).toString());
+        packageSelected(current->data(Qt::UserRole).value<VescPackage>());
         ui->libraryList->setCurrentItem(nullptr);
     }
 }
@@ -424,7 +363,7 @@ void PageVescPackage::on_libraryList_currentItemChanged(QListWidgetItem *current
 {
     (void)previous;
     if (current != nullptr) {
-        packageSelected(current->data(Qt::UserRole).toString());
+        packageSelected(current->data(Qt::UserRole).value<VescPackage>());
         ui->applicationList->setCurrentItem(nullptr);
     }
 }
diff --git a/pages/pagevescpackage.h b/pages/pagevescpackage.h
index d6e95ffd7..aad7ef42e 100644
--- a/pages/pagevescpackage.h
+++ b/pages/pagevescpackage.h
@@ -60,10 +60,10 @@ private slots:
     Ui::PageVescPackage *ui;
     VescInterface *mVesc;
     CodeLoader mLoader;
-    QString mCurrentPath;
+    VescPackage mCurrentPkg;
 
     void reloadArchive();
-    void packageSelected(QString path);
+    void packageSelected(VescPackage pkg);
 
 };
 
diff --git a/res.qrc b/res.qrc
index 265ceb0a9..4995c3149 100644
--- a/res.qrc
+++ b/res.qrc
@@ -322,5 +322,7 @@
         <file>res/fonts/Exan-Regular.ttf</file>
         <file>res/fonts/Roboto/RobotoMono-VariableFont_wght.ttf</file>
         <file>res/other_fw/nrf52840_wand_mag.bin</file>
+        <file>res/icons/Package-96.png</file>
+        <file>res/+theme_light/icons/Package-96.png</file>
     </qresource>
 </RCC>
diff --git a/res/+theme_light/icons/Package-96.png b/res/+theme_light/icons/Package-96.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d3a3150cf57b6565b235e367506a63dad8d98b1
GIT binary patch
literal 880
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z>|)p<QrP?A+{+8BhKzFz1TKX%X{Q_hH~GU*Hud@?k6SEzx;Yb0x_KwRd|7x#L`7)R
z$p^-h_WfSLxHOI9F5@{3hIEkzW3B^|tPgsa3fveig0C{H3tF?Ub((#0mRN<;GS<%`
zEmB*axgDADH$>WEmP39~eG%J+>4#Q?ynjAl^0jKxnOFQ9db$N4PhDyGX1nCnPs>-G
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zs~qyTD21h>x@0lKoInOl2a+t@X{o=$_x)q>;M_|Q{C{|21&Y~g41wXa%vt;h%Y>x-
z++c%`>sWOrl>L8KwT6|a-+f1XW815+@4t$wc+Hq6i)O6SGrjro%oN8iYsbqMZ<+dk
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GXaWFVse<AF

literal 0
HcmV?d00001

diff --git a/res/icons/Package-96.png b/res/icons/Package-96.png
new file mode 100644
index 0000000000000000000000000000000000000000..90d3498cfb7c15e458e3c7c02a1e4841abddbfae
GIT binary patch
literal 1031
zcmeAS@N?(olHy`uVBq!ia0vp^2_VeD1|%QND7OGoY)RhkE)4%caKYZ?lNlJ8_jtNE
zhE&XXJNNAB&`^o?`PZ+U>Tk5r;MgzFvRXreg}19|c8l5)2@Bq{{~gqov@9}YycVA-
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zw}~xN-^KgSnD_A2yffOo#CMWhM&7@vTdt`lFsiJbWHLG8@tP&&xA@W~)%meZUZT8~
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zhMu~$!hWt5x0KtgZ_9(D1LQFrsm5X<jK%FF3O}!OEN}c@^CxNTY!kN@>y?a_?g!#o
zo4!n4d8I*y(O#6}Quw63r+2z$3OCnJczxyXR_6mc8;+h?cg9qsl4ZtCl@F;aLu?;~
ztok|O|A%+32l@}N`v!k)DL%kw?0xU^oKmS@TQ0aC@MLQb`;a8Z7(d}=&5YynJ8f(I
zZ}8_ZUkmzvlke~Wo&shI?wYxq-@<ayh5UI8br&}18a$XO2h7<Fp00i_>zopr08M|!
Ap8x;=

literal 0
HcmV?d00001


From 8e684b57b54b50848deff3d6dd008b717f9da282 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 30 Oct 2022 11:40:40 +0100
Subject: [PATCH 227/559] Added update button

---
 mobile/Packages.qml | 53 +++++++++++++++++++++++++++++++++------------
 1 file changed, 39 insertions(+), 14 deletions(-)

diff --git a/mobile/Packages.qml b/mobile/Packages.qml
index 17aa7e680..2d8cc20f9 100644
--- a/mobile/Packages.qml
+++ b/mobile/Packages.qml
@@ -188,23 +188,48 @@ Item {
             delegate: canIdDelegate
         }
 
-        Button {
-            text: "Uninstall All"
+        RowLayout {
             Layout.fillWidth: true
-            onClicked: {
-                disableDialog()
-                workaroundTimerUninstall.start()
+
+            Button {
+                text: "Update Archive"
+                Layout.fillWidth: true
+                onClicked: {
+                    disableDialog()
+                    workaroundTimerArchive.start()
+                }
+
+                Timer {
+                    id: workaroundTimerArchive
+                    interval: 0
+                    repeat: false
+                    running: false
+                    onTriggered: {
+                        mLoader.downloadPackageArchive()
+                        reloadArchive()
+                        enableDialog()
+                    }
+                }
             }
 
-            Timer {
-                id: workaroundTimerUninstall
-                interval: 0
-                repeat: false
-                running: false
-                onTriggered: {
-                    mLoader.lispErase()
-                    mLoader.qmlErase()
-                    enableDialog()
+            Button {
+                text: "Uninstall All"
+                Layout.fillWidth: true
+                onClicked: {
+                    disableDialog()
+                    workaroundTimerUninstall.start()
+                }
+
+                Timer {
+                    id: workaroundTimerUninstall
+                    interval: 0
+                    repeat: false
+                    running: false
+                    onTriggered: {
+                        mLoader.lispErase()
+                        mLoader.qmlErase()
+                        enableDialog()
+                    }
                 }
             }
         }

From dac59aa9b032b399246f7a9ec7fc0a2a001d3ccd Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 30 Oct 2022 14:06:13 +0100
Subject: [PATCH 228/559] Added blocking utility command to read internal IMU
 type

---
 QCodeEditor/src/internal/QVescCompleter.cpp |  1 +
 utility.cpp                                 | 15 +++++++++++++++
 utility.h                                   |  1 +
 3 files changed, 17 insertions(+)

diff --git a/QCodeEditor/src/internal/QVescCompleter.cpp b/QCodeEditor/src/internal/QVescCompleter.cpp
index c7c8068ee..98788047f 100644
--- a/QCodeEditor/src/internal/QVescCompleter.cpp
+++ b/QCodeEditor/src/internal/QVescCompleter.cpp
@@ -270,6 +270,7 @@ QVescCompleter::QVescCompleter(QObject *parent) :
         addItem("waitMotorStop(VescIf, erpmTres, timeoutMs)");
         addItem("measureEncoderBlocking(VescIf, current)");
         addItem("sleepWithEventLoop(timeMs)");
+        addItem("readInternalImuType(VescIf)");
         level--;
     }
 
diff --git a/utility.cpp b/utility.cpp
index 9fbed96e5..d0553f5fc 100755
--- a/utility.cpp
+++ b/utility.cpp
@@ -1593,6 +1593,21 @@ QString Utility::strCrc32(QString str)
     return QString::number(crc);
 }
 
+QString Utility::readInternalImuType(VescInterface *vesc)
+{
+    QString res = "Timeout";
+    auto conn = connect(vesc->commands(), &Commands::printReceived, [&](QString str) {
+            res = str;
+    });
+
+    vesc->commands()->sendTerminalCmdSync("imu_type_internal");
+    waitSignal(vesc->commands(), SIGNAL(printReceived(QString)), 2000);
+
+    disconnect(conn);
+
+    return res;
+}
+
 void Utility::llhToXyz(double lat, double lon, double height, double *x, double *y, double *z)
 {
     double sinp = sin(lat * M_PI / 180.0);
diff --git a/utility.h b/utility.h
index 07060d4f9..59e61a4c3 100644
--- a/utility.h
+++ b/utility.h
@@ -89,6 +89,7 @@ class Utility : public QObject
     Q_INVOKABLE static void stopGnssForegroundService();
     Q_INVOKABLE static bool isBleScanEnabled();
     Q_INVOKABLE static QString strCrc32(QString str);
+    Q_INVOKABLE static QString readInternalImuType(VescInterface *vesc);
 
     static void llhToXyz(double lat, double lon, double height, double *x, double *y, double *z);
     static void xyzToLlh(double x, double y, double z, double *lat, double *lon, double *height);

From e7b4f288e095c83b678fe879431c2297d03c763a Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 30 Oct 2022 14:49:29 +0100
Subject: [PATCH 229/559] Added COMM_SET_APPCONF_NO_STORE

---
 QCodeEditor/src/internal/QVescCompleter.cpp |  1 +
 commands.cpp                                | 14 ++++++++++++++
 commands.h                                  |  1 +
 datatypes.h                                 |  7 +++++++
 4 files changed, 23 insertions(+)

diff --git a/QCodeEditor/src/internal/QVescCompleter.cpp b/QCodeEditor/src/internal/QVescCompleter.cpp
index 98788047f..c24aceb3d 100644
--- a/QCodeEditor/src/internal/QVescCompleter.cpp
+++ b/QCodeEditor/src/internal/QVescCompleter.cpp
@@ -69,6 +69,7 @@ QVescCompleter::QVescCompleter(QObject *parent) :
         addItem("getAppConf()");
         addItem("getAppConfDefault()");
         addItem("setAppConf()");
+        addItem("setAppConfNoStore()");
         addItem("getMcconf()");
         addItem("getMcconfDefault()");
         addItem("setMcconf(check)");
diff --git a/commands.cpp b/commands.cpp
index 930c7fc7f..d512d3931 100755
--- a/commands.cpp
+++ b/commands.cpp
@@ -425,6 +425,10 @@ void Commands::processPacket(QByteArray data)
         emit ackReceived("APPCONF Write OK");
         break;
 
+    case COMM_SET_APPCONF_NO_STORE:
+        emit ackReceived("APPCONF_NO_STORE Write OK");
+        break;
+
     case COMM_CUSTOM_APP_DATA:
         emit customAppDataReceived(vb);
         break;
@@ -1356,6 +1360,16 @@ void Commands::setAppConf()
     }
 }
 
+void Commands::setAppConfNoStore()
+{
+    if (mAppConfig) {
+        VByteArray vb;
+        vb.vbAppendInt8(COMM_SET_APPCONF_NO_STORE);
+        mAppConfig->serialize(vb);
+        emitData(vb);
+    }
+}
+
 void Commands::detectMotorParam(double current, double min_rpm, double low_duty)
 {
     VByteArray vb;
diff --git a/commands.h b/commands.h
index c5d92eb8b..3d06ff6af 100644
--- a/commands.h
+++ b/commands.h
@@ -184,6 +184,7 @@ public slots:
     void getAppConf();
     void getAppConfDefault();
     void setAppConf();
+    void setAppConfNoStore();
     void detectMotorParam(double current, double min_rpm, double low_duty);
     void reboot();
     void sendAlive();
diff --git a/datatypes.h b/datatypes.h
index 02680313b..cb0538c01 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -1022,6 +1022,13 @@ typedef enum {
     COMM_FILE_WRITE,
     COMM_FILE_MKDIR,
     COMM_FILE_REMOVE,
+
+    COMM_LOG_START,
+    COMM_LOG_STOP,
+    COMM_LOG_CONFIG_FIELD,
+    COMM_LOG_DATA_F32,
+
+    COMM_SET_APPCONF_NO_STORE,
 } COMM_PACKET_ID;
 
 // CAN commands

From e0e33b1271e43ed265cc4376b2e0ab4a2da53a3a Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 30 Oct 2022 20:14:22 +0100
Subject: [PATCH 230/559] XML load and save support for mcconf, appconf and
 custom conf

---
 configparams.cpp            |   8 +++
 configparams.h              |   4 +-
 mobile/ConfigPageApp.qml    |  85 ++++++++++++++++++++++++++++
 mobile/ConfigPageCustom.qml | 109 ++++++++++++++++++++++++++++++++++--
 mobile/ConfigPageMotor.qml  |  86 ++++++++++++++++++++++++++++
 mobile/FwUpdate.qml         |  36 +++---------
 vesc_tool.pro               |   2 +-
 7 files changed, 295 insertions(+), 35 deletions(-)

diff --git a/configparams.cpp b/configparams.cpp
index cba7e4325..3a77f7ee8 100644
--- a/configparams.cpp
+++ b/configparams.cpp
@@ -1108,6 +1108,10 @@ bool ConfigParams::setXML(QXmlStreamReader &stream, QString configName)
 
 bool ConfigParams::saveXml(QString fileName, QString configName)
 {
+    if (fileName.startsWith("file:/")) {
+        fileName.remove(0, 6);
+    }
+
     QFile file(fileName);
     if (!file.open(QIODevice::WriteOnly)) {
         mXmlStatus = tr("Could not open %1 for writing").arg(fileName);
@@ -1130,6 +1134,10 @@ bool ConfigParams::saveXml(QString fileName, QString configName)
 
 bool ConfigParams::loadXml(QString fileName, QString configName)
 {
+    if (fileName.startsWith("file:/")) {
+        fileName.remove(0, 6);
+    }
+
     QFile file(fileName);
     if (!file.open(QIODevice::ReadOnly)) {
         mXmlStatus = tr("Could not open %1 for reading").arg(fileName);
diff --git a/configparams.h b/configparams.h
index 267dfe438..be9fb7a82 100644
--- a/configparams.h
+++ b/configparams.h
@@ -92,8 +92,8 @@ class ConfigParams : public QObject
 
     void getXML(QXmlStreamWriter &stream, QString configName);
     bool setXML(QXmlStreamReader &stream, QString configName);
-    bool saveXml(QString fileName, QString configName);
-    bool loadXml(QString fileName, QString configName);
+    Q_INVOKABLE bool saveXml(QString fileName, QString configName);
+    Q_INVOKABLE bool loadXml(QString fileName, QString configName);
     QString xmlStatus();
     QString saveCompressed(QString configName);
     bool loadCompressed(QString data, QString configName);
diff --git a/mobile/ConfigPageApp.qml b/mobile/ConfigPageApp.qml
index dd7b83fbd..553219a08 100644
--- a/mobile/ConfigPageApp.qml
+++ b/mobile/ConfigPageApp.qml
@@ -20,6 +20,7 @@
 import QtQuick 2.7
 import QtQuick.Controls 2.10
 import QtQuick.Layouts 1.3
+import QtQuick.Dialogs 1.3 as Dl
 
 import Vedder.vesc.vescinterface 1.0
 import Vedder.vesc.commands 1.0
@@ -277,6 +278,90 @@ Item {
                             detectImu.open()
                         }
                     }
+                    MenuItem {
+                        text: "Save XML"
+                        onTriggered: {
+                            if (Utility.requestFilePermission()) {
+                                fileDialogSave.close()
+                                fileDialogSave.open()
+                            } else {
+                                VescIf.emitMessageDialog(
+                                            "File Permissions",
+                                            "Unable to request file system permission.",
+                                            false, false)
+                            }
+                        }
+
+                        Dl.FileDialog {
+                            id: fileDialogSave
+                            title: "Please choose a file"
+                            nameFilters: ["XML File (*.xml)"]
+                            selectedNameFilter: "XML File (*.xml)"
+                            selectExisting: false
+                            selectMultiple: false
+                            onAccepted: {
+                                var path = fileUrl.toString()
+                                if (!path.toLowerCase().endsWith(".xml")) {
+                                    path += ".xml"
+                                }
+
+                                if (VescIf.appConfig().saveXml(path, "APPConfiguration")) {
+                                    VescIf.emitStatusMessage("Appconf Saved", true)
+                                } else {
+                                    VescIf.emitStatusMessage("Appconf Save Failed", false)
+                                }
+
+                                close()
+                                parent.forceActiveFocus()
+                            }
+                            onRejected: {
+                                close()
+                                parent.forceActiveFocus()
+                            }
+                        }
+                    }
+                    MenuItem {
+                        text: "Load XML"
+                        onTriggered: {
+                            if (Utility.requestFilePermission()) {
+                                fileDialogLoad.close()
+                                fileDialogLoad.open()
+                            } else {
+                                VescIf.emitMessageDialog(
+                                            "File Permissions",
+                                            "Unable to request file system permission.",
+                                            false, false)
+                            }
+                        }
+
+                        Dl.FileDialog {
+                            id: fileDialogLoad
+                            title: "Please choose a file"
+                            nameFilters: ["XML File (*.xml)"]
+                            selectedNameFilter: "XML File (*.xml)"
+                            selectExisting: true
+                            selectMultiple: false
+                            onAccepted: {
+                                var path = fileUrl.toString()
+                                if (path.toLowerCase().endsWith(".xml")) {
+                                    if (VescIf.appConfig().loadXml(path, "APPConfiguration")) {
+                                        VescIf.emitStatusMessage("Appconf Loaded", true)
+                                    } else {
+                                        VescIf.emitStatusMessage("Appconf Load Failed", false)
+                                    }
+                                } else {
+                                    VescIf.emitStatusMessage("Invalid File", false)
+                                }
+
+                                close()
+                                parent.forceActiveFocus()
+                            }
+                            onRejected: {
+                                close()
+                                parent.forceActiveFocus()
+                            }
+                        }
+                    }
                 }
             }
         }
diff --git a/mobile/ConfigPageCustom.qml b/mobile/ConfigPageCustom.qml
index edf7611ab..d21720fc8 100644
--- a/mobile/ConfigPageCustom.qml
+++ b/mobile/ConfigPageCustom.qml
@@ -20,6 +20,7 @@
 import QtQuick 2.7
 import QtQuick.Controls 2.10
 import QtQuick.Layouts 1.3
+import QtQuick.Dialogs 1.3 as Dl
 
 import Vedder.vesc.vescinterface 1.0
 import Vedder.vesc.commands 1.0
@@ -143,12 +144,110 @@ Item {
             }
 
             Button {
-                Layout.preferredWidth: 100
+                Layout.preferredWidth: 50
                 Layout.fillWidth: true
-                text: "Read Default"
-
-                onClicked: {
-                    mCommands.customConfigGet(confInd, true)
+                text: "..."
+                onClicked: menu.open()
+
+                Menu {
+                    id: menu
+                    bottomPadding: notchBot
+                    leftPadding: notchLeft
+                    rightPadding: notchRight
+                    parent: appPageItem
+                    y: parent.height - implicitHeight
+                    width: parent.width
+
+                    MenuItem {
+                        text: "Read Default Settings"
+                        onTriggered: {
+                            mCommands.customConfigGet(confInd, true)
+                        }
+                    }
+                    MenuItem {
+                        text: "Save XML"
+                        onTriggered: {
+                            if (Utility.requestFilePermission()) {
+                                fileDialogSave.close()
+                                fileDialogSave.open()
+                            } else {
+                                VescIf.emitMessageDialog(
+                                            "File Permissions",
+                                            "Unable to request file system permission.",
+                                            false, false)
+                            }
+                        }
+
+                        Dl.FileDialog {
+                            id: fileDialogSave
+                            title: "Please choose a file"
+                            nameFilters: ["XML File (*.xml)"]
+                            selectedNameFilter: "XML File (*.xml)"
+                            selectExisting: false
+                            selectMultiple: false
+                            onAccepted: {
+                                var path = fileUrl.toString()
+                                if (!path.toLowerCase().endsWith(".xml")) {
+                                    path += ".xml"
+                                }
+
+                                if (VescIf.customConfig(confInd).saveXml(path, "CustomConfiguration")) {
+                                    VescIf.emitStatusMessage("Appconf Saved", true)
+                                } else {
+                                    VescIf.emitStatusMessage("Appconf Save Failed", false)
+                                }
+
+                                close()
+                                parent.forceActiveFocus()
+                            }
+                            onRejected: {
+                                close()
+                                parent.forceActiveFocus()
+                            }
+                        }
+                    }
+                    MenuItem {
+                        text: "Load XML"
+                        onTriggered: {
+                            if (Utility.requestFilePermission()) {
+                                fileDialogLoad.close()
+                                fileDialogLoad.open()
+                            } else {
+                                VescIf.emitMessageDialog(
+                                            "File Permissions",
+                                            "Unable to request file system permission.",
+                                            false, false)
+                            }
+                        }
+
+                        Dl.FileDialog {
+                            id: fileDialogLoad
+                            title: "Please choose a file"
+                            nameFilters: ["XML File (*.xml)"]
+                            selectedNameFilter: "XML File (*.xml)"
+                            selectExisting: true
+                            selectMultiple: false
+                            onAccepted: {
+                                var path = fileUrl.toString()
+                                if (path.toLowerCase().endsWith(".xml")) {
+                                    if (VescIf.customConfig(confInd).loadXml(path, "CustomConfiguration")) {
+                                        VescIf.emitStatusMessage("Appconf Loaded", true)
+                                    } else {
+                                        VescIf.emitStatusMessage("Appconf Load Failed", false)
+                                    }
+                                } else {
+                                    VescIf.emitStatusMessage("Invalid File", false)
+                                }
+
+                                close()
+                                parent.forceActiveFocus()
+                            }
+                            onRejected: {
+                                close()
+                                parent.forceActiveFocus()
+                            }
+                        }
+                    }
                 }
             }
         }
diff --git a/mobile/ConfigPageMotor.qml b/mobile/ConfigPageMotor.qml
index 34398418c..28b70bbe0 100644
--- a/mobile/ConfigPageMotor.qml
+++ b/mobile/ConfigPageMotor.qml
@@ -20,10 +20,12 @@
 import QtQuick 2.7
 import QtQuick.Controls 2.10
 import QtQuick.Layouts 1.3
+import QtQuick.Dialogs 1.3 as Dl
 
 import Vedder.vesc.vescinterface 1.0
 import Vedder.vesc.commands 1.0
 import Vedder.vesc.configparams 1.0
+import Vedder.vesc.utility 1.0
 
 Item {
     id: confPageMotorItem
@@ -239,6 +241,90 @@ Item {
                             directionSetup.scanCan()
                         }
                     }
+                    MenuItem {
+                        text: "Save XML"
+                        onTriggered: {
+                            if (Utility.requestFilePermission()) {
+                                fileDialogSave.close()
+                                fileDialogSave.open()
+                            } else {
+                                VescIf.emitMessageDialog(
+                                            "File Permissions",
+                                            "Unable to request file system permission.",
+                                            false, false)
+                            }
+                        }
+
+                        Dl.FileDialog {
+                            id: fileDialogSave
+                            title: "Please choose a file"
+                            nameFilters: ["XML File (*.xml)"]
+                            selectedNameFilter: "XML File (*.xml)"
+                            selectExisting: false
+                            selectMultiple: false
+                            onAccepted: {
+                                var path = fileUrl.toString()
+                                if (!path.toLowerCase().endsWith(".xml")) {
+                                    path += ".xml"
+                                }
+
+                                if (VescIf.mcConfig().saveXml(path, "MCConfiguration")) {
+                                    VescIf.emitStatusMessage("Mcconf Saved", true)
+                                } else {
+                                    VescIf.emitStatusMessage("Mcconf Save Failed", false)
+                                }
+
+                                close()
+                                parent.forceActiveFocus()
+                            }
+                            onRejected: {
+                                close()
+                                parent.forceActiveFocus()
+                            }
+                        }
+                    }
+                    MenuItem {
+                        text: "Load XML"
+                        onTriggered: {
+                            if (Utility.requestFilePermission()) {
+                                fileDialogLoad.close()
+                                fileDialogLoad.open()
+                            } else {
+                                VescIf.emitMessageDialog(
+                                            "File Permissions",
+                                            "Unable to request file system permission.",
+                                            false, false)
+                            }
+                        }
+
+                        Dl.FileDialog {
+                            id: fileDialogLoad
+                            title: "Please choose a file"
+                            nameFilters: ["XML File (*.xml)"]
+                            selectedNameFilter: "XML File (*.xml)"
+                            selectExisting: true
+                            selectMultiple: false
+                            onAccepted: {
+                                var path = fileUrl.toString()
+                                if (path.toLowerCase().endsWith(".xml")) {
+                                    if (VescIf.mcConfig().loadXml(path, "MCConfiguration")) {
+                                        VescIf.emitStatusMessage("Mcconf Loaded", true)
+                                    } else {
+                                        VescIf.emitStatusMessage("Mcconf Load Failed", false)
+                                    }
+                                } else {
+                                    VescIf.emitStatusMessage("Invalid File", false)
+                                }
+
+                                close()
+                                parent.forceActiveFocus()
+                            }
+                            onRejected: {
+                                close()
+                                parent.forceActiveFocus()
+                            }
+                        }
+                    }
                 }
             }
         }
diff --git a/mobile/FwUpdate.qml b/mobile/FwUpdate.qml
index e85ff0bd6..74d6ebcb0 100755
--- a/mobile/FwUpdate.qml
+++ b/mobile/FwUpdate.qml
@@ -275,8 +275,6 @@ Item {
                                 if (Utility.requestFilePermission()) {
                                     fileDialog.close()
                                     fileDialog.open()
-                                    //filePicker.enabled = true
-                                    //filePicker.visible = true
                                 } else {
                                     VescIf.emitMessageDialog(
                                                 "File Permissions",
@@ -293,38 +291,22 @@ Item {
                         }
                     }
 
-                    FilePicker {
-                        id: filePicker
-                        anchors.fill: parent
-                        showDotAndDotDot: true
-                        nameFilters: "*.bin"
-                        visible: false
-                        enabled: false
-
-                        onFileSelected: {
-                            customFwText.text = currentFolder() + "/" + fileName
-                            visible = false
-                            enabled = false
-                        }
-                    }
                     Dl.FileDialog {
                         id: fileDialog
-                        title: "Please choose a file"
+                        title: "Choose a firmware file"
                         nameFilters: ["Firmware File (*.bin)"]
-                        selectedNameFilter : "Firmware File (*.bin)"
+                        selectedNameFilter: "Firmware File (*.bin)"
                         onAccepted: {
-                            var substring = ".bin";
-                            if(fileDialog.fileUrl.toString().indexOf(substring) !== -1) {
-                                customFwText.text = fileDialog.fileUrl
-                        } else {
+                            if (fileUrl.toString().toLowerCase().indexOf(".bin") !== -1) {
+                                customFwText.text = fileUrl
+                            }
 
-                        }
-                            console.log("You chose: " + fileDialog.fileUrls)
-                            fileDialog.close()
+                            close()
+                            parent.forceActiveFocus()
                         }
                         onRejected: {
-                            console.log("Canceled")
-                            fileDialog.close()
+                            close()
+                            parent.forceActiveFocus()
                         }
                     }
                 }
diff --git a/vesc_tool.pro b/vesc_tool.pro
index 62c42267b..0cc6e8463 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -10,7 +10,7 @@ VT_INTRO_VERSION = 1
 VT_CONFIG_VERSION = 2
 
 # Set to 0 for stable versions and to test version number for development versions.
-VT_IS_TEST_VERSION = 10
+VT_IS_TEST_VERSION = 11
 
 VT_ANDROID_VERSION_ARMV7 = 108
 VT_ANDROID_VERSION_ARM64 = 109

From 1b76098e29de1b9681e98e2650171b300a4957c0 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 30 Oct 2022 20:36:25 +0100
Subject: [PATCH 231/559] small tweak

---
 mobile/ConfigPageCustom.qml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/mobile/ConfigPageCustom.qml b/mobile/ConfigPageCustom.qml
index d21720fc8..cda4e44b2 100644
--- a/mobile/ConfigPageCustom.qml
+++ b/mobile/ConfigPageCustom.qml
@@ -192,9 +192,9 @@ Item {
                                 }
 
                                 if (VescIf.customConfig(confInd).saveXml(path, "CustomConfiguration")) {
-                                    VescIf.emitStatusMessage("Appconf Saved", true)
+                                    VescIf.emitStatusMessage("Custom Config Saved", true)
                                 } else {
-                                    VescIf.emitStatusMessage("Appconf Save Failed", false)
+                                    VescIf.emitStatusMessage("Save Failed", false)
                                 }
 
                                 close()
@@ -231,9 +231,9 @@ Item {
                                 var path = fileUrl.toString()
                                 if (path.toLowerCase().endsWith(".xml")) {
                                     if (VescIf.customConfig(confInd).loadXml(path, "CustomConfiguration")) {
-                                        VescIf.emitStatusMessage("Appconf Loaded", true)
+                                        VescIf.emitStatusMessage("Custom Config Loaded", true)
                                     } else {
-                                        VescIf.emitStatusMessage("Appconf Load Failed", false)
+                                        VescIf.emitStatusMessage("Load Failed", false)
                                     }
                                 } else {
                                     VescIf.emitStatusMessage("Invalid File", false)

From 05f3f987a1b67b359b389327ab52b8b18e6113b4 Mon Sep 17 00:00:00 2001
From: Mitch Lustig <Mitchlol@users.noreply.github.com>
Date: Mon, 31 Oct 2022 03:05:04 -0500
Subject: [PATCH 232/559] Imu wizard v2 (#253)

* Add IMU wizard V2

* Remove old IMU calibrator, fix wizard on mobile

* Fix wizard on mobile
---
 mobile/ConfigPageApp.qml    |  28 --
 mobile/DetectIMU.qml        | 177 -------
 mobile/SetupWizardIMU.qml   | 909 ++++++++++++++++++++++++++++++++++++
 mobile/StartPage.qml        |  24 +
 mobile/qml.qrc              |   2 +-
 pages/pageappimu.cpp        |   1 -
 pages/pageappimu.ui         |  28 --
 pages/pagewelcome.cpp       |   6 +
 pages/pagewelcome.h         |   1 +
 pages/pagewelcome.ui        |  65 ++-
 res/config/6.00/info.xml    |  11 -
 res/qml/WelcomeQmlPanel.qml |   9 +
 widgets/detectimu.cpp       | 110 -----
 widgets/detectimu.h         |  53 ---
 widgets/detectimu.ui        | 404 ----------------
 widgets/widgets.pri         |   3 -
 16 files changed, 991 insertions(+), 840 deletions(-)
 delete mode 100644 mobile/DetectIMU.qml
 create mode 100644 mobile/SetupWizardIMU.qml
 delete mode 100644 widgets/detectimu.cpp
 delete mode 100644 widgets/detectimu.h
 delete mode 100644 widgets/detectimu.ui

diff --git a/mobile/ConfigPageApp.qml b/mobile/ConfigPageApp.qml
index 553219a08..a301cd2d2 100644
--- a/mobile/ConfigPageApp.qml
+++ b/mobile/ConfigPageApp.qml
@@ -102,28 +102,6 @@ Item {
         }
     }
 
-    Dialog {
-        id: detectImu
-        title: "IMU Calibration"
-        standardButtons: Dialog.Close
-        modal: true
-        focus: true
-
-        width: parent.width - 20
-        closePolicy: Popup.CloseOnEscape
-        x: 10
-        y: (parent.height - height) / 2
-        parent: ApplicationWindow.overlay
-
-        Overlay.modal: Rectangle {
-            color: "#AA000000"
-        }
-
-        DetectIMU {
-            anchors.fill: parent
-        }
-    }
-
     onIsHorizontalChanged: {
         updateEditors()
     }
@@ -272,12 +250,6 @@ Item {
                             nrfPair.open()
                         }
                     }
-                    MenuItem {
-                        text: "Calibrate IMU..."
-                        onTriggered: {
-                            detectImu.open()
-                        }
-                    }
                     MenuItem {
                         text: "Save XML"
                         onTriggered: {
diff --git a/mobile/DetectIMU.qml b/mobile/DetectIMU.qml
deleted file mode 100644
index 5c04394fe..000000000
--- a/mobile/DetectIMU.qml
+++ /dev/null
@@ -1,177 +0,0 @@
-/*
-    Copyright 2018 - 2019 Benjamin Vedder	benjamin@vedder.se
-
-    This file is part of VESC Tool.
-
-    VESC Tool is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    VESC Tool is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with this program.  If not, see <http://www.gnu.org/licenses/>.
-    */
-
-import QtQuick 2.7
-import QtQuick.Controls 2.2
-import QtQuick.Layouts 1.3
-
-import Vedder.vesc.vescinterface 1.0
-import Vedder.vesc.commands 1.0
-import Vedder.vesc.configparams 1.0
-
-Item {
-    implicitHeight: column.implicitHeight
-
-    property real calState: 1
-    property real count: 0
-    property var mCal: []
-
-    property Commands mCommands: VescIf.commands()
-    property ConfigParams mAppConf: VescIf.appConfig()
-    property ConfigParams mInfoConf: VescIf.infoConfig()
-
-    function updateDisplay() {
-        if(calState == 1){
-            resultArea.text = "Keep IMU level and steady during calibration. Press \"Calibrate IMU\" to begin."
-            yawBox.visible = true
-        } else if(calState == 2){
-            resultArea.text = "Calibrating..."
-            yawBox.visible = false
-        } else if(calState == 3){
-            resultArea.text =
-                "Roll  : " + parseFloat(mCal[0]).toFixed(2) + "\n" +
-                "Pitch  : " + parseFloat(mCal[1]).toFixed(2) + "\n" +
-                "Yaw  : " + parseFloat(mCal[2]).toFixed(2) + "\n" +
-                "Accel X  : " + parseFloat(mCal[3]).toFixed(2) + "\n" +
-                "Accel Y  : " + parseFloat(mCal[4]).toFixed(2) + "\n" +
-                "Accel Z  : " + parseFloat(mCal[5]).toFixed(2) + "\n" +
-                "Gyro X  : " + parseFloat(mCal[6]).toFixed(2) + "\n" +
-                "Gyro Y  : " + parseFloat(mCal[7]).toFixed(2) + "\n" +
-                "Gyro Z  : " + parseFloat(mCal[8]).toFixed(2) + "\n"
-            yawBox.visible = true
-        } else if(calState == 4){
-            resultArea.text = "IMU Calibration has been applied."
-            yawBox.visible = true
-        }
-
-    }
-
-    function isValid() {
-        return (msMax - msMin) > 0.4
-    }
-
-    function applyMapping() {
-        mAppConf.updateParamDouble("imu_conf.rot_roll", mCal[0])
-        mAppConf.updateParamDouble("imu_conf.rot_pitch", mCal[1])
-        mAppConf.updateParamDouble("imu_conf.rot_yaw", mCal[2])
-        mAppConf.updateParamDouble("imu_conf.accel_offsets__0", mCal[3])
-        mAppConf.updateParamDouble("imu_conf.accel_offsets__1", mCal[4])
-        mAppConf.updateParamDouble("imu_conf.accel_offsets__2", mCal[5])
-        mAppConf.updateParamDouble("imu_conf.gyro_offsets__0", mCal[6])
-        mAppConf.updateParamDouble("imu_conf.gyro_offsets__1", mCal[7])
-        mAppConf.updateParamDouble("imu_conf.gyro_offsets__2", mCal[8])
-        mCommands.setAppConf()
-        VescIf.emitStatusMessage("IMU Calibration applied!", true)
-        calState = 4
-        updateDisplay()
-    }
-
-    function testConnected() {
-        if (VescIf.isPortConnected()) {
-            return true
-        } else {
-            VescIf.emitMessageDialog(
-                        "Connection Error",
-                        "The VESC is not connected. Please connect it to run detection.",
-                        false, false)
-            return false
-        }
-    }
-
-    Component.onCompleted: {
-        updateDisplay()
-    }
-
-    ColumnLayout {
-        id: column
-
-        anchors.fill: parent
-        spacing: 0
-
-        TextArea {
-            id: resultArea
-            Layout.fillWidth: true
-            readOnly: true
-            wrapMode: TextEdit.WordWrap
-            font.family: "DejaVu Sans Mono"
-        }
-
-        DoubleSpinBox {
-            id: yawBox
-            Layout.fillWidth: true
-            decimals: 2
-            realValue: 0.0
-            realFrom: -180.0
-            realTo: 180.0
-            prefix: "Yaw: "
-            suffix: " °"
-        }
-
-        RowLayout {
-            Layout.fillWidth: true
-            Button {
-                text: "Help"
-                Layout.preferredWidth: 50
-                Layout.fillWidth: true
-                flat: true
-                onClicked: {
-                    VescIf.emitMessageDialog(
-                                mInfoConf.getLongName("help_imu_calibration"),
-                                mInfoConf.getDescription("help_imu_calibration"),
-                                true, true)
-                }
-            }
-
-            Button {
-                text: "Calibrate IMU"
-                Layout.preferredWidth: 50
-                Layout.fillWidth: true
-                flat: true
-                onClicked: {
-                    if (!testConnected()) {
-                        return
-                    }
-
-                    calState = 2
-                    updateDisplay()
-                    mCommands.getImuCalibration(yawBox.realValue)
-                }
-            }
-        }
-
-        Button {
-            text: "Apply and Write"
-            Layout.fillWidth: true
-            flat: true
-            onClicked: {
-                applyMapping()
-            }
-        }
-    }
-
-    Connections {
-        target: mCommands
-
-        onImuCalibrationReceived: {
-            calState = 3
-            mCal = cal
-            updateDisplay()
-        }
-    }
-}
diff --git a/mobile/SetupWizardIMU.qml b/mobile/SetupWizardIMU.qml
new file mode 100644
index 000000000..79251aec2
--- /dev/null
+++ b/mobile/SetupWizardIMU.qml
@@ -0,0 +1,909 @@
+/*
+* IMU Calibration Wizard
+*/
+
+import QtQuick 2.7
+import QtQuick.Controls 2.10
+import QtQuick.Layouts 1.3
+//import QtGraphicalEffects 1.0
+//import QtQuick.Controls.Material 2.2
+
+import Vedder.vesc.vescinterface 1.0
+import Vedder.vesc.commands 1.0
+import Vedder.vesc.configparams 1.0
+import Vedder.vesc.utility 1.0
+
+Item {
+    id: topItem
+    anchors.fill: parent
+
+    property real pi: 3.14159265358
+
+    property ConfigParams mAppConf: VescIf.appConfig()
+    property Commands mCommands: VescIf.commands()
+    property var dialogParent: ApplicationWindow.overlay
+
+    property bool workingIMU: false
+    property var filteredIMUValues: {
+        'roll': 0.0,
+        'pitch': 0.0,
+        'yaw': 0.0,
+        'accX': 0.0,
+        'accY': 0.0,
+        'accZ': 0.0,
+        'gyroX': 0.0,
+        'gyroY': 0.0,
+        'gyroZ': 0.0,
+    }
+    property var maxAccelValues: {
+        'x': -10.0, 'y': -10.0, 'z': -10.0
+    }
+    property real calculatedYawOffset: 0.0
+
+    property var pages: {
+        'menu': 0,
+        'gyro': 1,
+        'accelerometerX': 2,
+        'accelerometerY': 3,
+        'accelerometerZ': 4,
+        'orientationRoll': 5,
+        'orientationPitch': 6,
+        'orientationYaw': 7,
+    }
+
+    function openDialog() {
+        dialog.open()
+        openTimer.start()
+        tabBar.currentIndex = 0
+    }
+
+    Timer {
+        id: openTimer
+
+        running: false
+        repeat: true
+        interval: 20
+
+        onTriggered: {
+            mCommands.getImuData(0x1FF)
+        }
+    }
+
+    Connections {
+        target: mCommands
+
+        //        IMU_VALUES() {
+        //            roll = 0; pitch = 0; yaw = 0;
+        //            accX = 0; accY = 0; accZ = 0;
+        //            gyroX = 0; gyroY = 0; gyroZ = 0;
+        //            magX = 0; magY = 0; magZ = 0;
+        //            q0 = 1; q1 = 0; q2 = 0; q3 = 0;
+        //            vesc_id = 0;
+        //        }
+        onValuesImuReceived: {
+
+            // Update values
+            filteredIMUValues.roll = values.roll
+            filteredIMUValues.pitch = values.pitch
+            filteredIMUValues.yaw = values.yaw
+            filteredIMUValues.accX = (filteredIMUValues.accX * .98) + (values.accX * .02)
+            filteredIMUValues.accY = (filteredIMUValues.accY * .98) + (values.accY * .02)
+            filteredIMUValues.accZ = (filteredIMUValues.accZ * .98) + (values.accZ * .02)
+            filteredIMUValues.gyroX = (filteredIMUValues.gyroX * .99) + (values.gyroX * .01)
+            filteredIMUValues.gyroY = (filteredIMUValues.gyroY * .99) + (values.gyroY * .01)
+            filteredIMUValues.gyroZ = (filteredIMUValues.gyroZ * .99) + (values.gyroZ * .01)
+            filteredIMUValues = filteredIMUValues // Spam UI refreshes lol
+
+            // Update peak accel values
+            maxAccelValues.x = Math.max(maxAccelValues.x, filteredIMUValues.accX)
+            maxAccelValues.y = Math.max(maxAccelValues.y, filteredIMUValues.accY)
+            maxAccelValues.z = Math.max(maxAccelValues.z, filteredIMUValues.accZ)
+            maxAccelValues = maxAccelValues
+
+            // Search for reccomended yaw offset
+            var currentMaxPitch = getPitchForYawOffset(calculatedYawOffset)
+            if(getPitchForYawOffset(calculatedYawOffset + 0.261799387798) > currentMaxPitch){
+                calculatedYawOffset += 0.261799387798
+            }else if (getPitchForYawOffset(calculatedYawOffset - 0.261799387798) > currentMaxPitch){
+                calculatedYawOffset -= 0.261799387798
+            }
+            if(calculatedYawOffset > pi){
+                calculatedYawOffset = -pi
+            }else if(calculatedYawOffset < -pi){
+                calculatedYawOffset = pi
+            }
+
+            // Only detect a working IMU once, and leave value at true forever (This can be fooled, idk').
+            if(workingIMU == false && values.accZ !== 0 && values.accZ !== filteredIMUValues.accZ){
+                workingIMU = true
+            }
+        }
+    }
+
+
+
+    Dialog{
+        id: dialog
+        modal: true
+        focus: true
+        visible: false
+        property bool isHorizontal: width > height
+        width: parent.width - 10 - notchLeft - notchRight
+        height: parent.height - 10 - notchBot - notchTop
+        closePolicy: Popup.NoAutoClose
+        x: 5 + notchLeft
+        y: 5 + notchTop
+        parent: dialogParent
+        bottomMargin: 0
+        rightMargin: 0
+        padding: 10
+        Overlay.modal: Rectangle {
+            color: "#AA000000"
+        }
+
+        StackLayout {
+            width: parent.width
+            height: parent.height
+            id: stackLayout
+            currentIndex: 0
+        onCurrentIndexChanged: {tabBar.currentIndex = currentIndex}
+
+            Item{// Welcome Screen #0
+                width: parent.width
+                height: parent.height
+
+                ColumnLayout {
+                    width: parent.width
+                    height: parent.height
+                    Text {
+                        id: welcomeText1
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        font.bold: true
+                        font.underline: true
+                        font.pointSize: 20
+                        wrapMode: Text.Wrap
+                        horizontalAlignment: Text.AlignHCenter
+                        Layout.preferredWidth: parent.width
+                        text: "IMU Calibration wizard"
+                    }// Text
+                    Text {
+                        id: welcomeText2
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        wrapMode: Text.Wrap
+                        font.pointSize: 10
+                        Layout.preferredWidth: parent.width
+                        text: (workingIMU) ? "Valid IMU detected." : "Unable to read from IMU, please check your IMU Settings."
+                    }
+                    Text {
+                        id: welcomeText3
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        wrapMode: Text.Wrap
+                        font.pointSize: 10
+                        Layout.preferredWidth: parent.width
+                        text: "Choose a task:"
+                    }
+                    Button {
+                        id: gyroCalibrationButton
+                        Layout.fillWidth: true
+                        Layout.preferredWidth: 500
+                        text: "Gyroscope Calibration"
+                        flat: false
+
+                        onClicked: {
+                            stackLayout.currentIndex = pages.gyro
+                        }
+                    }
+                    Button {
+                        id: accelerometerCalibrationButton
+                        Layout.fillWidth: true
+                        Layout.preferredWidth: 500
+                        text: "Accelerometer Calibration"
+                        flat: false
+
+                        onClicked: {
+                            maxAccelValues.x = -10
+                            maxAccelValues.y = -10
+                            maxAccelValues.z = -10
+                            stackLayout.currentIndex = pages.accelerometerX
+                        }
+                    }
+                    Button {
+                        id: orientationCalibrationButton
+                        Layout.fillWidth: true
+                        Layout.preferredWidth: 500
+                        text: "Orientation Calibration"
+                        flat: false
+
+                        onClicked: {
+                            stackLayout.currentIndex = pages.orientationRoll
+                        }
+                    }
+                }//Column Layout
+            }//Item (Welcome Screen)
+
+            Item{// Gyro Calibration #1
+                width: parent.width
+                height: parent.height
+
+                ColumnLayout {
+                    width: parent.width
+                    height: parent.height
+                    Text {
+                        id: gyroText1
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        font.bold: true
+                        font.underline: true
+                        font.pointSize: 20
+                        wrapMode: Text.Wrap
+                        horizontalAlignment: Text.AlignHCenter
+                        Layout.preferredWidth: parent.width
+                        text: "Gyroscope calibration"
+                    }// Text
+                    Text {
+                        id: gyroText2
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        wrapMode: Text.Wrap
+                        font.pointSize: 10
+                        Layout.preferredWidth: parent.width
+                        text: "To find the gyroscope offsets, " +
+                        "the IMU must be left in a stable position without any vibration. " +
+                        "However any orientation is acceptable.\n\n" +
+                        "Wait for the offsets to stabilize then hit 'SAVE'."
+                    }// Text
+                    Text {
+                        id: gyroText3
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        wrapMode: Text.Wrap
+                        Layout.preferredWidth: parent.width
+                        text:"X Offset: " + filteredIMUValues.gyroX.toFixed(2) +
+                        "\nY Offset: " + filteredIMUValues.gyroY.toFixed(2) +
+                        "\nZ Offset: " + filteredIMUValues.gyroZ.toFixed(2)
+                    }// Text
+                }// Column Layout
+            }// Item (Gyro Calibration)
+
+            Item{// Accel X Calibration #2
+                width: parent.width
+                height: parent.height
+
+                ColumnLayout {
+                    width: parent.width
+                    height: parent.height
+                    Text {
+                        id: accelXText1
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        font.bold: true
+                        font.underline: true
+                        font.pointSize: 20
+                        wrapMode: Text.Wrap
+                        horizontalAlignment: Text.AlignHCenter
+                        Layout.preferredWidth: parent.width
+                        text: "Accel X calibration"
+                    }// Text
+                    Text {
+                        id: accelXText2
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        font.pointSize: 10
+                        wrapMode: Text.Wrap
+                        Layout.preferredWidth: parent.width
+                        text: "To find the accelerometer offsets, " +
+                        "the IMU must be must be rotated to the max value for all 3 axes. " +
+                        "Avoid sharp movements & bumping the IMU to keep the reading stable. " +
+                        "If you've overshot the reading, hit the 'Clear Max' button to reset the reading. " +
+                        "\n\nAfter finding a stable max X value, hit 'SAVE' to continue.\n"
+                    }// Text
+                    Text {
+                        id: accelXText3
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        wrapMode: Text.Wrap
+                        Layout.preferredWidth: parent.width
+                        text: "X:\t" + filteredIMUValues.accX.toFixed(3) +
+                        "\nMax X:\t" + maxAccelValues.x.toFixed(3)
+                    }// Text
+                    RowLayout {
+                        width: parent.width
+                        height: parent.height
+
+                        Button {
+                            id: clearAccelXButton
+                            Layout.fillWidth: true
+                            Layout.preferredWidth: 500
+                            text: "Clear Max"
+                            flat: true
+
+                            onClicked: {
+                                // Scale down filtered value so it looks like something happened
+                                filteredIMUValues.accX = filteredIMUValues.accX * .9
+                                maxAccelValues.x = -10.0
+                            }
+                        }// Button clear
+                        Button {
+                            id: skipAccelXButton
+                            Layout.fillWidth: true
+                            Layout.preferredWidth: 500
+                            text: "Skip"
+                            flat: true
+
+                            onClicked: {
+                                stackLayout.currentIndex = pages.accelerometerY
+                            }
+                        }// Button
+                    }
+                }// Column Layout
+            }// Item (Accel X Calibration)
+
+            Item{// Accel Y Calibration #3
+                width: parent.width
+                height: parent.height
+
+                ColumnLayout {
+                    width: parent.width
+                    height: parent.height
+                    Text {
+                        id: accelYText1
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        font.bold: true
+                        font.underline: true
+                        font.pointSize: 20
+                        wrapMode: Text.Wrap
+                        horizontalAlignment: Text.AlignHCenter
+                        Layout.preferredWidth: parent.width
+                        text: "Accel Y calibration"
+                    }// Text
+                    Text {
+                        id: accelYText2
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        font.pointSize: 10
+                        wrapMode: Text.Wrap
+                        Layout.preferredWidth: parent.width
+                        text: "To find the accelerometer offsets, " +
+                        "the IMU must be must be rotated to the max value for all 3 axes. " +
+                        "Avoid sharp movements & bumping the IMU to keep the reading stable. " +
+                        "If you've overshot the reading, hit the 'Clear Max' button to reset the reading. " +
+                        "\n\nAfter finding a stable max Y value, hit 'SAVE' to continue.\n"
+                    }// Text
+                    Text {
+                        id: accelYText3
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        wrapMode: Text.Wrap
+                        Layout.preferredWidth: parent.width
+                        text: "Y:\t" + filteredIMUValues.accY.toFixed(3) +
+                        "\nMax Y:\t" + maxAccelValues.y.toFixed(3)
+                    }// Text
+                    RowLayout {
+                        width: parent.width
+                        height: parent.height
+
+                        Button {
+                            id: clearAccelYButton
+                            Layout.fillWidth: true
+                            Layout.preferredWidth: 500
+                            text: "Clear Max"
+                            flat: true
+
+                            onClicked: {
+                                // Scale down filtered value so it looks like something happened
+                                filteredIMUValues.accY = filteredIMUValues.accY * .9
+                                maxAccelValues.y = -10.0
+                            }
+                        }// Button clear
+                        Button {
+                            id: skipAccelYButton
+                            Layout.fillWidth: true
+                            Layout.preferredWidth: 500
+                            text: "Skip"
+                            flat: true
+
+                            onClicked: {
+                                stackLayout.currentIndex = pages.accelerometerZ
+                            }
+                        }// Button
+                    }
+                }// Column Layout
+            }// Item (Accel Y Calibration)
+
+            Item{// Accel Z Calibration #4
+                width: parent.width
+                height: parent.height
+
+                ColumnLayout {
+                    width: parent.width
+                    height: parent.height
+                    Text {
+                        id: accelZText1
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        font.bold: true
+                        font.underline: true
+                        font.pointSize: 20
+                        wrapMode: Text.Wrap
+                        horizontalAlignment: Text.AlignHCenter
+                        Layout.preferredWidth: parent.width
+                        text: "Accel Z calibration"
+                    }// Text
+                    Text {
+                        id: accelZText2
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        font.pointSize: 10
+                        wrapMode: Text.Wrap
+                        Layout.preferredWidth: parent.width
+                        text: "To find the accelerometer offsets, " +
+                        "the IMU must be must be rotated to the max value for all 3 axes. " +
+                        "Avoid sharp movements & bumping the IMU to keep the reading stable. " +
+                        "If you've overshot the reading, hit the 'Clear Max' button to reset the reading. " +
+                        "\n\nAfter finding a stable max Z value, hit 'SAVE' to continue.\n"
+                    }// Text
+                    Text {
+                        id: accelZText3
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        wrapMode: Text.Wrap
+                        Layout.preferredWidth: parent.width
+                        text: "Z:\t" + filteredIMUValues.accZ.toFixed(3) +
+                        "\nMax Z:\t" + maxAccelValues.z.toFixed(3)
+                    }// Text
+                    RowLayout {
+                        width: parent.width
+                        height: parent.height
+
+                        Button {
+                            id: clearAccelZButton
+                            Layout.fillWidth: true
+                            Layout.preferredWidth: 500
+                            text: "Clear Max"
+                            flat: true
+
+                            onClicked: {
+                                // Scale down filtered value so it looks like something happened
+                                filteredIMUValues.accZ = filteredIMUValues.accZ * .9
+                                maxAccelValues.z = -10.0
+                            }
+                        }// Button clear
+                        Button {
+                            id: skipAccelZButton
+                            Layout.fillWidth: true
+                            Layout.preferredWidth: 500
+                            text: "Skip"
+                            flat: true
+
+                            onClicked: {
+                                stackLayout.currentIndex = pages.menu
+                            }
+                        }// Button
+                    }
+                }// Column Layout
+            }// Item (Accel Z Calibration)
+
+            Item{// roll Callibration #5
+                width: parent.width
+                height: parent.height
+
+                ColumnLayout {
+                    width: parent.width
+                    height: parent.height
+                    Text {
+                        id: rollText1
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        font.bold: true
+                        font.underline: true
+                        font.pointSize: 20
+                        wrapMode: Text.Wrap
+                        horizontalAlignment: Text.AlignHCenter
+                        Layout.preferredWidth: parent.width
+                        text: "Roll Angle Calibration"
+                    }// Text
+                    Text {
+                        id: rollText2
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        wrapMode: Text.Wrap
+                        font.pointSize: 10
+                        Layout.preferredWidth: parent.width
+                        text: "To calibrate the roll angle, " +
+                        "place the IMU on a flat stable surface, " +
+                        "with both the pitch & roll angles leveled out.\n\n" +
+                        "Wait for the offset to stabilize then hit 'SAVE'."
+                    }// Text
+                    Text {
+                        id: rollText3
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        wrapMode: Text.Wrap
+                        Layout.preferredWidth: parent.width
+                        text: "Roll Offset: " + (filteredIMUValues.roll * 180.0/pi).toFixed(2)
+                    }// Text
+
+                    Button {
+                        id: skipRollButton
+                        Layout.fillWidth: true
+                        text: "Skip"
+                        flat: true
+
+                        onClicked: {
+                            stackLayout.currentIndex = pages.orientationPitch
+                        }
+                    }// Button
+                }// Column Layout
+            }// Item (roll Calibration)
+
+            Item{// pitch Callibration #6
+                width: parent.width
+                height: parent.height
+
+                ColumnLayout {
+                    width: parent.width
+                    height: parent.height
+                    Text {
+                        id: pitchText1
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        font.bold: true
+                        font.underline: true
+                        font.pointSize: 20
+                        wrapMode: Text.Wrap
+                        horizontalAlignment: Text.AlignHCenter
+                        Layout.preferredWidth: parent.width
+                        text: "Pitch Angle Calibration"
+                    }// Text
+                    Text {
+                        id: pitchText2
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        wrapMode: Text.Wrap
+                        font.pointSize: 10
+                        Layout.preferredWidth: parent.width
+                        text: "To calibrate the pitch angle, " +
+                        "place the IMU on a flat stable surface, " +
+                        "with both the pitch & roll angles leveled out.\n\n" +
+                        "Wait for the offset to stabilize then hit 'SAVE'."
+                    }// Text
+                    Text {
+                        id: pitchText3
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        wrapMode: Text.Wrap
+                        Layout.preferredWidth: parent.width
+                        text: "Pitch Offset: " + (filteredIMUValues.pitch * 180.0/pi).toFixed(2)
+                    }// Text
+                    Button {
+                        id: skipPitchButton
+                        Layout.fillWidth: true
+                        text: "Skip"
+                        flat: true
+
+                        onClicked: {
+                            stackLayout.currentIndex = pages.orientationYaw
+                        }
+                    }// Button
+                }// Column Layout
+            }// Item (pitch Calibration)
+
+            Item{// yaw Callibration #7
+                width: parent.width
+                height: parent.height
+
+                ColumnLayout {
+                    width: parent.width
+                    height: parent.height
+                    Text {
+                        id: yawText1
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        font.bold: true
+                        font.underline: true
+                        font.pointSize: 20
+                        wrapMode: Text.Wrap
+                        horizontalAlignment: Text.AlignHCenter
+                        Layout.preferredWidth: parent.width
+                        text: "Yaw Angle Calibration"
+                    }// Text
+                    Text {
+                        id: yawText2
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        wrapMode: Text.Wrap
+                        font.pointSize: 10
+                        Layout.preferredWidth: parent.width
+                        text: "To calculate the yaw orientation, " +
+                        "place the IMU on a stable surface, " +
+                        "with roll angle leveled out, and the pitch angle raised to roughly 45 degrees.\n\n" +
+                        "Wait for the offset to stabilize then hit 'SAVE'."
+                    }// Text
+                    Text {
+                        id: yawText3
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        wrapMode: Text.Wrap
+                        Layout.preferredWidth: parent.width
+                        text: "Yaw Offset: " + (calculatedYawOffset * 180.0/pi).toFixed(2)
+                    }// Text
+                    Button {
+                        id: skipYawButton
+                        Layout.fillWidth: true
+                        text: "Skip"
+                        flat: true
+
+                        onClicked: {
+                            stackLayout.currentIndex = pages.menu
+                        }
+                    }// Button
+                }// Column Layout
+            }// Item (yaw Calibration)
+
+        }
+
+//        header: Rectangle {
+//            color: {
+//                color = Utility.getAppHexColor("lightText")
+//            }
+//            height: tabBar.implicitHeight
+//            width: parent.width
+//        }//Header
+
+        footer: RowLayout {
+            spacing: 0
+            Button {
+                id: prevButton
+                Layout.fillWidth: true
+                Layout.preferredWidth: 500
+                text: "Cancel"
+                flat: true
+
+                onClicked: {
+                    if (stackLayout.currentIndex === pages.menu) {
+                        dialog.close()
+                        openTimer.stop()
+                    } else {
+                        stackLayout.currentIndex = pages.menu
+                    }
+                }
+            }
+
+            Button {
+                id: nextButton
+                Layout.fillWidth: true
+                Layout.preferredWidth: 500
+                text: "Save"
+                flat: true
+                visible: (stackLayout.currentIndex != 0) ? true : false
+
+                onClicked: {
+                    if(stackLayout.currentIndex === pages.gyro){
+                        // Save Gyro Offsets
+                        mAppConf.updateParamDouble(
+                        "imu_conf.gyro_offsets__0",
+                        (mAppConf.getParamDouble("imu_conf.gyro_offsets__0") + filteredIMUValues.gyroX),
+                        null
+                        )
+                        mAppConf.updateParamDouble(
+                        "imu_conf.gyro_offsets__1",
+                        (mAppConf.getParamDouble("imu_conf.gyro_offsets__1") + filteredIMUValues.gyroY),
+                        null
+                        )
+                        mAppConf.updateParamDouble(
+                        "imu_conf.gyro_offsets__2",
+                        (mAppConf.getParamDouble("imu_conf.gyro_offsets__2") + filteredIMUValues.gyroZ),
+                        null
+                        )
+
+                        mCommands.setAppConf()
+                        stackLayout.currentIndex = pages.menu
+
+                    }else if(stackLayout.currentIndex === pages.accelerometerX){
+                        // Save Accelerometer Offset
+                        mAppConf.updateParamDouble(
+                        "imu_conf.accel_offsets__0",
+                        (mAppConf.getParamDouble("imu_conf.accel_offsets__0") + maxAccelValues.x -1),
+                        null
+                        )
+                        mCommands.setAppConf()
+                        stackLayout.currentIndex = pages.accelerometerY
+                    }else if(stackLayout.currentIndex === pages.accelerometerY){
+                        // Save Accelerometer Offset
+                        mAppConf.updateParamDouble(
+                        "imu_conf.accel_offsets__1",
+                        (mAppConf.getParamDouble("imu_conf.accel_offsets__1") + maxAccelValues.y -1),
+                        null
+                        )
+                        mCommands.setAppConf()
+                        stackLayout.currentIndex = pages.accelerometerZ
+                    }else if(stackLayout.currentIndex === pages.accelerometerZ){
+                        // Save Accelerometer Offset
+                        mAppConf.updateParamDouble(
+                        "imu_conf.accel_offsets__2",
+                        (mAppConf.getParamDouble("imu_conf.accel_offsets__2") + maxAccelValues.z -1),
+                        null
+                        )
+                        mCommands.setAppConf()
+                        stackLayout.currentIndex = pages.menu
+                    }else if(stackLayout.currentIndex === pages.orientationRoll){
+                        var roll = -filteredIMUValues.roll
+                        mAppConf.updateParamDouble(
+                        "imu_conf.rot_roll",
+                        (mAppConf.getParamDouble("imu_conf.rot_roll") + (roll * 180.0/pi)),
+                        null
+                        )
+                        var yawRotation = mAppConf.getParamDouble("imu_conf.rot_yaw") * pi/180
+                        var pitchRotation = mAppConf.getParamDouble("imu_conf.rot_pitch") * pi/180
+                        applyRotationToCalibrationConfig(0, 0, -yawRotation)
+                        applyRotationToCalibrationConfig(0, -pitchRotation, 0)
+                        applyRotationToCalibrationConfig(roll, 0, 0)
+                        applyRotationToCalibrationConfig(0, pitchRotation, 0)
+                        applyRotationToCalibrationConfig(0, 0, yawRotation)
+
+                        mCommands.setAppConf()
+                        stackLayout.currentIndex = pages.orientationPitch
+                    }else if(stackLayout.currentIndex === pages.orientationPitch){
+                        var pitch = filteredIMUValues.pitch
+                        mAppConf.updateParamDouble(
+                        "imu_conf.rot_pitch",
+                        (mAppConf.getParamDouble("imu_conf.rot_pitch") + (pitch * 180.0/pi)),
+                        null
+                        )
+
+                        var yawRotation = mAppConf.getParamDouble("imu_conf.rot_yaw") * pi/180
+                        applyRotationToCalibrationConfig(0, 0, -yawRotation)
+                        applyRotationToCalibrationConfig(0, pitch, 0)
+                        applyRotationToCalibrationConfig(0, 0, yawRotation)
+
+                        mCommands.setAppConf()
+                        stackLayout.currentIndex = pages.orientationYaw
+                    }else if(stackLayout.currentIndex === pages.orientationYaw){
+                        var yaw = calculatedYawOffset
+                        mAppConf.updateParamDouble(
+                        "imu_conf.rot_yaw",
+                        (mAppConf.getParamDouble("imu_conf.rot_yaw") + (yaw * 180.0/pi)),
+                        null
+                        )
+                        applyRotationToCalibrationConfig(0, 0, yaw)
+
+                        mCommands.setAppConf()
+                        stackLayout.currentIndex = pages.menu
+                    }else{
+                        stackLayout.currentIndex = pages.menu
+                    }
+                    // updateButtonText()
+                }
+            }
+        }//Footer
+
+
+    }//Dialog
+
+    function applyRotationToCalibrationConfig(roll, pitch, yaw){
+        // Calculate sin & cos
+        var s1, c1, s2, c2, s3, c3
+
+        if (yaw !== 0.0) {
+            s1 = Math.sin(yaw)
+            c1 = Math.cos(yaw)
+        } else {
+            s1 = 0.0
+            c1 = 1.0
+        }
+
+        if (pitch !== 0.0) {
+            s2 = Math.sin(pitch)
+            c2 = Math.cos(pitch)
+        } else {
+            s2 = 0.0
+            c2 = 1.0
+        }
+
+        if (roll !== 0.0) {
+            s3 = Math.sin(roll)
+            c3 = Math.cos(roll)
+        } else {
+            s3 = 0.0
+            c3 = 1.0
+        }
+
+        // Create rotation matrix
+        var m11 = c1 * c2
+        var m12 = c1 * s2 * s3 - c3 * s1
+        var m13 = s1 * s3 + c1 * c3 * s2
+
+        var m21 = c2 * s1
+        var m22 = c1 * c3 + s1 * s2 * s3
+        var m23 = c3 * s1 * s2 - c1 * s3
+
+        var m31 = -s2
+        var m32 = c2 * s3
+        var m33 = c2 * c3
+
+        // Read current calibration
+        var offsetGyroX = mAppConf.getParamDouble("imu_conf.gyro_offsets__0")
+        var offsetGyroY = mAppConf.getParamDouble("imu_conf.gyro_offsets__1")
+        var offsetGyroZ = mAppConf.getParamDouble("imu_conf.gyro_offsets__2")
+
+        var offsetAccelX = mAppConf.getParamDouble("imu_conf.accel_offsets__0")
+        var offsetAccelY = mAppConf.getParamDouble("imu_conf.accel_offsets__1")
+        var offsetAccelZ = mAppConf.getParamDouble("imu_conf.accel_offsets__2")
+
+        // Calculate rotated calibration
+        var rotatedOffsetGyroX = offsetGyroX * m11 + offsetGyroY * m12 + offsetGyroZ * m13;
+        var rotatedOffsetGyroY = offsetGyroX * m21 + offsetGyroY * m22 + offsetGyroZ * m23;
+        var rotatedOffsetGyroZ = offsetGyroX * m31 + offsetGyroY * m32 + offsetGyroZ * m33;
+
+        var rotatedOffsetAccelX = offsetAccelX * m11 + offsetAccelY * m12 + offsetAccelZ * m13;
+        var rotatedOffsetAccelY = offsetAccelX * m21 + offsetAccelY * m22 + offsetAccelZ * m23;
+        var rotatedOffsetAccelZ = offsetAccelX * m31 + offsetAccelY * m32 + offsetAccelZ * m33;
+
+        // Update settings
+        mAppConf.updateParamDouble("imu_conf.gyro_offsets__0", rotatedOffsetGyroX, null)
+        mAppConf.updateParamDouble("imu_conf.gyro_offsets__1", rotatedOffsetGyroY, null)
+        mAppConf.updateParamDouble("imu_conf.gyro_offsets__2", rotatedOffsetGyroZ, null)
+
+        mAppConf.updateParamDouble("imu_conf.accel_offsets__0", rotatedOffsetAccelX, null)
+        mAppConf.updateParamDouble("imu_conf.accel_offsets__1", rotatedOffsetAccelY, null)
+        mAppConf.updateParamDouble("imu_conf.accel_offsets__2", rotatedOffsetAccelZ, null)
+    }
+
+    function getPitchForYawOffset(yaw){
+        var roll = 0
+        var pitch = 0
+
+        // Calculate sin & cos
+        var s1, c1, s2, c2, s3, c3
+
+        if (yaw !== 0.0) {
+            s1 = Math.sin(yaw)
+            c1 = Math.cos(yaw)
+        } else {
+            s1 = 0.0
+            c1 = 1.0
+        }
+
+        if (pitch !== 0.0) {
+            s2 = Math.sin(pitch)
+            c2 = Math.cos(pitch)
+        } else {
+            s2 = 0.0
+            c2 = 1.0
+        }
+
+        if (roll !== 0.0) {
+            s3 = Math.sin(roll)
+            c3 = Math.cos(roll)
+        } else {
+            s3 = 0.0
+            c3 = 1.0
+        }
+
+        // Create rotation matrix
+        var m11 = c1 * c2
+        var m12 = c1 * s2 * s3 - c3 * s1
+        var m13 = s1 * s3 + c1 * c3 * s2
+
+        var m21 = c2 * s1
+        var m22 = c1 * c3 + s1 * s2 * s3
+        var m23 = c3 * s1 * s2 - c1 * s3
+
+        var m31 = -s2
+        var m32 = c2 * s3
+        var m33 = c2 * c3
+
+        // Apply rotation to calibrations
+        var rotatedRoll  = filteredIMUValues.roll * m11 + filteredIMUValues.pitch * m12 + filteredIMUValues.yaw * m13;
+        var rotatedPitch = filteredIMUValues.roll * m21 + filteredIMUValues.pitch * m22 + filteredIMUValues.yaw * m23;
+        var rotatedYaw   = filteredIMUValues.roll * m31 + filteredIMUValues.pitch * m32 + filteredIMUValues.yaw * m33;
+
+        return rotatedPitch
+    }
+
+}//Item
+
diff --git a/mobile/StartPage.qml b/mobile/StartPage.qml
index 911af44cf..82bfa71b8 100644
--- a/mobile/StartPage.qml
+++ b/mobile/StartPage.qml
@@ -163,6 +163,26 @@ Item {
                         }
                     }
 
+                    ImageButton {
+                        Layout.fillWidth: true
+                        Layout.fillHeight: true
+                        Layout.preferredWidth: 500
+                        Layout.preferredHeight: 80
+
+                        buttonText: "Setup\nIMU"
+                        imageSrc: "qrc" + Utility.getThemePath() + "icons/imu_off.png"
+
+                        onClicked: {
+                            if (!VescIf.isPortConnected()) {
+                                VescIf.emitMessageDialog("IMU Setup Wizard",
+                                                         "You are not connected to the VESC. Please connect in order " +
+                                                         "to run this wizard.", false, false)
+                            } else {
+                                wizardIMU.openDialog()
+                            }
+                        }
+                    }
+
                     NrfPair {
                         id: nrfPair
                         Layout.fillWidth: true
@@ -341,6 +361,10 @@ Item {
         id: bleSetupDialog
     }
 
+    SetupWizardIMU {
+        id: wizardIMU
+    }
+
     Connections {
         target: mCommands
 
diff --git a/mobile/qml.qrc b/mobile/qml.qrc
index cfad1207d..99943bc71 100644
--- a/mobile/qml.qrc
+++ b/mobile/qml.qrc
@@ -43,7 +43,6 @@
         <file>Vesc3DView.qml</file>
         <file>DirectoryPicker.qml</file>
         <file>Settings.qml</file>
-        <file>DetectIMU.qml</file>
         <file>RtDataBalance.qml</file>
         <file>RtDataIMU.qml</file>
         <file>BMS.qml</file>
@@ -60,5 +59,6 @@
         <file>ConfigPageCustom.qml</file>
         <file>TcpHubBox.qml</file>
         <file>Packages.qml</file>
+        <file>SetupWizardIMU.qml</file>
     </qresource>
 </RCC>
diff --git a/pages/pageappimu.cpp b/pages/pageappimu.cpp
index 7d2e92e57..b1478bcf8 100644
--- a/pages/pageappimu.cpp
+++ b/pages/pageappimu.cpp
@@ -143,7 +143,6 @@ void PageAppImu::setVesc(VescInterface *vesc)
     mVesc = vesc;
 
     if (mVesc) {
-        ui->detectIMU->setVesc(mVesc);
         reloadParams();
 
         connect(mVesc->commands(), SIGNAL(valuesImuReceived(IMU_VALUES,uint)),
diff --git a/pages/pageappimu.ui b/pages/pageappimu.ui
index bf4b996bc..ae295a196 100644
--- a/pages/pageappimu.ui
+++ b/pages/pageappimu.ui
@@ -63,28 +63,6 @@
            </item>
           </layout>
          </widget>
-         <widget class="QWidget" name="tab_4">
-          <attribute name="title">
-           <string>Detect Calibration</string>
-          </attribute>
-          <layout class="QVBoxLayout" name="verticalLayout_6">
-           <property name="leftMargin">
-            <number>3</number>
-           </property>
-           <property name="topMargin">
-            <number>3</number>
-           </property>
-           <property name="rightMargin">
-            <number>3</number>
-           </property>
-           <property name="bottomMargin">
-            <number>3</number>
-           </property>
-           <item>
-            <widget class="DetectIMU" name="detectIMU" native="true"/>
-           </item>
-          </layout>
-         </widget>
         </widget>
        </item>
        <item>
@@ -110,12 +88,6 @@
    <header>widgets/qcustomplot.h</header>
    <container>1</container>
   </customwidget>
-  <customwidget>
-   <class>DetectIMU</class>
-   <extends>QWidget</extends>
-   <header location="global">widgets/detectimu.h</header>
-   <container>1</container>
-  </customwidget>
  </customwidgets>
  <resources/>
  <connections/>
diff --git a/pages/pagewelcome.cpp b/pages/pagewelcome.cpp
index 83e18a563..2cdf15eb3 100755
--- a/pages/pagewelcome.cpp
+++ b/pages/pagewelcome.cpp
@@ -130,3 +130,9 @@ void PageWelcome::on_setupBluetoothButton_clicked()
 {
     QMetaObject::invokeMethod(ui->qmlWidget->rootObject(), "openBleSetup");
 }
+
+void PageWelcome::on_wizardIMUButton_clicked()
+{
+    QMetaObject::invokeMethod(ui->qmlWidget->rootObject(), "openWizardIMU");
+}
+
diff --git a/pages/pagewelcome.h b/pages/pagewelcome.h
index a58afbfd3..15bf1feb4 100644
--- a/pages/pagewelcome.h
+++ b/pages/pagewelcome.h
@@ -50,6 +50,7 @@ private slots:
     void on_autoConnectButton_clicked();
     void on_nrfPairButton_clicked();
     void on_setupBluetoothButton_clicked();
+    void on_wizardIMUButton_clicked();
 
 private:
     Ui::PageWelcome *ui;
diff --git a/pages/pagewelcome.ui b/pages/pagewelcome.ui
index 30720cb41..e47a1448a 100644
--- a/pages/pagewelcome.ui
+++ b/pages/pagewelcome.ui
@@ -54,14 +54,14 @@
             <string>Quick Configuration</string>
            </property>
            <layout class="QGridLayout" name="gridLayout">
-            <item row="2" column="0">
-             <widget class="QPushButton" name="multiSettingButton">
+            <item row="2" column="1">
+             <widget class="QPushButton" name="wizardAppButton">
               <property name="text">
-               <string>Multi Settings</string>
+               <string>Setup Input</string>
               </property>
               <property name="icon">
                <iconset resource="../res.qrc">
-                <normaloff>:/res/icons/Settings-96.png</normaloff>:/res/icons/Settings-96.png</iconset>
+                <normaloff>:/res/icons/Wizard-96.png</normaloff>:/res/icons/Wizard-96.png</iconset>
               </property>
               <property name="iconSize">
                <size>
@@ -69,16 +69,19 @@
                 <height>45</height>
                </size>
               </property>
+              <property name="flat">
+               <bool>false</bool>
+              </property>
              </widget>
             </item>
             <item row="3" column="0">
-             <widget class="QPushButton" name="setupBluetoothButton">
+             <widget class="QPushButton" name="multiSettingButton">
               <property name="text">
-               <string>Setup Bluetooth Module</string>
+               <string>Multi Settings</string>
               </property>
               <property name="icon">
                <iconset resource="../res.qrc">
-                <normaloff>:/res/icons/bluetooth.png</normaloff>:/res/icons/bluetooth.png</iconset>
+                <normaloff>:/res/icons/Settings-96.png</normaloff>:/res/icons/Settings-96.png</iconset>
               </property>
               <property name="iconSize">
                <size>
@@ -88,7 +91,7 @@
               </property>
              </widget>
             </item>
-            <item row="3" column="1">
+            <item row="4" column="1">
              <widget class="QPushButton" name="invertDirButton">
               <property name="text">
                <string>Invert Motor Directions</string>
@@ -105,7 +108,24 @@
               </property>
              </widget>
             </item>
-            <item row="2" column="1">
+            <item row="4" column="0">
+             <widget class="QPushButton" name="setupBluetoothButton">
+              <property name="text">
+               <string>Setup Bluetooth Module</string>
+              </property>
+              <property name="icon">
+               <iconset resource="../res.qrc">
+                <normaloff>:/res/icons/bluetooth.png</normaloff>:/res/icons/bluetooth.png</iconset>
+              </property>
+              <property name="iconSize">
+               <size>
+                <width>45</width>
+                <height>45</height>
+               </size>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="1">
              <widget class="QPushButton" name="nrfPairButton">
               <property name="text">
                <string>NRF Quick Pair</string>
@@ -122,14 +142,17 @@
               </property>
              </widget>
             </item>
-            <item row="1" column="1">
-             <widget class="QPushButton" name="wizardAppButton">
+            <item row="0" column="0">
+             <widget class="QPushButton" name="autoConnectButton">
+              <property name="toolTip">
+               <string>Automatically connect to the VESC using the USB connection.</string>
+              </property>
               <property name="text">
-               <string>Setup Input</string>
+               <string>AutoConnect</string>
               </property>
               <property name="icon">
                <iconset resource="../res.qrc">
-                <normaloff>:/res/icons/Wizard-96.png</normaloff>:/res/icons/Wizard-96.png</iconset>
+                <normaloff>:/res/icons/Connected-96.png</normaloff>:/res/icons/Connected-96.png</iconset>
               </property>
               <property name="iconSize">
                <size>
@@ -137,12 +160,9 @@
                 <height>45</height>
                </size>
               </property>
-              <property name="flat">
-               <bool>false</bool>
-              </property>
              </widget>
             </item>
-            <item row="1" column="0">
+            <item row="0" column="1">
              <widget class="QPushButton" name="wizardFocSimpleButton">
               <property name="toolTip">
                <string>Simple FOC setup for all VESCs on CAN-bus</string>
@@ -165,17 +185,14 @@
               </property>
              </widget>
             </item>
-            <item row="0" column="0" colspan="2">
-             <widget class="QPushButton" name="autoConnectButton">
-              <property name="toolTip">
-               <string>Automatically connect to the VESC using the USB connection.</string>
-              </property>
+            <item row="2" column="0">
+             <widget class="QPushButton" name="wizardIMUButton">
               <property name="text">
-               <string>AutoConnect</string>
+               <string>Setup IMU</string>
               </property>
               <property name="icon">
                <iconset resource="../res.qrc">
-                <normaloff>:/res/icons/Connected-96.png</normaloff>:/res/icons/Connected-96.png</iconset>
+                <normaloff>:/res/icons/imu_off.png</normaloff>:/res/icons/imu_off.png</iconset>
               </property>
               <property name="iconSize">
                <size>
diff --git a/res/config/6.00/info.xml b/res/config/6.00/info.xml
index 036cd5cda..8fcc40f56 100644
--- a/res/config/6.00/info.xml
+++ b/res/config/6.00/info.xml
@@ -278,17 +278,6 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Detect the hall sensor table. To do that, the motor is turned slowly in open loop while the hall sensor outputs are sampled. This is done in both directions to get rid of offsets.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine></cDefine>
         </help_foc_hall_detect>
-        <help_imu_calibration>
-            <longName>Detect IMU Calibration </longName>
-            <type>0</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Calibrate the IMU. This will set the curent IMU orientation to level. If your Pitch/Roll axes don't end up in the desired orientation, you can supply a yaw value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine></cDefine>
-        </help_imu_calibration>
         <help_nrf_pair>
             <longName>NRF Pairing</longName>
             <type>0</type>
diff --git a/res/qml/WelcomeQmlPanel.qml b/res/qml/WelcomeQmlPanel.qml
index 4e063a626..0857b2d22 100644
--- a/res/qml/WelcomeQmlPanel.qml
+++ b/res/qml/WelcomeQmlPanel.qml
@@ -74,6 +74,10 @@ Item {
         multiSettings.openDialog()
     }
 
+    function openWizardIMU() {
+        imuWizard.openDialog()
+    }
+
     function openBleSetup() {
         if (!VescIf.isPortConnected()) {
             VescIf.emitMessageDialog("BLE Setup",
@@ -96,6 +100,11 @@ Item {
         dialogParent: container
     }
 
+    SetupWizardIMU {
+        id: imuWizard
+        dialogParent: container
+    }
+
     MultiSettings {
         id: multiSettings
         dialogParent: container
diff --git a/widgets/detectimu.cpp b/widgets/detectimu.cpp
deleted file mode 100644
index c5c322105..000000000
--- a/widgets/detectimu.cpp
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
-    Copyright 2016 - 2017 Benjamin Vedder	benjamin@vedder.se
-
-    This file is part of VESC Tool.
-
-    VESC Tool is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    VESC Tool is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with this program.  If not, see <http://www.gnu.org/licenses/>.
-    */
-
-#include "detectimu.h"
-#include "ui_detectimu.h"
-#include "helpdialog.h"
-#include <QMessageBox>
-#include "utility.h"
-
-DetectIMU::DetectIMU(QWidget *parent) :
-    QWidget(parent),
-    ui(new Ui::DetectIMU)
-{
-    ui->setupUi(this);
-
-    QString theme = Utility::getThemePath();
-    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-    ui->startButton->setIcon(QPixmap(theme + "icons/Circled Play-96.png"));
-    ui->applyButton->setIcon(QPixmap(theme + "icons/apply.png"));
-    layout()->setContentsMargins(0, 0, 0, 0);
-    mVesc = 0;
-}
-
-DetectIMU::~DetectIMU()
-{
-    delete ui;
-}
-
-void DetectIMU::on_helpButton_clicked()
-{
-    if (mVesc) {
-        HelpDialog::showHelp(this, mVesc->infoConfig(), "help_imu_calibration");
-    }
-}
-
-void DetectIMU::on_startButton_clicked()
-{
-    if (mVesc) {
-        QMessageBox::StandardButton reply;
-        reply = QMessageBox::warning(this,
-                                     tr("Detect IMU calibration"),
-                                     tr("Make sure to your vehicle is level and steady."),
-                                     QMessageBox::Ok | QMessageBox::Cancel);
-
-        if (reply == QMessageBox::Ok) {
-            mVesc->commands()->getImuCalibration(ui->yawBox->value());
-        }
-    }
-}
-
-void DetectIMU::on_applyButton_clicked()
-{
-    if (mVesc) {
-        mVesc->appConfig()->updateParamDouble("imu_conf.rot_roll", ui->calRBox->value());
-        mVesc->appConfig()->updateParamDouble("imu_conf.rot_pitch", ui->calPBox->value());
-        mVesc->appConfig()->updateParamDouble("imu_conf.rot_yaw", ui->calYBox->value());
-        mVesc->appConfig()->updateParamDouble("imu_conf.accel_offsets__0", ui->calAXBox->value());
-        mVesc->appConfig()->updateParamDouble("imu_conf.accel_offsets__1", ui->calAYBox->value());
-        mVesc->appConfig()->updateParamDouble("imu_conf.accel_offsets__2", ui->calAZBox->value());
-        mVesc->appConfig()->updateParamDouble("imu_conf.gyro_offsets__0", ui->calGXBox->value());
-        mVesc->appConfig()->updateParamDouble("imu_conf.gyro_offsets__1", ui->calGYBox->value());
-        mVesc->appConfig()->updateParamDouble("imu_conf.gyro_offsets__2", ui->calGZBox->value());
-        mVesc->emitStatusMessage(tr("IMU Parameters Applied"), true);
-    }
-}
-
-VescInterface *DetectIMU::vesc() const
-{
-    return mVesc;
-}
-
-void DetectIMU::setVesc(VescInterface *vesc)
-{
-    mVesc = vesc;
-
-    if (mVesc) {
-        connect(mVesc->commands(), SIGNAL(imuCalibrationReceived(QVector<double>)),
-                this, SLOT(imuCalibrationReceived(QVector<double>)));
-    }
-}
-
-void DetectIMU::imuCalibrationReceived(QVector<double> cal)
-{
-    mVesc->emitStatusMessage(tr("IMU Calibration Result Received"), true);
-    ui->calRBox->setValue(cal.at(0));
-    ui->calPBox->setValue(cal.at(1));
-    ui->calYBox->setValue(cal.at(2));
-    ui->calAXBox->setValue(cal.at(3));
-    ui->calAYBox->setValue(cal.at(4));
-    ui->calAZBox->setValue(cal.at(5));
-    ui->calGXBox->setValue(cal.at(6));
-    ui->calGYBox->setValue(cal.at(7));
-    ui->calGZBox->setValue(cal.at(8));
-}
diff --git a/widgets/detectimu.h b/widgets/detectimu.h
deleted file mode 100644
index 28560ce9d..000000000
--- a/widgets/detectimu.h
+++ /dev/null
@@ -1,53 +0,0 @@
-/*
-    Copyright 2016 - 2017 Benjamin Vedder	benjamin@vedder.se
-
-    This file is part of VESC Tool.
-
-    VESC Tool is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    VESC Tool is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with this program.  If not, see <http://www.gnu.org/licenses/>.
-    */
-
-#ifndef DETECTIMU_H
-#define DETECTIMU_H
-
-#include <QWidget>
-#include "vescinterface.h"
-
-
-namespace Ui {
-class DetectIMU;
-}
-
-class DetectIMU : public QWidget
-{
-    Q_OBJECT
-public:
-    explicit DetectIMU(QWidget *parent = 0);
-    ~DetectIMU();
-
-    VescInterface *vesc() const;
-    void setVesc(VescInterface *vesc);
-private slots:
-    void imuCalibrationReceived(QVector<double> imu_calibration);
-
-    void on_helpButton_clicked();
-    void on_startButton_clicked();
-    void on_applyButton_clicked();
-
-private:
-    Ui::DetectIMU *ui;
-    VescInterface *mVesc;
-
-};
-
-#endif // DETECTIMU_H
diff --git a/widgets/detectimu.ui b/widgets/detectimu.ui
deleted file mode 100644
index 707a17e0c..000000000
--- a/widgets/detectimu.ui
+++ /dev/null
@@ -1,404 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>DetectIMU</class>
- <widget class="QWidget" name="DetectIMU">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>314</width>
-    <height>180</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>Form</string>
-  </property>
-  <layout class="QVBoxLayout" name="verticalLayout">
-   <property name="leftMargin">
-    <number>0</number>
-   </property>
-   <property name="topMargin">
-    <number>0</number>
-   </property>
-   <property name="rightMargin">
-    <number>0</number>
-   </property>
-   <property name="bottomMargin">
-    <number>0</number>
-   </property>
-   <item>
-    <widget class="QGroupBox" name="groupBox">
-     <property name="title">
-      <string>IMU Calibration</string>
-     </property>
-     <layout class="QVBoxLayout" name="verticalLayout_2">
-      <property name="spacing">
-       <number>2</number>
-      </property>
-      <item>
-       <layout class="QHBoxLayout" name="horizontalLayout_2">
-        <property name="spacing">
-         <number>2</number>
-        </property>
-        <item>
-         <widget class="QPushButton" name="helpButton">
-          <property name="sizePolicy">
-           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-            <horstretch>0</horstretch>
-            <verstretch>0</verstretch>
-           </sizepolicy>
-          </property>
-          <property name="toolTip">
-           <string>Show help</string>
-          </property>
-          <property name="text">
-           <string/>
-          </property>
-          <property name="icon">
-           <iconset resource="../res.qrc">
-            <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QDoubleSpinBox" name="yawBox">
-          <property name="toolTip">
-           <string>Yaw offset to be applied to calibration</string>
-          </property>
-          <property name="buttonSymbols">
-           <enum>QAbstractSpinBox::NoButtons</enum>
-          </property>
-          <property name="prefix">
-           <string>Yaw Offset: </string>
-          </property>
-          <property name="suffix">
-           <string>°</string>
-          </property>
-          <property name="minimum">
-           <double>-180.000000000000000</double>
-          </property>
-          <property name="maximum">
-           <double>180.000000000000000</double>
-          </property>
-          <property name="value">
-           <double>0.000000000000000</double>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="startButton">
-          <property name="sizePolicy">
-           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-            <horstretch>0</horstretch>
-            <verstretch>0</verstretch>
-           </sizepolicy>
-          </property>
-          <property name="toolTip">
-           <string>Start calibration</string>
-          </property>
-          <property name="text">
-           <string/>
-          </property>
-          <property name="icon">
-           <iconset resource="../res.qrc">
-            <normaloff>:/res/icons/Circled Play-96.png</normaloff>:/res/icons/Circled Play-96.png</iconset>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="applyButton">
-          <property name="sizePolicy">
-           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-            <horstretch>0</horstretch>
-            <verstretch>0</verstretch>
-           </sizepolicy>
-          </property>
-          <property name="toolTip">
-           <string>Apply calibration result</string>
-          </property>
-          <property name="text">
-           <string/>
-          </property>
-          <property name="icon">
-           <iconset resource="../res.qrc">
-            <normaloff>:/res/icons/apply.png</normaloff>:/res/icons/apply.png</iconset>
-          </property>
-          <property name="iconSize">
-           <size>
-            <width>45</width>
-            <height>16</height>
-           </size>
-          </property>
-         </widget>
-        </item>
-       </layout>
-      </item>
-      <item>
-       <layout class="QHBoxLayout" name="horizontalLayout_4">
-        <property name="spacing">
-         <number>2</number>
-        </property>
-        <item>
-         <widget class="QDoubleSpinBox" name="calRBox">
-          <property name="toolTip">
-           <string>IMU Roll offset</string>
-          </property>
-          <property name="readOnly">
-           <bool>true</bool>
-          </property>
-          <property name="buttonSymbols">
-           <enum>QAbstractSpinBox::NoButtons</enum>
-          </property>
-          <property name="prefix">
-           <string>R: </string>
-          </property>
-          <property name="suffix">
-           <string/>
-          </property>
-          <property name="minimum">
-           <double>-360.000000000000000</double>
-          </property>
-          <property name="maximum">
-           <double>360.000000000000000</double>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QDoubleSpinBox" name="calPBox">
-          <property name="toolTip">
-           <string>IMU Pitch offset</string>
-          </property>
-          <property name="readOnly">
-           <bool>true</bool>
-          </property>
-          <property name="buttonSymbols">
-           <enum>QAbstractSpinBox::NoButtons</enum>
-          </property>
-          <property name="prefix">
-           <string>P:</string>
-          </property>
-          <property name="suffix">
-           <string/>
-          </property>
-          <property name="minimum">
-           <double>-360.000000000000000</double>
-          </property>
-          <property name="maximum">
-           <double>360.000000000000000</double>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QDoubleSpinBox" name="calYBox">
-          <property name="toolTip">
-           <string>IMU Yaw offset</string>
-          </property>
-          <property name="readOnly">
-           <bool>true</bool>
-          </property>
-          <property name="buttonSymbols">
-           <enum>QAbstractSpinBox::NoButtons</enum>
-          </property>
-          <property name="prefix">
-           <string>Y: </string>
-          </property>
-          <property name="suffix">
-           <string/>
-          </property>
-          <property name="minimum">
-           <double>-360.000000000000000</double>
-          </property>
-          <property name="maximum">
-           <double>360.000000000000000</double>
-          </property>
-         </widget>
-        </item>
-       </layout>
-      </item>
-      <item>
-       <layout class="QHBoxLayout" name="horizontalLayout_3">
-        <property name="spacing">
-         <number>2</number>
-        </property>
-        <item>
-         <widget class="QDoubleSpinBox" name="calAXBox">
-          <property name="toolTip">
-           <string>Accel X axis offset</string>
-          </property>
-          <property name="readOnly">
-           <bool>true</bool>
-          </property>
-          <property name="buttonSymbols">
-           <enum>QAbstractSpinBox::NoButtons</enum>
-          </property>
-          <property name="prefix">
-           <string>AX: </string>
-          </property>
-          <property name="suffix">
-           <string/>
-          </property>
-          <property name="minimum">
-           <double>-100.000000000000000</double>
-          </property>
-          <property name="maximum">
-           <double>100.000000000000000</double>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QDoubleSpinBox" name="calAYBox">
-          <property name="toolTip">
-           <string>Accel Y axis offset</string>
-          </property>
-          <property name="readOnly">
-           <bool>true</bool>
-          </property>
-          <property name="buttonSymbols">
-           <enum>QAbstractSpinBox::NoButtons</enum>
-          </property>
-          <property name="prefix">
-           <string>AY: </string>
-          </property>
-          <property name="suffix">
-           <string/>
-          </property>
-          <property name="minimum">
-           <double>-100.000000000000000</double>
-          </property>
-          <property name="maximum">
-           <double>100.000000000000000</double>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QDoubleSpinBox" name="calAZBox">
-          <property name="toolTip">
-           <string>Accel Z axis offset</string>
-          </property>
-          <property name="readOnly">
-           <bool>true</bool>
-          </property>
-          <property name="buttonSymbols">
-           <enum>QAbstractSpinBox::NoButtons</enum>
-          </property>
-          <property name="prefix">
-           <string>AZ: </string>
-          </property>
-          <property name="suffix">
-           <string/>
-          </property>
-          <property name="minimum">
-           <double>-100.000000000000000</double>
-          </property>
-          <property name="maximum">
-           <double>100.000000000000000</double>
-          </property>
-         </widget>
-        </item>
-       </layout>
-      </item>
-      <item>
-       <layout class="QHBoxLayout" name="horizontalLayout">
-        <property name="spacing">
-         <number>2</number>
-        </property>
-        <item>
-         <widget class="QDoubleSpinBox" name="calGXBox">
-          <property name="toolTip">
-           <string>Gyro X axis offset</string>
-          </property>
-          <property name="readOnly">
-           <bool>true</bool>
-          </property>
-          <property name="buttonSymbols">
-           <enum>QAbstractSpinBox::NoButtons</enum>
-          </property>
-          <property name="prefix">
-           <string>GX: </string>
-          </property>
-          <property name="suffix">
-           <string/>
-          </property>
-          <property name="minimum">
-           <double>-100.000000000000000</double>
-          </property>
-          <property name="maximum">
-           <double>100.000000000000000</double>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QDoubleSpinBox" name="calGYBox">
-          <property name="toolTip">
-           <string>Gyro Y axis offset</string>
-          </property>
-          <property name="readOnly">
-           <bool>true</bool>
-          </property>
-          <property name="buttonSymbols">
-           <enum>QAbstractSpinBox::NoButtons</enum>
-          </property>
-          <property name="prefix">
-           <string>GY: </string>
-          </property>
-          <property name="suffix">
-           <string/>
-          </property>
-          <property name="minimum">
-           <double>-100.000000000000000</double>
-          </property>
-          <property name="maximum">
-           <double>100.000000000000000</double>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QDoubleSpinBox" name="calGZBox">
-          <property name="toolTip">
-           <string>Gyro Z axis offset</string>
-          </property>
-          <property name="readOnly">
-           <bool>true</bool>
-          </property>
-          <property name="buttonSymbols">
-           <enum>QAbstractSpinBox::NoButtons</enum>
-          </property>
-          <property name="prefix">
-           <string>GZ: </string>
-          </property>
-          <property name="suffix">
-           <string/>
-          </property>
-          <property name="minimum">
-           <double>-100.000000000000000</double>
-          </property>
-          <property name="maximum">
-           <double>100.000000000000000</double>
-          </property>
-         </widget>
-        </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>
-  </layout>
- </widget>
- <resources>
-  <include location="../res.qrc"/>
- </resources>
- <connections/>
-</ui>
diff --git a/widgets/widgets.pri b/widgets/widgets.pri
index 6a2caa084..73bd60c11 100644
--- a/widgets/widgets.pri
+++ b/widgets/widgets.pri
@@ -11,7 +11,6 @@ FORMS += \
     $$PWD/detectfoc.ui \
     $$PWD/detectfocencoder.ui \
     $$PWD/detectfochall.ui \
-    $$PWD/detectimu.ui \
     $$PWD/ppmmap.ui \
     $$PWD/adcmap.ui \
     $$PWD/nrfpair.ui \
@@ -42,7 +41,6 @@ HEADERS += \
     $$PWD/detectfoc.h \
     $$PWD/detectfocencoder.h \
     $$PWD/detectfochall.h \
-    $$PWD/detectimu.h \
     $$PWD/ppmmap.h \
     $$PWD/adcmap.h \
     $$PWD/rtdatatext.h \
@@ -80,7 +78,6 @@ SOURCES += \
     $$PWD/detectfoc.cpp \
     $$PWD/detectfocencoder.cpp \
     $$PWD/detectfochall.cpp \
-    $$PWD/detectimu.cpp \
     $$PWD/ppmmap.cpp \
     $$PWD/adcmap.cpp \
     $$PWD/rtdatatext.cpp \

From a1f6f57c01cd65bc6078211275b0ae93228a8062 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 31 Oct 2022 17:34:24 +0100
Subject: [PATCH 233/559] Moved to qt 5.15, messed more with xml save and load
 dialogs

---
 android/AndroidManifest.xml.in |  7 ++----
 android/res/values/libs.xml    |  4 +++-
 build_lin                      |  2 +-
 build_test_versions            | 21 ++++++++---------
 codeloader.cpp                 |  2 +-
 commands.cpp                   |  5 ++--
 configparams.cpp               | 12 +++++-----
 main.cpp                       |  2 +-
 map/mapwidget.cpp              | 12 ++++++----
 mobile/ConfigPageApp.qml       | 16 ++++---------
 mobile/ConfigPageCustom.qml    | 16 ++++---------
 mobile/ConfigPageMotor.qml     | 20 ++++------------
 mobile/FwUpdate.qml            |  9 +++-----
 mobile/LogBox.qml              | 42 +++++++++++++++++++++++-----------
 mobile/qmlui.cpp               |  1 -
 mobile/vesc3ditem.cpp          |  2 +-
 pages/pageloganalysis.cpp      |  2 +-
 utility.cpp                    |  2 +-
 vesc_tool.pro                  |  5 ++++
 vescinterface.cpp              |  8 +++----
 widgets/aspectimglabel.cpp     |  8 +++----
 21 files changed, 97 insertions(+), 101 deletions(-)

diff --git a/android/AndroidManifest.xml.in b/android/AndroidManifest.xml.in
index 088106746..16aec94f3 100644
--- a/android/AndroidManifest.xml.in
+++ b/android/AndroidManifest.xml.in
@@ -1,6 +1,6 @@
 <?xml version='"1.0"'?>
 <manifest package='"vedder.vesctool"' xmlns:android='"http://schemas.android.com/apk/res/android"' android:versionName='"$$VT_VERSION"' android:versionCode='"$${VT_ANDROID_VERSION}"' android:installLocation='"auto"'>
-    <application android:hardwareAccelerated='"true"' android:name='"org.qtproject.qt5.android.bindings.QtApplication"' android:label='"VESC Tool"' android:icon='"@drawable/icon"' android:requestLegacyExternalStorage='"true"'>
+    <application android:extractNativeLibs='"true"' android:hardwareAccelerated='"true"' android:name='"org.qtproject.qt5.android.bindings.QtApplication"' android:label='"VESC Tool"' android:icon='"@drawable/icon"' android:requestLegacyExternalStorage='"true"'>
         <activity android:configChanges='"orientation|uiMode|screenLayout|screenSize|smallestScreenSize|layoutDirection|locale|fontScale|keyboard|keyboardHidden|navigation"' android:name='"org.qtproject.qt5.android.bindings.QtActivity"' android:label='"VESC Tool"' android:screenOrientation='"unspecified"' android:launchMode='"singleTop"'>
             <intent-filter>
                 <action android:name='"android.intent.action.MAIN"'/>
@@ -18,13 +18,10 @@
             <meta-data android:name='"android.app.bundled_libs_resource_id"' android:resource='"@array/bundled_libs"'/>
             <!-- Deploy Qt libs as part of package -->
             <meta-data android:name='"android.app.bundle_local_qt_libs"' android:value='"-- %%BUNDLE_LOCAL_QT_LIBS%% --"'/>
-            <meta-data android:name='"android.app.bundled_in_lib_resource_id"' android:resource='"@array/bundled_in_lib"'/>
-            <meta-data android:name='"android.app.bundled_in_assets_resource_id"' android:resource='"@array/bundled_in_assets"'/>
             <!-- Run with local libs -->
             <meta-data android:name='"android.app.use_local_qt_libs"' android:value='"-- %%USE_LOCAL_QT_LIBS%% --"'/>
             <meta-data android:name='"android.app.libs_prefix"' android:value='"/data/local/tmp/qt/"'/>
-            <meta-data android:name='"android.app.load_local_libs"' android:value='"-- %%INSERT_LOCAL_LIBS%% --"'/>
-            <meta-data android:name='"android.app.load_local_jars"' android:value='"-- %%INSERT_LOCAL_JARS%% --"'/>
+            <meta-data android:name='"android.app.load_local_libs_resource_id"' android:resource='"@array/load_local_libs"'/>
             <meta-data android:name='"android.app.static_init_classes"' android:value='"-- %%INSERT_INIT_CLASSES%% --"'/>
             <!--  Messages maps -->
             <meta-data android:value='"@string/ministro_not_found_msg"' android:name='"android.app.ministro_not_found_msg"'/>
diff --git a/android/res/values/libs.xml b/android/res/values/libs.xml
index 4009a7785..7a31e9ef9 100644
--- a/android/res/values/libs.xml
+++ b/android/res/values/libs.xml
@@ -21,5 +21,7 @@
     <array name="bundled_in_assets">
         <!-- %%INSERT_BUNDLED_IN_ASSETS%% -->
     </array>
-
+    <array name="load_local_libs">
+        <!-- %%INSERT_LOCAL_LIBS%% -->
+    </array>
 </resources>
diff --git a/build_lin b/build_lin
index 4b3970cea..de48d480e 100644
--- a/build_lin
+++ b/build_lin
@@ -42,7 +42,7 @@
 # perl init-repository --module-subset=default,-qtwebkit,-qtwebkit-examples,-qtwebengine
 # mkdir build
 # cd build
-# ../configure -prefix /opt/Qt/5.15-static/ -release -opensource -confirm-license -static -no-sql-mysql -no-sql-psql -no-sql-sqlite -no-journald -qt-zlib -no-mtdev -no-gif -qt-libpng -qt-libjpeg -qt-harfbuzz -qt-pcre -no-glib -no-compile-examples -no-cups -no-iconv -no-tslib -dbus-linked -no-xcb-xlib -no-eglfs -no-directfb -no-linuxfb -no-kms -nomake examples -nomake tests -skip qtwebsockets -skip qtwebchannel -skip qtwebengine -skip qtwayland -skip qtwinextras -skip qtsensors -skip multimedia -no-libproxy -no-icu -no-accessibility -qt-freetype -skip qtimageformats -opengl es2
+# ../configure -prefix /opt/Qt/5.15-static/ -release -opensource -confirm-license -static -no-sql-mysql -no-sql-psql -no-sql-sqlite -no-journald -qt-zlib -no-mtdev -no-gif -qt-libpng -qt-libjpeg -qt-harfbuzz -qt-pcre -no-glib -no-compile-examples -no-cups -no-iconv -no-tslib -dbus-linked -no-xcb-xlib -no-eglfs -no-directfb -no-linuxfb -no-kms -nomake examples -nomake tests -skip qtwebsockets -skip qtwebchannel -skip qtwebengine -skip qtwayland -skip qtwinextras -skip qtsensors -skip multimedia -no-libproxy -no-icu -qt-freetype -skip qtimageformats -opengl es2
 # make -j9
 # sudo make install
 
diff --git a/build_test_versions b/build_test_versions
index 9d10cf324..e3271dcc0 100755
--- a/build_test_versions
+++ b/build_test_versions
@@ -5,7 +5,7 @@ set -e
 touch build/test_all/"Build Date $(date '+%Y-%m-%d')"
 
 # Linux
-export PATH=/opt/Qt/5.12-static/bin:$PATH
+export PATH=/opt/Qt/5.15-static/bin:$PATH
 rm -rf build/lin/*
 
 qmake -config release "CONFIG += release_lin build_original"
@@ -25,32 +25,29 @@ rm -rf build/win/obj
 mv build/win/vesc_tool*.exe build/test_all/vesc_tool_test_windows.exe
 
 # Android
-export ANDROID_HOME=~/Android/Latest
+export ANDROID_HOME=~/Android/Latest/Sdk
 export ANDROID_NDK_HOST=linux-x86_64
 export ANDROID_NDK_PLATFORM=android-23
 export ANDROID_NDK_TOOLCHAIN_VERSION=4.9
-export ANDROID_API_VERSION=android-23
-export ANDROID_NDK_ROOT=$ANDROID_HOME/Ndk
-export ANDROID_SDK_ROOT=$ANDROID_HOME/Sdk
+export ANDROID_NDK_ROOT=$ANDROID_HOME/ndk/23.1.7779620
+export ANDROID_SDK_ROOT=$ANDROID_HOME
 
 export JAVA_HOME=/usr/lib/jvm/java-1.8.0-openjdk-amd64
 export PATH=$PATH:$ANDROID_HOME/Sdk/tools:/usr/bin:$JAVA_HOME/bin
 
 rm -rf build/android/*
 
-# armv7
-export PATH=/opt/Qt3/5.12.7/android_armv7/bin/:$PATH
-export ANDROID_NDK_TOOLCHAIN_PREFIX=arm-linux-androideabi
-export ANDROID_NDK_TOOLS_PREFIX=arm-linux-androideabi
+export PATH=/opt/Qt5/5.15.2/android/bin/:$PATH
 
 # Mobile
-qmake -config release "CONFIG += release_android build_mobile vt_test_version"
+qmake -config release "CONFIG += release_android build_mobile vt_test_version" ANDROID_ABIS="armeabi-v7a" -spec android-clang
+#qmake -config release "CONFIG += release_android build_mobile vt_test_version" ANDROID_ABIS="arm64-v8a" -spec android-clang
 make clean
 make -j8
 make install INSTALL_ROOT=build/android/build
-androiddeployqt --gradle --no-gdbserver --output build/android/build --input android-libvesc_tool.so-deployment-settings.json --android-platform android-29
+androiddeployqt --gradle --no-gdbserver --output build/android/build --input android-vesc_tool-deployment-settings.json --android-platform android-31
 mv build/android/build/build/outputs/apk/debug/build-debug.apk build/test_all/vesc_tool_test_android.apk
 rm -rf build/android/build
 rm -rf build/android/obj
-rm -f build/android/libvesc_tool.so
+rm -f build/android/libvesc_tool*
 
diff --git a/codeloader.cpp b/codeloader.cpp
index cbe1ab97d..8692b7132 100644
--- a/codeloader.cpp
+++ b/codeloader.cpp
@@ -97,7 +97,7 @@ QByteArray CodeLoader::lispPackImports(QString codeStr, QString editorPath)
 {
     VByteArray vb;
     vb.vbAppendUint16(0); // Flags: 0
-    vb.append(codeStr);
+    vb.append(codeStr.toLocal8Bit());
 
     if (vb.at(vb.size() - 1) != '\0') {
         vb.append('\0');
diff --git a/commands.cpp b/commands.cpp
index d512d3931..4b80c309a 100755
--- a/commands.cpp
+++ b/commands.cpp
@@ -18,6 +18,7 @@
     */
 
 #include "commands.h"
+#include "qelapsedtimer.h"
 #include <QDebug>
 #include <QEventLoop>
 
@@ -2376,7 +2377,7 @@ QByteArray Commands::fileBlockRead(QString path)
         return res;
     };
 
-    QTime t;
+    QElapsedTimer t;
     t.start();
 
     QByteArray data;
@@ -2444,7 +2445,7 @@ bool Commands::fileBlockWrite(QString path, QByteArray data)
     qint32 size = data.size();
     int sz = data.size() > chunkSize ? chunkSize : data.size();
 
-    QTime t;
+    QElapsedTimer t;
     t.start();
 
     qint32 offset = 0;
diff --git a/configparams.cpp b/configparams.cpp
index 3a77f7ee8..ed8ab5d09 100644
--- a/configparams.cpp
+++ b/configparams.cpp
@@ -1837,7 +1837,7 @@ bool ConfigParams::moveGroupUp(QString group)
     for (int i = 0;i < mParamGrouping.size();i++) {
         if (mParamGrouping.at(i).first.toLower() == group.toLower()) {
             if (i > 0) {
-                mParamGrouping.swap(i, i - 1);
+                mParamGrouping.swapItemsAt(i, i - 1);
                 return true;
             } else {
                 return false;
@@ -1852,7 +1852,7 @@ bool ConfigParams::moveGroupDown(QString group)
     for (int i = 0;i < mParamGrouping.size();i++) {
         if (mParamGrouping.at(i).first.toLower() == group.toLower()) {
             if (i < (mParamGrouping.size() - 1)) {
-                mParamGrouping.swap(i, i + 1);
+                mParamGrouping.swapItemsAt(i, i + 1);
                 return true;
             } else {
                 return false;
@@ -1869,7 +1869,7 @@ bool ConfigParams::moveSubgroupUp(QString group, QString subgroup)
             for (int j = 0;j < mParamGrouping.at(i).second.size();j++) {
                 if (mParamGrouping.at(i).second.at(j).first.toLower() == subgroup.toLower()) {
                     if (j > 0) {
-                        mParamGrouping[i].second.swap(j, j - 1);
+                        mParamGrouping[i].second.swapItemsAt(j, j - 1);
                         return true;
                     } else {
                         return false;
@@ -1888,7 +1888,7 @@ bool ConfigParams::moveSubgroupDown(QString group, QString subgroup)
             for (int j = 0;j < mParamGrouping.at(i).second.size();j++) {
                 if (mParamGrouping.at(i).second.at(j).first.toLower() == subgroup.toLower()) {
                     if (j < (mParamGrouping.at(i).second.size() - 1)) {
-                        mParamGrouping[i].second.swap(j, j + 1);
+                        mParamGrouping[i].second.swapItemsAt(j, j + 1);
                         return true;
                     } else {
                         return false;
@@ -1909,7 +1909,7 @@ bool ConfigParams::moveSubgroupParamUp(QString group, QString subgroup, QString
                     for (int k = 0;k < mParamGrouping.at(i).second.at(j).second.size();k++) {
                         if (mParamGrouping.at(i).second.at(j).second.at(k).toLower() == param.toLower()) {
                             if (k > 0) {
-                                mParamGrouping[i].second[j].second.swap(k, k - 1);
+                                mParamGrouping[i].second[j].second.swapItemsAt(k, k - 1);
                                 return true;
                             } else {
                                 return false;
@@ -1932,7 +1932,7 @@ bool ConfigParams::moveSubgroupParamDown(QString group, QString subgroup, QStrin
                     for (int k = 0;k < mParamGrouping.at(i).second.at(j).second.size();k++) {
                         if (mParamGrouping.at(i).second.at(j).second.at(k).toLower() == param.toLower()) {
                             if (k < (mParamGrouping.at(i).second.at(j).second.size() - 1)) {
-                                mParamGrouping[i].second[j].second.swap(k, k + 1);
+                                mParamGrouping[i].second[j].second.swapItemsAt(k, k + 1);
                                 return true;
                             } else {
                                 return false;
diff --git a/main.cpp b/main.cpp
index bebc5603f..832a19c72 100755
--- a/main.cpp
+++ b/main.cpp
@@ -486,7 +486,7 @@ int main(int argc, char *argv[])
         // from the mobile UI. In the mobile UI these are provided as singletons, whereas
         // in the desktop GUI they are provided as context properties.
         qmlRegisterType<VescInterface>("Vedder.vesc.vescinterface", 1, 0, "VescIf2");
-        qmlRegisterType<VescInterface>("Vedder.vesc.utility", 1, 0, "Utility2");
+        qmlRegisterType<Utility>("Vedder.vesc.utility", 1, 0, "Utility2");
 
         if (!loadQml.isEmpty() || loadQmlVesc) {
             vesc = new VescInterface;
diff --git a/map/mapwidget.cpp b/map/mapwidget.cpp
index 70cd0fbe8..2537140c7 100644
--- a/map/mapwidget.cpp
+++ b/map/mapwidget.cpp
@@ -969,8 +969,10 @@ bool MapWidget::event(QEvent *event)
                            QPointF(0, 0),
                            QPoint(0, 0),
                            QPoint(0, 120),
-                           0, Qt::Vertical, nullptr,
-                           ke->modifiers());
+                           Qt::MouseButtons(),
+                           ke->modifiers(),
+                           Qt::NoScrollPhase,
+                           false);
             wheelEvent(&we);
             return true;
         } else if (ke->key() == Qt::Key_Down) {
@@ -978,8 +980,10 @@ bool MapWidget::event(QEvent *event)
                            QPointF(0, 0),
                            QPoint(0, 0),
                            QPoint(0, -120),
-                           0, Qt::Vertical, nullptr,
-                           ke->modifiers());
+                           Qt::MouseButtons(),
+                           ke->modifiers(),
+                           Qt::NoScrollPhase,
+                           false);
             wheelEvent(&we);
             return true;
         }
diff --git a/mobile/ConfigPageApp.qml b/mobile/ConfigPageApp.qml
index a301cd2d2..a93d6a281 100644
--- a/mobile/ConfigPageApp.qml
+++ b/mobile/ConfigPageApp.qml
@@ -267,8 +267,7 @@ Item {
                         Dl.FileDialog {
                             id: fileDialogSave
                             title: "Please choose a file"
-                            nameFilters: ["XML File (*.xml)"]
-                            selectedNameFilter: "XML File (*.xml)"
+                            nameFilters: ["*"]
                             selectExisting: false
                             selectMultiple: false
                             onAccepted: {
@@ -309,20 +308,15 @@ Item {
                         Dl.FileDialog {
                             id: fileDialogLoad
                             title: "Please choose a file"
-                            nameFilters: ["XML File (*.xml)"]
-                            selectedNameFilter: "XML File (*.xml)"
+                            nameFilters: ["*"]
                             selectExisting: true
                             selectMultiple: false
                             onAccepted: {
                                 var path = fileUrl.toString()
-                                if (path.toLowerCase().endsWith(".xml")) {
-                                    if (VescIf.appConfig().loadXml(path, "APPConfiguration")) {
-                                        VescIf.emitStatusMessage("Appconf Loaded", true)
-                                    } else {
-                                        VescIf.emitStatusMessage("Appconf Load Failed", false)
-                                    }
+                                if (VescIf.appConfig().loadXml(path, "APPConfiguration")) {
+                                    VescIf.emitStatusMessage("Appconf Loaded", true)
                                 } else {
-                                    VescIf.emitStatusMessage("Invalid File", false)
+                                    VescIf.emitStatusMessage("Appconf Load Failed", false)
                                 }
 
                                 close()
diff --git a/mobile/ConfigPageCustom.qml b/mobile/ConfigPageCustom.qml
index cda4e44b2..c8aedd439 100644
--- a/mobile/ConfigPageCustom.qml
+++ b/mobile/ConfigPageCustom.qml
@@ -181,8 +181,7 @@ Item {
                         Dl.FileDialog {
                             id: fileDialogSave
                             title: "Please choose a file"
-                            nameFilters: ["XML File (*.xml)"]
-                            selectedNameFilter: "XML File (*.xml)"
+                            nameFilters: ["*"]
                             selectExisting: false
                             selectMultiple: false
                             onAccepted: {
@@ -223,20 +222,15 @@ Item {
                         Dl.FileDialog {
                             id: fileDialogLoad
                             title: "Please choose a file"
-                            nameFilters: ["XML File (*.xml)"]
-                            selectedNameFilter: "XML File (*.xml)"
+                            nameFilters: ["*"]
                             selectExisting: true
                             selectMultiple: false
                             onAccepted: {
                                 var path = fileUrl.toString()
-                                if (path.toLowerCase().endsWith(".xml")) {
-                                    if (VescIf.customConfig(confInd).loadXml(path, "CustomConfiguration")) {
-                                        VescIf.emitStatusMessage("Custom Config Loaded", true)
-                                    } else {
-                                        VescIf.emitStatusMessage("Load Failed", false)
-                                    }
+                                if (VescIf.customConfig(confInd).loadXml(path, "CustomConfiguration")) {
+                                    VescIf.emitStatusMessage("Custom Config Loaded", true)
                                 } else {
-                                    VescIf.emitStatusMessage("Invalid File", false)
+                                    VescIf.emitStatusMessage("Load Failed", false)
                                 }
 
                                 close()
diff --git a/mobile/ConfigPageMotor.qml b/mobile/ConfigPageMotor.qml
index 28b70bbe0..c10047dc4 100644
--- a/mobile/ConfigPageMotor.qml
+++ b/mobile/ConfigPageMotor.qml
@@ -258,16 +258,11 @@ Item {
                         Dl.FileDialog {
                             id: fileDialogSave
                             title: "Please choose a file"
-                            nameFilters: ["XML File (*.xml)"]
-                            selectedNameFilter: "XML File (*.xml)"
+                            nameFilters: ["*"]
                             selectExisting: false
                             selectMultiple: false
                             onAccepted: {
                                 var path = fileUrl.toString()
-                                if (!path.toLowerCase().endsWith(".xml")) {
-                                    path += ".xml"
-                                }
-
                                 if (VescIf.mcConfig().saveXml(path, "MCConfiguration")) {
                                     VescIf.emitStatusMessage("Mcconf Saved", true)
                                 } else {
@@ -300,20 +295,15 @@ Item {
                         Dl.FileDialog {
                             id: fileDialogLoad
                             title: "Please choose a file"
-                            nameFilters: ["XML File (*.xml)"]
-                            selectedNameFilter: "XML File (*.xml)"
+                            nameFilters: ["*"]
                             selectExisting: true
                             selectMultiple: false
                             onAccepted: {
                                 var path = fileUrl.toString()
-                                if (path.toLowerCase().endsWith(".xml")) {
-                                    if (VescIf.mcConfig().loadXml(path, "MCConfiguration")) {
-                                        VescIf.emitStatusMessage("Mcconf Loaded", true)
-                                    } else {
-                                        VescIf.emitStatusMessage("Mcconf Load Failed", false)
-                                    }
+                                if (VescIf.mcConfig().loadXml(path, "MCConfiguration")) {
+                                    VescIf.emitStatusMessage("Mcconf Loaded", true)
                                 } else {
-                                    VescIf.emitStatusMessage("Invalid File", false)
+                                    VescIf.emitStatusMessage("Mcconf Load Failed", false)
                                 }
 
                                 close()
diff --git a/mobile/FwUpdate.qml b/mobile/FwUpdate.qml
index 74d6ebcb0..3ed4a0070 100755
--- a/mobile/FwUpdate.qml
+++ b/mobile/FwUpdate.qml
@@ -294,13 +294,10 @@ Item {
                     Dl.FileDialog {
                         id: fileDialog
                         title: "Choose a firmware file"
-                        nameFilters: ["Firmware File (*.bin)"]
-                        selectedNameFilter: "Firmware File (*.bin)"
+                        nameFilters: ["*"]
+                        selectedNameFilter: "*"
                         onAccepted: {
-                            if (fileUrl.toString().toLowerCase().indexOf(".bin") !== -1) {
-                                customFwText.text = fileUrl
-                            }
-
+                            customFwText.text = fileUrl
                             close()
                             parent.forceActiveFocus()
                         }
diff --git a/mobile/LogBox.qml b/mobile/LogBox.qml
index ffee2ca3f..d878187bc 100644
--- a/mobile/LogBox.qml
+++ b/mobile/LogBox.qml
@@ -74,6 +74,8 @@ Item {
                     logFilePicker.folder = rtLogFileText.text
                     logFilePicker.enabled = true
                     logFilePicker.visible = true
+//                    folderDialog.close()
+//                    folderDialog.open()
                 } else {
                     VescIf.emitMessageDialog(
                                 "File Permissions",
@@ -81,6 +83,33 @@ Item {
                                 false, false)
                 }
             }
+
+            FolderDialog {
+                id: folderDialog
+                title: "Please choose a folder"
+                onAccepted: {
+                    rtLogFileText.text = folderDialog.folder
+                    close()
+                    parent.forceActiveFocus()
+                }
+                onRejected: {
+                    close()
+                    parent.forceActiveFocus()
+                }
+            }
+
+            DirectoryPicker {
+                id: logFilePicker
+                anchors.fill: parent
+                showDotAndDotDot: true
+                visible: false
+                enabled: false
+                parent: dialogParent
+
+                onDirSelected: {
+                    rtLogFileText.text = fileName
+                }
+            }
         }
 
         Rectangle {
@@ -168,17 +197,4 @@ Item {
             }
         }
     }
-
-    DirectoryPicker {
-        id: logFilePicker
-        anchors.fill: parent
-        showDotAndDotDot: true
-        visible: false
-        enabled: false
-        parent: dialogParent
-
-        onDirSelected: {
-            rtLogFileText.text = fileName
-        }
-    }
 }
diff --git a/mobile/qmlui.cpp b/mobile/qmlui.cpp
index 090195825..298cd8234 100644
--- a/mobile/qmlui.cpp
+++ b/mobile/qmlui.cpp
@@ -18,7 +18,6 @@
     */
 
 #include "qmlui.h"
-#include "fwhelper.h"
 
 #include <QQuickStyle>
 #include <QApplication>
diff --git a/mobile/vesc3ditem.cpp b/mobile/vesc3ditem.cpp
index d61a6b247..cd7618c37 100644
--- a/mobile/vesc3ditem.cpp
+++ b/mobile/vesc3ditem.cpp
@@ -66,7 +66,7 @@ void Vesc3dItem::updateImage()
 
         if (mVesc3d.size() != size().toSize()) {
             mVesc3d.resize(size().toSize() * scale);
-            mVesc3d.render(&mLastCornerImg, QPoint(), QRegion(), nullptr);
+            mVesc3d.render(&mLastCornerImg, QPoint(), QRegion(), QWidget::RenderFlags());
         }
 
         mLastCornerImg = mVesc3d.grabFramebuffer();
diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index f64f39293..63fd8a7d9 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -166,7 +166,7 @@ PageLogAnalysis::PageLogAnalysis(QWidget *parent) :
             ui->plot->axisRect()->setRangeDrag(Qt::Orientations());
 
             double upper = ui->plot->xAxis->range().upper;
-            double progress = ui->plot->xAxis->pixelToCoord(event->x()) / upper;
+            double progress = ui->plot->xAxis->pixelToCoord(event->position().x()) / upper;
             double diff = event->angleDelta().y();
             double d1 = diff * progress;
             double d2 = diff * (1.0 - progress);
diff --git a/utility.cpp b/utility.cpp
index d0553f5fc..d9fc50430 100755
--- a/utility.cpp
+++ b/utility.cpp
@@ -243,7 +243,7 @@ QString Utility::aboutText()
           #elif defined(VER_FREE)
               "Free of Charge Version<br>"
           #endif
-              "&copy; Benjamin Vedder 2016 - 2021<br>"
+              "&copy; Benjamin Vedder 2016 - 2022<br>"
               "<a href=\"mailto:benjamin@vedder.se\">benjamin@vedder.se</a><br>"
               "<a href=\"https://vesc-project.com/\">https://vesc-project.com/</a>").
             arg(QString::number(VT_VERSION, 'f', 2))
diff --git a/vesc_tool.pro b/vesc_tool.pro
index 0cc6e8463..6d316c2dd 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -339,3 +339,8 @@ ios {
     QMAKE_APPLE_TARGETED_DEVICE_FAMILY = 1,2
 }
 CONFIG -= warn_on
+
+contains(ANDROID_TARGET_ARCH,) {
+    ANDROID_ABIS = \
+        armeabi-v7a
+}
diff --git a/vescinterface.cpp b/vescinterface.cpp
index e1f8bb435..209ce59a1 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -404,8 +404,8 @@ VescInterface::VescInterface(QObject *parent) : QObject(parent)
             os << mLastImuValues.gyroZ << ";";
 
             os << msPos << ";";
-            os << fixed << qSetRealNumberPrecision(8) << lat << ";";
-            os << fixed << qSetRealNumberPrecision(8) << lon << ";";
+            os << Qt::fixed << qSetRealNumberPrecision(8) << lat << ";";
+            os << Qt::fixed << qSetRealNumberPrecision(8) << lon << ";";
             os << alt << ";";
             os << gVel << ";";
             os << vVel << ";";
@@ -677,7 +677,7 @@ void VescInterface::deleteProfile(int index)
 void VescInterface::moveProfileUp(int index)
 {
     if (index > 0 && index < mProfiles.size()) {
-        mProfiles.swap(index, index - 1);
+        mProfiles.swapItemsAt(index, index - 1);
         emit profilesUpdated();
     }
 }
@@ -685,7 +685,7 @@ void VescInterface::moveProfileUp(int index)
 void VescInterface::moveProfileDown(int index)
 {
     if (index >= 0 && index < (mProfiles.size() - 1)) {
-        mProfiles.swap(index, index + 1);
+        mProfiles.swapItemsAt(index, index + 1);
         emit profilesUpdated();
     }
 }
diff --git a/widgets/aspectimglabel.cpp b/widgets/aspectimglabel.cpp
index 2c732fff0..56493f446 100644
--- a/widgets/aspectimglabel.cpp
+++ b/widgets/aspectimglabel.cpp
@@ -29,13 +29,13 @@ void AspectImgLabel::resizeEvent(QResizeEvent *event)
 {
     QLabel::resizeEvent(event);
 
-    const QPixmap *pix = pixmap();
+    const QPixmap &pix = pixmap(Qt::ReturnByValue);
 
-    if (pix) {
+    if (!pix.isNull()) {
         int wLabel = width();
         int hLabel = height();
-        int wImg = pix->width();
-        int hImg = pix->height();
+        int wImg = pix.width();
+        int hImg = pix.height();
 
         if (mOrientation == Qt::Horizontal) {
             setMaximumHeight((wLabel * hImg) / wImg);

From 206560af60b91868c79bd4d96ebdcaf1844d4469 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 31 Oct 2022 17:46:23 +0100
Subject: [PATCH 234/559] Small tweak

---
 mobile/CanScreen.qml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/mobile/CanScreen.qml b/mobile/CanScreen.qml
index c5644d05e..a00449d17 100644
--- a/mobile/CanScreen.qml
+++ b/mobile/CanScreen.qml
@@ -293,7 +293,7 @@ Item {
                     name = "BMS (" + params.hw + ")"
                 } else {
                     devicePath = theme + "icons/Electronics-96.png"
-                    name = "BMS (" + params.hw + ")"
+                    name = "Device (" + params.hw + ")"
                 }
                 name = name.replace("_", " ")
 
@@ -312,7 +312,7 @@ Item {
                         name = "BMS (" + params.hw + ")";
                     } else {
                         devicePath = theme + "icons/Electronics-96.png"
-                        name = params.hw;
+                        name = "Device (" + params.hw + ")"
                     }
                     name = name.replace("_", " ")
                     canModel.append({"name": name,

From 423f66377540ba3b8f6c03d687e3dc126e48f6ec Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 31 Oct 2022 21:41:26 +0100
Subject: [PATCH 235/559] Updated connection syntax for qt 5.15

---
 mainwindow.cpp                       |  2 +-
 mobile/AdcMap.qml                    |  2 +-
 mobile/BMS.qml                       |  2 +-
 mobile/CanScreen.qml                 |  6 +++---
 mobile/ConfigPageApp.qml             |  2 +-
 mobile/ConfigPageCustom.qml          |  2 +-
 mobile/ConfigPageMotor.qml           |  4 ++--
 mobile/ConnectScreen.qml             |  4 ++--
 mobile/DetectBldc.qml                |  2 +-
 mobile/DetectFocEncoder.qml          |  2 +-
 mobile/DetectFocHall.qml             |  2 +-
 mobile/DetectFocParam.qml            |  8 ++++----
 mobile/FwUpdate.qml                  |  7 ++++---
 mobile/NrfPair.qml                   |  2 +-
 mobile/PairingDialog.qml             |  2 +-
 mobile/ParamEditBitfield.qml         |  6 +++---
 mobile/ParamEditBool.qml             |  8 ++++----
 mobile/ParamEditDouble.qml           |  6 +++---
 mobile/ParamEditEnum.qml             |  8 ++++----
 mobile/ParamEditInt.qml              | 10 +++++-----
 mobile/ParamEditString.qml           |  6 +++---
 mobile/PpmMap.qml                    |  2 +-
 mobile/ProfileDisplay.qml            |  4 ++--
 mobile/ProfileEditor.qml             |  2 +-
 mobile/Profiles.qml                  |  2 +-
 mobile/RtData.qml                    |  4 ++--
 mobile/RtDataBalance.qml             |  2 +-
 mobile/RtDataSetup.qml               |  4 ++--
 mobile/StartPage.qml                 |  6 +++---
 mobile/StatPage.qml                  |  4 ++--
 mobile/Terminal.qml                  |  2 +-
 mobile/fwhelper.h                    |  1 -
 mobile/main.qml                      | 22 +++++++++++-----------
 res/qml/DynamicLoader.qml            |  2 +-
 res/qml/Examples/BMS.qml             |  2 +-
 res/qml/Examples/BalanceUi.qml       |  2 +-
 res/qml/Examples/BrakeBench.qml      |  4 ++--
 res/qml/Examples/CanDebugger.qml     | 28 ++++++++++++++--------------
 res/qml/Examples/IoBoard.qml         |  2 +-
 res/qml/Examples/MMXGui.qml          |  2 +-
 res/qml/Examples/Meters.qml          |  2 +-
 res/qml/Examples/PollValues.qml      |  2 +-
 res/qml/Examples/PositionControl.qml |  2 +-
 res/qml/Examples/Profiles.qml        |  2 +-
 res/qml/Examples/RpmSlider.qml       |  2 +-
 res/qml/Examples/RtData.qml          |  4 ++--
 res/qml/Examples/RtDataSetup.qml     |  4 ++--
 res/qml/MainLoader.qml               | 10 +++++-----
 res/qml/WelcomeQmlPanel.qml          |  4 ++--
 49 files changed, 111 insertions(+), 111 deletions(-)

diff --git a/mainwindow.cpp b/mainwindow.cpp
index 769fcc9d6..71a1e2b4a 100755
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -484,9 +484,9 @@ MainWindow::MainWindow(QWidget *parent) :
 
     connect(&mPollRtTimer, &QTimer::timeout, [this]() {
         if (ui->actionRtData->isChecked()) {
+            mVesc->commands()->getStats(0xFFFFFFFF);
             mVesc->commands()->getValues();
             mVesc->commands()->getValuesSetup();
-            mVesc->commands()->getStats(0xFFFFFFFF);
             mPollRtTimer.setInterval(int(1000.0 / mSettings.value("poll_rate_rt_data", 50).toDouble()));
         }
     });
diff --git a/mobile/AdcMap.qml b/mobile/AdcMap.qml
index bff2bd4aa..e2286249d 100644
--- a/mobile/AdcMap.qml
+++ b/mobile/AdcMap.qml
@@ -160,7 +160,7 @@ Item {
     Connections {
         target: mCommands
 
-        onDecodedAdcReceived: {
+        function onDecodedAdcReceived(value, voltage, value2, voltage2) {
             valueNow = value
             vNow = voltage
             valueNow2 = value2
diff --git a/mobile/BMS.qml b/mobile/BMS.qml
index af9829842..021d7a936 100644
--- a/mobile/BMS.qml
+++ b/mobile/BMS.qml
@@ -334,7 +334,7 @@ Item {
     Connections {
         target: mCommands
 
-        onBmsValuesRx: {
+        function onBmsValuesRx(val) {
             mVal = val
             mValSet = true
 
diff --git a/mobile/CanScreen.qml b/mobile/CanScreen.qml
index a00449d17..81137a85f 100644
--- a/mobile/CanScreen.qml
+++ b/mobile/CanScreen.qml
@@ -196,7 +196,7 @@ Item {
     Connections {
         target: mBle
 
-        onBleError: {
+        function onBleError(info) {
             VescIf.emitMessageDialog("BLE Error", info, false, false)
             enableDialog()
         }
@@ -259,7 +259,7 @@ Item {
     Connections {
         target: VescIf
 
-        onPortConnectedChanged: {
+        function onPortConnectedChanged() {
             scanButton.enabled = VescIf.isPortConnected()
         }
     }
@@ -267,7 +267,7 @@ Item {
     Connections {
         target: mCommands
 
-        onPingCanRx: {
+        function onPingCanRx(devs, isTimeout) {
             if (scanButton.enabled) {
                 return
             }
diff --git a/mobile/ConfigPageApp.qml b/mobile/ConfigPageApp.qml
index a93d6a281..b1b863ed1 100644
--- a/mobile/ConfigPageApp.qml
+++ b/mobile/ConfigPageApp.qml
@@ -335,7 +335,7 @@ Item {
 
     Connections {
         target: VescIf
-        onConfigurationChanged: {
+        function onConfigurationChanged() {
             pageBox.model = VescIf.appConfig().getParamGroups()
 
             var tabTextOld = tabBox.currentText
diff --git a/mobile/ConfigPageCustom.qml b/mobile/ConfigPageCustom.qml
index c8aedd439..175ed116b 100644
--- a/mobile/ConfigPageCustom.qml
+++ b/mobile/ConfigPageCustom.qml
@@ -250,7 +250,7 @@ Item {
     Connections {
         target: VescIf
 
-        onCustomConfigLoadDone: {
+        function onCustomConfigLoadDone() {
             updateEditors()
         }
     }
diff --git a/mobile/ConfigPageMotor.qml b/mobile/ConfigPageMotor.qml
index c10047dc4..fdcaf24c4 100644
--- a/mobile/ConfigPageMotor.qml
+++ b/mobile/ConfigPageMotor.qml
@@ -324,7 +324,7 @@ Item {
         target: mCommands
 
         // TODO: For some reason this does not work
-        onMcConfigCheckResult: {
+        function onMcConfigCheckResult(paramsNotSet) {
             if (paramsNotSet.length > 0) {
                 var notUpdated = "The following parameters were truncated because " +
                         "they were beyond the hardware limits:\n"
@@ -340,7 +340,7 @@ Item {
 
     Connections {
         target: VescIf
-        onConfigurationChanged: {
+        function onConfigurationChanged() {
             pageBox.model = VescIf.mcConfig().getParamGroups()
 
             var tabTextOld = tabBox.currentText
diff --git a/mobile/ConnectScreen.qml b/mobile/ConnectScreen.qml
index b23c78551..4538c5236 100644
--- a/mobile/ConnectScreen.qml
+++ b/mobile/ConnectScreen.qml
@@ -375,7 +375,7 @@ Item {
 
     Connections {
         target: mBle
-        onScanDone: {
+        function onScanDone(devs, done) {
             if (done) {
                 scanDotTimer.running = false
                 scanButton.enabled = true
@@ -458,7 +458,7 @@ Item {
             }
         }
 
-        onBleError: {
+        function onBleError(info) {
             VescIf.emitMessageDialog("BLE Error", info, false, false)
             enableDialog()
         }
diff --git a/mobile/DetectBldc.qml b/mobile/DetectBldc.qml
index 20a7a72e7..87706f50a 100644
--- a/mobile/DetectBldc.qml
+++ b/mobile/DetectBldc.qml
@@ -254,7 +254,7 @@ Item {
     Connections {
         target: mCommands
 
-        onBldcDetectReceived: {
+        function onBldcDetectReceived(param) {
             if (param.cycle_int_limit < 0.01 && param.bemf_coupling_k < 0.01) {
                 VescIf.emitStatusMessage("Bad Detection Result Received", false)
                 VescIf.emitMessageDialog("BLDC Detection",
diff --git a/mobile/DetectFocEncoder.qml b/mobile/DetectFocEncoder.qml
index 52a245d9c..746f72cec 100644
--- a/mobile/DetectFocEncoder.qml
+++ b/mobile/DetectFocEncoder.qml
@@ -188,7 +188,7 @@ Item {
     Connections {
         target: mCommands
 
-        onEncoderParamReceived: {
+        function onEncoderParamReceived(res) {
             if (res.offset > 1000.0) {
                 VescIf.emitStatusMessage("Encoder not enabled in firmware", false)
                 VescIf.emitMessageDialog("Error",
diff --git a/mobile/DetectFocHall.qml b/mobile/DetectFocHall.qml
index c5b10f0b5..6633eb388 100644
--- a/mobile/DetectFocHall.qml
+++ b/mobile/DetectFocHall.qml
@@ -200,7 +200,7 @@ Item {
     Connections {
         target: mCommands
 
-        onFocHallTableReceived: {
+        function onFocHallTableReceived(hall_table, res) {
             if (res !== 0) {
                 VescIf.emitStatusMessage("Bad FOC Hall Detection Result Received", false)
                 VescIf.emitMessageDialog("Bad FOC Hall Detection Result Received",
diff --git a/mobile/DetectFocParam.qml b/mobile/DetectFocParam.qml
index 245b72d9a..87afba051 100644
--- a/mobile/DetectFocParam.qml
+++ b/mobile/DetectFocParam.qml
@@ -362,7 +362,7 @@ Item {
     Connections {
         target: mCommands
 
-        onMotorRLReceived: {
+        function onMotorRLReceived(r, l, ld_lq_diff) {
             if (r < 1e-9 && l < 1e-9) {
                 VescIf.emitStatusMessage("Bad FOC Detection Result Received", false)
                 VescIf.emitMessageDialog("Bad Detection Result",
@@ -376,7 +376,7 @@ Item {
             }
         }
 
-        onMotorLinkageReceived: {
+        function onMotorLinkageReceived(flux_linkage) {
             if (flux_linkage < 1e-9) {
                 VescIf.emitStatusMessage("Bad FOC Detection Result Received", false)
                 VescIf.emitMessageDialog("Bad Detection Result",
@@ -394,8 +394,8 @@ Item {
     Connections {
         target: mMcConf
 
-        onParamChangedDouble: {
-            if (name == "l_current_max") {
+        function onParamChangedDouble(src, name, newParam) {
+            if (name === "l_current_max") {
                 currentBox.realValue = newParam / 3.0
             }
         }
diff --git a/mobile/FwUpdate.qml b/mobile/FwUpdate.qml
index 3ed4a0070..8047e9041 100755
--- a/mobile/FwUpdate.qml
+++ b/mobile/FwUpdate.qml
@@ -650,7 +650,7 @@ Item {
     Connections {
         target: VescIf
 
-        onFwUploadStatus: {
+        function onFwUploadStatus(status, progress, isOngoing) {
             if (isOngoing) {
                 uploadText.text = status + " (" + parseFloat(progress * 100.0).toFixed(2) + " %)"
             } else {
@@ -662,10 +662,11 @@ Item {
             cancelButton.enabled = isOngoing
         }
     }
+
     Connections {
         target: fwHelper
 
-        onFwUploadRes: {
+        function onFwUploadRes(res, isBootloader) {
             if (res) {
                 if(isBootloader) {
                         VescIf.emitMessageDialog("Bootloader Finished",
@@ -686,7 +687,7 @@ Item {
     Connections {
         target: VescIf
 
-        onFwRxChanged: {
+        function onFwRxChanged(rx, limited) {
             if (!rx) {
                 return;
             }
diff --git a/mobile/NrfPair.qml b/mobile/NrfPair.qml
index ffaee2fcf..108808556 100644
--- a/mobile/NrfPair.qml
+++ b/mobile/NrfPair.qml
@@ -115,7 +115,7 @@ Item {
     Connections {
         target: mCommands
 
-        onNrfPairingRes: {
+        function onNrfPairingRes(res) {
             if (!visible) {
                 return
             }
diff --git a/mobile/PairingDialog.qml b/mobile/PairingDialog.qml
index cefbe8b22..3838b3448 100644
--- a/mobile/PairingDialog.qml
+++ b/mobile/PairingDialog.qml
@@ -372,7 +372,7 @@ Item {
     Connections {
         target: VescIf
 
-        onPairingListUpdated: {
+        function onPairingListUpdated() {
             loadUuids()
         }
     }
diff --git a/mobile/ParamEditBitfield.qml b/mobile/ParamEditBitfield.qml
index 34b3ad6ec..be737ebb6 100644
--- a/mobile/ParamEditBitfield.qml
+++ b/mobile/ParamEditBitfield.qml
@@ -35,7 +35,7 @@ Item {
     property bool createReady: false
 
     Component.onCompleted: {
-        if (params !== null) {
+        if (params != null) {
             nameText.text = params.getLongName(paramName)
             setBits(params.getParamInt(paramName))
 
@@ -209,8 +209,8 @@ Item {
     Connections {
         target: params
 
-        onParamChangedInt: {
-            if (src !== editor && name == paramName) {
+        function onParamChangedInt(src, name, newParam) {
+            if (src !== editor && name === paramName) {
                 setBits(newParam)
             }
         }
diff --git a/mobile/ParamEditBool.qml b/mobile/ParamEditBool.qml
index 6bc8294aa..b9b93f120 100644
--- a/mobile/ParamEditBool.qml
+++ b/mobile/ParamEditBool.qml
@@ -34,7 +34,7 @@ Item {
     property real maxVal: 1.0
 
     Component.onCompleted: {
-        if (params !== null) {
+        if (params != null) {
             nameText.text = params.getLongName(paramName)
             boolSwitch.checked = params.getParamBool(paramName)
 
@@ -76,7 +76,7 @@ Item {
                 Layout.fillWidth: true
 
                 onCheckedChanged: {
-                    if (params !== null) {
+                    if (params != null) {
                         if (params.getUpdateOnly() !== paramName) {
                             params.setUpdateOnly("")
                         }
@@ -131,8 +131,8 @@ Item {
     Connections {
         target: params
 
-        onParamChangedBool: {
-            if (src !== editor && name == paramName) {
+        function onParamChangedBool(src, name, newParam) {
+            if (src !== editor && name === paramName) {
                 boolSwitch.checked = newParam
             }
         }
diff --git a/mobile/ParamEditDouble.qml b/mobile/ParamEditDouble.qml
index 4472cba9a..265ad81cd 100644
--- a/mobile/ParamEditDouble.qml
+++ b/mobile/ParamEditDouble.qml
@@ -35,7 +35,7 @@ Item {
     property bool createReady: false
 
     Component.onCompleted: {
-        if (params !== null) {
+        if (params != null) {
             if (Math.abs(params.getParamMaxDouble(paramName)) > params.getParamMinDouble(paramName)) {
                 maxVal = Math.abs(params.getParamMaxDouble(paramName))
             } else {
@@ -191,8 +191,8 @@ Item {
     Connections {
         target: params
 
-        onParamChangedDouble: {
-            if (src !== editor && name == paramName) {
+        function onParamChangedDouble(src, name, newParam) {
+            if (src !== editor && name === paramName) {
                 valueBox.realValue = newParam * params.getParamEditorScale(paramName)
                 percentageBox.value = Math.round((100.0 * newParam) / maxVal)
             }
diff --git a/mobile/ParamEditEnum.qml b/mobile/ParamEditEnum.qml
index f15174f86..30e2cf409 100644
--- a/mobile/ParamEditEnum.qml
+++ b/mobile/ParamEditEnum.qml
@@ -35,7 +35,7 @@ Item {
     property bool createReady: false
 
     Component.onCompleted: {
-        if (params !== null) {
+        if (params != null) {
             nameText.text = params.getLongName(paramName)
             enumBox.model = params.getParamEnumNames(paramName)
             enumBox.currentIndex = params.getParamEnum(paramName)
@@ -88,7 +88,7 @@ Item {
                 }
 
                 onCurrentIndexChanged: {
-                    if (params !== null && createReady) {
+                    if (params != null && createReady) {
                         if (params.getUpdateOnly() !== paramName) {
                             params.setUpdateOnly("")
                         }
@@ -143,8 +143,8 @@ Item {
     Connections {
         target: params
 
-        onParamChangedEnum: {
-            if (src !== editor && name == paramName) {
+        function onParamChangedEnum(src, name, newParam) {
+            if (src !== editor && name === paramName) {
                 enumBox.currentIndex = newParam
             }
         }
diff --git a/mobile/ParamEditInt.qml b/mobile/ParamEditInt.qml
index 039fa1042..b75da0766 100644
--- a/mobile/ParamEditInt.qml
+++ b/mobile/ParamEditInt.qml
@@ -35,7 +35,7 @@ Item {
     property bool createReady: false
 
     Component.onCompleted: {
-        if (params !== null) {
+        if (params != null) {
             if (Math.abs(params.getParamMaxInt(paramName)) > params.getParamMinInt(paramName)) {
                 maxVal = Math.abs(params.getParamMaxInt(paramName))
             } else {
@@ -107,7 +107,7 @@ Item {
                     if (!params.getParamEditAsPercentage(paramName)) {
                         var val = value / params.getParamEditorScale(paramName)
 
-                        if (params !== null && createReady) {
+                        if (params != null && createReady) {
                             if (params.getUpdateOnly() !== paramName) {
                                 params.setUpdateOnly("")
                             }
@@ -137,7 +137,7 @@ Item {
                     if (params.getParamEditAsPercentage(paramName)) {
                         var val = (value / 100.0) * maxVal
 
-                        if (params !== null && createReady) {
+                        if (params != null && createReady) {
                             if (params.getUpdateOnly() !== paramName) {
                                 params.setUpdateOnly("")
                             }
@@ -203,8 +203,8 @@ Item {
     Connections {
         target: params
 
-        onParamChangedInt: {
-            if (src !== editor && name == paramName) {
+        function onParamChangedInt(src, name, newParam) {
+            if (src !== editor && name === paramName) {
                 valueBox.value = newParam * params.getParamEditorScale(paramName)
                 percentageBox.value = Math.round((100.0 * newParam) / maxVal)
             }
diff --git a/mobile/ParamEditString.qml b/mobile/ParamEditString.qml
index 93683488b..bcd3afef2 100644
--- a/mobile/ParamEditString.qml
+++ b/mobile/ParamEditString.qml
@@ -91,7 +91,7 @@ Item {
                     focus: true
 
                     onTextChanged: {
-                        if (params !== null) {
+                        if (params != null) {
                             if (params.getUpdateOnly() !== paramName) {
                                 params.setUpdateOnly("")
                             }
@@ -147,8 +147,8 @@ Item {
     Connections {
         target: params
 
-        onParamChangedQString: {
-            if (src !== editor && name == paramName) {
+        function onParamChangedQString(src, name, newParam) {
+            if (src !== editor && name === paramName) {
                 stringInput.text = newParam
             }
         }
diff --git a/mobile/PpmMap.qml b/mobile/PpmMap.qml
index 7d2df8001..cd681c7e5 100644
--- a/mobile/PpmMap.qml
+++ b/mobile/PpmMap.qml
@@ -156,7 +156,7 @@ Item {
     Connections {
         target: mCommands
 
-        onDecodedPpmReceived: {
+        function onDecodedPpmReceived(value, last_len) {
             valueNow = value
             msNow = last_len
 
diff --git a/mobile/ProfileDisplay.qml b/mobile/ProfileDisplay.qml
index 76619108d..aade8852f 100644
--- a/mobile/ProfileDisplay.qml
+++ b/mobile/ProfileDisplay.qml
@@ -220,7 +220,7 @@ Item {
     Connections {
         target: mMcConf
 
-        onParamChangedDouble: {
+        function onParamChangedDouble(src, name, newParam) {
             checkActive()
         }
     }
@@ -228,7 +228,7 @@ Item {
     Connections {
         target: VescIf
 
-        onUseImperialUnitsChanged: {
+        function onUseImperialUnitsChanged(useImperialUnits) {
             setFromMcConfTemp(VescIf.getProfile(index))
         }
     }
diff --git a/mobile/ProfileEditor.qml b/mobile/ProfileEditor.qml
index d5c11a3e3..02f765bac 100644
--- a/mobile/ProfileEditor.qml
+++ b/mobile/ProfileEditor.qml
@@ -130,7 +130,7 @@ Item {
     Connections {
         target: VescIf
 
-        onUseImperialUnitsChanged: {
+        function onUseImperialUnitsChanged(useImperialUnits) {
             updateSpeedBoxes()
         }
     }
diff --git a/mobile/Profiles.qml b/mobile/Profiles.qml
index 0d0588875..69f6e7a54 100644
--- a/mobile/Profiles.qml
+++ b/mobile/Profiles.qml
@@ -214,7 +214,7 @@ Item {
     Connections {
         target: VescIf
 
-        onProfilesUpdated: {
+        function onProfilesUpdated() {
             updateVisibleProfiles()
         }
     }
diff --git a/mobile/RtData.qml b/mobile/RtData.qml
index f20e300eb..ae0ea93c3 100644
--- a/mobile/RtData.qml
+++ b/mobile/RtData.qml
@@ -171,7 +171,7 @@ Item {
     Connections {
         target: mMcConf
 
-        onUpdated: {
+        function onUpdated() {
             var currentMaxRound = Math.ceil(mMcConf.getParamDouble("l_current_max") / 5) * 5
 
             if (currentMaxRound > currentGauge.maximumValue || currentMaxRound < (currentGauge.maximumValue * 0.7)) {
@@ -187,7 +187,7 @@ Item {
         id: commandsUpdate
         target: mCommands
 
-        onValuesReceived: {
+        function onValuesReceived(values, mask) {
             currentGauge.value = values.current_motor
             dutyGauge.value = values.duty_now * 100.0
 
diff --git a/mobile/RtDataBalance.qml b/mobile/RtDataBalance.qml
index 9a76a800e..e4725b326 100644
--- a/mobile/RtDataBalance.qml
+++ b/mobile/RtDataBalance.qml
@@ -194,7 +194,7 @@ Item {
     Connections {
         target: mCommands
 
-        onDecodedBalanceReceived: {
+        function onDecodedBalanceReceived(values) {
             pitchGauge.value = values.pitch_angle
             rollGauge.value = values.roll_angle
 
diff --git a/mobile/RtDataSetup.qml b/mobile/RtDataSetup.qml
index 7c048f3f9..dbef49897 100644
--- a/mobile/RtDataSetup.qml
+++ b/mobile/RtDataSetup.qml
@@ -657,11 +657,11 @@ Item {
 
         property string lastFault: ""
 
-        onValuesImuReceived: {
+        function onValuesImuReceived(values, mask) {
             inclineCanvas.incline = Math.tan(values.pitch) * 100
         }
 
-        onValuesSetupReceived: {
+        function onValuesSetupReceived(values, mask) {
             var currentMaxRound = Math.ceil(mMcConf.getParamDouble("l_current_max") / 5) * 5 * values.num_vescs
             var currentMinRound = Math.floor(mMcConf.getParamDouble("l_current_min") / 5) * 5 * values.num_vescs
 
diff --git a/mobile/StartPage.qml b/mobile/StartPage.qml
index 82bfa71b8..f75dc56c0 100644
--- a/mobile/StartPage.qml
+++ b/mobile/StartPage.qml
@@ -368,8 +368,8 @@ Item {
     Connections {
         target: mCommands
 
-        onNrfPairingRes: {
-            if (res != 0) {
+        function onNrfPairingRes(res) {
+            if (res !== 0) {
                 nrfPairButton.visible = true
             }
         }
@@ -377,7 +377,7 @@ Item {
 
     Connections {
         target: VescIf
-        onPortConnectedChanged: {
+        function onPortConnectedChanged() {
             if (VescIf.isPortConnected()) {
                 connectButton.buttonText = "Disconnect"
                 connectButton.imageSrc = "qrc" + Utility.getThemePath() + "icons/Disconnected-96.png"
diff --git a/mobile/StatPage.qml b/mobile/StatPage.qml
index 5c583a2aa..18bf84f0e 100644
--- a/mobile/StatPage.qml
+++ b/mobile/StatPage.qml
@@ -89,7 +89,7 @@ Item {
     Connections {
         target: mCommands
 
-        onValuesSetupReceived: {
+        function onValuesSetupReceived(values, mask) {
             statText.text =
                     "Ah Drawn   : " + parseFloat(values.amp_hours * 1000).toFixed(1) + " mAh\n" +
                     "Ah Charged : " + parseFloat(values.amp_hours_charged * 1000).toFixed(1) + " mAh\n" +
@@ -99,7 +99,7 @@ Item {
                     "Dist Abs   : " + parseFloat(values.tachometer_abs).toFixed(2) + " m\n"
         }
 
-        onStatsRx: {
+        function onStatsRx(val, mask) {
             var useImperial = VescIf.useImperialUnits()
             var impFact = useImperial ? 0.621371192 : 1.0
             var speedUnit = useImperial ? "mph" : "km/h"
diff --git a/mobile/Terminal.qml b/mobile/Terminal.qml
index 3a76aa9a5..d491ff824 100644
--- a/mobile/Terminal.qml
+++ b/mobile/Terminal.qml
@@ -132,7 +132,7 @@ Item {
     Connections {
         target: mCommands
 
-        onPrintReceived: {
+        function onPrintReceived(str) {
             terminalText.text += "\n" + str
         }
     }
diff --git a/mobile/fwhelper.h b/mobile/fwhelper.h
index e62480552..6f3ecab97 100644
--- a/mobile/fwhelper.h
+++ b/mobile/fwhelper.h
@@ -38,7 +38,6 @@ class FwHelper : public QObject
                                                  bool isBootloader, bool isIncluded, bool fwdCan, QString BLfilename);
 
 signals:
-
     void fwUploadRes(bool res, bool isBootloader);
 
 public slots:
diff --git a/mobile/main.qml b/mobile/main.qml
index 804d478be..f937c7bc9 100644
--- a/mobile/main.qml
+++ b/mobile/main.qml
@@ -1027,7 +1027,7 @@ ApplicationWindow {
 
     Connections {
         target: VescIf
-        onPortConnectedChanged: {
+        function onPortConnectedChanged() {
             connectedText.text = VescIf.getConnectedPortName()
             if (!VescIf.isPortConnected()) {
                 confTimer.mcConfRx = false
@@ -1046,18 +1046,18 @@ ApplicationWindow {
             }
         }
 
-        onUnintentionalBleDisconnect: {
+        function onUnintentionalBleDisconnect() {
             bleDisconnectTimer.trysLeft = 5
             bleDisconnectTimer.start()
         }
 
-        onStatusMessage: {
+        function onStatusMessage(msg, isGood) {
             connectedText.text = msg
             connectedRect.color = isGood ? Utility.getAppHexColor("lightAccent") : Utility.getAppHexColor("red")
             statusTimer.restart()
         }
 
-        onMessageDialog: {
+        function onMessageDialog(title, msg, isGood, richText) {
             vescDialog.title = title
             vescDialogLabel.text = (richText ? "<style>a:link { color: lightblue; }</style>" : "") + msg
             vescDialogLabel.textFormat = richText ? Text.RichText : Text.AutoText
@@ -1065,7 +1065,7 @@ ApplicationWindow {
             vescDialog.open()
         }
 
-        onFwRxChanged: {
+        function onFwRxChanged(rx, limited) {
             if (rx) {
                 if (limited && !VescIf.getFwSupportsConfiguration()) {
                     confPageMotor.enabled = false
@@ -1087,11 +1087,11 @@ ApplicationWindow {
             updateAppUi()
         }
 
-        onQmlLoadDone: {
+        function onQmlLoadDone() {
             qmlLoadDialog.open()
         }
 
-        onCustomConfigLoadDone: {
+        function onCustomConfigLoadDone() {
             updateConfCustom()
         }
     }
@@ -1099,7 +1099,7 @@ ApplicationWindow {
     Connections {
         target: mMcConf
 
-        onUpdated: {
+        function onUpdated() {
             confTimer.mcConfRx = true
         }
     }
@@ -1107,14 +1107,14 @@ ApplicationWindow {
     Connections {
         target: mAppConf
 
-        onUpdated: {
+        function onUpdated() {
             confTimer.appConfRx = true
         }
     }
 
     Connections {
         target: mCommands
-        onValuesImuReceived: {
+        function onValuesImuReceived(values, mask) {
             if (tabBar.currentIndex == (1 + indexOffset()) && rtSwipeView.currentIndex == 2) {
                 vesc3dLoader.item.setRotation(values.roll, values.pitch,
                                               useYawBox.checked ? values.yaw : 0)
@@ -1122,7 +1122,7 @@ ApplicationWindow {
             }
         }
 
-        onDeserializeConfigFailed: {
+        function onDeserializeConfigFailed(isMc, isApp) {
             if (isMc) {
                 confTimer.mcConfRx = true
             }
diff --git a/res/qml/DynamicLoader.qml b/res/qml/DynamicLoader.qml
index 604f406bc..6f8aa4756 100644
--- a/res/qml/DynamicLoader.qml
+++ b/res/qml/DynamicLoader.qml
@@ -66,7 +66,7 @@ Item {
     Connections {
         target: QmlUi
 
-        onReloadQml: {
+        function onReloadQml(str) {
             Qt.createQmlObject(str, container, "myCode");
         }
     }
diff --git a/res/qml/Examples/BMS.qml b/res/qml/Examples/BMS.qml
index 540b94afc..9ea437f27 100644
--- a/res/qml/Examples/BMS.qml
+++ b/res/qml/Examples/BMS.qml
@@ -316,7 +316,7 @@ Item {
     Connections {
         target: mCommands
 
-        onBmsValuesRx: {
+        function onBmsValuesRx(val) {
             mVal = val
             mValSet = true
 
diff --git a/res/qml/Examples/BalanceUi.qml b/res/qml/Examples/BalanceUi.qml
index 7d00a03d4..907f4f28a 100644
--- a/res/qml/Examples/BalanceUi.qml
+++ b/res/qml/Examples/BalanceUi.qml
@@ -146,7 +146,7 @@ Item {
     Connections {
         target: mCommands
         
-        onCustomAppDataReceived: {
+        function onCustomAppDataReceived(data) {
             
         }
     }
diff --git a/res/qml/Examples/BrakeBench.qml b/res/qml/Examples/BrakeBench.qml
index bcfcf038f..1dbe6b18d 100644
--- a/res/qml/Examples/BrakeBench.qml
+++ b/res/qml/Examples/BrakeBench.qml
@@ -239,10 +239,10 @@ Item {
         
         property var valOther: []
         
-        onValuesReceived: { // values, mask
+        function onValuesReceived(values, mask) {
             var friction = 10.0
                     
-            if (values.vesc_id == canBox.realValue) {
+            if (values.vesc_id === canBox.realValue) {
                 valOther = values
             } else {
                 var powerDrive = values.v_in * values.current_in
diff --git a/res/qml/Examples/CanDebugger.qml b/res/qml/Examples/CanDebugger.qml
index d78a79e7e..8c7c7958f 100644
--- a/res/qml/Examples/CanDebugger.qml
+++ b/res/qml/Examples/CanDebugger.qml
@@ -139,50 +139,50 @@ Item {
     Connections {
         target: mCommands
         
-        onCanFrameRx: { // data, id, isExtended
+        function onCanFrameRx(data, id, isExtended) {
             var dv = new DataView(data);
             
             var param = dv.getUInt8(0)
             var sub = dv.getUInt8(1)
             
-            if (!isExtended && id == 0x660) {                
-                if (param == 2) {
+            if (!isExtended && id === 0x660) {
+                if (param === 2) {
                     for (var i = 0;i < 3;i++) {
                         var volt = dv.getUint16(2, true)
-                        if (volt != 65535) {
+                        if (volt !== 65535) {
                             cellv[sub * 3 + i] = volt / 1000
                         }
                     }
-                } else if (param == 3) {
+                } else if (param === 3) {
                     for (var i = 0;i < 3;i++) {
                         var temp = dv.getInt16(2, true)
-                        if (temp != 32767) {
+                        if (temp !== 32767) {
                             cellt[sub * 3 + i] = temp
                         }
                     }
-                } else if (param == 5) {
-                    if (sub == 1) {
+                } else if (param === 5) {
+                    if (sub === 1) {
                         var secs = dv.getUint32(2, true)
                         relh = secs / 60 / 60
-                    } else if (sub == 2) {
+                    } else if (sub === 2) {
                         var secs = dv.getUint32(2, true)
                         chargeh = secs / 60 / 60
                     }
-                } else if (param == 6) {
-                    if (sub == 0) {
+                } else if (param === 6) {
+                    if (sub === 0) {
                         var curr = dv.getUint32(2, true)
                         chargeCurrent = curr / 1000
-                    } else if (sub == 1) {
+                    } else if (sub === 1) {
                         var curr = dv.getUint32(2, true)
                         dischargeCurrent = curr / 1000
                     }
-                } else if (param == 9) {
+                } else if (param === 9) {
                     var str = ""
                     for (var i = 0;i < 6;i++) {
                         str += String.fromCharCode(dv.getUint8(2 + i));
                     }
                     
-                    if (sub == 0) {
+                    if (sub === 0) {
                         line = str
                     } else {
                         line += str
diff --git a/res/qml/Examples/IoBoard.qml b/res/qml/Examples/IoBoard.qml
index 590d51729..b1673a3ff 100644
--- a/res/qml/Examples/IoBoard.qml
+++ b/res/qml/Examples/IoBoard.qml
@@ -81,7 +81,7 @@ Item {
     Connections {
         target: mCommands
         
-        onIoBoardValRx: {
+        function onIoBoardValRx(val) {
             // Members of val
 //            val.id
 //            val.adc_1_4[ch]
diff --git a/res/qml/Examples/MMXGui.qml b/res/qml/Examples/MMXGui.qml
index ccff8e398..ca83926ef 100644
--- a/res/qml/Examples/MMXGui.qml
+++ b/res/qml/Examples/MMXGui.qml
@@ -220,7 +220,7 @@ Item {
     Connections {
         target: mCommands
         
-        onValuesReceived: {
+        function onValuesReceived(values, mask) {
             bpmNowGauge.value = erpm_to_bpm(Math.abs(values.rpm))
         }
     }
diff --git a/res/qml/Examples/Meters.qml b/res/qml/Examples/Meters.qml
index b69a9ecfd..820d0348e 100644
--- a/res/qml/Examples/Meters.qml
+++ b/res/qml/Examples/Meters.qml
@@ -107,7 +107,7 @@ Item {
         Connections {
             target: mCommands
 
-            onValuesReceived: {
+            function onValuesReceived(values, mask) {
                 rpmGauge.value = Math.abs(values.rpm) / 32
                 powerGauge.value = values.current_in * values.v_in
                 currentGauge.value = values.current_motor
diff --git a/res/qml/Examples/PollValues.qml b/res/qml/Examples/PollValues.qml
index ae64f8768..17260e69a 100644
--- a/res/qml/Examples/PollValues.qml
+++ b/res/qml/Examples/PollValues.qml
@@ -33,7 +33,7 @@ Item {
     Connections {
         target: mCommands
         
-        onValuesReceived: { // values, mask
+        function onValuesReceived(values, mask) {
             // Members of values
 //            values.v_in
 //            values.temp_mos
diff --git a/res/qml/Examples/PositionControl.qml b/res/qml/Examples/PositionControl.qml
index 0ca9fca53..7df9fc803 100644
--- a/res/qml/Examples/PositionControl.qml
+++ b/res/qml/Examples/PositionControl.qml
@@ -89,7 +89,7 @@ Item {
     Connections {
         target: mCommands
         
-        onValuesReceived: {
+        function onValuesReceived(values, mask) {
             if (!motorRunning) {
                 posSlider.value = values.position
                 posSet = values.position
diff --git a/res/qml/Examples/Profiles.qml b/res/qml/Examples/Profiles.qml
index 251fa2fc0..cc73aeedc 100644
--- a/res/qml/Examples/Profiles.qml
+++ b/res/qml/Examples/Profiles.qml
@@ -204,7 +204,7 @@ Item {
     Connections {
         target: VescIf
 
-        onProfilesUpdated: {
+        function onProfilesUpdated() {
             updateVisibleProfiles()
         }
     }
diff --git a/res/qml/Examples/RpmSlider.qml b/res/qml/Examples/RpmSlider.qml
index 1e512816c..22f3f45aa 100644
--- a/res/qml/Examples/RpmSlider.qml
+++ b/res/qml/Examples/RpmSlider.qml
@@ -108,7 +108,7 @@ Item {
         Connections {
             target: mCommands
 
-            onValuesReceived: {
+            function onValuesReceived(values, mask) {
                 rpmGauge.value = Math.abs(values.rpm) / 5
                 voltageGauge.value = Math.abs(values.v_in * values.duty_now)
             }
diff --git a/res/qml/Examples/RtData.qml b/res/qml/Examples/RtData.qml
index feaac9a5f..ecb5922cb 100644
--- a/res/qml/Examples/RtData.qml
+++ b/res/qml/Examples/RtData.qml
@@ -144,7 +144,7 @@ Item {
     Connections {
         target: mMcConf
 
-        onUpdated: {
+        function onUpdated() {
             currentGauge.maximumValue = Math.ceil(mMcConf.getParamDouble("l_current_max") / 5) * 5
             currentGauge.minimumValue = -currentGauge.maximumValue
         }
@@ -153,7 +153,7 @@ Item {
     Connections {
         target: mCommands
 
-        onValuesReceived: {
+        function onValuesReceived(values, mask) {
             currentGauge.value = values.current_motor
             dutyGauge.value = values.duty_now * 100.0
 
diff --git a/res/qml/Examples/RtDataSetup.qml b/res/qml/Examples/RtDataSetup.qml
index c826f5414..625582d16 100644
--- a/res/qml/Examples/RtDataSetup.qml
+++ b/res/qml/Examples/RtDataSetup.qml
@@ -347,12 +347,12 @@ Item {
     Connections {
         target: mCommands
         
-        onValuesImuReceived: {
+        function onValuesImuReceived(values, mask) {
             inclineCanvas.incline = Math.tan(values.pitch) * 100
             inclineCanvas.requestPaint()
         }
 
-        onValuesSetupReceived: {
+        function onValuesSetupReceived(values, mask) {
             currentGauge.maximumValue = Math.ceil(mMcConf.getParamDouble("l_current_max") / 5) * 5 * values.num_vescs
             currentGauge.minimumValue = -currentGauge.maximumValue
             currentGauge.labelStep = Math.ceil(currentGauge.maximumValue / 20) * 5
diff --git a/res/qml/MainLoader.qml b/res/qml/MainLoader.qml
index 98d1445e4..dff8c1193 100644
--- a/res/qml/MainLoader.qml
+++ b/res/qml/MainLoader.qml
@@ -61,14 +61,14 @@ ApplicationWindow {
     Connections {
         target: QmlUi
 
-        onReloadFile: {
+        function onReloadFile(fileName) {
             loader.source = ""
             QmlUi.clearQmlCache()
             loadTimer.start()
             lastFile = fileName
         }
 
-        onToggleFullscreen: {
+        function onToggleFullscreen() {
             wasFullscreen = !wasFullscreen
             if (wasFullscreen) {
                 mainWindow.visibility = Window.FullScreen
@@ -77,13 +77,13 @@ ApplicationWindow {
             }
         }
 
-        onMoveToOtherScreen: {
+        function onMoveToOtherScreen() {
             var screenInd = Qt.application.screens.length - 1
             mainWindow.x = Qt.application.screens[screenInd].virtualX;
             mainWindow.y = Qt.application.screens[screenInd].virtualY;
         }
 
-        onMoveToFirstScreen: {
+        function onMoveToFirstScreen() {
             mainWindow.x = Qt.application.screens[0].virtualX;
             mainWindow.y = Qt.application.screens[0].virtualY;
         }
@@ -121,7 +121,7 @@ ApplicationWindow {
             };
         }
 
-        onRotateScreen: {
+        function onRotateScreen(rot) {
             loaderContainer.rotation = rot
 
             loaderContainer.width = Qt.binding(function() {
diff --git a/res/qml/WelcomeQmlPanel.qml b/res/qml/WelcomeQmlPanel.qml
index 0857b2d22..edcd5cc13 100644
--- a/res/qml/WelcomeQmlPanel.qml
+++ b/res/qml/WelcomeQmlPanel.qml
@@ -344,12 +344,12 @@ Item {
     Connections {
         target: VescIf
 
-        onFwRxChanged: {
+        function onFwRxChanged(rx, limited) {
             updateHwUi()
             updateAppUi()
         }
 
-        onQmlLoadDone: {
+        function onQmlLoadDone() {
             qmlLoadDialog.open()
         }
     }

From 9a067dcb5310fc3e4b621c3c4b7dc29b172e57b3 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 1 Nov 2022 16:18:33 +0100
Subject: [PATCH 236/559] Added connectscreen to desktop, broadcast tcp server
 state, show tcp device names

---
 build_cp_fw                 |  4 ++--
 mobile/ConnectScreen.qml    | 32 ++++++++++++++------------------
 mobile/main.qml             |  5 +++++
 res/qml/WelcomeQmlPanel.qml | 36 ++++++++++++++++++++++++++++++++++++
 tcpserversimple.cpp         |  7 +++++++
 tcpserversimple.h           |  2 ++
 vesc_tool.pro               |  2 +-
 vescinterface.cpp           | 14 ++++++++++++++
 vescinterface.h             |  1 +
 9 files changed, 82 insertions(+), 21 deletions(-)

diff --git a/build_cp_fw b/build_cp_fw
index 7b478e6e0..28ec9091b 100755
--- a/build_cp_fw
+++ b/build_cp_fw
@@ -9,8 +9,8 @@ rm -rf $FWPATH/package/*
 
 cd $FWPATH
 make all_fw_clean
-make all_fw -j24
-sleep 3
+make all_fw -j12
+sleep 10
 python3 package_firmware.py
 make all_fw_clean
 
diff --git a/mobile/ConnectScreen.qml b/mobile/ConnectScreen.qml
index 4538c5236..cd91a14ba 100644
--- a/mobile/ConnectScreen.qml
+++ b/mobile/ConnectScreen.qml
@@ -74,10 +74,6 @@ Item {
         }
     }
 
-    Component.onCompleted: {
-        startBleScan()
-    }
-
     onYChanged: {
         if (y > 1) {
             enableDialog()
@@ -156,7 +152,7 @@ Item {
 
             Button {
                 id: scanButton
-                text: qsTr("Scan")
+                text: qsTr("Scan BLE")
                 enabled: true
                 flat: true
                 Layout.preferredWidth: 120
@@ -233,7 +229,7 @@ Item {
                                     Layout.preferredWidth: 40
                                     Layout.preferredHeight: 40
                                     Layout.alignment: Qt.AlignHCenter | Qt.AlignVCenter
-                                    source: "qrc" + Utility.getThemePath() + ((isSerial == 0) ? "icons/Connected-96.png" : "icons/bluetooth.png")
+                                    source: "qrc" + Utility.getThemePath() + ((isSerial === 0) ? "icons/Connected-96.png" : "icons/bluetooth.png")
                                 }
 
                                 Text {
@@ -248,7 +244,7 @@ Item {
                         }
 
                         ColumnLayout {
-                            visible: isSerial == 0
+                            visible: isSerial === 0
 
                             Text {
                                 Layout.alignment: Qt.AlignHCenter | Qt.AlignBottom
@@ -276,7 +272,7 @@ Item {
 
                             Timer {
                                 id: workaroundTimerConnect
-                                property var bleAddr: ""
+                                property string bleAddr: ""
                                 interval: 0
                                 repeat: false
                                 running: false
@@ -292,9 +288,9 @@ Item {
                                 text: "Connect"
 
                                 onClicked: {
-                                    if (isSerial == 1) {
+                                    if (isSerial === 1) {
                                         VescIf.autoconnect()
-                                    } else if (isSerial == 2) {
+                                    } else if (isSerial === 2) {
                                         VescIf.connectTcp(bleAddr, 65102)
                                     } else {
                                         disableDialog()
@@ -309,7 +305,7 @@ Item {
                                 Layout.alignment: Qt.AlignHCenter | Qt.AlignBottom
                                 Layout.preferredHeight: 55
                                 text: "Set Name"
-                                visible: isSerial == 0
+                                visible: isSerial === 0
 
                                 onClicked: {
                                     bleNameDialog.addr = bleAddr
@@ -379,7 +375,7 @@ Item {
             if (done) {
                 scanDotTimer.running = false
                 scanButton.enabled = true
-                scanButton.text = qsTr("Scan")
+                scanButton.text = qsTr("Scan BLE")
             }
 
             for (var addr in devs) {
@@ -434,7 +430,7 @@ Item {
                 }
 
                 if (addToList) {
-                    bleModel.insert(0, {"name": "TCP\n" + vescsUdp[k].ip,
+                    bleModel.insert(0, {"name": vescsUdp[k].name + " (TCP)\n" + vescsUdp[k].ip,
                                         "setName": "",
                                         "preferred": true,
                                         "bleAddr": vescsUdp[k].ip,
@@ -488,7 +484,7 @@ Item {
         width: parent.width - 20 - notchLeft - notchRight
         x: parent.width/2 - width/2
         y: parent.height / 2 - height / 2
-        parent: ApplicationWindow.overlay
+        parent: rootItem.parent
         ProgressBar {
             anchors.fill: parent
             indeterminate: visible
@@ -496,7 +492,7 @@ Item {
     }
 
     Dialog {
-        property var addr: ""
+        property string addr: ""
 
         id: bleNameDialog
         standardButtons: Dialog.Ok | Dialog.Cancel
@@ -513,7 +509,7 @@ Item {
         closePolicy: Popup.CloseOnEscape
         x: parent.width/2 - width/2
         y: Math.max(parent.height / 4 - height / 2, 20)
-        parent: ApplicationWindow.overlay
+        parent: rootItem.parent
 
         Rectangle {
             anchors.fill: parent
@@ -551,7 +547,7 @@ Item {
         y: 10 + parent.height / 2 - height / 2
         x: parent.width/2 - width/2
         width: parent.width - 20 - notchLeft - notchRight
-        parent: ApplicationWindow.overlay
+        parent: rootItem.parent
         Overlay.modal: Rectangle {
             color: "#AA000000"
         }
@@ -579,7 +575,7 @@ Item {
         y: 10 + parent.height / 2 - height / 2
         x: parent.width/2 - width/2
         width: parent.width - 20 - notchLeft - notchRight
-        parent: ApplicationWindow.overlay
+        parent: rootItem.parent
         Overlay.modal: Rectangle {
             color: "#AA000000"
         }
diff --git a/mobile/main.qml b/mobile/main.qml
index f937c7bc9..4fef5c0b1 100644
--- a/mobile/main.qml
+++ b/mobile/main.qml
@@ -752,6 +752,11 @@ ApplicationWindow {
             height: parent.height
             width: parent.width
             opened: true
+
+            Component.onCompleted: {
+                startBleScan()
+            }
+
             onYChanged: {
                 parent.color.a = Math.min(1, Math.max(1 - y / height, 0))
 
diff --git a/res/qml/WelcomeQmlPanel.qml b/res/qml/WelcomeQmlPanel.qml
index edcd5cc13..6fb5f2838 100644
--- a/res/qml/WelcomeQmlPanel.qml
+++ b/res/qml/WelcomeQmlPanel.qml
@@ -275,6 +275,42 @@ Item {
         }
     }
 
+    Rectangle {
+        parent: container
+        anchors.fill: parent
+        color: "black"
+
+        ConnectScreen {
+            id: connScreen
+            x: 0
+            y: 0
+            height: parent.height
+            width: parent.width
+            opened: true
+
+            onYChanged: {
+                parent.color.a = Math.min(1, Math.max(1 - y / height, 0))
+
+                if (opened) {
+                    drawer.interactive = false
+                    canDrawerLoader.item.interactive = false
+                    drawer.close()
+                    canDrawerLoader.item.close()
+                } else {
+                    drawer.interactive = true
+                    canDrawerLoader.item.interactive = true
+                }
+            }
+        }
+    }
+
+    Connections {
+        target: VescIf
+        function onPortConnectedChanged() {
+            connScreen.opened = VescIf.isPortConnected() ? false : true
+        }
+    }
+
     property var hwUiObj: 0
 
     function updateHwUi () {
diff --git a/tcpserversimple.cpp b/tcpserversimple.cpp
index bb3569ca0..469e9cd02 100644
--- a/tcpserversimple.cpp
+++ b/tcpserversimple.cpp
@@ -29,6 +29,7 @@ TcpServerSimple::TcpServerSimple(QObject *parent) : QObject(parent)
     mPacket = new Packet(this);
     mTcpSocket = nullptr;
     mUsePacket = false;
+    mLastPort = -1;
 
     connect(mTcpServer, SIGNAL(newConnection()), this, SLOT(newTcpConnection()));
     connect(mPacket, SIGNAL(dataToSend(QByteArray&)),
@@ -37,6 +38,7 @@ TcpServerSimple::TcpServerSimple(QObject *parent) : QObject(parent)
 
 bool TcpServerSimple::startServer(int port, QHostAddress addr)
 {
+    mLastPort = port;
     return mTcpServer->listen(addr,  port);
 }
 
@@ -177,6 +179,11 @@ void TcpServerSimple::dataToSend(QByteArray &data)
     sendData(data);
 }
 
+int TcpServerSimple::lastPort() const
+{
+    return mLastPort;
+}
+
 bool TcpServerSimple::usePacket() const
 {
     return mUsePacket;
diff --git a/tcpserversimple.h b/tcpserversimple.h
index 16a619729..f51d4ca1e 100644
--- a/tcpserversimple.h
+++ b/tcpserversimple.h
@@ -41,6 +41,7 @@ class TcpServerSimple : public QObject
     Q_INVOKABLE bool isClientConnected();
     Q_INVOKABLE QString getConnectedClientIp();
     Q_INVOKABLE bool isServerRunning();
+    int lastPort() const;
 
 signals:
     void dataRx(const QByteArray &data);
@@ -58,6 +59,7 @@ public slots:
     QTcpSocket *mTcpSocket;
     Packet *mPacket;
     bool mUsePacket;
+    int mLastPort;
 
 };
 
diff --git a/vesc_tool.pro b/vesc_tool.pro
index 6d316c2dd..9bc7800b9 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -10,7 +10,7 @@ VT_INTRO_VERSION = 1
 VT_CONFIG_VERSION = 2
 
 # Set to 0 for stable versions and to test version number for development versions.
-VT_IS_TEST_VERSION = 11
+VT_IS_TEST_VERSION = 12
 
 VT_ANDROID_VERSION_ARMV7 = 108
 VT_ANDROID_VERSION_ARM64 = 109
diff --git a/vescinterface.cpp b/vescinterface.cpp
index 209ce59a1..7b357a992 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -210,6 +210,20 @@ VescInterface::VescInterface(QObject *parent) : QObject(parent)
         mTcpServer->packet()->sendPacket(packet);
     });
 
+    mTimerBroadcast = new QTimer(this);
+    mTimerBroadcast->setInterval(1000);
+    mTimerBroadcast->start();
+    connect(mTimerBroadcast, &QTimer::timeout, [this]() {
+        if (mTcpServer->isServerRunning() && isPortConnected()) {
+            QUdpSocket *udp = new QUdpSocket(this);
+            QString dgram = QString("%1::%2::%3").
+                    arg(getLastFwRxParams().hw).
+                    arg(Utility::getNetworkAddresses().first().toString()).
+                    arg(mTcpServer->lastPort());
+            udp->writeDatagram(dgram.toLocal8Bit().data(), dgram.size(), QHostAddress::Broadcast, 65109);
+        }
+    });
+
     mUdpServer = new UdpServerSimple(this);
     mUdpServer->setUsePacket(true);
     connect(mUdpServer->packet(), &Packet::packetReceived, [this](QByteArray &packet) {
diff --git a/vescinterface.h b/vescinterface.h
index 6c3351839..e1c058c2f 100755
--- a/vescinterface.h
+++ b/vescinterface.h
@@ -314,6 +314,7 @@ private slots:
     QStringList mPairedUuids;
     TcpServerSimple *mTcpServer;
     UdpServerSimple *mUdpServer;
+    QTimer *mTimerBroadcast;
 
     ConfigParams *mMcConfig;
     ConfigParams *mAppConfig;

From 59b43bd740c3bcd353e239f66d4b249ee7a79923 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 1 Nov 2022 20:54:56 +0100
Subject: [PATCH 237/559] Added option and setting to not ask before loading
 custom qml

---
 mobile/Settings.qml         |  9 +++++++++
 mobile/main.qml             | 37 +++++++++++++++++++++++++++----------
 preferences.cpp             | 19 ++++++++++++++++---
 preferences.h               |  2 ++
 preferences.ui              | 10 ++++++++++
 res/qml/WelcomeQmlPanel.qml | 37 +++++++++++++++++++++++++++----------
 vescinterface.cpp           | 12 ++++++++++++
 vescinterface.h             |  3 +++
 8 files changed, 106 insertions(+), 23 deletions(-)

diff --git a/mobile/Settings.qml b/mobile/Settings.qml
index 37d3ae802..f6bef165c 100644
--- a/mobile/Settings.qml
+++ b/mobile/Settings.qml
@@ -95,6 +95,13 @@ Item {
                     checked: VescIf.getLoadQmlUiOnConnect()
                 }
 
+                CheckBox {
+                    id: qmlUiAskBox
+                    Layout.fillWidth: true
+                    text: "Ask before loading QML UI"
+                    checked: VescIf.askQmlLoad()
+                }
+
                 CheckBox {
                     id: darkModeBox
                     Layout.fillWidth: true
@@ -113,6 +120,7 @@ Item {
             screenOnBox.checked = VescIf.keepScreenOn()
             screenRotBox.checked = VescIf.getAllowScreenRotation()
             qmlUiBox.checked = VescIf.getLoadQmlUiOnConnect()
+            qmlUiAskBox.checked = VescIf.askQmlLoad()
         }
 
         onClosed: {
@@ -121,6 +129,7 @@ Item {
             VescIf.setKeepScreenOn(screenOnBox.checked)
             VescIf.setAllowScreenRotation(screenRotBox.checked)
             VescIf.setLoadQmlUiOnConnect(qmlUiBox.checked)
+            VescIf.setAskQmlLoad(qmlUiAskBox.checked)
             VescIf.storeSettings()
 
             Utility.keepScreenOn(VescIf.keepScreenOn())
diff --git a/mobile/main.qml b/mobile/main.qml
index 4fef5c0b1..6b566bf64 100644
--- a/mobile/main.qml
+++ b/mobile/main.qml
@@ -1093,7 +1093,12 @@ ApplicationWindow {
         }
 
         function onQmlLoadDone() {
-            qmlLoadDialog.open()
+            if (VescIf.askQmlLoad()) {
+                qmlLoadDialog.open()
+            } else {
+                updateHwUi()
+                updateAppUi()
+            }
         }
 
         function onCustomConfigLoadDone() {
@@ -1155,19 +1160,31 @@ ApplicationWindow {
         parent: ApplicationWindow.overlay
         y: parent.y + parent.height / 2 - height / 2
 
-        Text {
-            color: Utility.getAppHexColor("lightText")
-            verticalAlignment: Text.AlignVCenter
+        ColumnLayout {
             anchors.fill: parent
-            wrapMode: Text.WordWrap
-            text:
-                "The hardware you are connecting to contains code that will alter the " +
-                "user interface of VESC Tool. This code has not been verified by the " +
-                "authors of VESC Tool and could contain bugs and security problems. \n\n" +
-                "Do you want to load this custom user interface?"
+
+            Text {
+                Layout.fillWidth: true
+                Layout.fillHeight: true
+                color: Utility.getAppHexColor("lightText")
+                verticalAlignment: Text.AlignVCenter
+                wrapMode: Text.WordWrap
+                text:
+                    "The hardware you are connecting to contains code that will alter the " +
+                    "user interface of VESC Tool. This code has not been verified by the " +
+                    "authors of VESC Tool and could contain bugs and security problems. \n\n" +
+                    "Do you want to load this custom user interface?"
+            }
+
+            CheckBox {
+                Layout.fillWidth: true
+                id: qmlDoNotAskAgainBox
+                text: "Load without asking"
+            }
         }
 
         onAccepted: {
+            VescIf.setAskQmlLoad(!qmlDoNotAskAgainBox.checked)
             updateHwUi()
             updateAppUi()
         }
diff --git a/preferences.cpp b/preferences.cpp
index beb9a42d9..acb876f1d 100755
--- a/preferences.cpp
+++ b/preferences.cpp
@@ -165,9 +165,6 @@ VescInterface *Preferences::vesc() const
 void Preferences::setVesc(VescInterface *vesc)
 {
     mVesc = vesc;
-    if (mVesc) {
-        ui->loadQmlUiConnectBox->setChecked(mVesc->getLoadQmlUiOnConnect());
-    }
 }
 
 void Preferences::setUseGamepadControl(bool useControl)
@@ -219,6 +216,15 @@ void Preferences::closeEvent(QCloseEvent *event)
     event->accept();
 }
 
+void Preferences::showEvent(QShowEvent *event)
+{
+    if (mVesc) {
+        ui->loadQmlUiConnectBox->setChecked(mVesc->getLoadQmlUiOnConnect());
+        ui->qmlUiAskBox->setChecked(mVesc->askQmlLoad());
+    }
+    event->accept();
+}
+
 void Preferences::timerSlot()
 {
 #ifdef HAS_GAMEPAD
@@ -359,6 +365,13 @@ void Preferences::on_loadQmlUiConnectBox_toggled(bool checked)
     }
 }
 
+void Preferences::on_qmlUiAskBox_toggled(bool checked)
+{
+    if (mVesc) {
+        mVesc->setAskQmlLoad(checked);
+    }
+}
+
 void Preferences::on_pathRtLogChooseButton_clicked()
 {
     ui->pathRtLogEdit->setText(
diff --git a/preferences.h b/preferences.h
index d4ee5dc77..124df8105 100644
--- a/preferences.h
+++ b/preferences.h
@@ -63,6 +63,7 @@ class Preferences : public QDialog
 
 protected:
     void closeEvent(QCloseEvent *event);
+    void showEvent(QShowEvent *event);
 
 private slots:
     void timerSlot();
@@ -72,6 +73,7 @@ private slots:
     void on_jsConnectButton_clicked();
     void on_jsResetConfigButton_clicked();
     void on_loadQmlUiConnectBox_toggled(bool checked);
+    void on_qmlUiAskBox_toggled(bool checked);
     void on_pathRtLogChooseButton_clicked();
     void on_pathScriptInputChooseButton_clicked();
     void on_pathRtLogEdit_textChanged(const QString &arg1);
diff --git a/preferences.ui b/preferences.ui
index 7027e3dc3..acd1e7cb9 100644
--- a/preferences.ui
+++ b/preferences.ui
@@ -116,6 +116,16 @@
            </property>
           </widget>
          </item>
+         <item row="2" column="1">
+          <widget class="QCheckBox" name="qmlUiAskBox">
+           <property name="text">
+            <string>Ask before loading QML UI</string>
+           </property>
+           <property name="checked">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
         </layout>
        </item>
        <item>
diff --git a/res/qml/WelcomeQmlPanel.qml b/res/qml/WelcomeQmlPanel.qml
index 6fb5f2838..5061a2d94 100644
--- a/res/qml/WelcomeQmlPanel.qml
+++ b/res/qml/WelcomeQmlPanel.qml
@@ -386,7 +386,12 @@ Item {
         }
 
         function onQmlLoadDone() {
-            qmlLoadDialog.open()
+            if (VescIf.askQmlLoad()) {
+                qmlLoadDialog.open()
+            } else {
+                updateHwUi()
+                updateAppUi()
+            }
         }
     }
 
@@ -440,19 +445,31 @@ Item {
         parent: container
         y: parent.y + parent.height / 2 - height / 2
 
-        Text {
-            color: {color = Utility.getAppHexColor("lightText")}
-            verticalAlignment: Text.AlignVCenter
+        ColumnLayout {
             anchors.fill: parent
-            wrapMode: Text.WordWrap
-            text:
-                "The hardware you are connecting to contains code that will alter the " +
-                "user interface of VESC Tool. This code has not been verified by the " +
-                "authors of VESC Tool and could contain bugs and security problems. \n\n" +
-                "Do you want to load this custom user interface?"
+
+            Text {
+                Layout.fillWidth: true
+                Layout.fillHeight: true
+                color: Utility.getAppHexColor("lightText")
+                verticalAlignment: Text.AlignVCenter
+                wrapMode: Text.WordWrap
+                text:
+                    "The hardware you are connecting to contains code that will alter the " +
+                    "user interface of VESC Tool. This code has not been verified by the " +
+                    "authors of VESC Tool and could contain bugs and security problems. \n\n" +
+                    "Do you want to load this custom user interface?"
+            }
+
+            CheckBox {
+                Layout.fillWidth: true
+                id: qmlDoNotAskAgainBox
+                text: "Load without asking"
+            }
         }
 
         onAccepted: {
+            VescIf.setAskQmlLoad(!qmlDoNotAskAgainBox.checked)
             updateHwUi()
             updateAppUi()
         }
diff --git a/vescinterface.cpp b/vescinterface.cpp
index 7b357a992..6ebbf84f2 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -286,6 +286,7 @@ VescInterface::VescInterface(QObject *parent) : QObject(parent)
     mLoadQmlUiOnConnect = mSettings.value("loadQmlUiOnConnect", true).toBool();
     mAllowScreenRotation = mSettings.value("allowScreenRotation", false).toBool();
     mSpeedGaugeUseNegativeValues =  mSettings.value("speedGaugeUseNegativeValues", true).toBool();
+    mAskQmlLoad =  mSettings.value("askQmlLoad", true).toBool();
 
     mCommands->setAppConfig(mAppConfig);
     mCommands->setMcConfig(mMcConfig);
@@ -660,6 +661,7 @@ void VescInterface::storeSettings()
     mSettings.setValue("darkMode", Utility::isDarkMode());
     mSettings.setValue("allowScreenRotation", mAllowScreenRotation);
     mSettings.setValue("speedGaugeUseNegativeValues", mSpeedGaugeUseNegativeValues);
+    mSettings.setValue("askQmlLoad", mAskQmlLoad);
     mSettings.sync();
 }
 
@@ -1972,6 +1974,16 @@ void VescInterface::setSpeedGaugeUseNegativeValues(bool useNegativeValues)
     mSpeedGaugeUseNegativeValues = useNegativeValues;
 }
 
+bool VescInterface::askQmlLoad() const
+{
+    return mAskQmlLoad;
+}
+
+void VescInterface::setAskQmlLoad(bool newAskQmlLoad)
+{
+    mAskQmlLoad = newAskQmlLoad;
+}
+
 #ifdef HAS_SERIALPORT
 QString VescInterface::getLastSerialPort() const
 {
diff --git a/vescinterface.h b/vescinterface.h
index e1c058c2f..f35a54160 100755
--- a/vescinterface.h
+++ b/vescinterface.h
@@ -158,6 +158,8 @@ class VescInterface : public QObject
     Q_INVOKABLE void setAllowScreenRotation(bool allowScreenRotation);
     Q_INVOKABLE bool speedGaugeUseNegativeValues();
     Q_INVOKABLE void setSpeedGaugeUseNegativeValues(bool useNegativeValues);
+    Q_INVOKABLE bool askQmlLoad() const;
+    Q_INVOKABLE void setAskQmlLoad(bool newAskQmlLoad);
 
 #ifdef HAS_BLUETOOTH
     Q_INVOKABLE BleUart* bleDevice();
@@ -431,6 +433,7 @@ private slots:
     bool mLoadQmlUiOnConnect;
     bool mAllowScreenRotation;
     bool mSpeedGaugeUseNegativeValues;
+    bool mAskQmlLoad;
 
     void updateFwRx(bool fwRx);
     void setLastConnectionType(conn_t type);

From deabf1c0044988ef7a1bfe6b639f1cccb7d86893 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 1 Nov 2022 21:16:06 +0100
Subject: [PATCH 238/559] Added cond keyword

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index a12b8e854..b1ac8b964 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -15,6 +15,7 @@
 <name>let</name>
 <name>progn</name>
 <name>if</name>
+<name>cond</name>
 <name>match</name>
 <name>loopfor</name>
 <name>loopwhile</name>

From a6eddbdd89b716622dc49d3217a350c2ee7fa2a7 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 1 Nov 2022 21:59:28 +0100
Subject: [PATCH 239/559] Remove tcp devices after timeout

---
 mobile/ConnectScreen.qml    | 35 +++++++++++++++++++++++++++++++++--
 res/qml/WelcomeQmlPanel.qml |  4 ++++
 2 files changed, 37 insertions(+), 2 deletions(-)

diff --git a/mobile/ConnectScreen.qml b/mobile/ConnectScreen.qml
index cd91a14ba..39ae95f62 100644
--- a/mobile/ConnectScreen.qml
+++ b/mobile/ConnectScreen.qml
@@ -350,8 +350,10 @@ Item {
             var tokens = Utility.arr2str(data).split("::")
             if (tokens.length === 3) {
                 var found = false
+
                 for (var i = 0; i < vescsUdp.length;i++) {
                     if (vescsUdp[i].ip === tokens[1]) {
+                        vescsUdp[i].updateTime = new Date().getTime()
                         found = true
                         break
                     }
@@ -361,7 +363,8 @@ Item {
                     vescsUdp[vescsUdp.length] = {
                         "name" : tokens[0],
                         "ip" : tokens[1],
-                        "port" : tokens[2]
+                        "port" : tokens[2],
+                        "updateTime" : new Date().getTime()
                     }
                     mBle.emitScanDone()
                 }
@@ -369,6 +372,32 @@ Item {
         }
     }
 
+    Timer {
+        running: true
+        repeat: true
+        interval: 500
+
+        onTriggered: {
+            var removed = false
+            for (var i = 0; i < vescsUdp.length;i++) {
+                var age = new Date().getTime() - vescsUdp[i].updateTime
+                if (age > 3000) {
+                    vescsUdp.splice(i, 1)
+                    removed = true
+                    i--;
+                    if (i < 0) {
+                        break
+                    }
+                }
+            }
+
+            if (removed) {
+                bleModel.clear()
+                mBle.emitScanDone()
+            }
+        }
+    }
+
     Connections {
         target: mBle
         function onScanDone(devs, done) {
@@ -397,6 +426,7 @@ Item {
                 }
                 var addToList = true
                 var j = 0
+                var k = 0
                 for(j=0; j < bleModel.count; j++) {
                     if(bleModel.get(j).bleAddr === addr){
                         addToList  = false
@@ -421,11 +451,12 @@ Item {
                 }
             }
 
-            for (var k = 0; k < vescsUdp.length;k++) {
+            for (k = 0; k < vescsUdp.length;k++) {
                 addToList  = true
                 for (j = 0; j < bleModel.count; j++) {
                     if (bleModel.get(j).bleAddr === (vescsUdp[k].ip)) {
                         addToList  = false
+                        break
                     }
                 }
 
diff --git a/res/qml/WelcomeQmlPanel.qml b/res/qml/WelcomeQmlPanel.qml
index 5061a2d94..5ee691fec 100644
--- a/res/qml/WelcomeQmlPanel.qml
+++ b/res/qml/WelcomeQmlPanel.qml
@@ -288,6 +288,10 @@ Item {
             width: parent.width
             opened: true
 
+            Component.onCompleted: {
+                VescIf.bleDevice().emitScanDone()
+            }
+
             onYChanged: {
                 parent.color.a = Math.min(1, Math.max(1 - y / height, 0))
 

From db7c8639b24e7396655ec94a9917a54724f1a5a8 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 2 Nov 2022 18:47:59 +0100
Subject: [PATCH 240/559] TCP Hub management

---
 QCodeEditor/resources/languages/lisp.xml |   2 +
 datatypes.h                              |  32 ++++-
 main.cpp                                 |   1 +
 mobile/ConnectScreen.qml                 | 164 +++++++++++++++++++++--
 mobile/Packages.qml                      |   5 -
 mobile/TcpHubBox.qml                     |  16 ++-
 res/qml/WelcomeQmlPanel.qml              |  10 --
 tcphub.cpp                               |   9 ++
 tcphub.h                                 |   3 +-
 tcpserversimple.cpp                      |   2 +-
 vescinterface.cpp                        |  85 +++++++++++-
 vescinterface.h                          |   7 +-
 12 files changed, 306 insertions(+), 30 deletions(-)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index b1ac8b964..a4d4bb8ad 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -25,6 +25,8 @@
 <name>import</name>
 <name>atomic</name>
 <name>call-cc</name>
+<name>quote</name>
+<name>closure</name>
 </section>
 
 <section name="Label">
diff --git a/datatypes.h b/datatypes.h
index cb0538c01..0bfadf3ad 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -27,7 +27,8 @@
 #include <QDateTime>
 #include <QTime>
 #include <QMap>
-#include <stdint.h>
+#include <cstdint>
+#include "tcphub.h"
 
 typedef struct {
     QString name;
@@ -1272,4 +1273,33 @@ struct VescPackage {
 
 Q_DECLARE_METATYPE(VescPackage)
 
+struct TCP_HUB_DEVICE {
+    Q_GADGET
+
+public:
+    Q_PROPERTY(QString server MEMBER server)
+    Q_PROPERTY(int port MEMBER port)
+    Q_PROPERTY(QString id MEMBER id)
+    Q_PROPERTY(QString password MEMBER password)
+
+    TCP_HUB_DEVICE() {
+        port = 65101;
+    }
+
+    Q_INVOKABLE bool ping() {
+        return TcpHub::ping(server, port, id);
+    }
+
+    Q_INVOKABLE QString uuid() {
+        return QString("%1:%2:%3").arg(server).arg(port).arg(id);
+    }
+
+    QString server;
+    int port;
+    QString id;
+    QString password;
+};
+
+Q_DECLARE_METATYPE(TCP_HUB_DEVICE)
+
 #endif // DATATYPES_H
diff --git a/main.cpp b/main.cpp
index 832a19c72..fe2d155ba 100755
--- a/main.cpp
+++ b/main.cpp
@@ -204,6 +204,7 @@ int main(int argc, char *argv[])
     qRegisterMetaType<ENCODER_DETECT_RES>();
     qRegisterMetaType<FILE_LIST_ENTRY>();
     qRegisterMetaType<VescPackage>();
+    qRegisterMetaType<TCP_HUB_DEVICE>();
 
 #ifdef USE_MOBILE
 #ifndef DEBUG_BUILD
diff --git a/mobile/ConnectScreen.qml b/mobile/ConnectScreen.qml
index 39ae95f62..c52790da1 100644
--- a/mobile/ConnectScreen.qml
+++ b/mobile/ConnectScreen.qml
@@ -32,6 +32,8 @@ Item {
     property BleUart mBle: VescIf.bleDevice()
     property Commands mCommands: VescIf.commands()
     property bool opened: true
+    property bool pingTcpHub: false
+    property bool scanning: false
 
     onOpenedChanged: {
         if(opened){
@@ -64,7 +66,7 @@ Item {
 
     function startBleScan() {
         if (Utility.hasLocationPermission()) {
-            scanButton.enabled = false
+            scanning = true
             scanDotTimer.running = true
             bleModel.clear()
             vescsUdp = []
@@ -152,13 +154,73 @@ Item {
 
             Button {
                 id: scanButton
-                text: qsTr("Scan BLE")
+                text: qsTr("Scan...")
                 enabled: true
                 flat: true
                 Layout.preferredWidth: 120
 
                 onClicked: {
-                    startBleScan()
+                    scanMenu.open()
+                }
+
+                Menu {
+                    id: scanMenu
+
+                    MenuItem {
+                        text: "Scan BLE"
+                        enabled: !scanning
+                        onTriggered: {
+                            startBleScan()
+                        }
+                    }
+
+                    MenuItem {
+                        text: "Ping TCP hub"
+                        onTriggered: {
+                            bleModel.clear()
+                            pingTcpHub = true
+                            mBle.emitScanDone()
+                        }
+                    }
+
+                    MenuItem {
+                        text: "Clear TCP hub devs"
+                        onTriggered: {
+                            tcpHubClearDialog.open()
+                        }
+
+                        Dialog {
+                            id: tcpHubClearDialog
+                            standardButtons: Dialog.Ok | Dialog.Cancel
+                            modal: true
+                            focus: true
+                            rightMargin: 10
+                            leftMargin: 10
+                            closePolicy: Popup.CloseOnEscape
+                            y: 10 + parent.height / 2 - height / 2
+                            x: parent.width/2 - width/2
+                            width: parent.width - 20 - notchLeft - notchRight
+                            parent: rootItem.parent
+                            Overlay.modal: Rectangle {
+                                color: "#AA000000"
+                            }
+
+                            onAccepted: {
+                                VescIf.clearTcpHubDevs()
+                            }
+
+                            title: "Clear TCP Hub Devices"
+
+                            Text {
+                                color: Utility.getAppHexColor("lightText")
+                                verticalAlignment: Text.AlignVCenter
+                                anchors.fill: parent
+                                wrapMode: Text.WordWrap
+                                text:
+                                    "This is going to clear all previous TCP hub connections. Continue?"
+                            }
+                        }
+                    }
                 }
             }
 
@@ -284,7 +346,14 @@ Item {
                             Button {
                                 Layout.alignment: Qt.AlignHCenter | Qt.AlignBottom
                                 Layout.preferredHeight: 55
-                                Layout.preferredWidth: nameButton.width
+                                Layout.preferredWidth: {
+                                    if (isSerial === 0) {
+                                        nameButton.width
+                                    } else if (isSerial === 3) {
+                                        passButton.width
+                                    }
+                                }
+
                                 text: "Connect"
 
                                 onClicked: {
@@ -292,6 +361,8 @@ Item {
                                         VescIf.autoconnect()
                                     } else if (isSerial === 2) {
                                         VescIf.connectTcp(bleAddr, 65102)
+                                    } else if (isSerial === 3) {
+                                        VescIf.connectTcpHubUuid(hubUuid)
                                     } else {
                                         disableDialog()
                                         workaroundTimerConnect.bleAddr = bleAddr
@@ -300,6 +371,19 @@ Item {
                                 }
                             }
 
+                            Button {
+                                id: passButton
+                                Layout.alignment: Qt.AlignHCenter | Qt.AlignBottom
+                                Layout.preferredHeight: 55
+                                text: "Update Password"
+                                visible: isSerial === 3
+
+                                onClicked: {
+                                    hubPassDialog.uuid = hubUuid
+                                    hubPassDialog.open()
+                                }
+                            }
+
                             Button {
                                 id: nameButton
                                 Layout.alignment: Qt.AlignHCenter | Qt.AlignBottom
@@ -324,7 +408,7 @@ Item {
             footer: BusyIndicator {
                 Layout.alignment: Qt.AlignCenter
                 Layout.fillHeight: true
-                running: !scanButton.enabled
+                running: scanning
                 width: parent.width
                 height: BusyIndicator.implicitHeight*1.5
 
@@ -403,8 +487,8 @@ Item {
         function onScanDone(devs, done) {
             if (done) {
                 scanDotTimer.running = false
-                scanButton.enabled = true
-                scanButton.text = qsTr("Scan BLE")
+                scanning = false
+                scanButton.text = qsTr("Scan...")
             }
 
             for (var addr in devs) {
@@ -439,12 +523,14 @@ Item {
                                             "setName": setNameShort,
                                             "preferred": preferred,
                                             "bleAddr": addr,
+                                            "hubUuid": "",
                                             "isSerial": 0})
                     } else {
                         bleModel.append({"name": setName,
                                             "setName": setNameShort,
                                             "preferred": preferred,
                                             "bleAddr": addr,
+                                            "hubUuid": "",
                                             "isSerial": 0})
                     }
 
@@ -465,6 +551,7 @@ Item {
                                         "setName": "",
                                         "preferred": true,
                                         "bleAddr": vescsUdp[k].ip,
+                                        "hubUuid": "",
                                         "isSerial": 2})
                 }
             }
@@ -481,8 +568,27 @@ Item {
                                     "setName": "",
                                     "preferred": true,
                                     "bleAddr": "",
+                                    "hubUuid": "",
                                     "isSerial": 1})
             }
+
+            if (pingTcpHub) {
+                disableDialog()
+                var hubDevs = VescIf.getTcpHubDevs()
+                for (j = 0; j < hubDevs.length; j++) {
+                    if (hubDevs[j].ping()) {
+                        bleModel.insert(0, {"name": hubDevs[j].id + " (TCP Hub)\n" + hubDevs[j].server,
+                                            "setName": "",
+                                            "preferred": true,
+                                            "bleAddr": "",
+                                            "hubUuid": hubDevs[j].uuid(),
+                                            "isSerial": 3})
+                    }
+                }
+
+                pingTcpHub = false
+                enableDialog()
+            }
         }
 
         function onBleError(info) {
@@ -567,6 +673,48 @@ Item {
         }
     }
 
+    Dialog {
+        property string uuid: ""
+
+        id: hubPassDialog
+        standardButtons: Dialog.Ok | Dialog.Cancel
+        modal: true
+        focus: true
+        title: "Set TCP Hub Password"
+
+        Overlay.modal: Rectangle {
+            color: "#AA000000"
+        }
+
+        width: parent.width - 20 - notchLeft - notchRight
+        height: 200
+        closePolicy: Popup.CloseOnEscape
+        x: parent.width/2 - width/2
+        y: Math.max(parent.height / 4 - height / 2, 20)
+        parent: rootItem.parent
+
+        Rectangle {
+            anchors.fill: parent
+            height: hubPassInput.implicitHeight + 14
+            border.width: 2
+            border.color: Utility.getAppHexColor("lightestBackground")
+            color: Utility.getAppHexColor("normalBackground")
+            radius: 3
+            TextInput {
+                id: hubPassInput
+                color: Utility.getAppHexColor("lightText")
+                anchors.fill: parent
+                anchors.margins: 7
+                font.pointSize: 12
+                focus: true
+            }
+        }
+
+        onAccepted: {
+            VescIf.updateTcpHubPassword(uuid, hubPassInput.text)
+        }
+    }
+
     Dialog {
         id: bleEn
         standardButtons: Dialog.Ok
@@ -612,7 +760,7 @@ Item {
         }
 
         onAccepted: {
-            scanButton.enabled = false
+            scanning = true
             scanDotTimer.running = true
             bleModel.clear()
             vescsUdp = []
diff --git a/mobile/Packages.qml b/mobile/Packages.qml
index 2d8cc20f9..0f0b15bea 100644
--- a/mobile/Packages.qml
+++ b/mobile/Packages.qml
@@ -29,11 +29,6 @@ import Vedder.vesc.codeloader 1.0
 
 Item {
     property var dialogParent: ApplicationWindow.overlay
-
-    // TODO: This is not pretty...
-    implicitHeight: text.implicitHeight +
-                    canIdList.contentHeight + 10
-
     property ConfigParams mAppConf: VescIf.appConfig()
     property Commands mCommands: VescIf.commands()
 
diff --git a/mobile/TcpHubBox.qml b/mobile/TcpHubBox.qml
index c61874676..d369f2c10 100644
--- a/mobile/TcpHubBox.qml
+++ b/mobile/TcpHubBox.qml
@@ -42,7 +42,7 @@ Item {
 
         CheckBox {
             id: enableBox
-            text: "Connect Hub"
+            text: "Connect as Server"
             Layout.fillWidth: true
             Layout.columnSpan: 2
 
@@ -170,7 +170,7 @@ Item {
 
         Button {
             Layout.topMargin: 5
-            Layout.columnSpan: 2
+            Layout.columnSpan: 1
             Layout.fillWidth: true
             text: "Reset Defaults"
             enabled: !enableBox.checked
@@ -182,6 +182,18 @@ Item {
             }
         }
 
+        Button {
+            Layout.topMargin: 5
+            Layout.columnSpan: 1
+            Layout.fillWidth: true
+            text: "Connect as Client"
+            enabled: !enableBox.checked
+
+            onClicked: {
+                VescIf.connectTcpHub(serverText.text, portBox.value, idText.text, passText.text)
+            }
+        }
+
         Timer {
             repeat: true
             running: true
diff --git a/res/qml/WelcomeQmlPanel.qml b/res/qml/WelcomeQmlPanel.qml
index 5ee691fec..2e9a578ed 100644
--- a/res/qml/WelcomeQmlPanel.qml
+++ b/res/qml/WelcomeQmlPanel.qml
@@ -294,16 +294,6 @@ Item {
 
             onYChanged: {
                 parent.color.a = Math.min(1, Math.max(1 - y / height, 0))
-
-                if (opened) {
-                    drawer.interactive = false
-                    canDrawerLoader.item.interactive = false
-                    drawer.close()
-                    canDrawerLoader.item.close()
-                } else {
-                    drawer.interactive = true
-                    canDrawerLoader.item.interactive = true
-                }
             }
         }
     }
diff --git a/tcphub.cpp b/tcphub.cpp
index 0e6910135..5297da45f 100644
--- a/tcphub.cpp
+++ b/tcphub.cpp
@@ -60,6 +60,10 @@ bool TcpHub::ping(QString server, int port, QString uuid)
         }
     }
 
+    if (host.isNull()) {
+        return false;
+    }
+
     QTcpSocket socket;
     socket.connectToHost(host, port);
     if (!Utility::waitSignal(&socket, SIGNAL(connected()), 1000)) {
@@ -77,7 +81,9 @@ bool TcpHub::ping(QString server, int port, QString uuid)
 void TcpHub::newTcpHubConnection()
 {
     QTcpSocket *socket = mTcpHubServer->nextPendingConnection();
+
     socket->setSocketOption(QAbstractSocket::LowDelayOption, true);
+    socket->setSocketOption(QAbstractSocket::KeepAliveOption, true);
 
     QString connStr = Utility::waitForLine(socket, 5000);
 
@@ -160,6 +166,9 @@ void TcpHub::newTcpHubConnection()
             if (mConnectedVescs.contains(uuid)) {
                 socket->write("PONG\n");
                 socket->flush();
+            } else {
+                socket->write("NULL\n");
+                socket->flush();
             }
         } else {
             qWarning() << "Invalid connect string";
diff --git a/tcphub.h b/tcphub.h
index ec80c60d6..d7d75c6bb 100644
--- a/tcphub.h
+++ b/tcphub.h
@@ -71,7 +71,8 @@ class TcpHub : public QObject
     explicit TcpHub(QObject *parent = nullptr);
     ~TcpHub();
 
-    Q_INVOKABLE bool start(int port, QHostAddress addr = QHostAddress::Any);
+    bool start(int port, QHostAddress addr);
+    Q_INVOKABLE bool start(int port) {return start(port, QHostAddress::Any);}
     Q_INVOKABLE static bool ping(QString server, int port, QString uuid);
 
 signals:
diff --git a/tcpserversimple.cpp b/tcpserversimple.cpp
index 469e9cd02..a1eaf8cc8 100644
--- a/tcpserversimple.cpp
+++ b/tcpserversimple.cpp
@@ -171,7 +171,7 @@ void TcpServerSimple::tcpInputError(QAbstractSocket::SocketError socketError)
 {
     (void)socketError;
     mTcpSocket->abort();
-//    qDebug() << socketError;
+    qDebug() << socketError;
 }
 
 void TcpServerSimple::dataToSend(QByteArray &data)
diff --git a/vescinterface.cpp b/vescinterface.cpp
index 6ebbf84f2..9c2411386 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -252,6 +252,20 @@ VescInterface::VescInterface(QObject *parent) : QObject(parent)
         mSettings.endArray();
     }
 
+    {
+        int size = mSettings.beginReadArray("tcpHubDevices");
+        for (int i = 0; i < size; ++i) {
+            mSettings.setArrayIndex(i);
+            TCP_HUB_DEVICE dev;
+            dev.server = mSettings.value("server").toString();
+            dev.port = mSettings.value("port").toInt();
+            dev.id = mSettings.value("id").toString();
+            dev.password = mSettings.value("pw").toString();
+            mTcpHubDevs.append(QVariant::fromValue(dev));
+        }
+        mSettings.endArray();
+    }
+
     {
         int size = mSettings.beginReadArray("pairedUuids");
         for (int i = 0; i < size; ++i) {
@@ -616,7 +630,7 @@ void VescInterface::storeSettings()
     mSettings.remove("profiles");
     mSettings.beginWriteArray("profiles");
     for (int i = 0; i < mProfiles.size(); ++i) {
-        MCCONF_TEMP cfg = mProfiles.value(i).value<MCCONF_TEMP>();
+        auto cfg = mProfiles.value(i).value<MCCONF_TEMP>();
         mSettings.setArrayIndex(i);
         mSettings.setValue("current_min_scale", cfg.current_min_scale);
         mSettings.setValue("current_max_scale", cfg.current_max_scale);
@@ -630,6 +644,18 @@ void VescInterface::storeSettings()
     }
     mSettings.endArray();
 
+    mSettings.remove("tcpHubDevices");
+    mSettings.beginWriteArray("tcpHubDevices");
+    for (int i = 0; i < mTcpHubDevs.size(); ++i) {
+        auto dev = mTcpHubDevs.value(i).value<TCP_HUB_DEVICE>();
+        mSettings.setArrayIndex(i);
+        mSettings.setValue("server", dev.server);
+        mSettings.setValue("port", dev.port);
+        mSettings.setValue("id", dev.id);
+        mSettings.setValue("pw", dev.password);
+    }
+    mSettings.endArray();
+
     mSettings.beginWriteArray("pairedUuids");
     for (int i = 0;i < mPairedUuids.size();i++) {
         mSettings.setArrayIndex(i);
@@ -2938,6 +2964,26 @@ void VescInterface::tcpInputConnected()
         mSettings.setValue("tcp_hub_vesc_id", mLastTcpHubVescID);
         mSettings.setValue("tcp_hub_vesc_pass", mLastTcpHubVescPass);
         setLastConnectionType(CONN_TCP_HUB);
+
+        TCP_HUB_DEVICE devNow;
+        devNow.server = mLastTcpHubServer;
+        devNow.port = mLastTcpHubPort;
+        devNow.id = mLastTcpHubVescID;
+        devNow.password = mLastTcpHubVescPass;
+
+        bool found = false;
+        for (const auto &i: qAsConst(mTcpHubDevs)) {
+            auto dev = i.value<TCP_HUB_DEVICE>();
+            if (dev.uuid() == devNow.uuid()) {
+                found = true;
+                break;
+            }
+        }
+
+        if (!found) {
+            mTcpHubDevs.append(QVariant::fromValue(devNow));
+            storeSettings();
+        }
     } else {
         mSettings.setValue("tcp_server", mLastTcpServer);
         mSettings.setValue("tcp_port", mLastTcpPort);
@@ -3824,6 +3870,43 @@ int VescInterface::getLastTcpHubPort() const
     return mLastTcpHubPort;
 }
 
+QVariantList VescInterface::getTcpHubDevs()
+{
+    return mTcpHubDevs;
+}
+
+void VescInterface::clearTcpHubDevs()
+{
+    mTcpHubDevs.clear();
+}
+
+bool VescInterface::updateTcpHubPassword(QString uuid, QString newPass)
+{
+    for (int i = 0;i < mTcpHubDevs.size();i++) {
+        auto dev = mTcpHubDevs.at(i).value<TCP_HUB_DEVICE>();
+        if (dev.uuid() == uuid) {
+            dev.password = newPass;
+            mTcpHubDevs[i] = QVariant::fromValue(dev);
+            return true;
+        }
+    }
+
+    return false;
+}
+
+bool VescInterface::connectTcpHubUuid(QString uuid)
+{
+    for (const auto &i: qAsConst(mTcpHubDevs)) {
+        auto dev = i.value<TCP_HUB_DEVICE>();
+        if (dev.uuid() == uuid) {
+            connectTcpHub(dev.server, dev.port, dev.id, dev.password);
+            return true;
+        }
+    }
+
+    return false;
+}
+
 QString VescInterface::getLastTcpHubServer() const
 {
     return mLastTcpHubServer;
diff --git a/vescinterface.h b/vescinterface.h
index f35a54160..94e50e0ea 100755
--- a/vescinterface.h
+++ b/vescinterface.h
@@ -185,6 +185,7 @@ class VescInterface : public QObject
     Q_INVOKABLE void scanCANbus();
 
     Q_INVOKABLE void connectTcp(QString server, int port);
+    Q_INVOKABLE void connectTcpHub(QString server, int port, QString id, QString pass);
     Q_INVOKABLE void connectUdp(QString server, int port);
     Q_INVOKABLE void connectBle(QString address);
     Q_INVOKABLE bool isAutoconnectOngoing() const;
@@ -235,11 +236,14 @@ class VescInterface : public QObject
     Q_INVOKABLE QString qmlHw();
     Q_INVOKABLE QString qmlApp();
 
-    Q_INVOKABLE void connectTcpHub(QString server, int port, QString id, QString pass);
     Q_INVOKABLE QString getLastTcpHubVescID() const;
     Q_INVOKABLE QString getLastTcpHubVescPass() const;
     Q_INVOKABLE QString getLastTcpHubServer() const;
     Q_INVOKABLE int getLastTcpHubPort() const;
+    Q_INVOKABLE QVariantList getTcpHubDevs();
+    Q_INVOKABLE void clearTcpHubDevs();
+    Q_INVOKABLE bool updateTcpHubPassword(QString uuid, QString newPass);
+    Q_INVOKABLE bool connectTcpHubUuid(QString uuid);
 
 signals:
     void statusMessage(const QString &msg, bool isGood);
@@ -317,6 +321,7 @@ private slots:
     TcpServerSimple *mTcpServer;
     UdpServerSimple *mUdpServer;
     QTimer *mTimerBroadcast;
+    QVariantList mTcpHubDevs;
 
     ConfigParams *mMcConfig;
     ConfigParams *mAppConfig;

From 96b9da4e5b3c3021122731a8b4612035ce09437a Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 2 Nov 2022 20:01:22 +0100
Subject: [PATCH 241/559] Update hub pass when connected

---
 vescinterface.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/vescinterface.cpp b/vescinterface.cpp
index 9c2411386..9cebb67e3 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -2976,6 +2976,7 @@ void VescInterface::tcpInputConnected()
             auto dev = i.value<TCP_HUB_DEVICE>();
             if (dev.uuid() == devNow.uuid()) {
                 found = true;
+                updateTcpHubPassword(dev.uuid(), mLastTcpHubVescPass);
                 break;
             }
         }

From 4d785971a76ccbe0259b764899b84eca2161cb7c Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 2 Nov 2022 20:18:34 +0100
Subject: [PATCH 242/559] Small ui tweak

---
 mobile/TcpHubBox.qml | 39 +++++++++++++++++++++------------------
 1 file changed, 21 insertions(+), 18 deletions(-)

diff --git a/mobile/TcpHubBox.qml b/mobile/TcpHubBox.qml
index d369f2c10..2b865b0e2 100644
--- a/mobile/TcpHubBox.qml
+++ b/mobile/TcpHubBox.qml
@@ -168,29 +168,32 @@ Item {
             }
         }
 
-        Button {
-            Layout.topMargin: 5
-            Layout.columnSpan: 1
+        RowLayout {
+            Layout.columnSpan: 2
             Layout.fillWidth: true
-            text: "Reset Defaults"
-            enabled: !enableBox.checked
 
-            onClicked: {
-                serverText.text = "veschub.vedder.se"
-                portBox.value = 65101
-                idText.text = Utility.strCrc32(VescIf.getConnectedUuid())
+            Button {
+                Layout.topMargin: 5
+                Layout.fillWidth: true
+                text: "Reset Defaults"
+                enabled: !enableBox.checked
+
+                onClicked: {
+                    serverText.text = "veschub.vedder.se"
+                    portBox.value = 65101
+                    idText.text = Utility.strCrc32(VescIf.getConnectedUuid())
+                }
             }
-        }
 
-        Button {
-            Layout.topMargin: 5
-            Layout.columnSpan: 1
-            Layout.fillWidth: true
-            text: "Connect as Client"
-            enabled: !enableBox.checked
+            Button {
+                Layout.topMargin: 5
+                Layout.fillWidth: true
+                text: "Connect as Client"
+                enabled: !enableBox.checked
 
-            onClicked: {
-                VescIf.connectTcpHub(serverText.text, portBox.value, idText.text, passText.text)
+                onClicked: {
+                    VescIf.connectTcpHub(serverText.text, portBox.value, idText.text, passText.text)
+                }
             }
         }
 

From c4f709759617db95fdfcb2818271833d0e014399 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 3 Nov 2022 18:46:35 +0100
Subject: [PATCH 243/559] Added cli-flag to build vesc package

---
 codeloader.cpp |  44 +++++++++++++--------
 main.cpp       | 105 +++++++++++++++++++++++++++++++++++++++++++++++--
 2 files changed, 130 insertions(+), 19 deletions(-)

diff --git a/codeloader.cpp b/codeloader.cpp
index 8692b7132..0c6f7d773 100644
--- a/codeloader.cpp
+++ b/codeloader.cpp
@@ -103,6 +103,18 @@ QByteArray CodeLoader::lispPackImports(QString codeStr, QString editorPath)
         vb.append('\0');
     }
 
+    auto dbg = [this](QString title, QString msg, bool isGood) {
+        if (mVesc) {
+            mVesc->emitMessageDialog(title, msg, isGood);
+        } else {
+            if (isGood) {
+                qDebug() << title << ":" << msg;
+            } else {
+                qWarning() << title << ":" << msg;
+            }
+        }
+    };
+
     // Create and append data table
     {
         QList<QPair<QString, QByteArray> > files;
@@ -132,9 +144,9 @@ QByteArray CodeLoader::lispPackImports(QString codeStr, QString editorPath)
                     }
 
                     if (tag.isEmpty()) {
-                        mVesc->emitMessageDialog(tr("Append Imports"),
-                                                 tr("Line: %1: Invalid import tag.").arg(line_num),
-                                                 false);
+                        dbg(tr("Append Imports"),
+                            tr("Line: %1: Invalid import tag.").arg(line_num),
+                            false);
                         return QByteArray();
                     }
 
@@ -152,9 +164,9 @@ QByteArray CodeLoader::lispPackImports(QString codeStr, QString editorPath)
                             pkgImportName = path.mid(0, atInd);
                             path.remove(0, atInd + 1);
                         } else {
-                            mVesc->emitMessageDialog(tr("Append Imports"),
-                                                     tr("Line: %1: Invalid import tag.").arg(line_num),
-                                                     false);
+                            dbg(tr("Append Imports"),
+                                tr("Line: %1: Invalid import tag.").arg(line_num),
+                                false);
                             return QByteArray();
                         }
 
@@ -207,22 +219,22 @@ QByteArray CodeLoader::lispPackImports(QString codeStr, QString editorPath)
                                 files.append(qMakePair(tag, fileData));
                             }
                         } else {
-                            mVesc->emitMessageDialog(tr("Append Imports"),
-                                                     tr("Line: %1: Imported file cannot be opened.").arg(line_num),
-                                                     false);
+                            dbg(tr("Append Imports"),
+                                tr("Line: %1: Imported file cannot be opened.").arg(line_num),
+                                false);
                             return QByteArray();
                         }
                     } else {
-                        mVesc->emitMessageDialog(tr("Append Imports"),
-                                                 tr("Line: %1: Imported file not found: %2. %3").
-                                                 arg(line_num).arg(fi.absoluteFilePath()).arg(pkgErrorMsg),
-                                                 false);
+                        dbg(tr("Append Imports"),
+                            tr("Line: %1: Imported file not found: %2. %3").
+                            arg(line_num).arg(fi.absoluteFilePath()).arg(pkgErrorMsg),
+                            false);
                         return QByteArray();
                     }
                 } else {
-                    mVesc->emitMessageDialog(tr("Append Imports"),
-                                             tr("Line %1: Invalid import.").arg(line_num),
-                                             false);
+                    dbg(tr("Append Imports"),
+                        tr("Line %1: Invalid import.").arg(line_num),
+                        false);
                     return QByteArray();
                 }
             }
diff --git a/main.cpp b/main.cpp
index fe2d155ba..e26f5be8b 100755
--- a/main.cpp
+++ b/main.cpp
@@ -75,7 +75,7 @@ static void showHelp()
     qDebug() << "--retryConn : Keep trying to reconnect to the VESC when the connection fails";
     qDebug() << "--useMobileUi : Start the mobile UI instead of the full desktop UI";
     qDebug() << "--tcpHub [port] : Start a TCP hub for remote access to connected VESCs";
-
+    qDebug() << "--buildPkg [pkgPath:lispPath:qmlPath:isFullscreen:optMd:optName] : Build VESC Package";
 }
 
 #ifdef Q_OS_LINUX
@@ -235,6 +235,7 @@ int main(int argc, char *argv[])
     bool useMobileUi = false;
     double qmlRot = 0.0;
     bool isTcpHub = false;
+    QStringList pkgArgs;
 
     for (int i = 0;i < args.size();i++) {
         // Skip the program argument
@@ -332,6 +333,13 @@ int main(int argc, char *argv[])
                 found = true;
             }
         }
+        if (str == "--buildPkg") {
+            if ((i + 1) < args.size()) {
+                i++;
+                pkgArgs = args.at(i).split(":");
+                found = true;
+            }
+        }
 
         if (!found) {
             if (dash) {
@@ -345,6 +353,98 @@ int main(int argc, char *argv[])
         }
     }
 
+    if (!pkgArgs.isEmpty()) {
+        if (pkgArgs.size() < 4) {
+            qWarning() << "Invalid arguments";
+            return 1;
+        }
+
+        CodeLoader loader;
+        QString pkgPath = pkgArgs.at(0);
+        QString lispPath = pkgArgs.at(1);
+        QString qmlPath = pkgArgs.at(2);
+        bool isFullscreen = pkgArgs.at(3).toInt();
+
+        QString mdPath;
+        QString name;
+
+        VescPackage pkg;
+
+        if (pkgArgs.size() >= 6) {
+            mdPath = pkgArgs.at(4);
+            name = pkgArgs.at(5);
+
+            QFile f(mdPath);
+            if (!f.open(QIODevice::ReadOnly | QIODevice::Text)) {
+                qWarning() << "Could not open markdown file for reading.";
+                return 1;
+            }
+
+            qputenv("QT_QPA_PLATFORM", "offscreen");
+            QApplication a(argc, argv);
+            addFonts();
+
+            QTextDocument d;
+            d.setMarkdown(QString::fromUtf8(f.readAll()));
+
+            f.close();
+
+            pkg.name = name;
+            pkg.description = d.toHtml();
+        } else {
+            QFile f(pkgPath);
+            if (!f.open(QIODevice::ReadOnly)) {
+                qWarning() << QString("Could not open %1 for reading.").arg(pkgPath);
+                return 1;
+            }
+
+            pkg = loader.unpackVescPackage(f.readAll());
+            f.close();
+
+            qDebug() << "Opened package" << pkg.name;
+        }
+
+        QFile file(pkgPath);
+        if (!file.open(QIODevice::WriteOnly)) {
+            qWarning() << QString("Could not open %1 for writing.").arg(pkgPath);
+            return 1;
+        }
+
+        if (!lispPath.isEmpty()) {
+            QFile f(lispPath);
+            if (!f.open(QIODevice::ReadOnly)) {
+                qWarning() << "Could not open lisp file for reading.";
+                return 1;
+            }
+
+            QFileInfo fi(f);
+            pkg.lispData = loader.lispPackImports(f.readAll(), fi.canonicalPath());
+            f.close();
+
+            qDebug() << "Read lisp script done";
+        }
+
+        if (!qmlPath.isEmpty()) {
+            QFile f(qmlPath);
+            if (!f.open(QIODevice::ReadOnly)) {
+                qWarning() << "Could not open qml file for reading.";
+                return 1;
+            }
+
+            pkg.qmlFile = f.readAll();
+            pkg.qmlIsFullscreen =isFullscreen;
+            f.close();
+
+            qDebug() << "Read qml script done";
+        }
+
+        file.write(loader.packVescPackage(pkg));
+        file.close();
+
+        qDebug() << "Package Saved!";
+        return 0;
+    }
+
     double scale = set.value("app_scale_factor", 1.0).toDouble();
 
 #ifdef Q_OS_ANDROID
@@ -436,8 +536,7 @@ int main(int argc, char *argv[])
             qCritical() << "Could not start TcpHub on port" << tcpPort;
             qApp->quit();
         }
-    }
-    else {
+    } else {
         QApplication *a = new QApplication(argc, argv);
         app = a;
 

From 102c787eda103489e602a9150452c34a0b4a4b60 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 3 Nov 2022 19:03:57 +0100
Subject: [PATCH 244/559] Reload archive after download

---
 pages/pagevescpackage.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/pages/pagevescpackage.cpp b/pages/pagevescpackage.cpp
index 0ae97299a..97a990864 100644
--- a/pages/pagevescpackage.cpp
+++ b/pages/pagevescpackage.cpp
@@ -264,6 +264,8 @@ void PageVescPackage::on_dlArchiveButton_clicked()
     }
 
     ui->dlArchiveButton->setEnabled(true);
+
+    reloadArchive();
 }
 
 void PageVescPackage::on_uninstallButton_clicked()
@@ -323,6 +325,9 @@ void PageVescPackage::reloadArchive()
 {
     auto pList = mLoader.reloadPackageArchive();
 
+    ui->applicationList->clear();
+    ui->libraryList->clear();
+
     for (auto p: pList) {
         auto pVal = p.value<VescPackage>();
         QListWidgetItem *item = new QListWidgetItem;

From 653c77e31b5ee1c481272d0f4c56194270fb1ae1 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 3 Nov 2022 19:50:57 +0100
Subject: [PATCH 245/559] Added bleuartdummy for builds without bluetooth so
 that the connect screen works

---
 bleuartdummy.cpp  | 36 ++++++++++++++++++++++++++++++++++++
 bleuartdummy.h    | 41 +++++++++++++++++++++++++++++++++++++++++
 main.cpp          |  3 +++
 vesc_tool.pro     |  2 ++
 vescinterface.cpp |  2 ++
 vescinterface.h   |  8 ++++++++
 6 files changed, 92 insertions(+)
 create mode 100644 bleuartdummy.cpp
 create mode 100644 bleuartdummy.h

diff --git a/bleuartdummy.cpp b/bleuartdummy.cpp
new file mode 100644
index 000000000..2f4cc2066
--- /dev/null
+++ b/bleuartdummy.cpp
@@ -0,0 +1,36 @@
+/*
+    Copyright 2022 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#include "bleuartdummy.h"
+
+BleUartDummy::BleUartDummy(QObject *parent)
+    : QObject{parent}
+{
+
+}
+
+void BleUartDummy::startScan()
+{
+    emit bleError("Bluetooth is not supported in this build");
+}
+
+void BleUartDummy::emitScanDone()
+{
+    emit scanDone(QVariantMap(), true);
+}
diff --git a/bleuartdummy.h b/bleuartdummy.h
new file mode 100644
index 000000000..b881d7022
--- /dev/null
+++ b/bleuartdummy.h
@@ -0,0 +1,41 @@
+/*
+    Copyright 2022 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#ifndef BLEUARTDUMMY_H
+#define BLEUARTDUMMY_H
+
+#include <QObject>
+#include <QVariantMap>
+
+class BleUartDummy : public QObject
+{
+    Q_OBJECT
+public:
+    explicit BleUartDummy(QObject *parent = nullptr);
+
+    Q_INVOKABLE void startScan();
+    Q_INVOKABLE void emitScanDone();
+
+signals:
+    void scanDone(QVariantMap devs, bool done);
+    void bleError(QString info);
+
+};
+
+#endif // BLEUARTDUMMY_H
diff --git a/main.cpp b/main.cpp
index e26f5be8b..d767f8022 100755
--- a/main.cpp
+++ b/main.cpp
@@ -34,6 +34,7 @@
 #include <QFontDatabase>
 
 #include "tcphub.h"
+#include "bleuartdummy.h"
 
 #ifdef Q_OS_IOS
 #include "ios/src/setIosParameters.h"
@@ -182,6 +183,8 @@ int main(int argc, char *argv[])
 
 #ifdef HAS_BLUETOOTH
     qmlRegisterType<BleUart>("Vedder.vesc.bleuart", 1, 0, "BleUart");
+#else
+    qmlRegisterType<BleUartDummy>("Vedder.vesc.bleuart", 1, 0, "BleUart");
 #endif
     qmlRegisterType<Commands>("Vedder.vesc.commands", 1, 0, "Commands");
     qmlRegisterType<ConfigParams>("Vedder.vesc.configparams", 1, 0, "ConfigParams");
diff --git a/vesc_tool.pro b/vesc_tool.pro
index 9bc7800b9..465e48d20 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -194,6 +194,7 @@ build_mobile {
 }
 
 SOURCES += main.cpp\
+    bleuartdummy.cpp \
     codeloader.cpp \
     mainwindow.cpp \
     packet.cpp \
@@ -215,6 +216,7 @@ SOURCES += main.cpp\
     hexfile.cpp
 
 HEADERS  += mainwindow.h \
+    bleuartdummy.h \
     codeloader.h \
     packet.h \
     preferences.h \
diff --git a/vescinterface.cpp b/vescinterface.cpp
index 9cebb67e3..fe86614b5 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -199,6 +199,8 @@ VescInterface::VescInterface(QObject *parent) : QObject(parent)
         mSettings.setValue("ble_addr", mLastBleAddr);
     });
     connect(mBleUart, SIGNAL(unintentionalDisconnect()), this, SLOT(bleUnintentionalDisconnect()));
+#else
+    mBleUart = new BleUartDummy(this);
 #endif
 
     mTcpServer = new TcpServerSimple(this);
diff --git a/vescinterface.h b/vescinterface.h
index 94e50e0ea..c6d1bb7e3 100755
--- a/vescinterface.h
+++ b/vescinterface.h
@@ -48,6 +48,8 @@
 
 #ifdef HAS_BLUETOOTH
 #include "bleuart.h"
+#else
+#include "bleuartdummy.h"
 #endif
 
 #ifdef HAS_POS
@@ -168,6 +170,10 @@ class VescInterface : public QObject
     Q_INVOKABLE QString getLastBleAddr() const;
     Q_INVOKABLE void storeBlePreferred(QString address, bool preferred);
     Q_INVOKABLE bool getBlePreferred(QString address);
+    Q_INVOKABLE bool hasBluetooth() {return true;}
+#else
+    Q_INVOKABLE BleUartDummy* bleDevice() {return mBleUart;}
+    Q_INVOKABLE bool hasBluetooth() {return false;}
 #endif
 
     // Connection
@@ -396,6 +402,8 @@ private slots:
 #ifdef HAS_BLUETOOTH
     BleUart *mBleUart;
     QString mLastBleAddr;
+#else
+    BleUartDummy *mBleUart;
 #endif
 
 #ifdef HAS_POS

From 397381dee7fb6e969056e6db07b203bad8b09414 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 3 Nov 2022 20:03:51 +0100
Subject: [PATCH 246/559] Added some retries on lisp and qml upload

---
 codeloader.cpp | 34 ++++++++++++++++++++++++++++++----
 1 file changed, 30 insertions(+), 4 deletions(-)

diff --git a/codeloader.cpp b/codeloader.cpp
index 0c6f7d773..b4326d4d7 100644
--- a/codeloader.cpp
+++ b/codeloader.cpp
@@ -339,14 +339,27 @@ bool CodeLoader::lispUpload(VByteArray vb)
         return res;
     };
 
+    auto writeChunk = [this, waitWriteRes](QByteArray data, quint32 offset) {
+        int tries = 5;
+        int res = -10;
+        while (tries > 0) {
+            mVesc->commands()->lispWriteCode(data, offset);
+            if ((res = waitWriteRes()) >= 0) {
+                return res;
+            }
+            tries--;
+        }
+
+        return res;
+    };
+
     quint32 offset = 0;
     bool ok = true;
     while (data.size() > 0) {
         const int chunkSize = 384;
         int sz = data.size() > chunkSize ? chunkSize : data.size();
 
-        mVesc->commands()->lispWriteCode(data.mid(0, sz), offset);
-        if (waitWriteRes() < 0) {
+        if (writeChunk(data.mid(0, sz), offset) < 0) {
             mVesc->emitMessageDialog(tr("Upload Code"), tr("Write failed"), false);
             ok = false;
             break;
@@ -586,6 +599,20 @@ bool CodeLoader::qmlUpload(QString script, bool isFullscreen)
         return res;
     };
 
+    auto writeChunk = [this, waitWriteRes](QByteArray data, quint32 offset) {
+        int tries = 5;
+        int res = -10;
+        while (tries > 0) {
+            mVesc->commands()->qmlUiWrite(data, offset);
+            if ((res = waitWriteRes()) >= 0) {
+                return res;
+            }
+            tries--;
+        }
+
+        return res;
+    };
+
     VByteArray vb;
     vb.vbAppendUint16(isFullscreen ? 2 : 1);
     vb.append(qCompress(script.toUtf8(), 9));
@@ -607,8 +634,7 @@ bool CodeLoader::qmlUpload(QString script, bool isFullscreen)
         const int chunkSize = 384;
         int sz = data.size() > chunkSize ? chunkSize : data.size();
 
-        mVesc->commands()->qmlUiWrite(data.mid(0, sz), offset);
-        if (!waitWriteRes()) {
+        if (writeChunk(data.mid(0, sz), offset) < 0) {
             mVesc->emitMessageDialog(tr("Upload Qml"), tr("Qml write failed"), false);
             ok = false;
             break;

From 398f8e7851d0e8dd4cd2de950e1b43280673b0d9 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 3 Nov 2022 20:37:15 +0100
Subject: [PATCH 247/559] Fixed some warnings due to deleting things in the
 wrong order

---
 mobile/ConnectScreen.qml | 2 ++
 pages/pagewelcome.cpp    | 3 ++-
 pages/pagewelcome.h      | 2 +-
 3 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/mobile/ConnectScreen.qml b/mobile/ConnectScreen.qml
index c52790da1..2cdc43236 100644
--- a/mobile/ConnectScreen.qml
+++ b/mobile/ConnectScreen.qml
@@ -351,6 +351,8 @@ Item {
                                         nameButton.width
                                     } else if (isSerial === 3) {
                                         passButton.width
+                                    } else {
+                                        nameButton.width
                                     }
                                 }
 
diff --git a/pages/pagewelcome.cpp b/pages/pagewelcome.cpp
index 2cdf15eb3..461cc7269 100755
--- a/pages/pagewelcome.cpp
+++ b/pages/pagewelcome.cpp
@@ -35,6 +35,7 @@ PageWelcome::PageWelcome(QWidget *parent) :
     ui(new Ui::PageWelcome)
 {
     ui->setupUi(this);
+    mUtil = new Utility(this);
 
     QString theme = Utility::getThemePath();
     ui->autoConnectButton->setIcon(QIcon(theme + "icons/Connected-96.png"));
@@ -111,7 +112,7 @@ void PageWelcome::setVesc(VescInterface *vesc)
 
     ui->qmlWidget->engine()->rootContext()->setContextProperty("VescIf", mVesc);
     ui->qmlWidget->engine()->rootContext()->setContextProperty("QmlUi", this);
-    ui->qmlWidget->engine()->rootContext()->setContextProperty("Utility", &mUtil);
+    ui->qmlWidget->engine()->rootContext()->setContextProperty("Utility", mUtil);
 
     ui->qmlWidget->setSource(QUrl(QLatin1String("qrc:/res/qml/WelcomeQmlPanel.qml")));
 }
diff --git a/pages/pagewelcome.h b/pages/pagewelcome.h
index 15bf1feb4..e9e2c93ea 100644
--- a/pages/pagewelcome.h
+++ b/pages/pagewelcome.h
@@ -56,7 +56,7 @@ private slots:
     Ui::PageWelcome *ui;
     VescInterface *mVesc;
     QmlUi mQmlUi;
-    Utility mUtil;
+    Utility *mUtil;
 
 };
 

From c01b4b2661e50fd6b271fea1fcb542e49f27e547 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 4 Nov 2022 11:43:16 +0100
Subject: [PATCH 248/559] Windows ble attempt

---
 bleuart.cpp   | 4 ++++
 vesc_tool.pro | 4 +---
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/bleuart.cpp b/bleuart.cpp
index e27a609df..19597f0ca 100644
--- a/bleuart.cpp
+++ b/bleuart.cpp
@@ -181,9 +181,13 @@ void BleUart::addDevice(const QBluetoothDeviceInfo &dev)
             set.endArray();
         }
 
+#if defined(Q_OS_WIN)
+        mDevs.insert(addr, dev.name());
+#else
         if(preferred || dev.serviceUuids().contains(QBluetoothUuid(QUuid("6e400001-b5a3-f393-e0a9-e50e24dcca9e")))) {
             mDevs.insert(addr, dev.name());
         }
+#endif
 
         mConnectTimeoutTimer.stop();
         emit scanDone(mDevs, false);
diff --git a/vesc_tool.pro b/vesc_tool.pro
index 465e48d20..fc4b85d3a 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -57,9 +57,7 @@ ios: {
 # sudo service bluetooth restart
 
 # Bluetooth available
-!win32: {
-    DEFINES += HAS_BLUETOOTH
-}
+DEFINES += HAS_BLUETOOTH
 
 # CAN bus available
 # Adding serialbus to Qt seems to break the serial port on static builds. TODO: Figure out why.

From 57659f7ff7b1f25c4b9ea103e2f146f2fafff14a Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 5 Nov 2022 12:23:18 +0100
Subject: [PATCH 249/559] Custom config included in backup and restore,
 incremented version number to 6

---
 datatypes.h       |  2 ++
 res/CHANGELOG     |  7 ++++++-
 vesc_tool.pro     |  4 ++--
 vescinterface.cpp | 41 +++++++++++++++++++++++++++++++++++++++--
 4 files changed, 49 insertions(+), 5 deletions(-)

diff --git a/datatypes.h b/datatypes.h
index 0bfadf3ad..4efe0f4be 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -607,12 +607,14 @@ struct CONFIG_BACKUP {
     Q_PROPERTY(QString vesc_uuid MEMBER vesc_uuid)
     Q_PROPERTY(QString mcconf_xml_compressed MEMBER mcconf_xml_compressed)
     Q_PROPERTY(QString appconf_xml_compressed MEMBER appconf_xml_compressed)
+    Q_PROPERTY(QString customconf_xml_compressed MEMBER customconf_xml_compressed)
 
 public:
     QString name;
     QString vesc_uuid;
     QString mcconf_xml_compressed;
     QString appconf_xml_compressed;
+    QString customconf_xml_compressed;
 };
 
 Q_DECLARE_METATYPE(CONFIG_BACKUP)
diff --git a/res/CHANGELOG b/res/CHANGELOG
index 206356a5a..75e4cd976 100644
--- a/res/CHANGELOG
+++ b/res/CHANGELOG
@@ -1,4 +1,4 @@
-== 4.00 <dev> ==
+== 6.00 <dev> ==
 * Added support for compressed firmware upload.
 * Reduce CPU usage by only plotting RT data when the plot is visible.
 * Lisp scripting editor and integration.
@@ -13,6 +13,11 @@
 * Added VESC package creation and loading support.
 * Added VESC package store. See https://github.com/vedderb/vesc_pkg
 * Added TCP bridge.
+* Custom config backup and restore.
+* Connect screen on welcome page.
+* Attempt at BLE-support on windows.
+* Save and load support of configs on mobile.
+* Custom config pages on mobile.
 
 == 3.01 ==
 * Fixed simultaneous CAN FW upload when other devices (such as BMS) are on the CAN-bus.
diff --git a/vesc_tool.pro b/vesc_tool.pro
index fc4b85d3a..d2dae4983 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -5,12 +5,12 @@
 #-------------------------------------------------
 
 # Version
-VT_VERSION = 4.00
+VT_VERSION = 6.00
 VT_INTRO_VERSION = 1
 VT_CONFIG_VERSION = 2
 
 # Set to 0 for stable versions and to test version number for development versions.
-VT_IS_TEST_VERSION = 12
+VT_IS_TEST_VERSION = 13
 
 VT_ANDROID_VERSION_ARMV7 = 108
 VT_ANDROID_VERSION_ARM64 = 109
diff --git a/vescinterface.cpp b/vescinterface.cpp
index fe86614b5..51897db91 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -287,6 +287,7 @@ VescInterface::VescInterface(QObject *parent) : QObject(parent)
             cfg.vesc_uuid = uuid;
             cfg.mcconf_xml_compressed = mSettings.value("mcconf").toString();
             cfg.appconf_xml_compressed = mSettings.value("appconf").toString();
+            cfg.customconf_xml_compressed = mSettings.value("customconf").toString();
             cfg.name = mSettings.value("name", QString("")).toString();
             mConfigurationBackups.insert(uuid, cfg);
         }
@@ -676,6 +677,7 @@ void VescInterface::storeSettings()
             mSettings.setValue("uuid", i.key());
             mSettings.setValue("mcconf", i.value().mcconf_xml_compressed);
             mSettings.setValue("appconf", i.value().appconf_xml_compressed);
+            mSettings.setValue("customconf", i.value().customconf_xml_compressed);
             mSettings.setValue("name", i.value().name);
             ind++;
         }
@@ -3859,6 +3861,7 @@ void VescInterface::customConfigRx(int confId, QByteArray data)
     if (params) {
         auto vb = VByteArray(data);
         if (params->deSerialize(vb)) {
+            params->updateDone();
             emitStatusMessage(tr("Custom config %1 updated").arg(confId), true);
         } else {
             emitMessageDialog(tr("Custom Configuration"),
@@ -3954,18 +3957,31 @@ bool VescInterface::confStoreBackup(bool can, QString name)
 
         ConfigParams *pMc = mcConfig();
         ConfigParams *pApp = appConfig();
+        ConfigParams *pCustom = customConfig(0);
 
         commands()->getMcconf();
         bool rxMc = Utility::waitSignal(pMc, SIGNAL(updated()), 1500);
         commands()->getAppConf();
         bool rxApp = Utility::waitSignal(pApp, SIGNAL(updated()), 1500);
 
+        bool rxCustom = false;
+        if (pCustom != nullptr) {
+            commands()->customConfigGet(0, false);
+            rxCustom = Utility::waitSignal(pCustom, SIGNAL(updated()), 1500);
+            qDebug() << rxCustom;
+        }
+
         if (rxMc && rxApp) {
             CONFIG_BACKUP cfg;
             cfg.name = name;
             cfg.vesc_uuid = uuid;
             cfg.mcconf_xml_compressed = pMc->saveCompressed("mcconf");
             cfg.appconf_xml_compressed = pApp->saveCompressed("appconf");
+
+            if (rxCustom) {
+                cfg.customconf_xml_compressed = pCustom->saveCompressed("customconf");
+            }
+
             mConfigurationBackups.insert(uuid, cfg);
             return true;
         } else {
@@ -4050,26 +4066,42 @@ bool VescInterface::confRestoreBackup(bool can)
 
         ConfigParams *pMc = mcConfig();
         ConfigParams *pApp = appConfig();
+        ConfigParams *pCustom = customConfig(0);
 
         commands()->getMcconf();
         bool rxMc = Utility::waitSignal(pMc, SIGNAL(updated()), 2000);
         commands()->getAppConf();
         bool rxApp = Utility::waitSignal(pApp, SIGNAL(updated()), 2000);
 
+        bool rxCustom = false;
+        if (pCustom != nullptr) {
+            commands()->customConfigGet(0, false);
+            rxCustom = Utility::waitSignal(pCustom, SIGNAL(updated()), 2000);
+        }
+
         if (rxMc && rxApp) {
             if (mConfigurationBackups.contains(uuid)) {
                 pMc->loadCompressed(mConfigurationBackups[uuid].mcconf_xml_compressed, "mcconf");
                 pApp->loadCompressed(mConfigurationBackups[uuid].appconf_xml_compressed, "appconf");
 
+                if (rxCustom) {
+                    pCustom->loadCompressed(mConfigurationBackups[uuid].customconf_xml_compressed, "customconf");
+                }
+
                 // Try a few times, as BLE seems to drop the response sometimes.
-                bool txMc = false, txApp = false;
+                bool txMc = false, txApp = false, txCustom = true;;
                 for (int i = 0;i < 2;i++) {
                     commands()->setMcconf(false);
                     txMc = Utility::waitSignal(commands(), SIGNAL(ackReceived(QString)), 2000);
                     commands()->setAppConf();
                     txApp = Utility::waitSignal(commands(), SIGNAL(ackReceived(QString)), 2000);
 
-                    if (txApp && txMc) {
+                    if (rxCustom) {
+                        commands()->customConfigSet(0, pCustom);
+                        txCustom = Utility::waitSignal(commands(), SIGNAL(ackReceived(QString)), 2000);
+                    }
+
+                    if (txApp && txMc && txCustom) {
                         break;
                     }
                 }
@@ -4086,6 +4118,11 @@ bool VescInterface::confRestoreBackup(bool can)
                                       "No response when writing app configuration to " + uuid + ".", false, false);
                 }
 
+                if (!txCustom) {
+                    emitMessageDialog("Restore Configuration",
+                                      "No response when writing" + pCustom->getParam("hw_name")->longName + "configuration to " + uuid + ".", false, false);
+                }
+
                 return txMc && txApp;
             } else {
                 missingConfigs.append(uuid);

From 7794fa11569875086739ba7809957736eb5b0eee Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 5 Nov 2022 22:43:02 +0100
Subject: [PATCH 250/559] Exposed more config functions to qml, added config
 qml example

---
 QCodeEditor/resources/languages/qml.xml     |  1 +
 QCodeEditor/src/internal/QVescCompleter.cpp |  2 +
 configparam.h                               | 16 ++++--
 configparams.h                              | 12 ++---
 main.cpp                                    |  5 ++
 res/qml/Examples/ConfigParams.qml           | 56 +++++++++++++++++++++
 res/qml/Examples/TcpHub.qml                 | 26 ++++++++++
 7 files changed, 109 insertions(+), 9 deletions(-)
 create mode 100644 res/qml/Examples/ConfigParams.qml
 create mode 100644 res/qml/Examples/TcpHub.qml

diff --git a/QCodeEditor/resources/languages/qml.xml b/QCodeEditor/resources/languages/qml.xml
index 40d290ca2..990ecf82b 100644
--- a/QCodeEditor/resources/languages/qml.xml
+++ b/QCodeEditor/resources/languages/qml.xml
@@ -28,6 +28,7 @@
         <name>if</name>
         <name>implements</name>
         <name>in</name>
+        <name>of</name>
         <name>instanceof</name>
         <name>int</name>
         <name>interface</name>
diff --git a/QCodeEditor/src/internal/QVescCompleter.cpp b/QCodeEditor/src/internal/QVescCompleter.cpp
index c24aceb3d..178485ca6 100644
--- a/QCodeEditor/src/internal/QVescCompleter.cpp
+++ b/QCodeEditor/src/internal/QVescCompleter.cpp
@@ -110,6 +110,8 @@ QVescCompleter::QVescCompleter(QObject *parent) :
 
     auto addConfigCmds = [&]() {
         level++;
+        addItem("addParam(name, param)");
+        addItem("getParamCopy(name)");
         addItem("getParamDouble(paramName)");
         addItem("getParamInt(paramName)");
         addItem("getParamEnum(paramName)");
diff --git a/configparam.h b/configparam.h
index e98e37803..791612a7d 100644
--- a/configparam.h
+++ b/configparam.h
@@ -21,10 +21,19 @@
 #define CONFIGPARAM_H
 
 #include <QImage>
+#include <QObject>
 #include "datatypes.h"
 
-class ConfigParam
-{
+class ConfigParam {
+    Q_GADGET
+
+    Q_PROPERTY(QString longName MEMBER longName)
+    Q_PROPERTY(QString description MEMBER description)
+    Q_PROPERTY(QString cDefine MEMBER cDefine)
+    Q_PROPERTY(double valDouble MEMBER valDouble)
+    Q_PROPERTY(int valInt MEMBER valInt)
+    Q_PROPERTY(QString valString MEMBER valString)
+
 public:
     ConfigParam();
 
@@ -60,7 +69,8 @@ class ConfigParam
     bool editAsPercentage;
     bool showDisplay;
     bool transmittable;
-
 };
 
+Q_DECLARE_METATYPE(ConfigParam)
+
 #endif // CONFIGPARAM_H
diff --git a/configparams.h b/configparams.h
index be9fb7a82..a10a4dd3e 100644
--- a/configparams.h
+++ b/configparams.h
@@ -32,18 +32,18 @@ class ConfigParams : public QObject
     Q_OBJECT
 public:
     explicit ConfigParams(QObject *parent = nullptr);
-    void addParam(const QString &name, ConfigParam param);
-    void deleteParam(const QString &name);
+    Q_INVOKABLE void addParam(const QString &name, ConfigParam param);
+    Q_INVOKABLE void deleteParam(const QString &name);
     Q_INVOKABLE void setUpdateOnly(const QString &name);
     Q_INVOKABLE QString getUpdateOnly();
     Q_INVOKABLE bool getUpdatesEnabled() const;
     Q_INVOKABLE void setUpdatesEnabled(bool updatesEnabled);
-    void clearParams();
-    void clearAll();
+    Q_INVOKABLE void clearParams();
+    Q_INVOKABLE void clearAll();
 
     Q_INVOKABLE bool hasParam(const QString &name);
     ConfigParam *getParam(const QString &name);
-    ConfigParam getParamCopy(const QString &name) const;
+    Q_INVOKABLE ConfigParam getParamCopy(const QString &name) const;
 
     Q_INVOKABLE bool isParamDouble(const QString &name);
     Q_INVOKABLE bool isParamInt(const QString &name);
@@ -75,7 +75,7 @@ class ConfigParams : public QObject
     Q_INVOKABLE bool getParamShowDisplay(const QString &name);
     Q_INVOKABLE bool getParamTransmittable(const QString &name);
 
-    QStringList getParamOrder() const;
+    Q_INVOKABLE QStringList getParamOrder() const;
     void setParamOrder(const QStringList &order);
 
     QWidget *getEditor(const QString &name, QWidget *parent = nullptr);
diff --git a/main.cpp b/main.cpp
index d767f8022..8d498d41f 100755
--- a/main.cpp
+++ b/main.cpp
@@ -26,6 +26,7 @@
 #include "tcpserversimple.h"
 #include "pages/pagemotorcomparison.h"
 #include "codeloader.h"
+#include "configparam.h"
 
 #include <QApplication>
 #include <QStyleFactory>
@@ -34,7 +35,10 @@
 #include <QFontDatabase>
 
 #include "tcphub.h"
+
+#ifndef HAS_BLUETOOTH
 #include "bleuartdummy.h"
+#endif
 
 #ifdef Q_OS_IOS
 #include "ios/src/setIosParameters.h"
@@ -208,6 +212,7 @@ int main(int argc, char *argv[])
     qRegisterMetaType<FILE_LIST_ENTRY>();
     qRegisterMetaType<VescPackage>();
     qRegisterMetaType<TCP_HUB_DEVICE>();
+    qRegisterMetaType<ConfigParam>();
 
 #ifdef USE_MOBILE
 #ifndef DEBUG_BUILD
diff --git a/res/qml/Examples/ConfigParams.qml b/res/qml/Examples/ConfigParams.qml
new file mode 100644
index 000000000..1846d9097
--- /dev/null
+++ b/res/qml/Examples/ConfigParams.qml
@@ -0,0 +1,56 @@
+import QtQuick 2.12
+import QtQuick.Controls 2.12
+import QtQuick.Layouts 1.3
+
+import Vedder.vesc.commands 1.0
+import Vedder.vesc.configparams 1.0
+
+Item {
+    anchors.fill: parent
+    anchors.margins: 10
+    
+    property ConfigParams mMcConf: VescIf.mcConfig()
+    property ConfigParams mAppConf: VescIf.appConfig()
+    property ConfigParams mBalConf: VescIf.customConfig(0)
+    property var outPath: "/home/benjamin/test/params.xml"
+    
+    ConfigParams {
+        id: myCfg
+    }
+    
+    function loadConfig() {
+        myCfg.clearAll()
+        
+        for (var p of mMcConf.getParamOrder()) myCfg.addParam("mot_" + p, mMcConf.getParamCopy(p))
+        for (var p of mAppConf.getParamOrder()) myCfg.addParam("app_" + p, mAppConf.getParamCopy(p))
+        for (var p of mBalConf.getParamOrder()) myCfg.addParam("bal_" + p, mBalConf.getParamCopy(p))
+        
+        myCfg.loadXml(outPath, "balcfg")
+        
+        for (var p of mMcConf.getParamOrder()) mMcConf.updateParamFromOther(p, myCfg.getParamCopy("mot_" + p), null)
+        for (var p of mAppConf.getParamOrder()) mAppConf.updateParamFromOther(p, myCfg.getParamCopy("app_" + p), null)
+        for (var p of mBalConf.getParamOrder()) mBalConf.updateParamFromOther(p, myCfg.getParamCopy("bal_" + p), null)
+    }
+    
+    function addParamToMyCfg(cfg, p) {
+        if (cfg === mMcConf) myCfg.addParam("mot_" + p, cfg.getParamCopy(p))
+        if (cfg === mAppConf) myCfg.addParam("app_" + p, cfg.getParamCopy(p))
+        if (cfg === mBalConf) myCfg.addParam("bal_" + p, cfg.getParamCopy(p))
+    }
+    
+    function saveConfig() {
+        myCfg.clearAll()
+        
+        addParamToMyCfg(mMcConf, "l_current_max")
+        addParamToMyCfg(mAppConf, "controller_id")
+        addParamToMyCfg(mBalConf, "kp")
+                
+        myCfg.saveXml(outPath, "balcfg")
+    }
+    
+    Component.onCompleted: {
+        saveConfig()
+        loadConfig()
+        console.log("Done!")
+    }
+}
diff --git a/res/qml/Examples/TcpHub.qml b/res/qml/Examples/TcpHub.qml
new file mode 100644
index 000000000..3f3bfc9c5
--- /dev/null
+++ b/res/qml/Examples/TcpHub.qml
@@ -0,0 +1,26 @@
+import QtQuick 2.7
+import QtQuick.Controls 2.0
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Material 2.2
+import Vedder.vesc.utility 1.0
+
+import Vedder.vesc.commands 1.0
+import Vedder.vesc.configparams 1.0
+import Vedder.vesc.tcphub 1.0
+
+Item {
+    id: mainItem
+    anchors.fill: parent
+    anchors.margins: 5
+
+    property Commands mCommands: VescIf.commands()
+    property ConfigParams mMcConf: VescIf.mcConfig()
+    
+    TcpHub {
+        id: hub
+    }
+    
+    Component.onCompleted: {
+        console.log(hub.ping("veschub.vedder.se", 65101, "2093051450"))
+    }
+}

From d1835ee849fb536ede5700d5f374800e4aa69547 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 5 Nov 2022 22:44:50 +0100
Subject: [PATCH 251/559] Added examples to qml res file

---
 res_qml.qrc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/res_qml.qrc b/res_qml.qrc
index 8fac5651a..64e811ff7 100644
--- a/res_qml.qrc
+++ b/res_qml.qrc
@@ -26,5 +26,7 @@
         <file>res/qml/Examples/BalanceUi.qml</file>
         <file>res/qml/Examples/MotorComparisonModel.qml</file>
         <file>res/qml/Examples/UdpServer.qml</file>
+        <file>res/qml/Examples/ConfigParams.qml</file>
+        <file>res/qml/Examples/TcpHub.qml</file>
     </qresource>
 </RCC>

From ac9be8c2b99bd585f637908099d19261bde7da5c Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 6 Nov 2022 15:24:18 +0100
Subject: [PATCH 252/559] Made wizards work when not connected to a motor
 controller can device, better can-handling in wizards, some cleaning in
 utility

---
 commands.h                  |   2 -
 mainwindow.cpp              |   8 +-
 mobile/CanScreen.qml        |   8 +-
 mobile/DirectionSetup.qml   |  10 +-
 mobile/PairingDialog.qml    |   4 +-
 mobile/SetupWizardFoc.qml   |  27 ++--
 mobile/SetupWizardInput.qml |   4 +-
 setupwizardapp.cpp          |  39 ++++--
 setupwizardapp.h            |   2 -
 utility.cpp                 | 251 ++++++++++++++----------------------
 utility.h                   |   1 +
 vescinterface.cpp           |   4 +
 12 files changed, 165 insertions(+), 195 deletions(-)

diff --git a/commands.h b/commands.h
index 3d06ff6af..695acfa06 100644
--- a/commands.h
+++ b/commands.h
@@ -25,9 +25,7 @@
 #include <QMap>
 #include <QVariant>
 #include <QVariantList>
-#include "vbytearray.h"
 #include "datatypes.h"
-#include "packet.h"
 #include "configparams.h"
 
 class Commands : public QObject
diff --git a/mainwindow.cpp b/mainwindow.cpp
index 71a1e2b4a..181707d27 100755
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -33,7 +33,6 @@
 #include "widgets/helpdialog.h"
 #include "utility.h"
 #include "widgets/paramdialog.h"
-#include "widgets/detectallfocdialog.h"
 
 namespace {
 void stepTowards(double &value, double goal, double step) {
@@ -733,8 +732,11 @@ void MainWindow::timerSlot()
         if (mVesc->commands()->getSendCan()) {
             int id_set = mVesc->commands()->getCanSendId();
             for (int i = 1; i <  ui->canList->count(); i++) {
-                int id_ui = ui->canList->item(i)->text().split(" ").last().toInt();
-                if (id_ui == id_set) {
+                int id = 0;
+                auto current = ui->canList->itemWidget(ui->canList->item(i));
+                bool ok = QMetaObject::invokeMethod(current, "getID", Q_RETURN_ARG(int, id));
+
+                if (ok && id == id_set) {
                     ui->canList->setCurrentRow(i);
                     break;
                 }
diff --git a/mobile/CanScreen.qml b/mobile/CanScreen.qml
index 81137a85f..4713abf28 100644
--- a/mobile/CanScreen.qml
+++ b/mobile/CanScreen.qml
@@ -116,7 +116,7 @@ Item {
                         anchors.fill: parent
                         onClicked: {
                             canList.currentIndex = index
-                            if(index == 0){
+                            if(index === 0){
                                 mCommands.setSendCan(false,0)
                             }else{
                                 mCommands.setSendCan(true,ID)
@@ -188,6 +188,10 @@ Item {
                 scanButton.enabled = false
                 canModel.clear()
                 scanDialog.open()
+                if (mCommands.getSendCan()) {
+                    mCommands.setSendCan(false, -1)
+                    Utility.sleepWithEventLoop(1500)
+                }
                 mCommands.pingCan()
             }
         }
@@ -276,7 +280,7 @@ Item {
             scanButton.text = qsTr("Scan")
             if (VescIf.isPortConnected()) {
                 canModel.clear()
-                mCommands.setSendCan(0,0);
+                mCommands.setSendCan(0,0)
                 var params = Utility.getFwVersionBlocking(VescIf)
                 var name = params.hw
                 var theme ="qrc"  + Utility.getThemePath()
diff --git a/mobile/DirectionSetup.qml b/mobile/DirectionSetup.qml
index 8884b4c5e..72eaceada 100644
--- a/mobile/DirectionSetup.qml
+++ b/mobile/DirectionSetup.qml
@@ -52,10 +52,12 @@ Item {
 
     function setCanDevs(canDevs) {
         canIdModel.clear()
-        canIdModel.append({"name": "This VESC",
-                              "canId": mAppConf.getParamInt("controller_id"),
-                              "isCan": false,
-                              "isInv": Utility.getInvertDirection(VescIf, -1)})
+        if (!mCommands.getSendCan() && Utility.isConnectedToHwVesc(VescIf)) {
+            canIdModel.append({"name": "This VESC",
+                                  "canId": mAppConf.getParamInt("controller_id"),
+                                  "isCan": false,
+                                  "isInv": Utility.getInvertDirection(VescIf, -1)})
+        }
 
         for (var i = 0;i < canDevs.length;i++) {
             canIdModel.append({"name": "VESC on CAN-bus",
diff --git a/mobile/PairingDialog.qml b/mobile/PairingDialog.qml
index 3838b3448..4c478af98 100644
--- a/mobile/PairingDialog.qml
+++ b/mobile/PairingDialog.qml
@@ -282,7 +282,7 @@ Item {
         onAccepted: {
             VescIf.addPairedUuid(VescIf.getConnectedUuid());
             VescIf.storeSettings()
-            mAppConf.updateParamBool("pairing_done", true, 0)
+            mAppConf.updateParamBool("pairing_done", true, null)
             mCommands.setAppConf()
             if (Utility.waitSignal(mCommands, "2ackReceived(QString)", 2000)) {
                 VescIf.emitMessageDialog("Pairing Successful!",
@@ -322,7 +322,7 @@ Item {
         onAccepted: {
             VescIf.deletePairedUuid(VescIf.getConnectedUuid());
             VescIf.storeSettings()
-            mAppConf.updateParamBool("pairing_done", false, 0)
+            mAppConf.updateParamBool("pairing_done", false, null)
             mCommands.setAppConf()
         }
     }
diff --git a/mobile/SetupWizardFoc.qml b/mobile/SetupWizardFoc.qml
index f9218cb39..053c2bc97 100755
--- a/mobile/SetupWizardFoc.qml
+++ b/mobile/SetupWizardFoc.qml
@@ -34,6 +34,7 @@ Item {
     property ConfigParams mMcConf: VescIf.mcConfig()
     property Commands mCommands: VescIf.commands()
     property var dialogParent: ApplicationWindow.overlay
+    property var canDevs: []
 
     signal dialogClosed()
 
@@ -51,6 +52,16 @@ Item {
         repeat: false
 
         onTriggered: {
+            disableDialog()
+            canDevs = Utility.scanCanVescOnly(VescIf)
+            enableDialog()
+
+            if (!Utility.isConnectedToHwVesc(VescIf)) {
+                if (canDevs.length > 0) {
+                    mCommands.setSendCan(true, canDevs[0])
+                }
+            }
+
             updateUsageListParams()
             loadDefaultDialog.open()
         }
@@ -838,7 +849,7 @@ Item {
         title: "Detect FOC Parameters"
         parent: dialogParent
         width: parent.width - (rightMargin + leftMargin)
-        property var canDevs: []
+
         Overlay.modal: Rectangle {
             color: "#AA000000"
         }
@@ -881,13 +892,7 @@ Item {
             onTriggered: {
                 Utility.waitSignal(mCommands, "2ackReceived(QString)", 4000)
 
-                if (detectCanBox.checked) {
-                    detectDialog.canDevs = Utility.scanCanVescOnly(VescIf)
-                } else {
-                    detectDialog.canDevs = []
-                }
-
-                if (!Utility.setBatteryCutCan(VescIf, detectDialog.canDevs, 6.0, 6.0)) {
+                if (!Utility.setBatteryCutCan(VescIf, canDevs, 6.0, 6.0)) {
                     enableDialog()
                     return
                 }
@@ -903,7 +908,7 @@ Item {
                 if (res.startsWith("Success!")) {
                     resDetect = true
 
-                    Utility.setBatteryCutCanFromCurrentConfig(VescIf, detectDialog.canDevs)
+                    Utility.setBatteryCutCanFromCurrentConfig(VescIf, canDevs)
 
                     var updateAllParams = ["l_duty_start"]
 
@@ -926,7 +931,7 @@ Item {
                         updateAllParams.push("foc_sensor_mode")
                     }
 
-                    Utility.setMcParamsFromCurrentConfigAllCan(VescIf, detectDialog.canDevs, updateAllParams)
+                    Utility.setMcParamsFromCurrentConfigAllCan(VescIf, canDevs, updateAllParams)
                 }
                 enableDialog()
 
@@ -987,7 +992,7 @@ Item {
         running: false
 
         onTriggered: {
-            dirSetup.setCanDevs(detectDialog.canDevs)
+            dirSetup.setCanDevs(canDevs)
         }
     }
 
diff --git a/mobile/SetupWizardInput.qml b/mobile/SetupWizardInput.qml
index 48d603d0e..f06f8745c 100644
--- a/mobile/SetupWizardInput.qml
+++ b/mobile/SetupWizardInput.qml
@@ -464,8 +464,8 @@ Item {
                         }
 
                         if (stackLayout.currentIndex == 2) {
-                            mAppConf.updateParamEnum("app_ppm_conf.ctrl_type", 0, 0)
-                            mAppConf.updateParamEnum("app_adc_conf.ctrl_type", 0, 0)
+                            mAppConf.updateParamEnum("app_ppm_conf.ctrl_type", 0, null)
+                            mAppConf.updateParamEnum("app_adc_conf.ctrl_type", 0, null)
                             mCommands.setAppConf()
                         }
                     }
diff --git a/setupwizardapp.cpp b/setupwizardapp.cpp
index a190464db..8db7b4c25 100644
--- a/setupwizardapp.cpp
+++ b/setupwizardapp.cpp
@@ -28,8 +28,7 @@ SetupWizardApp::SetupWizardApp(VescInterface *vesc, QWidget *parent)
     : QWizard(parent)
 {
     mVesc = vesc;
-    mCanLastFwd = mVesc->commands()->getSendCan();
-    mCanLastId = mVesc->commands()->getCanSendId();
+    mVesc->commands()->setSendCan(false);
 
     setPage(Page_Intro, new AppIntroPage(vesc));
     setPage(Page_Connection, new AppConnectionPage(vesc));
@@ -53,7 +52,6 @@ SetupWizardApp::SetupWizardApp(VescInterface *vesc, QWidget *parent)
 
     setWindowTitle(tr("App Setup Wizard"));
 
-
     mSideLabel = new AspectImgLabel(Qt::Vertical);
     mSideLabel->setPixmap(QPixmap(theme +"logo_vertical.png"));
     mSideLabel->setScaledContents(true);
@@ -77,7 +75,6 @@ void SetupWizardApp::idChanged(int id)
 
 void SetupWizardApp::ended()
 {
-    mVesc->commands()->setSendCan(mCanLastFwd, mCanLastId);
     mVesc->commands()->getAppConf();
 }
 
@@ -241,16 +238,33 @@ void AppMultiPage::initializePage()
 {
     mCanFwdList->clear();
 
-    QListWidgetItem *item = new QListWidgetItem;
-    item->setText(tr("This VESC (ID: %1)").
-                  arg(mVesc->appConfig()->getParamInt("controller_id")));
+    FW_RX_PARAMS params;
+    Utility::getFwVersionBlocking(mVesc, &params);
+
     QString theme = Utility::getThemePath();
-    item->setIcon(QIcon(theme +"icons/Connected-96.png"));
-    item->setData(Qt::UserRole, -1);
-    mCanFwdList->addItem(item);
+
+    if (params.hwType == HW_TYPE_VESC) {
+        QListWidgetItem *item = new QListWidgetItem;
+        item->setText(tr("This VESC (ID: %1)").
+                      arg(mVesc->appConfig()->getParamInt("controller_id")));
+        item->setIcon(QIcon(theme +"icons/Connected-96.png"));
+        item->setData(Qt::UserRole, -1);
+        mCanFwdList->addItem(item);
+    }
+
+    bool canLastFwd = mVesc->commands()->getSendCan();
+    int canLastId = mVesc->commands()->getCanSendId();
+    mVesc->ignoreCanChange(true);
 
     for (int dev: mVesc->getCanDevsLast()) {
-        item = new QListWidgetItem;
+        mVesc->commands()->setSendCan(true, dev);
+        FW_RX_PARAMS params;
+        Utility::getFwVersionBlocking(mVesc, &params);
+        if (params.hwType != HW_TYPE_VESC) {
+            continue;
+        }
+
+        QListWidgetItem *item = new QListWidgetItem;
         item->setText(tr("VESC with ID: %1").arg(dev));
         item->setIcon(QIcon(theme +"icons/can_off.png"));
         item->setData(Qt::UserRole, dev);
@@ -258,6 +272,9 @@ void AppMultiPage::initializePage()
     }
 
     mCanFwdList->setCurrentItem(nullptr);
+
+    mVesc->commands()->setSendCan(canLastFwd, canLastId);
+    mVesc->ignoreCanChange(false);
 }
 
 int AppMultiPage::nextId() const
diff --git a/setupwizardapp.h b/setupwizardapp.h
index 5980d7f9a..32e2ecc99 100644
--- a/setupwizardapp.h
+++ b/setupwizardapp.h
@@ -71,8 +71,6 @@ private slots:
 private:
     AspectImgLabel *mSideLabel;
     VescInterface *mVesc;
-    bool mCanLastFwd;
-    int mCanLastId;
 
 };
 
diff --git a/utility.cpp b/utility.cpp
index d9fc50430..5e044d41c 100755
--- a/utility.cpp
+++ b/utility.cpp
@@ -386,6 +386,9 @@ QString Utility::detectAllFoc(VescInterface *vesc,
     QString res;
     bool detectOk = true;
 
+    vesc->commands()->disableAppOutput(180000, true);
+    Utility::sleepWithEventLoop(100);
+
     vesc->commands()->detectAllFoc(detect_can, max_power_loss, min_current_in,
                                    max_current_in, openloop_rpm, sl_erpm);
 
@@ -396,8 +399,6 @@ QString Utility::detectAllFoc(VescInterface *vesc,
     timeoutTimer.start(180000);
     pollTimer.start(100);
 
-    vesc->commands()->disableAppOutput(180000, true);
-
     int resDetect = 0;
     auto conn = connect(vesc->commands(), &Commands::detectAllFocReceived,
                         [&resDetect, &loop](int result) {
@@ -456,11 +457,15 @@ QString Utility::detectAllFoc(VescInterface *vesc,
 
             QVector<int> canDevs;
             if (detect_can) {
+                if (!vesc->commands()->getSendCan()) {
+                    res = genRes();
+                }
+
                 canDevs = Utility::scanCanVescOnly(vesc);
+            } else {
+                res = genRes();
             }
 
-            res = genRes();
-
             int canLastFwd = vesc->commands()->getSendCan();
             int canLastId = vesc->commands()->getCanSendId();
             vesc->ignoreCanChange(true);
@@ -619,86 +624,18 @@ bool Utility::resetInputCan(VescInterface *vesc, QVector<int> canIds)
 
     vesc->ignoreCanChange(true);
 
-    // Local VESC first
-    ConfigParams *ap = vesc->appConfig();
-    vesc->commands()->setSendCan(false);
-
-    if (!checkFwCompatibility(vesc)) {
-        vesc->emitMessageDialog("FW Versions",
-                                "All VESCs must have the latest firmware to perform this operation.",
-                                false, false);
-        res = false;
-        qWarning() << "Incompatible firmware";
-    }
-
-    if (res) {
-        vesc->commands()->getAppConf();
-        res = waitSignal(ap, SIGNAL(updated()), 4000);
-
-        if (!res) {
-            qWarning() << "Appconf not received";
-        }
-    }
-
-    if (res) {
-        int canId = ap->getParamInt("controller_id");
-
-        int canStatus;
-        int canStatus2;
-        bool has_bitfield_params = ap->hasParam("can_status_msgs_r1");
-        if (has_bitfield_params) {
-            canStatus = ap->getParamInt("can_status_msgs_r1");
-            canStatus2 = ap->getParamInt("can_status_msgs_r2");
-        } else {
-            canStatus = ap->getParamEnum("send_can_status");
-        }
-
-        vesc->commands()->getAppConfDefault();
-        res = waitSignal(ap, SIGNAL(updated()), 4000);
-
-        if (!res) {
-            qWarning() << "Default appconf not received";
-        }
-
-        if (res) {
-            ap->updateParamInt("controller_id", canId);
-            if (has_bitfield_params) {
-                ap->updateParamInt("can_status_msgs_r1", canStatus);
-                ap->updateParamInt("can_status_msgs_r2", canStatus2);
-            } else {
-                ap->updateParamEnum("send_can_status", canStatus);
-            }
-
-            vesc->commands()->setAppConf();
-            res = waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 4000);
-
-            if (!res) {
-                qWarning() << "Appconf set no ack received";
-            }
-        }
-    }
-
-    // All VESCs on CAN-bus
-    if (res) {
-        for (int id: canIds) {
-            vesc->commands()->setSendCan(true, id);
-
-            FW_RX_PARAMS params;
-            getFwVersionBlocking(vesc, &params);
-            if (params.hwType != HW_TYPE_VESC) {
-                continue;
-            }
+    auto update = [vesc]() {
+        bool res = true;
+        ConfigParams *ap = vesc->appConfig();
 
+        if (isConnectedToHwVesc(vesc)) {
             if (!checkFwCompatibility(vesc)) {
                 vesc->emitMessageDialog("FW Versions",
                                         "All VESCs must have the latest firmware to perform this operation.",
                                         false, false);
                 res = false;
-            }
-
-            if (!res) {
                 qWarning() << "Incompatible firmware";
-                break;
+                return false;
             }
 
             vesc->commands()->getAppConf();
@@ -706,7 +643,7 @@ bool Utility::resetInputCan(VescInterface *vesc, QVector<int> canIds)
 
             if (!res) {
                 qWarning() << "Appconf not received";
-                break;
+                return false;
             }
 
             int canId = ap->getParamInt("controller_id");
@@ -726,11 +663,10 @@ bool Utility::resetInputCan(VescInterface *vesc, QVector<int> canIds)
 
             if (!res) {
                 qWarning() << "Default appconf not received";
-                break;
+                return false;
             }
 
             ap->updateParamInt("controller_id", canId);
-
             if (has_bitfield_params) {
                 ap->updateParamInt("can_status_msgs_r1", canStatus);
                 ap->updateParamInt("can_status_msgs_r2", canStatus2);
@@ -743,16 +679,38 @@ bool Utility::resetInputCan(VescInterface *vesc, QVector<int> canIds)
 
             if (!res) {
                 qWarning() << "Appconf set no ack received";
+                return false;
+            }
+        }
+
+        return res;
+    };
+
+    // Local VESC first
+    vesc->commands()->setSendCan(false);
+    res = update();
+
+    // All VESCs on CAN-bus
+    if (res) {
+        for (int id: canIds) {
+            vesc->commands()->setSendCan(true, id);
+
+            res = update();
+            if (!res) {
                 break;
             }
         }
     }
 
     vesc->commands()->setSendCan(canLastFwd, canLastId);
-    vesc->commands()->getAppConf();
-    if (!waitSignal(ap, SIGNAL(updated()), 4000)) {
-        qWarning() << "Appconf not received";
-        res = false;
+
+    if (isConnectedToHwVesc(vesc)) {
+        vesc->commands()->getAppConf();
+        ConfigParams *ap = vesc->appConfig();
+        if (!waitSignal(ap, SIGNAL(updated()), 4000)) {
+            qWarning() << "Appconf not received";
+            res = false;
+        }
     }
 
     vesc->ignoreCanChange(false);
@@ -860,9 +818,7 @@ bool Utility::setMcParamsFromCurrentConfigAllCan(VescInterface *vesc, QVector<in
     // Start with local VESC
     vesc->canTmpOverride(false, 0);
 
-    FW_RX_PARAMS fwParams;
-    getFwVersionBlocking(vesc, &fwParams);
-    if (fwParams.hwType == HW_TYPE_VESC) {
+    if (isConnectedToHwVesc(vesc)) {
         res = updateConf();
     }
 
@@ -871,8 +827,7 @@ bool Utility::setMcParamsFromCurrentConfigAllCan(VescInterface *vesc, QVector<in
         for (int id: canIds) {
             vesc->canTmpOverride(true, id);
 
-            getFwVersionBlocking(vesc, &fwParams);
-            if (fwParams.hwType == HW_TYPE_VESC) {
+            if (isConnectedToHwVesc(vesc)) {
                 res = updateConf();
                 if (!res) {
                     break;
@@ -975,6 +930,7 @@ bool Utility::getInvertDirection(VescInterface *vesc, int canId)
 QString Utility::testDirection(VescInterface *vesc, int canId, double duty, int ms)
 {
     vesc->commands()->disableAppOutput(ms, true);
+    Utility::sleepWithEventLoop(100);
 
     vesc->canTmpOverride(canId >= 0, canId);
 
@@ -1044,94 +1000,72 @@ bool Utility::restoreConfAll(VescInterface *vesc, bool can, bool mc, bool app)
     bool canLastFwd = vesc->commands()->getSendCan();
     int canLastId = vesc->commands()->getCanSendId();
 
-    if (can) {
-        vesc->ignoreCanChange(true);
-        vesc->commands()->setSendCan(false);
+    vesc->ignoreCanChange(true);
+    vesc->commands()->setSendCan(false);
+
+    auto update = [mc, app, vesc]() {
+        bool res = true;
+        if (!isConnectedToHwVesc(vesc)) {
+            return true;
+        }
+
         if (!checkFwCompatibility(vesc)) {
             vesc->emitMessageDialog("FW Versions",
                                     "All VESCs must have the latest firmware to perform this operation.",
                                     false, false);
-            vesc->commands()->setSendCan(canLastFwd, canLastId);
-            vesc->ignoreCanChange(false);
             return false;
         }
-    }
-
-    if (mc) {
-        ConfigParams *p = vesc->mcConfig();
-        vesc->commands()->getMcconfDefault();
-        res = waitSignal(p, SIGNAL(updated()), 4000);
-
-        if (res) {
-            vesc->commands()->setMcconf(false);
-            res = waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 4000);
-        }
-    }
-
-    if (app) {
-        ConfigParams *p = vesc->appConfig();
-        vesc->commands()->getAppConfDefault();
-        res = waitSignal(p, SIGNAL(updated()), 4000);
 
-        if (res) {
-            vesc->commands()->setAppConf();
-            res = waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 4000);
-        }
-    }
-
-    if (res && can) {
-        QVector<int> canDevs = Utility::scanCanVescOnly(vesc);
-
-        for (int d: canDevs) {
-            vesc->commands()->setSendCan(true, d);
+        if (mc) {
+            ConfigParams *p = vesc->mcConfig();
+            vesc->commands()->getMcconfDefault();
+            res = waitSignal(p, SIGNAL(updated()), 4000);
 
-            if (!checkFwCompatibility(vesc)) {
-                vesc->emitMessageDialog("FW Versions",
-                                        "All VESCs must have the latest firmware to perform this operation.",
-                                        false, false);
-                vesc->commands()->setSendCan(canLastFwd, canLastId);
-                vesc->ignoreCanChange(false);
+            if (res) {
+                vesc->commands()->setMcconf(false);
+                res = waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 4000);
+            } else {
                 return false;
             }
+        }
 
-            if (mc) {
-                ConfigParams *p = vesc->mcConfig();
-                vesc->commands()->getMcconfDefault();
-                res = waitSignal(p, SIGNAL(updated()), 4000);
-
-                if (!res) {
-                    break;
-                }
+        if (app) {
+            ConfigParams *p = vesc->appConfig();
+            vesc->commands()->getAppConfDefault();
+            res = waitSignal(p, SIGNAL(updated()), 4000);
 
-                vesc->commands()->setMcconf(false);
+            if (res) {
+                vesc->commands()->setAppConf();
                 res = waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 4000);
-
-                if (!res) {
-                    break;
-                }
+            } else {
+                return false;
             }
+        }
 
-            if (app) {
-                ConfigParams *p = vesc->appConfig();
-                vesc->commands()->getAppConfDefault();
-                res = waitSignal(p, SIGNAL(updated()), 4000);
+        return res;
+    };
 
-                if (!res) {
-                    break;
-                }
+    res = update();
 
-                vesc->commands()->setAppConf();
-                res = waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 4000);
+    if (res && can) {
+        QVector<int> canDevs = Utility::scanCanVescOnly(vesc);
 
-                if (!res) {
-                    break;
-                }
+        for (int d: canDevs) {
+            vesc->commands()->setSendCan(true, d);
+            res = update();
+            if (!res) {
+                break;
             }
         }
     }
 
+    vesc->commands()->setSendCan(canLastFwd, canLastId);
+    vesc->ignoreCanChange(false);
+
     if (can) {
-        vesc->commands()->setSendCan(canLastFwd, canLastId);
+        if (!isConnectedToHwVesc(vesc)) {
+            return res;
+        }
 
         if (mc) {
             ConfigParams *p = vesc->mcConfig();
@@ -1150,8 +1084,6 @@ bool Utility::restoreConfAll(VescInterface *vesc, bool can, bool mc, bool app)
                 qWarning() << "Could not restore app conf";
             }
         }
-
-        vesc->ignoreCanChange(false);
     }
 
     return res;
@@ -1482,6 +1414,13 @@ bool Utility::getFwVersionBlockingCan(VescInterface *vesc, FW_RX_PARAMS *params,
     return res;
 }
 
+bool Utility::isConnectedToHwVesc(VescInterface *vesc)
+{
+    FW_RX_PARAMS paramsRx;
+    getFwVersionBlocking(vesc, &paramsRx);
+    return paramsRx.hwType == HW_TYPE_VESC;
+}
+
 FW_RX_PARAMS Utility::getFwVersionBlocking(VescInterface *vesc)
 {
     FW_RX_PARAMS params;
diff --git a/utility.h b/utility.h
index 59e61a4c3..751679ad9 100644
--- a/utility.h
+++ b/utility.h
@@ -80,6 +80,7 @@ class Utility : public QObject
     static uint32_t crc32c(uint8_t *data, uint32_t len);
     static bool getFwVersionBlocking(VescInterface *vesc, FW_RX_PARAMS *params);
     static bool getFwVersionBlockingCan(VescInterface *vesc, FW_RX_PARAMS *params, int canId);
+    Q_INVOKABLE static bool isConnectedToHwVesc(VescInterface *vesc);
     Q_INVOKABLE static FW_RX_PARAMS getFwVersionBlocking(VescInterface *vesc);
     Q_INVOKABLE static FW_RX_PARAMS getFwVersionBlockingCan(VescInterface *vesc, int canId);
     Q_INVOKABLE static MC_VALUES getMcValuesBlocking(VescInterface *vesc);
diff --git a/vescinterface.cpp b/vescinterface.cpp
index 51897db91..e718103b5 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -2634,6 +2634,8 @@ QVector<int> VescInterface::scanCan()
         return canDevs;
     }
 
+    canTmpOverride(false, 0);
+
     QEventLoop loop;
 
     bool timeout;
@@ -2657,6 +2659,8 @@ QVector<int> VescInterface::scanCan()
         canDevs.clear();
     }
 
+    canTmpOverrideEnd();
+
     return canDevs;
 }
 

From c659d04167047c5d47cba5feab681710e3036635 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 6 Nov 2022 15:49:27 +0100
Subject: [PATCH 253/559] MultiSettings can-fixes

---
 mobile/MultiSettings.qml | 12 +++++++-----
 res/CHANGELOG            |  1 +
 vesc_tool.pro            |  2 +-
 3 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/mobile/MultiSettings.qml b/mobile/MultiSettings.qml
index 934cb4c5c..3fe77a1b1 100644
--- a/mobile/MultiSettings.qml
+++ b/mobile/MultiSettings.qml
@@ -41,11 +41,6 @@ Item {
             return
         }
 
-        if (mCommands.getSendCan()) {
-            VescIf.emitMessageDialog("Multi Setup",
-                                     "CAN-forwarding must be disabled for multi setup to work.", false, false)
-            return
-        }
         workaroundTimerOpenDialog.start()
     }
     Timer {
@@ -58,6 +53,13 @@ Item {
 
             disableDialog("Scanning CAN-bus...")
             canDevs = Utility.scanCanVescOnly(VescIf)
+
+            if (!Utility.isConnectedToHwVesc(VescIf)) {
+                if (canDevs.length > 0) {
+                    mCommands.setSendCan(true, canDevs[0])
+                }
+            }
+
             enableDialog()
         }
     }
diff --git a/res/CHANGELOG b/res/CHANGELOG
index 75e4cd976..d1c172f84 100644
--- a/res/CHANGELOG
+++ b/res/CHANGELOG
@@ -18,6 +18,7 @@
 * Attempt at BLE-support on windows.
 * Save and load support of configs on mobile.
 * Custom config pages on mobile.
+* Wizard and multisettings improvements when connected over CAN.
 
 == 3.01 ==
 * Fixed simultaneous CAN FW upload when other devices (such as BMS) are on the CAN-bus.
diff --git a/vesc_tool.pro b/vesc_tool.pro
index d2dae4983..23d96de8c 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -10,7 +10,7 @@ VT_INTRO_VERSION = 1
 VT_CONFIG_VERSION = 2
 
 # Set to 0 for stable versions and to test version number for development versions.
-VT_IS_TEST_VERSION = 13
+VT_IS_TEST_VERSION = 14
 
 VT_ANDROID_VERSION_ARMV7 = 108
 VT_ANDROID_VERSION_ARM64 = 109

From f5981f26de0426977e264276b417dd672e77c8ac Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Mon, 7 Nov 2022 08:15:45 +0000
Subject: [PATCH 254/559] @Teslafly has signed the CLA from Pull Request #257

---
 signatures/version1/cla.json | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/signatures/version1/cla.json b/signatures/version1/cla.json
index 682517e89..50623bd18 100644
--- a/signatures/version1/cla.json
+++ b/signatures/version1/cla.json
@@ -87,6 +87,14 @@
       "created_at": "2022-10-08T11:58:44Z",
       "repoId": 102395117,
       "pullRequestNo": 250
+    },
+    {
+      "name": "Teslafly",
+      "id": 2079881,
+      "comment_id": 1305235157,
+      "created_at": "2022-11-07T08:15:29Z",
+      "repoId": 102395117,
+      "pullRequestNo": 257
     }
   ]
 }
\ No newline at end of file

From a9bafa6106c577906112f98b404d44171cd9934c Mon Sep 17 00:00:00 2001
From: Teslafly <2079881+Teslafly@users.noreply.github.com>
Date: Mon, 7 Nov 2022 02:44:52 -0600
Subject: [PATCH 255/559] Remember filepaths for param parser & Configuration
 XML across instances (#257)

* remember last param parser filepath across instances

* add some more default file names

* remember mcconf&appconf file save locations across instances

* apply correct naming convention to variables
---
 mainwindow.cpp | 24 ++++++++++++++++++------
 mainwindow.h   |  3 +++
 2 files changed, 21 insertions(+), 6 deletions(-)

diff --git a/mainwindow.cpp b/mainwindow.cpp
index 181707d27..b32d9f0f3 100755
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -530,6 +530,10 @@ MainWindow::MainWindow(QWidget *parent) :
         }
     }
 
+    mLastParamParserCPath = (mSettings.value("mainwindow/mLastParamParserCPath", "./confgenerator").toString());
+    mLastMCConfigXMLPath  = (mSettings.value("mainwindow/mLastMCConfigXMLPath", "./vesc_mcconf").toString());
+    mLastAppConfigXMLPath = (mSettings.value("mainwindow/mLastAppConfigXMLPath", "./vesc_appconf").toString());
+
     updateMotortype();
     updateAppToUse();
 
@@ -544,6 +548,9 @@ MainWindow::~MainWindow()
     mSettings.setValue("introVersion", VT_INTRO_VERSION);
     mSettings.setValue("mainwindow/position", pos());
     mSettings.setValue("mainwindow/maximized", isMaximized());
+    mSettings.setValue("mainwindow/mLastParamParserCPath", mLastParamParserCPath);
+    mSettings.setValue("mainwindow/mLastMCConfigXMLPath", mLastMCConfigXMLPath);
+    mSettings.setValue("mainwindow/mLastAppConfigXMLPath", mLastAppConfigXMLPath);
 
     if (!isMaximized()) {
         mSettings.setValue("mainwindow/size", size());
@@ -1042,7 +1049,7 @@ void MainWindow::on_actionSaveMotorConfXml_triggered()
     QString path;
     path = QFileDialog::getSaveFileName(this,
                                         tr("Choose where to save the motor configuration XML file"),
-                                        ".",
+                                        mLastMCConfigXMLPath,
                                         tr("Xml files (*.xml)"));
 
     if (path.isNull()) {
@@ -1057,6 +1064,7 @@ void MainWindow::on_actionSaveMotorConfXml_triggered()
 
     if (res) {
         showStatusInfo("Saved motor configuration", true);
+        mLastMCConfigXMLPath = path;
     } else {
         showMessageDialog(tr("Save motor configuration"),
                           tr("Could not save motor configuration:<BR>"
@@ -1070,7 +1078,7 @@ void MainWindow::on_actionLoadMotorConfXml_triggered()
     QString path;
     path = QFileDialog::getOpenFileName(this,
                                         tr("Choose motor configuration file to load"),
-                                        ".",
+                                        mLastMCConfigXMLPath,
                                         tr("Xml files (*.xml)"));
 
     if (path.isNull()) {
@@ -1081,6 +1089,7 @@ void MainWindow::on_actionLoadMotorConfXml_triggered()
 
     if (res) {
         showStatusInfo("Loaded motor configuration", true);
+        mLastMCConfigXMLPath = path;
     } else {
         showMessageDialog(tr("Load motor configuration"),
                           tr("Could not load motor configuration:<BR>"
@@ -1094,7 +1103,7 @@ void MainWindow::on_actionSaveAppconfXml_triggered()
     QString path;
     path = QFileDialog::getSaveFileName(this,
                                         tr("Choose where to save the app configuration XML file"),
-                                        ".",
+                                        mLastAppConfigXMLPath,
                                         tr("Xml files (*.xml)"));
 
     if (path.isNull()) {
@@ -1109,6 +1118,7 @@ void MainWindow::on_actionSaveAppconfXml_triggered()
 
     if (res) {
         showStatusInfo("Saved app configuration", true);
+        mLastAppConfigXMLPath = path;
     } else {
         showMessageDialog(tr("Save app configuration"),
                           tr("Could not save app configuration:<BR>"
@@ -1122,7 +1132,7 @@ void MainWindow::on_actionLoadAppconfXml_triggered()
     QString path;
     path = QFileDialog::getOpenFileName(this,
                                         tr("Choose app configuration file to load"),
-                                        ".",
+                                        mLastAppConfigXMLPath,
                                         tr("Xml files (*.xml)"));
 
     if (path.isNull()) {
@@ -1133,6 +1143,7 @@ void MainWindow::on_actionLoadAppconfXml_triggered()
 
     if (res) {
         showStatusInfo("Loaded app configuration", true);
+        mLastAppConfigXMLPath = path;
     } else {
         showMessageDialog(tr("Load app configuration"),
                           tr("Could not load app configuration:<BR>"
@@ -1226,7 +1237,7 @@ void MainWindow::saveParamFileDialog(QString conf, bool wrapIfdef)
     QString path;
     path = QFileDialog::getSaveFileName(this,
                                         tr("Choose where to save the configuration header file"),
-                                        ".",
+                                        QString("./%1_default").arg(conf.toLower()),
                                         tr("h files (*.h)"));
 
     if (path.isNull()) {
@@ -1899,7 +1910,7 @@ void MainWindow::on_actionExportConfigurationParser_triggered()
     QString path;
     path = QFileDialog::getSaveFileName(this,
                                         tr("Choose where to save the parser C source and header file"),
-                                        ".",
+                                        mLastParamParserCPath,
                                         tr("C Source/Header files (*.c *.h)"));
 
     if (path.isNull()) {
@@ -1907,6 +1918,7 @@ void MainWindow::on_actionExportConfigurationParser_triggered()
     }
 
     Utility::createParamParserC(mVesc, path);
+    mLastParamParserCPath = path;
 }
 
 void MainWindow::on_actionBackupConfiguration_triggered()
diff --git a/mainwindow.h b/mainwindow.h
index f43ee6eeb..9fa96c383 100644
--- a/mainwindow.h
+++ b/mainwindow.h
@@ -169,6 +169,9 @@ private slots:
     bool mMcConfRead;
     bool mAppConfRead;
     QMap<QString, int> mPageNameIdList;
+    QString mLastParamParserCPath;
+    QString mLastMCConfigXMLPath;
+    QString mLastAppConfigXMLPath;
 
     QTimer mPollRtTimer;
     QTimer mPollAppTimer;

From 75867a48502a967614738d738645d9ebfee4f6ef Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 7 Nov 2022 11:13:56 +0100
Subject: [PATCH 256/559] Cleaned up can-js example a bit

---
 res/Lisp/Examples/can_js.lisp | 38 +++++++++++++++++------------------
 1 file changed, 19 insertions(+), 19 deletions(-)

diff --git a/res/Lisp/Examples/can_js.lisp b/res/Lisp/Examples/can_js.lisp
index 49235d235..08a56f6dc 100644
--- a/res/Lisp/Examples/can_js.lisp
+++ b/res/Lisp/Examples/can_js.lisp
@@ -1,41 +1,41 @@
 ; This example comminucates with a Grayhill 3J Gen 2.0 Joystick. It
 ; uses the J1939 CAN-standard.
 
-(define js-sa 0xF1) ; Grayhill joystick source address
-(define my-id 2)
+(def js-sa 0xF1) ; Grayhill joystick source address
+(def my-id 2)
 
 ; ID to send data to the joysick
-(define id-send (bits-enc-int (bits-enc-int 0x18EF0000u32 8 js-sa 8) 0 my-id 8))
+(def id-send (bits-enc-int (bits-enc-int 0x18EF0000u32 8 js-sa 8) 0 my-id 8))
 
 ; Received X- and Y-axis values from the joystick
-(define x-axis 0)
-(define y-axis 0)
+(def x-axis 0)
+(def y-axis 0)
 
 ; Counter for received CAN-frames
-(define can-cnt 0)
+(def can-cnt 0)
 
 ; Handler for EID CAN-frames
-(define proc-eid (lambda (id data)
+(defun proc-eid (id data)
     (if (= id 0x18ff03f1u32)
         (progn
-            (define can-cnt (+ can-cnt 1))
+            (def can-cnt (+ can-cnt 1))
             
             ; Note: the axes are 10 bits in the datasheet, but they change in
             ; steps of 2 percent, so the lower bits are always 0. Not sure
             ; why they don't use just 7 bits for that.
             
-            (define x-axis (* 0.001
+            (def x-axis (* 0.001
                 (* (if (= (bits-dec-int (bufget-u8 data 0) 2 1) 0) 1.0 -1.0)
                 (+ (bits-dec-int (bufget-u8 data 0) 6 2) (* 4 (bufget-u8 data 1))
             ))))
             
-            (define y-axis (* 0.001
+            (def y-axis (* 0.001
                 (* (if (= (bits-dec-int (bufget-u8 data 2) 2 1) 0) 1.0 -1.0)
                 (+ (bits-dec-int (bufget-u8 data 2) 6 2) (* 4 (bufget-u8 data 3))
             ))))
                         
             ; Decode the buttons that are currently pressed
-            (define btn-lst (list
+            (def btn-lst (list
                 (bits-dec-int (bufget-u8 data 5) 6 2)
                 (bits-dec-int (bufget-u8 data 5) 4 2)
                 (bits-dec-int (bufget-u8 data 5) 2 2)
@@ -54,7 +54,7 @@
 ;            (timeout-reset)
         )
         nil
-)))
+))
 
 ; This function waits for events from the C code and calls the
 ; handlers for them when the events arrive.
@@ -70,11 +70,11 @@
 ; l: Left LED
 ; c: Center LED
 ; r: Right LED
-(define set-btn-leds (lambda (btn l c r)
+(defun set-btn-leds (btn l c r)
     (progn
-        (define msg (list btn (bits-enc-int l 4 c 4) r))
+        (def msg (list btn (bits-enc-int l 4 c 4) r))
         (can-send-eid id-send msg)
-)))
+))
 
 ; Spawn the event handler thread and pass the ID it returns to C
 (event-register-handler (spawn 150 event-handler))
@@ -82,7 +82,7 @@
 ; Enable the CAN event for extended ID (EID) frames
 (event-enable 'event-can-eid)
 
-(define btn-now 1)
+(def btn-now 1)
 
 (loopwhile t
     (progn 
@@ -90,7 +90,7 @@
         (yield 1500000)
         (set-btn-leds btn-now 0 0 0)
         
-        (define btn-now (+ btn-now 1))
-        (if (= btn-now 6) (define btn-now 7)) ; Index 6 is missing, so skip it
-        (if (> btn-now 7) (define btn-now 1))
+        (def btn-now (+ btn-now 1))
+        (if (= btn-now 6) (def btn-now 7)) ; Index 6 is missing, so skip it
+        (if (> btn-now 7) (def btn-now 1))
 ))

From 4928575780147c822f72d1860fe53daa96d9644f Mon Sep 17 00:00:00 2001
From: Mitch Lustig <Mitchlol@users.noreply.github.com>
Date: Mon, 7 Nov 2022 04:42:14 -0600
Subject: [PATCH 257/559] Add IMU detection & basic configurator to IMU Wizard
 (#258)

---
 mobile/SetupWizardIMU.qml | 306 +++++++++++++++++++++++++++++++++++++-
 1 file changed, 301 insertions(+), 5 deletions(-)

diff --git a/mobile/SetupWizardIMU.qml b/mobile/SetupWizardIMU.qml
index 79251aec2..88cfbebdf 100644
--- a/mobile/SetupWizardIMU.qml
+++ b/mobile/SetupWizardIMU.qml
@@ -24,6 +24,8 @@ Item {
     property var dialogParent: ApplicationWindow.overlay
 
     property bool workingIMU: false
+    property int imuType: 0
+    property string imuString: "Unknown"
     property var filteredIMUValues: {
         'roll': 0.0,
         'pitch': 0.0,
@@ -34,6 +36,8 @@ Item {
         'gyroX': 0.0,
         'gyroY': 0.0,
         'gyroZ': 0.0,
+        'gyroXNoise': 0.0,
+        'gyroXPrevious': 0.0,
     }
     property var maxAccelValues: {
         'x': -10.0, 'y': -10.0, 'z': -10.0
@@ -49,6 +53,7 @@ Item {
         'orientationRoll': 5,
         'orientationPitch': 6,
         'orientationYaw': 7,
+        'configurator': 8
     }
 
     function openDialog() {
@@ -69,6 +74,17 @@ Item {
         }
     }
 
+    Timer {
+        id: delayTimer
+        repeat: false
+
+    }
+    function delay(delayTime, cb) {
+        delayTimer.interval = delayTime
+        delayTimer.triggered.connect(cb)
+        delayTimer.start()
+    }
+
     Connections {
         target: mCommands
 
@@ -113,8 +129,13 @@ Item {
                 calculatedYawOffset = pi
             }
 
-            // Only detect a working IMU once, and leave value at true forever (This can be fooled, idk').
-            if(workingIMU == false && values.accZ !== 0 && values.accZ !== filteredIMUValues.accZ){
+            // Detect working IMU based on noise levels of the gyro X axis
+            var noise = Math.abs(values.gyroX - filteredIMUValues.gyroXPrevious)
+            filteredIMUValues.gyroXPrevious = values.gyroX
+            filteredIMUValues.gyroXNoise = (filteredIMUValues.gyroXNoise * .9) + (noise * .1)
+            if(filteredIMUValues.gyroXNoise < 0.01){
+                workingIMU = false
+            } else {
                 workingIMU = true
             }
         }
@@ -185,6 +206,20 @@ Item {
                         Layout.preferredWidth: parent.width
                         text: "Choose a task:"
                     }
+                    Button {
+                        id: configuratorButton
+                        Layout.fillWidth: true
+                        Layout.preferredWidth: 500
+                        text: "IMU Configurator"
+                        flat: false
+
+                        onClicked: {
+                            configuratorRadioDefault.checked = true
+                            configuratorRadioDefault.onClicked()
+                            updateIMUType()
+                            stackLayout.currentIndex = pages.configurator
+                        }
+                    }
                     Button {
                         id: gyroCalibrationButton
                         Layout.fillWidth: true
@@ -295,7 +330,7 @@ Item {
                         wrapMode: Text.Wrap
                         Layout.preferredWidth: parent.width
                         text: "To find the accelerometer offsets, " +
-                        "the IMU must be must be rotated to the max value for all 3 axes. " +
+                        "the IMU must be rotated to the max value for all 3 axes. " +
                         "Avoid sharp movements & bumping the IMU to keep the reading stable. " +
                         "If you've overshot the reading, hit the 'Clear Max' button to reset the reading. " +
                         "\n\nAfter finding a stable max X value, hit 'SAVE' to continue.\n"
@@ -368,7 +403,7 @@ Item {
                         wrapMode: Text.Wrap
                         Layout.preferredWidth: parent.width
                         text: "To find the accelerometer offsets, " +
-                        "the IMU must be must be rotated to the max value for all 3 axes. " +
+                        "the IMU must be rotated to the max value for all 3 axes. " +
                         "Avoid sharp movements & bumping the IMU to keep the reading stable. " +
                         "If you've overshot the reading, hit the 'Clear Max' button to reset the reading. " +
                         "\n\nAfter finding a stable max Y value, hit 'SAVE' to continue.\n"
@@ -441,7 +476,7 @@ Item {
                         wrapMode: Text.Wrap
                         Layout.preferredWidth: parent.width
                         text: "To find the accelerometer offsets, " +
-                        "the IMU must be must be rotated to the max value for all 3 axes. " +
+                        "the IMU must be rotated to the max value for all 3 axes. " +
                         "Avoid sharp movements & bumping the IMU to keep the reading stable. " +
                         "If you've overshot the reading, hit the 'Clear Max' button to reset the reading. " +
                         "\n\nAfter finding a stable max Z value, hit 'SAVE' to continue.\n"
@@ -644,6 +679,220 @@ Item {
                 }// Column Layout
             }// Item (yaw Calibration)
 
+            Item{// configurator #8
+                width: parent.width
+                height: parent.height
+
+                ColumnLayout {
+                    width: parent.width
+                    height: parent.height
+                    Text {
+                        id: configuratorText1
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        font.bold: true
+                        font.underline: true
+                        font.pointSize: 20
+                        wrapMode: Text.Wrap
+                        horizontalAlignment: Text.AlignHCenter
+                        Layout.preferredWidth: parent.width
+                        text: "IMU Configurator"
+                    }// Text
+                    Text {
+                        id: configuratorText2
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        wrapMode: Text.Wrap
+                        font.pointSize: 10
+                        Layout.preferredWidth: parent.width
+                        text: "First make sure you have an IMU, if IMU is not detected press \"Search for IMU\". " +
+                        "IMU Type of \"Off\" means IMU is not connected (properly). " +
+                        "If IMU Detected is true but then becomes \"false\" after searching, the configured app has a conflicting comm port use."
+                    }// Text
+                    Text {
+                        id: configuratorText3
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        wrapMode: Text.Wrap
+                        Layout.preferredWidth: parent.width
+                        text: "IMU Detected: " + (workingIMU ? "true" : "false") + "\n" +
+                        "IMU Type: " + imuString
+                    }// Text
+                    Button {
+                        id: searchIMUButton
+                        Layout.fillWidth: true
+                        text: "Search for IMU"
+                        flat: true
+
+                        onClicked: {
+                            searchIMUButton.enabled = false
+                            searchIMUButton.text = "Searching...."
+
+                            var previousApp = mAppConf.getParamEnum("app_to_use")
+                            mAppConf.updateParamEnum("app_to_use", 0)
+                            mAppConf.updateParamEnum("imu_conf.type", 1)
+                            mCommands.setAppConfNoStore()
+                            updateIMUType()
+                            delay(2000, function(){
+                                delayTimer.stop()
+                                if(!workingIMU){
+                                    mAppConf.updateParamEnum("imu_conf.type", 2)
+                                    mCommands.setAppConfNoStore()
+                                    updateIMUType()
+                                    delay(2000, function(){
+                                        delayTimer.stop()
+                                        if(!workingIMU){
+                                            mAppConf.updateParamEnum("imu_conf.type", 3)
+                                            mCommands.setAppConfNoStore()
+                                            updateIMUType()
+                                            delay(2000, function(){
+                                                delayTimer.stop()
+                                                if(!workingIMU){
+                                                    mAppConf.updateParamEnum("imu_conf.type", 4)
+                                                    mCommands.setAppConfNoStore()
+                                                    updateIMUType()
+                                                    delay(2000, function(){
+                                                        delayTimer.stop()
+                                                        if(!workingIMU){
+                                                            mAppConf.updateParamEnum("imu_conf.type", 5)
+                                                            mCommands.setAppConfNoStore()
+                                                            updateIMUType()
+                                                            delay(2000, function(){
+                                                                delayTimer.stop()
+                                                                if(!workingIMU){
+                                                                    mAppConf.updateParamEnum("imu_conf.type", 0)
+                                                                }
+                                                                searchIMUButton.enabled = true
+                                                                searchIMUButton.text = "Search for IMU"
+                                                                mAppConf.updateParamEnum("app_to_use", previousApp)
+                                                                mCommands.setAppConfNoStore()
+                                                                updateIMUType()
+                                                            })
+                                                        }else{
+                                                            searchIMUButton.enabled = true
+                                                            searchIMUButton.text = "Search for IMU"
+                                                            mAppConf.updateParamEnum("app_to_use", previousApp)
+                                                            mCommands.setAppConfNoStore()
+                                                        }
+                                                    })
+                                                }else{
+                                                    searchIMUButton.enabled = true
+                                                    searchIMUButton.text = "Search for IMU"
+                                                    mAppConf.updateParamEnum("app_to_use", previousApp)
+                                                    mCommands.setAppConfNoStore()
+                                                }
+                                            })
+                                        }else{
+                                            searchIMUButton.enabled = true
+                                            searchIMUButton.text = "Search for IMU"
+                                            mAppConf.updateParamEnum("app_to_use", previousApp)
+                                            mCommands.setAppConfNoStore()
+                                        }
+                                    })
+                                }else{
+                                    searchIMUButton.enabled = true
+                                    searchIMUButton.text = "Search for IMU"
+                                    mAppConf.updateParamEnum("app_to_use", previousApp)
+                                    mCommands.setAppConfNoStore()
+                                }
+                            })
+                        }
+                    }// Button
+                    Text {
+                        id: configuratorText4
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        wrapMode: Text.Wrap
+                        font.pointSize: 10
+                        Layout.preferredWidth: parent.width
+                        text:
+                            "Next, select the intended IMU use:"
+                    }// Text
+                    GridLayout {
+                        columns: 2
+                        RadioButton {
+                            id: configuratorRadioDefault
+                            text: "Default"
+                            onClicked: {
+                                mAppConf.updateParamInt("imu_conf.sample_rate_hz", 200)
+                                mAppConf.updateParamEnum("imu_conf.mode", 0)
+                                mAppConf.updateParamDouble("imu_conf.accel_confidence_decay", 1.0)
+                                mAppConf.updateParamDouble("imu_conf.mahony_kp", 0.03)
+                                mAppConf.updateParamDouble("imu_conf.accel_offsets__2", 0.0)
+                                configuratorText5.text = configuratorText5.getText()
+                            }
+                        }
+                        RadioButton {
+                            id: configuratorRadioLogs
+                            text: "Logs"
+                            onClicked: {
+                                mAppConf.updateParamInt("imu_conf.sample_rate_hz", 200)
+                                mAppConf.updateParamEnum("imu_conf.mode", 1)
+                                mAppConf.updateParamDouble("imu_conf.accel_confidence_decay", 1.0)
+                                mAppConf.updateParamDouble("imu_conf.mahony_kp", 0.03)
+                                mAppConf.updateParamDouble("imu_conf.accel_offsets__2", 0.0)
+                                configuratorText5.text = configuratorText5.getText()
+                            }
+                        }
+                        RadioButton {
+                            id: configuratorRadioBUni
+                            text: "Balance Unicycle"
+                            onClicked: {
+                                if(imuType == 4){
+                                    mAppConf.updateParamInt("imu_conf.sample_rate_hz", 800)
+                                }else if(imuType == 5){
+                                    mAppConf.updateParamInt("imu_conf.sample_rate_hz", 833)
+                                }else{
+                                    mAppConf.updateParamInt("imu_conf.sample_rate_hz", 1000)
+                                }
+                                mAppConf.updateParamEnum("imu_conf.mode", 1)
+                                mAppConf.updateParamDouble("imu_conf.accel_confidence_decay", 1.0)
+                                mAppConf.updateParamDouble("imu_conf.mahony_kp", 0.02)
+                                mAppConf.updateParamDouble("imu_conf.accel_offsets__2", 0.0)
+                                configuratorText5.text = configuratorText5.getText()
+                            }
+                        }
+                        RadioButton {
+                            id: configuratorRadioBSkate
+                            text: "Balance Skateboard"
+                            onClicked: {
+                                if(imuType == 4){
+                                    mAppConf.updateParamInt("imu_conf.sample_rate_hz", 400)
+                                }else if(imuType == 5){
+                                    mAppConf.updateParamInt("imu_conf.sample_rate_hz", 416)
+                                }else{
+                                    mAppConf.updateParamInt("imu_conf.sample_rate_hz", 1000)
+                                }
+                                mAppConf.updateParamEnum("imu_conf.mode", 1)
+                                mAppConf.updateParamDouble("imu_conf.accel_confidence_decay", 0.02)
+                                mAppConf.updateParamDouble("imu_conf.mahony_kp", 2.0)
+                                mAppConf.updateParamDouble("imu_conf.accel_offsets__2", 1.0)
+                                configuratorText5.text = configuratorText5.getText()
+                            }
+                        }
+                    }
+                    Text {
+                        function getText(){
+                            return "Frequency: " + mAppConf.getParamInt("imu_conf.sample_rate_hz") + "\n" +
+                                "AHRS: " + getAHRS() + "\n" +
+                                "Acc Decay: " + mAppConf.getParamDouble("imu_conf.accel_confidence_decay").toFixed(3) + "\n" +
+                                "Mahony kp: " + mAppConf.getParamDouble("imu_conf.mahony_kp").toFixed(3) + "\n" +
+                                "Accel Z Offset: " + mAppConf.getParamDouble("imu_conf.accel_offsets__2").toFixed(1)
+                        }
+
+                        id: configuratorText5
+                        color: Utility.getAppHexColor("lightText")
+                        font.family: "DejaVu Sans Mono"
+                        wrapMode: Text.Wrap
+                        Layout.preferredWidth: parent.width
+                        text: getText()
+                    }// Text
+
+
+
+                }// Column Layout
+            }// Item (configurator)
+
         }
 
 //        header: Rectangle {
@@ -667,6 +916,10 @@ Item {
                     if (stackLayout.currentIndex === pages.menu) {
                         dialog.close()
                         openTimer.stop()
+                    } else if(stackLayout.currentIndex === pages.configurator){
+                        mCommands.getAppConf()
+                        mCommands.setAppConf()
+                        stackLayout.currentIndex = pages.menu
                     } else {
                         stackLayout.currentIndex = pages.menu
                     }
@@ -771,6 +1024,9 @@ Item {
                         )
                         applyRotationToCalibrationConfig(0, 0, yaw)
 
+                        mCommands.setAppConf()
+                        stackLayout.currentIndex = pages.menu
+                    }else if(stackLayout.currentIndex === pages.configurator){
                         mCommands.setAppConf()
                         stackLayout.currentIndex = pages.menu
                     }else{
@@ -905,5 +1161,45 @@ Item {
         return rotatedPitch
     }
 
+    function updateIMUType(){
+        imuType = mAppConf.getParamEnum("imu_conf.type")
+        if(imuType === 0){ //off
+            imuString = "Off"
+        }else if(imuType === 1){ //internal
+            var internalTypeString = Utility.readInternalImuType(VescIf)
+            imuString = "Internal " + internalTypeString
+            if(internalTypeString === "MPU6050"){
+                imuType = 2
+            }else if(internalTypeString === "ICM20948"){
+                imuType = 3
+            }else if(internalTypeString === "BMI160"){
+                imuType = 4
+            }else if(internalTypeString === "LSM6DS2"){
+                imuType = 5
+            }
+        }else if(imuType === 2){ //MPU6050
+            imuString = "MPU6050"
+        }else if(imuType === 3){ //ICM20948
+            imuString = "ICM20948"
+        }else if(imuType === 4){ //BMI160
+            imuString = "BMI160"
+        }else if(imuType === 5){ //LSM6DS2(tr-c?)
+            imuString = "LSM6DS3"
+        }
+    }
+
+    function getAHRS(){
+        imuType = mAppConf.getParamEnum("imu_conf.mode")
+        if(imuType === 0){
+            return "Madgwick"
+        }else if(imuType === 1){
+            return "Mahony"
+        }else if(imuType === 2){
+            return "Madgwick Fusion"
+        }else if(imuType === 3){
+            return "Unknown"
+        }
+    }
+
 }//Item
 

From 6421eaed8ab4c53f03b704aea8186d974844b368 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 7 Nov 2022 21:00:24 +0100
Subject: [PATCH 258/559] ESP prog bootloader support

---
 pages/pageespprog.cpp                         |  87 +++++++++++++++++-
 pages/pageespprog.h                           |   4 +-
 pages/pageespprog.ui                          |  19 +++-
 .../ESP32-C3/VESC Express/app.bin             | Bin 1207552 -> 1175104 bytes
 .../ESP32-C3/VESC Express/bootloader.bin      | Bin 18848 -> 18720 bytes
 .../ESP32-C3/VESC Express/partition-table.bin | Bin 3072 -> 3072 bytes
 vescinterface.cpp                             |   2 +-
 7 files changed, 105 insertions(+), 7 deletions(-)

diff --git a/pages/pageespprog.cpp b/pages/pageespprog.cpp
index dc6cdea2c..5f137ec73 100644
--- a/pages/pageespprog.cpp
+++ b/pages/pageespprog.cpp
@@ -34,6 +34,7 @@ PageEspProg::PageEspProg(QWidget *parent) :
     ui->partChooseButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
     ui->appChooseButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
     ui->flashButton->setIcon(QPixmap(theme + "icons/Download-96.png"));
+    ui->flashBlButton->setIcon(QPixmap(theme + "icons/Download-96.png"));
     ui->serialConnectButton->setIcon(QPixmap(theme + "icons/Connected-96.png"));
     ui->serialDisconnectButton->setIcon(QPixmap(theme + "icons/Disconnected-96.png"));
     ui->serialRefreshButton->setIcon(QPixmap(theme + "icons/Refresh-96.png"));
@@ -60,6 +61,8 @@ PageEspProg::PageEspProg(QWidget *parent) :
     connect(&mEspFlash, &Esp32Flash::stateUpdate, [this](QString msg) {
         ui->progWidget->setText(msg);
     });
+
+    listAllFw();
 }
 
 PageEspProg::~PageEspProg()
@@ -79,16 +82,30 @@ VescInterface *PageEspProg::vesc() const
 void PageEspProg::setVesc(VescInterface *vesc)
 {
     mVesc = vesc;
+
+    connect(mVesc, &VescInterface::fwUploadStatus, [this]
+            (QString status, double progress, bool isOngoing) {
+        (void)isOngoing;
+        ui->progWidget->setValue(progress * 100.0);
+        ui->progWidget->setText(status);
+    });
+
     on_serialRefreshButton_clicked();
 }
 
 void PageEspProg::timerSlot()
 {
-    ui->serialConnectButton->setEnabled(ui->flashButton->isEnabled() && !mEspFlash.isEspConnected());
-    ui->serialDisconnectButton->setEnabled(ui->flashButton->isEnabled() && mEspFlash.isEspConnected());
+    bool vescConn = false;
+    if (mVesc) {
+        vescConn = mVesc->isPortConnected();
+    }
 
-    if (ui->fwList->count() > 0 && !mEspFlash.isEspConnected()) {
-        ui->fwList->clear();
+    ui->serialConnectButton->setEnabled(!mEspFlash.isEspConnected());
+    ui->serialDisconnectButton->setEnabled(mEspFlash.isEspConnected());
+    ui->flashBlButton->setEnabled(!mEspFlash.isEspConnected() && vescConn);
+
+    if (!mEspFlash.isEspConnected() && ui->flashButton->isEnabled()) {
+        ui->flashButton->setEnabled(false);
     }
 }
 
@@ -107,6 +124,7 @@ void PageEspProg::on_serialRefreshButton_clicked()
 void PageEspProg::on_serialDisconnectButton_clicked()
 {
     mEspFlash.disconnectEsp();
+    listAllFw();
 }
 
 void PageEspProg::on_serialConnectButton_clicked()
@@ -114,6 +132,8 @@ void PageEspProg::on_serialConnectButton_clicked()
     if (mEspFlash.connectEsp(ui->serialPortBox->currentData().toString())) {
         switch (mEspFlash.getTarget()) {
         case ESP32C3_CHIP: {
+            ui->fwList->clear();
+
             QDir dir("://res/firmwares_esp/ESP32-C3");
             dir.setSorting(QDir::Name);
             for (auto fi: dir.entryInfoList()) {
@@ -125,6 +145,7 @@ void PageEspProg::on_serialConnectButton_clicked()
                     addFwToList(fi.fileName(), fi.canonicalFilePath());
                 }
             }
+            ui->flashButton->setEnabled(true);
         } break;
 
         default:
@@ -264,3 +285,61 @@ void PageEspProg::addFwToList(QString name, QString path)
     item->setData(Qt::UserRole, QVariant::fromValue(path));
     ui->fwList->insertItem(ui->fwList->count(), item);
 }
+
+void PageEspProg::on_flashBlButton_clicked()
+{
+    QString appPath;
+
+    if (ui->tabWidget->currentIndex() == 0) {
+        auto item = ui->fwList->currentItem();
+        if (item != nullptr) {
+            QString path = item->data(Qt::UserRole).toString();
+            appPath = path + "/app.bin";
+        } else {
+            mVesc->emitMessageDialog("Flash Firmware",
+                                     "No Firmware Selected",
+                                     false, false);
+            return;
+        }
+    } else {
+        appPath = ui->appEdit->text();
+    }
+
+    ui->flashButton->setEnabled(false);
+
+    QFile fApp(appPath);
+    if (!fApp.open(QIODevice::ReadOnly)) {
+        qWarning() << "Could not open application";
+        ui->flashButton->setEnabled(true);
+        return;
+    }
+
+    auto fwData = fApp.readAll();
+    fApp.close();
+
+    mVesc->fwUpload(fwData, false, false, false);
+
+    ui->flashButton->setEnabled(true);
+}
+
+void PageEspProg::on_cancelButton_clicked()
+{
+    mVesc->fwUploadCancel();
+}
+
+void PageEspProg::listAllFw()
+{
+    ui->fwList->clear();
+    QDir dir("://res/firmwares_esp/ESP32-C3");
+    dir.setSorting(QDir::Name);
+    for (auto fi: dir.entryInfoList()) {
+        QFileInfo fiApp(fi.absoluteFilePath() + "/app.bin");
+        QFileInfo fiBl(fi.absoluteFilePath() + "/bootloader.bin");
+        QFileInfo fiPart(fi.absoluteFilePath() + "/partition-table.bin");
+
+        if (fiApp.exists() && fiBl.exists() && fiPart.exists()) {
+            addFwToList(fi.fileName(), fi.canonicalFilePath());
+        }
+    }
+}
+
diff --git a/pages/pageespprog.h b/pages/pageespprog.h
index 5a37bd1bc..d02b553de 100644
--- a/pages/pageespprog.h
+++ b/pages/pageespprog.h
@@ -49,6 +49,8 @@ private slots:
     void on_blChooseButton_clicked();
     void on_partChooseButton_clicked();
     void on_appChooseButton_clicked();
+    void on_flashBlButton_clicked();
+    void on_cancelButton_clicked();
 
 private:
     QTimer *mTimer;
@@ -56,8 +58,8 @@ private slots:
     VescInterface *mVesc;
     Esp32Flash mEspFlash;
 
+    void listAllFw();
     void addFwToList(QString name, QString path);
-
 };
 
 #endif // PAGEESPPROG_H
diff --git a/pages/pageespprog.ui b/pages/pageespprog.ui
index 930789c73..fc2743c98 100644
--- a/pages/pageespprog.ui
+++ b/pages/pageespprog.ui
@@ -263,10 +263,17 @@
           </property>
          </widget>
         </item>
+        <item>
+         <widget class="QPushButton" name="cancelButton">
+          <property name="text">
+           <string>Cancel</string>
+          </property>
+         </widget>
+        </item>
         <item>
          <widget class="QPushButton" name="flashButton">
           <property name="text">
-           <string>Flash</string>
+           <string>Flash using USB</string>
           </property>
           <property name="icon">
            <iconset resource="../res.qrc">
@@ -274,6 +281,16 @@
           </property>
          </widget>
         </item>
+        <item>
+         <widget class="QPushButton" name="flashBlButton">
+          <property name="toolTip">
+           <string>Flash using the bootloader. Requires that the vesc-firmware alredy is present.</string>
+          </property>
+          <property name="text">
+           <string>Flash using Bootloader</string>
+          </property>
+         </widget>
+        </item>
        </layout>
       </item>
      </layout>
diff --git a/res/firmwares_esp/ESP32-C3/VESC Express/app.bin b/res/firmwares_esp/ESP32-C3/VESC Express/app.bin
index cd9ff0583bf1897fc7fa5b5aebc313722bbeb4d4..d7682d9da2457505a46f7cc0fcc2bf1d3691e7ab 100644
GIT binary patch
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diff --git a/res/firmwares_esp/ESP32-C3/VESC Express/bootloader.bin b/res/firmwares_esp/ESP32-C3/VESC Express/bootloader.bin
index 988318085c3b0d97c4bab5964df9af22a66c1354..3c76fd2e15ebd196c289db5efc05229606b1818f 100644
GIT binary patch
delta 3370
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delta 3539
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zZ4)tiZVp3WOtkGhhnuRO+I$azn&4)XgGhwO^o`-_1l&w8=VDWLSu-#J1#L($rr!#;
z^vSv{bFJ#sg6iz`thCox0hZ|C@O>uChA<7JgH~x1J-&ZqOD`D1vljJzU}~1#8iA^C
z<`HzNgWJSOOO|&!xDB%G?Cju5WV!F{KjX3BMjf0%Uh%wzS0<PGRamDiT}6iCW5pd@
zF*j~4ETYPF8ez0ForM2{>!CLKG4kVF7>mBHbm?%}+z;;?Op+K5|1c!P4~I0_zd-jg
zD4+&oB)^?$XT9d9gejm3fxMWP)+kWZumTAaiyO$y6-J*NuF{5i;><D^ap@kfDjzv!
zykye3zhxh11tcDj8J#W}Pf^)mG%i>FuZBD*Gv*Nrc*Ph=w8I%=qGle^;Sx09Y=pvH
zWBPhba+hmPFJ6tT?uD6jlyu1PYyeuDdC#|T`P`tPytk*n?xlh!(i9!Y)Kc(_cgJY{
z{;+FG;|v`BB@NB7@7}X^Tt3Auh1GE}Mf27c+a)gs6K;6nyL9yHfu#Po^N#(W2)PuA
z4a@CHZ^lsSxukyHcVQadi(|+O|L(pX*F)9|BMVoW!+)B*v)Q4ZR`9-h4l{(i8n_hC
z3%44l>;)mo<G6$9{Dj25Hp2U&ntp_O@kTFhj=uT^;Z%jS%Qj`vxE0TjTO}mU&dYNe
zng%oL>THHjV2Q~@^4Gv-TD}aM#38!`gM+`394|YA9saI=eq;)J)NAmPsbJxJ+a2tH
z>!wQa+f^j&x4@?5%ZXn=<MMrKTsbE>aH)=Hggx%?5m=P4Y;M&J^Q*Q5j}+;X@Xv%C
zQKX)Nq{NUa!6f%{$sJEC?+f~)TtA|t)P8RjX7CBzAMs<x*_4pzIgMfj!J+eYnuQCi
z;qU`>nni1NbZvH6Z;{0u4vOb}HA6Blk|q~)CPtFOPrz7Wgc?Ve)i>@kxFtT=M!22$
zY^kcI#jCbE8YUH5`?a>oyTZ7`qi$!qw`pnfY>a0HH7z|i8*_XHNjs|AfL<B1E7~hb
z!?kx#%ThI5O=85~jFcVd<dvexJ_#ks%)-}D0OEb?-qZwyLQC=kMzIXmwE6mR6Y~6Q
z|3k68IEYteDn!1xb#ODeRHE)dC}BcGad0zKF*`+(t$<INc+m*=Q&^OeMCc$pCEK7w
zZ+~{2yW}-sUZNUuy;!mP`--V;@L~!R)J(L<jm~*eLp8&dl%)g*vnerw9HINRAD88-
zJvdd6oEjZ9NO!u<aLOUc-#!cB5jtXl8n}zIxI&;N^{-0h0IstEC{4R~pZkNntBsF(
zak1bLIs!>6R*SpTm+;Jr1POQnI#*Ol;-4Tgy;K5Rf!*oFBvlN3=^w2=_~9~-`Dxr`
z{QbuYKjbH7dn#7rIOM@}-Cf}p`iEea{akWPe=D~~I`P5z8LuR*9)V9Y_DZlP;Suxg
zNY#Ql9eI6Y2TKl~ckjHX=@Zz!@&)NKhyk61;LJAzars=Gv-J*qn3*T)<K6>0>n+lD
z8qQ>;hKP=wksO)$onQhx*AL3<%TjE=hl%W|IOSKE)0sCs{KRwP;ns(R@h%5ca!?Eh
z?+<<jH*<_i0ZQ>;$lWB0+!P$hT`7sv-G9hksvus6FA6dUJA@UQhz_t7nv_F@n2lB4
zdkYCayz(^b5?3f2C~WPLnBU!LTTjLc|CHUG)#d1~yq98LmD7Ico%IhNY4o@kZd~`#
O%|m6!BNv}&jQcNq9(gDL

diff --git a/res/firmwares_esp/ESP32-C3/VESC Express/partition-table.bin b/res/firmwares_esp/ESP32-C3/VESC Express/partition-table.bin
index 10fbb7d6d58e008490c540826bafec46b72f4dd2..cdb67c9b1039a3d9aadb39d094e87d3695da3131 100644
GIT binary patch
literal 3072
zcmZ1#z{tcffq{V`fq@~ftQg2Z1*-xW85lkQ#S|DA@=Fp^5=#<M6aeKJ83cf81Q-|!
zGAiRU^D;}26|4#X$uI#W#X<Vx4Ui>)Y@oa#1A`P?-Vjax_3QsAAUp0<%EKrz(MOp#
p3y(JFUq_J~<&1{FXb6mkz-S1JhQMeDjE2By2#kinXb9j90RWpgVE+IB

delta 107
zcmZpWXpoqo9Lvb?fq{WRfPtYPqcT1-FS7*5gM(E8ASNSFQk)?zF}Wnas1hy*V!VF+
f9|f=|NA^F}s7p`!8T$U@*UwEG58882yx<4``T{2z

diff --git a/vescinterface.cpp b/vescinterface.cpp
index e718103b5..fb7757cf1 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -1437,7 +1437,7 @@ bool VescInterface::fwUpload(QByteArray &newFirmware, bool isBootloader, bool fw
     int skipChunks = 0;
 
     bool useHeatshrink = false;
-    if (szTot > 393208) {
+    if (szTot > 393208 && szTot < 700000) { // If fw is much larger it is probably for the esp32
         useHeatshrink = true;
         qDebug() << "Firmware is big, using heatshrink compression library";
         int szOld = szTot;

From 37ddafb72919a876265e22c8fb0defb4a0583a24 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 7 Nov 2022 21:51:09 +0100
Subject: [PATCH 259/559] Added not-eq keyword

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index a4d4bb8ad..cca4be485 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -132,6 +132,7 @@
 <name>or</name>
 <name>not</name>
 <name>eq</name>
+<name>not-eq</name>
 <name>acons</name>
 <name>assoc</name>
 <name>cossa</name>

From 00770fef310a55409123b9e8d8ac68edfae16da1 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 8 Nov 2022 09:33:01 +0100
Subject: [PATCH 260/559] Added crc16-example

---
 res/Lisp/Examples/crc16.lisp | 91 ++++++++++++++++++++++++++++++++++++
 res_lisp.qrc                 |  1 +
 2 files changed, 92 insertions(+)
 create mode 100644 res/Lisp/Examples/crc16.lisp

diff --git a/res/Lisp/Examples/crc16.lisp b/res/Lisp/Examples/crc16.lisp
new file mode 100644
index 000000000..0dba90699
--- /dev/null
+++ b/res/Lisp/Examples/crc16.lisp
@@ -0,0 +1,91 @@
+(def crc-tab16 [
+    0x00 0x00 0xC0 0xC1 0xC1 0x81 0x01 0x40 0xC3 0x01 0x03 0xC0 0x02 0x80 0xC2 0x41
+    0xC6 0x01 0x06 0xC0 0x07 0x80 0xC7 0x41 0x05 0x00 0xC5 0xC1 0xC4 0x81 0x04 0x40
+    0xCC 0x01 0x0C 0xC0 0x0D 0x80 0xCD 0x41 0x0F 0x00 0xCF 0xC1 0xCE 0x81 0x0E 0x40
+    0x0A 0x00 0xCA 0xC1 0xCB 0x81 0x0B 0x40 0xC9 0x01 0x09 0xC0 0x08 0x80 0xC8 0x41
+    0xD8 0x01 0x18 0xC0 0x19 0x80 0xD9 0x41 0x1B 0x00 0xDB 0xC1 0xDA 0x81 0x1A 0x40
+    0x1E 0x00 0xDE 0xC1 0xDF 0x81 0x1F 0x40 0xDD 0x01 0x1D 0xC0 0x1C 0x80 0xDC 0x41
+    0x14 0x00 0xD4 0xC1 0xD5 0x81 0x15 0x40 0xD7 0x01 0x17 0xC0 0x16 0x80 0xD6 0x41
+    0xD2 0x01 0x12 0xC0 0x13 0x80 0xD3 0x41 0x11 0x00 0xD1 0xC1 0xD0 0x81 0x10 0x40
+    0xF0 0x01 0x30 0xC0 0x31 0x80 0xF1 0x41 0x33 0x00 0xF3 0xC1 0xF2 0x81 0x32 0x40
+    0x36 0x00 0xF6 0xC1 0xF7 0x81 0x37 0x40 0xF5 0x01 0x35 0xC0 0x34 0x80 0xF4 0x41
+    0x3C 0x00 0xFC 0xC1 0xFD 0x81 0x3D 0x40 0xFF 0x01 0x3F 0xC0 0x3E 0x80 0xFE 0x41
+    0xFA 0x01 0x3A 0xC0 0x3B 0x80 0xFB 0x41 0x39 0x00 0xF9 0xC1 0xF8 0x81 0x38 0x40
+    0x28 0x00 0xE8 0xC1 0xE9 0x81 0x29 0x40 0xEB 0x01 0x2B 0xC0 0x2A 0x80 0xEA 0x41
+    0xEE 0x01 0x2E 0xC0 0x2F 0x80 0xEF 0x41 0x2D 0x00 0xED 0xC1 0xEC 0x81 0x2C 0x40
+    0xE4 0x01 0x24 0xC0 0x25 0x80 0xE5 0x41 0x27 0x00 0xE7 0xC1 0xE6 0x81 0x26 0x40
+    0x22 0x00 0xE2 0xC1 0xE3 0x81 0x23 0x40 0xE1 0x01 0x21 0xC0 0x20 0x80 0xE0 0x41
+    0xA0 0x01 0x60 0xC0 0x61 0x80 0xA1 0x41 0x63 0x00 0xA3 0xC1 0xA2 0x81 0x62 0x40
+    0x66 0x00 0xA6 0xC1 0xA7 0x81 0x67 0x40 0xA5 0x01 0x65 0xC0 0x64 0x80 0xA4 0x41
+    0x6C 0x00 0xAC 0xC1 0xAD 0x81 0x6D 0x40 0xAF 0x01 0x6F 0xC0 0x6E 0x80 0xAE 0x41
+    0xAA 0x01 0x6A 0xC0 0x6B 0x80 0xAB 0x41 0x69 0x00 0xA9 0xC1 0xA8 0x81 0x68 0x40
+    0x78 0x00 0xB8 0xC1 0xB9 0x81 0x79 0x40 0xBB 0x01 0x7B 0xC0 0x7A 0x80 0xBA 0x41
+    0xBE 0x01 0x7E 0xC0 0x7F 0x80 0xBF 0x41 0x7D 0x00 0xBD 0xC1 0xBC 0x81 0x7C 0x40
+    0xB4 0x01 0x74 0xC0 0x75 0x80 0xB5 0x41 0x77 0x00 0xB7 0xC1 0xB6 0x81 0x76 0x40
+    0x72 0x00 0xB2 0xC1 0xB3 0x81 0x73 0x40 0xB1 0x01 0x71 0xC0 0x70 0x80 0xB0 0x41
+    0x50 0x00 0x90 0xC1 0x91 0x81 0x51 0x40 0x93 0x01 0x53 0xC0 0x52 0x80 0x92 0x41
+    0x96 0x01 0x56 0xC0 0x57 0x80 0x97 0x41 0x55 0x00 0x95 0xC1 0x94 0x81 0x54 0x40
+    0x9C 0x01 0x5C 0xC0 0x5D 0x80 0x9D 0x41 0x5F 0x00 0x9F 0xC1 0x9E 0x81 0x5E 0x40
+    0x5A 0x00 0x9A 0xC1 0x9B 0x81 0x5B 0x40 0x99 0x01 0x59 0xC0 0x58 0x80 0x98 0x41
+    0x88 0x01 0x48 0xC0 0x49 0x80 0x89 0x41 0x4B 0x00 0x8B 0xC1 0x8A 0x81 0x4A 0x40
+    0x4E 0x00 0x8E 0xC1 0x8F 0x81 0x4F 0x40 0x8D 0x01 0x4D 0xC0 0x4C 0x80 0x8C 0x41
+    0x44 0x00 0x84 0xC1 0x85 0x81 0x45 0x40 0x87 0x01 0x47 0xC0 0x46 0x80 0x86 0x41
+    0x82 0x01 0x42 0xC0 0x43 0x80 0x83 0x41 0x41 0x00 0x81 0xC1 0x80 0x81 0x40 0x40]
+)
+
+; Using globals
+(defun crc16-a (msg)
+    (progn
+        (def crc 0xFFFF)
+        (looprange it 0 (buflen msg)
+            (progn
+                (def xor (bufget-i8 msg it))
+                (def xor (bitwise-xor xor crc))
+                (def crc (shr crc 8))
+                (def tabind (* 2 (bitwise-and xor 0xFF)))
+                (def crc (bitwise-xor crc (bufget-u16 crc-tab16 tabind)))
+        ))
+        crc
+))
+
+; Using local environment to avoid globals
+(defun crc16-b (msg)
+    (let (
+            (crc 0xFFFF)
+            (xor 0)
+            (tabind 0)
+        )
+        (looprange it 0 (buflen msg)
+            (progn
+                (setvar 'xor (bufget-i8 msg it))
+                (setvar 'xor (bitwise-xor xor crc))
+                (setvar 'crc (shr crc 8))
+                (setvar 'tabind  (* 2 (bitwise-and xor 0xFF)))
+                (setvar 'crc (bitwise-xor crc (bufget-u16 crc-tab16 tabind)))
+        ))
+        crc
+))
+
+; Functional recursive style
+(defun crc16-c (msg)
+    (let ((crc16-tmp (fn (len crc it)
+                    (if (> len 0)
+                        (crc16-tmp
+                            (- len 1)
+                            (bitwise-xor
+                                (shr crc 8)
+                                (bufget-u16 crc-tab16
+                                    (* 2 (bitwise-and (bitwise-xor (bufget-i8 msg it) crc) 0xFF))
+                            ))
+                            (+ it 1)
+                        )
+                        crc
+                ))
+        )) (crc16-tmp (buflen msg) 0xFFFF 0)
+))
+
+(def a [1 2 3 4 5])
+
+(print (crc16-a a))
+(print (crc16-b a))
+(print (crc16-c a))
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 477f182e6..15b2d0cfa 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -34,5 +34,6 @@
         <file>res/Lisp/Examples/ws2812_native.lisp</file>
         <file>res/Lisp/Examples/plot_vesc_tool.lisp</file>
         <file>res/Lisp/Examples/log_can.lisp</file>
+        <file>res/Lisp/Examples/crc16.lisp</file>
     </qresource>
 </RCC>

From 2669ff54ed7e4db57247da3831fe2feb0c653f1c Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 8 Nov 2022 10:07:17 +0100
Subject: [PATCH 261/559] Manually added vesc express to fw-pages

---
 mobile/fwhelper.cpp    | 21 ++++++++++++++++-----
 pages/pagefirmware.cpp | 27 ++++++++++++++++++++++-----
 2 files changed, 38 insertions(+), 10 deletions(-)

diff --git a/mobile/fwhelper.cpp b/mobile/fwhelper.cpp
index 334e33b20..95f45eced 100644
--- a/mobile/fwhelper.cpp
+++ b/mobile/fwhelper.cpp
@@ -51,6 +51,11 @@ QVariantMap FwHelper::getHardwares(FW_RX_PARAMS params, QString hw)
         }
     }
 
+    // Manually added entries. TODO: Come up with a system for them
+    if (params.hw == "VESC Express T") {
+        hws.insert(params.hw, "://res/firmwares_esp/ESP32-C3/VESC Express");
+    }
+
     return hws;
 }
 
@@ -61,7 +66,10 @@ QVariantMap FwHelper::getFirmwares(QString hw)
     QDirIterator it(hw);
     while (it.hasNext()) {
         QFileInfo fi(it.next());
-        fws.insert(fi.fileName(), fi.absoluteFilePath());
+        if (fi.fileName().toLower() == "vesc_default.bin" ||
+                fi.fileName().toLower() == "app.bin") {
+            fws.insert(fi.fileName(), fi.absoluteFilePath());
+        }
     }
 
     return fws;
@@ -71,10 +79,13 @@ QVariantMap FwHelper::getBootloaders(FW_RX_PARAMS params, QString hw)
 {
     QVariantMap bls;
 
-    QString blDir = "://res/bootloaders";
-
-    if (params.hwType == HW_TYPE_VESC_BMS) {
+    QString blDir;
+    if (params.hwType == HW_TYPE_VESC) {
+        blDir = "://res/bootloaders";
+    } else if (params.hwType == HW_TYPE_VESC_BMS) {
         blDir = "://res/bootloaders_bms";
+    } else {
+        return bls;
     }
 
     QDirIterator it(blDir);
@@ -132,7 +143,7 @@ bool FwHelper::uploadFirmware(QString filename, VescInterface *vesc,
         return false;
     }
 
-    if (file.size() > 700000) {
+    if (file.size() > 1500000) {
         vesc->emitMessageDialog(tr("Upload Error"),
                                 tr("The selected file is too large to be a firmware."),
                                 false);
diff --git a/pages/pagefirmware.cpp b/pages/pagefirmware.cpp
index 419ef4ddb..2dcd9674f 100755
--- a/pages/pagefirmware.cpp
+++ b/pages/pagefirmware.cpp
@@ -241,6 +241,19 @@ void PageFirmware::updateHwList(FW_RX_PARAMS params)
         }
     }
 
+    // Manually added entries. TODO: Come up with a system for them
+    QString extraPath;
+    if (params.hw == "VESC Express T") {
+        extraPath = "://res/firmwares_esp/ESP32-C3/VESC Express";
+    }
+
+    if (!extraPath.isEmpty()) {
+        QListWidgetItem *item = new QListWidgetItem;
+        item->setText(params.hw);
+        item->setData(Qt::UserRole, extraPath);
+        ui->hwList->insertItem(ui->hwList->count(), item);
+    }
+
     if (ui->hwList->count() > 0) {
         ui->hwList->setCurrentRow(0);
     }
@@ -259,7 +272,8 @@ void PageFirmware::updateFwList()
         while (it.hasNext()) {
             QFileInfo fi(it.next());
             if (ui->showNonDefaultBox->isChecked() ||
-                    fi.fileName().toLower() == "vesc_default.bin") {
+                    fi.fileName().toLower() == "vesc_default.bin" ||
+                    fi.fileName().toLower() == "app.bin") {
                 QListWidgetItem *item = new QListWidgetItem;
                 item->setText(fi.fileName());
                 item->setData(Qt::UserRole, fi.absoluteFilePath());
@@ -320,10 +334,13 @@ void PageFirmware::updateBlList(FW_RX_PARAMS params)
 {
     ui->blList->clear();
 
-    QString blDir = "://res/bootloaders";
-
-    if (params.hwType != HW_TYPE_VESC) {
+    QString blDir;
+    if (params.hwType == HW_TYPE_VESC) {
+        blDir = "://res/bootloaders";
+    } else if (params.hwType == HW_TYPE_VESC_BMS) {
         blDir = "://res/bootloaders_bms";
+    } else {
+        return;
     }
 
     QDirIterator it(blDir);
@@ -532,7 +549,7 @@ void PageFirmware::uploadFw(bool allOverCan)
             }
         }
 
-        if (file.size() > 700000 && !(file.fileName().toLower().endsWith(".hex"))) {
+        if (file.size() > 1500000 && !(file.fileName().toLower().endsWith(".hex"))) {
             QMessageBox::critical(this,
                                   tr("Upload Error"),
                                   tr("The selected file is too large to be a firmware."));

From 06106d07e43e5237058ef1a15cc8ecc8bea473eb Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Tue, 8 Nov 2022 13:06:09 +0000
Subject: [PATCH 262/559] @TechAUmNu has signed the CLA from Pull Request #259

---
 signatures/version1/cla.json | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/signatures/version1/cla.json b/signatures/version1/cla.json
index 50623bd18..52c230524 100644
--- a/signatures/version1/cla.json
+++ b/signatures/version1/cla.json
@@ -95,6 +95,14 @@
       "created_at": "2022-11-07T08:15:29Z",
       "repoId": 102395117,
       "pullRequestNo": 257
+    },
+    {
+      "name": "TechAUmNu",
+      "id": 6648855,
+      "comment_id": 1307186645,
+      "created_at": "2022-11-08T13:05:56Z",
+      "repoId": 102395117,
+      "pullRequestNo": 259
     }
   ]
 }
\ No newline at end of file

From 9966eaa9473ae98f524a4719045b13667425963f Mon Sep 17 00:00:00 2001
From: Euan Mutch <euan.mutch@gmail.com>
Date: Tue, 8 Nov 2022 16:48:45 +0000
Subject: [PATCH 263/559] Improve motor wizard (#259)

Show fault description
When not likely to be 12S, roughly calculate cell count
---
 mobile/SetupWizardFoc.qml | 19 ++++++++++++-------
 utility.cpp               | 32 +++++++++++++++++++++++++++++++-
 2 files changed, 43 insertions(+), 8 deletions(-)

diff --git a/mobile/SetupWizardFoc.qml b/mobile/SetupWizardFoc.qml
index 053c2bc97..446ea911c 100755
--- a/mobile/SetupWizardFoc.qml
+++ b/mobile/SetupWizardFoc.qml
@@ -771,7 +771,8 @@ Item {
             verticalAlignment: Text.AlignVCenter
             anchors.fill: parent
             wrapMode: Text.WordWrap
-            text: "Warning: Choosing a significantly too large motor for detection is likely to destroy the motor " +
+            text: "Warning: This selection determines the recommended max current for your motor based on heat dissipation. " +
+                  "Selecting a motor here that is significantly larger than your motor is likely to destroy your motor " +
                   "during detection. It is important to choose a motor size similar to the motor you are using. " +
                   "Are you sure that your motor selection is within range?"
         }
@@ -798,7 +799,10 @@ Item {
                 if (val.v_in > 39.0 && val.v_in < 51.0) {
                     mMcConf.updateParamInt("si_battery_cells", 12)
                 } else {
-                    mMcConf.updateParamInt("si_battery_cells", 3)
+                    // Roughly work out by dividing by 4.2 (most common max voltage) and ceil
+                    // This will give the minimum cell count
+                    var cells = Math.ceil(val.v_in / 4.2)
+                    mMcConf.updateParamInt("si_battery_cells", cells)
                 }
             }
         }
@@ -826,10 +830,11 @@ Item {
             verticalAlignment: Text.AlignVCenter
             anchors.fill: parent
             wrapMode: Text.WordWrap
-            text: "Warning: You have not specified battery current limits, which essentially only limits " +
-                  "the current if the voltage drops too much. This is fine in most cases, but check with " +
-                  "your battery and BMS specification to be safe. Keep in mind that you have to divide the " +
-                  "battery current settings by the number of VESCs."
+            text: "Warning: You have not specified battery current limits (advanced box). This means that " +
+                  "the battery current will only be limited if, the battery voltage drops so much from the " +
+                  "internal resistance of the battery that it falls below the battery cutoff voltage. " +
+                  "This is fine in most cases, but check with your battery and BMS specification to be safe. " +
+                  "Keep in mind that you have to divide the battery current settings by the number of VESCs."
         }
 
         onAccepted: {
@@ -864,7 +869,7 @@ Item {
                 color: {color = Utility.getAppHexColor("lightText")}
                 verticalAlignment: Text.AlignVCenter
                 wrapMode: Text.WordWrap
-                text: "This is going to spin up all motors. Make " +
+                text: "WARNING: This is going to spin up all motors. Make " +
                       "sure that nothing is in the way."
             }
 
diff --git a/utility.cpp b/utility.cpp
index 5e044d41c..4b6bbfee3 100755
--- a/utility.cpp
+++ b/utility.cpp
@@ -500,10 +500,40 @@ QString Utility::detectAllFoc(VescInterface *vesc,
         } else {
             QString reason;
             switch (resDetect) {
-            case -1: reason = "Sensor detection failed"; break;
+            case -1: reason = "Peristent fault, check realtime data page"; break;
             case -10: reason = "Flux linkage detection failed"; break;
             case -50: reason = "CAN detection timeout"; break;
             case -51: reason = "CAN detection failed"; break;
+            case -100 + FAULT_CODE_NONE: reason = "No fault, detection failed for an unknown reason"; break;
+            case -100 + FAULT_CODE_OVER_VOLTAGE: reason = "Over voltage fault, check voltage is below set limit"; break;
+            case -100 + FAULT_CODE_UNDER_VOLTAGE: reason = "Under voltage fault, check voltage is above set limit. If using a power supply make sure the current limit is high enough."; break;
+            case -100 + FAULT_CODE_DRV: reason = "DRV fault, hardware fault occured. Check there are no shorts"; break;
+            case -100 + FAULT_CODE_ABS_OVER_CURRENT: reason = "Overcurrent fault, Check there are no shorts and ABS Overcurrent limit is sensible"; break;
+            case -100 + FAULT_CODE_OVER_TEMP_FET: reason = "Mosfet Overtemperature fault, Mosfets overheated, check for shorts. Cool down device"; break;
+            case -100 + FAULT_CODE_OVER_TEMP_MOTOR: reason = "Motor Overtemperature fault, Motor overheaded, is the current limit OK?"; break;
+            case -100 + FAULT_CODE_GATE_DRIVER_OVER_VOLTAGE: reason = "Gate Driver over voltage, check for hardware failure"; break;
+            case -100 + FAULT_CODE_GATE_DRIVER_UNDER_VOLTAGE: reason = "Gate Driver under voltage, check for hardware failure"; break;
+            case -100 + FAULT_CODE_MCU_UNDER_VOLTAGE: reason = "MCU under voltage, check for hardware failure, shorts on outputs"; break;
+            case -100 + FAULT_CODE_BOOTING_FROM_WATCHDOG_RESET: reason = "Boot from watchdog reset, software locked up check for firmware corruption"; break;
+            case -100 + FAULT_CODE_ENCODER_SPI: reason = "Encoder SPI fault, check encoder connections"; break;
+            case -100 + FAULT_CODE_ENCODER_SINCOS_BELOW_MIN_AMPLITUDE: reason = "Encoder SINCOS below min amplitude, check encoder connections and magnet alignment / distance"; break;
+            case -100 + FAULT_CODE_ENCODER_SINCOS_ABOVE_MAX_AMPLITUDE: reason = "Encoder SINCOS above max amplitude, check encoder connections and magnet alignment / distance"; break;
+            case -100 + FAULT_CODE_FLASH_CORRUPTION: reason = "Flash corruption, reflash firmware immediately!"; break;
+            case -100 + FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_1: reason = "High offset on current sensor 1, check for hardware failure"; break;
+            case -100 + FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_2: reason = "High offset on current sensor 2, check for hardware failure"; break;
+            case -100 + FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_3: reason = "High offset on current sensor 3, check for hardware failure"; break;
+            case -100 + FAULT_CODE_UNBALANCED_CURRENTS: reason = "Unbalanced currents, check for hardware failure"; break;
+            case -100 + FAULT_CODE_BRK: reason = "BRK, hardware protection triggered, check for shorts or possible hardware failure"; break;
+            case -100 + FAULT_CODE_RESOLVER_LOT: reason = "?"; break;
+            case -100 + FAULT_CODE_RESOLVER_DOS: reason = "?"; break;
+            case -100 + FAULT_CODE_RESOLVER_LOS: reason = "?"; break;
+            case -100 + FAULT_CODE_FLASH_CORRUPTION_APP_CFG: reason = "Flash corruption, App config corrupt, rewrite app config to restore"; break;
+            case -100 + FAULT_CODE_FLASH_CORRUPTION_MC_CFG: reason = "Flash corruption, Motor config corrupt, rewrite motor config to restore"; break;
+            case -100 + FAULT_CODE_ENCODER_NO_MAGNET: reason = "Encoder no magnet, magnet is too weak or too far from the encoder"; break;
+            case -100 + FAULT_CODE_ENCODER_MAGNET_TOO_STRONG: reason = "Magnet too strong, magnet is too strong or too close to the encoder"; break;
+            case -100 + FAULT_CODE_PHASE_FILTER: reason = "Phase filter fault, ?"; break;
+            case -100 + FAULT_CODE_ENCODER_FAULT: reason = "Encoder fault, check encoder connections and alignment"; break;
+
             default: reason = QString::number(resDetect); break;
             }
 

From 6371667f3621bf19aad74fe1724753270a31b076 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 8 Nov 2022 21:42:52 +0100
Subject: [PATCH 264/559] GNSS-polling and plotting support

---
 QCodeEditor/src/internal/QVescCompleter.cpp |  1 +
 commands.cpp                                | 25 +++++++
 commands.h                                  |  3 +
 datatypes.h                                 | 52 ++++++++++++++
 main.cpp                                    |  1 +
 pages/pageespprog.cpp                       |  6 +-
 pages/pageespprog.h                         |  1 +
 pages/pageloganalysis.cpp                   | 60 ++++++++++++++++
 pages/pageloganalysis.h                     |  2 +
 pages/pageloganalysis.ui                    | 22 ++++--
 res/qml/Examples/PollValues.qml             | 25 +++++--
 vbytearray.cpp                              | 76 +++++++++++++++++++++
 vbytearray.h                                |  6 ++
 13 files changed, 267 insertions(+), 13 deletions(-)

diff --git a/QCodeEditor/src/internal/QVescCompleter.cpp b/QCodeEditor/src/internal/QVescCompleter.cpp
index 178485ca6..2617baab0 100644
--- a/QCodeEditor/src/internal/QVescCompleter.cpp
+++ b/QCodeEditor/src/internal/QVescCompleter.cpp
@@ -105,6 +105,7 @@ QVescCompleter::QVescCompleter(QObject *parent) :
         addItem("fileBlockWrite(path, data)");
         addItem("fileBlockMkdir(path)");
         addItem("fileBlockRemove(path)");
+        addItem("getGnss(mask)");
         level--;
     };
 
diff --git a/commands.cpp b/commands.cpp
index 4b80c309a..52e9686bf 100755
--- a/commands.cpp
+++ b/commands.cpp
@@ -1052,6 +1052,23 @@ void Commands::processPacket(QByteArray data)
         emit fileRemoveRx(ok);
     } break;
 
+    case COMM_GET_GNSS: {
+        mTimeoutStats = 0;
+        GNSS_DATA values;
+        uint32_t mask = vb.vbPopFrontUint32();
+        if (mask & ((uint32_t)1 << 0)) { values.lat = vb.vbPopFrontDouble64(1e16); }
+        if (mask & ((uint32_t)1 << 1)) { values.lon = vb.vbPopFrontDouble64(1e16); }
+        if (mask & ((uint32_t)1 << 2)) { values.height = vb.vbPopFrontDouble32Auto(); }
+        if (mask & ((uint32_t)1 << 3)) { values.speed = vb.vbPopFrontDouble32Auto(); }
+        if (mask & ((uint32_t)1 << 4)) { values.hdop = vb.vbPopFrontDouble32Auto(); }
+        if (mask & ((uint32_t)1 << 5)) { values.ms_today = vb.vbPopFrontInt32(); }
+        if (mask & ((uint32_t)1 << 6)) { values.yy = vb.vbPopFrontInt16(); }
+        if (mask & ((uint32_t)1 << 7)) { values.mo = vb.vbPopFrontInt8(); }
+        if (mask & ((uint32_t)1 << 8)) { values.dd = vb.vbPopFrontInt8(); }
+        if (mask & ((uint32_t)1 << 9)) { values.age_s = vb.vbPopFrontDouble32Auto(); }
+        emit gnssRx(values, mask);
+    } break;
+
     default:
         break;
     }
@@ -2073,6 +2090,14 @@ void Commands::resetStats(bool sendAck)
     emitData(vb);
 }
 
+void Commands::getGnss(unsigned int mask)
+{
+    VByteArray vb;
+    vb.vbAppendInt8(COMM_GET_GNSS);
+    vb.vbAppendUint16(mask);
+    emitData(vb);
+}
+
 void Commands::lispReadCode(int len, int offset)
 {
     VByteArray vb;
diff --git a/commands.h b/commands.h
index 695acfa06..942191e85 100644
--- a/commands.h
+++ b/commands.h
@@ -141,6 +141,7 @@ class Commands : public QObject
     void writeQmluiResReceived(bool ok, quint32 offset);
     void ioBoardValRx(IO_BOARD_VALUES val);
     void statsRx(STAT_VALUES val, unsigned int mask);
+    void gnssRx(GNSS_DATA val, unsigned int mask);
     void lispReadCodeRx(int lenQml, int ofsQml, QByteArray data);
     void lispEraseCodeRx(bool ok);
     void lispWriteCodeRx(bool ok, quint32 offset);
@@ -260,6 +261,8 @@ public slots:
     void getStats(unsigned int mask);
     void resetStats(bool sendAck);
 
+    void getGnss(unsigned int mask);
+
     void lispReadCode(int len, int offset);
     void lispWriteCode(QByteArray data, quint32 offset);
     void lispStreamCode(QByteArray data, quint32 offset, quint32 totLen, qint8 mode);
diff --git a/datatypes.h b/datatypes.h
index 4efe0f4be..bc6f11fbf 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -1032,6 +1032,7 @@ typedef enum {
     COMM_LOG_DATA_F32,
 
     COMM_SET_APPCONF_NO_STORE,
+    COMM_GET_GNSS,
 } COMM_PACKET_ID;
 
 // CAN commands
@@ -1091,6 +1092,15 @@ typedef enum {
     CAN_PACKET_BMS_HW_DATA_5,
     CAN_PACKET_BMS_AH_WH_CHG_TOTAL,
     CAN_PACKET_BMS_AH_WH_DIS_TOTAL,
+    CAN_PACKET_UPDATE_PID_POS_OFFSET,
+    CAN_PACKET_POLL_ROTOR_POS,
+    CAN_PACKET_NOTIFY_BOOT,
+    CAN_PACKET_STATUS_6,
+    CAN_PACKET_GNSS_TIME,
+    CAN_PACKET_GNSS_LAT,
+    CAN_PACKET_GNSS_LON,
+    CAN_PACKET_GNSS_ALT_SPEED_HDOP,
+    CAN_PACKET_MAKE_ENUM_32_BITS = 0xFFFFFFFF,
 } CAN_PACKET_ID;
 
 typedef struct {
@@ -1304,4 +1314,46 @@ struct TCP_HUB_DEVICE {
 
 Q_DECLARE_METATYPE(TCP_HUB_DEVICE)
 
+struct GNSS_DATA {
+    Q_GADGET
+
+public:
+    Q_PROPERTY(double lat MEMBER lat)
+    Q_PROPERTY(double lon MEMBER lon)
+    Q_PROPERTY(double height MEMBER height)
+    Q_PROPERTY(double speed MEMBER speed)
+    Q_PROPERTY(double hdop MEMBER hdop)
+    Q_PROPERTY(qint32 ms_today MEMBER ms_today)
+    Q_PROPERTY(int yy MEMBER yy)
+    Q_PROPERTY(int mo MEMBER mo)
+    Q_PROPERTY(int dd MEMBER dd)
+    Q_PROPERTY(double age_s MEMBER age_s)
+
+    GNSS_DATA() {
+        lat = 0.0;
+        lon = 0.0;
+        height = 0.0;
+        speed = 0.0;
+        hdop = 0.0;
+        ms_today = 0;
+        yy = 0;
+        mo = 0;
+        dd = 0;
+        age_s = 0.0;
+    }
+
+    double lat;
+    double lon;
+    double height;
+    double speed;
+    double hdop;
+    qint32 ms_today;
+    int yy;
+    int mo;
+    int dd;
+    double age_s;
+};
+
+Q_DECLARE_METATYPE(GNSS_DATA)
+
 #endif // DATATYPES_H
diff --git a/main.cpp b/main.cpp
index 8d498d41f..88d5d27cf 100755
--- a/main.cpp
+++ b/main.cpp
@@ -213,6 +213,7 @@ int main(int argc, char *argv[])
     qRegisterMetaType<VescPackage>();
     qRegisterMetaType<TCP_HUB_DEVICE>();
     qRegisterMetaType<ConfigParam>();
+    qRegisterMetaType<GNSS_DATA>();
 
 #ifdef USE_MOBILE
 #ifndef DEBUG_BUILD
diff --git a/pages/pageespprog.cpp b/pages/pageespprog.cpp
index 5f137ec73..30c0144af 100644
--- a/pages/pageespprog.cpp
+++ b/pages/pageespprog.cpp
@@ -62,6 +62,8 @@ PageEspProg::PageEspProg(QWidget *parent) :
         ui->progWidget->setText(msg);
     });
 
+    mVescUploadOngoing = false;
+
     listAllFw();
 }
 
@@ -85,7 +87,7 @@ void PageEspProg::setVesc(VescInterface *vesc)
 
     connect(mVesc, &VescInterface::fwUploadStatus, [this]
             (QString status, double progress, bool isOngoing) {
-        (void)isOngoing;
+        mVescUploadOngoing = isOngoing;
         ui->progWidget->setValue(progress * 100.0);
         ui->progWidget->setText(status);
     });
@@ -102,7 +104,7 @@ void PageEspProg::timerSlot()
 
     ui->serialConnectButton->setEnabled(!mEspFlash.isEspConnected());
     ui->serialDisconnectButton->setEnabled(mEspFlash.isEspConnected());
-    ui->flashBlButton->setEnabled(!mEspFlash.isEspConnected() && vescConn);
+    ui->flashBlButton->setEnabled(!mEspFlash.isEspConnected() && vescConn && !mVescUploadOngoing);
 
     if (!mEspFlash.isEspConnected() && ui->flashButton->isEnabled()) {
         ui->flashButton->setEnabled(false);
diff --git a/pages/pageespprog.h b/pages/pageespprog.h
index d02b553de..206eb43db 100644
--- a/pages/pageespprog.h
+++ b/pages/pageespprog.h
@@ -57,6 +57,7 @@ private slots:
     Ui::PageEspProg *ui;
     VescInterface *mVesc;
     Esp32Flash mEspFlash;
+    bool mVescUploadOngoing;
 
     void listAllFw();
     void addFwToList(QString name, QString path);
diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index 63fd8a7d9..37f3f44e6 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -116,6 +116,16 @@ PageLogAnalysis::PageLogAnalysis(QWidget *parent) :
         }
     });
 
+    mGnssTimer = new QTimer(this);
+    mGnssTimer->start(100);
+    mGnssMsTodayLast = 0;
+
+    connect(mGnssTimer, &QTimer::timeout, [this]() {
+        if (mVesc && ui->pollGnssBox->isChecked()) {
+            mVesc->commands()->getGnss(0xFFFF);
+        }
+    });
+
     QFont legendFont = font();
     legendFont.setPointSize(9);
 
@@ -198,6 +208,13 @@ PageLogAnalysis::PageLogAnalysis(QWidget *parent) :
         truncateDataAndPlot(ui->autoZoomBox->isChecked());
     });
 
+    connect(ui->pollGnssBox, &QCheckBox::toggled, [this]() {
+        if (ui->pollGnssBox->isChecked()) {
+            ui->map->setInfoTraceNow(2);
+            ui->map->clearInfoTrace();
+        }
+    });
+
     connect(ui->filterhAccBox, QOverload<double>::of(&QDoubleSpinBox::valueChanged),
             [this](double newVal) {
         (void)newVal;
@@ -239,6 +256,49 @@ void PageLogAnalysis::setVesc(VescInterface *vesc)
                                      arg(bytesPerSec / 1024, 0, 'f', 2).
                                      arg(t.toString("hh:mm:ss")));
         });
+
+        connect(mVesc->commands(), &Commands::gnssRx, [this](GNSS_DATA val) {
+            if (val.ms_today != mGnssMsTodayLast) {
+                mGnssMsTodayLast = val.ms_today;
+
+                if (ui->filterOutlierBox->isChecked() &&
+                        (val.hdop * 5.0) > ui->filterhAccBox->value()) {
+                    return;
+                }
+
+                double llh[3];
+                double i_llh[3];
+                double xyz[3];
+
+                ui->map->getEnuRef(i_llh);
+                llh[0] = val.lat;
+                llh[1] = val.lon;
+                llh[2] = val.height;
+
+                Utility::llhToEnu(i_llh, llh, xyz);
+
+                LocPoint p;
+                p.setXY(xyz[0], xyz[1]);
+                p.setRadius(10);
+                ui->map->setInfoTraceNow(2);
+
+                LocPoint p2;
+                p2.setXY(0, 0);
+                p2.setInfo(tr("Hdop %d").arg(val.hdop));
+
+                if (p2.getDistanceTo(p) > 10000) {
+                    ui->map->setEnuRef(llh[0], llh[1], llh[2]);
+                    p.setXY(0, 0);
+                    ui->map->clearAllInfoTraces();
+                }
+
+                ui->map->addInfoPoint(p);
+
+                if (ui->followBox->isChecked()) {
+                    ui->map->moveView(xyz[0], xyz[1]);
+                }
+            }
+        });
     }
 }
 
diff --git a/pages/pageloganalysis.h b/pages/pageloganalysis.h
index d74852c33..34972b257 100644
--- a/pages/pageloganalysis.h
+++ b/pages/pageloganalysis.h
@@ -73,8 +73,10 @@ private slots:
     Vesc3DView *m3dView;
     QCheckBox *mUseYawBox;
     QTimer *mPlayTimer;
+    QTimer *mGnssTimer;
     double mPlayPosNow;
     QString mVescLastPath;
+    qint32 mGnssMsTodayLast;
 
     QVector<LOG_HEADER> mLogHeader;
     QVector<QVector<double> > mLog;
diff --git a/pages/pageloganalysis.ui b/pages/pageloganalysis.ui
index 3f4011370..705166761 100644
--- a/pages/pageloganalysis.ui
+++ b/pages/pageloganalysis.ui
@@ -66,6 +66,16 @@
            </property>
           </widget>
          </item>
+         <item>
+          <widget class="QCheckBox" name="pollGnssBox">
+           <property name="toolTip">
+            <string>Poll realtime GNSS-data from the connected device.</string>
+           </property>
+           <property name="text">
+            <string>Poll GNSS</string>
+           </property>
+          </widget>
+         </item>
          <item>
           <layout class="QHBoxLayout" name="horizontalLayout_3">
            <item>
@@ -757,6 +767,12 @@
   </layout>
  </widget>
  <customwidgets>
+  <customwidget>
+   <class>DisplayPercentage</class>
+   <extends>QWidget</extends>
+   <header>widgets/displaypercentage.h</header>
+   <container>1</container>
+  </customwidget>
   <customwidget>
    <class>QCustomPlot</class>
    <extends>QWidget</extends>
@@ -774,12 +790,6 @@
    <extends>QSlider</extends>
    <header>widgets/superslider.h</header>
   </customwidget>
-  <customwidget>
-   <class>DisplayPercentage</class>
-   <extends>QWidget</extends>
-   <header>widgets/displaypercentage.h</header>
-   <container>1</container>
-  </customwidget>
  </customwidgets>
  <resources>
   <include location="../res.qrc"/>
diff --git a/res/qml/Examples/PollValues.qml b/res/qml/Examples/PollValues.qml
index 17260e69a..0b1ded91c 100644
--- a/res/qml/Examples/PollValues.qml
+++ b/res/qml/Examples/PollValues.qml
@@ -26,7 +26,8 @@ Item {
 //            mCommands.getValuesSetup()
 //            mCommands.bmsGetValues()
 //            mCommands.ioBoardGetAll(255)
-//            mCommands.getStats(0xFFFFFFFF);
+//            mCommands.getStats(0xFFFFFFFF)
+//            mCommands.getGnss(0xFFFF)
         }
     }
     
@@ -63,7 +64,7 @@ Item {
 //            values.kill_sw_active
         }
         
-        onValuesSetupReceived: { // values, mask
+        function onValuesSetupReceived(values, mask) {
             // Members of values
 //            values.temp_mos
 //            values.temp_motor
@@ -89,7 +90,7 @@ Item {
 //            values.odometer
         }
         
-        onBmsValuesRx: { // val
+        function onBmsValuesRx(val) {
             // Members of val
 //            val.v_tot
 //            val.v_charge
@@ -109,7 +110,7 @@ Item {
 //            val.can_id
         }
         
-        onIoBoardValRx: {
+        function onIoBoardValRx(val) {
             // Members of val
 //            val.id
 //            val.adc_1_4[ch]
@@ -120,7 +121,7 @@ Item {
 //            val.digital_age
         }
         
-        onStatsRx: { // val, mask
+        function onStatsRx(val, mask) {
             // Members of val
 //            val.speed_avg
 //            val.speed_max
@@ -138,5 +139,19 @@ Item {
 //            val.efficiency() // Wh / km
 //            val.ah()
         }
+        
+        function onGnssRx(val, mask) {
+            // Members of val
+//            val.lat
+//            val.lon
+//            val.height
+//            val.speed
+//            val.hdop
+//            val.ms_today
+//            val.yy
+//            val.mo
+//            val.dd
+//            val.age_s
+        }
     }
 }
diff --git a/vbytearray.cpp b/vbytearray.cpp
index 85b71b241..c9a55283f 100644
--- a/vbytearray.cpp
+++ b/vbytearray.cpp
@@ -37,6 +37,34 @@ VByteArray::VByteArray(const QByteArray &data) : QByteArray(data)
 
 }
 
+void VByteArray::vbAppendInt64(qint64 number)
+{
+    QByteArray data;
+    data.append((char)((number >> 56) & 0xFF));
+    data.append((char)((number >> 48) & 0xFF));
+    data.append((char)((number >> 40) & 0xFF));
+    data.append((char)((number >> 32) & 0xFF));
+    data.append((char)((number >> 24) & 0xFF));
+    data.append((char)((number >> 16) & 0xFF));
+    data.append((char)((number >> 8) & 0xFF));
+    data.append((char)(number & 0xFF));
+    append(data);
+}
+
+void VByteArray::vbAppendUint64(quint64 number)
+{
+    QByteArray data;
+    data.append((char)((number >> 56) & 0xFF));
+    data.append((char)((number >> 48) & 0xFF));
+    data.append((char)((number >> 40) & 0xFF));
+    data.append((char)((number >> 32) & 0xFF));
+    data.append((char)((number >> 24) & 0xFF));
+    data.append((char)((number >> 16) & 0xFF));
+    data.append((char)((number >> 8) & 0xFF));
+    data.append((char)(number & 0xFF));
+    append(data);
+}
+
 void VByteArray::vbAppendInt32(qint32 number)
 {
     QByteArray data;
@@ -83,6 +111,11 @@ void VByteArray::vbAppendUint8(quint8 number)
     append((char)number);
 }
 
+void VByteArray::vbAppendDouble64(double number, double scale)
+{
+    vbAppendInt64((qint64)roundDouble(number * scale));
+}
+
 void VByteArray::vbAppendDouble32(double number, double scale)
 {
     vbAppendInt32((qint32)roundDouble(number * scale));
@@ -125,6 +158,44 @@ void VByteArray::vbAppendString(QString str)
     append((char)0);
 }
 
+qint64 VByteArray::vbPopFrontInt64()
+{
+    if (size() < 8) {
+        return 0;
+    }
+
+    qint64 res = (quint64)((quint8) at(0)) << 56 |
+                 (quint64)((quint8) at(1)) << 48 |
+                 (quint64)((quint8) at(2)) << 40 |
+                 (quint64)((quint8) at(3)) << 32 |
+                 (quint64)((quint8) at(4)) << 24 |
+                 (quint64)((quint8) at(5)) << 16 |
+                 (quint64)((quint8) at(6)) << 8 |
+                 (quint64)((quint8) at(7));
+
+    remove(0, 8);
+    return res;
+}
+
+quint64 VByteArray::vbPopFrontUint64()
+{
+    if (size() < 8) {
+        return 0;
+    }
+
+    quint64 res = (quint64)((quint8) at(0)) << 56 |
+                  (quint64)((quint8) at(1)) << 48 |
+                  (quint64)((quint8) at(2)) << 40 |
+                  (quint64)((quint8) at(3)) << 32 |
+                  (quint64)((quint8) at(4)) << 24 |
+                  (quint64)((quint8) at(5)) << 16 |
+                  (quint64)((quint8) at(6)) << 8 |
+                  (quint64)((quint8) at(7));
+
+    remove(0, 8);
+    return res;
+}
+
 qint32 VByteArray::vbPopFrontInt32()
 {
     if (size() < 4) {
@@ -205,6 +276,11 @@ quint8 VByteArray::vbPopFrontUint8()
     return res;
 }
 
+double VByteArray::vbPopFrontDouble64(double scale)
+{
+    return (double)vbPopFrontInt64() / scale;
+}
+
 double VByteArray::vbPopFrontDouble32(double scale)
 {
     return (double)vbPopFrontInt32() / scale;
diff --git a/vbytearray.h b/vbytearray.h
index 3e07d3526..1b2f9fdbe 100644
--- a/vbytearray.h
+++ b/vbytearray.h
@@ -29,23 +29,29 @@ class VByteArray : public QByteArray
     VByteArray();
     VByteArray(const QByteArray &data);
 
+    void vbAppendInt64(qint64 number);
+    void vbAppendUint64(quint64 number);
     void vbAppendInt32(qint32 number);
     void vbAppendUint32(quint32 number);
     void vbAppendInt16(qint16 number);
     void vbAppendUint16(quint16 number);
     void vbAppendInt8(qint8 number);
     void vbAppendUint8(quint8 number);
+    void vbAppendDouble64(double number, double scale);
     void vbAppendDouble32(double number, double scale);
     void vbAppendDouble16(double number, double scale);
     void vbAppendDouble32Auto(double number);
     void vbAppendString(QString str);
 
+    qint64 vbPopFrontInt64();
+    quint64 vbPopFrontUint64();
     qint32 vbPopFrontInt32();
     quint32 vbPopFrontUint32();
     qint16 vbPopFrontInt16();
     quint16 vbPopFrontUint16();
     qint8 vbPopFrontInt8();
     quint8 vbPopFrontUint8();
+    double vbPopFrontDouble64(double scale);
     double vbPopFrontDouble32(double scale);
     double vbPopFrontDouble16(double scale);
     double vbPopFrontDouble32Auto();

From c941c71ce59ad179e7dcfbe6e93fad6e312dc947 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 9 Nov 2022 17:49:46 +0100
Subject: [PATCH 265/559] Added more lbm keywords

---
 QCodeEditor/resources/languages/lisp.xml | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index cca4be485..76a241b30 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -330,8 +330,15 @@
 <name>sort</name>
 <name>str-cmp-asc</name>
 <name>str-cmp-dsc</name>
+<name>to-str</name>
 <name>second</name>
 <name>third</name>
 <name>abs</name>
+<name>gnss-lat-lon</name>
+<name>gnss-height</name>
+<name>gnss-speed</name>
+<name>gnss-hdop</name>
+<name>gnss-date-time</name>
+<name>gnss-age</name>
 </section>
 </root>

From 29282ace35aba08475da3c3df3503f2e4b45834a Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 10 Nov 2022 12:00:22 +0100
Subject: [PATCH 266/559] Added BMS set val

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 76a241b30..c396fa31d 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -152,6 +152,7 @@
 <name>select-motor</name>
 <name>get-selected-motor</name>
 <name>get-bms-val</name>
+<name>set-bms-val</name>
 <name>get-adc</name>
 <name>get-adc-decoded</name>
 <name>secs-since</name>

From f192ff4ff34b320dadfcc5301b81b54d835e6df5 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 10 Nov 2022 13:58:04 +0100
Subject: [PATCH 267/559] Connectscreen better serial port listing

---
 datatypes.h              | 20 +++++++++-
 main.cpp                 |  1 +
 mobile/ConnectScreen.qml | 85 +++++++++++++++++++++++++++++++++-------
 pages/pageconnection.cpp |  5 ++-
 pages/pageespprog.cpp    |  5 ++-
 vescinterface.cpp        | 19 ++++-----
 vescinterface.h          |  7 +++-
 7 files changed, 111 insertions(+), 31 deletions(-)

diff --git a/datatypes.h b/datatypes.h
index bc6f11fbf..1519d5043 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -30,11 +30,27 @@
 #include <cstdint>
 #include "tcphub.h"
 
-typedef struct {
+struct VSerialInfo_t {
+    Q_GADGET
+
+    Q_PROPERTY(QString name MEMBER name)
+    Q_PROPERTY(QString systemPath MEMBER systemPath)
+    Q_PROPERTY(bool isVesc MEMBER isVesc)
+    Q_PROPERTY(bool isEsp MEMBER isEsp)
+
+public:
+    VSerialInfo_t() {
+        isVesc = false;
+        isEsp = false;
+    }
+
     QString name;
     QString systemPath;
     bool isVesc;
-} VSerialInfo_t;
+    bool isEsp;
+};
+
+Q_DECLARE_METATYPE(VSerialInfo_t)
 
 typedef enum {
     CFG_T_UNDEFINED = 0,
diff --git a/main.cpp b/main.cpp
index 88d5d27cf..5a8c09f69 100755
--- a/main.cpp
+++ b/main.cpp
@@ -201,6 +201,7 @@ int main(int argc, char *argv[])
     qmlRegisterType<TcpHub>("Vedder.vesc.tcphub", 1, 0, "TcpHub");
     qmlRegisterType<CodeLoader>("Vedder.vesc.codeloader", 1, 0, "CodeLoader");
 
+    qRegisterMetaType<VSerialInfo_t>();
     qRegisterMetaType<MCCONF_TEMP>();
     qRegisterMetaType<MC_VALUES>();
     qRegisterMetaType<BMS_VALUES>();
diff --git a/mobile/ConnectScreen.qml b/mobile/ConnectScreen.qml
index 2cdc43236..0b7a035ef 100644
--- a/mobile/ConnectScreen.qml
+++ b/mobile/ConnectScreen.qml
@@ -166,6 +166,15 @@ Item {
                 Menu {
                     id: scanMenu
 
+                    MenuItem {
+                        text: "Scan Serial"
+                        visible: Utility.hasSerialport()
+                        onTriggered: {
+                            bleModel.clear()
+                            mBle.emitScanDone()
+                        }
+                    }
+
                     MenuItem {
                         text: "Scan BLE"
                         enabled: !scanning
@@ -291,7 +300,7 @@ Item {
                                     Layout.preferredWidth: 40
                                     Layout.preferredHeight: 40
                                     Layout.alignment: Qt.AlignHCenter | Qt.AlignVCenter
-                                    source: "qrc" + Utility.getThemePath() + ((isSerial === 0) ? "icons/Connected-96.png" : "icons/bluetooth.png")
+                                    source: "qrc" + Utility.getThemePath() + ((isSerial === 0) ? "icons/bluetooth.png" : "icons/Connected-96.png")
                                 }
 
                                 Text {
@@ -360,7 +369,11 @@ Item {
 
                                 onClicked: {
                                     if (isSerial === 1) {
-                                        VescIf.autoconnect()
+                                        if (bleAddr === "") {
+                                            VescIf.autoconnect()
+                                        } else {
+                                            VescIf.connectSerial(bleAddr, 115200)
+                                        }
                                     } else if (isSerial === 2) {
                                         VescIf.connectTcp(bleAddr, 65102)
                                     } else if (isSerial === 3) {
@@ -558,20 +571,64 @@ Item {
                 }
             }
 
-            addToList = true
-            for(j = 0; j < bleModel.count; j++) {
-                if(bleModel.get(j).name === ("Serial Port")){
-                    addToList  = false
+            if (Utility.hasSerialport()) {
+                var ports = VescIf.listSerialPorts()
+                for (j = 0; j < ports.length; j++) {
+                    if (ports[j].isEsp) {
+                        var nameNow = "Serial ESP32\n" + ports[j].systemPath
+                        addToList = true
+                        for(j = 0; j < bleModel.count; j++) {
+                            if(bleModel.get(j).name === nameNow){
+                                addToList  = false
+                            }
+                        }
+
+                        if (addToList) {
+                            bleModel.insert(0, {"name": nameNow,
+                                                "setName": "",
+                                                "preferred": true,
+                                                "bleAddr": ports[j].systemPath,
+                                                "hubUuid": "",
+                                                "isSerial": 1})
+                        }
+                    }
+
+                    if (ports[j].isVesc) {
+                        nameNow = "Serial STM32\n" + ports[j].systemPath
+                        addToList = true
+                        for(j = 0; j < bleModel.count; j++) {
+                            if(bleModel.get(j).name === nameNow){
+                                addToList  = false
+                            }
+                        }
+
+                        if (addToList) {
+                            bleModel.insert(0, {"name": nameNow,
+                                                "setName": "",
+                                                "preferred": true,
+                                                "bleAddr": ports[j].systemPath,
+                                                "hubUuid": "",
+                                                "isSerial": 1})
+                        }
+                    }
+                }
+
+                nameNow = "Serial (AutoConnect)"
+                addToList = true
+                for(j = 0; j < bleModel.count; j++) {
+                    if(bleModel.get(j).name === nameNow){
+                        addToList  = false
+                    }
                 }
-            }
 
-            if (Utility.hasSerialport() && addToList) {
-                bleModel.insert(0, {"name": "Serial Port",
-                                    "setName": "",
-                                    "preferred": true,
-                                    "bleAddr": "",
-                                    "hubUuid": "",
-                                    "isSerial": 1})
+                if (addToList) {
+                    bleModel.insert(0, {"name": nameNow,
+                                        "setName": "",
+                                        "preferred": true,
+                                        "bleAddr": "",
+                                        "hubUuid": "",
+                                        "isSerial": 1})
+                }
             }
 
             if (pingTcpHub) {
diff --git a/pages/pageconnection.cpp b/pages/pageconnection.cpp
index bbc1057e2..3fffe707e 100644
--- a/pages/pageconnection.cpp
+++ b/pages/pageconnection.cpp
@@ -353,8 +353,9 @@ void PageConnection::on_serialRefreshButton_clicked()
 {
     if (mVesc) {
         ui->serialPortBox->clear();
-        QList<VSerialInfo_t> ports = mVesc->listSerialPorts();
-        foreach(const VSerialInfo_t &port, ports) {
+        auto ports = mVesc->listSerialPorts();
+        foreach(auto &info, ports) {
+            auto port = info.value<VSerialInfo_t>();
             ui->serialPortBox->addItem(port.name, port.systemPath);
         }
         ui->serialPortBox->setCurrentIndex(0);
diff --git a/pages/pageespprog.cpp b/pages/pageespprog.cpp
index 30c0144af..c642a1f3e 100644
--- a/pages/pageespprog.cpp
+++ b/pages/pageespprog.cpp
@@ -115,8 +115,9 @@ void PageEspProg::on_serialRefreshButton_clicked()
 {
     if (mVesc) {
         ui->serialPortBox->clear();
-        QList<VSerialInfo_t> ports = mVesc->listSerialPorts();
-        foreach(const VSerialInfo_t &port, ports) {
+        auto ports = mVesc->listSerialPorts();
+        foreach(auto &info, ports) {
+            auto port = info.value<VSerialInfo_t>();
             ui->serialPortBox->addItem(port.name, port.systemPath);
         }
         ui->serialPortBox->setCurrentIndex(0);
diff --git a/vescinterface.cpp b/vescinterface.cpp
index fb7757cf1..42c9dc65e 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -2181,9 +2181,9 @@ bool VescInterface::reconnectLastPort()
 #endif
     } else {
 #ifdef HAS_SERIALPORT
-        QList<VSerialInfo_t> ports = listSerialPorts();
+        auto ports = listSerialPorts();
         if (!ports.isEmpty()) {
-            return connectSerial(ports.first().systemPath);
+            return connectSerial(ports.first().value<VSerialInfo_t>().systemPath);
         } else  {
             emit messageDialog(tr("Reconnect"), tr("No ports found"), false, false);
             return false;
@@ -2203,7 +2203,7 @@ bool VescInterface::autoconnect()
     bool res = false;
 
 #ifdef HAS_SERIALPORT
-    QList<VSerialInfo_t> ports = listSerialPorts();
+    auto ports = listSerialPorts();
     mAutoconnectOngoing = true;
     mAutoconnectProgress = 0.0;
 
@@ -2212,7 +2212,7 @@ bool VescInterface::autoconnect()
                this, SLOT(fwVersionReceived(FW_RX_PARAMS)));
 
     for (int i = 0;i < ports.size();i++) {
-        VSerialInfo_t serial = ports[i];
+        VSerialInfo_t serial = ports[i].value<VSerialInfo_t>();
 
         if (!connectSerial(serial.systemPath)) {
             continue;
@@ -2304,8 +2304,8 @@ bool VescInterface::connectSerial(QString port, int baudrate)
 {
 #ifdef HAS_SERIALPORT
     bool found = false;
-    for (VSerialInfo_t ser: listSerialPorts()) {
-        if (ser.systemPath == port) {
+    for (auto ser: listSerialPorts()) {
+        if (ser.value<VSerialInfo_t>().systemPath == port) {
             found = true;
             break;
         }
@@ -2360,9 +2360,9 @@ bool VescInterface::connectSerial(QString port, int baudrate)
 #endif
 }
 
-QList<VSerialInfo_t> VescInterface::listSerialPorts()
+QVariantList VescInterface::listSerialPorts()
 {
-    QList<VSerialInfo_t> res;
+    QVariantList res;
 
 #ifdef HAS_SERIALPORT
     QList<QSerialPortInfo> ports = QSerialPortInfo::availablePorts();
@@ -2383,10 +2383,11 @@ QList<VSerialInfo_t> VescInterface::listSerialPorts()
 
         if (port.productIdentifier() == 0x1001) {
             info.name.insert(0, "ESP32 - ");
+            info.isEsp = true;
             index = 0;
         }
 
-        res.insert(index, info);
+        res.insert(index, QVariant::fromValue(info));
     }
 #endif
 
diff --git a/vescinterface.h b/vescinterface.h
index c6d1bb7e3..f7a23fd11 100755
--- a/vescinterface.h
+++ b/vescinterface.h
@@ -182,8 +182,11 @@ class VescInterface : public QObject
     Q_INVOKABLE bool reconnectLastPort();
     Q_INVOKABLE bool autoconnect();
     Q_INVOKABLE QString getConnectedPortName();
-    bool connectSerial(QString port, int baudrate = 115200);
-    QList<VSerialInfo_t> listSerialPorts();
+    Q_INVOKABLE bool connectSerial(QString port, int baudrate);
+    bool connectSerial(QString port) {
+        return connectSerial(port, 115200);
+    }
+    Q_INVOKABLE QVariantList listSerialPorts();
     QList<QString> listCANbusInterfaces();
     Q_INVOKABLE bool connectCANbus(QString backend, QString ifName, int bitrate);
     Q_INVOKABLE bool isCANbusConnected();

From bc27843f1ed4cf4ddbf02b420edc3f5d06c98901 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 10 Nov 2022 15:29:50 +0100
Subject: [PATCH 268/559] Added lbm-keyword

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index c396fa31d..41e67a2df 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -153,6 +153,7 @@
 <name>get-selected-motor</name>
 <name>get-bms-val</name>
 <name>set-bms-val</name>
+<name>send-bms-can</name>
 <name>get-adc</name>
 <name>get-adc-decoded</name>
 <name>secs-since</name>

From ab6aee847d46c3edb7eaea8d3601e37e812b09ca Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 10 Nov 2022 22:15:21 +0100
Subject: [PATCH 269/559] 64-bit serialization support

---
 datatypes.h    |  2 ++
 vbytearray.cpp | 15 +++++++++++++++
 vbytearray.h   |  2 ++
 3 files changed, 19 insertions(+)

diff --git a/datatypes.h b/datatypes.h
index 1519d5043..ccc620222 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -1049,6 +1049,8 @@ typedef enum {
 
     COMM_SET_APPCONF_NO_STORE,
     COMM_GET_GNSS,
+
+    COMM_LOG_DATA_F64,
 } COMM_PACKET_ID;
 
 // CAN commands
diff --git a/vbytearray.cpp b/vbytearray.cpp
index c9a55283f..074ddb5ac 100644
--- a/vbytearray.cpp
+++ b/vbytearray.cpp
@@ -152,6 +152,14 @@ void VByteArray::vbAppendDouble32Auto(double number)
     vbAppendUint32(res);
 }
 
+void VByteArray::vbAppendDouble64Auto(double number)
+{
+    float n = number;
+    float err = float(number - double(n));
+    vbAppendDouble32Auto(n);
+    vbAppendDouble32Auto(err);
+}
+
 void VByteArray::vbAppendString(QString str)
 {
     append(str.toLocal8Bit());
@@ -312,6 +320,13 @@ double VByteArray::vbPopFrontDouble32Auto()
     return ldexpf(f, e);
 }
 
+double VByteArray::vbPopFrontDouble64Auto()
+{
+    double n = vbPopFrontDouble32Auto();
+    double err = vbPopFrontDouble32Auto();
+    return n + err;
+}
+
 QString VByteArray::vbPopFrontString()
 {
     if (size() < 1) {
diff --git a/vbytearray.h b/vbytearray.h
index 1b2f9fdbe..fc6c7d1e7 100644
--- a/vbytearray.h
+++ b/vbytearray.h
@@ -41,6 +41,7 @@ class VByteArray : public QByteArray
     void vbAppendDouble32(double number, double scale);
     void vbAppendDouble16(double number, double scale);
     void vbAppendDouble32Auto(double number);
+    void vbAppendDouble64Auto(double number);
     void vbAppendString(QString str);
 
     qint64 vbPopFrontInt64();
@@ -55,6 +56,7 @@ class VByteArray : public QByteArray
     double vbPopFrontDouble32(double scale);
     double vbPopFrontDouble16(double scale);
     double vbPopFrontDouble32Auto();
+    double vbPopFrontDouble64Auto();
     QString vbPopFrontString();
 
 };

From d3035ceaf6908c8057b8aa3f0846e6456bcbe28e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 10 Nov 2022 22:23:38 +0100
Subject: [PATCH 270/559] Added lbm-keyword

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 41e67a2df..fac6acdf3 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -318,6 +318,7 @@
 <name>log-start</name>
 <name>log-stop</name>
 <name>log-send-f32</name>
+<name>log-send-f64</name>
 <name>uart-read-bytes</name>
 <name>uart-read-until</name>
 <name>map</name>

From 903bfe3d068d145214883c21c0d746044d01f8e0 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 10 Nov 2022 23:15:41 +0100
Subject: [PATCH 271/559] Small tweak

---
 mobile/ConnectScreen.qml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mobile/ConnectScreen.qml b/mobile/ConnectScreen.qml
index 0b7a035ef..c27b79aba 100644
--- a/mobile/ConnectScreen.qml
+++ b/mobile/ConnectScreen.qml
@@ -168,7 +168,7 @@ Item {
 
                     MenuItem {
                         text: "Scan Serial"
-                        visible: Utility.hasSerialport()
+                        enabled: Utility.hasSerialport()
                         onTriggered: {
                             bleModel.clear()
                             mBle.emitScanDone()

From 463bf0b973278c63bacf61af8e5d44251c159a91 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 11 Nov 2022 13:11:42 +0100
Subject: [PATCH 272/559] Linux static build dead key fix

---
 vesc_tool.pro | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/vesc_tool.pro b/vesc_tool.pro
index 23d96de8c..807ba77f5 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -79,6 +79,10 @@ win32: {
     DEFINES += _USE_MATH_DEFINES
 }
 
+unix: {
+    QTPLUGIN += composeplatforminputcontextplugin
+}
+
 # Options
 #CONFIG += build_original
 #CONFIG += build_platinum

From 46ed748c1482a8d4c156842512c73bcb3da3f507 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 11 Nov 2022 13:17:57 +0100
Subject: [PATCH 273/559] Added dead key comment

---
 vesc_tool.pro | 1 +
 1 file changed, 1 insertion(+)

diff --git a/vesc_tool.pro b/vesc_tool.pro
index 807ba77f5..a1609c026 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -79,6 +79,7 @@ win32: {
     DEFINES += _USE_MATH_DEFINES
 }
 
+# https://stackoverflow.com/questions/61444320/what-are-the-configure-options-for-qt-that-enable-dead-keys-usage
 unix: {
     QTPLUGIN += composeplatforminputcontextplugin
 }

From e0641e7e7bd1014120702177358af927cdba3bd2 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 11 Nov 2022 16:20:16 +0100
Subject: [PATCH 274/559] Added RT-logging from vesc firmware and log csv
 export

---
 commands.cpp              |  43 +++++
 commands.h                |   5 +
 datatypes.h               |   4 +
 pages/pageloganalysis.cpp | 319 ++++++++++++++++++++++++++++----------
 pages/pageloganalysis.h   |   8 +
 pages/pageloganalysis.ui  |  57 +++++--
 6 files changed, 339 insertions(+), 97 deletions(-)

diff --git a/commands.cpp b/commands.cpp
index 52e9686bf..4f5796b17 100755
--- a/commands.cpp
+++ b/commands.cpp
@@ -1069,6 +1069,49 @@ void Commands::processPacket(QByteArray data)
         emit gnssRx(values, mask);
     } break;
 
+    case COMM_LOG_START: {
+        int fieldNum = vb.vbPopFrontInt16();
+        double rateHz = vb.vbPopFrontDouble32Auto();
+        bool appendTime = vb.vbPopFrontInt8();
+        bool appendGnss = vb.vbPopFrontInt8();
+        bool appendGnssTime = vb.vbPopFrontInt8();
+        emit logStart(fieldNum, rateHz, appendTime, appendGnss, appendGnssTime);
+    } break;
+
+    case COMM_LOG_STOP: {
+        emit logStop();
+    } break;
+
+    case COMM_LOG_CONFIG_FIELD: {
+        LOG_HEADER h;
+        h.fieldInd = vb.vbPopFrontInt16();
+        h.key = vb.vbPopFrontString();
+        h.name = vb.vbPopFrontString();
+        h.unit = vb.vbPopFrontString();
+        h.precision = vb.vbPopFrontInt8();
+        h.isRelativeToFirst = vb.vbPopFrontInt8();
+        h.isTimeStamp = vb.vbPopFrontInt8();
+        emit logConfigField(h);
+    } break;
+
+    case COMM_LOG_DATA_F32: {
+        int fieldStart = vb.vbPopFrontInt16();
+        QVector<double> samples;
+        while (vb.size() >= 4) {
+            samples.append(vb.vbPopFrontDouble32Auto());
+        }
+        emit logSamples(fieldStart, samples);
+    } break;
+
+    case COMM_LOG_DATA_F64: {
+        int fieldStart = vb.vbPopFrontInt16();
+        QVector<double> samples;
+        while (vb.size() >= 8) {
+            samples.append(vb.vbPopFrontDouble64Auto());
+        }
+        emit logSamples(fieldStart, samples);
+    } break;
+
     default:
         break;
     }
diff --git a/commands.h b/commands.h
index 942191e85..4ebea23d4 100644
--- a/commands.h
+++ b/commands.h
@@ -157,6 +157,11 @@ class Commands : public QObject
     void fileRemoveRx(bool ok);
     void fileProgress(int32_t prog, int32_t tot, double percentage, double bytesPerSec);
 
+    void logStart(int fieldNum, double rateHz, bool appendTime, bool appendGnss, bool appendGnssTime);
+    void logStop();
+    void logConfigField(LOG_HEADER header);
+    void logSamples(int fieldStart, QVector<double> samples);
+
 public slots:
     void processPacket(QByteArray data);
 
diff --git a/datatypes.h b/datatypes.h
index ccc620222..d3f1e747d 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -541,6 +541,7 @@ Q_DECLARE_METATYPE(LOG_DATA)
 struct LOG_HEADER {
     Q_GADGET
 
+    Q_PROPERTY(QString key MEMBER key)
     Q_PROPERTY(QString name MEMBER name)
     Q_PROPERTY(QString unit MEMBER unit)
     Q_PROPERTY(int precision MEMBER precision)
@@ -548,6 +549,7 @@ struct LOG_HEADER {
     Q_PROPERTY(bool isRelativeToFirst MEMBER isRelativeToFirst)
     Q_PROPERTY(double scaleStep MEMBER scaleStep)
     Q_PROPERTY(double scaleMax MEMBER scaleMax)
+    Q_PROPERTY(int fieldInd MEMBER fieldInd)
 
 public:
     LOG_HEADER() {
@@ -556,6 +558,7 @@ struct LOG_HEADER {
         isTimeStamp = false;
         scaleStep = 0.1;
         scaleMax = 99.99;
+        fieldInd = -1;
     }
 
     LOG_HEADER(QString key,
@@ -584,6 +587,7 @@ struct LOG_HEADER {
     bool isTimeStamp;
     double scaleStep;
     double scaleMax;
+    int fieldInd;
 
 };
 
diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index 37f3f44e6..300b69655 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -50,6 +50,7 @@ PageLogAnalysis::PageLogAnalysis(QWidget *parent) :
     ui->vescUpButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
     ui->vescSaveAsButton->setIcon(QPixmap(theme + "icons/Save as-96.png"));
     ui->vescLogDeleteButton->setIcon(QPixmap(theme + "icons/Delete-96.png"));
+    ui->saveCsvButton->setIcon(QPixmap(theme + "icons/Line Chart-96.png"));
 
     updateTileServers();
 
@@ -120,6 +121,8 @@ PageLogAnalysis::PageLogAnalysis(QWidget *parent) :
     mGnssTimer->start(100);
     mGnssMsTodayLast = 0;
 
+    mLogRtTimer = new QTimer(this);
+
     connect(mGnssTimer, &QTimer::timeout, [this]() {
         if (mVesc && ui->pollGnssBox->isChecked()) {
             mVesc->commands()->getGnss(0xFFFF);
@@ -230,10 +233,17 @@ PageLogAnalysis::PageLogAnalysis(QWidget *parent) :
 
     on_gridBox_toggled(ui->gridBox->isChecked());
     logListRefresh();
+
+    QSettings set;
+    mLastSaveCsvPath = set.value("pageloganalysis/lastSaveCsvPath", true).toString();
 }
 
 PageLogAnalysis::~PageLogAnalysis()
 {
+    QSettings set;
+    set.setValue("pageloganalysis/lastSaveCsvPath", mLastSaveCsvPath);
+    set.sync();
+
     delete ui;
 }
 
@@ -247,6 +257,76 @@ void PageLogAnalysis::setVesc(VescInterface *vesc)
     mVesc = vesc;
 
     if (mVesc) {
+        auto updatePlots = [this]() {
+            resetInds();
+
+            mLogHeader = mLogRtHeader;
+            mLog = mLogRt;
+
+            updateInds();
+            generateMissingEntries();
+
+            auto sel = ui->dataTable->selectionModel()->selectedIndexes();
+            ui->dataTable->setRowCount(0);
+
+            if (mLog.size() == 0) {
+                return;
+            }
+
+            for (auto e: mLogHeader) {
+                addDataItem(e.name, !e.isTimeStamp, e.scaleStep, e.scaleMax);
+            }
+
+            foreach (QModelIndex ind, sel) {
+                ui->dataTable->selectRow(ind.row());
+            }
+
+            truncateDataAndPlot(ui->autoZoomBox->isChecked());
+
+            if (mInd_t_day >= 0 && !mLog.isEmpty()) {
+                updateDataAndPlot(mLog.last().at(mInd_t_day));
+            }
+        };
+
+        connect(mVesc->commands(), &Commands::logStart, [this]
+                (int fieldNum, double rateHz, bool appendTime, bool appendGnss, bool appendGnssTime) {
+            (void)appendTime; (void)appendGnss; (void)appendGnssTime;
+            mLogRtHeader.resize(fieldNum);
+            mLogRtSamplesNow.resize(fieldNum);
+            mLogRtTimer->start(1000.0 / rateHz);
+            mLogRt.clear();
+        });
+
+        connect(mVesc->commands(), &Commands::logStop, [this, updatePlots] () {
+           mLogRtTimer->stop();
+           updatePlots();
+        });
+
+        connect(mVesc->commands(), &Commands::logConfigField, [this](LOG_HEADER h) {
+            if (mLogRtHeader.size() <= h.fieldInd) {
+                mLogRtHeader.resize(h.fieldInd + 1);
+            }
+
+            mLogRtHeader[h.fieldInd] = h;
+        });
+
+        connect(mVesc->commands(), &Commands::logSamples, [this](int fieldStart, QVector<double> samples) {
+            for (int i = 0;i < samples.size();i++) {
+                int ind = i + fieldStart;
+                if (mLogRtSamplesNow.size() > ind) {
+                    mLogRtSamplesNow[ind] = samples.at(i);
+                }
+            }
+        });
+
+        connect(mLogRtTimer, &QTimer::timeout, [this, updatePlots]() {
+            mLogRt.append(mLogRtSamplesNow);
+
+            if (ui->updateRtBox->isChecked()) {
+                updatePlots();
+            }
+        });
+
         connect(mVesc->commands(), &Commands::fileProgress, [this]
                 (int32_t prog, int32_t tot, double percentage, double bytesPerSec) {
             QTime t(0, 0, 0, 0);;
@@ -284,7 +364,7 @@ void PageLogAnalysis::setVesc(VescInterface *vesc)
 
                 LocPoint p2;
                 p2.setXY(0, 0);
-                p2.setInfo(tr("Hdop %d").arg(val.hdop));
+                p2.setInfo(tr("Hdop %1").arg(val.hdop));
 
                 if (p2.getDistanceTo(p) > 10000) {
                     ui->map->setEnuRef(llh[0], llh[1], llh[2]);
@@ -1053,105 +1133,123 @@ void PageLogAnalysis::openLog(QByteArray data)
 
         updateInds();
 
-        // Create sample array if t_day is missing
-        if (mInd_t_day < 0) {
-            mLogHeader.append(LOG_HEADER("t_day", "Sample", "", 0));
+        generateMissingEntries();
 
-            for (int i = 0;i < mLog.size();i++) {
-                mLog[i].append(i);
-            }
+        ui->dataTable->setRowCount(0);
+
+        if (mLog.size() == 0) {
+            return;
         }
 
-        updateInds();
+        for (auto e: mLogHeader) {
+            addDataItem(e.name, !e.isTimeStamp, e.scaleStep, e.scaleMax);
+        }
 
-        if (mInd_gnss_lat >= 0 && mInd_gnss_lon >= 0 &&
-                mInd_gnss_alt >= 0 && mInd_gnss_h_acc >= 0) {
+        truncateDataAndPlot();
+    }
+}
 
-            // Initialize map enu ref
-            double i_llh[3] = {57.71495867, 12.89134921, 220.0};
-            for (auto d: mLog) {
-                double lat = d.at(mInd_gnss_lat);
-                double lon = d.at(mInd_gnss_lon);
-                double alt = d.at(mInd_gnss_alt);
-                double hacc = d.at(mInd_gnss_h_acc);
+void PageLogAnalysis::generateMissingEntries()
+{
+    // Create sample array if t_day is missing
+    if (mInd_t_day < 0) {
+        mLogHeader.append(LOG_HEADER("t_day", "Sample", "", 0));
 
-                if (hacc > 0.0 && (!ui->filterOutlierBox->isChecked() ||
-                                 hacc < ui->filterhAccBox->value())) {
-                    i_llh[0] = lat;
-                    i_llh[1] = lon;
-                    i_llh[2] = alt;
-                    ui->map->setEnuRef(i_llh[0], i_llh[1], i_llh[2]);
-                    break;
-                }
+        for (int i = 0;i < mLog.size();i++) {
+            mLog[i].append(i);
+        }
+    }
+
+    updateInds();
+
+    if (mInd_gnss_lat >= 0 && mInd_gnss_lon >= 0) {
+
+        // Initialize map enu ref
+        double i_llh[3] = {57.71495867, 12.89134921, 220.0};
+        for (auto d: mLog) {
+            double lat = d.at(mInd_gnss_lat);
+            double lon = d.at(mInd_gnss_lon);
+            double alt = 0;
+            if (mInd_gnss_alt >= 0) {
+                alt = d.at(mInd_gnss_alt);
             }
 
-            // Create GNSS trip counter if it is missing
-            if (mInd_trip_vesc < 0) {
-                mLogHeader.append(LOG_HEADER("trip_gnss", "Trip GNSS", "m", 3, true));
-
-                double prevSampleGnss[3];
-                bool prevSampleGnssSet = false;
-                double metersGnss = 0.0;
-
-                for (int i = 0;i < mLog.size();i++) {
-                    double lat = mLog.at(i).at(mInd_gnss_lat);
-                    double lon = mLog.at(i).at(mInd_gnss_lon);
-                    double alt = mLog.at(i).at(mInd_gnss_alt);
-                    double hacc = mLog.at(i).at(mInd_gnss_h_acc);
-
-                    if (hacc > 0 && (!ui->filterOutlierBox->isChecked() ||
-                                     hacc < ui->filterhAccBox->value())) {
-                        if (prevSampleGnssSet) {
-                            double i_llh[3];
-                            double llh[3];
-                            double xyz[3];
-                            ui->map->getEnuRef(i_llh);
-
-                            llh[0] = lat;
-                            llh[1] = lon;
-                            llh[2] = alt;
-                            Utility::llhToEnu(i_llh, llh, xyz);
-
-                            LocPoint p, p2;
-                            p.setXY(xyz[0], xyz[1]);
-                            p.setRadius(10);
-
-                            llh[0] = prevSampleGnss[0];
-                            llh[1] = prevSampleGnss[1];
-                            llh[2] = prevSampleGnss[2];
-                            Utility::llhToEnu(i_llh, llh, xyz);
-
-                            p2.setXY(xyz[0], xyz[1]);
-                            p2.setRadius(10);
-
-                            metersGnss += p.getDistanceTo(p2);
-                        }
-
-                        prevSampleGnssSet = true;
-                        prevSampleGnss[0] = lat;
-                        prevSampleGnss[1] = lon;
-                        prevSampleGnss[2] = alt;
-                    }
+            double hacc = 0.0;
+            if (mInd_gnss_h_acc >= 0) {
+                hacc = d.at(mInd_gnss_h_acc);
+            }
 
-                    mLog[i].append(metersGnss);
-                }
+            if (hacc > 0.0 && (!ui->filterOutlierBox->isChecked() ||
+                             hacc < ui->filterhAccBox->value())) {
+                i_llh[0] = lat;
+                i_llh[1] = lon;
+                i_llh[2] = alt;
+                ui->map->setEnuRef(i_llh[0], i_llh[1], i_llh[2]);
+                break;
             }
         }
 
-        updateInds();
+        // Create GNSS trip counter if it is missing
+        if (mInd_trip_vesc < 0) {
+            mLogHeader.append(LOG_HEADER("trip_gnss", "Trip GNSS", "m", 3, true));
 
-        ui->dataTable->setRowCount(0);
+            double prevSampleGnss[3];
+            bool prevSampleGnssSet = false;
+            double metersGnss = 0.0;
 
-        if (mLog.size() == 0) {
-            return;
-        }
+            for (int i = 0;i < mLog.size();i++) {
+                double lat = mLog.at(i).at(mInd_gnss_lat);
+                double lon = mLog.at(i).at(mInd_gnss_lon);
+                double alt = 0;
+                if (mInd_gnss_alt >= 0) {
+                    alt = mLog.at(i).at(mInd_gnss_alt);
+                }
 
-        for (auto e: mLogHeader) {
-            addDataItem(e.name, !e.isTimeStamp, e.scaleStep, e.scaleMax);
-        }
+                double hacc = 0.0;
+                if (mInd_gnss_h_acc >= 0) {
+                    hacc = mLog.at(i).at(mInd_gnss_h_acc);
+                }
 
-        truncateDataAndPlot();
+                if (hacc > 0 && (!ui->filterOutlierBox->isChecked() ||
+                                 hacc < ui->filterhAccBox->value())) {
+                    if (prevSampleGnssSet) {
+                        double i_llh[3];
+                        double llh[3];
+                        double xyz[3];
+                        ui->map->getEnuRef(i_llh);
+
+                        llh[0] = lat;
+                        llh[1] = lon;
+                        llh[2] = alt;
+                        Utility::llhToEnu(i_llh, llh, xyz);
+
+                        LocPoint p, p2;
+                        p.setXY(xyz[0], xyz[1]);
+                        p.setRadius(10);
+
+                        llh[0] = prevSampleGnss[0];
+                        llh[1] = prevSampleGnss[1];
+                        llh[2] = prevSampleGnss[2];
+                        Utility::llhToEnu(i_llh, llh, xyz);
+
+                        p2.setXY(xyz[0], xyz[1]);
+                        p2.setRadius(10);
+
+                        metersGnss += p.getDistanceTo(p2);
+                    }
+
+                    prevSampleGnssSet = true;
+                    prevSampleGnss[0] = lat;
+                    prevSampleGnss[1] = lon;
+                    prevSampleGnss[2] = alt;
+                }
+
+                mLog[i].append(metersGnss);
+            }
+        }
     }
+
+    updateInds();
 }
 
 void PageLogAnalysis::on_saveMapPdfButton_clicked()
@@ -1411,3 +1509,58 @@ void PageLogAnalysis::on_vescLogDeleteButton_clicked()
         }
     }
 }
+
+void PageLogAnalysis::on_saveCsvButton_clicked()
+{
+    QString fileName = QFileDialog::getSaveFileName(this,
+                                                    tr("Save Log File"), mLastSaveCsvPath,
+                                                    tr("CSV files (*.csv)"));
+
+    if (!fileName.isEmpty()) {
+        if (!fileName.toLower().endsWith(".csv")) {
+            fileName += ".csv";
+        }
+
+        QFile file(fileName);
+
+        if (!file.open(QIODevice::WriteOnly)) {
+            mVesc->emitMessageDialog("Save File", "Cannot open destination", false);
+            return;
+        }
+
+        mLastSaveCsvPath = fileName;
+
+        QTextStream os(&file);
+
+        for (int i = 0;i < mLogHeader.size();i++) {
+            auto h = mLogHeader.at(i);
+            os << h.key << ":"
+               << h.name << ":"
+               << h.unit << ":"
+               << h.precision << ":"
+               << h.isRelativeToFirst << ":"
+               << h.isTimeStamp;
+
+            if (i < (mLogHeader.size() - 1)) {
+                os << ";";
+            }
+        }
+
+        os << "\n";
+
+        for (int i = 0;i < mLog.size();i++) {
+            for (int j = 0;j < mLog.at(i).size();j++) {
+                os << Qt::fixed
+                   << qSetRealNumberPrecision(mLogHeader.at(j).precision)
+                   << mLog.at(i).at(j);
+
+                if (j < (mLog.at(i).size() - 1)) {
+                    os << ";";
+                }
+            }
+            os << "\n";
+        }
+
+        file.close();
+    }
+}
diff --git a/pages/pageloganalysis.h b/pages/pageloganalysis.h
index 34972b257..86d0b7682 100644
--- a/pages/pageloganalysis.h
+++ b/pages/pageloganalysis.h
@@ -65,6 +65,7 @@ private slots:
     void on_vescLogTable_cellDoubleClicked(int row, int column);
     void on_vescSaveAsButton_clicked();
     void on_vescLogDeleteButton_clicked();
+    void on_saveCsvButton_clicked();
 
 private:
     Ui::PageLogAnalysis *ui;
@@ -77,11 +78,17 @@ private slots:
     double mPlayPosNow;
     QString mVescLastPath;
     qint32 mGnssMsTodayLast;
+    QString mLastSaveCsvPath;
 
     QVector<LOG_HEADER> mLogHeader;
     QVector<QVector<double> > mLog;
     QVector<QVector<double> > mLogTruncated;
 
+    QVector<LOG_HEADER> mLogRtHeader;
+    QVector<QVector<double> > mLogRt;
+    QVector<double> mLogRtSamplesNow;
+    QTimer *mLogRtTimer;
+
     // Lightweight pre-calculated offsets in the log. These
     // need to be looked up a lot and finding them in the
     // header each time slows down the responsiveness.
@@ -158,6 +165,7 @@ private slots:
     void addDataItem(QString name, bool hasScale = true,
                      double scaleStep = 0.1, double scaleMax = 99.99);
     void openLog(QByteArray data);
+    void generateMissingEntries();
 
 };
 
diff --git a/pages/pageloganalysis.ui b/pages/pageloganalysis.ui
index 705166761..3a6c19562 100644
--- a/pages/pageloganalysis.ui
+++ b/pages/pageloganalysis.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1325</width>
-    <height>783</height>
+    <width>1301</width>
+    <height>716</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -76,6 +76,19 @@
            </property>
           </widget>
          </item>
+         <item>
+          <widget class="QCheckBox" name="updateRtBox">
+           <property name="toolTip">
+            <string>Update plots while receiving data</string>
+           </property>
+           <property name="text">
+            <string>Update RT</string>
+           </property>
+           <property name="checked">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
          <item>
           <layout class="QHBoxLayout" name="horizontalLayout_3">
            <item>
@@ -307,17 +320,6 @@
              </item>
              <item>
               <layout class="QHBoxLayout" name="horizontalLayout_4">
-               <item>
-                <widget class="QPushButton" name="openCsvButton">
-                 <property name="text">
-                  <string>Open CSV...</string>
-                 </property>
-                 <property name="icon">
-                  <iconset resource="../res.qrc">
-                   <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
-                 </property>
-                </widget>
-               </item>
                <item>
                 <spacer name="horizontalSpacer_2">
                  <property name="orientation">
@@ -646,8 +648,25 @@
      </property>
      <item>
       <widget class="QPushButton" name="openCurrentButton">
+       <property name="toolTip">
+        <string>Open log from RT data page</string>
+       </property>
        <property name="text">
-        <string>Open Current</string>
+        <string>RtPage</string>
+       </property>
+       <property name="icon">
+        <iconset resource="../res.qrc">
+         <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="openCsvButton">
+       <property name="toolTip">
+        <string>Open CSV file...</string>
+       </property>
+       <property name="text">
+        <string>CSV</string>
        </property>
        <property name="icon">
         <iconset resource="../res.qrc">
@@ -762,6 +781,16 @@
        </property>
       </widget>
      </item>
+     <item>
+      <widget class="QPushButton" name="saveCsvButton">
+       <property name="toolTip">
+        <string>Save all data as CSV-file...</string>
+       </property>
+       <property name="text">
+        <string>CSV</string>
+       </property>
+      </widget>
+     </item>
     </layout>
    </item>
   </layout>

From e2fe5501b2a695851de87889c3ce95ebc962b019 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 11 Nov 2022 16:25:30 +0100
Subject: [PATCH 275/559] Removed esp devkit test firmware

---
 .../ESP32-C3/Devkit Blink/app.bin              | Bin 174480 -> 0 bytes
 .../ESP32-C3/Devkit Blink/bootloader.bin       | Bin 20832 -> 0 bytes
 .../ESP32-C3/Devkit Blink/partition-table.bin  | Bin 3072 -> 0 bytes
 res/firmwares_esp/res_fw_esp.qrc               |   3 ---
 4 files changed, 3 deletions(-)
 delete mode 100644 res/firmwares_esp/ESP32-C3/Devkit Blink/app.bin
 delete mode 100644 res/firmwares_esp/ESP32-C3/Devkit Blink/bootloader.bin
 delete mode 100644 res/firmwares_esp/ESP32-C3/Devkit Blink/partition-table.bin

diff --git a/res/firmwares_esp/ESP32-C3/Devkit Blink/app.bin b/res/firmwares_esp/ESP32-C3/Devkit Blink/app.bin
deleted file mode 100644
index c05444c028d56783947d6c818f71bc53d09f1b6b..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 174480
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diff --git a/res/firmwares_esp/ESP32-C3/Devkit Blink/bootloader.bin b/res/firmwares_esp/ESP32-C3/Devkit Blink/bootloader.bin
deleted file mode 100644
index 323d78f7f6d21e2ff3d6459245d2ea7b938244a3..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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zRjgZBa+a#*5$djf*BaTKQuTX~pOWOL>hgix@Lg4+K&DE=!}hFXrS;s+iJq_Vv-z!8
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l@{2u3NBtr9uwPIo75dTQhU_oimFB;b-O-=k^7-kk{|_VDLTCU0

diff --git a/res/firmwares_esp/ESP32-C3/Devkit Blink/partition-table.bin b/res/firmwares_esp/ESP32-C3/Devkit Blink/partition-table.bin
deleted file mode 100644
index b8fa03b4b3536b1f4d0def4c1fed550e8fc2acc7..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 3072
zcmZ1#z{tcffq{V`fq@~ftQg2Z1*-xW85uqR#RM1_3Nk9=GxIV_kX5V-0Pz^X3epmj
zOY(~<k);`4zy6N`zO40kwFvW$Eiv7uQ@U-c3X0??XEX#xLtr!nMnhmU1V%$(Gz3ON
NU^E0qLx83s002kkm~Q|8

diff --git a/res/firmwares_esp/res_fw_esp.qrc b/res/firmwares_esp/res_fw_esp.qrc
index 333d63483..ac444db98 100644
--- a/res/firmwares_esp/res_fw_esp.qrc
+++ b/res/firmwares_esp/res_fw_esp.qrc
@@ -1,8 +1,5 @@
 <RCC>
     <qresource prefix="/res/firmwares_esp">
-        <file>ESP32-C3/Devkit Blink/app.bin</file>
-        <file>ESP32-C3/Devkit Blink/bootloader.bin</file>
-        <file>ESP32-C3/Devkit Blink/partition-table.bin</file>
         <file>ESP32-C3/VESC Express/bootloader.bin</file>
         <file>ESP32-C3/VESC Express/partition-table.bin</file>
         <file>ESP32-C3/VESC Express/app.bin</file>

From 0a23b032471cbd3bd85bbf7be76503595ee0cbf7 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 11 Nov 2022 20:52:58 +0100
Subject: [PATCH 276/559] Esp32 flash fixes and configurable offsets

---
 esp32/esp32flash.cpp  |  2 +-
 pages/pageespprog.cpp |  4 +--
 pages/pageespprog.ui  | 67 +++++++++++++++++++++++++++++++++++++++++--
 3 files changed, 68 insertions(+), 5 deletions(-)

diff --git a/esp32/esp32flash.cpp b/esp32/esp32flash.cpp
index 53b4d9b59..16e5a3219 100644
--- a/esp32/esp32flash.cpp
+++ b/esp32/esp32flash.cpp
@@ -157,7 +157,7 @@ bool Esp32Flash::flashFirmware(QByteArray data, size_t address)
         emit flashProgress(double(written) / double(binary_size));
     };
 
-    emit stateUpdate("Finished programming");
+    emit stateUpdate("Done, verifying flash...");
 
     err = esp_loader_flash_verify();
     if (err != ESP_LOADER_SUCCESS) {
diff --git a/pages/pageespprog.cpp b/pages/pageespprog.cpp
index c642a1f3e..d88613cb0 100644
--- a/pages/pageespprog.cpp
+++ b/pages/pageespprog.cpp
@@ -239,11 +239,11 @@ void PageEspProg::on_flashButton_clicked()
 
     ui->progWidget->setText("Flashing firmware...");
     ui->progWidget->setValue(0.0);
-    mEspFlash.flashFirmware(fApp.readAll(), 0x10000);
+    mEspFlash.flashFirmware(fApp.readAll(), ui->appOffsetBox->value());
 
     ui->progWidget->setText("Flashing partition table...");
     ui->progWidget->setValue(0.0);
-    mEspFlash.flashFirmware(fPart.readAll(), 0x8000);
+    mEspFlash.flashFirmware(fPart.readAll(), ui->partOffsetBox->value());
 
     ui->flashButton->setEnabled(true);
 }
diff --git a/pages/pageespprog.ui b/pages/pageespprog.ui
index fc2743c98..64fdc6c0c 100644
--- a/pages/pageespprog.ui
+++ b/pages/pageespprog.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>895</width>
-    <height>467</height>
+    <width>1021</width>
+    <height>541</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -293,6 +293,69 @@
         </item>
        </layout>
       </item>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout_3">
+        <item>
+         <spacer name="horizontalSpacer">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>40</width>
+            <height>20</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_5">
+          <property name="text">
+           <string>Partition Table Offset</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QSpinBox" name="partOffsetBox">
+          <property name="prefix">
+           <string>0x</string>
+          </property>
+          <property name="maximum">
+           <number>9999999</number>
+          </property>
+          <property name="value">
+           <number>32768</number>
+          </property>
+          <property name="displayIntegerBase">
+           <number>16</number>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_6">
+          <property name="text">
+           <string>App Offset</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QSpinBox" name="appOffsetBox">
+          <property name="prefix">
+           <string>0x</string>
+          </property>
+          <property name="maximum">
+           <number>9999999</number>
+          </property>
+          <property name="value">
+           <number>131072</number>
+          </property>
+          <property name="displayIntegerBase">
+           <number>16</number>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
      </layout>
     </widget>
    </item>

From 835434d6d873218d08fab57320b1a6018f540c8e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 11 Nov 2022 20:57:16 +0100
Subject: [PATCH 277/559] Fixed bug in connect screen

---
 mobile/ConnectScreen.qml | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/mobile/ConnectScreen.qml b/mobile/ConnectScreen.qml
index c27b79aba..1d0ee4a5a 100644
--- a/mobile/ConnectScreen.qml
+++ b/mobile/ConnectScreen.qml
@@ -577,8 +577,8 @@ Item {
                     if (ports[j].isEsp) {
                         var nameNow = "Serial ESP32\n" + ports[j].systemPath
                         addToList = true
-                        for(j = 0; j < bleModel.count; j++) {
-                            if(bleModel.get(j).name === nameNow){
+                        for (k = 0; k < bleModel.count; k++) {
+                            if(bleModel.get(k).name === nameNow){
                                 addToList  = false
                             }
                         }
@@ -596,8 +596,8 @@ Item {
                     if (ports[j].isVesc) {
                         nameNow = "Serial STM32\n" + ports[j].systemPath
                         addToList = true
-                        for(j = 0; j < bleModel.count; j++) {
-                            if(bleModel.get(j).name === nameNow){
+                        for (k = 0; k < bleModel.count; k++) {
+                            if(bleModel.get(k).name === nameNow){
                                 addToList  = false
                             }
                         }
@@ -615,7 +615,7 @@ Item {
 
                 nameNow = "Serial (AutoConnect)"
                 addToList = true
-                for(j = 0; j < bleModel.count; j++) {
+                for (j = 0; j < bleModel.count; j++) {
                     if(bleModel.get(j).name === nameNow){
                         addToList  = false
                     }

From 5fcb76ef955cf4be754a436f2a38ccf80804632e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 11 Nov 2022 21:42:40 +0100
Subject: [PATCH 278/559] Build on all cores and do not wait now that
 dependency generation works properly

---
 build_cp_fw | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/build_cp_fw b/build_cp_fw
index 28ec9091b..939e99161 100755
--- a/build_cp_fw
+++ b/build_cp_fw
@@ -9,8 +9,8 @@ rm -rf $FWPATH/package/*
 
 cd $FWPATH
 make all_fw_clean
-make all_fw -j12
-sleep 10
+make all_fw -j24
+sleep 1
 python3 package_firmware.py
 make all_fw_clean
 

From 2be27e2f16d4ebe5495c069281780356fece1c3c Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 11 Nov 2022 22:46:20 +0100
Subject: [PATCH 279/559] Support for log append time parameter

---
 commands.cpp              |  4 ++--
 commands.h                |  2 +-
 datatypes.h               |  3 ---
 pages/pageloganalysis.cpp | 45 ++++++++++++++++++++++++++++++++++-----
 pages/pageloganalysis.h   |  1 +
 5 files changed, 44 insertions(+), 11 deletions(-)

diff --git a/commands.cpp b/commands.cpp
index 4f5796b17..9c2d7463c 100755
--- a/commands.cpp
+++ b/commands.cpp
@@ -1084,14 +1084,14 @@ void Commands::processPacket(QByteArray data)
 
     case COMM_LOG_CONFIG_FIELD: {
         LOG_HEADER h;
-        h.fieldInd = vb.vbPopFrontInt16();
+        int fieldInd = vb.vbPopFrontInt16();
         h.key = vb.vbPopFrontString();
         h.name = vb.vbPopFrontString();
         h.unit = vb.vbPopFrontString();
         h.precision = vb.vbPopFrontInt8();
         h.isRelativeToFirst = vb.vbPopFrontInt8();
         h.isTimeStamp = vb.vbPopFrontInt8();
-        emit logConfigField(h);
+        emit logConfigField(fieldInd, h);
     } break;
 
     case COMM_LOG_DATA_F32: {
diff --git a/commands.h b/commands.h
index 4ebea23d4..c4f54574f 100644
--- a/commands.h
+++ b/commands.h
@@ -159,7 +159,7 @@ class Commands : public QObject
 
     void logStart(int fieldNum, double rateHz, bool appendTime, bool appendGnss, bool appendGnssTime);
     void logStop();
-    void logConfigField(LOG_HEADER header);
+    void logConfigField(int fieldInd, LOG_HEADER header);
     void logSamples(int fieldStart, QVector<double> samples);
 
 public slots:
diff --git a/datatypes.h b/datatypes.h
index d3f1e747d..6112558ce 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -549,7 +549,6 @@ struct LOG_HEADER {
     Q_PROPERTY(bool isRelativeToFirst MEMBER isRelativeToFirst)
     Q_PROPERTY(double scaleStep MEMBER scaleStep)
     Q_PROPERTY(double scaleMax MEMBER scaleMax)
-    Q_PROPERTY(int fieldInd MEMBER fieldInd)
 
 public:
     LOG_HEADER() {
@@ -558,7 +557,6 @@ struct LOG_HEADER {
         isTimeStamp = false;
         scaleStep = 0.1;
         scaleMax = 99.99;
-        fieldInd = -1;
     }
 
     LOG_HEADER(QString key,
@@ -587,7 +585,6 @@ struct LOG_HEADER {
     bool isTimeStamp;
     double scaleStep;
     double scaleMax;
-    int fieldInd;
 
 };
 
diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index 300b69655..05f65d926 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -121,6 +121,7 @@ PageLogAnalysis::PageLogAnalysis(QWidget *parent) :
     mGnssTimer->start(100);
     mGnssMsTodayLast = 0;
 
+    mLogRtAppendTime = false;
     mLogRtTimer = new QTimer(this);
 
     connect(mGnssTimer, &QTimer::timeout, [this]() {
@@ -290,8 +291,30 @@ void PageLogAnalysis::setVesc(VescInterface *vesc)
 
         connect(mVesc->commands(), &Commands::logStart, [this]
                 (int fieldNum, double rateHz, bool appendTime, bool appendGnss, bool appendGnssTime) {
-            (void)appendTime; (void)appendGnss; (void)appendGnssTime;
+            (void)appendGnss; (void)appendGnssTime;
+
+            mLogRtAppendTime = appendTime;
+
+            if (mLogRtAppendTime) {
+                fieldNum++;
+            }
+
             mLogRtHeader.resize(fieldNum);
+
+            if (mLogRtAppendTime) {
+                LOG_HEADER h;
+                h.key = "t_day";
+                h.name = "Time";
+                h.unit = "s";
+                h.isTimeStamp = true;
+
+                for (int i = (mLogRtHeader.size() - 1);i > 0;i--) {
+                    mLogRtHeader[i] = mLogRtHeader[i - 1];
+                }
+
+                mLogRtHeader[0] = h;
+            }
+
             mLogRtSamplesNow.resize(fieldNum);
             mLogRtTimer->start(1000.0 / rateHz);
             mLogRt.clear();
@@ -302,15 +325,23 @@ void PageLogAnalysis::setVesc(VescInterface *vesc)
            updatePlots();
         });
 
-        connect(mVesc->commands(), &Commands::logConfigField, [this](LOG_HEADER h) {
-            if (mLogRtHeader.size() <= h.fieldInd) {
-                mLogRtHeader.resize(h.fieldInd + 1);
+        connect(mVesc->commands(), &Commands::logConfigField, [this](int fieldInd, LOG_HEADER h) {
+            if (mLogRtAppendTime) {
+                fieldInd++;
+            }
+
+            if (mLogRtHeader.size() <= fieldInd) {
+                mLogRtHeader.resize(fieldInd + 1);
             }
 
-            mLogRtHeader[h.fieldInd] = h;
+            mLogRtHeader[fieldInd] = h;
         });
 
         connect(mVesc->commands(), &Commands::logSamples, [this](int fieldStart, QVector<double> samples) {
+            if (mLogRtAppendTime) {
+                fieldStart++;
+            }
+
             for (int i = 0;i < samples.size();i++) {
                 int ind = i + fieldStart;
                 if (mLogRtSamplesNow.size() > ind) {
@@ -320,6 +351,10 @@ void PageLogAnalysis::setVesc(VescInterface *vesc)
         });
 
         connect(mLogRtTimer, &QTimer::timeout, [this, updatePlots]() {
+            if (mLogRtAppendTime) {
+                mLogRtSamplesNow[0] = (double(QTime::currentTime().msecsSinceStartOfDay()) / 1000.0);
+            }
+
             mLogRt.append(mLogRtSamplesNow);
 
             if (ui->updateRtBox->isChecked()) {
diff --git a/pages/pageloganalysis.h b/pages/pageloganalysis.h
index 86d0b7682..9d58693e9 100644
--- a/pages/pageloganalysis.h
+++ b/pages/pageloganalysis.h
@@ -88,6 +88,7 @@ private slots:
     QVector<QVector<double> > mLogRt;
     QVector<double> mLogRtSamplesNow;
     QTimer *mLogRtTimer;
+    bool mLogRtAppendTime;
 
     // Lightweight pre-calculated offsets in the log. These
     // need to be looked up a lot and finding them in the

From b8fa0b4f3935cc5810fdfe0869b2fde4c1d1845b Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 12 Nov 2022 13:12:01 +0100
Subject: [PATCH 280/559] Connectscreen automatic updates

---
 mobile/ConnectScreen.qml | 49 ++++++++++++++++++++--------------------
 1 file changed, 25 insertions(+), 24 deletions(-)

diff --git a/mobile/ConnectScreen.qml b/mobile/ConnectScreen.qml
index 1d0ee4a5a..e07e726d3 100644
--- a/mobile/ConnectScreen.qml
+++ b/mobile/ConnectScreen.qml
@@ -166,15 +166,6 @@ Item {
                 Menu {
                     id: scanMenu
 
-                    MenuItem {
-                        text: "Scan Serial"
-                        enabled: Utility.hasSerialport()
-                        onTriggered: {
-                            bleModel.clear()
-                            mBle.emitScanDone()
-                        }
-                    }
-
                     MenuItem {
                         text: "Scan BLE"
                         enabled: !scanning
@@ -494,6 +485,11 @@ Item {
                 bleModel.clear()
                 mBle.emitScanDone()
             }
+
+            // Re-scan serial regularly
+            if (Utility.hasSerialport()) {
+                mBle.emitScanDone()
+            }
         }
     }
 
@@ -597,7 +593,7 @@ Item {
                         nameNow = "Serial STM32\n" + ports[j].systemPath
                         addToList = true
                         for (k = 0; k < bleModel.count; k++) {
-                            if(bleModel.get(k).name === nameNow){
+                            if (bleModel.get(k).name === nameNow){
                                 addToList  = false
                             }
                         }
@@ -613,21 +609,26 @@ Item {
                     }
                 }
 
-                nameNow = "Serial (AutoConnect)"
-                addToList = true
-                for (j = 0; j < bleModel.count; j++) {
-                    if(bleModel.get(j).name === nameNow){
-                        addToList  = false
-                    }
-                }
+                // Remove ports that no longer are there
+                var removed = true
+                while (removed) {
+                    removed = false
+
+                    for (k = 0; k < bleModel.count; k++) {
+                        var found = false
+                        for (j = 0; j < ports.length; j++) {
+                            if (ports[j].systemPath === bleModel.get(k).bleAddr) {
+                                found = true
+                                break
+                            }
+                        }
 
-                if (addToList) {
-                    bleModel.insert(0, {"name": nameNow,
-                                        "setName": "",
-                                        "preferred": true,
-                                        "bleAddr": "",
-                                        "hubUuid": "",
-                                        "isSerial": 1})
+                        if (bleModel.get(k).isSerial === 1 && !found) {
+                            bleModel.remove(k)
+                            removed = true
+                            break
+                        }
+                    }
                 }
             }
 

From f317bda39387f1936f05b7b452c4e08257f15928 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 12 Nov 2022 14:09:41 +0100
Subject: [PATCH 281/559] Quick pair improvements

---
 mobile/NrfPair.qml   | 39 ++++++++++++++++++++++++++++++++-------
 mobile/StartPage.qml | 15 ++-------------
 2 files changed, 34 insertions(+), 20 deletions(-)

diff --git a/mobile/NrfPair.qml b/mobile/NrfPair.qml
index 108808556..cc61e5d50 100644
--- a/mobile/NrfPair.qml
+++ b/mobile/NrfPair.qml
@@ -28,9 +28,14 @@ import Vedder.vesc.configparams 1.0
 Item {
     implicitHeight: column.implicitHeight
     property bool hideAfterPair: false
+    property bool pairOngoing: false
 
     function startPairing() {
         mCommands.pairNrf(timeBox.realValue * 1000.0)
+        pairCnt = timeBox.realValue
+        cntBar.value = 1
+        startButton.enabled = false
+        pairOngoing = true
     }
 
     property real pairCnt: 0.0
@@ -108,6 +113,31 @@ Item {
                 }
 
                 cntBar.value = pairCnt / timeBox.realValue
+            } else {
+                if (hideAfterPair && visible) {
+                    afterPairTimer.start()
+                }
+            }
+        }
+    }
+
+    Timer {
+        id: afterPairTimer
+        interval: 2000
+        running: false
+        repeat: false
+
+        onTriggered: {
+            if (pairOngoing) {
+                pairOngoing = false
+                if (hideAfterPair) {
+                    visible = false
+                }
+
+                VescIf.emitMessageDialog(
+                            "NRF Pairing",
+                            "No response received",
+                            true, false)
             }
         }
     }
@@ -121,16 +151,11 @@ Item {
             }
 
             switch (res) {
-            case 0:
-                pairCnt = timeBox.realValue
-                cntBar.value = 1
-                startButton.enabled = false
-                break;
-
             case 1:
                 startButton.enabled = true
                 pairCnt = 0.0
                 cntBar.value = 0
+                pairOngoing = false
                 VescIf.emitStatusMessage("Pairing NRF Sucessful", true)
                 VescIf.emitMessageDialog(
                             "NRF Pairing",
@@ -142,6 +167,7 @@ Item {
                 startButton.enabled = true
                 pairCnt = 0.0
                 cntBar.value = 0
+                pairOngoing = false
                 VescIf.emitStatusMessage("Pairing NRF Timed Out", false)
                 VescIf.emitMessageDialog(
                             "NRF Pairing",
@@ -152,7 +178,6 @@ Item {
                             "pairing mode, just switch it on using any of the buttons. Then it " +
                             "will enter pairing mode if it was switched off previously.",
                             false, false)
-//                VescIf.emitMessageDialog("Test", "test23", false, false)
                 break;
 
             default:
diff --git a/mobile/StartPage.qml b/mobile/StartPage.qml
index f75dc56c0..6fa6bfd00 100644
--- a/mobile/StartPage.qml
+++ b/mobile/StartPage.qml
@@ -98,9 +98,9 @@ Item {
 
                     ImageButton {
                         id: nrfPairButton
-
+                        visible: !nrfPair.visible
                         Layout.fillWidth: true
-                         Layout.fillHeight: true
+                        Layout.fillHeight: true
                         Layout.preferredWidth: 500
                         Layout.preferredHeight: 80
 
@@ -365,16 +365,6 @@ Item {
         id: wizardIMU
     }
 
-    Connections {
-        target: mCommands
-
-        function onNrfPairingRes(res) {
-            if (res !== 0) {
-                nrfPairButton.visible = true
-            }
-        }
-    }
-
     Connections {
         target: VescIf
         function onPortConnectedChanged() {
@@ -441,7 +431,6 @@ Item {
 
         onAccepted: {
             nrfPair.visible = true
-            nrfPairButton.visible = false
             nrfPair.startPairing()
         }
     }

From 229c4bc81fdc9abe10402b595546777e0b892153 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 12 Nov 2022 14:17:25 +0100
Subject: [PATCH 282/559] Updated pairing messages

---
 mobile/NrfPair.qml | 16 +++++++++-------
 1 file changed, 9 insertions(+), 7 deletions(-)

diff --git a/mobile/NrfPair.qml b/mobile/NrfPair.qml
index cc61e5d50..56d8be9e2 100644
--- a/mobile/NrfPair.qml
+++ b/mobile/NrfPair.qml
@@ -135,8 +135,10 @@ Item {
                 }
 
                 VescIf.emitMessageDialog(
-                            "NRF Pairing",
-                            "No response received",
+                            "VESC Remote Pairing",
+                            "No response received. This most likely means that the " +
+                            "hardware you are using us not capable of VESC Remote pairing " +
+                            "or that something is not plugged in properly.",
                             true, false)
             }
         }
@@ -156,9 +158,9 @@ Item {
                 pairCnt = 0.0
                 cntBar.value = 0
                 pairOngoing = false
-                VescIf.emitStatusMessage("Pairing NRF Sucessful", true)
+                VescIf.emitStatusMessage("Pairing Sucessful", true)
                 VescIf.emitMessageDialog(
-                            "NRF Pairing",
+                            "VESC Remote Pairing",
                             "Pairing was successful.",
                             true, false)
                 break;
@@ -170,11 +172,11 @@ Item {
                 pairOngoing = false
                 VescIf.emitStatusMessage("Pairing NRF Timed Out", false)
                 VescIf.emitMessageDialog(
-                            "NRF Pairing",
-                            "Pairing timed out. Make sure to put your device (e.g. NRF nunchuk) " +
+                            "VESC Remote Pairing",
+                            "Pairing timed out. Make sure to put your device (e.g. VESC Wand) " +
                             "in pairing mode before the time runs out." +
                             "<br><br>" +
-                            "To put the NRF nunchuk in " +
+                            "To put a VESC-compatible Remote in " +
                             "pairing mode, just switch it on using any of the buttons. Then it " +
                             "will enter pairing mode if it was switched off previously.",
                             false, false)

From ef5f6c278f13179bcc95463f6c09e6698ee1b7e2 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 12 Nov 2022 14:28:46 +0100
Subject: [PATCH 283/559] Few more tweaks

---
 mobile/NrfPair.qml | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/mobile/NrfPair.qml b/mobile/NrfPair.qml
index 56d8be9e2..f430694a3 100644
--- a/mobile/NrfPair.qml
+++ b/mobile/NrfPair.qml
@@ -36,6 +36,7 @@ Item {
         cntBar.value = 1
         startButton.enabled = false
         pairOngoing = true
+        afterPairTimer.stop()
     }
 
     property real pairCnt: 0.0
@@ -115,7 +116,7 @@ Item {
                 cntBar.value = pairCnt / timeBox.realValue
             } else {
                 if (hideAfterPair && visible) {
-                    afterPairTimer.start()
+                    afterPairTimer.restart()
                 }
             }
         }
@@ -137,7 +138,7 @@ Item {
                 VescIf.emitMessageDialog(
                             "VESC Remote Pairing",
                             "No response received. This most likely means that the " +
-                            "hardware you are using us not capable of VESC Remote pairing " +
+                            "hardware you are using is not capable of VESC Remote pairing " +
                             "or that something is not plugged in properly.",
                             true, false)
             }

From bb102945ca73856474970298e16bc8edd32339d5 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 12 Nov 2022 14:32:28 +0100
Subject: [PATCH 284/559] Few more tweaks

---
 mobile/NrfPair.qml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/mobile/NrfPair.qml b/mobile/NrfPair.qml
index f430694a3..6a7e7b89a 100644
--- a/mobile/NrfPair.qml
+++ b/mobile/NrfPair.qml
@@ -115,8 +115,8 @@ Item {
 
                 cntBar.value = pairCnt / timeBox.realValue
             } else {
-                if (hideAfterPair && visible) {
-                    afterPairTimer.restart()
+                if (visible) {
+                    afterPairTimer.start()
                 }
             }
         }

From 7bce8a21891a2ed7a1779c13a1e4de0bd6d17c76 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 12 Nov 2022 21:26:04 +0100
Subject: [PATCH 285/559] Allow deleting esp directory

---
 pages/pageloganalysis.cpp | 30 ++++++++++++++++++------------
 1 file changed, 18 insertions(+), 12 deletions(-)

diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index 05f65d926..9544705c0 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -1527,20 +1527,26 @@ void PageLogAnalysis::on_vescLogDeleteButton_clicked()
         fe = items.first()->data(Qt::UserRole).value<FILE_LIST_ENTRY>();
     }
 
+    int ret = QMessageBox::Cancel;
     if (fe.isDir) {
-        mVesc->emitMessageDialog("Delete File", "Cannot delete directory, only files", false);
+        ret = QMessageBox::warning(this,
+                                   tr("Delete Directory"),
+                                   tr("This is going to delete %1 and its content permanently. Are you sure?").arg(fe.name),
+                                   QMessageBox::Yes | QMessageBox::Cancel);
     } else {
-        int ret = QMessageBox::warning(this,
-                                       tr("Delete File"),
-                                       tr("This is going to delete %1 permanently. Are you sure?").arg(fe.name),
-                                       QMessageBox::Yes | QMessageBox::Cancel);
-
-        if (ret == QMessageBox::Yes) {
-            bool ok = mVesc->commands()->fileBlockRemove(mVescLastPath + "/" + fe.name);
-            if (ok) {
-                on_vescLogListRefreshButton_clicked();
-                mVesc->emitStatusMessage("File deleted", true);
-            }
+        ret = QMessageBox::warning(this,
+                                   tr("Delete File"),
+                                   tr("This is going to delete %1 permanently. Are you sure?").arg(fe.name),
+                                   QMessageBox::Yes | QMessageBox::Cancel);
+    }
+
+    if (ret == QMessageBox::Yes) {
+        ui->vescLogTab->setEnabled(false);
+        bool ok = mVesc->commands()->fileBlockRemove(mVescLastPath + "/" + fe.name);
+        ui->vescLogTab->setEnabled(true);
+        if (ok) {
+            on_vescLogListRefreshButton_clicked();
+            mVesc->emitStatusMessage("File deleted", true);
         }
     }
 }

From 5a17f543a181fd809db3f20f57dbfe798ff825ca Mon Sep 17 00:00:00 2001
From: Mitch Lustig <Mitchlol@users.noreply.github.com>
Date: Sun, 13 Nov 2022 07:54:06 -0600
Subject: [PATCH 286/559] IMU Wizard bug fixes and visual improvements (#260)

---
 mobile/SetupWizardIMU.qml | 67 +++++++++++++++++++++------------------
 1 file changed, 37 insertions(+), 30 deletions(-)

diff --git a/mobile/SetupWizardIMU.qml b/mobile/SetupWizardIMU.qml
index 88cfbebdf..693925d6b 100644
--- a/mobile/SetupWizardIMU.qml
+++ b/mobile/SetupWizardIMU.qml
@@ -186,25 +186,27 @@ Item {
                         wrapMode: Text.Wrap
                         horizontalAlignment: Text.AlignHCenter
                         Layout.preferredWidth: parent.width
-                        text: "IMU Calibration wizard"
+                        text: "IMU Wizard"
                     }// Text
                     Text {
                         id: welcomeText2
                         color: Utility.getAppHexColor("lightText")
                         font.family: "DejaVu Sans Mono"
                         wrapMode: Text.Wrap
-                        font.pointSize: 10
+                        font.pointSize: 12
                         Layout.preferredWidth: parent.width
-                        text: (workingIMU) ? "Valid IMU detected." : "Unable to read from IMU, please check your IMU Settings."
+                        text: "Welcome to the IMU Wizard. This tool is split into tasks which help simplify IMU config and calibration. " +
+                              "They are intented to be ran sequentially, but can be run as one offs and in any order."
                     }
                     Text {
                         id: welcomeText3
                         color: Utility.getAppHexColor("lightText")
                         font.family: "DejaVu Sans Mono"
                         wrapMode: Text.Wrap
-                        font.pointSize: 10
+                        font.pointSize: 12
                         Layout.preferredWidth: parent.width
-                        text: "Choose a task:"
+                        visible: !workingIMU
+                        text: "We have detected that your IMU is <font color=\"#FF0000\">not working</font>. The IMU Configurator can help set it up."
                     }
                     Button {
                         id: configuratorButton
@@ -283,7 +285,7 @@ Item {
                         color: Utility.getAppHexColor("lightText")
                         font.family: "DejaVu Sans Mono"
                         wrapMode: Text.Wrap
-                        font.pointSize: 10
+                        font.pointSize: 12
                         Layout.preferredWidth: parent.width
                         text: "To find the gyroscope offsets, " +
                         "the IMU must be left in a stable position without any vibration. " +
@@ -326,7 +328,7 @@ Item {
                         id: accelXText2
                         color: Utility.getAppHexColor("lightText")
                         font.family: "DejaVu Sans Mono"
-                        font.pointSize: 10
+                        font.pointSize: 12
                         wrapMode: Text.Wrap
                         Layout.preferredWidth: parent.width
                         text: "To find the accelerometer offsets, " +
@@ -399,7 +401,7 @@ Item {
                         id: accelYText2
                         color: Utility.getAppHexColor("lightText")
                         font.family: "DejaVu Sans Mono"
-                        font.pointSize: 10
+                        font.pointSize: 12
                         wrapMode: Text.Wrap
                         Layout.preferredWidth: parent.width
                         text: "To find the accelerometer offsets, " +
@@ -472,7 +474,7 @@ Item {
                         id: accelZText2
                         color: Utility.getAppHexColor("lightText")
                         font.family: "DejaVu Sans Mono"
-                        font.pointSize: 10
+                        font.pointSize: 12
                         wrapMode: Text.Wrap
                         Layout.preferredWidth: parent.width
                         text: "To find the accelerometer offsets, " +
@@ -546,7 +548,7 @@ Item {
                         color: Utility.getAppHexColor("lightText")
                         font.family: "DejaVu Sans Mono"
                         wrapMode: Text.Wrap
-                        font.pointSize: 10
+                        font.pointSize: 12
                         Layout.preferredWidth: parent.width
                         text: "To calibrate the roll angle, " +
                         "place the IMU on a flat stable surface, " +
@@ -599,7 +601,7 @@ Item {
                         color: Utility.getAppHexColor("lightText")
                         font.family: "DejaVu Sans Mono"
                         wrapMode: Text.Wrap
-                        font.pointSize: 10
+                        font.pointSize: 12
                         Layout.preferredWidth: parent.width
                         text: "To calibrate the pitch angle, " +
                         "place the IMU on a flat stable surface, " +
@@ -651,11 +653,11 @@ Item {
                         color: Utility.getAppHexColor("lightText")
                         font.family: "DejaVu Sans Mono"
                         wrapMode: Text.Wrap
-                        font.pointSize: 10
+                        font.pointSize: 12
                         Layout.preferredWidth: parent.width
                         text: "To calculate the yaw orientation, " +
                         "place the IMU on a stable surface, " +
-                        "with roll angle leveled out, and the pitch angle raised to roughly 45 degrees.\n\n" +
+                        "with roll angle leveled out, and the <b>pitch angle raised to roughly <font color=\"#FF0000\">45 degrees</font></b>.<br><br>" +
                         "Wait for the offset to stabilize then hit 'SAVE'."
                     }// Text
                     Text {
@@ -696,33 +698,32 @@ Item {
                         wrapMode: Text.Wrap
                         horizontalAlignment: Text.AlignHCenter
                         Layout.preferredWidth: parent.width
-                        text: "IMU Configurator"
+                        text: "IMU Detector"
                     }// Text
                     Text {
                         id: configuratorText2
                         color: Utility.getAppHexColor("lightText")
                         font.family: "DejaVu Sans Mono"
                         wrapMode: Text.Wrap
-                        font.pointSize: 10
                         Layout.preferredWidth: parent.width
-                        text: "First make sure you have an IMU, if IMU is not detected press \"Search for IMU\". " +
-                        "IMU Type of \"Off\" means IMU is not connected (properly). " +
-                        "If IMU Detected is true but then becomes \"false\" after searching, the configured app has a conflicting comm port use."
+                        text: "IMU Detected: " + (workingIMU ? "<font color=\"#00FF00\">True</font>" : "<font color=\"#FF0000\">False</font>") + "<br>" +
+                        "IMU Type: " + imuString
                     }// Text
                     Text {
                         id: configuratorText3
                         color: Utility.getAppHexColor("lightText")
                         font.family: "DejaVu Sans Mono"
                         wrapMode: Text.Wrap
+                        font.pointSize: 10
                         Layout.preferredWidth: parent.width
-                        text: "IMU Detected: " + (workingIMU ? "true" : "false") + "\n" +
-                        "IMU Type: " + imuString
+                        text: "After searching, IMU Type of \"Off\" indicates your IMU is not connected (properly). " +
+                        "If IMU Detected is \"true\" but changes to \"false\" after searching, the configured app has a conflicting comm port use."
                     }// Text
                     Button {
                         id: searchIMUButton
                         Layout.fillWidth: true
                         text: "Search for IMU"
-                        flat: true
+                        flat: false
 
                         onClicked: {
                             searchIMUButton.enabled = false
@@ -798,15 +799,21 @@ Item {
                             })
                         }
                     }// Button
+                    ToolSeparator {
+                        Layout.preferredWidth: parent.width
+                        orientation: Qt.Horizontal
+                    }
                     Text {
                         id: configuratorText4
                         color: Utility.getAppHexColor("lightText")
                         font.family: "DejaVu Sans Mono"
+                        font.bold: true
+                        font.underline: true
+                        font.pointSize: 20
                         wrapMode: Text.Wrap
-                        font.pointSize: 10
+                        horizontalAlignment: Text.AlignHCenter
                         Layout.preferredWidth: parent.width
-                        text:
-                            "Next, select the intended IMU use:"
+                        text: "IMU Profile Selector"
                     }// Text
                     GridLayout {
                         columns: 2
@@ -1174,7 +1181,7 @@ Item {
                 imuType = 3
             }else if(internalTypeString === "BMI160"){
                 imuType = 4
-            }else if(internalTypeString === "LSM6DS2"){
+            }else if(internalTypeString === "LSM6DS3"){
                 imuType = 5
             }
         }else if(imuType === 2){ //MPU6050
@@ -1189,14 +1196,14 @@ Item {
     }
 
     function getAHRS(){
-        imuType = mAppConf.getParamEnum("imu_conf.mode")
-        if(imuType === 0){
+        var imuMode = mAppConf.getParamEnum("imu_conf.mode")
+        if(imuMode === 0){
             return "Madgwick"
-        }else if(imuType === 1){
+        }else if(imuMode === 1){
             return "Mahony"
-        }else if(imuType === 2){
+        }else if(imuMode === 2){
             return "Madgwick Fusion"
-        }else if(imuType === 3){
+        }else if(imuMode === 3){
             return "Unknown"
         }
     }

From 43171a97f6a590103cbade272cc31f0df2f06df7 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 13 Nov 2022 14:58:23 +0100
Subject: [PATCH 287/559] Added qml keywords

---
 QCodeEditor/resources/languages/qml.xml     | 1 +
 QCodeEditor/src/internal/QVescCompleter.cpp | 1 +
 2 files changed, 2 insertions(+)

diff --git a/QCodeEditor/resources/languages/qml.xml b/QCodeEditor/resources/languages/qml.xml
index 990ecf82b..653962379 100644
--- a/QCodeEditor/resources/languages/qml.xml
+++ b/QCodeEditor/resources/languages/qml.xml
@@ -100,6 +100,7 @@
         <name>SwipeView</name>
         <name>Page</name>
         <name>CheckBox</name>
+        <name>SpinBox</name>
         <name>DoubleSpinBox</name>
         <name>Slider</name>
         <name>PageIndicator</name>
diff --git a/QCodeEditor/src/internal/QVescCompleter.cpp b/QCodeEditor/src/internal/QVescCompleter.cpp
index 2617baab0..cfac6f2cd 100644
--- a/QCodeEditor/src/internal/QVescCompleter.cpp
+++ b/QCodeEditor/src/internal/QVescCompleter.cpp
@@ -261,6 +261,7 @@ QVescCompleter::QVescCompleter(QObject *parent) :
         addItem("bottomMargin: ");
         addItem("preferredWidth: ");
         addItem("preferredHeight: ");
+        addItem("columnSpan: ");
         level--;
     }
 

From ec30379209c7c8ec9e1e505085434d3ed8b9e70a Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 13 Nov 2022 23:25:15 +0100
Subject: [PATCH 288/559] Simplified log example

---
 res/Lisp/Examples/log_can.lisp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/res/Lisp/Examples/log_can.lisp b/res/Lisp/Examples/log_can.lisp
index 605fef1d1..1fda25b5c 100644
--- a/res/Lisp/Examples/log_can.lisp
+++ b/res/Lisp/Examples/log_can.lisp
@@ -92,8 +92,8 @@
     (progn
         (log-send-f32 esp-can-id 0
             (map
-                (fn (x) (eval (ix (ix loglist x) -1)))
-                (range (length loglist))
+                (fn (x) (eval (ix x -1)))
+                loglist
             )
         )
         (sleep (/ 1.0 rate-hz))

From 17718ba1d6e6bfa0825ecedf23eebb3bcc3bc941 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 14 Nov 2022 10:29:39 +0100
Subject: [PATCH 289/559] Added self keyword

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index fac6acdf3..109bac2c0 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -95,6 +95,7 @@
 <name>spawn</name>
 <name>spawn-trap</name>
 <name>wait</name>
+<name>self</name>
 <name>exit-ok</name>
 <name>exit-error</name>
 <name>recv</name>

From eb2f356c575726bf386028449f4671bfda2a2719 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 14 Nov 2022 12:48:45 +0100
Subject: [PATCH 290/559] Added more keywords

---
 QCodeEditor/resources/languages/lisp.xml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 109bac2c0..ef050bb71 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -209,6 +209,10 @@
 <name>get-dist-abs</name>
 <name>get-batt</name>
 <name>get-fault</name>
+<name>get-ah</name>
+<name>get-wh</name>
+<name>get-ah-chg</name>
+<name>get-wh-chg</name>
 <name>canset-current</name>
 <name>canset-current-rel</name>
 <name>canset-duty</name>

From 42ff45a90ff1de2722d5c1f8e48a8fe81632eb3d Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 15 Nov 2022 10:00:48 +0100
Subject: [PATCH 291/559] Better builtin usb-serial detection for esp32

---
 esp32/esp32flash.cpp | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/esp32/esp32flash.cpp b/esp32/esp32flash.cpp
index 16e5a3219..5c833c1a0 100644
--- a/esp32/esp32flash.cpp
+++ b/esp32/esp32flash.cpp
@@ -330,8 +330,16 @@ void loader_port_enter_bootloader(void)
 
     auto port = QSerialPortInfo(sPort->portName());
 
-    if (port.productIdentifier() == 0x1001) {
+    bool isBuiltin = false;
+    if (port.hasProductIdentifier()) {
+        isBuiltin = port.productIdentifier() == 0x1001;
+    } else {
+        isBuiltin = port.manufacturer().startsWith("Espressif", Qt::CaseInsensitive);
+    }
+
+    if (isBuiltin) {
         // The built in USB requires a different sequence
+        qDebug() << "Using builtin USB-serial";
         setRts(false);
         setDtr(false);
         Utility::sleepWithEventLoop(100);
@@ -345,6 +353,7 @@ void loader_port_enter_bootloader(void)
         setDtr(false);
         setRts(false);
     } else {
+        qDebug() << "Using external USB-serial";
         setDtr(false);
         setRts(true);
         Utility::sleepWithEventLoop(100);

From 9b50f896a976dec38538ceef9f8d441139a534c4 Mon Sep 17 00:00:00 2001
From: Mitch Lustig <Mitchlol@users.noreply.github.com>
Date: Tue, 15 Nov 2022 03:56:38 -0600
Subject: [PATCH 292/559] Gyro Lowpass Filter (#261)

---
 res/config/6.00/parameters_appconf.xml | 28 ++++++++++++++++++++++++++
 1 file changed, 28 insertions(+)

diff --git a/res/config/6.00/parameters_appconf.xml b/res/config/6.00/parameters_appconf.xml
index 3526ccc5a..efbd428f0 100644
--- a/res/config/6.00/parameters_appconf.xml
+++ b/res/config/6.00/parameters_appconf.xml
@@ -3797,6 +3797,32 @@ p, li { white-space: pre-wrap; }
             <suffix> Hz</suffix>
             <vTx>7</vTx>
         </imu_conf.accel_lowpass_filter_z>
+        <imu_conf.gyro_lowpass_filter>
+            <longName>Gyro lowpass filter</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Gyrosocpe lowpass filter&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Biquad lowpass filter applied to all 3 axes of the gyroscope. This is run on the ESC and will be applied regardless of IMU model.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Setting the filter to 0Hz will disable it.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_GYRO_LOWPASS_FILTER</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> Hz</suffix>
+            <vTx>7</vTx>
+        </imu_conf.gyro_lowpass_filter>
         <imu_conf.sample_rate_hz>
             <longName>Sample Rate</longName>
             <type>2</type>
@@ -4288,6 +4314,7 @@ p, li { white-space: pre-wrap; }
         <ser>imu_conf.accel_lowpass_filter_x</ser>
         <ser>imu_conf.accel_lowpass_filter_y</ser>
         <ser>imu_conf.accel_lowpass_filter_z</ser>
+        <ser>imu_conf.gyro_lowpass_filter</ser>
         <ser>imu_conf.sample_rate_hz</ser>
         <ser>imu_conf.use_magnetometer</ser>
         <ser>imu_conf.accel_confidence_decay</ser>
@@ -4608,6 +4635,7 @@ p, li { white-space: pre-wrap; }
                     <param>imu_conf.accel_lowpass_filter_x</param>
                     <param>imu_conf.accel_lowpass_filter_y</param>
                     <param>imu_conf.accel_lowpass_filter_z</param>
+                    <param>imu_conf.gyro_lowpass_filter</param>
                     <param>::sep::AHRS</param>
                     <param>imu_conf.mode</param>
                     <param>imu_conf.accel_confidence_decay</param>

From c4a210c33d9d6c557a4da17e64abd7e46dee2a46 Mon Sep 17 00:00:00 2001
From: Teslafly <2079881+Teslafly@users.noreply.github.com>
Date: Wed, 16 Nov 2022 03:10:38 -0600
Subject: [PATCH 293/559] add tle5012 mcconf options and description (#262)

---
 res/config/6.00/parameters_mcconf.xml | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index 2c5d47eb4..048d67d5c 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -3502,7 +3502,11 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A magnetic encoder using a high speed SPI communication. Provides absolute position from start. It has to be connected to a hardware-based SPI peripheral.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;BISSC Encoder&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This encoder uses  RS422, so it has to be connected to the COMM port for high speed communication. A RS422-transceiver such as the MAX490 is required, where CLK and MISO are used as clock and data input lines. To use this encoder, you have to make sure that no app uses UART or ADC1. The ABI resolution field is used to set the BISSC encoder accuracy: 2^(BissC Resolution)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This encoder uses  RS422, so it has to be connected to the COMM port for high speed communication. A RS422-transceiver such as the MAX490 is required, where CLK and MISO are used as clock and data input lines. To use this encoder, you have to make sure that no app uses UART or ADC1. The ABI resolution field is used to set the BISSC encoder accuracy: 2^(BissC Resolution)&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TLE5104 Encoder&lt;/span&gt; &lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A magnetic encoder using the bidirectional SSC protocol. Provides absolute position from start and error protected communication. Currently both “SSC SW” and “SSC HW” use software bitbanging. “SSC SW” uses the hall connector pins which must not have filters. “SSC HW” uses the 7-8 pin adc/uart connector. Recommend 5v sensor power.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Wires must be shielded and/or run together or you will get communication errors.&lt;br /&gt;&lt;br /&gt;“SSC SW” Connections: H1 = SCK, H2 = DATA , H3 = CS &lt;br /&gt;“SSC HW” Connections: ADC1 = SCK, TX = DATA , NSS = CS &lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_M_SENSOR_PORT_MODE</cDefine>
             <valInt>0</valInt>
             <enumNames>Hall Sensors</enumNames>
@@ -3515,6 +3519,8 @@ p, li { white-space: pre-wrap; }
             <enumNames>MT6816 Encoder (SPI)</enumNames>
             <enumNames>AS5X47U Encoder (SPI)</enumNames>
             <enumNames>BISSC Encoder (SPI)</enumNames>
+            <enumNames>TLE5012 Encoder (SSC SW)</enumNames>
+            <enumNames>TLE5012 Encoder (SSC HW)</enumNames>
         </m_sensor_port_mode>
         <m_invert_direction>
             <longName>Invert Motor Direction</longName>

From 8476eef4d426695cca54a3b28d9c456bb9fd2e5e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 16 Nov 2022 11:45:28 +0100
Subject: [PATCH 294/559] More keywords

---
 QCodeEditor/resources/languages/lisp.xml | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index ef050bb71..3d8f030c5 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -182,6 +182,7 @@
 <name>app-ppm-override</name>
 <name>set-remote-state</name>
 <name>app-disable-output</name>
+<name>app-pas-get-rpm</name>
 <name>set-current</name>
 <name>set-current-rel</name>
 <name>set-duty</name>
@@ -213,6 +214,13 @@
 <name>get-wh</name>
 <name>get-ah-chg</name>
 <name>get-wh-chg</name>
+<name>setup-ah</name>
+<name>setup-wh</name>
+<name>setup-ah-chg</name>
+<name>setup-wh-chg</name>
+<name>setup-current</name>
+<name>setup-current-in</name>
+<name>setup-num-vescs</name>
 <name>canset-current</name>
 <name>canset-current-rel</name>
 <name>canset-duty</name>

From 7e15da5d3f2a35f706bc545d8472be8c55e03f8f Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 16 Nov 2022 13:47:00 +0100
Subject: [PATCH 295/559] Allow more sin/cos gain adjustment

---
 res/config/6.00/parameters_mcconf.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index 048d67d5c..91d0839d6 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -1169,7 +1169,7 @@ p, li { white-space: pre-wrap; }
             <editorDecimalsDouble>2</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
-            <maxDouble>2</maxDouble>
+            <maxDouble>3</maxDouble>
             <minDouble>0</minDouble>
             <showDisplay>0</showDisplay>
             <stepDouble>0.01</stepDouble>
@@ -1191,7 +1191,7 @@ p, li { white-space: pre-wrap; }
             <editorDecimalsDouble>2</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
-            <maxDouble>2</maxDouble>
+            <maxDouble>3</maxDouble>
             <minDouble>0</minDouble>
             <showDisplay>0</showDisplay>
             <stepDouble>0.01</stepDouble>

From fb43506d75ba152bfb9333d2526a09007ace5fd0 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 16 Nov 2022 14:51:40 +0100
Subject: [PATCH 296/559] Added sin/cos calibration example

---
 res/Lisp/Examples/encoder_sincos_cal.lisp | 67 +++++++++++++++++++++++
 res_lisp.qrc                              |  1 +
 2 files changed, 68 insertions(+)
 create mode 100644 res/Lisp/Examples/encoder_sincos_cal.lisp

diff --git a/res/Lisp/Examples/encoder_sincos_cal.lisp b/res/Lisp/Examples/encoder_sincos_cal.lisp
new file mode 100644
index 000000000..128cb0e29
--- /dev/null
+++ b/res/Lisp/Examples/encoder_sincos_cal.lisp
@@ -0,0 +1,67 @@
+; Sin/Cos Encoder calibration helper.
+
+; How to use
+; 1. Spin the motor slowly until s-min, s-max, c-min and c-max don't change any more
+; 2. The gains and offsets are now in s-gain, s-ofs, c-gain and c-ofs
+; 3. Go to FOC->Encoder and enter the calculated gains and offsets
+
+(def raw-sin (get-adc 0))
+(def raw-cos (get-adc 1))
+
+(def out-sin 0.0)
+(def out-cos 0.0)
+(def out-mod 0.0)
+
+(def s-gain 1.0)
+(def c-gain 1.0)
+
+(def s-ofs 1.65)
+(def c-ofs 1.65)
+
+(defun reset-max-min ()
+    (progn
+        (def s-max 0.0)
+        (def s-min 5.0)
+        (def c-max 0.0)
+        (def c-min 5.0)
+))
+
+(reset-max-min)
+
+(defun calc-gain-ofs (print-res)
+    (progn
+        (def s-ofs (/ (+ s-max s-min) 2.0))
+        (def c-ofs (/ (+ c-max c-min) 2.0))
+        (def s-gain (* 2.0 (/ 1.0 (- s-max s-min))))
+        (def c-gain (* 2.0 (/ 1.0 (- c-max c-min))))
+        (if print-res
+            (progn
+                (print (str-merge (str-from-n s-gain "Sin Gain: %.2f ") (str-from-n s-ofs "Sin Offset: %.2f ")))
+                (print (str-merge (str-from-n c-gain "Cos Gain: %.2f ") (str-from-n c-ofs "Cos Offset: %.2f ")))
+))))
+
+(def filter-const 0.1)
+(defun lpf (val sample)
+    (- val (* filter-const (- val sample)))
+)
+
+(loopwhile t
+    (progn
+        (def raw-sin (lpf raw-sin (get-adc 0)))
+        (def raw-cos (lpf raw-cos (get-adc 1)))
+        
+        (if (> raw-sin s-max) (def s-max raw-sin))
+        (if (< raw-sin s-min) (def s-min raw-sin))
+        (if (> raw-cos c-max) (def c-max raw-cos))
+        (if (< raw-cos c-min) (def c-min raw-cos))
+        
+        (def out-sin (* (- raw-sin s-ofs) s-gain))
+        (def out-cos (* (- raw-cos c-ofs) c-gain))
+        (def out-mod (sqrt (+ (* out-sin out-sin) (* out-cos out-cos))))
+        
+        (if (and (> (- s-max s-min) 0.1) (> (- c-max c-min) 0.1))
+            (calc-gain-ofs false)
+        )
+
+        (sleep 0.01)
+))
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 15b2d0cfa..21faba301 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -35,5 +35,6 @@
         <file>res/Lisp/Examples/plot_vesc_tool.lisp</file>
         <file>res/Lisp/Examples/log_can.lisp</file>
         <file>res/Lisp/Examples/crc16.lisp</file>
+        <file>res/Lisp/Examples/encoder_sincos_cal.lisp</file>
     </qresource>
 </RCC>

From 087bda896f5b7ad0132d34b2d80466642fc695ab Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 16 Nov 2022 18:37:35 +0100
Subject: [PATCH 297/559] More keywords

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 3d8f030c5..b4506ca09 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -347,6 +347,7 @@
 <name>str-cmp-asc</name>
 <name>str-cmp-dsc</name>
 <name>to-str</name>
+<name>to-str-delim</name>
 <name>second</name>
 <name>third</name>
 <name>abs</name>

From 85eada9a69810f7618b26a7d2572ed92ced5c25e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 16 Nov 2022 18:57:00 +0100
Subject: [PATCH 298/559] Added extension test example

---
 res/Lisp/Examples/test_extensions.lisp | 247 +++++++++++++++++++++++++
 res_lisp.qrc                           |   1 +
 2 files changed, 248 insertions(+)
 create mode 100644 res/Lisp/Examples/test_extensions.lisp

diff --git a/res/Lisp/Examples/test_extensions.lisp b/res/Lisp/Examples/test_extensions.lisp
new file mode 100644
index 000000000..968206477
--- /dev/null
+++ b/res/Lisp/Examples/test_extensions.lisp
@@ -0,0 +1,247 @@
+; Basic sanity-check of most extensions
+
+(def is-float  '(eq (type-of res) type-float))
+(def is-i      '(eq (type-of res) type-i))
+(def is-list   '(or (eq res nil) (eq (type-of res) type-list)))
+(def is-array  '(eq (type-of res) type-array))
+(def is-symbol '(eq (type-of res) type-symbol))
+(def is-true   '(eq res true))
+
+; The first element in each row is an expression that is evaluated to res. The second
+; element is an expression that can use res and must evaluate to true for the test to pass.
+(define test-cmds '(
+        ((timeout-reset)                             is-true)
+        ((get-ppm)                                   is-float)
+        ((get-ppm-age)                               is-float)
+        ((get-encoder)                               is-float)
+        ((set-servo 0)                               is-true)
+        ((get-vin)                                   is-float)
+        ((select-motor 1)                            is-true)
+        ((get-selected-motor)                        (= res 1))
+        ((get-bms-val 'bms-v-tot)                    is-float)
+        ((get-bms-val 'bms-v-charge)                 is-float)
+        ((get-bms-val 'bms-i-in-ic)                  is-float)
+        ((get-bms-val 'bms-ah-cnt)                   is-float)
+        ((get-bms-val 'bms-wh-cnt)                   is-float)
+        ((get-bms-val 'bms-cell-num)                 is-i)
+        ((get-bms-val 'bms-temp-adc-num)             is-i)
+        ((get-bms-val 'bms-temp-ic)                  is-float)
+        ((get-bms-val 'bms-temp-hum)                 is-float)
+        ((get-bms-val 'bms-hum)                      is-float)
+        ((get-bms-val 'bms-temp-cell-max)            is-float)
+        ((get-bms-val 'bms-soc)                      is-float)
+        ((get-bms-val 'bms-can-id)                   is-i)
+        ((get-bms-val 'bms-ah-cnt-chg-total)         is-float)
+        ((get-bms-val 'bms-wh-cnt-chg-total)         is-float)
+        ((get-bms-val 'bms-ah-cnt-dis-total)         is-float)
+        ((get-bms-val 'bms-wh-cnt-dis-total)         is-float)
+        ((get-bms-val 'bms-msg-age)                  is-float)
+        ((get-adc 0)                                 is-float)
+        ((get-adc 1)                                 is-float)
+        ((get-adc 2)                                 is-float)
+        ((get-adc-decoded 0)                         is-float)
+        ((get-adc-decoded 1)                         is-float)
+        ((systime)                                   (eq (type-of res) type-u32))
+        ((secs-since 0)                              is-float)
+        ((set-aux 1 0)                               is-true)
+        ((set-aux 2 0)                               is-true)
+        ((get-imu-rpy)                               is-list)
+        ((get-imu-quat)                              is-list)
+        ((get-imu-acc)                               is-list)
+        ((get-imu-gyro)                              is-list)
+        ((get-imu-mag)                               is-list)
+        ((get-imu-acc-derot)                         is-list)
+        ((get-imu-gyro-derot)                        is-list)
+        ((send-data '(1 2 3))                        is-true)
+        ((send-data "Hello")                         is-true)
+        ((sleep 0.01)                                is-true)
+        ((get-remote-state)                          is-list)
+        ((sysinfo 'hw-name)                          is-array)
+        ((sysinfo 'fw-ver)                           is-list)
+        ((sysinfo 'has-phase-filters)                is-symbol)
+        ((sysinfo 'uuid)                             is-list)
+        ((sysinfo 'runtime)                          (eq (type-of res) type-u64))
+        ((sysinfo 'git-branch)                       is-array)
+        ((sysinfo 'git-hash)                        is-array)
+        ((sysinfo 'compiler)                         is-array)
+        ((app-adc-detach 0 0)                        is-true)
+        ((app-adc-override 0 0.0)                    is-true)
+        ((app-ppm-detach 0)                          is-true)
+        ((app-ppm-override 0.0)                      is-true)
+        ((set-remote-state 0 0 0 0 0)                is-true)
+        ((app-disable-output 0)                      is-true)
+        ((app-pas-get-rpm)                           is-float)
+        ((set-current 0.0)                           is-true)
+        ((set-current 0.0 0.0)                       is-true)
+        ((set-current-rel 0.0)                       is-true)
+        ((set-duty 0.0)                              is-true)
+        ((set-brake 0.0)                             is-true)
+        ((set-brake-rel 0.0)                         is-true)
+        ((set-handbrake 0.0)                         is-true)
+        ((set-handbrake-rel 0.0)                     is-true)
+        ((set-rpm 0.0)                               is-true)
+        ((set-pos 0.0)                               is-true)
+        ((foc-openloop 0.0 0.0)                      is-true)
+        ((foc-beep 4000.0 0 0)                       is-true)
+        ((get-current)                               is-float)
+        ((get-current-dir)                           is-float)
+        ((get-current-in)                            is-float)
+        ((get-id)                                    is-float)
+        ((get-iq)                                    is-float)
+        ((get-vd)                                    is-float)
+        ((get-vq)                                    is-float)
+        ((get-duty)                                  is-float)
+        ((get-rpm)                                   is-float)
+        ((get-temp-fet)                              is-float)
+        ((get-temp-fet 1)                            is-float)
+        ((get-temp-fet 2)                            is-float)
+        ((get-temp-fet 3)                            is-float)
+        ((get-temp-mot)                              is-float)
+        ((get-speed)                                 is-float)
+        ((get-dist)                                  is-float)
+        ((get-dist-abs)                              is-float)
+        ((get-batt)                                  is-float)
+        ((get-fault)                                 is-i)
+        ((get-ah)                                    is-float)
+        ((get-wh)                                    is-float)
+        ((get-ah-chg)                                is-float)
+        ((get-wh-chg)                                is-float)
+        ((setup-ah)                                  is-float)
+        ((setup-wh)                                  is-float)
+        ((setup-ah-chg)                              is-float)
+        ((setup-wh-chg)                              is-float)
+        ((setup-current)                             is-float)
+        ((setup-current-in)                          is-float)
+        ((setup-num-vescs)                           is-i)
+        ((canset-current 0 0 0)                      is-true)
+        ((canset-current-rel 0 0)                    is-true)
+        ((canset-current-rel 0 0 0)                  is-true)
+        ((canset-duty 0 0)                           is-true)
+        ((canset-brake 0 0)                          is-true)
+        ((canset-brake-rel 0 0)                      is-true)
+        ((canset-rpm 0 0)                            is-true)
+        ((canset-pos 0 0)                            is-true)
+        ((canset-current 0 0)                        is-true)
+        ((canget-current 0)                          is-float)
+        ((canget-current-dir 0)                      is-float)
+        ((canget-current-in 0)                       is-float)
+        ((canget-duty 0)                             is-float)
+        ((canget-rpm 0)                              is-float)
+        ((canget-temp-fet 0)                         is-float)
+        ((canget-temp-motor 0)                       is-float)
+        ((canget-speed 0)                            is-float)
+        ((canget-dist 0)                             is-float)
+        ((canget-ppm 0)                              is-float)
+        ((canget-adc 0)                              is-float)
+        ((canget-adc 1)                              is-float)
+        ((can-list-devs)                             is-list)
+        ((can-send-sid 0 0)                          is-true)
+        ((can-send-eid 0 0)                          is-true)
+        ((sin 2.1252)                                is-float)
+        ((cos 2.1252)                                is-float)
+        ((tan 2.1252)                                is-float)
+        ((asin 0.1252)                               is-float)
+        ((acos 0.1252)                               is-float)
+        ((atan 0.1252)                               is-float)
+        ((atan2 0.1252 0.2)                          is-float)
+        ((pow 0.1252 1.1)                            is-float)
+        ((sqrt 0.1252)                               is-float)
+        ((log 0.1252)                                is-float)
+        ((log10 0.1252)                              is-float)
+        ((deg2rad 0.1252)                            is-float)
+        ((rad2deg 0.1252)                            is-float)
+        ((vec3-rot 1 2 3 4 5 6)                      is-list)
+        ((vec3-rot 1 2 3 4 5 6 1)                    is-list)
+        ((abs -0.1252)                               is-float)
+        ((abs -3)                                    (eq res 3))
+        ((throttle-curve 0.2 0.9 0.6 2)              is-float)
+        ((bits-enc-int 0 3 1 1)                      (= res 8))
+        ((bits-dec-int 6 1 2)                        (= res 3))
+        ((raw-adc-current 1 2)                       is-float)
+        ((raw-adc-current 1 2 1)                     is-float)
+        ((raw-adc-voltage 1 2)                       is-float)
+        ((raw-adc-voltage 1 2 1)                     is-float)
+        ((raw-mod-alpha)                             is-float)
+        ((raw-mod-beta)                              is-float)
+        ((raw-mod-alpha-measured)                    is-float)
+        ((raw-mod-beta-measured)                     is-float)
+        ((raw-hall 1)                                is-list)
+        ((raw-hall 1 5)                              is-list)
+        ((uart-start 115200)                         is-true)
+        ((uart-start 115200 'half-duplex)            is-true)
+        ((uart-write "abc")                          is-true)
+        ((i2c-start)                                 is-true)
+        ((i2c-start 'rate-400k)                      is-true)
+        ((i2c-start 'rate-400k 'pin-rx 'pin-tx)      is-true)
+        ((gpio-configure 'pin-rx 'pin-mode-in)       is-true)
+        ((gpio-write 'pin-rx 1)                      is-true)
+        ((conf-set 'max-speed (conf-get 'max-speed)) is-true)
+        ((conf-set-pid-offset 10 false)              is-true)
+        ((conf-measure-res 5)                        is-float)
+        ((conf-measure-res 5 50)                     is-float)
+        ((eeprom-store-f 2 2.2)                      is-true)
+        ((eeprom-read-f 2)                           is-float)
+        ((eeprom-store-i 2 15)                       is-true)
+        ((eeprom-read-i 2)                           (= res 15))
+        ((reverse '(1 2 3))                          (eq res '(3 2 1)))
+        ((length '(1 2))                             (= res 2))
+        ((str-from-n 14)                             (eq res "14"))
+        ((str-merge "a" "bC")                        (eq res "abC"))
+        ((str-to-i "187")                            (= res 187))
+        ((str-to-f "2.11")                           is-float)
+        ((str-part "Hello World!" 6)                 (eq res "World!"))
+        ((str-part "Hello World!" 6 2)               (eq res "Wo"))
+        ((str-split "1 2" " ")                       (eq res '("1" "2")))
+        ((str-replace "aBc" "B" "a")                 (eq res "aac"))
+        ((str-replace "aBc" "B")                     (eq res "ac"))
+        ((str-replace "aBc" "B")                     (eq res "ac"))
+        ((str-to-upper "TesTt")                      (eq res "TESTT"))
+        ((str-to-lower "TesTt")                      (eq res "testt"))
+        ((str-cmp "Hello" "World")                   (= res -15))
+        ((str-len "hello")                           (= res 5))
+        ((to-str '(1 2))                             (eq res "(1 2)"))
+        ((to-str-delim "q" '(1 2) 3)                 (eq res "(1 2)q3"))
+        ((buflen "aa")                               (= res 3))
+        ((uavcan-last-rawcmd 1)                      is-list)
+        ((plot-init "A" "B")                         is-true)
+        ((plot-add-graph "c")                        is-true)
+        ((plot-set-graph 0)                          is-true)
+        ((plot-send-points 1 2)                      is-true)
+        ((ioboard-get-adc 2 1)                       is-float)
+        ((ioboard-get-digital 2 1)                   is-i)
+        ((ioboard-set-digital 2 1 0)                 is-true)
+        ((ioboard-set-pwm 2 1 0.2)                   is-true)
+        ((log-stop 2)                                is-true)
+        ((log-send-f32 1 1 2 3)                      is-true)
+        ((log-send-f64 1 1 '(2 3) 4)                 is-true)
+        ((gnss-lat-lon)                              is-list)
+        ((gnss-height)                               is-float)
+        ((gnss-speed)                                is-float)
+        ((gnss-hdop)                                 is-float)
+        ((gnss-date-time)                            is-list)
+        ((gnss-age)                                  is-float)
+))
+
+(def test-res (loopforeach i test-cmds
+    (let (
+            (cmd (ix i 0))
+            (res-expr (ix i 1))
+            (res (eval cmd))
+            (ok (eval (eval res-expr)))
+        )
+        (if (eq ok true)
+            (progn
+                (print (str-merge "Testing " (to-str cmd) "... OK! Res: " (to-str res)))
+                true
+            )
+            (progn
+                (print (str-merge "Testing " (to-str cmd) "... Failed. Res: " (to-str res) " res-expr: " (to-str ok)))
+                (break false)
+            )
+        )
+)))
+
+(if test-res
+    (print "All tests passed!")
+    (print "One or more tests failed.")
+)
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 21faba301..fb04e3990 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -36,5 +36,6 @@
         <file>res/Lisp/Examples/log_can.lisp</file>
         <file>res/Lisp/Examples/crc16.lisp</file>
         <file>res/Lisp/Examples/encoder_sincos_cal.lisp</file>
+        <file>res/Lisp/Examples/test_extensions.lisp</file>
     </qresource>
 </RCC>

From 05a9289b4c08faa357c007ae871b7c93700309a1 Mon Sep 17 00:00:00 2001
From: Teslafly <2079881+Teslafly@users.noreply.github.com>
Date: Thu, 17 Nov 2022 02:11:45 -0600
Subject: [PATCH 299/559] fix tle5012 help title typo (#263)

---
 res/config/6.00/parameters_mcconf.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index 91d0839d6..ff499545d 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -3504,7 +3504,7 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;BISSC Encoder&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This encoder uses  RS422, so it has to be connected to the COMM port for high speed communication. A RS422-transceiver such as the MAX490 is required, where CLK and MISO are used as clock and data input lines. To use this encoder, you have to make sure that no app uses UART or ADC1. The ABI resolution field is used to set the BISSC encoder accuracy: 2^(BissC Resolution)&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TLE5104 Encoder&lt;/span&gt; &lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TLE5102 Encoder&lt;/span&gt; &lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A magnetic encoder using the bidirectional SSC protocol. Provides absolute position from start and error protected communication. Currently both “SSC SW” and “SSC HW” use software bitbanging. “SSC SW” uses the hall connector pins which must not have filters. “SSC HW” uses the 7-8 pin adc/uart connector. Recommend 5v sensor power.&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Wires must be shielded and/or run together or you will get communication errors.&lt;br /&gt;&lt;br /&gt;“SSC SW” Connections: H1 = SCK, H2 = DATA , H3 = CS &lt;br /&gt;“SSC HW” Connections: ADC1 = SCK, TX = DATA , NSS = CS &lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_M_SENSOR_PORT_MODE</cDefine>

From dfe0b009b72fda255a1b0bb56b71798b20c5bda7 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 17 Nov 2022 13:41:48 +0100
Subject: [PATCH 300/559] Added stat-keywords

---
 QCodeEditor/resources/languages/lisp.xml | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index b4506ca09..b073059ad 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -80,6 +80,17 @@
 <name>event-can-eid</name>
 <name>event-data-rx</name>
 <name>event-shutdown</name>
+<name>stat-speed-avg</name>
+<name>stat-speed-max</name>
+<name>stat-power-avg</name>
+<name>stat-power-max</name>
+<name>stat-current-avg</name>
+<name>stat-current-max</name>
+<name>stat-temp-mosfet-avg</name>
+<name>stat-temp-mosfet-max</name>
+<name>stat-temp-motor-avg</name>
+<name>stat-temp-motor-max</name>
+<name>stat-count-time</name>
 </section>
 
 <section name="Type">
@@ -175,6 +186,8 @@
 <name>eeprom-store-i</name>
 <name>eeprom-read-i</name>
 <name>sysinfo</name>
+<name>stats</name>
+<name>stats-reset</name>
 <name>import</name>
 <name>app-adc-detach</name>
 <name>app-adc-override</name>

From c9f2f4ad9f3d227020b2a2c9190f3b481270e79c Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 17 Nov 2022 19:40:27 +0100
Subject: [PATCH 301/559] Updated extension test with stats

---
 res/Lisp/Examples/test_extensions.lisp | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/res/Lisp/Examples/test_extensions.lisp b/res/Lisp/Examples/test_extensions.lisp
index 968206477..71b2e03c1 100644
--- a/res/Lisp/Examples/test_extensions.lisp
+++ b/res/Lisp/Examples/test_extensions.lisp
@@ -220,6 +220,18 @@
         ((gnss-hdop)                                 is-float)
         ((gnss-date-time)                            is-list)
         ((gnss-age)                                  is-float)
+        ((stats 'stat-speed-avg)                     is-float)
+        ((stats 'stat-speed-max)                     is-float)
+        ((stats 'stat-power-avg)                     is-float)
+        ((stats 'stat-power-max)                     is-float)
+        ((stats 'stat-current-avg)                   is-float)
+        ((stats 'stat-current-max)                   is-float)
+        ((stats 'stat-temp-mosfet-avg)               is-float)
+        ((stats 'stat-temp-mosfet-max)               is-float)
+        ((stats 'stat-temp-motor-avg)                is-float)
+        ((stats 'stat-temp-motor-max)                is-float)
+        ((stats 'stat-count-time)                    is-float)
+        ((stats-reset)                               is-true)
 ))
 
 (def test-res (loopforeach i test-cmds

From 317ad245d59a7111a0e9bbe1d5b51dbe0593ca46 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 17 Nov 2022 21:18:38 +0100
Subject: [PATCH 302/559] Added motor temp disable option

---
 res/config/6.00/parameters_mcconf.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index ff499545d..62461e5ef 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -3708,6 +3708,7 @@ p, li { white-space: pre-wrap; }
             <enumNames>NTC Custom</enumNames>
             <enumNames>PTC Custom</enumNames>
             <enumNames>PT1000</enumNames>
+            <enumNames>Disabled</enumNames>
         </m_motor_temp_sens_type>
         <m_ptc_motor_coeff>
             <longName>Coefficient for PTC Motor Thermistor</longName>

From d56e5d1f6b38a5d6649786c8587e9a9ea3f87ddc Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 17 Nov 2022 21:46:41 +0100
Subject: [PATCH 303/559] Added keyword

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index b073059ad..92eb6c39d 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -167,6 +167,7 @@
 <name>set-bms-val</name>
 <name>send-bms-can</name>
 <name>get-adc</name>
+<name>override-temp-motor</name>
 <name>get-adc-decoded</name>
 <name>secs-since</name>
 <name>set-aux</name>

From 02fe8405d0d435ffc4c2ec4de412c5895390f1fd Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 17 Nov 2022 21:47:04 +0100
Subject: [PATCH 304/559] Added temp override test

---
 res/Lisp/Examples/test_extensions.lisp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/res/Lisp/Examples/test_extensions.lisp b/res/Lisp/Examples/test_extensions.lisp
index 71b2e03c1..9ca08f9bd 100644
--- a/res/Lisp/Examples/test_extensions.lisp
+++ b/res/Lisp/Examples/test_extensions.lisp
@@ -232,6 +232,7 @@
         ((stats 'stat-temp-motor-max)                is-float)
         ((stats 'stat-count-time)                    is-float)
         ((stats-reset)                               is-true)
+        ((override-temp-motor 0.2)                   is-true)
 ))
 
 (def test-res (loopforeach i test-cmds

From 4694d3e2b772c9fe121611d7e546471d4f04ad79 Mon Sep 17 00:00:00 2001
From: surfdado <74502616+surfdado@users.noreply.github.com>
Date: Thu, 17 Nov 2022 23:31:19 -0800
Subject: [PATCH 305/559] Added Ctrl-Q shortcut to close/exit application
 (#264)

Signed-off-by: Dado Mista <dadomista@gmail.com>

Signed-off-by: Dado Mista <dadomista@gmail.com>
---
 mainwindow.ui | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/mainwindow.ui b/mainwindow.ui
index 719d2aae2..6cd013257 100644
--- a/mainwindow.ui
+++ b/mainwindow.ui
@@ -931,6 +931,9 @@
    <property name="text">
     <string>Exit</string>
    </property>
+   <property name="shortcut">
+    <string>Ctrl+Q</string>
+   </property>
   </action>
   <action name="actionAbout">
    <property name="icon">

From 1dba19f024344daaa1efb8284e5fab0e6f462448 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 18 Nov 2022 09:56:15 +0100
Subject: [PATCH 306/559] Use amplitude instead of gain setting for sin/cos
 encoder

---
 res/Lisp/Examples/encoder_sincos_cal.lisp | 24 ++++-----
 res/config/6.00/parameters_mcconf.xml     | 60 +++++++++++------------
 2 files changed, 42 insertions(+), 42 deletions(-)

diff --git a/res/Lisp/Examples/encoder_sincos_cal.lisp b/res/Lisp/Examples/encoder_sincos_cal.lisp
index 128cb0e29..f24346f74 100644
--- a/res/Lisp/Examples/encoder_sincos_cal.lisp
+++ b/res/Lisp/Examples/encoder_sincos_cal.lisp
@@ -2,8 +2,8 @@
 
 ; How to use
 ; 1. Spin the motor slowly until s-min, s-max, c-min and c-max don't change any more
-; 2. The gains and offsets are now in s-gain, s-ofs, c-gain and c-ofs
-; 3. Go to FOC->Encoder and enter the calculated gains and offsets
+; 2. The amplitudes and offsets are now in s-amp, s-ofs, c-amp and c-ofs
+; 3. Go to FOC->Encoder and enter the calculated amplitudes and offsets
 
 (def raw-sin (get-adc 0))
 (def raw-cos (get-adc 1))
@@ -12,8 +12,8 @@
 (def out-cos 0.0)
 (def out-mod 0.0)
 
-(def s-gain 1.0)
-(def c-gain 1.0)
+(def s-amp 1.0)
+(def c-amp 1.0)
 
 (def s-ofs 1.65)
 (def c-ofs 1.65)
@@ -28,16 +28,16 @@
 
 (reset-max-min)
 
-(defun calc-gain-ofs (print-res)
+(defun calc-amp-ofs (print-res)
     (progn
         (def s-ofs (/ (+ s-max s-min) 2.0))
         (def c-ofs (/ (+ c-max c-min) 2.0))
-        (def s-gain (* 2.0 (/ 1.0 (- s-max s-min))))
-        (def c-gain (* 2.0 (/ 1.0 (- c-max c-min))))
+        (def s-amp (/ (- s-max s-min) 2.0))
+        (def c-amp (/ (- c-max c-min) 2.0))
         (if print-res
             (progn
-                (print (str-merge (str-from-n s-gain "Sin Gain: %.2f ") (str-from-n s-ofs "Sin Offset: %.2f ")))
-                (print (str-merge (str-from-n c-gain "Cos Gain: %.2f ") (str-from-n c-ofs "Cos Offset: %.2f ")))
+                (print (str-merge (str-from-n s-amp "Sin Amp: %.3f ") (str-from-n s-ofs "Sin Offset: %.3f ")))
+                (print (str-merge (str-from-n c-amp "Cos Amp: %.3f ") (str-from-n c-ofs "Cos Offset: %.3f ")))
 ))))
 
 (def filter-const 0.1)
@@ -55,12 +55,12 @@
         (if (> raw-cos c-max) (def c-max raw-cos))
         (if (< raw-cos c-min) (def c-min raw-cos))
         
-        (def out-sin (* (- raw-sin s-ofs) s-gain))
-        (def out-cos (* (- raw-cos c-ofs) c-gain))
+        (def out-sin (/ (- raw-sin s-ofs) s-amp))
+        (def out-cos (/ (- raw-cos c-ofs) c-amp))
         (def out-mod (sqrt (+ (* out-sin out-sin) (* out-cos out-cos))))
         
         (if (and (> (- s-max s-min) 0.1) (> (- c-max c-min) 0.1))
-            (calc-gain-ofs false)
+            (calc-amp-ofs false)
         )
 
         (sleep 0.01)
diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index 62461e5ef..b4a09a7c2 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -1156,61 +1156,61 @@ p, li { white-space: pre-wrap; }
             <suffix></suffix>
             <vTx>9</vTx>
         </foc_encoder_ratio>
-        <foc_encoder_sin_gain>
-            <longName>Sin/Cos Sine Gain Compensation</longName>
+        <foc_encoder_sin_amp>
+            <longName>Sine Amplitude</longName>
             <type>1</type>
             <transmittable>1</transmittable>
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sin/Cos Encoder Sine gain compensation to reduce nonlinearity errors in the signal path.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>MCCONF_FOC_ENCODER_SIN_GAIN</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Amplitude of the sine-input in volts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_ENCODER_SIN_AMP</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
-            <maxDouble>3</maxDouble>
-            <minDouble>0</minDouble>
+            <maxDouble>2</maxDouble>
+            <minDouble>0.01</minDouble>
             <showDisplay>0</showDisplay>
             <stepDouble>0.01</stepDouble>
             <valDouble>1</valDouble>
             <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix></suffix>
+            <suffix> V</suffix>
             <vTx>7</vTx>
-        </foc_encoder_sin_gain>
-        <foc_encoder_cos_gain>
-            <longName>Sin/Cos Cosine Gain Compensation</longName>
+        </foc_encoder_sin_amp>
+        <foc_encoder_cos_amp>
+            <longName>Cosine Amplitude</longName>
             <type>1</type>
             <transmittable>1</transmittable>
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sin/Cos Encoder Cosine gain compensation to reduce nonlinearity errors in the signal path.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>MCCONF_FOC_ENCODER_COS_GAIN</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Amplitude of the cosine-input in volts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_ENCODER_COS_AMP</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
-            <maxDouble>3</maxDouble>
-            <minDouble>0</minDouble>
+            <maxDouble>2</maxDouble>
+            <minDouble>0.01</minDouble>
             <showDisplay>0</showDisplay>
             <stepDouble>0.01</stepDouble>
             <valDouble>1</valDouble>
             <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix></suffix>
+            <suffix> V</suffix>
             <vTx>7</vTx>
-        </foc_encoder_cos_gain>
+        </foc_encoder_cos_amp>
         <foc_encoder_sin_offset>
-            <longName>Sin/Cos Sine Offset</longName>
+            <longName>Sine Offset</longName>
             <type>1</type>
             <transmittable>1</transmittable>
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sin/Cos Encoder Sine Offset.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sine offset in volts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_ENCODER_SIN_OFFSET</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
             <maxDouble>3.3</maxDouble>
@@ -1219,20 +1219,20 @@ p, li { white-space: pre-wrap; }
             <stepDouble>0.01</stepDouble>
             <valDouble>1.65</valDouble>
             <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix></suffix>
+            <suffix> V</suffix>
             <vTx>7</vTx>
         </foc_encoder_sin_offset>
         <foc_encoder_cos_offset>
-            <longName>Sin/Cos Cosine Offset</longName>
+            <longName>Cosine Offset</longName>
             <type>1</type>
             <transmittable>1</transmittable>
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sin/Cos Encoder Sine Offset.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Cosine offset in volts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_ENCODER_COS_OFFSET</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
             <maxDouble>3.3</maxDouble>
@@ -1241,7 +1241,7 @@ p, li { white-space: pre-wrap; }
             <stepDouble>0.01</stepDouble>
             <valDouble>1.65</valDouble>
             <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix></suffix>
+            <suffix> V</suffix>
             <vTx>7</vTx>
         </foc_encoder_cos_offset>
         <foc_encoder_sincos_filter_constant>
@@ -4334,8 +4334,8 @@ p, li { white-space: pre-wrap; }
         <ser>foc_encoder_inverted</ser>
         <ser>foc_encoder_offset</ser>
         <ser>foc_encoder_ratio</ser>
-        <ser>foc_encoder_sin_gain</ser>
-        <ser>foc_encoder_cos_gain</ser>
+        <ser>foc_encoder_sin_amp</ser>
+        <ser>foc_encoder_cos_amp</ser>
         <ser>foc_encoder_sin_offset</ser>
         <ser>foc_encoder_cos_offset</ser>
         <ser>foc_encoder_sincos_filter_constant</ser>
@@ -4684,9 +4684,9 @@ p, li { white-space: pre-wrap; }
                     <param>foc_encoder_offset</param>
                     <param>foc_encoder_ratio</param>
                     <param>foc_encoder_inverted</param>
-                    <param>foc_encoder_sin_gain</param>
+                    <param>foc_encoder_sin_amp</param>
+                    <param>foc_encoder_cos_amp</param>
                     <param>foc_encoder_sin_offset</param>
-                    <param>foc_encoder_cos_gain</param>
                     <param>foc_encoder_cos_offset</param>
                     <param>foc_encoder_sincos_filter_constant</param>
                 </subgroupParams>

From 1f5151026afd21d4fddcce6233d7f4adf9a90754 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 18 Nov 2022 13:15:17 +0100
Subject: [PATCH 307/559] Fixed tcp buttons and updated firmware upload done
 text

---
 mobile/FwUpdate.qml      | 18 +++++++++---------
 pages/pageconnection.cpp |  2 ++
 pages/pagefirmware.cpp   |  6 +++---
 3 files changed, 14 insertions(+), 12 deletions(-)

diff --git a/mobile/FwUpdate.qml b/mobile/FwUpdate.qml
index 8047e9041..0e4567f5f 100755
--- a/mobile/FwUpdate.qml
+++ b/mobile/FwUpdate.qml
@@ -669,16 +669,16 @@ Item {
         function onFwUploadRes(res, isBootloader) {
             if (res) {
                 if(isBootloader) {
-                        VescIf.emitMessageDialog("Bootloader Finished",
-                                                 "Bootloader upload is done.",
-                                                 true, false)
+                    VescIf.emitMessageDialog("Bootloader Finished",
+                                             "Bootloader upload is done.",
+                                             true, false)
                 } else {
-                        VescIf.disconnectPort()
-                        VescIf.emitMessageDialog("Warning",
-                                                 "The firmware upload is done. You must wait at least " +
-                                                 "10 seconds before unplugging power. Otherwise the firmware will get corrupted and your " +
-                                                 "VESC will become bricked. If that happens you need a SWD programmer to recover it.",
-                                                 true, false)
+                    VescIf.disconnectPort()
+                    VescIf.emitMessageDialog("Warning",
+                                             "The firmware upload is done. The device should reboot automatically within 10 seconds. Do " +
+                                             "NOT remove power before the reboot is done as that can brick the CPU and requires a programmer " +
+                                             "to fix.",
+                                             true, false)
                 }
             }
         }
diff --git a/pages/pageconnection.cpp b/pages/pageconnection.cpp
index 3fffe707e..7dc5396dc 100644
--- a/pages/pageconnection.cpp
+++ b/pages/pageconnection.cpp
@@ -68,6 +68,8 @@ PageConnection::PageConnection(QWidget *parent) :
     ui->tcpHubConnectButton->setIcon(QPixmap(theme + "icons/Connected-96.png"));
     ui->tcpHubDisconnectButton->setIcon(QPixmap(theme + "icons/Disconnected-96.png"));
     ui->hubDefaultButton->setIcon(QPixmap(theme + "icons/Restart-96.png"));
+    ui->tcpDetectConnectButton->setIcon(QPixmap(theme + "icons/Connected-96.png"));
+    ui->tcpDetectDisconnectButton->setIcon(QPixmap(theme + "icons/Disconnected-96.png"));
 
     QIcon mycon = QIcon(theme + "icons/can_off.png");
     mycon.addPixmap(QPixmap(theme + "icons/can_off.png"), QIcon::Normal, QIcon::Off);
diff --git a/pages/pagefirmware.cpp b/pages/pagefirmware.cpp
index 2dcd9674f..8b18ce857 100755
--- a/pages/pagefirmware.cpp
+++ b/pages/pagefirmware.cpp
@@ -639,9 +639,9 @@ void PageFirmware::uploadFw(bool allOverCan)
                 if (uploadFw(&file, false, allOverCan)) {
                     QMessageBox::warning(this,
                                          tr("Warning"),
-                                         tr("The firmware upload is done. You must wait at least "
-                                            "10 seconds before unplugging power. Otherwise the firmware will get corrupted and your "
-                                            "VESC will become bricked. If that happens you need a SWD programmer to recover it."));
+                                         tr("The firmware upload is done. The device should reboot automatically within 10 seconds. Do "
+                                            "NOT remove power before the reboot is done as that can brick the CPU and requires a programmer "
+                                            "to fix."));
                 }
             }
         }

From ca16fcb3ba3bd02b6549fa6b6fd192405a7e834d Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 18 Nov 2022 13:21:40 +0100
Subject: [PATCH 308/559] Removed ctrl+q-shortcut again

---
 mainwindow.ui | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/mainwindow.ui b/mainwindow.ui
index 6cd013257..719d2aae2 100644
--- a/mainwindow.ui
+++ b/mainwindow.ui
@@ -931,9 +931,6 @@
    <property name="text">
     <string>Exit</string>
    </property>
-   <property name="shortcut">
-    <string>Ctrl+Q</string>
-   </property>
   </action>
   <action name="actionAbout">
    <property name="icon">

From 35266f16f2797d678857c5db7f871ed406997303 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 18 Nov 2022 14:05:50 +0100
Subject: [PATCH 309/559] More firmware text updates

---
 mobile/FwUpdate.qml    | 22 +++++++++++-----------
 pages/pagefirmware.cpp | 23 ++++++++++++++++-------
 2 files changed, 27 insertions(+), 18 deletions(-)

diff --git a/mobile/FwUpdate.qml b/mobile/FwUpdate.qml
index 0e4567f5f..fc977c2c4 100755
--- a/mobile/FwUpdate.qml
+++ b/mobile/FwUpdate.qml
@@ -529,20 +529,20 @@ Item {
         if (!VescIf.isPortConnected()) {
             VescIf.emitMessageDialog(
                         "Connection Error",
-                        "The VESC is not connected. Please open a connection.",
+                        "Not connected to device. Please connect first.",
                         false)
             return
         }
 
-        var msg = "You are about to upload new firmware to the connected VESC"
-        var msgBl = "You are about to upload a bootloader to the connected VESC"
+        var msg = "You are about to upload new firmware to the connected device"
+        var msgBl = "You are about to upload a bootloader to the connected device"
 
         var msgEnd = "."
         if (fwdCan) {
-            msgEnd = ", as well as all VESCs found on the CAN-bus. \n\n" +
+            msgEnd = ", as well as all decices found on the CAN-bus. \n\n" +
                     "WARNING: The upload all function should ONLY be used if all " +
-                    "VESCs on the CAN-bus have the same hardware version. If that " +
-                    "is not the case, you must upload firmware to the VESCs individually."
+                    "decices on the CAN-bus have the same hardware version. If that " +
+                    "is not the case, you must upload firmware to the decices individually."
         }
 
         msg += msgEnd
@@ -567,13 +567,13 @@ Item {
 
                 if (VescIf.getFwSupportsConfiguration()) {
                     msg += "\n\n" +
-                            "Uploading new firmware will clear all settings on your VESC. You can make " +
+                            "Uploading new firmware will clear all settings on . You can make " +
                             "a backup of the settings from the connection page and restore them after the " +
                             "update if you'd like (if you haven't done the backup already). " +
                             "Do you want to continue with the update, or cancel and do the backup first?"
                 } else {
                     msg += "\n\n" +
-                            "Uploading new firmware will clear all settings on your VESC " +
+                            "Uploading new firmware will clear all settings on your device " +
                             "and you have to do the configuration again. Do you want to " +
                             "continue?"
                 }
@@ -585,7 +585,7 @@ Item {
                 uploadDialogLabel.text =
                         msg + "\n\n" +
                         "Uploading firmware for the wrong hardware version " +
-                        "WILL damage the VESC for sure. Are you sure that you have " +
+                        "WILL damage the hardware. Are you sure that you have " +
                         "chosen the correct hardware version?"
                 uploadDialog.open()
             }
@@ -595,7 +595,7 @@ Item {
                 uploadDialogLabel.text =
                         msg + "\n\n" +
                         "Uploading firmware for the wrong hardware version " +
-                        "WILL damage the VESC for sure. Are you sure that you have " +
+                        "WILL damage the hardware. Are you sure that you have " +
                         "chosen the correct hardware version?"
                 uploadDialog.open()
             } else {
@@ -618,7 +618,7 @@ Item {
 
             var msgBl2 = ""
             if (!mCommands.getLimitedSupportsEraseBootloader()) {
-                msgBl2 = "If the VESC already has a bootloader this will destroy " +
+                msgBl2 = "If the device already has a bootloader this will destroy " +
                         "the bootloader and firmware updates cannot be done anymore. "
             }
 
diff --git a/pages/pagefirmware.cpp b/pages/pagefirmware.cpp
index 8b18ce857..3d00edfd0 100755
--- a/pages/pagefirmware.cpp
+++ b/pages/pagefirmware.cpp
@@ -452,7 +452,7 @@ void PageFirmware::uploadFw(bool allOverCan)
         if (!mVesc->isPortConnected()) {
             QMessageBox::critical(this,
                                   tr("Connection Error"),
-                                  tr("The VESC is not connected. Please connect it."));
+                                  tr("Not connected to device. Please connect first."));
             return;
         }
 
@@ -561,7 +561,7 @@ void PageFirmware::uploadFw(bool allOverCan)
         if ((ui->fwTabWidget->currentIndex() == 0 && ui->hwList->count() == 1) || ui->fwTabWidget->currentIndex() == 3) {
             reply = QMessageBox::warning(this,
                                          tr("Warning"),
-                                         tr("Uploading new firmware will clear all settings on your VESC "
+                                         tr("Uploading new firmware will clear all settings in the VESC firmware "
                                             "and you have to do the configuration again. Do you want to "
                                             "continue?"),
                                          QMessageBox::Yes | QMessageBox::No, QMessageBox::No);
@@ -569,21 +569,21 @@ void PageFirmware::uploadFw(bool allOverCan)
             reply = QMessageBox::warning(this,
                                          tr("Warning"),
                                          tr("Uploading firmware for the wrong hardware version "
-                                            "WILL damage the VESC for sure. Are you sure that you have "
+                                            "WILL damage the hardware. Are you sure that you have "
                                             "chosen the correct hardware version?"),
                                          QMessageBox::Yes | QMessageBox::No, QMessageBox::No);
         } else if (ui->fwTabWidget->currentIndex() == 2) {
             if (mVesc->commands()->getLimitedSupportsEraseBootloader()) {
                 reply = QMessageBox::warning(this,
                                              tr("Warning"),
-                                             tr("This will attempt to upload a bootloader to the connected VESC. "
+                                             tr("This will attempt to upload a bootloader to the connected device. "
                                                 "Do you want to continue?"),
                                              QMessageBox::Yes | QMessageBox::No, QMessageBox::No);
             } else {
                 reply = QMessageBox::warning(this,
                                              tr("Warning"),
-                                             tr("This will attempt to upload a bootloader to the connected VESC. "
-                                                "If the connected VESC already has a bootloader this will destroy "
+                                             tr("This will attempt to upload a bootloader to the connected device. "
+                                                "If the connected device already has a bootloader this will destroy "
                                                 "the bootloader and firmware updates cannot be done anymore. Do "
                                                 "you want to continue?"),
                                              QMessageBox::Yes | QMessageBox::No, QMessageBox::No);
@@ -636,12 +636,21 @@ void PageFirmware::uploadFw(bool allOverCan)
             }
 
             if (!file.fileName().isEmpty()) {
+                QString blMsg = tr("");
+
+                // No bootloader was uploaded prior to the firmware
+                if (fileBl.fileName().isEmpty()) {
+                    blMsg = tr("\n\n"
+                               "NOTE: If the old firmware is loaded again after the reboot a bootloader is probably missing. You "
+                               "can try uploading one from the bootloader tab if that is the case.");
+                }
+
                 if (uploadFw(&file, false, allOverCan)) {
                     QMessageBox::warning(this,
                                          tr("Warning"),
                                          tr("The firmware upload is done. The device should reboot automatically within 10 seconds. Do "
                                             "NOT remove power before the reboot is done as that can brick the CPU and requires a programmer "
-                                            "to fix."));
+                                            "to fix.") + blMsg);
                 }
             }
         }

From 026624a34e3432a77f5d8af384b26c7eb328b540 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 19 Nov 2022 16:23:47 +0100
Subject: [PATCH 310/559] Updated encoder settings

---
 res/config/6.00/parameters_mcconf.xml | 259 +++++++++++++-------------
 1 file changed, 133 insertions(+), 126 deletions(-)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index b4a09a7c2..c22d7b915 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -1156,116 +1156,6 @@ p, li { white-space: pre-wrap; }
             <suffix></suffix>
             <vTx>9</vTx>
         </foc_encoder_ratio>
-        <foc_encoder_sin_amp>
-            <longName>Sine Amplitude</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Amplitude of the sine-input in volts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>MCCONF_FOC_ENCODER_SIN_AMP</cDefine>
-            <editorDecimalsDouble>3</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>2</maxDouble>
-            <minDouble>0.01</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.01</stepDouble>
-            <valDouble>1</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> V</suffix>
-            <vTx>7</vTx>
-        </foc_encoder_sin_amp>
-        <foc_encoder_cos_amp>
-            <longName>Cosine Amplitude</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Amplitude of the cosine-input in volts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>MCCONF_FOC_ENCODER_COS_AMP</cDefine>
-            <editorDecimalsDouble>3</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>2</maxDouble>
-            <minDouble>0.01</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.01</stepDouble>
-            <valDouble>1</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> V</suffix>
-            <vTx>7</vTx>
-        </foc_encoder_cos_amp>
-        <foc_encoder_sin_offset>
-            <longName>Sine Offset</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sine offset in volts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>MCCONF_FOC_ENCODER_SIN_OFFSET</cDefine>
-            <editorDecimalsDouble>3</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>3.3</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.01</stepDouble>
-            <valDouble>1.65</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> V</suffix>
-            <vTx>7</vTx>
-        </foc_encoder_sin_offset>
-        <foc_encoder_cos_offset>
-            <longName>Cosine Offset</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Cosine offset in volts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>MCCONF_FOC_ENCODER_COS_OFFSET</cDefine>
-            <editorDecimalsDouble>3</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>3.3</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.01</stepDouble>
-            <valDouble>1.65</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> V</suffix>
-            <vTx>7</vTx>
-        </foc_encoder_cos_offset>
-        <foc_encoder_sincos_filter_constant>
-            <longName>Sin/Cos Filter Constant</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sin/Cos Encoder low pass filter constant. Will affect the ratio between lag and noise on the encoder position feedback. Range 0 to 1, where 0 has the lowest noise and most phase lag, and 1 has no lag and unfiltered noise.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>MCCONF_FOC_ENCODER_SINCOS_FILTER</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>1</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.01</stepDouble>
-            <valDouble>0.5</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix></suffix>
-            <vTx>7</vTx>
-        </foc_encoder_sincos_filter_constant>
         <foc_sensor_mode>
             <longName>Sensor Mode</longName>
             <type>4</type>
@@ -3463,6 +3353,116 @@ p, li { white-space: pre-wrap; }
             <suffix></suffix>
             <vTx>5</vTx>
         </m_encoder_counts>
+        <m_encoder_sin_amp>
+            <longName>Sine Amplitude</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Amplitude of the sine-input in volts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_ENCODER_SIN_AMP</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2</maxDouble>
+            <minDouble>0.01</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </m_encoder_sin_amp>
+        <m_encoder_cos_amp>
+            <longName>Cosine Amplitude</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Amplitude of the cosine-input in volts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_ENCODER_COS_AMP</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2</maxDouble>
+            <minDouble>0.01</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </m_encoder_cos_amp>
+        <m_encoder_sin_offset>
+            <longName>Sine Offset</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sine offset in volts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_ENCODER_SIN_OFFSET</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>1.65</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </m_encoder_sin_offset>
+        <m_encoder_cos_offset>
+            <longName>Cosine Offset</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Cosine offset in volts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_ENCODER_COS_OFFSET</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>1.65</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </m_encoder_cos_offset>
+        <m_encoder_sincos_filter_constant>
+            <longName>Sin/Cos Filter Constant</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sin/Cos Encoder low pass filter constant. Will affect the ratio between lag and noise on the encoder position feedback. Range 0 to 1, where 0 has the lowest noise and most phase lag, and 1 has no lag and unfiltered noise.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_ENCODER_SINCOS_FILTER</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.5</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </m_encoder_sincos_filter_constant>
         <m_sensor_port_mode>
             <longName>Sensor Port Mode</longName>
             <type>4</type>
@@ -3506,7 +3506,11 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TLE5102 Encoder&lt;/span&gt; &lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A magnetic encoder using the bidirectional SSC protocol. Provides absolute position from start and error protected communication. Currently both “SSC SW” and “SSC HW” use software bitbanging. “SSC SW” uses the hall connector pins which must not have filters. “SSC HW” uses the 7-8 pin adc/uart connector. Recommend 5v sensor power.&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Wires must be shielded and/or run together or you will get communication errors.&lt;br /&gt;&lt;br /&gt;“SSC SW” Connections: H1 = SCK, H2 = DATA , H3 = CS &lt;br /&gt;“SSC HW” Connections: ADC1 = SCK, TX = DATA , NSS = CS &lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Wires must be shielded and/or run together or you will get communication errors.&lt;br /&gt;&lt;br /&gt;“SSC SW” Connections: H1 = SCK, H2 = DATA , H3 = CS &lt;br /&gt;“SSC HW” Connections: ADC1 = SCK, TX = DATA , NSS = CS&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Custom Encoder&lt;/span&gt; &lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This means that a native library is loaded that handles reading of the encoder and provides the decoded angle.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_M_SENSOR_PORT_MODE</cDefine>
             <valInt>0</valInt>
             <enumNames>Hall Sensors</enumNames>
@@ -3521,6 +3525,7 @@ p, li { white-space: pre-wrap; }
             <enumNames>BISSC Encoder (SPI)</enumNames>
             <enumNames>TLE5012 Encoder (SSC SW)</enumNames>
             <enumNames>TLE5012 Encoder (SSC HW)</enumNames>
+            <enumNames>Custom Encoder</enumNames>
         </m_sensor_port_mode>
         <m_invert_direction>
             <longName>Invert Motor Direction</longName>
@@ -4334,11 +4339,6 @@ p, li { white-space: pre-wrap; }
         <ser>foc_encoder_inverted</ser>
         <ser>foc_encoder_offset</ser>
         <ser>foc_encoder_ratio</ser>
-        <ser>foc_encoder_sin_amp</ser>
-        <ser>foc_encoder_cos_amp</ser>
-        <ser>foc_encoder_sin_offset</ser>
-        <ser>foc_encoder_cos_offset</ser>
-        <ser>foc_encoder_sincos_filter_constant</ser>
         <ser>foc_sensor_mode</ser>
         <ser>foc_pll_kp</ser>
         <ser>foc_pll_ki</ser>
@@ -4439,6 +4439,11 @@ p, li { white-space: pre-wrap; }
         <ser>m_duty_ramp_step</ser>
         <ser>m_current_backoff_gain</ser>
         <ser>m_encoder_counts</ser>
+        <ser>m_encoder_sin_amp</ser>
+        <ser>m_encoder_cos_amp</ser>
+        <ser>m_encoder_sin_offset</ser>
+        <ser>m_encoder_cos_offset</ser>
+        <ser>m_encoder_sincos_filter_constant</ser>
         <ser>m_sensor_port_mode</ser>
         <ser>m_invert_direction</ser>
         <ser>m_drv8301_oc_mode</ser>
@@ -4477,7 +4482,13 @@ p, li { white-space: pre-wrap; }
                     <param>motor_type</param>
                     <param>m_invert_direction</param>
                     <param>m_sensor_port_mode</param>
+                    <param>::sep::Encoder</param>
                     <param>m_encoder_counts</param>
+                    <param>m_encoder_sin_amp</param>
+                    <param>m_encoder_cos_amp</param>
+                    <param>m_encoder_sin_offset</param>
+                    <param>m_encoder_cos_offset</param>
+                    <param>m_encoder_sincos_filter_constant</param>
                 </subgroupParams>
             </subgroup>
             <subgroup>
@@ -4523,6 +4534,12 @@ p, li { white-space: pre-wrap; }
             <subgroup>
                 <subgroupName>Temperature</subgroupName>
                 <subgroupParams>
+                    <param>::sep::Motor Temperature Sensor Type</param>
+                    <param>m_motor_temp_sens_type</param>
+                    <param>m_ntc_motor_beta</param>
+                    <param>m_ptc_motor_coeff</param>
+                    <param>m_ntcx_ptcx_res</param>
+                    <param>m_ntcx_ptcx_temp_base</param>
                     <param>::sep::General</param>
                     <param>l_temp_accel_dec</param>
                     <param>::sep::MOSFET</param>
@@ -4555,11 +4572,6 @@ p, li { white-space: pre-wrap; }
                     <param>cc_min_current</param>
                     <param>m_fault_stop_time_ms</param>
                     <param>m_out_aux_mode</param>
-                    <param>m_motor_temp_sens_type</param>
-                    <param>m_ntc_motor_beta</param>
-                    <param>m_ptc_motor_coeff</param>
-                    <param>m_ntcx_ptcx_res</param>
-                    <param>m_ntcx_ptcx_temp_base</param>
                     <param>l_duty_start</param>
                     <param>m_hall_extra_samples</param>
                 </subgroupParams>
@@ -4684,11 +4696,6 @@ p, li { white-space: pre-wrap; }
                     <param>foc_encoder_offset</param>
                     <param>foc_encoder_ratio</param>
                     <param>foc_encoder_inverted</param>
-                    <param>foc_encoder_sin_amp</param>
-                    <param>foc_encoder_cos_amp</param>
-                    <param>foc_encoder_sin_offset</param>
-                    <param>foc_encoder_cos_offset</param>
-                    <param>foc_encoder_sincos_filter_constant</param>
                 </subgroupParams>
             </subgroup>
             <subgroup>

From 42e0280b4c25ff28f8e2cf51e402cfbbd923dffb Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 19 Nov 2022 16:24:04 +0100
Subject: [PATCH 311/559] Attempt at windows fix

---
 codeloader.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/codeloader.cpp b/codeloader.cpp
index b4326d4d7..a766c7506 100644
--- a/codeloader.cpp
+++ b/codeloader.cpp
@@ -138,7 +138,7 @@ QByteArray CodeLoader::lispPackImports(QString codeStr, QString editorPath)
 
                 if (start > 0 && end > start) {
                     auto path = line.mid(start + 1, end - start - 1);
-                    auto tag = line.mid(end + 1).replace(" ", "").replace(")", "").replace("'", "");
+                    auto tag = line.mid(end + 1).replace("\r", "").replace(" ", "").replace(")", "").replace("'", "");
                     if (tag.indexOf(";") >= 0) {
                         tag = tag.mid(0, tag.indexOf(";"));
                     }

From 27526c494d06c918e709c9b6d13cbf3ec3d38ecd Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 19 Nov 2022 16:24:36 +0100
Subject: [PATCH 312/559] Fixed possible nullpointer crash

---
 parametereditor.cpp | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/parametereditor.cpp b/parametereditor.cpp
index 9e70c1b0e..de9953810 100644
--- a/parametereditor.cpp
+++ b/parametereditor.cpp
@@ -753,6 +753,12 @@ void ParameterEditor::on_actionCalculatePacketSize_triggered()
     // Fill all strings to get maximum possible size
     for (auto name: mParams.getSerializeOrder()) {
         auto p = mParams.getParam(name);
+
+        if (p == nullptr) {
+            qWarning() << "Parameter" << name << "not found.";
+            continue;
+        }
+
         if (p->type == CFG_T_QSTRING) {
             oldStrings[name] = mParams.getParamQString(name);
 
@@ -774,6 +780,12 @@ void ParameterEditor::on_actionCalculatePacketSize_triggered()
     // Restore
     for (auto name: mParams.getSerializeOrder()) {
         auto p = mParams.getParam(name);
+
+        if (p == nullptr) {
+            qWarning() << "Parameter" << name << "not found.";
+            continue;
+        }
+
         if (p->type == CFG_T_QSTRING) {
             mParams.updateParamString(name, oldStrings[name]);
         }

From 62c795da2ac931474a754b27e54b9da63e69c0a5 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 19 Nov 2022 18:42:00 +0100
Subject: [PATCH 313/559] Added encoder error rate

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 res/Lisp/Examples/test_extensions.lisp   | 1 +
 2 files changed, 2 insertions(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 92eb6c39d..7bbcef971 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -159,6 +159,7 @@
 <name>get-ppm</name>
 <name>get-ppm-age</name>
 <name>get-encoder</name>
+<name>get-encoder-error-rate</name>
 <name>set-servo</name>
 <name>get-vin</name>
 <name>select-motor</name>
diff --git a/res/Lisp/Examples/test_extensions.lisp b/res/Lisp/Examples/test_extensions.lisp
index 9ca08f9bd..aa86aaea7 100644
--- a/res/Lisp/Examples/test_extensions.lisp
+++ b/res/Lisp/Examples/test_extensions.lisp
@@ -14,6 +14,7 @@
         ((get-ppm)                                   is-float)
         ((get-ppm-age)                               is-float)
         ((get-encoder)                               is-float)
+        ((get-encoder-error-rate)                    is-float)
         ((set-servo 0)                               is-true)
         ((get-vin)                                   is-float)
         ((select-motor 1)                            is-true)

From 9d6a686b759e4d138a8a53ce57d29d9a6d8187e4 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 20 Nov 2022 08:14:41 +0100
Subject: [PATCH 314/559] Added package install and uninstall confirmation in
 qml

---
 mobile/Packages.qml | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/mobile/Packages.qml b/mobile/Packages.qml
index 0f0b15bea..d180a881b 100644
--- a/mobile/Packages.qml
+++ b/mobile/Packages.qml
@@ -160,6 +160,10 @@ Item {
                                     onTriggered: {
                                         mLoader.installVescPackage(pkg.compressedData)
                                         enableDialog()
+                                        VescIf.emitMessageDialog("Install Package",
+                                                                 "Install Done! Please disconnect and reconnect to " +
+                                                                 "apply possible VESC Tool GUI updates from this package.",
+                                                                 true, false)
                                     }
                                 }
                             }
@@ -224,6 +228,10 @@ Item {
                         mLoader.lispErase()
                         mLoader.qmlErase()
                         enableDialog()
+                        VescIf.emitMessageDialog("Uninstall Package",
+                                                 "Uninstallation Done! Please disconnect and reconnect to " +
+                                                 "revert possible VESC Tool GUI updates.",
+                                                 true, false)
                     }
                 }
             }

From 8475aa17df88f24427d156dd6107dfde225b0bc4 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 21 Nov 2022 21:25:29 +0100
Subject: [PATCH 315/559] Added log browser icons, made connected device the
 first tab

---
 pages/pageloganalysis.cpp |   2 +
 pages/pageloganalysis.ui  | 176 +++++++++++++++++++-------------------
 2 files changed, 90 insertions(+), 88 deletions(-)

diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index 9544705c0..8dbc370d5 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -1388,8 +1388,10 @@ void PageLogAnalysis::on_vescLogListRefreshButton_clicked()
             continue;
         }
 
+        QString theme = Utility::getThemePath();
         QTableWidgetItem *itName = new QTableWidgetItem(fe.name);
         itName->setData(Qt::UserRole, QVariant::fromValue(fe));
+        itName->setIcon(fe.isDir ? QPixmap(theme + "icons/Open Folder-96.png") : QPixmap(theme + "icons/Line Chart-96.png"));
         ui->vescLogTable->setRowCount(ui->vescLogTable->rowCount() + 1);
         ui->vescLogTable->setItem(ui->vescLogTable->rowCount() - 1, 0, itName);
 
diff --git a/pages/pageloganalysis.ui b/pages/pageloganalysis.ui
index 3a6c19562..a11ee455e 100644
--- a/pages/pageloganalysis.ui
+++ b/pages/pageloganalysis.ui
@@ -272,96 +272,9 @@
            <property name="currentIndex">
             <number>0</number>
            </property>
-           <widget class="QWidget" name="tab_5">
-            <attribute name="title">
-             <string>Filesystem</string>
-            </attribute>
-            <layout class="QVBoxLayout" name="verticalLayout_8">
-             <property name="spacing">
-              <number>3</number>
-             </property>
-             <property name="leftMargin">
-              <number>3</number>
-             </property>
-             <property name="topMargin">
-              <number>3</number>
-             </property>
-             <property name="rightMargin">
-              <number>3</number>
-             </property>
-             <property name="bottomMargin">
-              <number>3</number>
-             </property>
-             <item>
-              <widget class="QTableWidget" name="logTable">
-               <property name="editTriggers">
-                <set>QAbstractItemView::NoEditTriggers</set>
-               </property>
-               <property name="selectionMode">
-                <enum>QAbstractItemView::SingleSelection</enum>
-               </property>
-               <property name="selectionBehavior">
-                <enum>QAbstractItemView::SelectRows</enum>
-               </property>
-               <attribute name="horizontalHeaderStretchLastSection">
-                <bool>true</bool>
-               </attribute>
-               <column>
-                <property name="text">
-                 <string>Name</string>
-                </property>
-               </column>
-               <column>
-                <property name="text">
-                 <string>Size</string>
-                </property>
-               </column>
-              </widget>
-             </item>
-             <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_4">
-               <item>
-                <spacer name="horizontalSpacer_2">
-                 <property name="orientation">
-                  <enum>Qt::Horizontal</enum>
-                 </property>
-                 <property name="sizeHint" stdset="0">
-                  <size>
-                   <width>40</width>
-                   <height>20</height>
-                  </size>
-                 </property>
-                </spacer>
-               </item>
-               <item>
-                <widget class="QPushButton" name="logListRefreshButton">
-                 <property name="text">
-                  <string>Refresh</string>
-                 </property>
-                 <property name="icon">
-                  <iconset resource="../res.qrc">
-                   <normaloff>:/res/icons/Refresh-96.png</normaloff>:/res/icons/Refresh-96.png</iconset>
-                 </property>
-                </widget>
-               </item>
-               <item>
-                <widget class="QPushButton" name="logListOpenButton">
-                 <property name="text">
-                  <string>Open Selected</string>
-                 </property>
-                 <property name="icon">
-                  <iconset resource="../res.qrc">
-                   <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
-                 </property>
-                </widget>
-               </item>
-              </layout>
-             </item>
-            </layout>
-           </widget>
            <widget class="QWidget" name="vescLogTab">
             <attribute name="title">
-             <string>Connected VESC</string>
+             <string>Connected Device</string>
             </attribute>
             <layout class="QVBoxLayout" name="verticalLayout_9">
              <property name="spacing">
@@ -519,6 +432,93 @@
              </item>
             </layout>
            </widget>
+           <widget class="QWidget" name="tab_5">
+            <attribute name="title">
+             <string>Filesystem</string>
+            </attribute>
+            <layout class="QVBoxLayout" name="verticalLayout_8">
+             <property name="spacing">
+              <number>3</number>
+             </property>
+             <property name="leftMargin">
+              <number>3</number>
+             </property>
+             <property name="topMargin">
+              <number>3</number>
+             </property>
+             <property name="rightMargin">
+              <number>3</number>
+             </property>
+             <property name="bottomMargin">
+              <number>3</number>
+             </property>
+             <item>
+              <widget class="QTableWidget" name="logTable">
+               <property name="editTriggers">
+                <set>QAbstractItemView::NoEditTriggers</set>
+               </property>
+               <property name="selectionMode">
+                <enum>QAbstractItemView::SingleSelection</enum>
+               </property>
+               <property name="selectionBehavior">
+                <enum>QAbstractItemView::SelectRows</enum>
+               </property>
+               <attribute name="horizontalHeaderStretchLastSection">
+                <bool>true</bool>
+               </attribute>
+               <column>
+                <property name="text">
+                 <string>Name</string>
+                </property>
+               </column>
+               <column>
+                <property name="text">
+                 <string>Size</string>
+                </property>
+               </column>
+              </widget>
+             </item>
+             <item>
+              <layout class="QHBoxLayout" name="horizontalLayout_4">
+               <item>
+                <spacer name="horizontalSpacer_2">
+                 <property name="orientation">
+                  <enum>Qt::Horizontal</enum>
+                 </property>
+                 <property name="sizeHint" stdset="0">
+                  <size>
+                   <width>40</width>
+                   <height>20</height>
+                  </size>
+                 </property>
+                </spacer>
+               </item>
+               <item>
+                <widget class="QPushButton" name="logListRefreshButton">
+                 <property name="text">
+                  <string>Refresh</string>
+                 </property>
+                 <property name="icon">
+                  <iconset resource="../res.qrc">
+                   <normaloff>:/res/icons/Refresh-96.png</normaloff>:/res/icons/Refresh-96.png</iconset>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QPushButton" name="logListOpenButton">
+                 <property name="text">
+                  <string>Open Selected</string>
+                 </property>
+                 <property name="icon">
+                  <iconset resource="../res.qrc">
+                   <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
+                 </property>
+                </widget>
+               </item>
+              </layout>
+             </item>
+            </layout>
+           </widget>
           </widget>
          </item>
         </layout>

From 03fba5c4ea3ec975ed4324459d2ed072844c9b42 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 22 Nov 2022 08:42:25 +0100
Subject: [PATCH 316/559] Removed MTPA-dialog

---
 widgets/detectfoc.cpp | 7 -------
 1 file changed, 7 deletions(-)

diff --git a/widgets/detectfoc.cpp b/widgets/detectfoc.cpp
index db8f0ebb3..8aa58534e 100644
--- a/widgets/detectfoc.cpp
+++ b/widgets/detectfoc.cpp
@@ -249,13 +249,6 @@ void DetectFoc::on_applyAllButton_clicked()
             return;
         }
 
-        if (ld_lq_diff > (l / 4.0)) {
-            QMessageBox::information(this,
-                                  tr("Salient Motor"),
-                                  tr("This motor has some saliency and could benefit from the MTPA-algorithm. You "
-                                     "can activate it from the FOC->Advanced page. Be careful when testing!"));
-        }
-
         mVesc->mcConfig()->updateParamDouble("foc_motor_r", r);
         mVesc->mcConfig()->updateParamDouble("foc_motor_l", l / 1e6);
         mVesc->mcConfig()->updateParamDouble("foc_motor_ld_lq_diff", ld_lq_diff / 1e6);

From 93d39f64609128e8d1dbaac1094095b105618497 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 23 Nov 2022 16:01:09 +0100
Subject: [PATCH 317/559] Avoid freeze on gear ratios that cause a lot of
 painting in gauges

---
 mobile/CustomGauge.qml |  2 +-
 mobile/RtDataSetup.qml | 12 ++++++++++++
 2 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/mobile/CustomGauge.qml b/mobile/CustomGauge.qml
index 707f8d36e..b258da2d4 100644
--- a/mobile/CustomGauge.qml
+++ b/mobile/CustomGauge.qml
@@ -37,7 +37,7 @@ Item {
     property int isInverted: maxAngle > minAngle ? 1 : -1
 
     property real angleRange: maxAngle - minAngle
-    property int tickmarkCount: Math.floor(labelStep > 0 ? (maximumValue - minimumValue) / labelStep + 1 : 0)
+    property int tickmarkCount: Math.min(100, Math.floor(labelStep > 0 ? (maximumValue - minimumValue) / labelStep + 1 : 0))
     property int minorTickmarkCount:4
     property double minimumValue: 0
     property double maximumValue: 100
diff --git a/mobile/RtDataSetup.qml b/mobile/RtDataSetup.qml
index dbef49897..6725ce72d 100644
--- a/mobile/RtDataSetup.qml
+++ b/mobile/RtDataSetup.qml
@@ -683,6 +683,11 @@ Item {
             var speedFact = ((mMcConf.getParamInt("si_motor_poles") / 2.0) * 60.0 *
                              mMcConf.getParamDouble("si_gear_ratio")) /
                     (mMcConf.getParamDouble("si_wheel_diameter") * Math.PI)
+
+            if (speedFact < 1e-3) {
+                speedFact = 1e-3
+            }
+
             var speedMax = 3.6 * rpmMax / speedFact
             var impFact = useImperial ? 0.621371192 : 1.0
             var speedMaxRound = Math.ceil((speedMax * impFact) / 10.0) * 10.0
@@ -693,6 +698,13 @@ Item {
 
             if (speedMaxRound > speedGauge.maximumValue || speedMaxRound < (speedGauge.maximumValue * 0.6) ||
                     useNegativeSpeedValues !== speedGauge.minimumValue < 0) {
+                var labelStep = Math.ceil(speedMaxRound / 100) * 10
+
+                if ((speedMaxRound / labelStep) > 30) {
+                    labelStep = speedMaxRound / 30
+                }
+
+                speedGauge.labelStep = labelStep
                 speedGauge.maximumValue = speedMaxRound
                 speedGauge.minimumValue = useNegativeSpeedValues ? -speedMaxRound : 0
             }

From acd1b3ca2e41770f84639b66f3e9c97812c514be Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 23 Nov 2022 17:07:46 +0100
Subject: [PATCH 318/559] Android custom fw upload tweaks

---
 mobile/FwUpdate.qml | 2 +-
 vescinterface.cpp   | 7 +++++++
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/mobile/FwUpdate.qml b/mobile/FwUpdate.qml
index fc977c2c4..ec867a4e0 100755
--- a/mobile/FwUpdate.qml
+++ b/mobile/FwUpdate.qml
@@ -485,7 +485,7 @@ Item {
                     okUploadFw = fwHelper.uploadFirmwareSingleShotTimer(fwItems.get(fwBox.currentIndex).value, VescIf, false, false, fwdCan, "")
                 }
             } else if (swipeView.currentIndex == 1) {
-                okUploadFw = fwHelper.uploadFirmwareSingleShotTimer(customFwText.text, VescIf, false, true, fwdCan,"")
+                okUploadFw = fwHelper.uploadFirmwareSingleShotTimer(customFwText.text, VescIf, false, Qt.platform.os != "android", fwdCan,"")
             } else if (swipeView.currentIndex == 2) {
                 fwHelper.uploadFirmwareSingleShotTimer(blItems.get(blBox.currentIndex).value, VescIf, true, false, fwdCan,"")
             }
diff --git a/vescinterface.cpp b/vescinterface.cpp
index 42c9dc65e..75d215a83 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -1455,6 +1455,13 @@ bool VescInterface::fwUpload(QByteArray &newFirmware, bool isBootloader, bool fw
         }
     }
 
+    if (szTot > 5000000) {
+        emitMessageDialog(tr("Firmware too big"),
+                          tr("The firmware you are trying to upload is unreasonably "
+                             "large, most likely it is an invalid file"), false);
+        return false;
+    }
+
     if (!isBootloader) {
         quint16 crc = Packet::crc16((const unsigned char*)newFirmware.constData(),
                                     uint32_t(newFirmware.size()));

From 9e243755a9d8b93ebbd6f0461243dbda8c489bc5 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 23 Nov 2022 18:10:44 +0100
Subject: [PATCH 319/559] Imu wizard button theme fix

---
 pages/pagewelcome.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/pages/pagewelcome.cpp b/pages/pagewelcome.cpp
index 461cc7269..3e40a97a9 100755
--- a/pages/pagewelcome.cpp
+++ b/pages/pagewelcome.cpp
@@ -45,6 +45,7 @@ PageWelcome::PageWelcome(QWidget *parent) :
     ui->multiSettingButton->setIcon(QIcon(theme + "icons/Settings-96.png"));
     ui->invertDirButton->setIcon(QIcon(theme + "icons/Process-96.png"));
     ui->setupBluetoothButton->setIcon(QIcon(theme + "icons/bluetooth.png"));
+    ui->wizardIMUButton->setIcon(QIcon(theme + "icons/imu_off.png"));
 
     layout()->setContentsMargins(0, 0, 0, 0);
     mVesc = nullptr;

From b231feb9c32400d55165185a59a3742c4394aee6 Mon Sep 17 00:00:00 2001
From: "Jeffrey M. Friesen" <jfriesen222@gmail.com>
Date: Wed, 23 Nov 2022 10:13:31 -0800
Subject: [PATCH 320/559] Fixed autodetection of USB on windows (#267)

---
 vescinterface.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/vescinterface.cpp b/vescinterface.cpp
index 75d215a83..958b2b391 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -2380,7 +2380,8 @@ QVariantList VescInterface::listSerialPorts()
         info.systemPath = port.systemLocation();
         int index = res.size();
 
-        if (port.manufacturer().startsWith("STMicroelectronics")) {
+        //qDebug() << port.portName()  << ":  " << port.manufacturer() << "  " << port.productIdentifier();
+        if (port.manufacturer().startsWith("STMicroelectronics") || port.productIdentifier() == 22336) {
             info.name.insert(0, "VESC - ");
             info.isVesc = true;
             index = 0;

From aa22b8f9ce0a641f55a3e2de541e07edf1b4bd4e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 23 Nov 2022 21:19:07 +0100
Subject: [PATCH 321/559] Updated speed test example

---
 res/Lisp/Examples/speed_test.lisp | 116 ++++++++++++++++++------------
 1 file changed, 70 insertions(+), 46 deletions(-)

diff --git a/res/Lisp/Examples/speed_test.lisp b/res/Lisp/Examples/speed_test.lisp
index ad68a77b4..e0e27b0e2 100644
--- a/res/Lisp/Examples/speed_test.lisp
+++ b/res/Lisp/Examples/speed_test.lisp
@@ -1,53 +1,77 @@
-; Note: dec-cnt2 in C using a recursive function that takes
-; a volatile int as argument takes 0.2 seconds to finish. 
-; That is about 500x faster, which seems to be consistent
-; with a few other tests.
+(def example [
+0x00 0x00 0x00 0x00 0x0a 0x4b 0x0b 0x49 0x0b 0x48 0x10 0xb5 0x7b 0x44 0x07 0x4c 0x1b 0x68 0x23 0x68
+0x79 0x44 0x78 0x44 0x98 0x47 0x08 0x49 0x08 0x48 0x23 0x68 0x79 0x44 0x78 0x44 0x98 0x47 0x01 0x20
+0x10 0xbd 0x00 0xbf 0x00 0xf8 0x00 0x10 0xf0 0xff 0xff 0xff 0xc1 0x00 0x00 0x00 0x46 0x00 0x00 0x00
+0x05 0x01 0x00 0x00 0x46 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00
+0x43 0x20 0x54 0x61 0x6b 0x52 0x65 0x73 0x3a 0x20 0x25 0x64 0x00 0x00 0x00 0x00 0x65 0x78 0x74 0x2d
+0x64 0x65 0x63 0x2d 0x63 0x6e 0x74 0x00 0x65 0x78 0x74 0x2d 0x74 0x61 0x6b 0x00 0x82 0xb0 0x01 0x90
+0x01 0x98 0x18 0xb1 0x01 0x98 0x01 0x38 0x02 0xb0 0xf7 0xe7 0x02 0xb0 0x70 0x47 0x30 0xb5 0x85 0xb0
+0x03 0x90 0x02 0x91 0x01 0x92 0x02 0x9a 0x03 0x9b 0x9a 0x42 0x1a 0xda 0x03 0x98 0x02 0x99 0x01 0x9a
+0x01 0x38 0xff 0xf7 0xf1 0xff 0x04 0x46 0x02 0x98 0x01 0x99 0x03 0x9a 0x01 0x38 0xff 0xf7 0xea 0xff
+0x05 0x46 0x01 0x98 0x03 0x99 0x02 0x9a 0x01 0x38 0xff 0xf7 0xe3 0xff 0x29 0x46 0x02 0x46 0x20 0x46
+0x05 0xb0 0xbd 0xe8 0x30 0x40 0xdb 0xe7 0x01 0x98 0x05 0xb0 0x30 0xbd 0x00 0x00 0x70 0xb5 0x01 0x29
+0x2d 0xed 0x02 0x8b 0x05 0x46 0x10 0x4c 0x18 0xd1 0xe3 0x6f 0x00 0x68 0x98 0x47 0xa0 0xb1 0xd4 0xf8
+0xac 0x30 0x98 0x47 0x63 0x6e 0x28 0x68 0xb0 0xee 0x40 0x8a 0x98 0x47 0xff 0xf7 0xb9 0xff 0xd4 0xf8
+0xac 0x30 0x98 0x47 0x30 0xee 0x48 0x0a 0xbd 0xec 0x02 0x8b 0xe3 0x6c 0xbd 0xe8 0x70 0x40 0x18 0x47
+0xbd 0xec 0x02 0x8b 0xd4 0xf8 0x94 0x00 0x70 0xbd 0x00 0xbf 0x00 0xf8 0x00 0x10 0x2d 0xe9 0xf0 0x41
+0x03 0x29 0x2d 0xed 0x02 0x8b 0x05 0x46 0x1e 0x4c 0x35 0xd1 0xe3 0x6f 0x00 0x68 0x98 0x47 0x00 0x28
+0x30 0xd0 0xe3 0x6f 0x68 0x68 0x98 0x47 0x60 0xb3 0xe3 0x6f 0xa8 0x68 0x98 0x47 0x40 0xb3 0xd4 0xf8
+0xac 0x30 0x98 0x47 0x63 0x6e 0x28 0x68 0xb0 0xee 0x40 0x8a 0x98 0x47 0x63 0x6e 0x06 0x46 0x68 0x68
+0x98 0x47 0x63 0x6e 0x07 0x46 0xa8 0x68 0x98 0x47 0x39 0x46 0x02 0x46 0x30 0x46 0xff 0xf7 0x86 0xff
+0xd4 0xf8 0xac 0x30 0x05 0x46 0x98 0x47 0x0b 0x48 0xd4 0xf8 0xb4 0x30 0xf0 0xee 0x40 0x8a 0x29 0x46
+0x78 0x44 0x98 0x47 0x38 0xee 0xc8 0x0a 0xbd 0xec 0x02 0x8b 0xe3 0x6c 0xbd 0xe8 0xf0 0x41 0x18 0x47
+0xbd 0xec 0x02 0x8b 0xd4 0xf8 0x94 0x00 0xbd 0xe8 0xf0 0x81 0x00 0xf8 0x00 0x10 0xbc 0xfe 0xff 0xff
+])
 
-; 12 seconds
-(define dec-cnt (lambda (x)
-  (if (= x 0) 0 (dec-cnt (- x 1)))
-))
+; Provides ext-dec-cnt and ext-tak which are implemented as recursive functions in C
+; like below. They take the same arguments, but return the number of seconds they took
+; to run
+(load-native-lib example)
 
-; 10 seconds
-(define dec-cnt2 (lambda (x)
-  (match x (0 0) (_ (dec-cnt2 (- x 1))))
-))
+(defun dec-cnt (x)
+    (if (= x 0) 0 (dec-cnt (- x 1)))
+)
 
-; 4 seconds
-(define dec-cnt3 (lambda (x)
-  (if (> x 0) (dec-cnt3 (- (- (- (- (- (- (- x 1) 1) 1) 1) 1) 1) 1)) 0)
-))
+; Seems to run faster using match instead of if
+(defun dec-cnt2 (x)
+    (match x (0 0) (_ (dec-cnt2 (- x 1))))
+)
 
-(define tak (lambda (x y z)
-  (if (not (< y x))
-      z
-    (tak
-     (tak (- x 1) y z)
-     (tak (- y 1) z x)
-     (tak (- z 1) x y)))))
+(defun tak (x y z)
+    (if (>= y x)
+        z
+        (tak
+            (tak (- x 1) y z)
+            (tak (- y 1) z x)
+            (tak (- z 1) x y)
+)))
 
-(define fib (lambda (n)
-  (if (< n 3) 1
-    (+ (fib (- n 1)) (fib (- n 2))))))
-    
-(define q2 (lambda (x y)
-  (if (or (< x 1) (< y 1)) 1
-    (+ (q2 (- x (q2 (- x 1) y)) y)
-       (q2 x (- y (q2 x (- y 1))))))))
+(print "\nTesting dec-cnt...")
+(looprange i 0 2
+    (progn
+        (print (str-from-n (+ i 1) "Try %d"))
+        (print (str-from-n (ext-dec-cnt 100000) "C Time: %.5f s"))
+        (define start (systime))
+        (dec-cnt2 100000)
+        (def time (secs-since start))
+        (print (str-from-n time "LBM Time: %.3f s"))
+        (print (str-from-n (/ time (ext-dec-cnt 100000)) "C Speed Diff: %.1f times"))
+        (sleep 1)
+))
 
-(define f (lambda ()
-   (progn
-     
-     (define start (systime))
-     ;(dec-cnt3 100000)
-     (define takres (tak 18 12 6))
-     ;(define fibres (fib 23))
-     ;(define q2res (q2 7 8))
-     (print (list "Seconds elapsed: " (secs-since start)))
-     
-     (yield 2000000)
-     (f)
-)))
-     
-(f)
+(print "\nTesting tak...")
+(looprange i 0 2
+    (progn
+        (print (str-from-n (+ i 1) "Try %d"))
+        (print (str-from-n (ext-tak 18 12 6) "C Time: %.5f s"))
+        (define start (systime))
+        (define takres (tak 18 12 6))
+        (def time (secs-since start))
+        (print (str-from-n time "LBM Time: %.3f s"))
+        (print (str-from-n (/ time (ext-tak 18 12 6)) "C Speed Diff: %.1f times"))
+        (sleep 1)
+))
 
+; Results 2022-11-23
+; dec-cnt: 245x faster in C
+; tak: 156x faster in C

From 5b3793c298a1f607a95691f09976a715a76075e5 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Wed, 23 Nov 2022 20:32:53 +0000
Subject: [PATCH 322/559] @p0wdrdotcom has signed the CLA from Pull Request
 #268

---
 signatures/version1/cla.json | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/signatures/version1/cla.json b/signatures/version1/cla.json
index 52c230524..5e8a5975f 100644
--- a/signatures/version1/cla.json
+++ b/signatures/version1/cla.json
@@ -103,6 +103,14 @@
       "created_at": "2022-11-08T13:05:56Z",
       "repoId": 102395117,
       "pullRequestNo": 259
+    },
+    {
+      "name": "p0wdrdotcom",
+      "id": 7693248,
+      "comment_id": 1325626932,
+      "created_at": "2022-11-23T20:32:37Z",
+      "repoId": 102395117,
+      "pullRequestNo": 268
     }
   ]
 }
\ No newline at end of file

From 1cc3e8f9f2212a206c3e0be6cea8080f0a40efea Mon Sep 17 00:00:00 2001
From: Geoff <p0wdrdotcom@users.noreply.github.com>
Date: Thu, 24 Nov 2022 21:02:33 +1300
Subject: [PATCH 323/559] gave execute permissions to ./build_lin (#268)

---
 build_lin | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 mode change 100644 => 100755 build_lin

diff --git a/build_lin b/build_lin
old mode 100644
new mode 100755

From 809da4b70407d7849d276a1920928a17e3f4446c Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 24 Nov 2022 10:16:21 +0100
Subject: [PATCH 324/559] Added battery filter parameter

---
 res/config/6.00/parameters_mcconf.xml | 22 ++++++++++++++++++++++
 1 file changed, 22 insertions(+)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index c22d7b915..a0b0caa42 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -3801,6 +3801,26 @@ p, li { white-space: pre-wrap; }
             <suffix></suffix>
             <vTx>1</vTx>
         </m_hall_extra_samples>
+        <m_batt_filter_const>
+            <longName>Battery Filter Constant</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Battery Level Filtering. The higher this number is the more the battery level is filtered. Too little filtering will make the battery level affected by the power draw and too much filtering will prevent the battery level to keep up with changes.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_BATT_FILTER_CONST</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>99</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>1</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>1</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </m_batt_filter_const>
         <si_motor_poles>
             <longName>Motor Poles</longName>
             <type>2</type>
@@ -4458,6 +4478,7 @@ p, li { white-space: pre-wrap; }
         <ser>m_ntcx_ptcx_res</ser>
         <ser>m_ntcx_ptcx_temp_base</ser>
         <ser>m_hall_extra_samples</ser>
+        <ser>m_batt_filter_const</ser>
         <ser>si_motor_poles</ser>
         <ser>si_gear_ratio</ser>
         <ser>si_wheel_diameter</ser>
@@ -4514,6 +4535,7 @@ p, li { white-space: pre-wrap; }
                 <subgroupParams>
                     <param>l_battery_cut_start</param>
                     <param>l_battery_cut_end</param>
+                    <param>m_batt_filter_const</param>
                 </subgroupParams>
             </subgroup>
             <subgroup>

From 258bea6021e8b6cf384ac0e20e9ae45e4d3f03f8 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 24 Nov 2022 19:08:42 +0100
Subject: [PATCH 325/559] Report error when loading empty config or custom ui

---
 vescinterface.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/vescinterface.cpp b/vescinterface.cpp
index 958b2b391..61aa80e08 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -3664,7 +3664,7 @@ void VescInterface::fwVersionReceived(FW_RX_PARAMS params)
         for (int i = 0;i < params.customConfigNum;i++) {
             QByteArray configData;
             int confIndLast = 0;
-            int lenConfLast = 0;
+            int lenConfLast = -1;
             auto conn = connect(mCommands, &Commands::customConfigChunkRx,
                     [&](int confInd, int lenConf, int ofsConf, QByteArray data) {
                 if (configData.size() <= ofsConf) {
@@ -3733,7 +3733,7 @@ void VescInterface::fwVersionReceived(FW_RX_PARAMS params)
     // Read qmlui
     if (mLoadQmlUiOnConnect && params.hasQmlHw) {
         QByteArray qmlData;
-        int lenQmlLast = 0;
+        int lenQmlLast = -1;
         auto conn = connect(mCommands, &Commands::qmluiHwRx,
                             [&](int lenQml, int ofsQml, QByteArray data) {
             if (qmlData.size() <= ofsQml) {
@@ -3781,7 +3781,7 @@ void VescInterface::fwVersionReceived(FW_RX_PARAMS params)
 
     if (mLoadQmlUiOnConnect && params.hasQmlApp) {
         QByteArray qmlData;
-        int lenQmlLast = 0;
+        int lenQmlLast = -1;
         auto conn = connect(mCommands, &Commands::qmluiAppRx,
                             [&](int lenQml, int ofsQml, QByteArray data) {
             if (qmlData.size() <= ofsQml) {

From d4ebd954dda0815649d4e5fb1ceba7b91c745b7a Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 25 Nov 2022 08:42:05 +0100
Subject: [PATCH 326/559] TCP-hub ping fix due to event loop in ping. TODO:
 make proper fix.

---
 mobile/ConnectScreen.qml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mobile/ConnectScreen.qml b/mobile/ConnectScreen.qml
index e07e726d3..fba07e84f 100644
--- a/mobile/ConnectScreen.qml
+++ b/mobile/ConnectScreen.qml
@@ -633,6 +633,7 @@ Item {
             }
 
             if (pingTcpHub) {
+                pingTcpHub = false
                 disableDialog()
                 var hubDevs = VescIf.getTcpHubDevs()
                 for (j = 0; j < hubDevs.length; j++) {
@@ -646,7 +647,6 @@ Item {
                     }
                 }
 
-                pingTcpHub = false
                 enableDialog()
             }
         }

From a56fb9f7c5de105d2dc0cdd35b27718331736c8b Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 25 Nov 2022 09:14:54 +0100
Subject: [PATCH 327/559] Connect button highlight if available connection
 detected and grey out connect/disconnect based on connection state

---
 mainwindow.cpp                             |  14 ++++++++++++++
 mainwindow.h                               |   1 +
 res.qrc                                    |   2 ++
 res/+theme_light/icons/Connected-hl-96.png | Bin 0 -> 3808 bytes
 res/icons/Connected-hl-96.png              | Bin 0 -> 5319 bytes
 vescinterface.cpp                          |  18 ++++++++++++++++++
 vescinterface.h                            |   1 +
 7 files changed, 36 insertions(+)
 create mode 100644 res/+theme_light/icons/Connected-hl-96.png
 create mode 100644 res/icons/Connected-hl-96.png

diff --git a/mainwindow.cpp b/mainwindow.cpp
index b32d9f0f3..d47e44ec0 100755
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -514,6 +514,20 @@ MainWindow::MainWindow(QWidget *parent) :
         }
     });
 
+    mPortTimer.start(1000);
+    connect(&mPortTimer, &QTimer::timeout, [this]() {
+        QString theme = Utility::getThemePath();
+
+        if (!mVesc->isPortConnected() && mVesc->lastPortAvailable()) {
+            ui->actionReconnect->setIcon(QIcon(theme + "icons/Connected-hl-96.png"));
+        } else {
+            ui->actionReconnect->setIcon(QIcon(theme + "icons/Connected-96.png"));
+        }
+
+        ui->actionReconnect->setEnabled(!mVesc->isPortConnected());
+        ui->actionDisconnect->setEnabled(mVesc->isPortConnected());
+    });
+
     // Restore size and position
     if (mSettings.contains("mainwindow/size")) {
         resize(mSettings.value("mainwindow/size").toSize());
diff --git a/mainwindow.h b/mainwindow.h
index 9fa96c383..323126991 100644
--- a/mainwindow.h
+++ b/mainwindow.h
@@ -177,6 +177,7 @@ private slots:
     QTimer mPollAppTimer;
     QTimer mPollImuTimer;
     QTimer mPollBmsTimer;
+    QTimer mPortTimer;
 
     PageWelcome *mPageWelcome;
     PageConnection *mPageConnection;
diff --git a/res.qrc b/res.qrc
index 4995c3149..312fa92e9 100644
--- a/res.qrc
+++ b/res.qrc
@@ -324,5 +324,7 @@
         <file>res/other_fw/nrf52840_wand_mag.bin</file>
         <file>res/icons/Package-96.png</file>
         <file>res/+theme_light/icons/Package-96.png</file>
+        <file>res/icons/Connected-hl-96.png</file>
+        <file>res/+theme_light/icons/Connected-hl-96.png</file>
     </qresource>
 </RCC>
diff --git a/res/+theme_light/icons/Connected-hl-96.png b/res/+theme_light/icons/Connected-hl-96.png
new file mode 100644
index 0000000000000000000000000000000000000000..028e0e0d76c88f52a7db0b7f719b3d4240bfd21d
GIT binary patch
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z00(qQO+^Rh3mFIo01iQo1poj7`AI}URCwC$o6T_(K@f%CYy{2(ojI8d$bcmSML<zR
zU?N~00c2pEIEx4f0Xc%^qNP+SY1yCY>7MELPA<#VXuofIes)Iy!!QiPFbu;m(UOQD
zLq7eKe?NbDn<&5v{t5{ckQ@F&2^63Ke}RM)3d+Lqc@zAZZKhB?GKYvI?aXMa3kQGA
z-*5fDrYm3zlqHq0rk&>JfE+z?jszw6bqmNj98AGdgkP@!g|YZ1G-dd83ebRm3tj>E
z{sfE{eeXgv;a@^51mBl{>x;g=pc3#)tfpKFxCeK<utwqg5a1cEGJJah!QtBqAbbF=
z+zYA{K8GM<_?(2pR{$lHnFB=Ry@))NEbUr4OjiJY58yk17fL8R1fAi3yZF@+z`K;v
ziNleyfE(~Bp_G6L_>`b6U<Q0jaIzELH8(L=Gz7I<2@5-oN(H2p1^^#f35G)uCHS8M
zC_z)e!g(O9gw7HCkP<p)@WV;y9KsJJAvuL#=RU#eWSk=WdL&rg3n~ELzXYqhp#|al
zm0<NezyQ8K305cL4B`8cV0AL?ye#|;;K6v!VJE@(R7CFpzTG|{^Lwrl@WIhOrmO@H
zC*wrK<HHgC;YexM-OAxy-AYir<*`P<Ye)%>1pEkB35rYFH3Ei^!;zAN#R5`F2LN9w
z!FCe<4B%JjiP>rydbJ}y0C?kEM7|}ew{OUVlAu&AIi3f!FF|pr%JoF7T?xwbM9ycz
z?MWywNoQ@KDGA<JL6l&-5187hodE3NKmXq+R9XQ$059<I(8hfwbiv_|m9VeA0xE?M
z0M99<zUn!^G5lvte@Vm?ezu-3B7ekRhKtYGPrV)m{z*h0MdVl#{v8P+;qS(Mg0h5R
z;xqT5;a_gnlqA#-R~x>f1j3&SUqJ%lFNL2`0^zTPpFslQZ-u`>!V@AyL=M{UuOvLp
zXs1V%%<P$);a|1+C?do8ea9R{WN&@@*rSB3@R?;22;Wcw;TuXg5I(~&48t%C!!XRc
Z`~|>mYrEVOoT~r;002ovPDHLkV1ix4Cq@7O

literal 0
HcmV?d00001

diff --git a/vescinterface.cpp b/vescinterface.cpp
index 61aa80e08..1896e343e 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -2205,6 +2205,24 @@ bool VescInterface::reconnectLastPort()
     }
 }
 
+bool VescInterface::lastPortAvailable()
+{
+    bool res = false;
+
+    if (mLastConnType == CONN_SERIAL) {
+        auto ports = listSerialPorts();
+        foreach (auto port, ports) {
+            auto p = port.value<VSerialInfo_t>();
+            if (p.systemPath == mLastSerialPort) {
+                res = true;
+                break;
+            }
+        }
+    }
+
+    return res;
+}
+
 bool VescInterface::autoconnect()
 {
     bool res = false;
diff --git a/vescinterface.h b/vescinterface.h
index f7a23fd11..9354ea96f 100755
--- a/vescinterface.h
+++ b/vescinterface.h
@@ -180,6 +180,7 @@ class VescInterface : public QObject
     Q_INVOKABLE bool isPortConnected();
     Q_INVOKABLE void disconnectPort();
     Q_INVOKABLE bool reconnectLastPort();
+    Q_INVOKABLE bool lastPortAvailable();
     Q_INVOKABLE bool autoconnect();
     Q_INVOKABLE QString getConnectedPortName();
     Q_INVOKABLE bool connectSerial(QString port, int baudrate);

From ee66b46996cc495dad0df865b97c59f0cb081c08 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 25 Nov 2022 09:46:13 +0100
Subject: [PATCH 328/559] Wrapped serial-test in ifdef

---
 vescinterface.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/vescinterface.cpp b/vescinterface.cpp
index 1896e343e..91a6b6b48 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -2209,6 +2209,7 @@ bool VescInterface::lastPortAvailable()
 {
     bool res = false;
 
+#ifdef HAS_SERIALPORT
     if (mLastConnType == CONN_SERIAL) {
         auto ports = listSerialPorts();
         foreach (auto port, ports) {
@@ -2219,6 +2220,7 @@ bool VescInterface::lastPortAvailable()
             }
         }
     }
+#endif
 
     return res;
 }

From 0fa46243628cfb02d917a0168dad70b1739622fb Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 25 Nov 2022 16:37:00 +0100
Subject: [PATCH 329/559] More torque decimals

---
 pages/pagemotorcomparison.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/pages/pagemotorcomparison.cpp b/pages/pagemotorcomparison.cpp
index e885995ed..ebc06c428 100644
--- a/pages/pagemotorcomparison.cpp
+++ b/pages/pagemotorcomparison.cpp
@@ -476,8 +476,8 @@ void PageMotorComparison::updateDataAndPlot(double posx, double yMin, double yMa
         table->item(ind++, 1)->setText(QString::number(md.vq, 'f', 1) + " V");
         table->item(ind++, 1)->setText(QString::number(md.vd, 'f', 1) + " V");
         table->item(ind++, 1)->setText(QString::number(md.vbus_min, 'f', 1) + " V");
-        table->item(ind++, 1)->setText(QString::number(md.torque_out, 'f', 1) + " Nm");
-        table->item(ind++, 1)->setText(QString::number(md.torque_motor_shaft, 'f', 1) + " Nm");
+        table->item(ind++, 1)->setText(QString::number(md.torque_out, 'f', 3) + " Nm");
+        table->item(ind++, 1)->setText(QString::number(md.torque_motor_shaft, 'f', 3) + " Nm");
         table->item(ind++, 1)->setText(QString::number(md.rpm_out, 'f', 1));
         table->item(ind++, 1)->setText(QString::number(md.rpm_motor_shaft, 'f', 1));
         table->item(ind++, 1)->setText(QString::number(md.extraVal, 'f', 1));

From 2538da61212e3af1097b70388048ee93bfac4788 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 27 Nov 2022 13:05:27 +0100
Subject: [PATCH 330/559] Updated qml-examples

---
 res/qml/Examples/ParamTableAndPlot.qml | 123 +++++++++++++++++++++++++
 res/qml/Examples/PollValues.qml        |  21 +++++
 res_qml.qrc                            |   1 +
 3 files changed, 145 insertions(+)
 create mode 100644 res/qml/Examples/ParamTableAndPlot.qml

diff --git a/res/qml/Examples/ParamTableAndPlot.qml b/res/qml/Examples/ParamTableAndPlot.qml
new file mode 100644
index 000000000..de397376f
--- /dev/null
+++ b/res/qml/Examples/ParamTableAndPlot.qml
@@ -0,0 +1,123 @@
+import QtQuick 2.15
+import QtQuick.Controls 2.15
+import QtQuick.Layouts 1.3
+import Vedder.vesc.utility 1.0
+import Vedder.vesc.commands 1.0
+import Vedder.vesc.configparams 1.0
+
+Item {
+    id: topItem
+    anchors.fill: parent
+    anchors.margins: 10
+    
+    property Commands mCommands: VescIf.commands()
+    property ConfigParams mMcConf: VescIf.mcConfig()
+    property ConfigParams mAppConf: VescIf.appConfig()
+    
+    property var vecRoll: []
+    property var vecPitch: []
+    property var vecYaw: []
+    
+    ColumnLayout {
+        anchors.fill: parent
+        
+        ScrollView {
+            Layout.fillWidth: true
+            Layout.fillHeight: true
+            clip: true
+            
+            ParamList {
+                id: params
+                anchors.fill: parent
+                
+                Component.onCompleted: {
+                    addEditorApp("imu_conf.mode")
+                    addEditorApp("imu_conf.rot_roll")
+                    addEditorApp("imu_conf.rot_pitch")
+                    addEditorApp("imu_conf.rot_yaw")
+                    
+                    // Editors for custom config, e.g. the balance app
+//                    addEditorCustom("kp", 0)
+//                    addEditorCustom("ki", 0)
+//                    addEditorCustom("kd", 0)
+                }
+            }
+        }
+        
+        Canvas {
+            id: plot
+            
+            Layout.fillWidth: true
+            Layout.preferredHeight: topItem.height * 0.3
+            
+            function drawVec(ctx, vec, yMax) {
+                ctx.beginPath()
+                var mid = height / 2
+                
+                if (vec.length > 0) {
+                    ctx.moveTo(0, mid - vec[0] / yMax * mid)
+                }
+                
+                for (var i = 0;i < vec.length;i++) {
+                    ctx.lineTo((i + 1) * width / vec.length, mid - vec[i] / yMax * mid)
+                }
+                ctx.stroke()
+            }
+            
+            onPaint: {
+                var ctx = getContext("2d");
+                
+                ctx.fillStyle = Qt.rgba(0.1, 0.1, 0.1, 1)
+                ctx.fillRect(0, 0, width, height)
+                
+                // Draw x-axis
+                ctx.lineWidth = 2;
+                ctx.strokeStyle = Qt.rgba(1, 1, 1, 1)
+                ctx.beginPath()
+                ctx.moveTo(0, height / 2)
+                ctx.lineTo(width, height / 2)
+                ctx.stroke()
+                
+                // Draw IMU-vectors
+                ctx.lineWidth = 1.5;
+                ctx.strokeStyle = Qt.rgba(1, 0, 0, 1)
+                drawVec(ctx, vecRoll, Math.PI)
+                ctx.strokeStyle = Qt.rgba(0, 1, 0, 1)
+                drawVec(ctx, vecPitch, Math.PI)
+                ctx.strokeStyle = Qt.rgba(0, 0, 1, 1)
+                drawVec(ctx, vecYaw, Math.PI)
+            }
+        }
+        
+        Timer {
+            running: true
+            repeat: true
+            interval: 100
+            
+            onTriggered: {
+                mCommands.getImuData(0xFFFFFFFF)
+            }
+        }
+        
+        Connections {
+            target: mCommands
+            
+            function addToVec(vec, sample) {
+                var maxLen = 100
+                
+                vec.push(sample)
+                if (vec.length > maxLen) {
+                    vec.shift()
+                }
+            }
+            
+            function onValuesImuReceived(val, mask) {
+                addToVec(vecRoll, val.roll)
+                addToVec(vecPitch, val.pitch)
+                addToVec(vecYaw, val.yaw)
+                
+                plot.requestPaint()
+            }
+        }
+    }
+}
diff --git a/res/qml/Examples/PollValues.qml b/res/qml/Examples/PollValues.qml
index 0b1ded91c..937b0b4f7 100644
--- a/res/qml/Examples/PollValues.qml
+++ b/res/qml/Examples/PollValues.qml
@@ -28,6 +28,7 @@ Item {
 //            mCommands.ioBoardGetAll(255)
 //            mCommands.getStats(0xFFFFFFFF)
 //            mCommands.getGnss(0xFFFF)
+//            mCommands.getImuData(0xFFFFFFFF)
         }
     }
     
@@ -153,5 +154,25 @@ Item {
 //            val.dd
 //            val.age_s
         }
+        
+        function onValuesImuReceived(val, mask) {
+//            val.roll
+//            val.pitch
+//            val.yaw
+//            val.accX
+//            val.accY
+//            val.accZ
+//            val.gyroX
+//            val.gyroY
+//            val.gyroZ
+//            val.magX
+//            val.magY
+//            val.magZ
+//            val.q0
+//            val.q1
+//            val.q2
+//            val.q3
+//            val.vesc_id
+        }
     }
 }
diff --git a/res_qml.qrc b/res_qml.qrc
index 64e811ff7..63e06d7c0 100644
--- a/res_qml.qrc
+++ b/res_qml.qrc
@@ -28,5 +28,6 @@
         <file>res/qml/Examples/UdpServer.qml</file>
         <file>res/qml/Examples/ConfigParams.qml</file>
         <file>res/qml/Examples/TcpHub.qml</file>
+        <file>res/qml/Examples/ParamTableAndPlot.qml</file>
     </qresource>
 </RCC>

From 202dfa1edcc0639c5e4f9a897331bfa03143f32b Mon Sep 17 00:00:00 2001
From: "Jeffrey M. Friesen" <jfriesen222@gmail.com>
Date: Wed, 30 Nov 2022 01:24:04 -0800
Subject: [PATCH 331/559] Merging in tool for automatic board setup that I
 created and can be launched with command line argument (#270)

* increase sw freq limit

* Halfway done with config tool stuff

* added enable boxes

* more work on motor setup and testing

* Cleaned up some stuff

* intermediate changes for apps setup

* Update boardsetupwindow.cpp

* more progress on tool

* beta version of tool

* fixed minor bugs

* Update boardsetupwindow.cpp

* fixed compilation issues for 3.01

* Fixed autodetection of USB on windows

* remove extra file

* fixed a few minor issues
---
 boardsetupwindow.cpp | 1212 ++++++++++++++++++++++++++++++++++++++++++
 boardsetupwindow.h   |  100 ++++
 boardsetupwindow.ui  |  726 +++++++++++++++++++++++++
 main.cpp             |   11 +
 utility.cpp          |    1 -
 vesc_tool.pro        |    5 +-
 6 files changed, 2053 insertions(+), 2 deletions(-)
 create mode 100644 boardsetupwindow.cpp
 create mode 100644 boardsetupwindow.h
 create mode 100644 boardsetupwindow.ui

diff --git a/boardsetupwindow.cpp b/boardsetupwindow.cpp
new file mode 100644
index 000000000..fc9dc0d90
--- /dev/null
+++ b/boardsetupwindow.cpp
@@ -0,0 +1,1212 @@
+#include "boardsetupwindow.h"
+#include "ui_boardsetupwindow.h"
+#include <QMessageBox>
+#include <QDebug>
+#include <QThread>
+#include <QFileDialog>
+#include <QListWidgetItem>
+#include <QScrollBar>
+#include <cmath>
+#include <QEventLoop>
+#include <QDirIterator>
+#include <QDesktopServices>
+#include <QProgressDialog>
+#include "parametereditor.h"
+#include "startupwizard.h"
+#include "widgets/helpdialog.h"
+#include "utility.h"
+#include "widgets/paramdialog.h"
+#include "widgets/detectallfocdialog.h"
+
+BoardSetupWindow::BoardSetupWindow(QWidget *parent) :
+    QMainWindow(parent),
+    ui(new Ui::BoardSetupWindow)
+{
+    ui->setupUi(this);
+
+    mVersion = QString::number(VT_VERSION, 'f', 2);
+    mVesc = new VescInterface(this);
+
+    mStatusInfoTime = 0;
+    mStatusLabel = new QLabel(this);
+    ui->statusBar->addPermanentWidget(mStatusLabel);
+    mTimer = new QTimer(this);
+    mKeyLeft = false;
+    mKeyRight = false;
+
+
+    connect(mTimer, SIGNAL(timeout()),
+            this, SLOT(timerSlot()));
+    connect(mVesc, SIGNAL(statusMessage(QString,bool)),
+            this, SLOT(showStatusInfo(QString,bool)));
+    connect(mVesc, SIGNAL(messageDialog(QString,QString,bool,bool)),
+            this, SLOT(showMessageDialog(QString,QString,bool,bool)));
+    connect(mVesc->commands(), SIGNAL(pingCanRx(QVector<int>,bool)),
+            this, SLOT(pingCanRx(QVector<int>,bool)));
+    connect(mVesc, SIGNAL(fwUploadStatus(QString,double,bool)),
+            this, SLOT(fwUploadStatus(QString,double,bool)));
+    connect(mVesc->commands(), SIGNAL(valuesReceived(MC_VALUES,unsigned int)),
+            this, SLOT(valuesReceived(MC_VALUES,unsigned int)));
+
+    mTimer->start(20);
+
+    // Restore size and position
+    if (mSettings.contains("boardsetupwindow/size")) {
+        resize(mSettings.value("boardsetupwindow/size").toSize());
+    }
+
+    if (mSettings.contains("boardsetupwindow/position")) {
+        move(mSettings.value("boardsetupwindow/position").toPoint());
+    }
+
+    if (mSettings.contains("boardsetupwindow/maximized")) {
+        bool maximized = mSettings.value("boardsetupwindow/maximized").toBool();
+        if (maximized) {
+            showMaximized();
+        }
+    }
+
+    mVesc->fwConfig()->loadParamsXml("://res/config/fw.xml");
+    Utility::configLoadLatest(mVesc);
+
+    mMcConfig_Target = new ConfigParams(this);
+    mAppConfig_Target = new ConfigParams(this);
+    QPair<int, int> latestSupported = Utility::configLatestSupported();
+    QString FW_Ver =  QString::number(latestSupported.first) + "." + QStringLiteral("%1").arg(latestSupported.second, 2, 10, QLatin1Char('0'));
+    mMcConfig_Target->loadParamsXml("://res/config/" + FW_Ver + "/parameters_mcconf.xml");
+    mAppConfig_Target->loadParamsXml("://res/config/" + FW_Ver + "/parameters_appconf.xml");
+
+
+    QDirIterator dir(QDir::currentPath(),QStringList() << "app_settings*.xml", QDir::NoFilter ,QDirIterator::Subdirectories);
+    if(dir.hasNext()){
+        loadAppConfXML(dir.next());
+    }
+    QDirIterator dir2(QDir::currentPath(),QStringList() << "motor_settings*.xml", QDir::NoFilter ,QDirIterator::Subdirectories);
+    if(dir2.hasNext()){
+        loadMotorConfXML(dir2.next());
+    }
+    on_serialRefreshButton_clicked();
+}
+
+BoardSetupWindow::~BoardSetupWindow()
+{
+
+    // Save settings
+    mSettings.setValue("version", mVersion);
+    mSettings.setValue("introVersion", VT_INTRO_VERSION);
+    mSettings.setValue("boardsetupwindow/position", pos());
+    mSettings.setValue("boardsetupwindow/maximized", isMaximized());
+
+    if (!isMaximized()) {
+        mSettings.setValue("boardsetupwindow/size", size());
+    }
+
+    delete ui;
+}
+
+void BoardSetupWindow::timerSlot()
+{
+    // Update status label
+    if (mStatusInfoTime) {
+        mStatusInfoTime--;
+        if (!mStatusInfoTime) {
+            mStatusLabel->setStyleSheet(qApp->styleSheet());
+        }
+    } else {
+        QString str = mVesc->getConnectedPortName();
+        if (str != mStatusLabel->text()) {
+            mStatusLabel->setText(mVesc->getConnectedPortName());
+            static QString statusLast = "";
+            if (str != statusLast) {
+                // mPageDebugPrint->printConsole("Status: " + str + "<br>");
+                statusLast = str;
+            }
+        }
+    }
+
+
+    // RT data
+    bool getRtData = false;
+    bool sendAlive = false;
+    if ( getRtData) {
+        mVesc->commands()->getValues();
+        if (mVesc->isRtLogOpen()) {
+            mVesc->commands()->getValuesSetup();
+        }
+    }
+
+    // APP RT data
+    if (getRtData) {
+        mVesc->commands()->getDecodedAdc();
+        mVesc->commands()->getDecodedChuk();
+        mVesc->commands()->getDecodedPpm();
+        mVesc->commands()->getDecodedBalance();
+    }
+
+    // IMU Data
+    if (getRtData) {
+        mVesc->commands()->getImuData(0xFFFF);
+    }
+
+    // Send alive command once every 10 iterations
+    if (sendAlive) {
+        static int alive_cnt = 0;
+        alive_cnt++;
+        if (alive_cnt >= 10) {
+            alive_cnt = 0;
+            mVesc->commands()->sendAlive();
+        }
+    }
+
+    // Read configurations if they haven't been read since starting VESC Tool
+
+
+
+    // Disable all data streaming when uploading firmware
+    if (mVesc->getFwUploadProgress() > 0.1) {
+        //       ui->actionSendAlive->setChecked(false);
+        //        ui->actionRtData->setChecked(false);
+        //        ui->actionRtDataApp->setChecked(false);
+        //        ui->actionIMU->setChecked(false);
+        //       ui->actionKeyboardControl->setChecked(false);
+    }
+
+
+    // Run startup checks
+    static bool has_run_start_checks = false;
+    if (!has_run_start_checks) {
+
+        // put code when opening tool here
+
+        has_run_start_checks = true;
+        Utility::checkVersion(mVesc);
+    }
+}
+
+void BoardSetupWindow::on_startButton_clicked()
+{
+    ui->appConfigButton->setEnabled(false);
+    ui->motorConfigButton->setEnabled(false);
+    ui->appConfigEdit->setEnabled(false);
+    ui->motorConfigEdit->setEnabled(false);
+    ui->motorTolSlider->setEnabled(false);
+    ui->startButton->setEnabled(false);
+    ui->serialRefreshButton->setEnabled(false);
+    ui->serialPortBox->setEnabled(false);
+    ui->bleFirmwareButton->setEnabled(false);
+    ui->bleFirmwareEdit->setEnabled(false);
+    ui->bootloaderCheckBox->setEnabled(false);
+    ui->bleCheckBox->setEnabled(false);
+    ui->appCheckBox->setEnabled(false);
+    ui->motorDetectionCheckBox->setEnabled(false);
+
+
+    if(ui->motorDetectionCheckBox->isChecked()){
+        QMessageBox::StandardButton reply;
+        reply = QMessageBox::information(this,
+                                         tr("Board Setup Started"),
+                                         tr("You have begun the board setup process with motor calibration enabled.") +
+                                         tr(" Please ensure the motors and wheels are able to free-spin without") +
+                                         tr(" interference before pressing OK."),
+                                         QMessageBox::Ok|QMessageBox::Cancel);
+        if(reply!=QMessageBox::Ok){
+            return;
+        }
+    }
+    ui->startButton->setEnabled(false);
+    bool res;
+    res = trySerialConnect();
+    if(!res){
+        resetRoutine();
+        return;
+    }
+    res = tryCANScan();
+    if(!res){
+        return;
+    }
+    if(ui->bootloaderCheckBox->isChecked()){
+        res = tryBootloaderUpload();
+        if(!res){
+            resetRoutine();
+            return;
+        }
+        res = tryFirmwareUpload();
+        if(!res){
+            resetRoutine();
+            return;
+        }
+        res = tryCANScan();
+        if(!res){
+            return;
+        }
+    }
+
+    if(ui->bleCheckBox->isChecked()){
+        res = tryBleFirmwareUpload();
+        if(!res){
+            resetRoutine();
+            return;
+        }
+
+    }
+
+    if(ui->motorDetectionCheckBox->isChecked()){
+        res = tryFOCCalibration();
+        if(!res){
+            resetRoutine();
+            return;
+        }
+        res = tryMotorDirection();
+        if(!res){
+            resetRoutine();
+            return;
+        }
+
+        res = tryTestMotorParameters();
+        if(!res){
+            resetRoutine();
+            return;
+        }
+    }
+
+    if(ui->appCheckBox->isChecked()){
+        if(num_VESCs>1){
+            res = tryApplySlaveAppSettings();
+            if(!res){
+                resetRoutine();
+                return;
+            }
+        }
+        res = tryApplyMasterAppSettings();
+        if(!res){
+            resetRoutine();
+            return;
+        }
+        res = tryRemoteTest();
+        if(!res){
+            resetRoutine();
+            return;
+        }
+    }
+    res = tryFinalDiagnostics();
+    if(!res){
+        resetRoutine();
+        return;
+    }
+    testResultMsg = "Setup completed succesfully. Your board should now be ready to ride.";
+    testResult = true;
+    resetRoutine();
+}
+
+void BoardSetupWindow::resetRoutine(){
+    //showMessageDialog(tr("Test Results"),
+    //                  tr(testResultMsg.toUtf8()),
+    //                 testResult, false);
+    QMessageBox::StandardButton reply;
+    reply = QMessageBox::information(this,
+                                     tr("Test Results:"),
+                                     tr(testResultMsg.toUtf8()),
+                                     QMessageBox::Ok);
+    mVesc->disconnectPort();
+    ui->startButton->setEnabled(true);
+    ui->usbConnectLabel->setStyleSheet("");
+
+    is_Dual = false;
+    num_VESCs = 0;
+    HW_Name = "";
+
+    ui->appConfigButton->setEnabled(true);
+    ui->motorConfigButton->setEnabled(true);
+    ui->motorTolSlider->setEnabled(true);
+    ui->appConfigEdit->setEnabled(true);
+    ui->motorConfigEdit->setEnabled(true);
+    ui->startButton->setEnabled(true);
+    ui->serialRefreshButton->setEnabled(true);
+    ui->serialPortBox->setEnabled(true);
+    ui->bleFirmwareButton->setEnabled(true);
+    ui->bleFirmwareEdit->setEnabled(true);
+    ui->bootloaderCheckBox->setEnabled(true);
+    ui->bleCheckBox->setEnabled(true);
+    ui->appCheckBox->setEnabled(true);
+    ui->motorDetectionCheckBox->setEnabled(true);
+
+    ui->CANScanLabel->setStyleSheet("");
+    ui->bootloaderLabel->setStyleSheet("");
+    ui->firmwareLabel->setStyleSheet("");
+    ui->bleFirmwareLabel->setStyleSheet("");
+    ui->motorDetectionLabel->setStyleSheet("");
+    ui->motorDirectionLabel->setStyleSheet("");
+    ui->motorTestLabel->setStyleSheet("");
+    ui->appSetupLabel->setStyleSheet("");
+    ui->remoteTestLabel->setStyleSheet("");
+
+    ui->usbConnectLabel->setText("Connect USB Port");
+    ui->CANScanLabel->setText("CAN Bus Scan");
+    ui->bootloaderLabel->setText("Bootloader Upload");
+    ui->firmwareLabel->setText("Firmware Upload");
+    ui->bleFirmwareLabel->setText("BLE Firmware Upload");
+    ui->motorDetectionLabel->setText("Motor FOC Detection");
+    ui->motorDirectionLabel->setText("Motor Direction Calibration");
+    ui->motorTestLabel->setText("Motor Test");
+    ui->appSetupLabel->setText("App Setup");
+    ui->remoteTestLabel->setText("App Test");
+
+}
+
+bool BoardSetupWindow::trySerialConnect(){
+    bool res;
+    mVesc->commands()->setSendCan(false);
+    res = mVesc->connectSerial(ui->serialPortBox->currentData().toString(), 115200);
+    if(res){
+        Utility::waitSignal(mVesc, SIGNAL(fwRxChanged(bool, bool)), 5000);
+    }
+    if(mVesc->isPortConnected()){
+        ui->usbConnectLabel->setStyleSheet("QLabel { background-color : lightGreen; color : black; }");
+    }else{
+        ui->usbConnectLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+        testResultMsg = "Could not connect USB. Make sure the unit is powered on, connected to the computer, and the correct Serial port is selected.";
+        testResult = false;
+    }
+    return mVesc->isPortConnected();
+}
+
+bool BoardSetupWindow::tryCANScan(){
+    bool res = false;
+    if(mVesc->isPortConnected()){
+        mVesc->commands()->pingCan();
+        Utility::waitSignal(mVesc->commands(), SIGNAL(pingCanRx(QVector<int>, bool)), 10000);
+    }
+    if(CAN_Timeout){
+        res = false;
+        ui->CANScanLabel->setStyleSheet("QLabel { background-color : lightGreen; color : black; }");
+        testResultMsg = "Could not connect USB. Make sure the unit is powered on, connected to the computer, and the correct Serial port is selected.";
+        testResult = false;
+    }else{
+        res = true;
+        mVesc->commands()->setSendCan(false);
+        mVesc->commands()->getAppConf();
+        if(!Utility::waitSignal(mVesc->appConfig(), SIGNAL(updated()), 5000)){
+            ui->CANScanLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+            testResultMsg = "Failed to read app config during CAN Scan.";
+            return false;
+        }
+        int this_ID = mVesc->appConfig()->getParamInt("controller_id");
+        QString canTxt("CAN IDs: " + QString::number(this_ID));
+        for(int i = 0; i < CAN_IDs.size(); i++){
+            canTxt = canTxt + ", " + QString::number(CAN_IDs.at(i));
+        }
+        canTxt = canTxt + " (" + QString::number(CAN_IDs.size() + 1) + " motors total)";
+        ui->CANScanLabel->setText(canTxt);
+        ui->CANScanLabel->setStyleSheet("QLabel { background-color : lightGreen; color : black; }");
+    }
+    HW_Name = mVesc->getFirmwareNow().split("Hw: ").last();
+    HW_Name = HW_Name.split("\n").first();
+    if(HW_Name.contains("STORMCORE")|| HW_Name.contains("UNITY")){
+        is_Dual = true;
+        num_VESCs = (CAN_IDs.size() + 1)/2;
+        qDebug() << "num vescs" << num_VESCs;
+    }else{
+        is_Dual = false;
+        num_VESCs = CAN_IDs.size() + 1;
+    }
+    return res;
+}
+
+bool BoardSetupWindow::tryBootloaderUpload(){   
+    QString FW_Path;
+    QFile file;
+    file.setFileName("://res/bootloaders/generic.bin");
+    is_Bootloader = true;
+    if (!file.open(QIODevice::ReadOnly)) {
+        QMessageBox::critical(this,
+                              tr("Upload Error"),
+                              tr("Could not open file. Make sure that the path is valid."));
+        testResultMsg = "Something is wrong with the included bootloader file in this software.";
+        testResult = false;
+        return false;
+    }
+    if (file.size() > 400000) {
+        QMessageBox::critical(this,
+                              tr("Upload Error"),
+                              tr("The selected file is too large to be a firmware."));
+        testResultMsg = "The included bootloader file is too large.";
+        testResult = false;
+        return false;
+    }
+    QByteArray data = file.readAll();
+
+    bool fwRes = mVesc->fwUpload(data, is_Bootloader, num_VESCs > 1);
+    if(fwRes){
+        ui->bootloaderLabel->setStyleSheet("QLabel { background-color : lightGreen; color : black; }");
+    }else{
+        ui->bootloaderLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+        testResultMsg = "The bootloader upload timed out. Please try the routine again, you may need to update the firmware first seperatley from the VESC tool.";
+        testResult = false;
+    }
+    return fwRes;
+}
+
+bool BoardSetupWindow::tryFirmwareUpload(){
+    QString FW_Path;
+    QDirIterator it("://res/firmwares");
+    while (it.hasNext()) {
+        QFileInfo fi(it.next());
+        QStringList names = fi.fileName().split("_o_");
+        if (fi.isDir() && (HW_Name.isEmpty() || names.contains(HW_Name, Qt::CaseInsensitive))) {
+            FW_Path = fi.absoluteFilePath() +  "/VESC_default.bin";
+        }
+    }
+    bool fwRes = false;
+    is_Bootloader = false;
+    QFile file;
+    if(!FW_Path.isEmpty()){
+        file.setFileName(FW_Path);
+        if (!file.open(QIODevice::ReadOnly)) {
+            QMessageBox::critical(this,
+                                  tr("Upload Error"),
+                                  tr("Could not open file. Make sure that the path is valid."));
+            testResultMsg = "Something is wrong with the included firmware file for your hardware in this software.";
+            testResult = false;
+            return false;
+        }
+        if (file.size() > 400000) {
+            QMessageBox::critical(this,
+                                  tr("Upload Error"),
+                                  tr("The selected file is too large to be a firmware."));
+            testResultMsg = "The included firmware file is too large.";
+            testResult = false;
+            return false;
+        }
+        QByteArray data = file.readAll();
+
+        fwRes = mVesc->fwUpload(data, is_Bootloader, num_VESCs > 1);
+        if(!fwRes){
+            ui->firmwareLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+            testResultMsg = "The firmware upload timed out. Please try the routine again, you may need to update the firmware first seperatley from the VESC tool.";
+            return false;
+        }
+    }else{
+        // Didn't find any supported default firmwares
+        ui->bootloaderLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+        testResultMsg = "The firmware file path is non-existent.";
+        return false;
+    }
+    for(int j = 15; j>-1; j--){
+        ui->firmwareLabel->setText("Waiting for Reboot: " + QString::number(j)  + " s");
+        Utility::sleepWithEventLoop(1000);
+    }
+    bool reconnected = trySerialConnect();
+    if(reconnected){
+        ui->firmwareLabel->setText("Firmware Uploaded Succesfully and Reconnected");
+        ui->firmwareLabel->setStyleSheet("QLabel { background-color : lightGreen; color : black; }");
+    }else{
+        ui->firmwareLabel->setText("Unit did not reconnect after firmware upload.");
+        ui->firmwareLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+        testResult = false;
+    }
+    return reconnected;
+}
+
+bool BoardSetupWindow::tryBleFirmwareUpload(){
+    return true;
+}
+
+
+bool BoardSetupWindow::tryFOCCalibration(){    
+    mVesc->commands()->setSendCan(false);
+    mVesc->ignoreCanChange(true);
+    mVesc->commands()->getAppConf();
+    if(!Utility::waitSignal(mVesc->appConfig(), SIGNAL(updated()), 5000)){
+        ui->motorDetectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+        testResultMsg = "Failed to read app config during motor setup routine.";
+        return false;
+    }
+    app_enum_old = mVesc->appConfig()->getParamEnum("app_to_use");
+    mVesc->appConfig()->updateParamEnum("app_to_use",0); // set to use no app
+    Utility::sleepWithEventLoop(100);
+    mVesc->commands()->setAppConf();
+    if(!Utility::waitSignal(mVesc->commands(), SIGNAL(ackReceived(QString)), 2000)){
+        ui->appSetupLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+        testResultMsg = "Failed to write app config during motor routine.";
+        return false;
+    }
+
+
+
+
+
+    bool xml_res = mVesc->mcConfig()->loadXml(mcXmlPath, "MCConfiguration");
+    if(!xml_res){
+        ui->motorDetectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+        testResultMsg = "motor XML read failed during FOC calibration";
+        return false;
+    }
+    mVesc->ignoreCanChange(true);
+    ui->motorDetectionLabel->setText("Writing Default Configs");
+    mVesc->commands()->setSendCan(false);
+    mVesc->commands()->setMcconf(false);
+    Utility::waitSignal(mVesc->commands(), SIGNAL(ackReceived(QString)), 2000);
+
+    for(int i = 0; i < CAN_IDs.size(); i++){
+        mVesc->commands()->setSendCan(true, CAN_IDs.at(i));
+        mVesc->commands()->setMcconf();
+        Utility::waitSignal(mVesc->commands(), SIGNAL(ackReceived(QString)), 2000);
+    }
+    mVesc->ignoreCanChange(false);
+    mVesc->commands()->setSendCan(false);
+
+    Utility::sleepWithEventLoop(1000);
+    ui->motorDetectionLabel->setText("Running FOC Detection");
+    double max_loss = pow(mMcConfig_Target->getParamDouble("l_current_max"),2.0) * mMcConfig_Target->getParamDouble("foc_motor_r");
+    qDebug() << "max loss" << max_loss;
+    mVesc->mcConfig();
+    QString res = Utility::detectAllFoc(mVesc, true,
+                                        max_loss,
+                                        mMcConfig_Target->getParamDouble("l_in_current_min"),
+                                        mMcConfig_Target->getParamDouble("l_in_current_max"),
+                                        mMcConfig_Target->getParamDouble("foc_openloop_rpm"),
+                                        mMcConfig_Target->getParamDouble("foc_sl_erpm"));
+    if(!res.startsWith("Success!")){
+        ui->motorDetectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+        return false;
+    }
+    ui->motorDetectionLabel->setText("Checking Detected Values for Accuracy");
+    mVesc->ignoreCanChange(true);
+    float tolerance = (float) ui->motorTolSlider->value();
+    if(ui->motorTolSlider->value() < 100){
+        tolerance /= 100.0;
+    }else{
+        tolerance *= 100.0;
+    }
+
+    for(int i = -1; i < CAN_IDs.size(); i++){
+        QString canid;
+        if(i == -1){
+            canid = "Master";
+            mVesc->commands()->setSendCan(false);
+        }  else{
+            canid = QString::number(CAN_IDs.at(i));
+            mVesc->commands()->setSendCan(true, CAN_IDs.at(i));
+        }
+        mVesc->commands()->getMcconf();
+        Utility::waitSignal(mVesc->mcConfig(), SIGNAL(updated()), 5000);
+
+        if(mcConfigOutsideParamBounds("foc_motor_r",tolerance )){
+            ui->motorDetectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+            testResultMsg = "Motor Resistance of CAN ID " + canid + " is outside the tolerance for the target value." +
+                    " Check your motors and winding connections. The measured resistance was " +
+                    QString::number(mVesc->mcConfig()->getParamDouble("foc_motor_r")*1.0e3)+" mOhm";
+            return false;
+        }
+
+        if(mcConfigOutsideParamBounds("foc_motor_l",tolerance )){
+            ui->motorDetectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+            testResultMsg = "Motor Inductance of CAN ID " + canid + " is outside the tolerance for the target value." +
+                    " Check your motors and winding connections. The measured inductance was " +
+                    QString::number(mVesc->mcConfig()->getParamDouble("foc_motor_l")*1.0e6)+" uH";
+            return false;
+        }
+
+        if(mcConfigOutsideParamBounds("foc_motor_flux_linkage",tolerance)){
+            ui->motorDetectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+            testResultMsg = "Motor Flux Linkage of CAN ID " + canid + " is outside the tolerance for the target value." +
+                    " Check your motors and winding connections and ensure the motors are able to spin freely. The measured flux linkage was " +
+                    QString::number(mVesc->mcConfig()->getParamDouble("foc_motor_flux_linkage")*1.0e3)+" mWb";
+            return false;
+        }
+        if(mVesc->mcConfig()->getParamEnum("foc_sensor_mode") != mMcConfig_Target->getParamEnum("foc_sensor_mode")){
+            ui->motorDetectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+            testResultMsg = "Motor Sensors of CAN ID " + canid + " does not match the target setting." +
+                    " Ensure that the sensors are plugged in and wired correctly.";
+            return false;
+        }
+    }
+    mVesc->ignoreCanChange(false);
+    mVesc->commands()->setSendCan(false);
+    ui->motorDetectionLabel->setText("Detection Completed Succesfully");
+    ui->motorDetectionLabel->setStyleSheet("QLabel { background-color : lightGreen; color : black; }");
+    return true;
+}
+
+bool BoardSetupWindow::tryMotorDirection(){
+    int tach_start[16];
+    int tach_end[16];
+    QString directionStatus;
+    directionStatus = tr("Spin each motor in the forward direction to continue.\n");
+    mVesc->ignoreCanChange(true);
+    QVector<int> CAN_IDs_VESC;
+    FW_RX_PARAMS params;
+    for(int i = -1; i < CAN_IDs.size(); i++){
+        if(i<0){
+            mVesc->commands()->setSendCan(false);
+        }else{
+            mVesc->commands()->setSendCan(true, CAN_IDs.at(i));
+        }
+        bool res = Utility::getFwVersionBlocking(mVesc, &params);
+        if(i > 0 &&res && params.hwType == HW_TYPE_VESC){
+            CAN_IDs_VESC.append(CAN_IDs.at(i));
+        }
+    }
+    for(int i = -1; i < CAN_IDs_VESC.size(); i++){
+        if(i<0){
+            mVesc->commands()->setSendCan(false);
+        }else{
+            mVesc->commands()->setSendCan(true, CAN_IDs_VESC.at(i));
+        }
+
+        mVesc->commands()->getValues();
+        if(!Utility::waitSignal(mVesc->commands(), SIGNAL(valuesReceived(MC_VALUES, unsigned int)), 2000)){
+            ui->motorDirectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+            testResultMsg = "Failed to read tachometer value during motor direction routine.";
+            return false;
+        }
+        tach_start[i+1] = values_now.tachometer;
+        directionStatus += "  0% ";
+    }
+    bool allHaveTurned = false;
+
+    QMessageBox* msgBox = new QMessageBox( this );
+    msgBox->setWindowTitle( tr("Spin Motors") );
+    msgBox->setText(directionStatus);
+    msgBox->addButton(QMessageBox::Cancel);
+    msgBox->setModal( true );
+    msgBox->open(this, SLOT(msgBoxClosed(QAbstractButton*)));
+    mVesc->ignoreCanChange(true);
+    while(!allHaveTurned){
+        directionStatus = tr("Spin each motor in the forward direction to continue.\n");
+        bool turned = true;
+        for(int i = -1; i < CAN_IDs_VESC.size(); i++){
+
+            if(i<0){
+                mVesc->commands()->setSendCan(false);
+            }else{
+                mVesc->commands()->setSendCan(true, CAN_IDs_VESC.at(i));
+            }
+            Utility::sleepWithEventLoop(10);
+            mVesc->commands()->getValues();
+            if(Utility::waitSignal(mVesc->commands(), SIGNAL(valuesReceived(MC_VALUES, unsigned int)), 100)){
+                tach_end[i+1] = values_now.tachometer;
+            }
+            int tachDiff = tach_start[i+1] - tach_end[i+1];
+            turned &= (abs(tachDiff) >= 50);
+            int percent = abs(2*tachDiff);
+            percent = percent>100?100:percent;
+            QString number = "motor " + QString::number(i+2) + ": " +
+                    QStringLiteral("%1").arg(percent, 3, 10, QLatin1Char(' '))+ "% ";
+            // number = QString::number(tach_end[i+1]) +" " + QString::number(tach_start[i+1]) + " ";
+            directionStatus += number;
+        }
+
+        msgBox->setText(directionStatus);
+        if(!msgBox->isVisible()){
+            ui->motorDirectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+            testResultMsg = "Direction routine canceled by the user.";
+            return false;
+        }
+        if(!mVesc->isPortConnected()){
+            ui->motorDirectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+            testResultMsg = "Disconnected during direction calibration.";
+            msgBox->close();
+            msgBox->deleteLater();
+            return false;
+        }
+        allHaveTurned = turned;
+    }
+    mVesc->ignoreCanChange(true);
+    msgBox->close();
+    msgBox->deleteLater();
+    double motor_current_min = mMcConfig_Target->getParamDouble("l_current_min");
+    double motor_current_max = mMcConfig_Target->getParamDouble("l_current_max");
+    double motor_current_in_min = mMcConfig_Target->getParamDouble("l_in_current_min");
+    double motor_current_in_max = mMcConfig_Target->getParamDouble("l_in_current_max");
+    for(int i = -1; i < CAN_IDs_VESC.size(); i++){
+        if(i<0){
+            mVesc->commands()->setSendCan(false);
+        }else{
+            mVesc->commands()->setSendCan(true, CAN_IDs_VESC.at(i));
+        }
+        Utility::sleepWithEventLoop(100);
+        mVesc->commands()->getMcconf();
+        if(!Utility::waitSignal(mVesc->mcConfig(), SIGNAL(updated()), 5000)){
+            ui->motorDirectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+            testResultMsg = "Failed to read config during motor direction routine.";
+            return false;
+        }
+
+        bool invert_motor = ((tach_start[i+1] - tach_end[i+1]) > 0);
+        mVesc->mcConfig()->updateParamBool("m_invert_direction", invert_motor);
+        mVesc->mcConfig()->updateParamDouble("l_current_min", motor_current_min);
+        mVesc->mcConfig()->updateParamDouble("l_current_max", motor_current_max);
+        mVesc->mcConfig()->updateParamDouble("l_in_current_min", motor_current_in_min);
+        mVesc->mcConfig()->updateParamDouble("l_in_current_max", motor_current_in_max);
+        mVesc->commands()->setMcconf(false);
+
+        if(!Utility::waitSignal(mVesc->commands(), SIGNAL(ackReceived(QString)), 2000)){
+            ui->motorDirectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+            testResultMsg = "Failed to write config during during motor direction routine.";
+            return false;
+        }
+    }
+
+    ui->motorDirectionLabel->setStyleSheet("QLabel { background-color : lightGreen; color : black; }");
+    ui->motorDirectionLabel->setText("Motor Directions Set");
+
+
+    return true;
+}
+
+bool BoardSetupWindow::tryTestMotorParameters(){   
+
+
+
+    if(!ui->appCheckBox->isChecked()){
+        mVesc->commands()->setSendCan(false);
+        mVesc->commands()->getAppConf();
+        if(!Utility::waitSignal(mVesc->appConfig(), SIGNAL(updated()), 5000)){
+            ui->motorDetectionLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+            testResultMsg = "Failed to read app config after motor setup routine.";
+            return false;
+        }
+        mVesc->appConfig()->updateParamEnum("app_to_use",app_enum_old); // set to use no app
+        mVesc->commands()->setAppConf();
+        if(!Utility::waitSignal(mVesc->commands(), SIGNAL(ackReceived(QString)), 2000)){
+            ui->appSetupLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+            testResultMsg = "Failed to write app config after motor routine.";
+            return false;
+        }
+    }
+    return true;
+}
+
+bool BoardSetupWindow::tryApplySlaveAppSettings(){
+
+    // I wrote this little bit to determine if it was the second or motor or not for dual drivers and then
+    // realized it didn't really matter since it's ok to double write app config.
+    //
+    int master_ID = 0;
+    mVesc->commands()->setSendCan(false);
+    mVesc->commands()->getAppConf();
+    if(!Utility::waitSignal(mVesc->appConfig(), SIGNAL(updated()), 5000)){
+        ui->appSetupLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+        testResultMsg = "Failed to read app config during slave setup routine.";
+        return false;
+    }
+    master_ID = mVesc->appConfig()->getParamInt("controller_id");   
+    mVesc->appConfig()->updateParamEnum("app_to_use",0); // set to use uart
+    mVesc->commands()->setAppConf();
+    if(!Utility::waitSignal(mVesc->commands(), SIGNAL(ackReceived(QString)), 5000)){
+        ui->appSetupLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+        testResultMsg = "Failed to write master config during slave app routine.";
+        return false;
+    }
+
+    bool xml_res = mVesc->appConfig()->loadXml(appXmlPath, "APPConfiguration");
+    if(!xml_res){
+        ui->appSetupLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+        testResultMsg = "app XML read failed during App Setup";
+        return false;
+    }
+
+
+    mVesc->appConfig()->updateParamEnum("app_to_use",3); // set to use uart
+    mVesc->appConfig()->updateParamEnum("can_mode",0); // set to use vesc CAN
+    mVesc->appConfig()->updateParamEnum("can_baud_rate",2); // 500K baud
+    mVesc->appConfig()->updateParamEnum("send_can_status",5); // send all CAN status'
+    mVesc->appConfig()->updateParamInt("send_can_status_rate_hz",50); // 50 Hz
+    mVesc->appConfig()->updateParamEnum("shutdown_mode",1); // set slaves to always on so they don't time out seperatley and master controls shutdown
+
+
+    //    for(int i = 0; i < CAN_IDs.size(); i = i + 1){
+    //
+    //        is_second_motor_id |= ((master_ID + 1) == CAN_IDs.at(i));
+    //        if(i>0){
+    //            is_second_motor_id |= ((CAN_IDs.at(i) - CAN_IDs.at(i - 1) + 256) % 256 == 1);
+    //        }
+    //        is_second_motor_id &= is_Dual;
+    //        is_second_motor_id = false;
+    //        if(!is_second_motor_id){
+    //        }
+
+    mVesc->ignoreCanChange(true);
+    for(int i = 0; i < CAN_IDs.size(); i = i + 1){
+        bool is_second_master_id = is_Dual && ((master_ID + 1) == CAN_IDs.at(i));
+        if(!is_second_master_id)
+        {
+            mVesc->commands()->setSendCan(true, CAN_IDs.at(i));
+            mVesc->appConfig()->updateParamInt("controller_id", CAN_IDs.at(i));
+            Utility::sleepWithEventLoop(100);
+            mVesc->commands()->setAppConf();
+            if(!Utility::waitSignal(mVesc->commands(), SIGNAL(ackReceived(QString)), 2000)){
+                ui->appSetupLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+                testResultMsg = "Failed to write config during slave app routine.";
+                return false;
+            }
+        }
+    }
+    mVesc->commands()->setSendCan(false);
+    mVesc->ignoreCanChange(false);
+    return true;
+}
+
+bool BoardSetupWindow::tryApplyMasterAppSettings(){
+    int master_ID = 0;
+    mVesc->commands()->setSendCan(false);
+    mVesc->commands()->getAppConf();
+    if(!Utility::waitSignal(mVesc->appConfig(), SIGNAL(updated()), 5000)){
+        ui->appSetupLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+        testResultMsg = "Failed to read app config during slave setup routine.";
+        return false;
+    }
+    master_ID = mVesc->appConfig()->getParamInt("controller_id");
+
+    bool xml_res = mVesc->appConfig()->loadXml(appXmlPath, "APPConfiguration");
+    if(!xml_res){
+        ui->appSetupLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+        testResultMsg = "app XML read failed during App Setup";
+        return false;
+    }
+    mVesc->appConfig()->updateParamEnum("send_can_status",0); // don't send CAN status on master
+    mVesc->appConfig()->updateParamInt("controller_id",master_ID); // don't send CAN status on master
+
+    QString success_msg = "";
+
+    switch(mAppConfig_Target->getParamEnum("app_to_use")){
+    case 4: //ppm and uart
+
+    case 1: //ppm
+        mVesc->appConfig()->updateParamBool("app_ppm_conf.multi_esc",true);
+        success_msg = "PPM Remote Config Applied";
+        break;
+    case 3: //uart
+        // if uart only on master assume a uart based chuk remote
+        mVesc->appConfig()->updateParamBool("app_chuk_conf.multi_esc",true);
+        success_msg = "UART Remote Config Applied";
+        break;
+    case 2: //adc
+        mVesc->appConfig()->updateParamBool("app_adc_conf.multi_esc",true);
+        success_msg = "ADC Config Applied";
+        break;
+    default:
+        ui->appSetupLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+        testResultMsg = "Your app type is not compatible with this setup tool currently.";
+        return false;
+    }
+
+    mVesc->commands()->setSendCan(false);
+    mVesc->commands()->setAppConf();
+    if(!Utility::waitSignal(mVesc->commands(), SIGNAL(ackReceived(QString)), 2000)){
+        ui->appSetupLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+        testResultMsg = "Failed to write config during master app routine.";
+        return false;
+    }
+
+    ui->appSetupLabel->setStyleSheet("QLabel { background-color : lightGreen; color : black; }");
+    ui->appSetupLabel->setText(success_msg);
+    return true;
+}
+
+bool BoardSetupWindow::tryRemoteTest(){
+
+    return true;
+}
+
+bool BoardSetupWindow::tryFinalDiagnostics(){
+    return true;
+}
+
+bool BoardSetupWindow::mcConfigOutsideParamBounds(QString paramName, double tolerance) {
+    qDebug() << "tolerance" << tolerance;
+    double detectedParam = mVesc->mcConfig()->getParamDouble(paramName);
+    double targetParam = mMcConfig_Target->getParamDouble(paramName);
+    return abs(detectedParam - targetParam) > tolerance*targetParam;
+}
+
+void BoardSetupWindow::mcConfigCheckResult(QStringList paramsNotSet)
+{
+    if (!paramsNotSet.isEmpty()) {
+        ParamDialog::showParams(tr("Parameters truncated"),
+                                tr("The following parameters were truncated because they were set outside "
+                                   "of their allowed limits."),
+                                mVesc->mcConfig(),
+                                paramsNotSet,
+                                this);
+    }
+}
+
+
+
+void BoardSetupWindow::on_motorConfigButton_clicked()
+{
+    QString path;
+    path = QFileDialog::getOpenFileName(this,
+                                        tr("Choose motor configuration file to load"),
+                                        ".",
+                                        tr("Xml files (*.xml)"));
+
+    loadMotorConfXML(path);
+
+
+}
+
+void BoardSetupWindow::on_appConfigButton_clicked()
+{
+    QString path;
+    path = QFileDialog::getOpenFileName(this,
+                                        tr("Choose app configuration file to load"),
+                                        ".",
+                                        tr("Xml files (*.xml)"));
+    loadAppConfXML(path);
+}
+
+void BoardSetupWindow::on_bleFirmwareButton_clicked()
+{
+    QString filename = QFileDialog::getOpenFileName(this,
+                                                    tr("Choose Firmware File"), ".",
+                                                    tr("Binary files (*.bin)"));
+
+    if (filename.isNull()) {
+        return;
+    }
+
+    ui->bleFirmwareEdit->setText(filename);
+
+}
+
+void BoardSetupWindow::on_serialRefreshButton_clicked()
+{
+    if (mVesc) {
+        ui->serialPortBox->clear();
+        auto ports = mVesc->listSerialPorts();
+        foreach(auto &info, ports) {
+            auto port = info.value<VSerialInfo_t>();
+            ui->serialPortBox->addItem(port.name, port.systemPath);
+        }
+        ui->serialPortBox->setCurrentIndex(0);
+    }
+}
+
+void BoardSetupWindow::on_bootloaderCheckBox_stateChanged(){
+    ui->bootloaderLabel->setEnabled(ui->bootloaderCheckBox->isChecked());
+    ui->firmwareLabel->setEnabled(ui->bootloaderCheckBox->isChecked());
+}
+
+void BoardSetupWindow::on_bleCheckBox_stateChanged(){
+    ui->bleFirmwareLabel->setEnabled(ui->bleCheckBox->isChecked());
+}
+
+void BoardSetupWindow::on_motorDetectionCheckBox_stateChanged(){
+    ui->motorTolLabel->setEnabled(ui->motorDetectionCheckBox->isChecked());
+    ui->motorTolLabel_2->setEnabled(ui->motorDetectionCheckBox->isChecked());
+    ui->motorTolSlider->setEnabled(ui->motorDetectionCheckBox->isChecked());
+    ui->motorDetectionLabel->setEnabled(ui->motorDetectionCheckBox->isChecked());
+    ui->motorDirectionLabel->setEnabled(ui->motorDetectionCheckBox->isChecked());
+    ui->motorTestLabel->setEnabled(ui->motorDetectionCheckBox->isChecked());
+}
+
+void BoardSetupWindow::on_appCheckBox_stateChanged(){
+    ui->appSetupLabel->setEnabled(ui->appCheckBox->isChecked());
+    ui->remoteTestLabel->setEnabled(ui->appCheckBox->isChecked());
+}
+
+void BoardSetupWindow::on_motorTolSlider_valueChanged(int value){
+    if(value < 100){
+        ui->motorTolLabel_2->setText(QString::number(value).rightJustified(3, ' ') + "%");
+    }else{
+        ui->motorTolLabel_2->setText(" INF ");
+    }
+}
+
+
+
+void BoardSetupWindow::showStatusInfo(QString info, bool isGood)
+{
+    if (isGood) {
+        mStatusLabel->setStyleSheet("QLabel { background-color : lightgreen; color : black; }");
+        // mPageDebugPrint->printConsole("Status: " + info + "<br>");
+    } else {
+        mStatusLabel->setStyleSheet("QLabel { background-color : red; color : black; }");
+        // mPageDebugPrint->printConsole("<font color=\"red\">Status: " + info + "</font><br>");
+    }
+
+    mStatusInfoTime = 80;
+    mStatusLabel->setText(info);
+}
+
+
+void BoardSetupWindow::showMessageDialog(const QString &title, const QString &msg, bool isGood, bool richText)
+{
+    (void)richText;
+
+    if (isGood) {
+        QMessageBox::information(this, title, msg);
+    } else {
+        QMessageBox::warning(this, title, msg);
+    }
+}
+
+void BoardSetupWindow::loadAppConfXML(QString path){
+    if (path.isNull()) {
+        return;
+    }
+
+    bool res = mAppConfig_Target->loadXml(path, "APPConfiguration");
+
+    if (res) {
+        ui->appTab->clearParams();
+
+        switch(mAppConfig_Target->getParamEnum("app_to_use")){
+        case 4: //ppm and uart
+            ui->appTab->addParamRow(mAppConfig_Target, "app_uart_baudrate");
+            [[clang::fallthrough]];
+        case 1: //ppm
+            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.ctrl_type");
+            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.pulse_start");
+            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.pulse_center");
+            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.hyst");
+            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.ramp_time_pos");
+            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.ramp_time_neg");
+            if(mAppConfig_Target->getParamBool("app_ppm_conf.tc")){
+                ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.tc");
+                ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.tc_max_diff");
+            }
+            if(mAppConfig_Target->getParamEnum("app_ppm_conf.ctrl_type") == 9){
+                ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.smart_rev_max_duty");
+                ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.smart_rev_ramp_time");
+            }
+            break;
+        case 2: //adc
+            break;
+        case 3: //uart
+            ui->appTab->addParamRow(mAppConfig_Target, "app_uart_baudrate");
+            ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.ctrl_type");
+            ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.hyst");
+            ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.ramp_time_pos");
+            ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.ramp_time_neg");
+            if(mAppConfig_Target->getParamBool("app_chuk_conf.tc")){
+                ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.tc");
+                ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.tc_max_diff");
+            }
+            if(mAppConfig_Target->getParamBool("app_chuk_conf.use_smart_rev")){
+                ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.smart_rev_max_duty");
+                ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.smart_rev_ramp_time");
+            }
+            break;
+        default:
+            QMessageBox::StandardButton reply;
+            reply = QMessageBox::warning(this,
+                                         tr("App Type Not Supported"),
+                                         tr("This tool currently only supports a subset of app types.") +
+                                         tr(" The app config loaded is of a different type and is not compatible."),
+                                         QMessageBox::Ok);
+            ui->appCheckBox->setCheckable(false);
+            ui->appCheckBox->setCheckState(Qt::Unchecked);
+            return;
+        }
+
+        appXmlPath = path;
+        ui->appConfigEdit->setText(path);
+        showStatusInfo("Loaded app configuration", true);
+        QString str;
+
+        ui->appTab->addParamRow(mAppConfig_Target, "app_to_use");
+        foreach(QObject *p, ui->appTab->children().at(0)->children()){
+            p->setProperty("enabled",false);
+        }
+        ui->appCheckBox->setCheckable(true);
+        ui->appCheckBox->setCheckState(Qt::Checked);
+
+    } else {
+        showMessageDialog(tr("Load app configuration"),
+                          tr("Could not load app configuration:<BR>"
+                             "%1").arg(mAppConfig_Target->xmlStatus()),
+                          false, false);
+    }
+}
+void BoardSetupWindow::loadMotorConfXML(QString path){
+
+
+    if (path.isNull()) {
+        return;
+    }
+
+
+
+    bool res = mMcConfig_Target->loadXml(path, "MCConfiguration");
+
+    if (res) {
+        ui->motorTab->clearParams();
+        if(mMcConfig_Target->getParamEnum("motor_type") != 2){
+            QMessageBox::StandardButton reply;
+            reply = QMessageBox::warning(this,
+                                         tr("Motor Type Not Supported"),
+                                         tr("This tool currently only supports FOC motor calibration.") +
+                                         tr(" The config loaded is of a different motor type and is not compatible."),
+                                         QMessageBox::Ok);
+            ui->motorDetectionCheckBox->setCheckable(false);
+            ui->motorDetectionCheckBox->setCheckState(Qt::Unchecked);
+            return;
+        }
+        mcXmlPath = path;
+        showStatusInfo("Loaded motor configuration", true);
+        QString str;
+        ui->motorTab->addParamRow(mMcConfig_Target, "foc_motor_r");
+        ui->motorTab->addParamRow(mMcConfig_Target, "foc_motor_l");
+        ui->motorTab->addParamRow(mMcConfig_Target, "foc_motor_flux_linkage");
+        ui->motorTab->addParamRow(mMcConfig_Target, "foc_sensor_mode");
+        ui->motorTab->addParamRow(mMcConfig_Target, "l_current_max");
+        ui->motorTab->addParamRow(mMcConfig_Target, "l_current_min");
+        ui->motorTab->addParamRow(mMcConfig_Target, "l_in_current_max");
+        ui->motorTab->addParamRow(mMcConfig_Target, "l_in_current_min");
+        ui->motorTab->addParamRow(mMcConfig_Target, "l_battery_cut_start");
+        ui->motorTab->addParamRow(mMcConfig_Target, "l_battery_cut_end");
+        ui->motorConfigEdit->setText(path);
+
+        foreach(QObject *p, ui->motorTab->children().at(0)->children()){
+            p->setProperty("enabled",false);
+        }
+        ui->motorDetectionCheckBox->setCheckable(true);
+        ui->motorDetectionCheckBox->setCheckState(Qt::Checked);
+    } else {
+        showMessageDialog(tr("Load motor configuration"),
+                          tr("Could not load motor configuration:<BR>"
+                             "%1").arg(mVesc->mcConfig()->xmlStatus()),
+                          false, false);
+    }
+
+}
+
+void BoardSetupWindow::pingCanRx(QVector<int> devs, bool isTimeout)
+{
+    CAN_Timeout = isTimeout;
+    if(!isTimeout){
+        CAN_IDs = devs;
+    }
+}
+
+void BoardSetupWindow::fwUploadStatus(const QString &status, double progress, bool isOngoing)
+{
+    if(is_Bootloader){
+        if (isOngoing) {
+            ui->bootloaderLabel->setText(tr("%1 (%2 %)").
+                                         arg(status).
+                                         arg(progress * 100, 0, 'f', 1));
+        } else {
+            ui->bootloaderLabel->setText("Bootloader " + status);
+        }
+    }else{
+        if (isOngoing) {
+            ui->firmwareLabel->setText(tr("%1 (%2 %)").
+                                       arg(status).
+                                       arg(progress * 100, 0, 'f', 1));
+        } else {
+            ui->firmwareLabel->setText("Firmware " + status);
+        }
+    }
+}
+
+void BoardSetupWindow::valuesReceived(MC_VALUES values, unsigned int mask)
+{
+    (void)mask;
+    values_now = values;
+}
+
diff --git a/boardsetupwindow.h b/boardsetupwindow.h
new file mode 100644
index 000000000..65a804595
--- /dev/null
+++ b/boardsetupwindow.h
@@ -0,0 +1,100 @@
+#ifndef BOARDSETUPWINDOW_H
+#define BOARDSETUPWINDOW_H
+
+#include <QMainWindow>
+#include <QLabel>
+#include <QTimer>
+#include <QProcess>
+#include <QSettings>
+#include <QMap>
+#include "vescinterface.h"
+#include "widgets/pagelistitem.h"
+
+namespace Ui {
+class BoardSetupWindow;
+}
+
+class BoardSetupWindow : public QMainWindow
+{
+    Q_OBJECT
+
+public:
+    explicit BoardSetupWindow(QWidget *parent = nullptr);
+    ~BoardSetupWindow();
+
+private slots:
+     void timerSlot();
+     void showStatusInfo(QString info, bool isGood);
+     void showMessageDialog(const QString &title, const QString &msg, bool isGood, bool richText);
+     void mcConfigCheckResult(QStringList paramsNotSet);
+     void pingCanRx(QVector<int> devs, bool isTimeout);
+     void fwUploadStatus(const QString &status, double progress, bool isOngoing);
+    // void loadMotorConfig(QString &path);
+    // void loadAppConfig(QString &path);
+
+     void on_motorConfigButton_clicked();
+     void on_appConfigButton_clicked();
+     void on_bleFirmwareButton_clicked();
+     void on_serialRefreshButton_clicked();
+     void on_startButton_clicked();
+     void on_bootloaderCheckBox_stateChanged();
+     void on_motorDetectionCheckBox_stateChanged();
+     void on_motorTolSlider_valueChanged(int value);
+     void on_appCheckBox_stateChanged();
+     void on_bleCheckBox_stateChanged();
+     void valuesReceived(MC_VALUES values, unsigned int mask);
+
+private:
+    Ui::BoardSetupWindow *ui;
+
+    QSettings mSettings;
+    QString mVersion;
+    QString mcXmlPath;
+    QString appXmlPath;
+    QString testResultMsg;
+    bool testResult;
+    VescInterface *mVesc;
+    QTimer *mTimer;
+    QLabel *mStatusLabel;
+    QVector<int> CAN_IDs;
+    bool CAN_Timeout;
+    bool is_Bootloader;
+    bool is_Dual;
+    int num_VESCs;
+    QString HW_Name;
+    MC_VALUES values_now;
+    int app_enum_old = 0;
+
+    ConfigParams *mMcConfig_Target;
+    ConfigParams *mAppConfig_Target;
+
+    int mStatusInfoTime;
+    bool mKeyLeft;
+    bool mKeyRight;
+    bool mMcConfRead;
+    bool mAppConfRead;
+    ConfigParams mcConfig_Target;
+    QMap<QString, int> mPageNameIdList;
+
+    void uploadFw(bool allOverCan);
+    void loadAppConfXML(QString path);
+    void loadMotorConfXML(QString path);
+    void resetRoutine();
+
+    bool trySerialConnect();
+    bool tryBootloaderUpload();
+    bool tryFirmwareUpload();
+    bool tryBleFirmwareUpload();
+    bool tryCANScan();
+    bool tryFOCCalibration();
+    bool tryTestMotorParameters();
+    bool tryMotorDirection();
+    bool tryApplySlaveAppSettings();
+    bool tryApplyMasterAppSettings();
+    bool tryRemoteTest();
+    bool tryFinalDiagnostics();
+    bool mcConfigOutsideParamBounds(QString paramName, double tolerance);
+
+
+};
+#endif // BOARDSETUPWINDOW_H
diff --git a/boardsetupwindow.ui b/boardsetupwindow.ui
new file mode 100644
index 000000000..052b93abb
--- /dev/null
+++ b/boardsetupwindow.ui
@@ -0,0 +1,726 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>BoardSetupWindow</class>
+ <widget class="QMainWindow" name="BoardSetupWindow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>842</width>
+    <height>1028</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Board Setup</string>
+  </property>
+  <widget class="QWidget" name="centralwidget">
+   <property name="autoFillBackground">
+    <bool>false</bool>
+   </property>
+   <layout class="QGridLayout" name="gridLayout">
+    <item row="0" column="0">
+     <layout class="QVBoxLayout" name="verticalLayout_2">
+      <property name="sizeConstraint">
+       <enum>QLayout::SetDefaultConstraint</enum>
+      </property>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout_3" stretch="1,1">
+        <item>
+         <widget class="QGroupBox" name="groupBox">
+          <property name="font">
+           <font>
+            <pointsize>9</pointsize>
+           </font>
+          </property>
+          <property name="title">
+           <string>Motor Target Settings</string>
+          </property>
+          <layout class="QHBoxLayout" name="horizontalLayout_10">
+           <item>
+            <layout class="QVBoxLayout" name="verticalLayout">
+             <item>
+              <layout class="QHBoxLayout" name="horizontalLayout_4">
+               <item>
+                <widget class="QLabel" name="label">
+                 <property name="minimumSize">
+                  <size>
+                   <width>0</width>
+                   <height>0</height>
+                  </size>
+                 </property>
+                 <property name="text">
+                  <string>Motor Config XML: </string>
+                 </property>
+                 <property name="alignment">
+                  <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QLineEdit" name="motorConfigEdit"/>
+               </item>
+               <item>
+                <widget class="QPushButton" name="motorConfigButton">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
+                 <property name="toolTip">
+                  <string>Choose file...</string>
+                 </property>
+                 <property name="text">
+                  <string/>
+                 </property>
+                 <property name="icon">
+                  <iconset resource="res.qrc">
+                   <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
+                 </property>
+                </widget>
+               </item>
+              </layout>
+             </item>
+             <item>
+              <widget class="ParamTable" name="motorTab">
+               <property name="frameShape">
+                <enum>QFrame::Panel</enum>
+               </property>
+              </widget>
+             </item>
+            </layout>
+           </item>
+          </layout>
+         </widget>
+        </item>
+        <item>
+         <widget class="QGroupBox" name="groupBox2">
+          <property name="font">
+           <font>
+            <pointsize>9</pointsize>
+           </font>
+          </property>
+          <property name="title">
+           <string>App Target Settings</string>
+          </property>
+          <layout class="QHBoxLayout" name="horizontalLayout_11">
+           <item>
+            <layout class="QVBoxLayout" name="verticalLayout_4">
+             <item>
+              <layout class="QHBoxLayout" name="horizontalLayout_5">
+               <item>
+                <widget class="QLabel" name="label_2">
+                 <property name="minimumSize">
+                  <size>
+                   <width>0</width>
+                   <height>0</height>
+                  </size>
+                 </property>
+                 <property name="text">
+                  <string>App Config XML:</string>
+                 </property>
+                 <property name="alignment">
+                  <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QLineEdit" name="appConfigEdit"/>
+               </item>
+               <item>
+                <widget class="QPushButton" name="appConfigButton">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
+                 <property name="toolTip">
+                  <string>Choose file...</string>
+                 </property>
+                 <property name="text">
+                  <string/>
+                 </property>
+                 <property name="icon">
+                  <iconset resource="res.qrc">
+                   <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
+                 </property>
+                </widget>
+               </item>
+              </layout>
+             </item>
+             <item>
+              <widget class="ParamTable" name="appTab">
+               <property name="enabled">
+                <bool>true</bool>
+               </property>
+               <property name="cursor" stdset="0">
+                <cursorShape>ArrowCursor</cursorShape>
+               </property>
+               <property name="frameShape">
+                <enum>QFrame::Panel</enum>
+               </property>
+               <property name="sizeAdjustPolicy">
+                <enum>QAbstractScrollArea::AdjustToContents</enum>
+               </property>
+               <property name="autoScroll">
+                <bool>false</bool>
+               </property>
+               <property name="dragEnabled">
+                <bool>false</bool>
+               </property>
+              </widget>
+             </item>
+            </layout>
+           </item>
+          </layout>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout_13">
+        <item>
+         <widget class="QLabel" name="label_4">
+          <property name="text">
+           <string>BLE Firmware: </string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLineEdit" name="bleFirmwareEdit">
+          <property name="enabled">
+           <bool>false</bool>
+          </property>
+          <property name="text">
+           <string>does not update BLE FW if left empty</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="bleFirmwareButton">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="toolTip">
+           <string>Choose file...</string>
+          </property>
+          <property name="text">
+           <string/>
+          </property>
+          <property name="icon">
+           <iconset resource="res.qrc">
+            <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout">
+        <item>
+         <widget class="QLabel" name="label_5">
+          <property name="text">
+           <string>USB Target:</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QComboBox" name="serialPortBox">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="toolTip">
+           <string>Serial port</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="serialRefreshButton">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="toolTip">
+           <string>Refresh serial port list</string>
+          </property>
+          <property name="text">
+           <string/>
+          </property>
+          <property name="icon">
+           <iconset resource="res.qrc">
+            <normaloff>:/res/icons/Refresh-96.png</normaloff>:/res/icons/Refresh-96.png</iconset>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <widget class="QPushButton" name="startButton">
+        <property name="enabled">
+         <bool>true</bool>
+        </property>
+        <property name="text">
+         <string>Start Board Setup</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="usbConnectLabel">
+        <property name="autoFillBackground">
+         <bool>false</bool>
+        </property>
+        <property name="frameShape">
+         <enum>QFrame::WinPanel</enum>
+        </property>
+        <property name="frameShadow">
+         <enum>QFrame::Plain</enum>
+        </property>
+        <property name="text">
+         <string>Connect USB Port</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="CANScanLabel">
+        <property name="autoFillBackground">
+         <bool>false</bool>
+        </property>
+        <property name="frameShape">
+         <enum>QFrame::WinPanel</enum>
+        </property>
+        <property name="frameShadow">
+         <enum>QFrame::Plain</enum>
+        </property>
+        <property name="text">
+         <string>CAN Bus Scan</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="Line" name="line">
+        <property name="lineWidth">
+         <number>2</number>
+        </property>
+        <property name="midLineWidth">
+         <number>1</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout_2">
+        <property name="sizeConstraint">
+         <enum>QLayout::SetNoConstraint</enum>
+        </property>
+        <item>
+         <layout class="QVBoxLayout" name="verticalLayout_5">
+          <item>
+           <widget class="QLabel" name="bootloaderLabel">
+            <property name="autoFillBackground">
+             <bool>false</bool>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::WinPanel</enum>
+            </property>
+            <property name="frameShadow">
+             <enum>QFrame::Plain</enum>
+            </property>
+            <property name="text">
+             <string>Bootloader Upload</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLabel" name="firmwareLabel">
+            <property name="autoFillBackground">
+             <bool>false</bool>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::WinPanel</enum>
+            </property>
+            <property name="frameShadow">
+             <enum>QFrame::Plain</enum>
+            </property>
+            <property name="text">
+             <string>Firmware Upload</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <widget class="QCheckBox" name="bootloaderCheckBox">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="layoutDirection">
+           <enum>Qt::RightToLeft</enum>
+          </property>
+          <property name="text">
+           <string/>
+          </property>
+          <property name="checked">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <widget class="Line" name="line_2">
+        <property name="lineWidth">
+         <number>2</number>
+        </property>
+        <property name="midLineWidth">
+         <number>1</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout_7">
+        <item>
+         <widget class="QLabel" name="bleFirmwareLabel">
+          <property name="enabled">
+           <bool>false</bool>
+          </property>
+          <property name="autoFillBackground">
+           <bool>false</bool>
+          </property>
+          <property name="frameShape">
+           <enum>QFrame::WinPanel</enum>
+          </property>
+          <property name="frameShadow">
+           <enum>QFrame::Plain</enum>
+          </property>
+          <property name="text">
+           <string>BLE Firmware Upload</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QCheckBox" name="bleCheckBox">
+          <property name="enabled">
+           <bool>true</bool>
+          </property>
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="layoutDirection">
+           <enum>Qt::RightToLeft</enum>
+          </property>
+          <property name="text">
+           <string/>
+          </property>
+          <property name="checkable">
+           <bool>false</bool>
+          </property>
+          <property name="checked">
+           <bool>false</bool>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <widget class="Line" name="line_3">
+        <property name="lineWidth">
+         <number>2</number>
+        </property>
+        <property name="midLineWidth">
+         <number>1</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout_16">
+        <item>
+         <layout class="QVBoxLayout" name="verticalLayout_3">
+          <item>
+           <layout class="QHBoxLayout" name="horizontalLayout_6">
+            <item>
+             <widget class="QLabel" name="motorTolLabel">
+              <property name="enabled">
+               <bool>false</bool>
+              </property>
+              <property name="text">
+               <string>Motor Parameter Tolerance:</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLabel" name="motorTolLabel_2">
+              <property name="enabled">
+               <bool>false</bool>
+              </property>
+              <property name="font">
+               <font>
+                <family>DejaVu Sans Mono</family>
+               </font>
+              </property>
+              <property name="text">
+               <string> 10%</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QSlider" name="motorTolSlider">
+              <property name="enabled">
+               <bool>false</bool>
+              </property>
+              <property name="minimum">
+               <number>1</number>
+              </property>
+              <property name="maximum">
+               <number>100</number>
+              </property>
+              <property name="value">
+               <number>10</number>
+              </property>
+              <property name="orientation">
+               <enum>Qt::Horizontal</enum>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+          <item>
+           <widget class="QLabel" name="motorDetectionLabel">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="autoFillBackground">
+             <bool>false</bool>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::WinPanel</enum>
+            </property>
+            <property name="frameShadow">
+             <enum>QFrame::Plain</enum>
+            </property>
+            <property name="text">
+             <string>Motor Detection</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLabel" name="motorDirectionLabel">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="autoFillBackground">
+             <bool>false</bool>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::WinPanel</enum>
+            </property>
+            <property name="frameShadow">
+             <enum>QFrame::Plain</enum>
+            </property>
+            <property name="text">
+             <string>Motor Direction Calibration</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLabel" name="motorTestLabel">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="autoFillBackground">
+             <bool>false</bool>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::WinPanel</enum>
+            </property>
+            <property name="frameShadow">
+             <enum>QFrame::Plain</enum>
+            </property>
+            <property name="text">
+             <string>Motor Openloop Load Test</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <widget class="QCheckBox" name="motorDetectionCheckBox">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="layoutDirection">
+           <enum>Qt::RightToLeft</enum>
+          </property>
+          <property name="text">
+           <string/>
+          </property>
+          <property name="checkable">
+           <bool>false</bool>
+          </property>
+          <property name="checked">
+           <bool>false</bool>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <widget class="Line" name="line_4">
+        <property name="frameShadow">
+         <enum>QFrame::Sunken</enum>
+        </property>
+        <property name="lineWidth">
+         <number>2</number>
+        </property>
+        <property name="midLineWidth">
+         <number>1</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout_17">
+        <item>
+         <layout class="QVBoxLayout" name="verticalLayout_6">
+          <item>
+           <widget class="QLabel" name="appSetupLabel">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="autoFillBackground">
+             <bool>false</bool>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::WinPanel</enum>
+            </property>
+            <property name="frameShadow">
+             <enum>QFrame::Plain</enum>
+            </property>
+            <property name="text">
+             <string>App Setup</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLabel" name="remoteTestLabel">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="autoFillBackground">
+             <bool>false</bool>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::WinPanel</enum>
+            </property>
+            <property name="frameShadow">
+             <enum>QFrame::Plain</enum>
+            </property>
+            <property name="text">
+             <string>App Test</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <widget class="QCheckBox" name="appCheckBox">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="layoutDirection">
+           <enum>Qt::RightToLeft</enum>
+          </property>
+          <property name="text">
+           <string/>
+          </property>
+          <property name="checkable">
+           <bool>false</bool>
+          </property>
+          <property name="checked">
+           <bool>false</bool>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QStatusBar" name="statusBar"/>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>ParamTable</class>
+   <extends>QTableWidget</extends>
+   <header>widgets/paramtable.h</header>
+  </customwidget>
+ </customwidgets>
+ <resources>
+  <include location="res.qrc"/>
+ </resources>
+ <connections/>
+</ui>
diff --git a/main.cpp b/main.cpp
index 5a8c09f69..391697d0f 100755
--- a/main.cpp
+++ b/main.cpp
@@ -18,6 +18,7 @@
     */
 
 #include "mainwindow.h"
+#include "boardsetupwindow.h"
 #include "mobile/qmlui.h"
 #include "mobile/fwhelper.h"
 #include "mobile/vesc3ditem.h"
@@ -243,6 +244,7 @@ int main(int argc, char *argv[])
     bool loadQmlVesc = false;
     bool qmlOtherScreen = false;
     bool useMobileUi = false;
+    bool useBoardSetupWindow = false;
     double qmlRot = 0.0;
     bool isTcpHub = false;
     QStringList pkgArgs;
@@ -320,6 +322,11 @@ int main(int argc, char *argv[])
             found = true;
         }
 
+        if (str == "--useBoardSetupWindow") {
+            useBoardSetupWindow = true;
+            found = true;
+        }
+
         if (str.startsWith("-qmljsdebugger")) {
             found = true;
         }
@@ -490,6 +497,7 @@ int main(int argc, char *argv[])
     VescInterface *vesc = nullptr;
     TcpHub *tcpHub = nullptr;
     MainWindow *w = nullptr;
+    BoardSetupWindow *bw = nullptr;
     QmlUi *qmlUi = nullptr;
     QString qmlStr;
 
@@ -678,6 +686,9 @@ int main(int argc, char *argv[])
         } else if (useMobileUi) {
             qmlUi = new QmlUi;
             qmlUi->startQmlUi();
+        } else if(useBoardSetupWindow){
+            bw = new BoardSetupWindow;
+            bw->show();
         } else {
             w = new MainWindow;
             w->show();
diff --git a/utility.cpp b/utility.cpp
index 4b6bbfee3..28b5efc87 100755
--- a/utility.cpp
+++ b/utility.cpp
@@ -476,7 +476,6 @@ QString Utility::detectAllFoc(VescInterface *vesc,
 
             for (int id: canDevs) {
                 vesc->commands()->setSendCan(true, id);
-
                 if (!checkFwCompatibility(vesc)) {
                     vesc->emitMessageDialog("FW Versions",
                                             "All VESCs must have the latest firmware to perform this operation.",
diff --git a/vesc_tool.pro b/vesc_tool.pro
index a1609c026..998ef9079 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -200,6 +200,7 @@ SOURCES += main.cpp\
     bleuartdummy.cpp \
     codeloader.cpp \
     mainwindow.cpp \
+    boardsetupwindow.cpp \
     packet.cpp \
     preferences.cpp \
     tcphub.cpp \
@@ -221,6 +222,7 @@ SOURCES += main.cpp\
 HEADERS  += mainwindow.h \
     bleuartdummy.h \
     codeloader.h \
+    boardsetupwindow.h \
     packet.h \
     preferences.h \
     tcphub.h \
@@ -241,6 +243,7 @@ HEADERS  += mainwindow.h \
     hexfile.h
 
 FORMS    += mainwindow.ui \
+    boardsetupwindow.ui \
     parametereditor.ui \
     preferences.ui
 
@@ -309,7 +312,7 @@ macx-clang:contains(QMAKE_HOST.arch, arm.*): {
 macx {
     ICON        =  macos/appIcon.icns
     QMAKE_INFO_PLIST = macos/Info.plist
-    DISTFILES += macos/Info.plist    
+    DISTFILES += macos/Info.plist
     QMAKE_CFLAGS_RELEASE = $$QMAKE_CFLAGS_RELEASE_WITH_DEBUGINFO
     QMAKE_CXXFLAGS_RELEASE = $$QMAKE_CXXFLAGS_RELEASE_WITH_DEBUGINFO
     QMAKE_OBJECTIVE_CFLAGS_RELEASE = $$QMAKE_OBJECTIVE_CFLAGS_RELEASE_WITH_DEBUGINFO

From bdc714515c865b8a48b61aebf15202b0de5025d1 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 30 Nov 2022 10:28:07 +0100
Subject: [PATCH 332/559] Added board setup to help text

---
 main.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/main.cpp b/main.cpp
index 391697d0f..f678aaaac 100755
--- a/main.cpp
+++ b/main.cpp
@@ -82,6 +82,7 @@ static void showHelp()
     qDebug() << "--useMobileUi : Start the mobile UI instead of the full desktop UI";
     qDebug() << "--tcpHub [port] : Start a TCP hub for remote access to connected VESCs";
     qDebug() << "--buildPkg [pkgPath:lispPath:qmlPath:isFullscreen:optMd:optName] : Build VESC Package";
+    qDebug() << "--useBoardSetupWindow : Start board setup window instead of main UI¨";
 }
 
 #ifdef Q_OS_LINUX
@@ -686,7 +687,7 @@ int main(int argc, char *argv[])
         } else if (useMobileUi) {
             qmlUi = new QmlUi;
             qmlUi->startQmlUi();
-        } else if(useBoardSetupWindow){
+        } else if (useBoardSetupWindow){
             bw = new BoardSetupWindow;
             bw->show();
         } else {

From 14a6dcf47b0ebc9452ccf1cdaa49f51764870803 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Fri, 2 Dec 2022 10:16:15 +0000
Subject: [PATCH 333/559] @totosolat has signed the CLA from Pull Request #275

---
 signatures/version1/cla.json | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/signatures/version1/cla.json b/signatures/version1/cla.json
index 5e8a5975f..cb5f227b3 100644
--- a/signatures/version1/cla.json
+++ b/signatures/version1/cla.json
@@ -111,6 +111,14 @@
       "created_at": "2022-11-23T20:32:37Z",
       "repoId": 102395117,
       "pullRequestNo": 268
+    },
+    {
+      "name": "totosolat",
+      "id": 4713466,
+      "comment_id": 1335032268,
+      "created_at": "2022-12-02T10:16:03Z",
+      "repoId": 102395117,
+      "pullRequestNo": 275
     }
   ]
 }
\ No newline at end of file

From 643aa38aba19b89e8cda9b08042b4b78242a2035 Mon Sep 17 00:00:00 2001
From: totosolat <thomas@solatges.fr>
Date: Fri, 2 Dec 2022 12:04:47 +0100
Subject: [PATCH 334/559] [Feature] Adding parameter for SIN/COS phase error
 compensation #1 (#275)

* added phase error compensation for sin/cos encoder

* updated phase error parameter description
---
 res/config/6.00/parameters_mcconf.xml | 24 ++++++++++++++++++++++++
 1 file changed, 24 insertions(+)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index a0b0caa42..c963bf288 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -3463,6 +3463,28 @@ p, li { white-space: pre-wrap; }
             <suffix></suffix>
             <vTx>7</vTx>
         </m_encoder_sincos_filter_constant>
+        <m_encoder_sincos_phase_correction>
+            <longName>Sin/Cos Phase Correction</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sin/Cos Phase error compensation in deg. Some sin/cos encoders do not output perfect 90° phase between sin and cos signals. This parameter allows for compensating a phase error between sin and cos signals.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_ENCODER_SINCOS_PHASE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>45</maxDouble>
+            <minDouble>-45</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </m_encoder_sincos_phase_correction>
         <m_sensor_port_mode>
             <longName>Sensor Port Mode</longName>
             <type>4</type>
@@ -4464,6 +4486,7 @@ p, li { white-space: pre-wrap; }
         <ser>m_encoder_sin_offset</ser>
         <ser>m_encoder_cos_offset</ser>
         <ser>m_encoder_sincos_filter_constant</ser>
+        <ser>m_encoder_sincos_phase_correction</ser>
         <ser>m_sensor_port_mode</ser>
         <ser>m_invert_direction</ser>
         <ser>m_drv8301_oc_mode</ser>
@@ -4596,6 +4619,7 @@ p, li { white-space: pre-wrap; }
                     <param>m_out_aux_mode</param>
                     <param>l_duty_start</param>
                     <param>m_hall_extra_samples</param>
+                    <param>m_encoder_sincos_phase_correction</param>
                 </subgroupParams>
             </subgroup>
         </group>

From 4cbf58d2601f004f0dc73c5a47a83658b720b59e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 2 Dec 2022 12:18:27 +0100
Subject: [PATCH 335/559] Moved sensor and encoder settings to their own tab

---
 res/config/6.00/parameters_mcconf.xml | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index c963bf288..a72448e45 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -214,7 +214,7 @@ p, li { white-space: pre-wrap; }
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The maximum electrical RPM.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_L_RPM_MAX</cDefine>
             <editorDecimalsDouble>2</editorDecimalsDouble>
@@ -3480,9 +3480,9 @@ p, li { white-space: pre-wrap; }
             <minDouble>-45</minDouble>
             <showDisplay>0</showDisplay>
             <stepDouble>0.01</stepDouble>
-            <valDouble>0.0</valDouble>
+            <valDouble>0</valDouble>
             <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix></suffix>
+            <suffix> °</suffix>
             <vTx>7</vTx>
         </m_encoder_sincos_phase_correction>
         <m_sensor_port_mode>
@@ -4525,14 +4525,21 @@ p, li { white-space: pre-wrap; }
                 <subgroupParams>
                     <param>motor_type</param>
                     <param>m_invert_direction</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Sensors</subgroupName>
+                <subgroupParams>
                     <param>m_sensor_port_mode</param>
-                    <param>::sep::Encoder</param>
+                    <param>::sep::ABI Encoder</param>
                     <param>m_encoder_counts</param>
+                    <param>::sep::Sin/Cos Encoder</param>
                     <param>m_encoder_sin_amp</param>
                     <param>m_encoder_cos_amp</param>
                     <param>m_encoder_sin_offset</param>
                     <param>m_encoder_cos_offset</param>
                     <param>m_encoder_sincos_filter_constant</param>
+                    <param>m_encoder_sincos_phase_correction</param>
                 </subgroupParams>
             </subgroup>
             <subgroup>
@@ -4619,7 +4626,6 @@ p, li { white-space: pre-wrap; }
                     <param>m_out_aux_mode</param>
                     <param>l_duty_start</param>
                     <param>m_hall_extra_samples</param>
-                    <param>m_encoder_sincos_phase_correction</param>
                 </subgroupParams>
             </subgroup>
         </group>

From 49042bb19cc1ae51506a1cdf8ca9bbae2d637566 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 2 Dec 2022 13:13:12 +0100
Subject: [PATCH 336/559] Added missing files for previous commit

---
 pages/pagemotor.cpp |  2 ++
 pages/pagemotor.ui  | 10 ++++++++++
 2 files changed, 12 insertions(+)

diff --git a/pages/pagemotor.cpp b/pages/pagemotor.cpp
index 6733208fe..0433b9829 100644
--- a/pages/pagemotor.cpp
+++ b/pages/pagemotor.cpp
@@ -54,6 +54,7 @@ void PageMotor::setVesc(VescInterface *vesc)
 void PageMotor::reloadParams()
 {
     ui->motorTab->clearParams();
+    ui->sensorsTab->clearParams();
     ui->currentTab->clearParams();
     ui->voltageTab->clearParams();
     ui->rpmTab->clearParams();
@@ -63,6 +64,7 @@ void PageMotor::reloadParams()
     ui->advancedTab->clearParams();
 
     ui->motorTab->addParamSubgroup(mVesc->mcConfig(), "general", "general");
+    ui->sensorsTab->addParamSubgroup(mVesc->mcConfig(), "general", "sensors");
     ui->currentTab->addParamSubgroup(mVesc->mcConfig(), "general", "current");
     ui->voltageTab->addParamSubgroup(mVesc->mcConfig(), "general", "voltage");
     ui->rpmTab->addParamSubgroup(mVesc->mcConfig(), "general", "rpm");
diff --git a/pages/pagemotor.ui b/pages/pagemotor.ui
index 6eafefe22..b463f37a8 100644
--- a/pages/pagemotor.ui
+++ b/pages/pagemotor.ui
@@ -38,6 +38,16 @@
        </item>
       </layout>
      </widget>
+     <widget class="QWidget" name="tab_9">
+      <attribute name="title">
+       <string>Sensors</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_10">
+       <item>
+        <widget class="ParamTable" name="sensorsTab"/>
+       </item>
+      </layout>
+     </widget>
      <widget class="QWidget" name="tab_2">
       <attribute name="title">
        <string>Current</string>

From ed5e63c921608e0ea477912b4103bbe96190857e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 2 Dec 2022 18:50:36 +0100
Subject: [PATCH 337/559] Added can-cmd keyword

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 7bbcef971..3239a5311 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -258,6 +258,7 @@
 <name>can-scan</name>
 <name>can-send-sid</name>
 <name>can-send-eid</name>
+<name>can-cmd</name>
 <name>sin</name>
 <name>cos</name>
 <name>tan</name>

From 02cefeddb043b4ddd9c81a44a85188adb8b2941f Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 2 Dec 2022 19:05:24 +0100
Subject: [PATCH 338/559] Renamed package uninstall all to uninstall current
 and moved button

---
 mobile/Packages.qml      |  2 +-
 pages/pagevescpackage.ui | 34 ++++++++++++++--------------------
 2 files changed, 15 insertions(+), 21 deletions(-)

diff --git a/mobile/Packages.qml b/mobile/Packages.qml
index d180a881b..2ca3e6542 100644
--- a/mobile/Packages.qml
+++ b/mobile/Packages.qml
@@ -212,7 +212,7 @@ Item {
             }
 
             Button {
-                text: "Uninstall All"
+                text: "Uninstall Current"
                 Layout.fillWidth: true
                 onClicked: {
                     disableDialog()
diff --git a/pages/pagevescpackage.ui b/pages/pagevescpackage.ui
index 51d1d13e3..b7362b017 100644
--- a/pages/pagevescpackage.ui
+++ b/pages/pagevescpackage.ui
@@ -29,6 +29,13 @@
       <layout class="QVBoxLayout" name="verticalLayout_6">
        <item>
         <layout class="QHBoxLayout" name="horizontalLayout_6">
+         <item>
+          <widget class="QPushButton" name="uninstallButton">
+           <property name="text">
+            <string>Uninstall Current</string>
+           </property>
+          </widget>
+         </item>
          <item>
           <widget class="DisplayPercentage" name="displayDl" native="true">
            <property name="sizePolicy">
@@ -59,13 +66,12 @@
          <property name="orientation">
           <enum>Qt::Horizontal</enum>
          </property>
-         <widget class="QWidget" name="">
+         <widget class="QWidget" name="layoutWidget">
           <layout class="QVBoxLayout" name="verticalLayout_5">
            <item>
             <widget class="QLabel" name="label_2">
              <property name="font">
               <font>
-               <weight>75</weight>
                <bold>true</bold>
               </font>
              </property>
@@ -85,7 +91,6 @@
             <widget class="QLabel" name="label_3">
              <property name="font">
               <font>
-               <weight>75</weight>
                <bold>true</bold>
               </font>
              </property>
@@ -103,28 +108,17 @@
            </item>
           </layout>
          </widget>
-         <widget class="QWidget" name="layoutWidget">
+         <widget class="QWidget" name="layoutWidget1">
           <layout class="QVBoxLayout" name="verticalLayout_4">
            <item>
             <widget class="QTextBrowser" name="storeBrowser"/>
            </item>
            <item>
-            <layout class="QHBoxLayout" name="horizontalLayout_5">
-             <item>
-              <widget class="QPushButton" name="uninstallButton">
-               <property name="text">
-                <string>Uninstall All</string>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QPushButton" name="installButton">
-               <property name="text">
-                <string>Install</string>
-               </property>
-              </widget>
-             </item>
-            </layout>
+            <widget class="QPushButton" name="installButton">
+             <property name="text">
+              <string>Install</string>
+             </property>
+            </widget>
            </item>
           </layout>
          </widget>

From 80d65a18a10c5c90710b03f5a6870ed545909d57 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 3 Dec 2022 13:21:44 +0100
Subject: [PATCH 339/559] Added connect screen timeout and fixed typo

---
 mobile/ConnectScreen.qml              | 17 +++++++++++++++++
 res/config/6.00/parameters_mcconf.xml |  2 +-
 2 files changed, 18 insertions(+), 1 deletion(-)

diff --git a/mobile/ConnectScreen.qml b/mobile/ConnectScreen.qml
index fba07e84f..e3a498f66 100644
--- a/mobile/ConnectScreen.qml
+++ b/mobile/ConnectScreen.qml
@@ -660,11 +660,28 @@ Item {
     function disableDialog() {
         commDialog.open()
         column.enabled = false
+        disableTimeoutTimer.stop()
+        disableTimeoutTimer.start()
     }
 
     function enableDialog() {
         commDialog.close()
         column.enabled = true
+        disableTimeoutTimer.stop()
+    }
+
+    Timer {
+        id: disableTimeoutTimer
+        running: false
+        repeat: false
+        interval: 15000
+
+        onTriggered: {
+            enableDialog()
+            VescIf.emitMessageDialog("Connect",
+                                     "Connection timed out",
+                                     false, false)
+        }
     }
 
     Dialog {
diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index a72448e45..4f6bdf450 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -2306,7 +2306,7 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Override HFI position with observer position for this amount of time after dropping below the HFI ERPM threshold. This can prevent oscillating between the two at a transition. Settings this value too high can make HFI catch the motor 180 electrical degrees off, as the observer position might degrade too much.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Override HFI position with observer position for this amount of time after dropping below the HFI ERPM threshold. This can prevent oscillating between the two at a transition. Setting this value too high can make HFI catch the motor 180 electrical degrees off, as the observer position might degrade too much.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_HFI_OBS_OVR_SEC</cDefine>
             <editorDecimalsDouble>1</editorDecimalsDouble>
             <editorScale>1000</editorScale>

From 7f096d60324f2892b32ab72eabbd28787b862835 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 3 Dec 2022 14:15:31 +0100
Subject: [PATCH 340/559] Parameter group update

---
 res/config/6.00/parameters_mcconf.xml | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/res/config/6.00/parameters_mcconf.xml b/res/config/6.00/parameters_mcconf.xml
index 4f6bdf450..6ef7031cf 100644
--- a/res/config/6.00/parameters_mcconf.xml
+++ b/res/config/6.00/parameters_mcconf.xml
@@ -83,7 +83,7 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Maximum motor current.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum motor current.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_L_CURRENT_MAX</cDefine>
             <editorDecimalsDouble>2</editorDecimalsDouble>
             <editorScale>1</editorScale>
@@ -4625,7 +4625,6 @@ p, li { white-space: pre-wrap; }
                     <param>m_fault_stop_time_ms</param>
                     <param>m_out_aux_mode</param>
                     <param>l_duty_start</param>
-                    <param>m_hall_extra_samples</param>
                 </subgroupParams>
             </subgroup>
         </group>

From 90e3ca862f6e7587c5e320592c9d545446fc144a Mon Sep 17 00:00:00 2001
From: Mitch Lustig <Mitchlol@users.noreply.github.com>
Date: Sat, 3 Dec 2022 12:29:19 -0800
Subject: [PATCH 341/559] Set correct parameter in wizard config (#276)

---
 mobile/SetupWizardIMU.qml | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/mobile/SetupWizardIMU.qml b/mobile/SetupWizardIMU.qml
index 693925d6b..6f5ace3e7 100644
--- a/mobile/SetupWizardIMU.qml
+++ b/mobile/SetupWizardIMU.qml
@@ -825,7 +825,7 @@ Item {
                                 mAppConf.updateParamEnum("imu_conf.mode", 0)
                                 mAppConf.updateParamDouble("imu_conf.accel_confidence_decay", 1.0)
                                 mAppConf.updateParamDouble("imu_conf.mahony_kp", 0.03)
-                                mAppConf.updateParamDouble("imu_conf.accel_offsets__2", 0.0)
+                                mAppConf.updateParamDouble("imu_conf.accel_lowpass_filter_z", 0.0)
                                 configuratorText5.text = configuratorText5.getText()
                             }
                         }
@@ -837,7 +837,7 @@ Item {
                                 mAppConf.updateParamEnum("imu_conf.mode", 1)
                                 mAppConf.updateParamDouble("imu_conf.accel_confidence_decay", 1.0)
                                 mAppConf.updateParamDouble("imu_conf.mahony_kp", 0.03)
-                                mAppConf.updateParamDouble("imu_conf.accel_offsets__2", 0.0)
+                                mAppConf.updateParamDouble("imu_conf.accel_lowpass_filter_z", 0.0)
                                 configuratorText5.text = configuratorText5.getText()
                             }
                         }
@@ -855,7 +855,7 @@ Item {
                                 mAppConf.updateParamEnum("imu_conf.mode", 1)
                                 mAppConf.updateParamDouble("imu_conf.accel_confidence_decay", 1.0)
                                 mAppConf.updateParamDouble("imu_conf.mahony_kp", 0.02)
-                                mAppConf.updateParamDouble("imu_conf.accel_offsets__2", 0.0)
+                                mAppConf.updateParamDouble("imu_conf.accel_lowpass_filter_z", 0.0)
                                 configuratorText5.text = configuratorText5.getText()
                             }
                         }
@@ -873,7 +873,7 @@ Item {
                                 mAppConf.updateParamEnum("imu_conf.mode", 1)
                                 mAppConf.updateParamDouble("imu_conf.accel_confidence_decay", 0.02)
                                 mAppConf.updateParamDouble("imu_conf.mahony_kp", 2.0)
-                                mAppConf.updateParamDouble("imu_conf.accel_offsets__2", 1.0)
+                                mAppConf.updateParamDouble("imu_conf.accel_lowpass_filter_z", 1.0)
                                 configuratorText5.text = configuratorText5.getText()
                             }
                         }
@@ -884,7 +884,7 @@ Item {
                                 "AHRS: " + getAHRS() + "\n" +
                                 "Acc Decay: " + mAppConf.getParamDouble("imu_conf.accel_confidence_decay").toFixed(3) + "\n" +
                                 "Mahony kp: " + mAppConf.getParamDouble("imu_conf.mahony_kp").toFixed(3) + "\n" +
-                                "Accel Z Offset: " + mAppConf.getParamDouble("imu_conf.accel_offsets__2").toFixed(1)
+                                "Accel Z Filter: " + mAppConf.getParamDouble("imu_conf.accel_lowpass_filter_z").toFixed(1)
                         }
 
                         id: configuratorText5

From 5bbe461954352183feb359e245a4203fe827bbbc Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 4 Dec 2022 20:45:50 +0100
Subject: [PATCH 342/559] Added xmlConfToCode cli argument

---
 main.cpp | 42 +++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 41 insertions(+), 1 deletion(-)

diff --git a/main.cpp b/main.cpp
index f678aaaac..ad76df4cf 100755
--- a/main.cpp
+++ b/main.cpp
@@ -82,7 +82,8 @@ static void showHelp()
     qDebug() << "--useMobileUi : Start the mobile UI instead of the full desktop UI";
     qDebug() << "--tcpHub [port] : Start a TCP hub for remote access to connected VESCs";
     qDebug() << "--buildPkg [pkgPath:lispPath:qmlPath:isFullscreen:optMd:optName] : Build VESC Package";
-    qDebug() << "--useBoardSetupWindow : Start board setup window instead of main UI¨";
+    qDebug() << "--useBoardSetupWindow : Start board setup window instead of the main UI";
+    qDebug() << "--xmlConfToCode [xml-file] : Generate C code from XML configuration file (the files are saved in the same directory as the XML)";
 }
 
 #ifdef Q_OS_LINUX
@@ -249,6 +250,7 @@ int main(int argc, char *argv[])
     double qmlRot = 0.0;
     bool isTcpHub = false;
     QStringList pkgArgs;
+    QString xmlCodePath = "";
 
     for (int i = 0;i < args.size();i++) {
         // Skip the program argument
@@ -359,6 +361,18 @@ int main(int argc, char *argv[])
             }
         }
 
+        if (str == "--xmlConfToCode") {
+            if ((i + 1) < args.size()) {
+                i++;
+                xmlCodePath = args.at(i);
+                found = true;
+            } else {
+                i++;
+                qCritical() << "No path to xml file";
+                return 1;
+            }
+        }
+
         if (!found) {
             if (dash) {
                 qCritical() << "At least one of the flags is invalid:" << str;
@@ -371,6 +385,32 @@ int main(int argc, char *argv[])
         }
     }
 
+    if (!xmlCodePath.isEmpty()) {
+        ConfigParams conf;
+        if (!conf.loadParamsXml(xmlCodePath)) {
+            qCritical() << "Could not parse XML-file" << xmlCodePath;
+            return 1;
+        }
+
+        QString nameConfig = "device_config";
+        if (conf.hasParam("config_name") && conf.getParam("config_name")->type == CFG_T_QSTRING) {
+            nameConfig = conf.getParamQString("config_name");
+        }
+
+        QFileInfo fi(xmlCodePath);
+        xmlCodePath.chop(fi.fileName().length());
+        QString pathDefines = xmlCodePath + "conf_default.h";
+        QString pathParser = xmlCodePath + "confparser.c";
+        QString pathCompressed = xmlCodePath + "confxml.c";
+
+        Utility::createCompressedConfigC(&conf, nameConfig, pathCompressed);
+        Utility::createParamParserC(&conf, nameConfig, pathParser);
+        conf.saveCDefines(pathDefines, true);
+
+        qDebug() << "Done!";
+        return 0;
+    }
+
     if (!pkgArgs.isEmpty()) {
         if (pkgArgs.size() < 4) {
             qWarning() << "Invalid arguments";

From f7d9a1f93e02ed1e5a26063976bb0252edec177e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 5 Dec 2022 22:17:18 +0100
Subject: [PATCH 343/559] Text tweak

---
 pages/pageconnection.ui | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pages/pageconnection.ui b/pages/pageconnection.ui
index f7b20ebdb..87b829d53 100644
--- a/pages/pageconnection.ui
+++ b/pages/pageconnection.ui
@@ -774,7 +774,7 @@
           </sizepolicy>
          </property>
          <property name="title">
-          <string>Paired VESCs</string>
+          <string>VESC Devices</string>
          </property>
          <layout class="QVBoxLayout" name="verticalLayout_6">
           <item>

From 0ef22830d09d3b878c89b0121b09bd7aa957f84e Mon Sep 17 00:00:00 2001
From: "Jeffrey M. Friesen" <jfriesen222@gmail.com>
Date: Wed, 7 Dec 2022 04:59:18 -0800
Subject: [PATCH 344/559] fix ios issues (#280)

* increase sw freq limit

* Halfway done with config tool stuff

* added enable boxes

* more work on motor setup and testing

* Cleaned up some stuff

* intermediate changes for apps setup

* Update boardsetupwindow.cpp

* more progress on tool

* beta version of tool

* fixed minor bugs

* Update boardsetupwindow.cpp

* fixed compilation issues for 3.01

* Fixed autodetection of USB on windows

* remove extra file

* fixed a few minor issues

* make ios work again
---
 pages/pagecustomconfig.cpp | 1 +
 pages/pageespprog.cpp      | 1 +
 pages/pageloganalysis.cpp  | 1 +
 pages/pagevescpackage.cpp  | 1 +
 vesc_tool.pro              | 2 ++
 5 files changed, 6 insertions(+)

diff --git a/pages/pagecustomconfig.cpp b/pages/pagecustomconfig.cpp
index 960527150..1f5222334 100644
--- a/pages/pagecustomconfig.cpp
+++ b/pages/pagecustomconfig.cpp
@@ -21,6 +21,7 @@
 #include "ui_pagecustomconfig.h"
 #include "widgets/paramtable.h"
 #include "utility.h"
+#include <QFileDialog>
 
 PageCustomConfig::PageCustomConfig(QWidget *parent) :
     QWidget(parent),
diff --git a/pages/pageespprog.cpp b/pages/pageespprog.cpp
index d88613cb0..cae456768 100644
--- a/pages/pageespprog.cpp
+++ b/pages/pageespprog.cpp
@@ -20,6 +20,7 @@
 #include "pageespprog.h"
 #include "ui_pageespprog.h"
 #include "utility.h"
+#include <QFileDialog>
 
 PageEspProg::PageEspProg(QWidget *parent) :
     QWidget(parent),
diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index 8dbc370d5..b50de9130 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -22,6 +22,7 @@
 #include "ui_pageloganalysis.h"
 #include "utility.h"
 #include <QFileDialog>
+#include <QMessageBox>
 #include <cmath>
 #include <QStandardPaths>
 
diff --git a/pages/pagevescpackage.cpp b/pages/pagevescpackage.cpp
index 97a990864..f262ef9b3 100644
--- a/pages/pagevescpackage.cpp
+++ b/pages/pagevescpackage.cpp
@@ -22,6 +22,7 @@
 #include "utility.h"
 #include <QMessageBox>
 #include <QFileDialog>
+#include <QProgressDialog>
 #include <QDirIterator>
 
 PageVescPackage::PageVescPackage(QWidget *parent) :
diff --git a/vesc_tool.pro b/vesc_tool.pro
index 998ef9079..367e4c0a8 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -81,8 +81,10 @@ win32: {
 
 # https://stackoverflow.com/questions/61444320/what-are-the-configure-options-for-qt-that-enable-dead-keys-usage
 unix: {
+!ios: {
     QTPLUGIN += composeplatforminputcontextplugin
 }
+}
 
 # Options
 #CONFIG += build_original

From 99f72b28e365964df1c1100091ff9f344e6d05cb Mon Sep 17 00:00:00 2001
From: surfdado <74502616+surfdado@users.noreply.github.com>
Date: Wed, 7 Dec 2022 05:08:16 -0800
Subject: [PATCH 345/559] VESC Packages UI: Matching labels for installing a
 package (#278)

Installing a package from the package store or from a local file performs the same operation.
This is an attempt to make it more clear for the user.

Added tooltips too to help better explain what exactly the button does.

Signed-off-by: Dado Mista <dadomista@gmail.com>

Signed-off-by: Dado Mista <dadomista@gmail.com>
---
 pages/pagevescpackage.ui | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/pages/pagevescpackage.ui b/pages/pagevescpackage.ui
index b7362b017..3efd00f21 100644
--- a/pages/pagevescpackage.ui
+++ b/pages/pagevescpackage.ui
@@ -116,7 +116,10 @@
            <item>
             <widget class="QPushButton" name="installButton">
              <property name="text">
-              <string>Install</string>
+              <string>Install to VESC</string>
+             </property>
+             <property name="toolTip">
+              <string>Uninstall current package and install the selected package to the connected VESC</string>
              </property>
             </widget>
            </item>
@@ -189,12 +192,15 @@
           <item>
            <widget class="QPushButton" name="writeButton">
             <property name="text">
-             <string>Write to VESC</string>
+             <string>Install to VESC</string>
             </property>
             <property name="icon">
              <iconset resource="../res.qrc">
               <normaloff>:/res/icons/Download-96.png</normaloff>:/res/icons/Download-96.png</iconset>
             </property>
+            <property name="toolTip">
+             <string>Uninstall current package and install the selected package to the connected VESC</string>
+            </property>
            </widget>
           </item>
          </layout>

From 3bd85b7fc74c2ab7d3c61d844bad7b311107d7ad Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 7 Dec 2022 18:09:11 +0100
Subject: [PATCH 346/559] Added test and keyword

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 res/Lisp/Examples/test_extensions.lisp   | 3 ++-
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 3239a5311..878014eec 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -197,6 +197,7 @@
 <name>app-ppm-override</name>
 <name>set-remote-state</name>
 <name>app-disable-output</name>
+<name>app-is-output-disabled</name>
 <name>app-pas-get-rpm</name>
 <name>set-current</name>
 <name>set-current-rel</name>
diff --git a/res/Lisp/Examples/test_extensions.lisp b/res/Lisp/Examples/test_extensions.lisp
index aa86aaea7..cb11ec12f 100644
--- a/res/Lisp/Examples/test_extensions.lisp
+++ b/res/Lisp/Examples/test_extensions.lisp
@@ -63,7 +63,7 @@
         ((sysinfo 'uuid)                             is-list)
         ((sysinfo 'runtime)                          (eq (type-of res) type-u64))
         ((sysinfo 'git-branch)                       is-array)
-        ((sysinfo 'git-hash)                        is-array)
+        ((sysinfo 'git-hash)                         is-array)
         ((sysinfo 'compiler)                         is-array)
         ((app-adc-detach 0 0)                        is-true)
         ((app-adc-override 0 0.0)                    is-true)
@@ -71,6 +71,7 @@
         ((app-ppm-override 0.0)                      is-true)
         ((set-remote-state 0 0 0 0 0)                is-true)
         ((app-disable-output 0)                      is-true)
+        ((app-is-output-disabled)                    (eq res false))
         ((app-pas-get-rpm)                           is-float)
         ((set-current 0.0)                           is-true)
         ((set-current 0.0 0.0)                       is-true)

From 22bc54649a6d005e15f0ca52e24e73fd2831b156 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 8 Dec 2022 14:21:27 +0100
Subject: [PATCH 347/559] Removed compiled firmwares, they have to be added
 using the build script

---
 res/firmwares/100_250/VESC_default.bin        | Bin 393208 -> 0 bytes
 .../100_250/VESC_default_no_hw_limits.bin     | Bin 393208 -> 0 bytes
 res/firmwares/100_500/VESC_default.bin        | Bin 393208 -> 0 bytes
 .../100_500/VESC_default_no_hw_limits.bin     | Bin 393208 -> 0 bytes
 .../410_o_411_o_412/VESC_0005ohm.bin          | Bin 393208 -> 0 bytes
 res/firmwares/410_o_411_o_412/VESC_005ohm.bin | Bin 524280 -> 0 bytes
 .../410_o_411_o_412/VESC_default.bin          | Bin 393208 -> 0 bytes
 .../VESC_default_no_hw_limits.bin             | Bin 393208 -> 0 bytes
 res/firmwares/46_o_47/VESC_0005ohm.bin        | Bin 393208 -> 0 bytes
 res/firmwares/46_o_47/VESC_33k.bin            | Bin 393208 -> 0 bytes
 res/firmwares/46_o_47/VESC_default.bin        | Bin 393208 -> 0 bytes
 res/firmwares/48/VESC_default.bin             | Bin 393208 -> 0 bytes
 res/firmwares/60/VESC_default.bin             | Bin 393208 -> 0 bytes
 .../60/VESC_default_no_hw_limits.bin          | Bin 393208 -> 0 bytes
 res/firmwares/60_75/VESC_default.bin          | Bin 524280 -> 0 bytes
 .../60_75/VESC_default_no_hw_limits.bin       | Bin 524280 -> 0 bytes
 res/firmwares/60_MK3/VESC_default.bin         | Bin 393208 -> 0 bytes
 .../60_MK3/VESC_default_no_hw_limits.bin      | Bin 393208 -> 0 bytes
 res/firmwares/60_MK4/VESC_default.bin         | Bin 393208 -> 0 bytes
 .../60_MK4/VESC_default_no_hw_limits.bin      | Bin 393208 -> 0 bytes
 res/firmwares/60_MK5/VESC_default.bin         | Bin 393208 -> 0 bytes
 .../60_MK5/VESC_default_no_hw_limits.bin      | Bin 393208 -> 0 bytes
 res/firmwares/60v2_alva/VESC_default.bin      | Bin 393208 -> 0 bytes
 res/firmwares/75_300/VESC_default.bin         | Bin 393208 -> 0 bytes
 .../75_300/VESC_default_no_hw_limits.bin      | Bin 393208 -> 0 bytes
 res/firmwares/75_300_R2/VESC_default.bin      | Bin 393208 -> 0 bytes
 .../75_300_R2/VESC_default_no_hw_limits.bin   | Bin 393208 -> 0 bytes
 res/firmwares/75_300_R3/VESC_default.bin      | Bin 393208 -> 0 bytes
 .../75_300_R3/VESC_default_no_hw_limits.bin   | Bin 393208 -> 0 bytes
 res/firmwares/75_600/VESC_default.bin         | Bin 524280 -> 0 bytes
 .../75_600/VESC_default_no_hw_limits.bin      | Bin 524280 -> 0 bytes
 res/firmwares/A200S_v2.1/VESC_default.bin     | Bin 524280 -> 0 bytes
 res/firmwares/A200S_v2.2/VESC_default.bin     | Bin 524280 -> 0 bytes
 res/firmwares/A50S_12S/VESC_default.bin       | Bin 393208 -> 0 bytes
 res/firmwares/A50S_6S/VESC_default.bin        | Bin 393208 -> 0 bytes
 res/firmwares/AXIOM/VESC_default.bin          | Bin 393208 -> 0 bytes
 res/firmwares/CHANGELOG                       | 559 ------------------
 res/firmwares/Cheap_FOCer_2/VESC_default.bin  | Bin 393208 -> 0 bytes
 res/firmwares/DAS_RS/VESC_default.bin         | Bin 393208 -> 0 bytes
 res/firmwares/GESC/VESC_default.bin           | Bin 393208 -> 0 bytes
 res/firmwares/HD60/VESC_default.bin           | Bin 393208 -> 0 bytes
 .../HD60/VESC_default_no_hw_limits.bin        | Bin 393208 -> 0 bytes
 res/firmwares/HD75/VESC_default.bin           | Bin 393208 -> 0 bytes
 .../HD75/VESC_default_no_hw_limits.bin        | Bin 393208 -> 0 bytes
 res/firmwares/LUNA_BBSHD/VESC_default.bin     | Bin 393208 -> 0 bytes
 res/firmwares/Little_FOCer/VESC_default.bin   | Bin 393208 -> 0 bytes
 .../VESC_default_no_hw_limits.bin             | Bin 393208 -> 0 bytes
 res/firmwares/Raiden7/VESC_default.bin        | Bin 393208 -> 0 bytes
 res/firmwares/STORMCORE_100D/VESC_default.bin | Bin 393208 -> 0 bytes
 .../VESC_default_no_hw_limits.bin             | Bin 393208 -> 0 bytes
 .../STORMCORE_100DX/VESC_default.bin          | Bin 393208 -> 0 bytes
 .../VESC_default_no_hw_limits.bin             | Bin 393208 -> 0 bytes
 .../STORMCORE_100D_V2/VESC_default.bin        | Bin 393208 -> 0 bytes
 .../VESC_default_no_hw_limits.bin             | Bin 393208 -> 0 bytes
 res/firmwares/STORMCORE_100S/VESC_default.bin | Bin 393208 -> 0 bytes
 .../VESC_default_no_hw_limits.bin             | Bin 393208 -> 0 bytes
 res/firmwares/STORMCORE_60D+/VESC_default.bin | Bin 393208 -> 0 bytes
 .../VESC_default_no_hw_limits.bin             | Bin 393208 -> 0 bytes
 res/firmwares/STORMCORE_60D/VESC_default.bin  | Bin 393208 -> 0 bytes
 .../VESC_default_no_hw_limits.bin             | Bin 393208 -> 0 bytes
 .../STORMCORE_60Dxs/VESC_default.bin          | Bin 393208 -> 0 bytes
 .../VESC_default_no_hw_limits.bin             | Bin 393208 -> 0 bytes
 res/firmwares/UAVC_OMEGA/VESC_default.bin     | Bin 393208 -> 0 bytes
 res/firmwares/UBOX_SINGLE/VESC_default.bin    | Bin 393208 -> 0 bytes
 res/firmwares/UNITY/VESC_default.bin          | Bin 393208 -> 0 bytes
 .../UNITY/VESC_default_no_hw_limits.bin       | Bin 393208 -> 0 bytes
 res/firmwares/UXV_SR/VESC_default.bin         | Bin 393208 -> 0 bytes
 res/firmwares/Warrior6/VESC_default.bin       | Bin 393208 -> 0 bytes
 res/firmwares/res_fw.qrc                      |  73 ---
 69 files changed, 632 deletions(-)
 delete mode 100644 res/firmwares/100_250/VESC_default.bin
 delete mode 100755 res/firmwares/100_250/VESC_default_no_hw_limits.bin
 delete mode 100755 res/firmwares/100_500/VESC_default.bin
 delete mode 100755 res/firmwares/100_500/VESC_default_no_hw_limits.bin
 delete mode 100755 res/firmwares/410_o_411_o_412/VESC_0005ohm.bin
 delete mode 100755 res/firmwares/410_o_411_o_412/VESC_005ohm.bin
 delete mode 100755 res/firmwares/410_o_411_o_412/VESC_default.bin
 delete mode 100755 res/firmwares/410_o_411_o_412/VESC_default_no_hw_limits.bin
 delete mode 100755 res/firmwares/46_o_47/VESC_0005ohm.bin
 delete mode 100755 res/firmwares/46_o_47/VESC_33k.bin
 delete mode 100755 res/firmwares/46_o_47/VESC_default.bin
 delete mode 100755 res/firmwares/48/VESC_default.bin
 delete mode 100755 res/firmwares/60/VESC_default.bin
 delete mode 100755 res/firmwares/60/VESC_default_no_hw_limits.bin
 delete mode 100755 res/firmwares/60_75/VESC_default.bin
 delete mode 100755 res/firmwares/60_75/VESC_default_no_hw_limits.bin
 delete mode 100755 res/firmwares/60_MK3/VESC_default.bin
 delete mode 100755 res/firmwares/60_MK3/VESC_default_no_hw_limits.bin
 delete mode 100755 res/firmwares/60_MK4/VESC_default.bin
 delete mode 100755 res/firmwares/60_MK4/VESC_default_no_hw_limits.bin
 delete mode 100755 res/firmwares/60_MK5/VESC_default.bin
 delete mode 100755 res/firmwares/60_MK5/VESC_default_no_hw_limits.bin
 delete mode 100755 res/firmwares/60v2_alva/VESC_default.bin
 delete mode 100755 res/firmwares/75_300/VESC_default.bin
 delete mode 100755 res/firmwares/75_300/VESC_default_no_hw_limits.bin
 delete mode 100755 res/firmwares/75_300_R2/VESC_default.bin
 delete mode 100755 res/firmwares/75_300_R2/VESC_default_no_hw_limits.bin
 delete mode 100755 res/firmwares/75_300_R3/VESC_default.bin
 delete mode 100755 res/firmwares/75_300_R3/VESC_default_no_hw_limits.bin
 delete mode 100755 res/firmwares/75_600/VESC_default.bin
 delete mode 100755 res/firmwares/75_600/VESC_default_no_hw_limits.bin
 delete mode 100755 res/firmwares/A200S_v2.1/VESC_default.bin
 delete mode 100755 res/firmwares/A200S_v2.2/VESC_default.bin
 delete mode 100755 res/firmwares/A50S_12S/VESC_default.bin
 delete mode 100755 res/firmwares/A50S_6S/VESC_default.bin
 delete mode 100755 res/firmwares/AXIOM/VESC_default.bin
 delete mode 100644 res/firmwares/CHANGELOG
 delete mode 100755 res/firmwares/Cheap_FOCer_2/VESC_default.bin
 delete mode 100755 res/firmwares/DAS_RS/VESC_default.bin
 delete mode 100755 res/firmwares/GESC/VESC_default.bin
 delete mode 100755 res/firmwares/HD60/VESC_default.bin
 delete mode 100755 res/firmwares/HD60/VESC_default_no_hw_limits.bin
 delete mode 100755 res/firmwares/HD75/VESC_default.bin
 delete mode 100755 res/firmwares/HD75/VESC_default_no_hw_limits.bin
 delete mode 100755 res/firmwares/LUNA_BBSHD/VESC_default.bin
 delete mode 100755 res/firmwares/Little_FOCer/VESC_default.bin
 delete mode 100755 res/firmwares/Little_FOCer/VESC_default_no_hw_limits.bin
 delete mode 100755 res/firmwares/Raiden7/VESC_default.bin
 delete mode 100755 res/firmwares/STORMCORE_100D/VESC_default.bin
 delete mode 100755 res/firmwares/STORMCORE_100D/VESC_default_no_hw_limits.bin
 delete mode 100755 res/firmwares/STORMCORE_100DX/VESC_default.bin
 delete mode 100755 res/firmwares/STORMCORE_100DX/VESC_default_no_hw_limits.bin
 delete mode 100755 res/firmwares/STORMCORE_100D_V2/VESC_default.bin
 delete mode 100755 res/firmwares/STORMCORE_100D_V2/VESC_default_no_hw_limits.bin
 delete mode 100755 res/firmwares/STORMCORE_100S/VESC_default.bin
 delete mode 100755 res/firmwares/STORMCORE_100S/VESC_default_no_hw_limits.bin
 delete mode 100755 res/firmwares/STORMCORE_60D+/VESC_default.bin
 delete mode 100755 res/firmwares/STORMCORE_60D+/VESC_default_no_hw_limits.bin
 delete mode 100755 res/firmwares/STORMCORE_60D/VESC_default.bin
 delete mode 100755 res/firmwares/STORMCORE_60D/VESC_default_no_hw_limits.bin
 delete mode 100755 res/firmwares/STORMCORE_60Dxs/VESC_default.bin
 delete mode 100755 res/firmwares/STORMCORE_60Dxs/VESC_default_no_hw_limits.bin
 delete mode 100755 res/firmwares/UAVC_OMEGA/VESC_default.bin
 delete mode 100755 res/firmwares/UBOX_SINGLE/VESC_default.bin
 delete mode 100755 res/firmwares/UNITY/VESC_default.bin
 delete mode 100755 res/firmwares/UNITY/VESC_default_no_hw_limits.bin
 delete mode 100755 res/firmwares/UXV_SR/VESC_default.bin
 delete mode 100755 res/firmwares/Warrior6/VESC_default.bin
 delete mode 100644 res/firmwares/res_fw.qrc

diff --git a/res/firmwares/100_250/VESC_default.bin b/res/firmwares/100_250/VESC_default.bin
deleted file mode 100644
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diff --git a/res/firmwares/46_o_47/VESC_0005ohm.bin b/res/firmwares/46_o_47/VESC_0005ohm.bin
deleted file mode 100755
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diff --git a/res/firmwares/60/VESC_default.bin b/res/firmwares/60/VESC_default.bin
deleted file mode 100755
index 99f65ebf0d672c32091cd0641547a1ce88865a13..0000000000000000000000000000000000000000
GIT binary patch
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diff --git a/res/firmwares/60_MK5/VESC_default_no_hw_limits.bin b/res/firmwares/60_MK5/VESC_default_no_hw_limits.bin
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diff --git a/res/firmwares/75_300_R2/VESC_default.bin b/res/firmwares/75_300_R2/VESC_default.bin
deleted file mode 100755
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diff --git a/res/firmwares/CHANGELOG b/res/firmwares/CHANGELOG
deleted file mode 100644
index 3d511b13b..000000000
--- a/res/firmwares/CHANGELOG
+++ /dev/null
@@ -1,559 +0,0 @@
-=== FW 5.03 ===
-* Fixed inductance measurement bug.
-* Speed tracker windup protection.
-* Phase filter support.
-* Phase voltage offset calibration.
-* Better current offset calibration.
-* Added power switch commands.
-* Synchronize observer state when running in open loop.
-* Force oberver state magnitude above 50% of flux linkage. This prevents the motor from getting stuck and 'screaming'.
-* Observer global convergence update. Helps tracking the motor through 0 speed.
-* Added HFI start sensor mode.
-* Added TEMP_SENSOR_KTY84_130.
-* Major UAVCAN update. See: https://github.com/vedderb/bldc/pull/269
-* Avoid numerical instability when mapping is done over a narrow range. See: https://github.com/vedderb/bldc/issues/262
-* App Balance updates.
-* Added servo_out_enable appconf option, so that the PPM port can be used to control servos with the default firmware.
-* Better current controller windup protection.
-* Field weakening support (experimental, be careful and use at your own risk).
-* Use filtered current for axis decoupling.
-* Odometer is now persistent after firmware updates.
-* Added hw runtime counter (see hw_status in terminal)
-* Added custom UI support.
-* Limit hall sensor angle rate of change based on ERPM.
-* Added p_pid_gain_dec_angle parameter.
-* Low pass filter input voltage.
-* Dual hardware CAN-scan fix.
-* Dynamic QML-script write support.
-* Use fast speed tracker for current controller.
-* Disable motor for 5 seconds after flash operations.
-* Added kill switch support.
-* Added process derivative term to position controller.
-* Added position PID-controller angle offset.
-* Configurable PID controller rate.
-* Added several AUX port modes.
-* Added configurable safe start modes.
-* Added fusion IMU filter.
-* Added constant torque PAS mode.
-* Correct scaling for resistance and inductance.
-* Fixed inductance measurement bug with f_sw > 30k.
-* Corrected inductance measurement algorithm.
-* Fixed max power loss calculation.
-* Better input current estimation.
-* Added raw sampled data mode.
-* Compensate inductance for motor saliency in observer.
-* Added MTPA mode based on measured current.
-* Faster overvoltage protection.
-* Added statistics counters.
-* Added configurable observer offset.
-
-=== FW 5.02 ===
-* IMU calibration improvement.
-* Added COMM_GET_MCCONF_TEMP command.
-* Added bidirectional current command to VESC remote.
-* Fixed motor temperature reading on hw with ADC mux.
-* Added speed PID input ramping option.
-* Added LSM6DS3 IMU support.
-* Added MTPA support. See See: https://github.com/vedderb/bldc/pull/179
-* Added HW_HD75 support.
-* NRF52 UICR write fix.
-* App PPM rework. See https://github.com/vedderb/bldc/pull/192
-* Added bm_reset terminal command.
-* Added bm support for STM32F30x and STM32L47x.
-* App Balance updates. See https://github.com/vedderb/bldc/pull/193
-* Motor current now based on magnitude of both axes.
-* Initial VESC BMS support.
-* Hall sensor interpolation improvement.
-* Made hall sensor filter configurable.
-* Added locking time and ramp up time parameters to sensorless startup.
-* Removed D axis current injection.
-* Initial VESC IO-board support.
-* Added hall sensor interpolation ERPM config option.
-* Use fast speed estimator for RPM limit.
-* Avoid accumulated rounding error when using PID position angle division.
-* Added UAVCAN raw throttle drive mode (current or duty cycle control).
-* Added MT6816 encoder support. See https://github.com/vedderb/bldc/pull/238
-* Added modulation-based D axis current controller gain scaling. Addresses https://github.com/vedderb/bldc/pull/220
-* Added PAS app. See: https://github.com/vedderb/bldc/pull/243
-* Added 100k CAN-baudrate.
-* Added 100k NTC temperature sensor support.
-
-=== FW 5.01 ===
-* Fixed PPM bug in previous release.
-
-=== FW 5.00 ===
-* Dual motor support. VESC-based controllers such as the focbox unity will now work.
-* Fixed bug in cross BEMF decoupling.
-* Disable CC decoupling during flux linkage measurement.
-* Balance app updates. See: https://github.com/vedderb/bldc/pull/141
-* Observer gain calculation update.
-* Better observer gain scaling. This has a large impact on some motors.
-* Added test build flag, that is transmitted with the FW Version command.
-* Detect all bug fix.
-* Added COMM_SET_BATTERY_CUT command.
-* Added CAN_PACKET_SHUTDOWN CAN-command.
-* GPDRIVE output sample fix.
-* Some ISR optimization.
-* Updated ChibiOS to version 3.0.5.
-* Increased USB thread priority to avoid freeze during connect/disconnect on windows.
-* Smooth current ramping during resistance measurement.
-* Moved fault stop to thread, and added SPI mutexes to DRV drivers.
-* Smooth current ramping in flux linkage measurement and sensor detection.
-* Added hall_analyze terminal command.
-* Motor temperature filtering bug fix.
-* Inductance measurement scaling fix.
-* Better flux linkage measurement.
-* Improved battery level and range estimation.
-* Use fast speed estimator for encoder sensorless transition.
-* Signigicantly improved hall sensor transitions and interpolation.
-* More filtering on the motor temperature.
-* Added IMU orientation calibration support: https://github.com/vedderb/bldc/pull/158
-* Added mcconf_l_duty_start so that the current can be limited smoothly when reaching max speed.
-* Allow throttle in opposite direction even after passing speed limit for PPM and VESC Remote apps.
-
-=== FW 4.02 ===
-* Position PID fix (most notable on multiturn encoders).
-* App balance updates. See https://github.com/vedderb/bldc/pull/138.
-* Changed FOC time constant back to 1000 us.
-* Do not count AS5047 all ones as fault.
-* Improved axis decoupling and integrator windup protection. Should prevent wobbles.
-
-=== FW 4.01 ===
-* Leave debug mode on NRF5x after disconnect to avoid excess power consumption before power cycle.
-* Added encoder_clear_errors and encoder_clear_multiturn terminal commands.
-* Initialize current offsets to 2048 to avoid a fault code to be logged at boot.
-* Added 10K, 20K, 50K and 75K CAN baud rates.
-* Added very basic TS5700N8501 multiturn mode.
-
-=== FW 4.00 ===
-* Added support for HFI to track motor position at 0 speed without sensors. This is the main new feature of FW 4.
-* Fixed CAN-bug in VESC Remote.
-* Reset current integrator when leaving duty cycle control mode. Fixes braking issue #125.
-* More accurate and faster inductance measurement.
-* Ability to measyre ld - lq. Useful for MTPA in future firmwares.
-* Reset shutdown when uploading FW data.
-* Added CAN-bride and COMM_CAN_FWD_FRAME.
-* Added CAN_PACKET_POLL_TS5700N8501_STATUS to poll most relevant data last received from the TS5700N8501 encoder.
-* Added TS57N8501 ABM, SF and ALMC to encoder terminal command.
-
-=== FW 3.66 ===
-* Added support for HW 100/250.
-* Added uptime terminal command.
-* Added some delays to DRV8323s SPI driver.
-* Added SWD support for NRF52840 with idcode 0x015B.
- - TODO: Have a look at https://github.com/blacksphere/blackmagic/commit/302ff20a6d5b806c09e0ca7e996beab3ef3596f4.
-* Fixed INVERTED_SHUNT_POLARITY for BLDC.
-* Added decoupling to FOC current controller.
-* Better motor tracking at high ERPM and low Fsw.
-* Made uart and permanent uart more independent.
-* Do not write to USB if cable has not been connected.
-* Added timeout to USB write.
-* Better FOC current control integrator windup protection.
-* Added FOC observer type selection options.
-* Print TS5700N8501 position in encoder terminal command.
-
-=== FW 3.65 ===
-* Added support for PTC motor temperature sensor (e.g. KTY84)
-* APP_PPM sleep fix. Should solve CAN issues.
-
-=== FW 3.64 ===
-* Added support for HW60_MK3
-* Disable shutdown sampling when the watchdog runs slowly.
-* Added COMM_SET_CURRENT_REL.
-* Added support for boot/ok signal.
-* Added unused mode for aux port.
-* Fixed positive ramping time setting.
-* Changed PPM timeout handling.
-* IRQ priority fix: SYSTICK < UART < MCPWM. Possibly related to http://www.chibios.com/forum/viewtopic.php?f=3&t=4665.
-
-=== FW 3.63 ===
-* NRF remote power meter is now unaffected by temperature decrease and speed limits.
-* Added LZO compression support to firmware upload, making firmware updates 30% - 50% faster.
-* Added LZO compression support to SWD upload.
-* Made serial interrupts priority higher than PWM so that higher speed UART is possible.
-* Added support for TS5700N8501 encoder (via COMM port).
-* Better observer gain calculation.
-
-=== FW 3.62 ===
-* Added COMM_BM_MEM_READ.
-* Merged EUC app (experimental).
-* Fixed NRF remote reverse bug.
-* Do not stop FOC on configuration updates if not needed.
-
-=== FW 3.61 ===
-* Added PPM_CTRL_TYPE_CURRENT_SMART_REV mode.
-
-=== FW 3.60 ===
-* Fixed IMU9x50 bug.
-* Unrigester ICM20948 terminal callbacks when unused.
-* Added experiment plot functions.
-* Added D and Q axis voltage to RT data.
-* Added smart reverse function to nunchuk app.
-
-=== FW 3.59 ===
-* Added more data to MOTE_PACKET_ALIVE.
-* Added app template.
-* Added function to unregister terminal callbacks.
-* Added BMI160 support.
-* Added support for the VESC HD.
-* Added support for SWD programming permanent NRF.
-* Encoder SW SPI fix.
-* Slightly faster boot.
-* Moved custom HW and APP configurations to conf_general.h.
-* Added support for passing HW and APP default configuration as make arguments.
-* Added SW shutdown support.
-* Added command to erase bootloader.
-* Added function to stop IMU threads, so that IMUs can be switched during runtime.
-* Only generate encoder fault when the ERPM is low enough to use the encoder.
-* Added many IMU and AHRS settings to appconf.
-* Re-initialize IMU when appconf is written.
-* Added imu_gyro_info terminal command.
-
-=== FW 3.58 ===
-* Set motor to FOC mode after successful FOC detection instead of the default type for the hardware.
-* APP_ADC: Do not send brake command over CAN if config.multi_esc is not set.
-* APP_PPM: Make pulses invalid if they are above 150 % instead of 120 %.
-* Introduced a new control mode that allows reverse with hysteria (@ackmaniac port)
-
-=== FW 3.57 ===
-* Added CAN status message 5 with input voltage and tachometer data.
-* Fix github issue #94.
-* Use default F_SW for HW after autodetect FOC.
-
-=== FW 3.56 ===
-* Fixed current offset fault bug in non-FOC mode.
-* Multiple IMU support.
-* Added support for the ICM-20948 IMU.
-* Decreased ERPM cut in open loop flux linkage measurement.
-
-=== FW 3.55 ===
-* Initial sin/cos encoder support.
-* New ADC control mode.
-* Virtual motor support.
-* Disable chuk cruise control on dropouts.
-* Fix multiple VESCs over CAN duty cycle mode.
-* Added boot and runtime flash memory CRC integrity check.
-* Updated chuk RPM filter and moved it to the beginning of the output thread.
-* Decreased chuk output thread rate from 1 kHz to 200 Hz.
-* Added mpu_read_reg terminal command.
-* Fixed DRV8301 fault readout bug.
-* Added unbalanced current detection.
-* Added high current offset detection.
-
-=== FW 3.54 ===
-* Added mcpwm_foc_set_openloop_duty and mcpwm_foc_set_openloop_duty_phase.
-* Added blackmagic probe SWD output to program other MCUs.
- - Can be used to flash bricked VESCs from a working one.
- - Can be used to make a custom NRF5x module.
-
-=== FW 3.53 ===
-* Limit foc_current_filter_const range to prevent damage due to bad configuration.
-* Set default NRF speed to 1 Mbit/s.
-* Use lower switching frequency when detecting resistance to reduce deat-time distortion.
-* Don't enable temperature compensation in auto detection by default.
-
-=== FW 3.52 ===
-* Added support for second revision of HW75/300 with separate UART for NRF51.
-* Added COMM_TERMINAL_CMD_SYNC, which does not drop commands when busy.
-* Added option to disable permanent UART.
-* Moved TIM5 to own file, and use it from other places.
-* Removed need for TIM2 in mcpwm.
-* Added utilization percentage to threads terminal command.
-* Added IMU interface.
-* Added support for the MPU9150 and MPU9250.
-* Added COMM_GET_IMU_DATA.
-
-=== FW 3.51 ===
-* Fixed AS5047 error rate bug at position 0.
-* Increased threshold for AS5047 fault to 5 %.
-* Set correct V_REG value for HW 75/300.
-* Better command processing.
-* Proper scaling when setting relative currents and acceleration and braking currents are different.
-
-=== FW 3.50 ===
-* AS5047 parity check and fault code on error rates > 1 %.
-* Signature on mc and app configuration.
-* FOC loop frequency truncation on all hardwares.
-
-=== FW 3.49 ===
-* New watchdog implementation.
-* HW updates.
-* Fixed DC motor current sampling issue.
-* Deadtime in nanoseconds instead of register value.
-* Use fastest ramping time when throttle is applied.
-
-=== FW 3.48 ===
-* Added pairing flag to appconf.
-* Decreased CAN TX timeout.
-
-=== FW 3.47 ===
-* Current percentage limits.
-* Mcconf_temp based on current scale instead of absolute current.
-* Removed battery current from mcconf_temp.
-* Added current scale parameter.
-* Different braking behavior: prefer cogging over locking the brakes.
-
-=== FW 3.46 ===
-* DC motor RPM measurement and RPM control when using encoder.
-* Support for configurable current low pass filter.
-* Much better recovery when failing to decode packets.
-* Run all detect functions in separate thread.
-* Fixed bug introduced when adding support for dual UARTs.
-* Added support for reverse state on NRF remote.
-* Support to disable app output for a specified time.
-
-=== FW 3.45 ===
-* Default CAN ID from UUID, and hook to define it in hwconf.
-* CAN ping support.
-* Simultaneous firmware update over CAN-bus.
-* Fully automated motor detection, based on maximum motor power losses.
-* Sensor autodetection and configuration support.
-* Softer encoder detection.
-* Better NRF_EXT support.
-* New more reliable flux linkage measurement.
-* Simpler to add hardware versions to build system.
-* More DAS hardware support.
-* DRV8323s support.
-* Initial UAVCAN support.
-* Moved from uart to serial driver to avoid DMA conflicts.
-* Support for permanent UART.
-
-=== FW 3.44 ===
-* NRF_EXT commands support.
- - Use NRF51822 with ESB remotes.
-* Different radio channel for NRF pairing.
-
-=== FW 3.43 ===
-* Added battery ah to setup info.
-* Changed tacho values in COMM_GET_VALUES_SETUP to meters.
-* Added battery wh COMM_GET_VALUES_SETUP.
-* Better remaining battery capacity calculation.
-
-=== FW 3.42 ===
-* Added setup info parameters:
- - Motor Poles
- - Gear Ratio
- - Wheel Diameter
- - Battery Type
- - Battery Cells
-* Added more CAN status messages.
-* Updated speed PID to start properly when braking is disabled.
-* Added COMM_GET_VALUES_SETUP.
-* Added COMM_SET_MCCONF_TEMP.
-* Added COMM_SET_MCCONF_TEMP_SETUP.
-* Added COMM_GET_VALUES_SELECTIVE.
-* Added COMM_GET_VALUES_SETUP_SELECTIVE.
-
-=== FW 3.41 ===
-* First general purpose DC output implementation.
-
-=== FW 3.40 ===
-* Added motor controller ID to COMM_GET_VALUES.
-
-=== FW 3.39 ===
-* Updated HW75_300.
-* Added AUX output support.
-
-=== FW 3.38 ===
-* Fixed temperature limit bug when the acceleration and brake current limits are different in magnitude.
-
-=== FW 3.37 ===
-* Temperature compensation on KI in addition to the observer resistance.
-* Configurable FOC current filter (useful for slow abs max current setting).
-
-=== FW 3.36 ===
-* Added handbrake current commands to the simple CAN interface.
-* Added D-term filter to position and speed controllers.
-
-=== FW 3.35 ===
-* Added option to disable nRF transmission (option in Transmit Power parameter).
-* Fixed servo output driver for all hardwares and removed software servo driver.
-
-=== FW 3.34 ===
-* Added motor PID position to COMM_GET_VALUES.
-* Inverted direction angle normalization in mc_interface.
-* Use relative current mode in APP_ADC to support multiple VESCs with different current limits.
-
-=== FW 3.33 ===
-* Fixed CAN-bus baud rate update.
-
-=== FW 3.32 ===
-* Added CAN-bus baud rate setting.
-
-=== FW 3.31 ===
-* Option to decrease temperature limits during acceleration to still have braking torque left.
-* Added PID speed control mode to ADC app.
-
-=== FW 3.30 ===
-* Activated iterative observer for better operation at high ERPM.
-* Check for NAN and truncate some FOC variables.
-* Speed controller windup protection improvement.
-
-=== FW 3.29 ===
-* Disabled throttle limit scaling for now.
-* Increased packet timeout.
-
-=== FW 3.28 ===
-* DC_CAL timeout.
-* Added board configuration file to avoid braking at boot.
-* Shorter default fault stop time.
-* Lower default PPM ramping time.
-* Configurable beta value for motor thermistor.
-* Individual throttle curves for acceleration and braking.
-
-=== FW 3.27 ===
-* Watt hour reset bug fix
-* Changed the way custom applications are implemented.
-* FOC: high current sampling mode.
-
-=== FW 3.26 ===
-* Current limit bug fix. It is now possible to apply break past the RPM limits.
-* Openloop RPM calculation bug fix.
-
-=== FW 3.25 ===
-* APP multi-VESC PID control: send current instead of duty cycle for better load sharing.
-* Added relative current commands to mc_interface and comm_can.
-* APP ADC: added mode ADC_CTRL_TYPE_CURRENT_REV_BUTTON_BRAKE_ADC.
-* APP ADC: changed behavior when throttle and brake ADC channels are used simultaneously for smoother combination.
-* APP ADC: ramping support.
-* Flux linkage measurement: Added extra try with high integrator value.
-
-=== FW 3.24 ===
-* Changed back inductance calculation since that seems to work much better in practise. (TODO: Have a closer look at why)
-
-=== FW 3.23 ===
-* Improved inductance measurement (bug fix).
-* Multiple tries with different settings on flux linkage measurement.
-* Observer improvements for high speed operation and better performance across the whole speed range.
-* Compile time option to disable override limits.
-
-=== FW 3.22 ===
-* Added hardware-specific limits to configuration parameters.
-* Permanent NRF bug fix.
-
-=== FW 3.21 ===
-* Fixed regression in PID speed controller.
-
-=== FW 3.20 ===
-* PID speed control: Set prev_error to error when the PID is off to make the start smoother.
-* Improved spinup algorithm for flux linkage and bldc parameter measurement.
-* APP ADC: Configurable center voltage for channel 1.
-* APP_UARTCOMM: Keep the processing thread running when stopping the app in case the configuration is made from the UART port itself.
-* Commands: Return results of long running commands to the port they came from even if commands come in between and change the last port.
-
-=== FW 3.19 ===
-* Added terminal plugin hook implementation. Inspired by https://github.com/vedderb/bldc/pull/28
-* Moved sampling buffers to CCM to free some RAM.
-* Added hardware info terminal command.
-* NRF init SPI check fix.
-* Sampled data is now transmitted in floating point with scaling done at the VESC. This avoids hard-coded scaling in VESC Tool.
-
-=== FW 3.18 ===
-* NRF init SPI check.
-* Permanent NRF: reconfigure NRF pins to SPI pins on init failure in case the permanent NRF is not mounted and behave as if there is no permanent NRF.
-
-=== FW 3.17 ===
-* Temperature filtering.
-* FOC: temperature resistance compensation.
-
-=== FW 3.16 ===
-* FOC: stator saturation compensation parameter.
-* FOC: Another update for the fix for throttle limits to prevent loosing range at high speed when the battery current limit is lower than the motor current limit.
-* DRV8301: over current protection settings added to configuration.
-* DRV8301: Reset command andded to terminal.
-* DRV8301: Log fault code read over SPI.
-* DRV: Check for faults in ADC interrupt to catch the state as fast as possible.
-* Send phase samples as well with the sampling function.
-* New sampling modes for debugging.
-* BLDC and DC: Configurable switching frequency
-* FOC detect: increase minimum switching frequency for motor spinup to make it possible to detect high kv motors at high voltage.
-* FOC: observer gain scaling parameter for low modulation.
-
-=== FW 3.15 ===
-* FOC: added the option for FOC sampling in both V0 and V7 to mcconf, so that it can be changed without recompiling the firmware.
-* FOC: tweaked repetition counter and preload to get cleaner waveforms with low latency.
-* FOC: Input voltage filterting and vd/vq filtering while undriven for more stable performance.
-
-=== FW 3.14 ===
-* Different throttle curve modes
-* Improved FOC sensorless startup.
-
-=== FW 3.13 ===
-* Throttle curve for PPM, ADC and Nunchuk.
-* Updated fix for throttle limits to prevent loosing range at high speed when the battery current limit is lower than the motor current limit.
-* APP PPM ramping.
-* APP ADC and PPM current range bug fix for some control modes.
-
-=== FW 3.12 ===
-* APP PPM throttle center setting.
-
-=== FW 3.11 ===
-* BLDC detect: disable direction inversion before detecting parameters.
-* FOC speed control: remove supply voltage scaling since that does not make any sense in current control mode.
-* BLDC speed control: added current-based speed controller option.
-* BLDC: heavier RPM filtering.
-* Speed control: option to disable braking in speed control mode.
-* Added wattage limits. Useful for following laws for electric vehicles in some regions.
-* Use override current limits to scale throttle inputs in apps. Will prevent the throttle from loosing rage at speed if e.g. the battery current limits are lower than the motor current limits.
-
-=== FW 3.10 ===
-* BLDC: removed cycles_running variable.
-* BLDC: update ADC sampling in correct order to avoid corrupt samples when the switching frequency changes a lot at once.
-* Terminal: print fault duty cycle state with one extra decimal.
-
-=== FW 3.9 ===
-* Configuration option for inverting the motor direction.
-* STM32 96-bit unique ID readout.
-
-=== FW 3.8 ===
-* Communication protocol update for floating point variables. This breaks almost all compatibility with old firmwares.
-
-=== FW 3.7 ===
-* Delay after app and motor conf write.
- - Fixes NRF bug.
- - Fixes glitches if throttle is given while updating the configurations.
-* Lock mc_interface while storing configuration.
-* Nunchuk app local timeout.
- - Prevents the output thread from blocking other outputs after being used before.
-* Lock MC interface while storing configurations to flash.
-
-=== FW 3.6 ===
-* spi_sw for NRF stop bug fix.
-
-=== FW 3.5 ===
-* App NRF pairing.
-* App nunchuk chuk error restore bug fix.
-
-=== FW 3.4 ===
-* HW version built into firmware.
- - Allows VESC Tool to only list firmwares compatible with the hardware.
-
-=== FW 3.2 ===
-* hw_60 support.
-* hw_das support.
-* DRV8301 support.
- - SPI implementation.
- - Some terminal commands.
-* DRV8313 support.
-* 3 shunt support.
-* Phase shunt support.
-* Global RPM limit for both BLDC and FOC.
-* Hall sensor software filtering.
-* SPI software filtering.
-* The software filters remove the need for hardware filtering on the sensor port, making it work for all different sensors without modification.
-* Handbrake function for FOC (open loop braking).
-* FOC updates and fixes.
- - Current control signs.
- - Control loop integrator fixes.
- - Phase delay compensation and minimization.
- - More consistent flux linkage detection.
- - Resistance and inductance measurement bug fix that could cause a reboot.
- - Timer sampling improvement and cleanup.
- - Support for sampling in V0 and V7 when using phase shunts.
-* Fix reboot on over temperature fault code.
-* Motor temperature measurement and soft backoff.
-* Terminal command for rotating magnet field generation (ACIM experimentation).
-* Prevent motor start command during initialization.
-* Hardware specific default configuration support.
-* Stop functionality for apps so that reboots are not required anymore when changing app.
-* EEPROM emulation bug fix: https://github.com/vedderb/bldc/issues/27
diff --git a/res/firmwares/Cheap_FOCer_2/VESC_default.bin b/res/firmwares/Cheap_FOCer_2/VESC_default.bin
deleted file mode 100755
index 5eec8b27deca9e5f1a4939efe9978956a3043b2b..0000000000000000000000000000000000000000
GIT binary patch
literal 0
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diff --git a/res/firmwares/HD60/VESC_default_no_hw_limits.bin b/res/firmwares/HD60/VESC_default_no_hw_limits.bin
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diff --git a/res/firmwares/STORMCORE_100D/VESC_default_no_hw_limits.bin b/res/firmwares/STORMCORE_100D/VESC_default_no_hw_limits.bin
deleted file mode 100755
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diff --git a/res/firmwares/STORMCORE_100DX/VESC_default.bin b/res/firmwares/STORMCORE_100DX/VESC_default.bin
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diff --git a/res/firmwares/STORMCORE_100D_V2/VESC_default_no_hw_limits.bin b/res/firmwares/STORMCORE_100D_V2/VESC_default_no_hw_limits.bin
deleted file mode 100755
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diff --git a/res/firmwares/res_fw.qrc b/res/firmwares/res_fw.qrc
deleted file mode 100644
index 687b27212..000000000
--- a/res/firmwares/res_fw.qrc
+++ /dev/null
@@ -1,73 +0,0 @@
-
-<RCC>
-   <qresource prefix="/res/firmwares/">
-        <file>46_o_47/VESC_default.bin</file>
-        <file>46_o_47/VESC_33k.bin</file>
-        <file>46_o_47/VESC_0005ohm.bin</file>
-        <file>48/VESC_default.bin</file>
-        <file>410_o_411_o_412/VESC_default.bin</file>
-        <file>410_o_411_o_412/VESC_default_no_hw_limits.bin</file>
-        <file>410_o_411_o_412/VESC_0005ohm.bin</file>
-        <file>410_o_411_o_412/VESC_005ohm.bin</file>
-        <file>60/VESC_default.bin</file>
-        <file>60/VESC_default_no_hw_limits.bin</file>
-        <file>60_MK3/VESC_default.bin</file>
-        <file>60_MK3/VESC_default_no_hw_limits.bin</file>
-        <file>60_MK4/VESC_default.bin</file>
-        <file>60_MK4/VESC_default_no_hw_limits.bin</file>
-        <file>60_MK5/VESC_default.bin</file>
-        <file>60_MK5/VESC_default_no_hw_limits.bin</file>
-        <file>DAS_RS/VESC_default.bin</file>
-        <file>75_300/VESC_default.bin</file>
-        <file>75_300/VESC_default_no_hw_limits.bin</file>
-        <file>75_300_R2/VESC_default.bin</file>
-        <file>75_300_R2/VESC_default_no_hw_limits.bin</file>
-        <file>75_300_R3/VESC_default.bin</file>
-        <file>75_300_R3/VESC_default_no_hw_limits.bin</file>
-        <file>AXIOM/VESC_default.bin</file>
-        <file>UAVC_OMEGA/VESC_default.bin</file>
-        <file>HD60/VESC_default.bin</file>
-        <file>HD60/VESC_default_no_hw_limits.bin</file>
-        <file>HD75/VESC_default.bin</file>
-        <file>HD75/VESC_default_no_hw_limits.bin</file>
-        <file>A50S_6S/VESC_default.bin</file>
-        <file>A50S_12S/VESC_default.bin</file>
-        <file>A200S_v2.1/VESC_default.bin</file>
-        <file>A200S_v2.2/VESC_default.bin</file>
-        <file>100_250/VESC_default.bin</file>
-        <file>100_250/VESC_default_no_hw_limits.bin</file>
-        <file>LUNA_BBSHD/VESC_default.bin</file>
-        <file>UNITY/VESC_default.bin</file>
-        <file>UNITY/VESC_default_no_hw_limits.bin</file>
-        <file>Cheap_FOCer_2/VESC_default.bin</file>
-        <file>STORMCORE_60D/VESC_default.bin</file>
-        <file>STORMCORE_60D/VESC_default_no_hw_limits.bin</file>
-        <file>STORMCORE_60Dxs/VESC_default.bin</file>
-        <file>STORMCORE_60Dxs/VESC_default_no_hw_limits.bin</file>
-        <file>STORMCORE_60D+/VESC_default.bin</file>
-        <file>STORMCORE_60D+/VESC_default_no_hw_limits.bin</file>
-        <file>STORMCORE_100D/VESC_default.bin</file>
-        <file>STORMCORE_100D/VESC_default_no_hw_limits.bin</file>
-        <file>STORMCORE_100D_V2/VESC_default.bin</file>
-        <file>STORMCORE_100D_V2/VESC_default_no_hw_limits.bin</file>
-        <file>STORMCORE_100DX/VESC_default.bin</file>
-        <file>STORMCORE_100DX/VESC_default_no_hw_limits.bin</file>
-        <file>STORMCORE_100S/VESC_default.bin</file>
-        <file>STORMCORE_100S/VESC_default_no_hw_limits.bin</file>
-        <file>Little_FOCer/VESC_default.bin</file>
-        <file>Little_FOCer/VESC_default_no_hw_limits.bin</file>
-        <file>UXV_SR/VESC_default.bin</file>
-        <file>GESC/VESC_default.bin</file>
-        <file>Warrior6/VESC_default.bin</file>
-        <file>Raiden7/VESC_default.bin</file>
-        <file>UBOX_SINGLE/VESC_default.bin</file>
-        <file>100_500/VESC_default.bin</file>
-        <file>100_500/VESC_default_no_hw_limits.bin</file>
-        <file>75_600/VESC_default.bin</file>
-        <file>75_600/VESC_default_no_hw_limits.bin</file>
-        <file>60v2_alva/VESC_default.bin</file>
-        <file>60_75/VESC_default.bin</file>
-        <file>60_75/VESC_default_no_hw_limits.bin</file>
-   </qresource>
-</RCC>
-

From 05542014bfabd925b3aebdbfa3cea65aa3cf962c Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 8 Dec 2022 14:37:25 +0100
Subject: [PATCH 348/559] Removed test flag and updated build scripts

---
 build_android | 24 ++++++++++--------------
 build_lin     |  2 +-
 vesc_tool.pro | 10 +++++-----
 3 files changed, 16 insertions(+), 20 deletions(-)

diff --git a/build_android b/build_android
index 58c403447..ff58525bb 100755
--- a/build_android
+++ b/build_android
@@ -2,45 +2,41 @@
 
 set -e
 
-export ANDROID_HOME=~/Android/Latest
+export ANDROID_HOME=~/Android/Latest/Sdk
 export ANDROID_NDK_HOST=linux-x86_64
 export ANDROID_NDK_PLATFORM=android-23
 export ANDROID_NDK_TOOLCHAIN_VERSION=4.9
-export ANDROID_API_VERSION=android-23
-export ANDROID_NDK_ROOT=$ANDROID_HOME/Ndk
-export ANDROID_SDK_ROOT=$ANDROID_HOME/Sdk
+export ANDROID_NDK_ROOT=$ANDROID_HOME/ndk/23.1.7779620
+export ANDROID_SDK_ROOT=$ANDROID_HOME
 
 export JAVA_HOME=/usr/lib/jvm/java-1.8.0-openjdk-amd64
 export PATH=$PATH:$ANDROID_HOME/Sdk/tools:/usr/bin:$JAVA_HOME/bin
 
 rm -rf build/android/*
 
-# armv7
-export PATH=/opt/Qt3/5.12.7/android_armv7/bin/:$PATH
-export ANDROID_NDK_TOOLCHAIN_PREFIX=arm-linux-androideabi
-export ANDROID_NDK_TOOLS_PREFIX=arm-linux-androideabi
+export PATH=/opt/Qt5/5.15.2/android/bin/:$PATH
 
 # Mobile
-qmake -config release "CONFIG += release_android build_mobile"
+qmake -config release "CONFIG += release_android build_mobile" ANDROID_ABIS="armeabi-v7a" -spec android-clang
 make clean
 make -j8
 make install INSTALL_ROOT=build/android/build
-androiddeployqt --gradle --no-gdbserver --output build/android/build --input android-libvesc_tool.so-deployment-settings.json --android-platform android-29
+androiddeployqt --gradle --no-gdbserver --output build/android/build --input android-vesc_tool-deployment-settings.json --android-platform android-31
 mv build/android/build/build/outputs/apk/debug/build-debug.apk build/android/vesc_tool_mobile.apk
 rm -rf build/android/build
 rm -rf build/android/obj
-rm -f build/android/libvesc_tool.so
+rm -f build/android/libvesc_tool*
 
 # Full
-qmake -config release "CONFIG += release_android"
+qmake -config release "CONFIG += release_android" ANDROID_ABIS="armeabi-v7a" -spec android-clang
 make clean
 make -j8
 make install INSTALL_ROOT=build/android/build
-androiddeployqt --gradle --no-gdbserver --output build/android/build --input android-libvesc_tool.so-deployment-settings.json --android-platform android-29
+androiddeployqt --gradle --no-gdbserver --output build/android/build --input android-vesc_tool-deployment-settings.json --android-platform android-31
 mv build/android/build/build/outputs/apk/debug/build-debug.apk build/android/vesc_tool_full.apk
 rm -rf build/android/build
 rm -rf build/android/obj
-rm -f build/android/libvesc_tool.so
+rm -f build/android/libvesc_tool*
 
 # Zip APKs
 cd build/android
diff --git a/build_lin b/build_lin
index de48d480e..0d61474b6 100755
--- a/build_lin
+++ b/build_lin
@@ -50,7 +50,7 @@
 
 set -e
 
-export PATH=/opt/Qt/5.12-static/bin:$PATH
+export PATH=/opt/Qt/5.15-static/bin:$PATH
 rm -rf build/lin/*
 
 # Original
diff --git a/vesc_tool.pro b/vesc_tool.pro
index 367e4c0a8..e469dd3f7 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -8,13 +8,13 @@
 VT_VERSION = 6.00
 VT_INTRO_VERSION = 1
 VT_CONFIG_VERSION = 2
-
+11
 # Set to 0 for stable versions and to test version number for development versions.
-VT_IS_TEST_VERSION = 14
+VT_IS_TEST_VERSION = 0
 
-VT_ANDROID_VERSION_ARMV7 = 108
-VT_ANDROID_VERSION_ARM64 = 109
-VT_ANDROID_VERSION_X86 = 110
+VT_ANDROID_VERSION_ARMV7 = 111
+VT_ANDROID_VERSION_ARM64 = 112
+VT_ANDROID_VERSION_X86 = 113
 
 VT_ANDROID_VERSION = $$VT_ANDROID_VERSION_X86
 

From 32bde67ef289eb0203571d496a64f03e5a9d5559 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 8 Dec 2022 14:42:50 +0100
Subject: [PATCH 349/559] Updated included firmware binaries for
 non-motor-control devices

---
 ...0_o_47_o_48_o_410_o_411_o_412_o_DAS_RS.bin | Bin 5728 -> 5776 bytes
 ...0_o_75_300_R3_o_60_MK4_o_60_MK5_o_HD75.bin | Bin 5744 -> 5776 bytes
 res/bootloaders/generic.bin                   | Bin 5248 -> 5280 bytes
 res/firmwares_bms/12s7p/vesc_default.bin      | Bin 87940 -> 84560 bytes
 res/firmwares_bms/18s_light/vesc_default.bin  | Bin 86732 -> 83856 bytes
 .../18s_light_lmp/vesc_default.bin            | Bin 0 -> 83888 bytes
 .../18s_light_mk2/vesc_default.bin            | Bin 0 -> 83888 bytes
 .../ESP32-C3/VESC Express/app.bin             | Bin 1175104 -> 1177968 bytes
 .../nrf52832_vesc_ble_rx6_tx7_led8.bin        | Bin 194460 -> 238808 bytes
 .../nrf52832_vesc_ble_rx7_tx6_led8.bin        | Bin 194436 -> 238792 bytes
 res/other_fw/nrf52840_stick_remote.bin        | Bin 219820 -> 228728 bytes
 .../nrf52840_stormcore_ble_rx31_tx30_led5.bin | Bin 197876 -> 242224 bytes
 .../nrf52840_vesc_ble_rx11_tx8_led7.bin       | Bin 197876 -> 242232 bytes
 .../nrf52840_vesc_ble_rx26_tx25_led27.bin     | Bin 197884 -> 242232 bytes
 res/other_fw/nrf52840_wand_mag.bin            | Bin 229552 -> 229568 bytes
 res_fw_bms.qrc                                |   2 ++
 16 files changed, 2 insertions(+)
 create mode 100755 res/firmwares_bms/18s_light_lmp/vesc_default.bin
 create mode 100755 res/firmwares_bms/18s_light_mk2/vesc_default.bin

diff --git a/res/bootloaders/40_o_47_o_48_o_410_o_411_o_412_o_DAS_RS.bin b/res/bootloaders/40_o_47_o_48_o_410_o_411_o_412_o_DAS_RS.bin
index 18b3306c8fee81e37325a37b28c90f7d011fa25d..f25a157682f745a9f2c78803f279d0376a4b1b19 100755
GIT binary patch
delta 1093
zcmbtST}YEr7=F+9GtWNfwsaScCTz1}pb}xBH7u3w!!#R#1`&az(eNU~u7cqEmIy@#
z+9`s4ML%?-QcM>lCd`QJrsCV3Wa8>($Rf{-;KTOQ(W~fAcHlYh!^`_TJm>JH>c<-t
zz~DY3TJeNwcZif(aT~*Kb^pyPr5co|S4w_CX#td7emk(!uueltm)fm%MovXS(Y{-;
zNSD9QCp*1%4^YTEy>3}$>`(6c={3WcuzS_o!I2OZasLR^a+A$rjsSHPxJf})n!`ZL
z3bodcb*98Vssut5Ng)c-tKW+UMHx2dRj3F0Qe`5|BUcB2F6T$vTWMUK&w{O5ALs_E
z6gS;K$BJUsDuMfIxQYrkOM>$t7UFFYX0fj^*&FQEj~HC}MjGhl;+heD$}qF3FyT;9
z$U;BdE6=*b9yuxxhYuT^t@0m}$2%r_k{5!!e%=u3?goD>!^5L2l2>*HfO-7PwYdiL
z8?JNuJJ%&0`$9Tm-M#s_EW)G7PljC;G=C>)H+_YKprJ;A2pVZORu#;~aDLmMLk7B%
z_lJSNeoo`>PsxZNjn7C3wC5R#a|SwOej4bvJos8xcr6;}30jf|QhZdH^fB#=9QG|F
zdF@RW*=hooq}|I;S7bP}?YohWWubiii*4&Rol5rvoqBSa_pso8x|IVO%Ly#Td&Z`B
zV$2m%X`Xc!Sm#+zWb8F#k8+j{pi_nKX_&p4h6EYot6eYzt-}s0F4iAHtqyQsVLZUF
zy(sZH{uqar$S?6E8YeBL58@14w}rU5tO_BW)ZivWNiVxo<PL7)z(JPqaTFt>`2<=d
lL31N|Lavz~aBc^wl+JQ?2N{$uvJ(F+S$Q-bU#%Fye*s8ZO$z`3

delta 1064
zcmbtSUr19?82`?>ck|q-S7Qqj7VJ;bg_IN%Geg(dE~Z=2LxFG0UPK6d(LKf8k{*m6
zghQAcLXZhVAC?OuA!Y>iQgClYN&g&_Op)MBFh<;Mo%z_C?7(-vbAIRh{l4EhoZ0qV
zn+612Zi`H=TMrjk>SS_+$6<N@)oZm1)X3LrzCmpUv_n2S@X@}*E>8|mg{Ow1q3ESV
zWF{RQ?usaCi>KKQY};({xYQV5{WLd=ALGrQn0I{Ia`MJBwBl697`_k8TE;0+?HB{5
z6-r+D?I|&Pf@uNN`gDK&bX<kKl^C>*>byAVR*waMy)MOrKDHEF$N-zD?74v5s(=gg
zCeJG)VOS-Kr65a^5e|m*?jo+Qo~%@=_`d$i32Y`tl&Fq4ueXE-)(mk@OooQ2->Q9s
zte8YyA{CR=U;IvZiBbY4^El5N1;U#}#}i;`#ZqueVgbgnyRV3w4h(R4-ADxm{c2I{
zO9TrWo!qcTZ3zHZd1qd54(hj^SwrNzvI*>$=~ICjCGZ|s1v;;ODneSrNkman*p<*o
zKv-Vfm2kD_a|x8QUxnm+AQWsc+&Lj3rWB4pGKuoR5E5$z)O0k^U^IJ#<;Go%s+_G-
zx&XGFFHL{%vX}W#(4oKI5ZqNOj5l98Xr3u=<pqvB<H&+(alrsv<;w?V{UET%<$NAi
z7xVBNazL;TKqdg#H*toG03m*dOe$@i$icJE0j_?YGuy&BjDAqB^&*PUo7Oj$IR8=i
zGQD+ngdWl`=|SuC4xiKX1?j=Mo&F*HC`P-b0W?b|r7ko<Q_>t}cIvlX!#O)m*hYEE
Olx?zrBAG^cn*0O%(k<x#

diff --git a/res/bootloaders/60_o_75_300_o_HD60_o_UAVC_OMEGA_o_75_300_R2_o_60_MK3_o_100_250_o_75_300_R3_o_60_MK4_o_60_MK5_o_HD75.bin b/res/bootloaders/60_o_75_300_o_HD60_o_UAVC_OMEGA_o_75_300_R2_o_60_MK3_o_100_250_o_75_300_R3_o_60_MK4_o_60_MK5_o_HD75.bin
index ae5fa1658dfc966c5e897c9b7aac9490aeb881b9..f72b530d2a8e6e2ffd4f5fbeb1cd41f3b0f2a93f 100755
GIT binary patch
delta 1100
zcmbu7ZAep57{{M;@7=uK>1H`$g9Ue6#Xu#>LQ5)@?Pl5<ff5mc_yX%ognbFW+~rkB
z`l6lQ*fl7UU<xr^L71oz)R%&LAwuj$>B|y}&g_Lz_iml}Df%Wm@SOAG;rajhpTi+F
zqqQ>dAfB?=`7!I(>Pm^7Z>F_X-GB3Pu?9uz<)Uv;TmX5C&kl6eu93)KyK+Kl8;Zoc
zMv_YVP`I&6l-xe#1p;P)7)pN(w=W=xlzthazgj^)#y@a!CHrHnTZs@0-=lzEW)cli
z1_P<eF$qp;h*E=`-~OuFy0DYT!3aS@gn;n)=i(lV1RJw4r~&dQMm4Heas`3t=5R|B
zNyTO};BaZZVIY_D8zPY5yd`57K)e*KB%Gscf$<i?&E{c-57g<Mp|Ex!%h<ljX&_zs
zm2B^QTGIvL`8=0_9=Ku4cq|=KT<VYR&oYkf|Crp_G})$~3$fbSELVL!^koUg57J0J
z$sGjhkv5t=z1pDXjP~5qr}2S^hG^GmKFuJ0Sbv?Zh;iznHr!%;FT(<-qB;(9DsIVs
z;OQ7L3kIzckT+&y6fo>!RQBeigfLRsbpe4ou`V#~V5`JV0a-R7aQGdo#)BQ9GJW?d
z8|M-Ms(onifjOO3pJk9^N3cw<@Uc_n>kKORem0XCu&pgSeqTFACes}ux27+#-a_*4
z29SioQJSYTu^D4Jx0+^Y=LzkohJ{j+(k;W*3gkiVQyONjrtvuIa=}Gt>UY}te9d0e
z<OJ~o<shw;#_nU#3(Q)Nqfs2TzO+o!Z#S26msBF8;aa{P5!^@jReYDPXTXWy@<&h-
pSCt+`i@3A24&B2erMHoYy~1gx!ifijZhE9X3U(HaroNUd{9jvJPbUBX

delta 1068
zcmbtSO-LJ25T5sT6L(Wh3R+M|VK-44sZy<oZKd^x&DLsSp-_r9YcEnL=%JJ<bYnvg
z_GEb!G250N#1d>FH6DskV(Gz4DH{a|{Xs7pB$pS#vXtGVZ$0)V8JIWUn>XLgykX{A
zX^RE|NbN4KFzG&--mUTqGSidt{)^WtO;90UtM~_%HK3hv?7*b;fZlvOG!>Z|oE}b$
z&Zee@rlTFBlG+eJGEizc2s2c$8Um6WQi1MUJ7#W1l2HH$o8zu?WAS@&Xu`?1aSgu&
zT2;bHUTqr(dT0l|-_G-yMye^OY4vFR!i)-s?_<z1X0(lCT~_NApd0o~xR)-)UZ;Uh
zmJcPMPs$)UCD+O$QCJZ|uA)~Iv(a$G=rr*u=jB7$@gEsq{Xl19Lg<l!81IT^qn@=a
zKhNutLDKL31sPsP9X#Q6(r^A2SV*%C)W`HHE2Kns%=(W&ua{j#zsMKiK9;*p>^p9N
zr8lz4FlXF0`R+uxm}_SZ2h;`ySeEZrpMSu3>d$0(b}L&z_pDwv8Ew;s;8~R;3+lEB
zDXb%cbgm$x5rtb`EQr_%%GnUQ^pn#Ult{QbEAMg%KIx2g(Go&iSuU|wM7}dhb@p_C
zTdpZ!<Z$-wR1rJ}KYV|m(=Yi*xX#$jakA4&krjV;Tzs{(7tC|a^@+LOST2Ur3@upI
z13;Hb`8=#F<{?AYxqAPtI<HV}X-AFB_SS(k%&fBvj-)Af5u<Gqbl*S|<biv`^@6R{
ztMuinT7*(0Ds&-(JY(lN`7Ctd-CFWTxQ6CPr`Utul80gkijkx^kAU=f?qFI=5}q+;
P(j||VLlfy5Z(R5X&AB&1

diff --git a/res/bootloaders/generic.bin b/res/bootloaders/generic.bin
index cc6796e6ced0c5558c186d04bee357b979f2f834..b6dc2681c8d10a61de3a3994e71ee1c66aa28d2f 100755
GIT binary patch
delta 1004
zcmb`FOK1~89LE1MyPHmun#9yY11%<fKuQ!1jcugZm&p<%T7>w3`Y80WEgnSCn{JID
zh@jL_gsf<VUP>=*V$mX)7Ad`0%--s=@f1oGXGLX^Y~sd~hhBny@WEWZ-#7pN%vjq*
zn+ycJ8t))MOLg|uILN0eGn;hCRTpmp`3Htv-PHfL-0YUCTp^g+xy}ZpgCp^gfzbn_
zhu8Ec<Ksg&X6nVRp#dfkXvI_b9<Y#sr+6_e0o!ggJ6;7ywuQ-&GjU!kx05VtrTt0q
z^r{?|u;LTzBf!2FlhI@9((H*tz#f*qd4Wxr1kGUs?**xj@y^;T_8}jzd<oLTA5@P<
z`*M49Z2wvScD=NwhaQ`rt>kW(cnyZ(u3c*o5@Jd`FNJjMbpOS8@rU75Psvd(H>mT0
zJJHXp@L;cbnI_Q_0TXhuxWB=fd)c6*QNaF&_^r8T8Y11fuym`Ch{n`iF<^lbu&c$G
z2+U$YbEC-7l-MN!#R{TG;Wlgtl*tVn_C#VLHx0~gfIs+-Q&N#cv{v=!xzr#(<u~I!
zMdDvpIpw*AoQ;v!s;h~c-m-yF1?@3rG_bF~b^f}^<_asiYm8U6#%cfJd&u$%YUe4h
z(0={Hd|_$zX`zzH8y^dhenk7Yx)wMGz2&k1Nw<UaZUb+5M-W{x&k56&$E+xGmg~Uy
zr$Hx$7@DA8gk|A~`7cgp<}Gyy<>^XICk8jQkPgJ?KGKO@ZhDDyqXjxgdQgu3Anj;|
ewps6^-E`4<9C@k7HjKQP%QhLIiHu>tMt%c{3H>+#

delta 999
zcmb`FPe>F|9LIm}&CL2{)m=9WR!~^ivRy22SyRGL+ja-t*6b3IP>33Aor3O-Q5}j7
z#iL{$0uNp`J8bTuKLlH3*rCIWV5nuTbQny8H$gDO&TO-ty)5<M2an%--|y%5e!n*x
zo(juAAfWLc;&W9OsK!IyRjJv7Ay*CF!{i@4<mz7if8h>WuCj&TtfSj(Wa9K>a`MdO
zp-pq{=EJeOIlmMg6AnWg&SDCz-NIR3>P!RkS#6$A9i(uO$??%7Z<M2Tg%O6t5e6cS
z36gwvwKI*CR>>a+_Pul`HmJQaz#CM7-M4=RfMsk5;8tKOc4`<FNJua|qNoigy47PQ
zuC1JWv@7{v>icG80d<7dNT^*!{iAAU`h^bcisRBZylL{!fnB!+qgmt)xQbhQP3#5s
zRQ@a8(y|FoJ!kU0GYMlg;uI8=n&RN#$4jT0mo;EFN&^xw&VoZ&`D{Xtdz6(BMGChg
zq6=|uer`v^l^bpgLfv0DB@<62>a=i?o8hw|C*M~hp*4+DUK_~U5^vHPg4}%l4n}fC
z<hODLxVP86zwfanouB5F#w3j`euV<BpeRpyg~rT{H+m`|s2^5e>J`m5YeTOc1h#JF
zbXa(%Ljiyg*oES?E~jwtkaAgo@qHfB<wW^N1P$zmz$Is28R2c|<PYE)8JEv+VT@fi
zT@(h<6s>nH2@&T@oXD@a8WDO+cWZiZ(MQ`!H&W?E(u0|gJ|=x=madR~l%og4D0)DL
c#A(z(x5V=Z=yCT1g8UP=jL=lRrS2B_11>A=V*mgE

diff --git a/res/firmwares_bms/12s7p/vesc_default.bin b/res/firmwares_bms/12s7p/vesc_default.bin
index e6c598290b0077f88fcb8d948d40b9717848010d..201cb716a339d99fce48752747d33b2d98908066 100755
GIT binary patch
delta 45720
zcma%j3tUrI*6%(i0YX3tf{K6|5>y1WDB4oB8Uh{yLGjtKYTF<_4rncXBkeR%v{l=V
zXtY(RBbCm4TD1a}X{}{q)lThmz()tIR;t!06dDwJPC}A%|N8`OXTG`jcj33Q*M6`4
zT6^ua);{YF1vPC8su*PrI!;tq+27p0--UOcAgThmyXisS64j+|i0TWtci`Tj?i5k2
zhFc0Z3+^Gfk#POtm@kQH%NIm77OolLcW4^Q+^rA(mbgCbgI{gw8{2RCSHC43`5G0R
z*wU$Ehaqi1KL!OmJ}0X4aG$}|eU1|9{wIlQ7eX69w?D=hw`f)NYG#uv+%?p%c9r|>
z<JheE;jZ((aM!QC=)CCZ2aJjfb46v`hHSS}?fQchnHTwQapA5X8wnvwq9rOgf?on3
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zJ6+1YkBQ37pNYh#9K)PfP7$1uSvxI{@an7umeWq6{lWQjBGIzuGm&CR0&9-7lw_le
zn!FgIwV(XX#NOC!|ND3G_D$c7v)<T@uBQ@%q9{Bi^isH9QJ^R~&Y$Q4{>GpSCuqr(
zI~R!lmXk>qFS7bO=)dE3{^p>ZVDpze+ugc2D)TD~jUf)7lQ>8RX;l(WP)KfS1JOqh
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diff --git a/res/firmwares_bms/18s_light/vesc_default.bin b/res/firmwares_bms/18s_light/vesc_default.bin
index 9de23d4d723ee09ef0db2925f7a32a7e1770ce82..d7e0cf2fa02d1c38cd9b9fb752d44ed13b8bf693 100755
GIT binary patch
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diff --git a/res/firmwares_bms/18s_light_mk2/vesc_default.bin b/res/firmwares_bms/18s_light_mk2/vesc_default.bin
new file mode 100755
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diff --git a/res/firmwares_esp/ESP32-C3/VESC Express/app.bin b/res/firmwares_esp/ESP32-C3/VESC Express/app.bin
index d7682d9da2457505a46f7cc0fcc2bf1d3691e7ab..5da58edd5c47de2eb7d0ae7c68548dbbbf74e3f1 100644
GIT binary patch
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diff --git a/res/other_fw/nrf52832_vesc_ble_rx6_tx7_led8.bin b/res/other_fw/nrf52832_vesc_ble_rx6_tx7_led8.bin
index cc329100837c8c3f756ae76386457576c3c9f9e4..e0abda82382807f44e2e6ab798a490250eb3fe80 100644
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diff --git a/res/other_fw/nrf52832_vesc_ble_rx7_tx6_led8.bin b/res/other_fw/nrf52832_vesc_ble_rx7_tx6_led8.bin
index 2998f6e2ea5e5d6137eb4c1cd0557de6050182c1..145c51deeca70f5d04e95f0fe674b3a19a6d3980 100644
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diff --git a/res/other_fw/nrf52840_stick_remote.bin b/res/other_fw/nrf52840_stick_remote.bin
index e6e2f1fa2cd66ee9c1f53856d828f939fef958e3..49d3f8a0d94a4954793ee94b677b299b267a9e16 100755
GIT binary patch
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diff --git a/res/other_fw/nrf52840_stormcore_ble_rx31_tx30_led5.bin b/res/other_fw/nrf52840_stormcore_ble_rx31_tx30_led5.bin
index 927e7629abe286e11b837acd77be3a65092e5b76..169640c8b3b03146129e8da11a98413ff9967b11 100644
GIT binary patch
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BEnWZs

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diff --git a/res/other_fw/nrf52840_vesc_ble_rx11_tx8_led7.bin b/res/other_fw/nrf52840_vesc_ble_rx11_tx8_led7.bin
index 7e38a4b544ea76c11f2077790973d077614238ec..11866f459249f3c5109a9c74cba89114330bbf5e 100644
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diff --git a/res/other_fw/nrf52840_vesc_ble_rx26_tx25_led27.bin b/res/other_fw/nrf52840_vesc_ble_rx26_tx25_led27.bin
index dcd966f35cbd5b788bb74afc9e9aa79cf6b2f929..00988dcf12a04f4659fc99f1ab5d0a18d6083f21 100644
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diff --git a/res/other_fw/nrf52840_wand_mag.bin b/res/other_fw/nrf52840_wand_mag.bin
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diff --git a/res_fw_bms.qrc b/res_fw_bms.qrc
index 16e764b88..67d161c45 100644
--- a/res_fw_bms.qrc
+++ b/res_fw_bms.qrc
@@ -3,5 +3,7 @@
         <file>res/firmwares_bms/12s7p/vesc_default.bin</file>
         <file>res/bootloaders_bms/generic.bin</file>
         <file>res/firmwares_bms/18s_light/vesc_default.bin</file>
+        <file>res/firmwares_bms/18s_light_lmp/vesc_default.bin</file>
+        <file>res/firmwares_bms/18s_light_mk2/vesc_default.bin</file>
     </qresource>
 </RCC>

From a2125d1f047dd079c635fc9675ce9d2e49ee0c4a Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 8 Dec 2022 14:50:52 +0100
Subject: [PATCH 350/559] Changed target sdk version

---
 android/AndroidManifest.xml.in | 2 +-
 vesc_tool.pro                  | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/android/AndroidManifest.xml.in b/android/AndroidManifest.xml.in
index 16aec94f3..daede2a1f 100644
--- a/android/AndroidManifest.xml.in
+++ b/android/AndroidManifest.xml.in
@@ -68,7 +68,7 @@
 
     </application>
 
-    <uses-sdk android:minSdkVersion='"23"' android:targetSdkVersion='"30"'/>
+    <uses-sdk android:minSdkVersion='"23"' android:targetSdkVersion='"31"'/>
     <supports-screens android:largeScreens='"true"' android:normalScreens='"true"' android:anyDensity='"true"' android:smallScreens='"true"'/>
 
     <!-- The following comment will be replaced upon deployment with default permissions based on the dependencies of the application.
diff --git a/vesc_tool.pro b/vesc_tool.pro
index e469dd3f7..dd557d725 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -12,9 +12,9 @@ VT_CONFIG_VERSION = 2
 # Set to 0 for stable versions and to test version number for development versions.
 VT_IS_TEST_VERSION = 0
 
-VT_ANDROID_VERSION_ARMV7 = 111
-VT_ANDROID_VERSION_ARM64 = 112
-VT_ANDROID_VERSION_X86 = 113
+VT_ANDROID_VERSION_ARMV7 = 114
+VT_ANDROID_VERSION_ARM64 = 115
+VT_ANDROID_VERSION_X86 = 116
 
 VT_ANDROID_VERSION = $$VT_ANDROID_VERSION_X86
 

From 74f750f7b7cce0ed740e848a226d5c1e2d0cac35 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 8 Dec 2022 15:50:32 +0100
Subject: [PATCH 351/559] New android permission headaches

---
 android/AndroidManifest.xml.in |  4 ++-
 bleuart.cpp                    |  3 +++
 utility.cpp                    | 46 +++++++++++++++++++++++++++++++++-
 utility.h                      |  2 ++
 vesc_tool.pro                  |  6 ++---
 5 files changed, 56 insertions(+), 5 deletions(-)

diff --git a/android/AndroidManifest.xml.in b/android/AndroidManifest.xml.in
index daede2a1f..044f17b31 100644
--- a/android/AndroidManifest.xml.in
+++ b/android/AndroidManifest.xml.in
@@ -1,7 +1,7 @@
 <?xml version='"1.0"'?>
 <manifest package='"vedder.vesctool"' xmlns:android='"http://schemas.android.com/apk/res/android"' android:versionName='"$$VT_VERSION"' android:versionCode='"$${VT_ANDROID_VERSION}"' android:installLocation='"auto"'>
     <application android:extractNativeLibs='"true"' android:hardwareAccelerated='"true"' android:name='"org.qtproject.qt5.android.bindings.QtApplication"' android:label='"VESC Tool"' android:icon='"@drawable/icon"' android:requestLegacyExternalStorage='"true"'>
-        <activity android:configChanges='"orientation|uiMode|screenLayout|screenSize|smallestScreenSize|layoutDirection|locale|fontScale|keyboard|keyboardHidden|navigation"' android:name='"org.qtproject.qt5.android.bindings.QtActivity"' android:label='"VESC Tool"' android:screenOrientation='"unspecified"' android:launchMode='"singleTop"'>
+        <activity android:configChanges='"orientation|uiMode|screenLayout|screenSize|smallestScreenSize|layoutDirection|locale|fontScale|keyboard|keyboardHidden|navigation"' android:name='"org.qtproject.qt5.android.bindings.QtActivity"' android:label='"VESC Tool"' android:exported='"true"' android:screenOrientation='"unspecified"' android:launchMode='"singleTop"'>
             <intent-filter>
                 <action android:name='"android.intent.action.MAIN"'/>
                 <category android:name='"android.intent.category.LAUNCHER"'/>
@@ -89,4 +89,6 @@
     <uses-permission android:name='"android.permission.ACCESS_FINE_LOCATION"' />
     <uses-permission android:name='"android.permission.ACCESS_BACKGROUND_LOCATION"' />
     <uses-permission android:name='"android.permission.FOREGROUND_SERVICE"' />
+    <uses-permission android:name='"android.permission.BLUETOOTH_SCAN"'/>
+    <uses-permission android:name='"android.permission.BLUETOOTH_CONNECT"'/>
 </manifest>
diff --git a/bleuart.cpp b/bleuart.cpp
index 19597f0ca..792e2a74d 100644
--- a/bleuart.cpp
+++ b/bleuart.cpp
@@ -370,6 +370,9 @@ void BleUart::init()
         return;
     }
 
+    Utility::requestBleScanPermission();
+    Utility::requestBleConnectPermission();
+
     mDeviceDiscoveryAgent = new QBluetoothDeviceDiscoveryAgent(this);
 
     connect(mDeviceDiscoveryAgent, SIGNAL(deviceDiscovered(const QBluetoothDeviceInfo&)),
diff --git a/utility.cpp b/utility.cpp
index 28b5efc87..1c8821718 100755
--- a/utility.cpp
+++ b/utility.cpp
@@ -272,7 +272,7 @@ bool Utility::requestFilePermission()
     // https://codereview.qt-project.org/#/c/199162/
     QtAndroid::PermissionResult r = QtAndroid::checkPermission("android.permission.WRITE_EXTERNAL_STORAGE");
     if(r == QtAndroid::PermissionResult::Denied) {
-        QtAndroid::requestPermissionsSync( QStringList() << "android.permission.WRITE_EXTERNAL_STORAGE", 5000);
+        QtAndroid::requestPermissionsSync( QStringList() << "android.permission.WRITE_EXTERNAL_STORAGE", 10000);
         r = QtAndroid::checkPermission("android.permission.WRITE_EXTERNAL_STORAGE");
         if(r == QtAndroid::PermissionResult::Denied) {
             return false;
@@ -288,6 +288,50 @@ bool Utility::requestFilePermission()
 #endif
 }
 
+bool Utility::requestBleScanPermission()
+{
+#ifdef Q_OS_ANDROID
+#if QT_VERSION >= QT_VERSION_CHECK(5, 10, 0)
+    QtAndroid::PermissionResult r = QtAndroid::checkPermission("android.permission.BLUETOOTH_SCAN");
+    if(r == QtAndroid::PermissionResult::Denied) {
+        QtAndroid::requestPermissionsSync( QStringList() << "android.permission.BLUETOOTH_SCAN", 10000);
+        r = QtAndroid::checkPermission("android.permission.BLUETOOTH_SCAN");
+        if(r == QtAndroid::PermissionResult::Denied) {
+            return false;
+        }
+    }
+
+    return true;
+#else
+    return true;
+#endif
+#else
+    return true;
+#endif
+}
+
+bool Utility::requestBleConnectPermission()
+{
+#ifdef Q_OS_ANDROID
+#if QT_VERSION >= QT_VERSION_CHECK(5, 10, 0)
+    QtAndroid::PermissionResult r = QtAndroid::checkPermission("android.permission.BLUETOOTH_CONNECT");
+    if(r == QtAndroid::PermissionResult::Denied) {
+        QtAndroid::requestPermissionsSync( QStringList() << "android.permission.BLUETOOTH_CONNECT", 10000);
+        r = QtAndroid::checkPermission("android.permission.BLUETOOTH_CONNECT");
+        if(r == QtAndroid::PermissionResult::Denied) {
+            return false;
+        }
+    }
+
+    return true;
+#else
+    return true;
+#endif
+#else
+    return true;
+#endif
+}
+
 bool Utility::hasLocationPermission()
 {
 #ifdef Q_OS_ANDROID
diff --git a/utility.h b/utility.h
index 751679ad9..4181eaf57 100644
--- a/utility.h
+++ b/utility.h
@@ -52,6 +52,8 @@ class Utility : public QObject
     Q_INVOKABLE static QString uuid2Str(QByteArray uuid, bool space);
     Q_INVOKABLE static bool requestFilePermission();
     Q_INVOKABLE static bool hasLocationPermission();
+    Q_INVOKABLE static bool requestBleScanPermission();
+    Q_INVOKABLE static bool requestBleConnectPermission();
     Q_INVOKABLE static void keepScreenOn(bool on);
     Q_INVOKABLE static void allowScreenRotation(bool enabled);
     Q_INVOKABLE static bool waitSignal(QObject *sender, QString signal, int timeoutMs);
diff --git a/vesc_tool.pro b/vesc_tool.pro
index dd557d725..1f13501eb 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -12,9 +12,9 @@ VT_CONFIG_VERSION = 2
 # Set to 0 for stable versions and to test version number for development versions.
 VT_IS_TEST_VERSION = 0
 
-VT_ANDROID_VERSION_ARMV7 = 114
-VT_ANDROID_VERSION_ARM64 = 115
-VT_ANDROID_VERSION_X86 = 116
+VT_ANDROID_VERSION_ARMV7 = 120
+VT_ANDROID_VERSION_ARM64 = 121
+VT_ANDROID_VERSION_X86 = 122
 
 VT_ANDROID_VERSION = $$VT_ANDROID_VERSION_X86
 

From 2b9f272061470f16d39a93f2a0c01d57f77732fe Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 9 Dec 2022 18:55:25 +0100
Subject: [PATCH 352/559] Fixed crash when starting to log on android 12

---
 android/src/com/vedder/vesc/VForegroundService.java | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/android/src/com/vedder/vesc/VForegroundService.java b/android/src/com/vedder/vesc/VForegroundService.java
index b0fe06f76..b8a83c882 100644
--- a/android/src/com/vedder/vesc/VForegroundService.java
+++ b/android/src/com/vedder/vesc/VForegroundService.java
@@ -74,7 +74,7 @@ private void startForegroundService()
     {
         // Create notification default intent.
         Intent intent = new Intent();
-        PendingIntent pendingIntent = PendingIntent.getActivity(this, 0, intent, 0);
+        PendingIntent pendingIntent = PendingIntent.getActivity(this, 0, intent, PendingIntent.FLAG_IMMUTABLE);
 
         Notification.Builder builder;
 
@@ -99,7 +99,7 @@ private void startForegroundService()
 
         Intent stopIntent = new Intent(this, VForegroundService.class);
         stopIntent.setAction(ACTION_STOP);
-        PendingIntent pendingPrevIntent = PendingIntent.getService(this, 0, stopIntent, 0);
+        PendingIntent pendingPrevIntent = PendingIntent.getService(this, 0, stopIntent, PendingIntent.FLAG_IMMUTABLE);
         Notification.Action prevAction = new Notification.Action(android.R.drawable.ic_media_pause, "Stop", pendingPrevIntent);
         builder.addAction(prevAction);
 

From b52a06aec9d53570b808338cdb9da0a06a0be24c Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 9 Dec 2022 21:35:32 +0100
Subject: [PATCH 353/559] Fixed warning

---
 map/mapwidget.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/map/mapwidget.cpp b/map/mapwidget.cpp
index 2537140c7..48ee101b7 100644
--- a/map/mapwidget.cpp
+++ b/map/mapwidget.cpp
@@ -1183,7 +1183,8 @@ void MapWidget::printPdf(QString path, int width, int height)
     printer.setPageLayout(pageLayout);
 
     QPainter painter(&printer);
-    paint(painter, printer.pageRect().width(), printer.pageRect().height(), true);
+    auto rect = printer.pageLayout().paintRectPixels(printer.resolution());
+    paint(painter, rect.width(), rect.height(), true);
 #endif
 }
 

From 53e29d5d283925903683e1d3fde0e6e23ec8158f Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 10 Dec 2022 09:45:19 +0100
Subject: [PATCH 354/559] Moved release into beta 6.02

---
 vesc_tool.pro | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/vesc_tool.pro b/vesc_tool.pro
index 1f13501eb..4c541a7ed 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -5,16 +5,16 @@
 #-------------------------------------------------
 
 # Version
-VT_VERSION = 6.00
+VT_VERSION = 6.02
 VT_INTRO_VERSION = 1
 VT_CONFIG_VERSION = 2
 11
 # Set to 0 for stable versions and to test version number for development versions.
-VT_IS_TEST_VERSION = 0
+VT_IS_TEST_VERSION = 1
 
-VT_ANDROID_VERSION_ARMV7 = 120
-VT_ANDROID_VERSION_ARM64 = 121
-VT_ANDROID_VERSION_X86 = 122
+VT_ANDROID_VERSION_ARMV7 = 126
+VT_ANDROID_VERSION_ARM64 = 127
+VT_ANDROID_VERSION_X86 = 128
 
 VT_ANDROID_VERSION = $$VT_ANDROID_VERSION_X86
 

From 2d255a31697ca4956c7fe2f3dbdf37a566bfb43e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 10 Dec 2022 09:55:00 +0100
Subject: [PATCH 355/559] Added configs for fw 6.02

---
 res/config/6.02/info.xml               | 1164 ++++++
 res/config/6.02/parameters_appconf.xml | 4679 ++++++++++++++++++++++
 res/config/6.02/parameters_mcconf.xml  | 4908 ++++++++++++++++++++++++
 res_config.qrc                         |    3 +
 vescinterface.cpp                      |   33 +
 5 files changed, 10787 insertions(+)
 create mode 100644 res/config/6.02/info.xml
 create mode 100644 res/config/6.02/parameters_appconf.xml
 create mode 100644 res/config/6.02/parameters_mcconf.xml

diff --git a/res/config/6.02/info.xml b/res/config/6.02/info.xml
new file mode 100644
index 000000000..b7b0c00e1
--- /dev/null
+++ b/res/config/6.02/info.xml
@@ -0,0 +1,1164 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ConfigParams>
+    <Params>
+        <fw_version>
+            <longName>Firmware Version</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The firmware version(s) that this version of VESC Tool supports.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <valInt>0</valInt>
+            <enumNames>6.02</enumNames>
+        </fw_version>
+        <help_battery_cutoff>
+            <longName>Soft Battery Cutoff Calculator</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Parameters for a soft battery cutoff can be calculated here. To do that, select the battery type and amount of cells. When the battery voltage is at the start value, the battery current will start to get reduced. At the end value battery current draw (and thus motor current) is disabled completely. In between the current is limited proportionally to where between the start and end values the input voltage is.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Notice that braking always is possible, even when the battery current is limited. That is because braking does not draw any current from the battery, it only charges the battery.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </help_battery_cutoff>
+        <help_bldc_detect>
+            <longName>Detect BLDC Parameters</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Spin up the motor in delay commutation mode and try to measure the following parameters:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Cycle Integrator Limit&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;BEMF Coupling&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall Sensor Table&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The settings mean the following:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Current (I)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The current to use for spinning up the motor.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;ERPM (ω)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The minimum speed for the delay commutation mode to start the motor.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Duty (D)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The duty cycle to measure the BEMF coupling at. This value should be as low as possible, but not so low that the motor cannot spin at the end of the detection sequence.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;If the motor is not able to spin up properly these settings can be tweaked. Symptoms:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-style:italic;&quot;&gt;The motor starts to spin, but is too weak to reach enough speed.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto'; font-style:italic;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Increase the current setting.&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-style:italic;&quot;&gt;The motor cogs and is unable to spin up.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto'; font-style:italic;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Roboto'; font-style:italic;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-style:normal;&quot;&gt;Increase or decrease the current.&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If the motor has high inertia decrease ERPM. E-bike hub motors tend to have high inertia.&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If the motor has low inertia increase ERPM.&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-style:italic;&quot;&gt;The motor spins up properly, but does not spin at the end of the detection.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto'; font-style:italic;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
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+            <cDefine></cDefine>
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+650av+uADuZGzdu4PDhwzK5UqnErl27bC5Ee4srwH2Ap6cntm/fDp1O55zatxN/+gBnZmYy+8UeHh522
+1q1ahUiIyOlc4VCIfss6GjmzJkjVRMKhQL+/v6YOXMmgoODnR5cAHD9bdIvDg/A9cPkXxczD+D3vvbCh
+dP4nQfw7772woXTyOOIKAhAIYChfeyMC8dSByCK5ziuAkASgNo+dsiF46gD8A+O4yqkdToRBePbP2T5G
+wB/AI775ZeL/wcCgHcA/gPgKMdxTwHgfwxLmfCkwMUKAAAAAElFTkSuQmCC&quot; width=&quot;120&quot; height=&quot;41&quot; /&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Detect and calculate the necessary FOC motor and control parameters. The procedure is the following:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ol style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Measure &lt;span style=&quot; font-weight:600;&quot;&gt;R&lt;/span&gt; and &lt;span style=&quot; font-weight:600;&quot;&gt;L&lt;/span&gt; and wait for the detection result. When the detection result arrives, &lt;span style=&quot; font-weight:600;&quot;&gt;KP&lt;/span&gt;, &lt;span style=&quot; font-weight:600;&quot;&gt;KI&lt;/span&gt; and &lt;span style=&quot; font-weight:600;&quot;&gt;Observer Gain&lt;/span&gt; will be calculated.&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Measure &lt;span style=&quot; font-weight:600;&quot;&gt;λ&lt;/span&gt; and wait for the detection result. If the detections fails, tweak &lt;span style=&quot; font-weight:600;&quot;&gt;I&lt;/span&gt;, &lt;span style=&quot; font-weight:600;&quot;&gt;D&lt;/span&gt; and &lt;span style=&quot; font-weight:600;&quot;&gt;ω &lt;/span&gt;as described below and try again until it works.&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use the &lt;span style=&quot; font-weight:600;&quot;&gt;Apply&lt;/span&gt; button to apply the measured and calculated parameters.&lt;/li&gt;&lt;/ol&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The following parameters are measured:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Resistance (R)&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Inductance (L)&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Flux Linkage (λ)&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The following parameter are calculated from &lt;span style=&quot; font-weight:600;&quot;&gt;R&lt;/span&gt; and &lt;span style=&quot; font-weight:600;&quot;&gt;L&lt;/span&gt;:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Proportional gain for the current controller (KP)&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Integral gain for the current controller (KI)&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Gain for the observer&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;For measuring resistance and inductance, signals are injected into the motor. Nothing requires configuration for doing that and the motor does not need to spin up.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;For measuring the flux linkage the motor needs to spin up, which is controlled by the &lt;span style=&quot; font-weight:600;&quot;&gt;I&lt;/span&gt;, &lt;span style=&quot; font-weight:600;&quot;&gt;D&lt;/span&gt; and &lt;span style=&quot; font-weight:600;&quot;&gt;ω&lt;/span&gt; startup settings. Notice that the resistance has to be measured first. The startup settings mean the following:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current (I)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The current to use for spinning up the motor.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Duty (D)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The duty cycle where to measure the flux linkage.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ERPM (ω)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The minimum speed for the delay commutation mode to start the motor.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If the motor is not able to spin up properly these settings can be tweaked. Symptoms:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-style:italic;&quot;&gt;The motor starts to spin, but is too weak to reach enough speed.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-style:italic;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Increase the current setting.&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If the load increases with speed (e.g. a propeller) you can decrease the duty cycle. This makes the detection slightly less accurate, but that does not matter in general.&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-style:italic;&quot;&gt;The motor cogs and is unable to spin up.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-style:italic;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-style:italic;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-style:normal;&quot;&gt;Increase or decrease the current.&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If the motor has high inertia decrease ERPM. E-bike hub motors tend to have high inertia.&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If the motor has low inertia increase ERPM.&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;After measuring the motor parameters, gain factors for the current PI control loop and the observer gain should be calculated. KP and KI are calculated based on a desired time constant of the current controller and the motor parameters R and L, which have to be measured first. The observer gain is calculated based on the motor inductance, which also has to be measured first.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </help_foc_detect>
+        <help_foc_encoder_detect>
+            <longName>Detect FOC Encoder Parameters</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Detect the following encoder parameters:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Offset&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Ratio&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Inverted&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;To do that, the motor is turned slowly in open loop while the encoder output is sampled, once for the ratio and once for the offset. This is done in both directions for one full mechanical revolution to get rid off possible offsets and nonlinearities.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </help_foc_encoder_detect>
+        <help_foc_hall_detect>
+            <longName>Detect FOC Hall Sensor Parameters</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Detect the hall sensor table. To do that, the motor is turned slowly in open loop while the hall sensor outputs are sampled. This is done in both directions to get rid of offsets.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </help_foc_hall_detect>
+        <help_nrf_pair>
+            <longName>NRF Pairing</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Set the VESC in NRF pairing mode for the amount of time specified in the Time box (default 10 seconds). Afer that, you should put the device to pair in pairing mode before the time runs out. A popup should appear and show that pairing was successful, or that it timed out. After a sucessful pairing, the NRF settings will be updated according to the unique ID of the paired NRF device and stored to the VESC.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;NRF Nunchuk&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;For pairing the NRF nunchuk, set the VESC in pairing mode and switch on a nunchuk (that was switched off previously) before the pairing time runs out.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Notice that the unique ID of the NRF nunchuk is based on a hashed version of its microcontroller UUID, so the pairing should still be valid even after updating firmware. The chance of collisions between NRF nunchuks is practically non-existent.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </help_nrf_pair>
+        <help_can_forward>
+            <longName>CAN Forwarding</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;When CAN forwarding is enabled, all communication will be forwarded over CAN bus to the VESC with the ID selected in the ID box in the connection page.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </help_can_forward>
+        <help_rt_logging>
+            <longName>RT data logging</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;VESC Tool (mobile and desktop) can log realtime data to CSV files. The output directory has to be chosen, which is where the log files are stored. Each time the logging checkbox is checked, a new CSV file with the current date and time is created in the output directory. This means that toggling the box will store the current file create a new one, which can be convenient to split the logs.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The output format is as follows:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;ms_today;v_in;temp_mos;temp_mos_1;temp_mos_2;temp_mos_3;&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;temp_motor;current_motor;current_in;id;iq;rpm;duty_now;amp_hours;&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;amp_hours_charged;watt_hours;watt_hours_charged;tachometer;&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;tachometer_abs;position;fault_code;vesc_id&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The values mean the following:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;ms_today&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Time today in milliseconds. This time is sampled in VESC Tool, so it can contain jitter compared to the data values depending in transmission latency.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;temp_mos&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;MOSFET temperature in °C.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;temp_mos_1, temp_mos_2, temp_mos_3&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Individual MOSFET temperatures for the legs in the power stage in &lt;/span&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;°C. Only available on hardware with individual temperature sensors, such as the VESC 75/300.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;temp_motor&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Motor temperature in °C.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;current_motor&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Motor current in A. The sign is the same as the input current, thus positive when the motor is driving and negative when the motor is generating.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;current_in&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Input current in A.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;id, iq&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;D-axis and Q-axis current of the motor. Only available in FOC mode.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;rpm&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Motor speed in electrical rouds per minute. Has to be divided by the number of pole pairs to get the mechanical speed.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;duty_now&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Modulation, range -1.0 to 1.0&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;amp_hours&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Ampere hours consumed from the input.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;amp_hours_charged&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Ampere hours fed back to the input.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;watt_hours&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Watt hours consumed from the input.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;watt_hours_charged&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Watt hours fed back to the input.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;tachometer&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;1/6 electrical revolution counter. Will count 6 steps for every electrical revolution of the motor. Has to be multiplied by the number of pole pairs to get 6 times the counts per mechanical revolution. Will count backwards when the motor is turning backwards.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;tachometer_abs&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Same as &lt;/span&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;tachometer&lt;/span&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;, but couts the absolute value&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;position&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Motor position in degrees. It is the mechanical position when using an encoder, the electrical position otherwise. In sensorless mode the position is not valid when the motor is not turning.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;fault_code&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current fault code.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;vesc_id&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;CAN ID of this VESC.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </help_rt_logging>
+        <motor_setting_description>
+            <longName>Motor Setting Description</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Motor Settings&lt;/span&gt;&lt;/p&gt;
+&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This is where you can edit your motor settings. It is &lt;span style=&quot; color:#00A1E4;&quot;&gt;very important&lt;/span&gt; to setup your VESC every time you connect a different motor, otherwise the VESC and/or the motor are likely to get damaged. The easiest way to set up your VESC for your motor is to use the &lt;span style=&quot; font-weight:600;&quot;&gt;Motor Setup Wizard&lt;/span&gt;. This wizard can be accessed from the welcome page, from the help menu or using the button at the bottom of this page.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The motor settings are stored in their own configuration structure. Every time you make changes to the motor configuration you have to write the configuration to the VESC in order to apply the new settings. Reading/writing the motor configuration can be done using the buttons on the toolbar to the right. The functions of these toolbar buttons are the following:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/18336.PNG;base64,i
+VBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAA4WlDQ1BzUkdCAAAYlWNgYDzNAARMDgwMu
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+YFhezsDg8QdhJjKQgYG/lYGhm2XEWKf/cH+ZRQ7VJJaUQIS8dN3ZChILEoESzODAjQtjYHh03IGBt5IB
+gbhCwwMXNEQd4ABazEwoEkMJ0IAAHLYNoSjH0ezAAAACXBIWXMAABLCAAASwgGgauYuAAABVklEQVRIi
+e2TzSvsURzGP8eMWbGTndj4A2zE9iYlkZWSW2RjZeU/IOnGxn8wC3XLy9KCErYslNW9jZTU2LCQl8Toc
+xeO+s2PMZPc3Tyrc57vc57vyzkH6qjjv0HtS+1n1E11sYJ+NsbnajH/od6qnQkur5bUB7UjpW9Wr9Qnd
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+vpgCKEALFSrIt3BCDAYk6wB84BAHjgEbqr4HfD66uqo4xvxDxCS2gMcR6zcAAAAAElFTkSuQmCC&quot; width=&quot;24&quot; height=&quot;24&quot; /&gt;&lt;br /&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Read Motor Configuration&lt;/span&gt;. This button will read the current motor configuration from the VESC to VESC Tool.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; color:#00A1E4;&quot;&gt;Warning&lt;/span&gt;: All of the motor settings currently in VESC Tool will be overwritten by pressing this button.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/15613.PNG;base64,i
+VBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAA4WlDQ1BzUkdCAAAYlWNgYDzNAARMDgwMu
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+paKbqgv1HPFydQB9aZ66C8Bw8kzWDpztRcYoHmzVtsV6qADAH4B7oGeIcdpjWQAAAAASUVORK5CYII=&quot; width=&quot;24&quot; height=&quot;24&quot; /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Read Default Motor Configuration&lt;/span&gt;. This button will read the default motor configuration from the VESC to VESC Tool. The default configuration is hard-coded in firmware, and is how the VESC is configured right after uploading new firmware.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; color:#00A1E4;&quot;&gt;Warning&lt;/span&gt;: All of the motor settings currently in VESC Tool will be overwritten by pressing this button.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/2057.PNG;base64,i
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+dwYrYfT2It7VbU8ofYS3uPhpOYTSbKQ5HOS+RGtl+T1lLrl9oc2bgNVtZLkSFWtj8jP8GnKbE+0fj8zZ
+mye3xJypFIwh222AAAAAElFTkSuQmCC&quot; width=&quot;24&quot; height=&quot;24&quot; /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Write Motor Configuration&lt;/span&gt;. This button will write the motor configuration that currently is in VESC Tool to the VESC. Every time you make a change to the motor configuration in VESC Tool you must use this button to apply the new settings. The new settings will be used as soon as you write them to the VESC, and they will be stored in the flash memory of the VESC persistently.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Every motor setting has three small buttons to the right of its value. They have the following functions:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/29987.PNG;base64,i
+VBORw0KGgoAAAANSUhEUgAAABQAAAAUCAYAAACNiR0NAAAA4WlDQ1BzUkdCAAAYlWNgYDzNAARMDgwMu
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+OWFigAAAABJRU5ErkJggg==&quot; width=&quot;20&quot; height=&quot;20&quot; /&gt;&lt;br /&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Read Current Value&lt;/span&gt;. This button will read the current value for this setting from the VESC.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/2982.PNG;base64,i
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+gbhCwwMXNEQd4ABazEwoEkMJ0IAAHLYNoSjH0ezAAAACXBIWXMAAA7DAAAOwwHHb6hkAAACCElEQVQ4j
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+KnnDJltyjJUluyPAC3qM+Al0Av8AWqA7UAzsAuoKBeplPAqsA3YDxwqUT0BfAduAjuAPXMh/BQRZ9UVQ
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+aalfBl4ChwEGoDNwCKgA+hX2yLiWro7kNZlwIuImCpBkcIetVWtzcjiTlJfl/ar1VfqgNqrLs4iHEvrk
+NqlPlQvpbEcUTuKfEJdrl5IQ9EEU41dwDmgDXhMftya01cFLAS+Fi5GhBHxM51FSn0y2r4U5V650VPfq
+/3q2qKznPpEHVW3UGK4lUh/qffVi+oZ8y/QTvVEaqt36kn1sPog+bRnKahQj6vPnf58fUj1Op/apIBx8
+89Z9WQpyqRXS34EC5MyCHRFxA91HdBEvp3eRMTHLI55wz/tOPCh0cJ7OwAAAABJRU5ErkJggg==&quot; width=&quot;20&quot; height=&quot;20&quot; /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Read Default Value&lt;/span&gt;. This button will read the default value for this setting from the VESC.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/3626.PNG;base64,i
+VBORw0KGgoAAAANSUhEUgAAABQAAAAUCAYAAACNiR0NAAAA4WlDQ1BzUkdCAAAYlWNgYDzNAARMDgwMu
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+nZB3VJ/qT/V5+r5Sn45azql2HQOe7t6TfVe/oy76v38vlN0v61+SEcwLr4OXAQ2I2JYOeslcBvYALYSm
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+8BjRv4so5m1e1XBXWAAtOu8lwfuRIRVMLntrN2lSI5ts1KqqV21W4OvZs2jEy2ksftp1sUiN6/OF9hic
+vu1xk5SSz1I4sqEp7eWnIN8+0dx2nLYYOTL14x8NrZTk+Pl8BFYnbgciut31P2a9bWfudprnnXBXknoH
+X+zYP8lfgOHlZEKN7DBYwAAAABJRU5ErkJggg==&quot; width=&quot;20&quot; height=&quot;20&quot; /&gt;&lt;br /&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Show Help&lt;/span&gt;. This button will show a help dialog describing what this setting does. If you are not sure about a setting the help dialog can be very useful.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The full motor configuration, including the notes you make on the &lt;span style=&quot; font-weight:600;&quot;&gt;Description&lt;/span&gt; page, can also be written to and read from XML files using the &lt;span style=&quot; font-weight:600;&quot;&gt;File&lt;/span&gt; menu. This is a good way to keep your settings when going between different VESC Tool versions, to share your settings and to store your configuration in general.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Notice that uploading new firmware to the VESC will reset all its settings to their default values for that firmware. This means that after uploading firmware to the VESC you have to perform the motor configuration again.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </motor_setting_description>
+        <app_setting_description>
+            <longName>App Setting Description</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;App Settings&lt;/span&gt;&lt;/p&gt;
+&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This is where you can edit your app settings. The VESC can run one or more apps, and the apps are used to enable different functions on the communication interfaces of the VESC. If you are going to use your VESC with USB or CAN-bus you don't have to change the app configuration since these interfaces always are active. If you want to use conventional input devices such as nunchuks, ebike throttles or RC remote controllers you have to configure the apps accordingly.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The easiest way to configure your VESC for conventional input devices is to use the &lt;span style=&quot; font-weight:600;&quot;&gt;Input Setup Wizard&lt;/span&gt;. This wizard can be accessed from the welcome page, from the help menu or using the button at the bottom of this page.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The app settings are stored in their own configuration structure. Every time you make changes to the app configuration you have to write the configuration to the VESC in order to apply the new settings. Reading/writing the app configuration can be done using the buttons on the toolbar to the right. The functions of these toolbar buttons are the following:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/7220.PNG;base64,i
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+wrxK88BKyGE/TRPhQrl8QHWazO2mBBwJwAAAABJRU5ErkJggg==&quot; width=&quot;24&quot; height=&quot;24&quot; /&gt;&lt;br /&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Read App Configuration&lt;/span&gt;. This button will read the current app configuration from the VESC to VESC Tool.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; color:#00A1E4;&quot;&gt;Warning&lt;/span&gt;: All of the app settings currently in VESC Tool will be overwritten by pressing this button.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/863.PNG;base64,i
+VBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAA4WlDQ1BzUkdCAAAYlWNgYDzNAARMDgwMu
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+90UppBfSZTT+9DAGgIAAAAASUVORK5CYII=&quot; width=&quot;24&quot; height=&quot;24&quot; /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Read Default App Configuration&lt;/span&gt;. This button will read the default app configuration from the VESC to VESC Tool. The default configuration is hard-coded in firmware, and is how the VESC is configured right after uploading new firmware.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; color:#00A1E4;&quot;&gt;Warning&lt;/span&gt;: All of the app settings currently in VESC Tool will be overwritten by pressing this button.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/17702.PNG;base64,i
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+jAAAAAASUVORK5CYII=&quot; width=&quot;24&quot; height=&quot;24&quot; /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Write App Configuration&lt;/span&gt;. This button will write the app configuration that currently is in VESC Tool to the VESC. Every time you make a change to the app configuration in VESC Tool you must use this button to apply the new settings. The new settings will be used as soon as you write them to the VESC, and they will be stored in the flash memory of the VESC persistently.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Every app setting has three small buttons to the right of its value. They have the following functions:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/19309.PNG;base64,i
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+OWFigAAAABJRU5ErkJggg==&quot; width=&quot;20&quot; height=&quot;20&quot; /&gt;&lt;br /&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Read Current Value&lt;/span&gt;. This button will read the current value for this setting from the VESC.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/31745.PNG;base64,i
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Read Default Value&lt;/span&gt;. This button will read the default value for this setting from the VESC.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/29590.PNG;base64,i
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+X+zYP8lfgOHlZEKN7DBYwAAAABJRU5ErkJggg==&quot; width=&quot;20&quot; height=&quot;20&quot; /&gt;&lt;br /&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Show Help&lt;/span&gt;. This button will show a help dialog describing what this setting does. If you are not sure about a setting the help dialog can be very useful.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The full app configuration can also be written to and read from XML files using the &lt;span style=&quot; font-weight:600;&quot;&gt;File&lt;/span&gt; menu. This is a good way to keep your settings when going between different VESC Tool versions, to share your settings and to store your configuration in general.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Notice that uploading new firmware to the VESC will reset all its settings to their default values for that firmware. This means that after uploading firmware to the VESC you have to perform the app configuration again.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </app_setting_description>
+        <data_analysis_description>
+            <longName>Data Analysis Description</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Data Analysis&lt;/span&gt;&lt;/p&gt;
+&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Here you can stream and plot data from the VESC to analyze what is going on. Next to all plots the following buttons are available:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This is the auto fit button. If the toggle verion of the button is active (blue), new realtime data that drops in will cause a rezoom in the graph to fit all data. Deactivating this button can be useful of you want to zoom in on the realtime data manually while samples are dropping in.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This is the non-toggle version of the auto fit button. Pressing it will zoom the plots so that all data fits in them.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Realtime Data&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The realtime data page can be used to stream and plot filtered data continuously, which can be useful for visualizing things in real time while they are happening. For example, if you run a motor and put some load on it, you can see that reflected right away in the current and RPM graphs. Tuning the position and speed PID control parameters is also a lot easier when looking at the step response in a graph.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;In ordet to stream realtime data, the &lt;span style=&quot; font-style:italic;&quot;&gt;Stream realtime data&lt;/span&gt; button in the main toolbar to the right has to be activated:&lt;/p&gt;
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+II=&quot; width=&quot;32&quot; height=&quot;32&quot; /&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Sampled Data&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The sampled data page can be used to sample data at high rate internally on the VESC and send it back for plotting after that. This page can be used to visualize all samples taken by the ADCs to analyze the current and voltage waveforms in detail. Since this data is sampled at such a high rate it cannot be streamed in real time, which is why sampling and plotting has to be toggled manually. There are two buttons for starting the sampling in the lower toolbar in this page:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/3365.PNG;base64,i
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sample data now and send it when this is done.&lt;/p&gt;
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+Z6fygf3f6rVX1TOmrF1AAAAAElFTkSuQmCC&quot; width=&quot;32&quot; height=&quot;32&quot; /&gt; &lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sample data the next time the motor starts moving. This can be useful to analyze the startup behaviour in real time.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;There are also options to apply filters to the sampled data and/or to plot a FFT of all samples if desired.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </data_analysis_description>
+        <app_adc.info>
+            <longName>App ADC Information</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The cruise control button will maintain the current speed while pressed when current control is used and no throttle is given. The reverse button is used to reverse the throttle when one of the corresponding control modes is used.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;When only the ADC app is used, the TX pin is used for the cruise control button and the RX pin is used for the reverse button. When the ADC and UART apps are used at the same time, the servo input will be used as the button. In this case it will be used for the reverse button when a control mode with button is selected, otherwise it will be used for the cruise control button.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </app_adc.info>
+        <app_chuk.info>
+            <longName>Chuk Info</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This app has been tested with the wireless Nyko Kama nunchuk. The receiver can be connected directly to the I2C port on the ESC. The y-axis on the joystick is used for acceleration/braking. The buttons have the following functions:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;C-Button:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Cruise control. If the C-button is pressed, the ESC will maintail the current speed with a PID control loop. The joystick can still be used to accelerate and brake, but as soon as it is returned to the center position the new speed will be maintained, as long as the C-button remains pressed.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Z-Button:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The Z-button is used to change the direction of the motor if reverse is activated. Without reverse, Z has no effect.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;There is also a safety function. If nothing received from the nunchuk (including the accelerometers) changes for longer than the timeout value in the &lt;span style=&quot; font-style:italic;&quot;&gt;APP General&lt;/span&gt; page, the timeout function will be activated and either release the motor or brake with the current specified next to the timeout value.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </app_chuk.info>
+        <app_ppm_mapping_help>
+            <longName>PPM Pulselength Mapping</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;PPM pulselength mapping is used to map the minimum and maximum throttle values from the PPM remote to the minimum and maximum throttle values of the VESC. The following procedure can be used:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ol style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Activate the PPM app and reboot the VESC.&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Set the PPM control mode to disabled to avoid motor movement and write the configuration.&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Connect the remote.&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Activate app realtime data streaming in the main toolbar. The input display should show the decoded input value and pulse length if the remote is connected and on.&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Move the throttle between the minimum and maximum values to get them sampled.&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Apply the result.&lt;/li&gt;&lt;/ol&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Input mapping should also be usable for those oneshot pulselengths that are popular for some multirotor flight controllers that don't have support for proper ESC communication such as CAN-bus or UART.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </app_ppm_mapping_help>
+        <app_adc_mapping_help>
+            <longName>ADC Voltage Mapping</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;ADC voltage mapping is used to map the minimum and maximum throttle values from the analog throttle to the minimum and maximum throttle values of the VESC. The following procedure can be used:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ol style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Activate the ADC app and write the app configuration to the VESC.&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Set the ADC control mode to disabled to avoid motor movement and write the configuration.&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Connect the throttle(s).&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Activate realtime &lt;span style=&quot; font-weight:600;&quot;&gt;app&lt;/span&gt; data streaming in the main toolbar. The input displays should show the decoded input value and voltage if the throttle is connected.&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Move the throttle between the minimum and maximum values to get them sampled.&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Apply the result.&lt;/li&gt;&lt;/ol&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </app_adc_mapping_help>
+        <wizard_startup_intro>
+            <longName>Welcome to VESC® Tool</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Welcome to &lt;span style=&quot; font-weight:600;&quot;&gt;VESC&lt;/span&gt; &lt;span style=&quot; font-weight:600;&quot;&gt;Tool&lt;/span&gt;. Since this is the first time you start this version of VESC Tool, the introduction is shown. Please read all instructions carefully for your own safety.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </wizard_startup_intro>
+        <wizard_startup_usage>
+            <longName>Usage</longName>
+            <type>3</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif'; font-weight:600;&quot;&gt;VESC® Tool&lt;/span&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt; and the &lt;/span&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif'; font-weight:600;&quot;&gt;VESC® firmware&lt;/span&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt; are experimental software designed to develop and test electrical systems incorporating electric motors or actuators. Electrical systems can cause danger to humans, property and nature; therefore precautions shall be taken to avoid any risk. Under no circumstances shall the software be used where humans or property are put to risk without &lt;/span&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;thoroughly&lt;/span&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt; validating and testing the whole system. Software and hardware interact in various ways, and software developers cannot foresee all possible combinations of hardware used together with their software, nor problems that can occur in these different combinations.&lt;/span&gt; &lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;Things that can happen, even when using the correct settings, are&lt;/span&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'arial,helvetica,sans-serif';&quot; style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;electrical failure&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;fire&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; font-family:'arial,helvetica,sans-serif';&quot; style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;electric shock&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;hazardous smoke&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;overheating motors and actuators&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;overstrained power sources, causing fire or explosions (e.g. Lithium Ion Batteries)&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;motors or actuators stopping from spinning/moving&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;motors or actuators locking in, acting like a brake (full stop)&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; font-family:'arial,helvetica,sans-serif';&quot; style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;motors or actuators losing control over torque production (uncontrolled acceleration or braking)&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;interferences with other systems&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;other non-intended or unforeseeable behavior of the system&lt;/span&gt;&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;VESC Tool and the VESC firmware are developer tools that for safety reasons may only be used&lt;/span&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'arial,helvetica,sans-serif';&quot; style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;by experts and experienced users, knowing exactly what they do.&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;following safety standards applicable in the area of usage.&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;under safe conditions where software or hardware malfunction will not lead to death, injuries or severe property damage.&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;keeping in mind that software and hardware failures can happen. Although we design our products to minimize such issues, you should always operate with the understanding that a failure can occur at any point of time and without warning. As such, you shall take the appropriate precautions to minimize danger in case of failure.&lt;/span&gt; &lt;/li&gt;&lt;/ul&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <valString>Important usage information</valString>
+        </wizard_startup_usage>
+        <wizard_startup_warranty>
+            <longName>Warranty</longName>
+            <type>3</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;LIMITED WARRANTY STATEMENT &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;1. Warranty&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;1.1 THERE IS NO WARRANTY FOR THE VESC® SOFTWARE (VESC TOOL AND THE VESC FIRMWARE - PROGRAM FOR SHORT) TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM AS IS WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;1.2 Benjamin Vedder and contributors (the publisher(s) for short) shall not be liable for any defects that are caused by neglect, misuse or mistreatment by the Customer, including improper installation or testing, or for any products that have been altered or modified in any way by the Customer. Moreover, the publisher(s) shall not be liable for any defects that result from the Customers design, specifications or instructions for such products. Testing and other quality control techniques are used to the extent the publisher(s) deems necessary. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;1.3 The Customer agrees that prior to using any systems that include Open Source VESC® Software, the Customer will test such systems and the functionality of the products as used in such systems. The publisher(s) may provide technical, applications or design advice, quality characterization, reliability data or other services. The Customer acknowledges and agrees that providing these services shall not expand or otherwise alter the publisher(s) warranties, as set forth above, and that no additional obligations or liabilities shall arise from the publisher(s) providing such services. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;1.4 VESC® software products are not authorized for use in safety-critical applications where a failure of the Open Source VESC® software would reasonably be expected to cause severe personal injury or death. Safety-critical applications include, without limitation, life support devices and systems, equipment or systems for the operation of nuclear facilities and weapons systems. Open Source VESC® software is neither designed nor intended for use in military or aerospace applications or environments, nor for automotive applications or the automotive environment. The Customer acknowledges and agrees that any such use of VESC® software is solely at the Customer's risk, and that the Customer is solely responsible for compliance with all legal and regulatory requirements in connection with such use. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;1.5 The Customer acknowledges and agrees that the Customer is solely responsible for compliance with all legal, regulatory and safety-related requirements concerning the products and any use of the publisher(s) softwrae  products in the Customer's applications, not withstanding any applications-related information or support that may be provided by the publisher(s). &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;2. Limitation of Liability &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS THE PROGRAM AS PERMITTED THROUGH THE GNU GENERAL PUBLIC LICENSE (GNU GPL), BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;This section will survive the termination of the warranty period. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;3. Consequential Damages Waiver.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;In no event shall the publisher(s) be liable to the Customer or any third parties for any special, collateral, indirect, punitive, incidental, consequential or exemplary damages in connection with or arising out of the products provided hereunder, regardless of whether the publisher(s) has been advised of the possibility of such damages. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;This section will survive the termination of the warranty period. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;4. Changes to Specifications.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;The publisher(s) may make changes to specifications and product descriptions at any time, without notice. The Customer must not rely on the absence or characteristics of any features or instructions marked, reserved or undefined. The publisher(s) reserves these for future definition and shall have no responsibility whatsoever for conflicts or incompatibilities arising from future changes to them. The product information on the Web Site or Materials is subject to change without notice. Do not finalize a design with this information. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;5. Statutory laws. *&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;(i) some countries, regions, states or provinces do not allow the exclusion or limitation of remedies or of incidental, punitive, or consequential damages, or the applicable time periods, so the above limitations or exclusions may not apply.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;(ii) except to the extent lawfully permitted, this limited warranty does not exclude, restrict or modify statutory rights applicable to where the product is sold but, rather, is in addition to these rights.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;(*) European Consumer Centres provide information on EU-wide consumer laws as well as consumer laws for specific countries: http://ec.europa.eu/consumers/ecc/contact_en.htm &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Times New Roman,serif';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;The LIMITED WARRANTY STATEMENT is released as Creative Commons Attribution ShareAlike 3.0. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;This means you can use it on your own derived works, in part or completely, as long as you also adopt the same license. You find the complete text of the license at https://creativecommons.org/licenses/by-sa/3.0/legalcode&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <valString>LIMITED WARRANTY STATEMENT</valString>
+        </wizard_startup_warranty>
+        <wizard_startup_conclusion>
+            <longName>Conclusion</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;You are now ready to start using VESC Tool. If you have any questions, visit &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;a href=&quot;http://vesc-project.com/forum&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; text-decoration: underline; color:#5555ff;&quot;&gt;http://vesc-project.com/forum&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </wizard_startup_conclusion>
+        <gpl_text>
+            <longName>License</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;GNU GENERAL PUBLIC LICENSE&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Version 3, 29 June 2007&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Copyright © 2007 Free Software Foundation, Inc. &amp;lt;&lt;/span&gt;&lt;a href=&quot;https://fsf.org/&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; text-decoration: underline; color:#0000ff;&quot;&gt;https://fsf.org/&lt;/span&gt;&lt;/a&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;&amp;gt;&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;Preamble&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The GNU General Public License is a free, copyleft license for software and other kinds of works.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The licenses for most software and other practical works are designed to take away your freedom to share and change the works. By contrast, the GNU General Public License is intended to guarantee your freedom to share and change all versions of a program--to make sure it remains free software for all its users. We, the Free Software Foundation, use the GNU General Public License for most of our software; it applies also to any other work released this way by its authors. You can apply it to your programs, too.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;When we speak of free software, we are referring to freedom, not price. Our General Public Licenses are designed to make sure that you have the freedom to distribute copies of free software (and charge for them if you wish), that you receive source code or can get it if you want it, that you can change the software or use pieces of it in new free programs, and that you know you can do these things.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;To protect your rights, we need to prevent others from denying you these rights or asking you to surrender the rights. Therefore, you have certain responsibilities if you distribute copies of the software, or if you modify it: responsibilities to respect the freedom of others.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;For example, if you distribute copies of such a program, whether gratis or for a fee, you must pass on to the recipients the same freedoms that you received. You must make sure that they, too, receive or can get the source code. And you must show them these terms so they know their rights.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Developers that use the GNU GPL protect your rights with two steps: (1) assert copyright on the software, and (2) offer you this License giving you legal permission to copy, distribute and/or modify it.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;For the developers' and authors' protection, the GPL clearly explains that there is no warranty for this free software. For both users' and authors' sake, the GPL requires that modified versions be marked as changed, so that their problems will not be attributed erroneously to authors of previous versions.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Some devices are designed to deny users access to install or run modified versions of the software inside them, although the manufacturer can do so. This is fundamentally incompatible with the aim of protecting users' freedom to change the software. The systematic pattern of such abuse occurs in the area of products for individuals to use, which is precisely where it is most unacceptable. Therefore, we have designed this version of the GPL to prohibit the practice for those products. If such problems arise substantially in other domains, we stand ready to extend this provision to those domains in future versions of the GPL, as needed to protect the freedom of users.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Finally, every program is threatened constantly by software patents. States should not allow patents to restrict development and use of software on general-purpose computers, but in those that do, we wish to avoid the special danger that patents applied to a free program could make it effectively proprietary. To prevent this, the GPL assures that patents cannot be used to render the program non-free.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The precise terms and conditions for copying, distribution and modification follow.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;TERMS AND CONDITIONS&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;0. Definitions.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;“&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;This License” refers to version 3 of the GNU General Public License.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;“&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Copyright” also means copyright-like laws that apply to other kinds of works, such as semiconductor masks.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;“&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The Program” refers to any copyrightable work licensed under this License. Each licensee is addressed as “you”. “Licensees” and “recipients” may be individuals or organizations.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;To “modify” a work means to copy from or adapt all or part of the work in a fashion requiring copyright permission, other than the making of an exact copy. The resulting work is called a “modified version” of the earlier work or a work “based on” the earlier work.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;A “covered work” means either the unmodified Program or a work based on the Program.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;To “propagate” a work means to do anything with it that, without permission, would make you directly or secondarily liable for infringement under applicable copyright law, except executing it on a computer or modifying a private copy. Propagation includes copying, distribution (with or without modification), making available to the public, and in some countries other activities as well.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;To “convey” a work means any kind of propagation that enables other parties to make or receive copies. Mere interaction with a user through a computer network, with no transfer of a copy, is not conveying.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;An interactive user interface displays “Appropriate Legal Notices” to the extent that it includes a convenient and prominently visible feature that (1) displays an appropriate copyright notice, and (2) tells the user that there is no warranty for the work (except to the extent that warranties are provided), that licensees may convey the work under this License, and how to view a copy of this License. If the interface presents a list of user commands or options, such as a menu, a prominent item in the list meets this criterion.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;1. Source Code.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The “source code” for a work means the preferred form of the work for making modifications to it. “Object code” means any non-source form of a work.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;A “Standard Interface” means an interface that either is an official standard defined by a recognized standards body, or, in the case of interfaces specified for a particular programming language, one that is widely used among developers working in that language.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The “System Libraries” of an executable work include anything, other than the work as a whole, that (a) is included in the normal form of packaging a Major Component, but which is not part of that Major Component, and (b) serves only to enable use of the work with that Major Component, or to implement a Standard Interface for which an implementation is available to the public in source code form. A “Major Component”, in this context, means a major essential component (kernel, window system, and so on) of the specific operating system (if any) on which the executable work runs, or a compiler used to produce the work, or an object code interpreter used to run it.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The “Corresponding Source” for a work in object code form means all the source code needed to generate, install, and (for an executable work) run the object code and to modify the work, including scripts to control those activities. However, it does not include the work's System Libraries, or general-purpose tools or generally available free programs which are used unmodified in performing those activities but which are not part of the work. For example, Corresponding Source includes interface definition files associated with source files for the work, and the source code for shared libraries and dynamically linked subprograms that the work is specifically designed to require, such as by intimate data communication or control flow between those subprograms and other parts of the work.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The Corresponding Source need not include anything that users can regenerate automatically from other parts of the Corresponding Source.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The Corresponding Source for a work in source code form is that same work.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;2. Basic Permissions.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;All rights granted under this License are granted for the term of copyright on the Program, and are irrevocable provided the stated conditions are met. This License explicitly affirms your unlimited permission to run the unmodified Program. The output from running a covered work is covered by this License only if the output, given its content, constitutes a covered work. This License acknowledges your rights of fair use or other equivalent, as provided by copyright law.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You may make, run and propagate covered works that you do not convey, without conditions so long as your license otherwise remains in force. You may convey covered works to others for the sole purpose of having them make modifications exclusively for you, or provide you with facilities for running those works, provided that you comply with the terms of this License in conveying all material for which you do not control copyright. Those thus making or running the covered works for you must do so exclusively on your behalf, under your direction and control, on terms that prohibit them from making any copies of your copyrighted material outside their relationship with you.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Conveying under any other circumstances is permitted solely under the conditions stated below. Sublicensing is not allowed; section 10 makes it unnecessary.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;3. Protecting Users' Legal Rights From Anti-Circumvention Law.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;No covered work shall be deemed part of an effective technological measure under any applicable law fulfilling obligations under article 11 of the WIPO copyright treaty adopted on 20 December 1996, or similar laws prohibiting or restricting circumvention of such measures.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;When you convey a covered work, you waive any legal power to forbid circumvention of technological measures to the extent such circumvention is effected by exercising rights under this License with respect to the covered work, and you disclaim any intention to limit operation or modification of the work as a means of enforcing, against the work's users, your or third parties' legal rights to forbid circumvention of technological measures.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;4. Conveying Verbatim Copies.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You may convey verbatim copies of the Program's source code as you receive it, in any medium, provided that you conspicuously and appropriately publish on each copy an appropriate copyright notice; keep intact all notices stating that this License and any non-permissive terms added in accord with section 7 apply to the code; keep intact all notices of the absence of any warranty; and give all recipients a copy of this License along with the Program.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You may charge any price or no price for each copy that you convey, and you may offer support or warranty protection for a fee.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;5. Conveying Modified Source Versions.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You may convey a work based on the Program, or the modifications to produce it from the Program, in the form of source code under the terms of section 4, provided that you also meet all of these conditions:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; a) The work must carry prominent notices stating that you modified it, and giving a relevant date.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; b) The work must carry prominent notices stating that it is released under this License and any conditions added under section 7. This requirement modifies the requirement in section 4 to “keep intact all notices”.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; c) You must license the entire work, as a whole, under this License to anyone who comes into possession of a copy. This License will therefore apply, along with any applicable section 7 additional terms, to the whole of the work, and all its parts, regardless of how they are packaged. This License gives no permission to license the work in any other way, but it does not invalidate such permission if you have separately received it.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; d) If the work has interactive user interfaces, each must display Appropriate Legal Notices; however, if the Program has interactive interfaces that do not display Appropriate Legal Notices, your work need not make them do so.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;A compilation of a covered work with other separate and independent works, which are not by their nature extensions of the covered work, and which are not combined with it such as to form a larger program, in or on a volume of a storage or distribution medium, is called an “aggregate” if the compilation and its resulting copyright are not used to limit the access or legal rights of the compilation's users beyond what the individual works permit. Inclusion of a covered work in an aggregate does not cause this License to apply to the other parts of the aggregate.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;6. Conveying Non-Source Forms.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You may convey a covered work in object code form under the terms of sections 4 and 5, provided that you also convey the machine-readable Corresponding Source under the terms of this License, in one of these ways:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; a) Convey the object code in, or embodied in, a physical product (including a physical distribution medium), accompanied by the Corresponding Source fixed on a durable physical medium customarily used for software interchange.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; b) Convey the object code in, or embodied in, a physical product (including a physical distribution medium), accompanied by a written offer, valid for at least three years and valid for as long as you offer spare parts or customer support for that product model, to give anyone who possesses the object code either (1) a copy of the Corresponding Source for all the software in the product that is covered by this License, on a durable physical medium customarily used for software interchange, for a price no more than your reasonable cost of physically performing this conveying of source, or (2) access to copy the Corresponding Source from a network server at no charge.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; c) Convey individual copies of the object code with a copy of the written offer to provide the Corresponding Source. This alternative is allowed only occasionally and noncommercially, and only if you received the object code with such an offer, in accord with subsection 6b.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; d) Convey the object code by offering access from a designated place (gratis or for a charge), and offer equivalent access to the Corresponding Source in the same way through the same place at no further charge. You need not require recipients to copy the Corresponding Source along with the object code. If the place to copy the object code is a network server, the Corresponding Source may be on a different server (operated by you or a third party) that supports equivalent copying facilities, provided you maintain clear directions next to the object code saying where to find the Corresponding Source. Regardless of what server hosts the Corresponding Source, you remain obligated to ensure that it is available for as long as needed to satisfy these requirements.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; e) Convey the object code using peer-to-peer transmission, provided you inform other peers where the object code and Corresponding Source of the work are being offered to the general public at no charge under subsection 6d.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;A separable portion of the object code, whose source code is excluded from the Corresponding Source as a System Library, need not be included in conveying the object code work.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;A “User Product” is either (1) a “consumer product”, which means any tangible personal property which is normally used for personal, family, or household purposes, or (2) anything designed or sold for incorporation into a dwelling. In determining whether a product is a consumer product, doubtful cases shall be resolved in favor of coverage. For a particular product received by a particular user, “normally used” refers to a typical or common use of that class of product, regardless of the status of the particular user or of the way in which the particular user actually uses, or expects or is expected to use, the product. A product is a consumer product regardless of whether the product has substantial commercial, industrial or non-consumer uses, unless such uses represent the only significant mode of use of the product.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;“&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Installation Information” for a User Product means any methods, procedures, authorization keys, or other information required to install and execute modified versions of a covered work in that User Product from a modified version of its Corresponding Source. The information must suffice to ensure that the continued functioning of the modified object code is in no case prevented or interfered with solely because modification has been made.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If you convey an object code work under this section in, or with, or specifically for use in, a User Product, and the conveying occurs as part of a transaction in which the right of possession and use of the User Product is transferred to the recipient in perpetuity or for a fixed term (regardless of how the transaction is characterized), the Corresponding Source conveyed under this section must be accompanied by the Installation Information. But this requirement does not apply if neither you nor any third party retains the ability to install modified object code on the User Product (for example, the work has been installed in ROM).&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The requirement to provide Installation Information does not include a requirement to continue to provide support service, warranty, or updates for a work that has been modified or installed by the recipient, or for the User Product in which it has been modified or installed. Access to a network may be denied when the modification itself materially and adversely affects the operation of the network or violates the rules and protocols for communication across the network.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Corresponding Source conveyed, and Installation Information provided, in accord with this section must be in a format that is publicly documented (and with an implementation available to the public in source code form), and must require no special password or key for unpacking, reading or copying.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;7. Additional Terms.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;“&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Additional permissions” are terms that supplement the terms of this License by making exceptions from one or more of its conditions. Additional permissions that are applicable to the entire Program shall be treated as though they were included in this License, to the extent that they are valid under applicable law. If additional permissions apply only to part of the Program, that part may be used separately under those permissions, but the entire Program remains governed by this License without regard to the additional permissions.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;When you convey a copy of a covered work, you may at your option remove any additional permissions from that copy, or from any part of it. (Additional permissions may be written to require their own removal in certain cases when you modify the work.) You may place additional permissions on material, added by you to a covered work, for which you have or can give appropriate copyright permission.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Notwithstanding any other provision of this License, for material you add to a covered work, you may (if authorized by the copyright holders of that material) supplement the terms of this License with terms:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; a) Disclaiming warranty or limiting liability differently from the terms of sections 15 and 16 of this License; or&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; b) Requiring preservation of specified reasonable legal notices or author attributions in that material or in the Appropriate Legal Notices displayed by works containing it; or&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; c) Prohibiting misrepresentation of the origin of that material, or requiring that modified versions of such material be marked in reasonable ways as different from the original version; or&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; d) Limiting the use for publicity purposes of names of licensors or authors of the material; or&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; e) Declining to grant rights under trademark law for use of some trade names, trademarks, or service marks; or&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; f) Requiring indemnification of licensors and authors of that material by anyone who conveys the material (or modified versions of it) with contractual assumptions of liability to the recipient, for any liability that these contractual assumptions directly impose on those licensors and authors.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;All other non-permissive additional terms are considered “further restrictions” within the meaning of section 10. If the Program as you received it, or any part of it, contains a notice stating that it is governed by this License along with a term that is a further restriction, you may remove that term. If a license document contains a further restriction but permits relicensing or conveying under this License, you may add to a covered work material governed by the terms of that license document, provided that the further restriction does not survive such relicensing or conveying.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If you add terms to a covered work in accord with this section, you must place, in the relevant source files, a statement of the additional terms that apply to those files, or a notice indicating where to find the applicable terms.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Additional terms, permissive or non-permissive, may be stated in the form of a separately written license, or stated as exceptions; the above requirements apply either way.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;8. Termination.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You may not propagate or modify a covered work except as expressly provided under this License. Any attempt otherwise to propagate or modify it is void, and will automatically terminate your rights under this License (including any patent licenses granted under the third paragraph of section 11).&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;However, if you cease all violation of this License, then your license from a particular copyright holder is reinstated (a) provisionally, unless and until the copyright holder explicitly and finally terminates your license, and (b) permanently, if the copyright holder fails to notify you of the violation by some reasonable means prior to 60 days after the cessation.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Moreover, your license from a particular copyright holder is reinstated permanently if the copyright holder notifies you of the violation by some reasonable means, this is the first time you have received notice of violation of this License (for any work) from that copyright holder, and you cure the violation prior to 30 days after your receipt of the notice.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Termination of your rights under this section does not terminate the licenses of parties who have received copies or rights from you under this License. If your rights have been terminated and not permanently reinstated, you do not qualify to receive new licenses for the same material under section 10.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;9. Acceptance Not Required for Having Copies.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You are not required to accept this License in order to receive or run a copy of the Program. Ancillary propagation of a covered work occurring solely as a consequence of using peer-to-peer transmission to receive a copy likewise does not require acceptance. However, nothing other than this License grants you permission to propagate or modify any covered work. These actions infringe copyright if you do not accept this License. Therefore, by modifying or propagating a covered work, you indicate your acceptance of this License to do so.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;10. Automatic Licensing of Downstream Recipients.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Each time you convey a covered work, the recipient automatically receives a license from the original licensors, to run, modify and propagate that work, subject to this License. You are not responsible for enforcing compliance by third parties with this License.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;An “entity transaction” is a transaction transferring control of an organization, or substantially all assets of one, or subdividing an organization, or merging organizations. If propagation of a covered work results from an entity transaction, each party to that transaction who receives a copy of the work also receives whatever licenses to the work the party's predecessor in interest had or could give under the previous paragraph, plus a right to possession of the Corresponding Source of the work from the predecessor in interest, if the predecessor has it or can get it with reasonable efforts.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You may not impose any further restrictions on the exercise of the rights granted or affirmed under this License. For example, you may not impose a license fee, royalty, or other charge for exercise of rights granted under this License, and you may not initiate litigation (including a cross-claim or counterclaim in a lawsuit) alleging that any patent claim is infringed by making, using, selling, offering for sale, or importing the Program or any portion of it.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;11. Patents.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;A “contributor” is a copyright holder who authorizes use under this License of the Program or a work on which the Program is based. The work thus licensed is called the contributor's “contributor version”.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;A contributor's “essential patent claims” are all patent claims owned or controlled by the contributor, whether already acquired or hereafter acquired, that would be infringed by some manner, permitted by this License, of making, using, or selling its contributor version, but do not include claims that would be infringed only as a consequence of further modification of the contributor version. For purposes of this definition, “control” includes the right to grant patent sublicenses in a manner consistent with the requirements of this License.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Each contributor grants you a non-exclusive, worldwide, royalty-free patent license under the contributor's essential patent claims, to make, use, sell, offer for sale, import and otherwise run, modify and propagate the contents of its contributor version.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;In the following three paragraphs, a “patent license” is any express agreement or commitment, however denominated, not to enforce a patent (such as an express permission to practice a patent or covenant not to sue for patent infringement). To “grant” such a patent license to a party means to make such an agreement or commitment not to enforce a patent against the party.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If you convey a covered work, knowingly relying on a patent license, and the Corresponding Source of the work is not available for anyone to copy, free of charge and under the terms of this License, through a publicly available network server or other readily accessible means, then you must either (1) cause the Corresponding Source to be so available, or (2) arrange to deprive yourself of the benefit of the patent license for this particular work, or (3) arrange, in a manner consistent with the requirements of this License, to extend the patent license to downstream recipients. “Knowingly relying” means you have actual knowledge that, but for the patent license, your conveying the covered work in a country, or your recipient's use of the covered work in a country, would infringe one or more identifiable patents in that country that you have reason to believe are valid.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If, pursuant to or in connection with a single transaction or arrangement, you convey, or propagate by procuring conveyance of, a covered work, and grant a patent license to some of the parties receiving the covered work authorizing them to use, propagate, modify or convey a specific copy of the covered work, then the patent license you grant is automatically extended to all recipients of the covered work and works based on it.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;A patent license is “discriminatory” if it does not include within the scope of its coverage, prohibits the exercise of, or is conditioned on the non-exercise of one or more of the rights that are specifically granted under this License. You may not convey a covered work if you are a party to an arrangement with a third party that is in the business of distributing software, under which you make payment to the third party based on the extent of your activity of conveying the work, and under which the third party grants, to any of the parties who would receive the covered work from you, a discriminatory patent license (a) in connection with copies of the covered work conveyed by you (or copies made from those copies), or (b) primarily for and in connection with specific products or compilations that contain the covered work, unless you entered into that arrangement, or that patent license was granted, prior to 28 March 2007.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Nothing in this License shall be construed as excluding or limiting any implied license or other defenses to infringement that may otherwise be available to you under applicable patent law.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;12. No Surrender of Others' Freedom.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If conditions are imposed on you (whether by court order, agreement or otherwise) that contradict the conditions of this License, they do not excuse you from the conditions of this License. If you cannot convey a covered work so as to satisfy simultaneously your obligations under this License and any other pertinent obligations, then as a consequence you may not convey it at all. For example, if you agree to terms that obligate you to collect a royalty for further conveying from those to whom you convey the Program, the only way you could satisfy both those terms and this License would be to refrain entirely from conveying the Program.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;13. Use with the GNU Affero General Public License.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Notwithstanding any other provision of this License, you have permission to link or combine any covered work with a work licensed under version 3 of the GNU Affero General Public License into a single combined work, and to convey the resulting work. The terms of this License will continue to apply to the part which is the covered work, but the special requirements of the GNU Affero General Public License, section 13, concerning interaction through a network will apply to the combination as such.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;14. Revised Versions of this License.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The Free Software Foundation may publish revised and/or new versions of the GNU General Public License from time to time. Such new versions will be similar in spirit to the present version, but may differ in detail to address new problems or concerns.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Each version is given a distinguishing version number. If the Program specifies that a certain numbered version of the GNU General Public License “or any later version” applies to it, you have the option of following the terms and conditions either of that numbered version or of any later version published by the Free Software Foundation. If the Program does not specify a version number of the GNU General Public License, you may choose any version ever published by the Free Software Foundation.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If the Program specifies that a proxy can decide which future versions of the GNU General Public License can be used, that proxy's public statement of acceptance of a version permanently authorizes you to choose that version for the Program.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Later license versions may give you additional or different permissions. However, no additional obligations are imposed on any author or copyright holder as a result of your choosing to follow a later version.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;15. Disclaimer of Warranty.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM “AS IS” WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;16. Limitation of Liability.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;17. Interpretation of Sections 15 and 16.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If the disclaimer of warranty and limitation of liability provided above cannot be given local legal effect according to their terms, reviewing courts shall apply local law that most closely approximates an absolute waiver of all civil liability in connection with the Program, unless a warranty or assumption of liability accompanies a copy of the Program in return for a fee.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;END OF TERMS AND CONDITIONS&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;How to Apply These Terms to Your New Programs&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If you develop a new program, and you want it to be of the greatest possible use to the public, the best way to achieve this is to make it free software which everyone can redistribute and change under these terms.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;To do so, attach the following notices to the program. It is safest to attach them to the start of each source file to most effectively state the exclusion of warranty; and each file should have at least the “copyright” line and a pointer to where the full notice is found.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;&amp;lt;one line to give the program's name and a brief idea of what it does.&amp;gt;&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;Copyright (C) &amp;lt;year&amp;gt; &amp;lt;name of author&amp;gt;&lt;/span&gt;&lt;br /&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;This program is free software: you can redistribute it and/or modify&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;it under the terms of the GNU General Public License as published by&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;the Free Software Foundation, either version 3 of the License, or&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;(at your option) any later version.&lt;/span&gt;&lt;br /&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;This program is distributed in the hope that it will be useful,&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;but WITHOUT ANY WARRANTY; without even the implied warranty of&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;GNU General Public License for more details.&lt;/span&gt;&lt;br /&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;You should have received a copy of the GNU General Public License&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;along with this program. If not, see &amp;lt;https://www.gnu.org/licenses/&amp;gt;.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Also add information on how to contact you by electronic and paper mail.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If the program does terminal interaction, make it output a short notice like this when it starts in an interactive mode:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;&amp;lt;program&amp;gt; Copyright (C) &amp;lt;year&amp;gt; &amp;lt;name of author&amp;gt;&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;This is free software, and you are welcome to redistribute it&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;under certain conditions; type `show c' for details.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The hypothetical commands `show w' and `show c' should show the appropriate parts of the General Public License. Of course, your program's commands might be different; for a GUI interface, you would use an “about box”.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You should also get your employer (if you work as a programmer) or school, if any, to sign a “copyright disclaimer” for the program, if necessary. For more information on this, and how to apply and follow the GNU GPL, see &amp;lt;&lt;/span&gt;&lt;a href=&quot;https://www.gnu.org/licenses/&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; text-decoration: underline; color:#0000ff;&quot;&gt;https://www.gnu.org/licenses/&lt;/span&gt;&lt;/a&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;&amp;gt;.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The GNU General Public License does not permit incorporating your program into proprietary programs. If your program is a subroutine library, you may consider it more useful to permit linking proprietary applications with the library. If this is what you want to do, use the GNU Lesser General Public License instead of this License. But first, please read &amp;lt;&lt;/span&gt;&lt;a href=&quot;https://www.gnu.org/licenses/why-not-lgpl.html&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; text-decoration: underline; color:#0000ff;&quot;&gt;https://www.gnu.org/licenses/why-not-lgpl.html&lt;/span&gt;&lt;/a&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;&amp;gt;.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </gpl_text>
+        <ios_license_text>
+            <longName>License</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This app is distributed under the Apple EULA for this platform. This license is issued by Benjamin Vedder, Benjamin@vedder.se. Distribution and maintenance of the application is managed by Jeffrey Friesen and questions and correspondence should be directed to Jfriesen222@gmail.com.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;All source code for this application is also available open-source under the GPLv3 license and is available for  compilation across many platforms here: &lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;a href=&quot;https://github.com/vedderb/vesc_tool&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#419cff;&quot;&gt;https://github.com/vedderb/vesc_tool&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; text-decoration: underline; color:#419cff;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;All libraries and appropriate licensing information can be found within this repository as well. &lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; text-decoration: underline; color:#419cff;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;More informati&lt;span style=&quot; color:#dcdcdc;&quot;&gt;on regarding the VESC®&lt;/span&gt; Project can be found here:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;a href=&quot;https://vesc-project.com/&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#419cff;&quot;&gt;https://vesc-project.com/&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; text-decoration: underline; color:#419cff;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#dcdcdc;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#dcdcdc;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </ios_license_text>
+    </Params>
+    <SerOrder/>
+    <Grouping/>
+</ConfigParams>
diff --git a/res/config/6.02/parameters_appconf.xml b/res/config/6.02/parameters_appconf.xml
new file mode 100644
index 000000000..efbd428f0
--- /dev/null
+++ b/res/config/6.02/parameters_appconf.xml
@@ -0,0 +1,4679 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ConfigParams>
+    <Params>
+        <controller_id>
+            <longName>VESC ID</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;VESC ID. Used to identify this VESC on the CAN-bus.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CONTROLLER_ID</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>74</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </controller_id>
+        <timeout_msec>
+            <longName>Timeout</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Switch off the motor when no input has beed received for this amount of time. Notice that VESC Tool will send alive packets while connected, so the timeout won't occur before you disconnect VESC Tool even if the input gets disconnected.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_TIMEOUT_MSEC</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>30000000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>1000</valInt>
+            <suffix> ms</suffix>
+            <vTx>5</vTx>
+        </timeout_msec>
+        <timeout_brake_current>
+            <longName>Timeout Brake Current</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Apply brake with this amount of current after a timeout.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_TIMEOUT_BRAKE_CURRENT</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </timeout_brake_current>
+        <can_status_rate_1>
+            <longName>Can Status Rate 1</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Rate 1 at which CAN status messages are sent on the CAN-bus.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CAN_STATUS_RATE_1</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>50</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </can_status_rate_1>
+        <can_status_rate_2>
+            <longName>Can Status Rate 2</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Rate 2 at which CAN status messages are sent on the CAN-bus.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CAN_STATUS_RATE_2</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>5</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </can_status_rate_2>
+        <can_status_msgs_r1>
+            <longName>Can Messages Rate 1</longName>
+            <type>6</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Select which CAN status messages are sent are status rate 1. The messages contain:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 1:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;RPM&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty Cucle&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 2:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Ah Used&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Ah Charged&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 3:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Wh Used&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Wh Charged&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 4:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Temp FET&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Temp Motor&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current In&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PID-position Now&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 5:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage In&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Tachometer&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 6:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ADC1&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ADC2&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ADC3&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PPM&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CAN_STATUS_MSGS_R1</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Status 1</enumNames>
+            <enumNames>Status 2</enumNames>
+            <enumNames>Status 3</enumNames>
+            <enumNames>Status 4</enumNames>
+            <enumNames>Status 5</enumNames>
+            <enumNames>Status 6</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+        </can_status_msgs_r1>
+        <can_status_msgs_r2>
+            <longName>Can Messages Rate 2</longName>
+            <type>6</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Select which CAN status messages are sent are status rate 2. The messages contain:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 1:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;RPM&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty Cucle&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 2:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Ah Used&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Ah Charged&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 3:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Wh Used&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Wh Charged&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 4:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Temp FET&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Temp Motor&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current In&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PID-position Now&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 5:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage In&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Tachometer&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 6:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ADC1&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ADC2&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ADC3&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PPM&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CAN_STATUS_MSGS_R2</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Status 1</enumNames>
+            <enumNames>Status 2</enumNames>
+            <enumNames>Status 3</enumNames>
+            <enumNames>Status 4</enumNames>
+            <enumNames>Status 5</enumNames>
+            <enumNames>Status 6</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+        </can_status_msgs_r2>
+        <can_baud_rate>
+            <longName>CAN Baud Rate</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The baud rate of the CAN-Bus. Note that all devices on the bus must have the same baud rate.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CAN_BAUD_RATE</cDefine>
+            <valInt>2</valInt>
+            <enumNames>CAN_BAUD_125K</enumNames>
+            <enumNames>CAN_BAUD_250K</enumNames>
+            <enumNames>CAN_BAUD_500K</enumNames>
+            <enumNames>CAN_BAUD_1M</enumNames>
+            <enumNames>CAN_BAUD_10K</enumNames>
+            <enumNames>CAN_BAUD_20K</enumNames>
+            <enumNames>CAN_BAUD_50K</enumNames>
+            <enumNames>CAN_BAUD_75K</enumNames>
+            <enumNames>CAN_BAUD_100K</enumNames>
+        </can_baud_rate>
+        <pairing_done>
+            <longName>Pairing Done</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Pairing done flag. If this flag is set, a bluetooth connection can only be made if the VESC Tool instance making the connection has been paired to this VESC. The pairing is done by storing the UUID of the VESC in the pairing list.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAIRING_DONE</cDefine>
+            <valInt>0</valInt>
+        </pairing_done>
+        <permanent_uart_enabled>
+            <longName>Enable Permanent UART</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Enable the permanent UART port (if the hardware has one). This port can be connected to e.g. the NRF51 for providing a BLE link. You may want to disable this to prevent access to your VESC over BLE.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PERMANENT_UART_ENABLED</cDefine>
+            <valInt>1</valInt>
+        </permanent_uart_enabled>
+        <shutdown_mode>
+            <longName>Shutdown Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Shutdown mode for hardware that supports it (such as the VESC HD). Determines how the VESC shuts itself off, which eliminates the need for an external switch.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;NOTE:&lt;/span&gt; Most VESCs with this feature also support push to start, which means that the VESC will switch on as soon as the motor is turned at a minimum speed.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The available modes are:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ALWAYS_OFF&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC power is only determined by the inverted state of the shutdown input.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ALWAYS_ON&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on ofter being powered.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TOGGLE_BUTTON_ONLY&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutfown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;OFF_AFTER_x&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware suports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_SHUTDOWN_MODE</cDefine>
+            <valInt>7</valInt>
+            <enumNames>ALWAYS_OFF</enumNames>
+            <enumNames>ALWAYS_ON</enumNames>
+            <enumNames>TOGGLE_BUTTON_ONLY</enumNames>
+            <enumNames>OFF_AFTER_10S</enumNames>
+            <enumNames>OFF_AFTER_1M</enumNames>
+            <enumNames>OFF_AFTER_5M</enumNames>
+            <enumNames>OFF_AFTER_10M</enumNames>
+            <enumNames>OFF_AFTER_30M</enumNames>
+            <enumNames>OFF_AFTER_1H</enumNames>
+            <enumNames>OFF_AFTER_5H</enumNames>
+        </shutdown_mode>
+        <can_mode>
+            <longName>CAN Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;CAN-bus mode.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;VESC&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Default VESC CAN-bus. Required for CAN forwarding and configuring multiple VESCs using VESC Tool.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;UAVCAN&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Basic implementation of UAVCAN. Currently needs some work.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Comm Brigde&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Bridge CAN-bus to commands. Useful for using the VESC and VESC Tool as a generic CAN interface and debugger.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Unused&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;CAN-frames are not processed at all and just ignored. Custom applications and scripts can still process CAN-frames. This is very similar to &lt;span style=&quot; font-weight:600;&quot;&gt;Comm Bridge&lt;/span&gt;, but the received frames are not forwarded using commands.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CAN_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>VESC</enumNames>
+            <enumNames>UAVCAN</enumNames>
+            <enumNames>Comm Bridge</enumNames>
+            <enumNames>Unused</enumNames>
+        </can_mode>
+        <uavcan_esc_index>
+            <longName>UAVCAN ESC Index</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;ESC index in UAVCAN messages.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_UAVCAN_ESC_INDEX</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>0</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </uavcan_esc_index>
+        <uavcan_raw_mode>
+            <longName>UAVCAN Raw Throttle Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Drive mode for the raw throttle command in UAVCAN.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current Control&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The raw command corresponds to a fraction of the configured current limit. 1.0 is maximum current forwards and -1.0 is maximum current reverse.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current No Reverse Brake&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as current control, but negative values only give braking and don't start the motor in the other direction.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Duty Cycle Control&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty cycle control.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;RPM Control&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;RPM control. Use the raw command times the maximum configured ERPM value. Negative values will run the motor in reverse. Note that this will set the value in ERPM, so the RPM will be scaled by the number of pole pairs.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_UAVCAN_RAW_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Current Control</enumNames>
+            <enumNames>Current No Reverse Brake</enumNames>
+            <enumNames>Duty Cycle Control</enumNames>
+            <enumNames>RPM Control</enumNames>
+        </uavcan_raw_mode>
+        <uavcan_raw_rpm_max>
+            <longName>UAVCAN Raw RPM Max</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum ERPM for the RPM mode of the raw command.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_UAVCAN_RAW_RPM_MAX</cDefine>
+            <editorDecimalsDouble>0</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>400000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>50000</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </uavcan_raw_rpm_max>
+        <uavcan_status_current_mode>
+            <longName>UAVCAN Status Current Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current to send in status message.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_UAVCAN_STATUS_CURRENT_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Motor Current</enumNames>
+            <enumNames>Input Current</enumNames>
+        </uavcan_status_current_mode>
+        <servo_out_enable>
+            <longName>Enable Servo Output</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Enable servo output on PPM-port when PPM-app is disabled.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_SERVO_OUT_ENABLE</cDefine>
+            <valInt>0</valInt>
+        </servo_out_enable>
+        <kill_sw_mode>
+            <longName>Kill Switch Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Kill switch input. When this input is active the motor is disabled and optionally braking if timeout_brake_current is greater than 0. The kill switch overrides all other inputs and can be used as an emergency stop.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The following modes can be used:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Disabled&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;No kill switch is used.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PPM Low&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The kill switch is active when the PPM input goes low.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PPM High&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The kill switch is active when the PPM input goes high.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ADC2 Low&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The kill switch is active when the ADC2 input goes low.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ADC2 High&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The kill switch is active when the ADC2 input goes high.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_KILL_SW_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Disabled</enumNames>
+            <enumNames>PPM Low</enumNames>
+            <enumNames>PPM High</enumNames>
+            <enumNames>ADC2 Low</enumNames>
+            <enumNames>ADC2 High</enumNames>
+        </kill_sw_mode>
+        <app_to_use>
+            <longName>APP to Use</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The APP to use. With multiple VESC connected over CAN only the master needs to have an app to use set up. Notice that using the NRF nunchuk needs the NRF app.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_APP_TO_USE</cDefine>
+            <valInt>3</valInt>
+            <enumNames>No App</enumNames>
+            <enumNames>PPM</enumNames>
+            <enumNames>ADC</enumNames>
+            <enumNames>UART</enumNames>
+            <enumNames>PPM and UART</enumNames>
+            <enumNames>ADC and UART</enumNames>
+            <enumNames>Nunchuk (I2C, Nyko Kama)</enumNames>
+            <enumNames>NRF</enumNames>
+            <enumNames>Custom User App</enumNames>
+            <enumNames>Balance</enumNames>
+            <enumNames>PAS</enumNames>
+            <enumNames>ADC and PAS</enumNames>
+        </app_to_use>
+        <app_ppm_conf.ctrl_type>
+            <longName>Control Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Off&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The output is switched off regardless of the input.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it starts in the reverse direction.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current No Reverse&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is at minimum.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current No Reverse With Brake&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is centered.  Input less than center brakes until the motor stops, but not further.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Duty Cycle&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is centered. Input less than center gives negative duty cycle.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Duty Cycle No Reverse&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty cycle control. The output is off when the input is at minimum.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PID Speed Control&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PID speed control.  The output is off when the input is centered. Input less than center gives negative set speed.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PID Speed Control No Reverse&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty cycle control. The output is off when the input is at minimum.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current Hyst Reverse With Brake&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current Hyst Reverse With Brake. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it starts in the reverse direction, but if Max dir switch ERPM is enabled it will stop the reverse when it reaches the Max ERPM for direction switch.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current Smart Reverse&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Similar to the &lt;span style=&quot; font-weight:600;&quot;&gt;Current No Reverse With Brake &lt;/span&gt;mode, but holding full brake will switch to duty cycle mode in the reverse direction when the speed is so low that not enough brake torque can be produced. This is useful when trying to stop downhill where you normally would roll forwards slowly even at full brake. Instead, the board will start to go reverse slowly in duty cycle mode if this mode is activated.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PID Position Control: 180°&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; background-color:transparent;&quot;&gt;Maps servo input to (-180° &amp;lt;&amp;gt; +180°) rotation. Remote should center at “Pulselegth Center” value.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; background-color:transparent;&quot;&gt;Motor will rotate ±180° from the starting position.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%; background-color:transparent;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PID Position Control: 360°&lt;br /&gt;&lt;/span&gt;&lt;span style=&quot; background-color:transparent;&quot;&gt;Maps servo input to (+0 &amp;lt;&amp;gt; +360°) rotation. Remote should center at “Pulselegth Start” value.&lt;br /&gt;Motor will rotate up to +360° from the starting position. It will only rotate in the &amp;quot;positive&amp;quot; direction from the starting position.&lt;/span&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%; background-color:transparent;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PID Position Control notes:&lt;br /&gt;&lt;/span&gt;&lt;span style=&quot; background-color:transparent;&quot;&gt;Servo like position control of motor. Works best with an encoder, but can work with HFI.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%; background-color:transparent;&quot;&gt;&lt;span style=&quot; font-style:italic; background-color:transparent;&quot;&gt;Angle division:&lt;/span&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt; To get multiple turns of the motor for full stick movement, adjust: “Motor Settings” -&amp;gt; “PID Controllers” -&amp;gt; “Position Angle Division” to greater than 1.&lt;/li&gt;
+&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;For setups with angle division &amp;gt; 1, you will need to “home” your motor manually to the right “zero” rotation before power on.&lt;/li&gt;
+&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;To get less than 1 full turn, set “Position Angle Division” to less than 1.&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%; background-color:transparent;&quot;&gt;&lt;span style=&quot; font-style:italic; background-color:transparent;&quot;&gt;Starting position:&lt;/span&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;To adjust the starting position of the motor, adjust: “Motor Settings” -&amp;gt; “PID Controllers” -&amp;gt; “Position PID Offset Angle”. &lt;/li&gt;
+&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;This will change the zero angle AFTER the angle division has been applied. To change the angle by 90° with an angle division of 2, this should be 45°.&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%; background-color:transparent;&quot;&gt;&lt;span style=&quot; font-style:italic; background-color:transparent;&quot;&gt;Safe Start:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%; background-color:transparent;&quot;&gt;&lt;span style=&quot; background-color:transparent;&quot;&gt;Safe start still works with PID Position Control, with an additional safety step.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%; background-color:transparent;&quot;&gt;&lt;span style=&quot; background-color:transparent;&quot;&gt;To start the motor with Safe Start, you must:&lt;/span&gt;&lt;/p&gt;
+&lt;ol style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;Set ppm to your “center” value:&lt;/li&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px; line-height:100%;&quot;&gt;“Pulselegth Center” for 180 mode.&lt;/li&gt;
+&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px; line-height:100%;&quot;&gt;“Pulselegth Start” for 360 mode.&lt;/li&gt;
+&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px; line-height:100%;&quot;&gt; Note: disabling &amp;quot;Safe Start&amp;quot; will eliminate this step but not the second step.&lt;/li&gt;&lt;/ul&gt;
+&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;Bring your commanded angle close to the actual motor angle.&lt;/li&gt;&lt;/ol&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px; line-height:100%;&quot;&gt;This can be done by sweeping the stick the full range until the motor starts tracking.&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px; line-height:100%; background-color:transparent;&quot;&gt;This is done to prevent a rapid movement at start to a far off commanded pid angle.&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_CTRL_TYPE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Off</enumNames>
+            <enumNames>Current</enumNames>
+            <enumNames>Current No Reverse</enumNames>
+            <enumNames>Current No Reverse With Brake</enumNames>
+            <enumNames>Duty Cycle</enumNames>
+            <enumNames>Duty Cycle No Reverse</enumNames>
+            <enumNames>PID Speed Control</enumNames>
+            <enumNames>PID Speed Control No Reverse</enumNames>
+            <enumNames>Current Hyst Reverse With Brake</enumNames>
+            <enumNames>Current Smart Reverse</enumNames>
+            <enumNames>PID Position Control: 180°</enumNames>
+            <enumNames>PID Position Control: 360°</enumNames>
+        </app_ppm_conf.ctrl_type>
+        <app_ppm_conf.pid_max_erpm>
+            <longName>PID Max ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The ERPM setpoint corresponding to max input when using PID Speed Control.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_PID_MAX_ERPM</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>15000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.pid_max_erpm>
+        <app_ppm_conf.hyst>
+            <longName>Input Deadband</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; ;&quot;&gt;Deadband region for the input.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_HYST</cDefine>
+            <editorDecimalsDouble>0</editorDecimalsDouble>
+            <editorScale>100</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0.15</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> %</suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.hyst>
+        <app_ppm_conf.pulse_start>
+            <longName>Pulselength Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The shortest pulse length for the PPM input &lt;/span&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;in milliseconds&lt;/span&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;. Can be checked by enabling display and giving the minimum input.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_PULSE_START</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> ms</suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.pulse_start>
+        <app_ppm_conf.pulse_end>
+            <longName>Pulselength End</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The longest pulse length for the PPM input &lt;/span&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;in milliseconds&lt;/span&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;. Can be checked by enabling display and giving the maximum input.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_PULSE_END</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>2</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> ms</suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.pulse_end>
+        <app_ppm_conf.pulse_center>
+            <longName>Pulselength Center</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The PPM input in milliseconds at which the throttle is centered. Can be checked by enabling display and leaving the throttle centered. This setting has no effect in control modes where the output is not off when the stick is centered.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_PULSE_CENTER</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>1.5</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> ms</suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.pulse_center>
+        <app_ppm_conf.median_filter>
+            <longName>Median Filter</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use a median filter on the decoded pulses. Will delay the signal slightly, but rejects outliers caused by noise.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_MEDIAN_FILTER</cDefine>
+            <valInt>1</valInt>
+        </app_ppm_conf.median_filter>
+        <app_ppm_conf.safe_start>
+            <longName>Safe Start</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Prevent motor from starting in some unsafe conditions. Modes:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Disabled&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Motor can always start.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Regular&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Only allow starting the motor when the input has beed zero for long enough after boot, after configuration updates and after faults.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;No Faults&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as regular, but the motor can start directly after fault codes are cleared.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_SAFE_START</cDefine>
+            <valInt>1</valInt>
+            <enumNames>Disabled</enumNames>
+            <enumNames>Regular</enumNames>
+            <enumNames>No Fault</enumNames>
+        </app_ppm_conf.safe_start>
+        <app_ppm_conf.throttle_exp>
+            <longName>Throttle Expo</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Exponential gain for the throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Zero (0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Linear throttle&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Negative (&amp;lt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle is softer close to 0 and increases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Positive (&amp;gt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle reacts fast around 0 and decreases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_THROTTLE_EXP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>-5</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.throttle_exp>
+        <app_ppm_conf.throttle_exp_brake>
+            <longName>Throttle Expo Brake</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Exponential gain for the throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Zero (0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Linear throttle&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Negative (&amp;lt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle is softer close to 0 and increases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Positive (&amp;gt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle reacts fast around 0 and decreases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_THROTTLE_EXP_BRAKE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>-5</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.throttle_exp_brake>
+        <app_ppm_conf.throttle_exp_mode>
+            <longName>Throttle Expo Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The throttle curve mode.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Exponential&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = x^(1 + c)&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Natural&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = (e^(cx) - 1) / (e^c - 1)&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Polynomial&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = x / (1 + c(1 - x))&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;where&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;y:&lt;/span&gt; output&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;x:&lt;/span&gt; input&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;c:&lt;/span&gt; curve&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The curve parameter, offsets and signs are mapped accordingly for each mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_THROTTLE_EXP_MODE</cDefine>
+            <valInt>2</valInt>
+            <enumNames>Exponential</enumNames>
+            <enumNames>Natural</enumNames>
+            <enumNames>Polynomial</enumNames>
+        </app_ppm_conf.throttle_exp_mode>
+        <app_ppm_conf.ramp_time_pos>
+            <longName>Positive Ramping Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Positive ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from zero to full output.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_RAMP_TIME_POS</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0.4</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.ramp_time_pos>
+        <app_ppm_conf.ramp_time_neg>
+            <longName>Negative Ramping Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Negative ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from full output (acceleration or braking) back to zero.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_RAMP_TIME_NEG</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0.2</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.ramp_time_neg>
+        <app_ppm_conf.multi_esc>
+            <longName>Multiple VESCs Over CAN</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_MULTI_ESC</cDefine>
+            <valInt>1</valInt>
+        </app_ppm_conf.multi_esc>
+        <app_ppm_conf.tc>
+            <longName>Traction Control</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Enable traction control between multiple VESCs connected over CAN-bus. This is only used for current control modes.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_TC</cDefine>
+            <valInt>0</valInt>
+        </app_ppm_conf.tc>
+        <app_ppm_conf.tc_max_diff>
+            <longName>TC Max ERPM Difference</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The ERPM difference at which the fastest motor gets swtiched off completely. If the difference in ERPM is lower than that the current to faster motors is scaled down proportionally to the difference.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_TC_MAX_DIFF</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>3000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.tc_max_diff>
+        <app_ppm_conf.max_erpm_for_dir>
+            <longName>Max ERPM for direction switch</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The Max ERPM where the direction can be switched to reverse by braking 2 times.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_MAX_ERPM_FOR_DIR</cDefine>
+            <editorDecimalsDouble>0</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>30000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>10</stepDouble>
+            <valDouble>4000</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </app_ppm_conf.max_erpm_for_dir>
+        <app_ppm_conf.smart_rev_max_duty>
+            <longName>Smart Reverse Max Duty Cycle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Maximum duty cycle to use in smart reverse mode.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_SMART_REV_MAX_DUTY</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.07</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.smart_rev_max_duty>
+        <app_ppm_conf.smart_rev_ramp_time>
+            <longName>Smart Reverse Ramp Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Time to ramp to maximum duty cycle in smart reverse mode.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_SMART_REV_RAMP_TIME</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>3</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.smart_rev_ramp_time>
+        <app_adc_conf.ctrl_type>
+            <longName>Control Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Off&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The output is switched off regardless of the input.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is at minimum.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current Reverse Center&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it it starts in the reverse direction.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current Reverse Button&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control with a button for reversing the throttle. The output is off when the input is at minimum.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current Reverse ADC2 Brake Button&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control with a button for reversing the throttle. The output is off when the input is at minimum. The second ADC channel acs as a brake.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ADC_CTRL_TYPE_CURRENT_REV_BUTTON_BRAKE_CENTER&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control with a button for reversing throttle. The output is off when the input is centered.  Input less than center brakes until the motor stops, but not further.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current No Reverse Brake Center&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is centered.  Input less than center brakes until the motor stops, but not further.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current No Reverse Brake Button&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control with a button for turning the throttle into a brake. The output is off when the input is at minimum.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current No Reverse Brake ADC2&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control with one separate throttle connected to ADC2 for braking.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Duty Cycle&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty cycle control. The output is off when the input is at minimum.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Duty Cycle Reverse Center&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is centered. Input less than center gives negative duty cycle.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Duty Cycle Reverse Button&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty cycle control with a button on UART RX for inverting the throttle. The output is off when the input is at minimum.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PID Speed&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PID speed control. The speed setpoint is mapped between 0 and the configured maximum motor speed limit.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PID Speed Reverse Center&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PID speed control. The output is mapped between the minimum and maximum motor speed limits. Throttle center corresponds to 0 speed.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PID Speed Reverse Button&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PID speed control with a button for reversing the throttle. The speed setpoint is mapped between 0 and the configured maximum motor speed limit, or between 0 and the minimum motor speed limit when the UART RX input is high.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_CTRL_TYPE</cDefine>
+            <valInt>8</valInt>
+            <enumNames>Off</enumNames>
+            <enumNames>Current</enumNames>
+            <enumNames>Current Reverse Center</enumNames>
+            <enumNames>Current Reverse Button</enumNames>
+            <enumNames>Current Reverse ADC2 Brake Button</enumNames>
+            <enumNames>Current Reverse Button Brake Center</enumNames>
+            <enumNames>Current No Reverse Brake Center</enumNames>
+            <enumNames>Current No Reverse Brake Button</enumNames>
+            <enumNames>Current No Reverse Brake ADC2</enumNames>
+            <enumNames>Duty Cycle</enumNames>
+            <enumNames>Duty Cycle Reverse Center</enumNames>
+            <enumNames>Duty Cycle Reverse Button</enumNames>
+            <enumNames>PID Speed</enumNames>
+            <enumNames>PID Speed Reverse Center</enumNames>
+            <enumNames>PID Speed Reverse Button</enumNames>
+        </app_adc_conf.ctrl_type>
+        <app_adc_conf.hyst>
+            <longName>Input Deadband</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Deadband region for the input.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_HYST</cDefine>
+            <editorDecimalsDouble>0</editorDecimalsDouble>
+            <editorScale>100</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0.05</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> %</suffix>
+            <vTx>9</vTx>
+        </app_adc_conf.hyst>
+        <app_adc_conf.voltage_start>
+            <longName>ADC1 Start Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Input voltage at the start of the throttle range for ADC1. Can be checked by enabling display and giving the minimum input. If &lt;span style=&quot; font-weight:600;&quot;&gt;Control Type&lt;/span&gt; is set to off while doing that the motor won't turn.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE_START</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.6</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </app_adc_conf.voltage_start>
+        <app_adc_conf.voltage_end>
+            <longName>ADC1 End Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Input voltage at the end of the throttle range for ADC1. Can be checked by enabling display and giving the maximum input. If &lt;span style=&quot; font-weight:600;&quot;&gt;Control Type&lt;/span&gt; is set to off while doing that the motor won't turn.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE_END</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>2.54</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </app_adc_conf.voltage_end>
+        <app_adc_conf.voltage_min>
+            <longName>ADC1 Abs Min Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum valid voltage on ADC1. If the voltage is below this value the motor will be stopped and if safe start is activated the throttle must be returned to 0 before the motor is allowed to run again.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE_MIN</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </app_adc_conf.voltage_min>
+        <app_adc_conf.voltage_max>
+            <longName>ADC1 Abs Max Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum valid voltage on ADC1. If the voltage is above this value the motor will be stopped and if safe start is activated the throttle must be returned to 0 before the motor is allowed to run again.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE_MAX</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.6</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>3.6</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </app_adc_conf.voltage_max>
+        <app_adc_conf.voltage_center>
+            <longName>ADC1 Center Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Input voltage at the center of the throttle range for ADC1. Can be checked by enabling display and centering the input. If &lt;span style=&quot; font-weight:600;&quot;&gt;Control Type&lt;/span&gt; is set to off while doing that the motor won't turn.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Notice that this parameter only is used for the contered control types. For the other types the voltage will always be mapped linearly between start and end.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE_CENTER</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.6</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </app_adc_conf.voltage_center>
+        <app_adc_conf.voltage2_start>
+            <longName>ADC2 Start Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Input voltage at the start of the throttle range for ADC2. Can be checked by enabling display and giving the minimum input. If &lt;span style=&quot; font-weight:600;&quot;&gt;Control Type&lt;/span&gt; is set to off while doing that the motor won't turn.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE2_START</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </app_adc_conf.voltage2_start>
+        <app_adc_conf.voltage2_end>
+            <longName>ADC2 End Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Input voltage at the end of the throttle range for ADC2. Can be checked by enabling display and giving the maximum input. If &lt;span style=&quot; font-weight:600;&quot;&gt;Control Type&lt;/span&gt; is set to off while doing that the motor won't turn.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE2_END</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>2</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </app_adc_conf.voltage2_end>
+        <app_adc_conf.use_filter>
+            <longName>Use Filter</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use a low-pass filter to reject noise. This will introduce a slight delay.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_USE_FILTER</cDefine>
+            <valInt>1</valInt>
+        </app_adc_conf.use_filter>
+        <app_adc_conf.safe_start>
+            <longName>Safe Start</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Prevent motor from starting in some unsafe conditions. Modes:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Disabled&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Motor can always start.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Regular&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Only allow starting the motor when the input has beed zero for long enough after boot, after configuration updates and after faults.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;No Faults&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as regular, but the motor can start directly after fault codes are cleared.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_SAFE_START</cDefine>
+            <valInt>1</valInt>
+            <enumNames>Disabled</enumNames>
+            <enumNames>Regular</enumNames>
+            <enumNames>No Fault</enumNames>
+        </app_adc_conf.safe_start>
+        <app_adc_conf.buttons>
+            <longName>Button Inputs</longName>
+            <type>6</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A cruise control and a reverse button can be used with the ADC app. The reverse button is only used on the control modes that have button in their name, but cruise control can be used on all control modes when enabled. The buttons can be connected as follows:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Comm TX: Cruise Control&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Comm RX: Reverse&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If the UART app is active the PPM-input is used for the button instead. That means you only have one button, which will be the reverse button for the button-modes (not cruise control available) or cruise control for non-button control modes.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;By default the button inputs have a pull-up resistor and are active low.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Enable Cruise Control&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Enable cruise control button input.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Invert CC Button&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Invert the polarity of the cruise control button.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Invert Reverse Button&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Invert the polarity of the reverse button.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_BUTTONS</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Enable Cruise Control</enumNames>
+            <enumNames>Invert CC Button</enumNames>
+            <enumNames>Invert Reverse Button</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+        </app_adc_conf.buttons>
+        <app_adc_conf.voltage_inverted>
+            <longName>Invert ADC1 Voltage</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Invert the voltage from ADC1.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE_INVERTED</cDefine>
+            <valInt>0</valInt>
+        </app_adc_conf.voltage_inverted>
+        <app_adc_conf.voltage2_inverted>
+            <longName>Invert ADC2 Voltage</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Invert the voltage from ADC2.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE2_INVERTED</cDefine>
+            <valInt>1</valInt>
+        </app_adc_conf.voltage2_inverted>
+        <app_adc_conf.throttle_exp>
+            <longName>Throttle Expo</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Exponential gain for the throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Zero (0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Linear throttle&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Negative (&amp;lt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle is softer close to 0 and increases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Positive (&amp;gt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle reacts fast around 0 and decreases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_THROTTLE_EXP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>-5</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>-0.5</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_adc_conf.throttle_exp>
+        <app_adc_conf.throttle_exp_brake>
+            <longName>Throttle Expo Brake</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Exponential gain for the throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Zero (0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Linear throttle&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Negative (&amp;lt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle is softer close to 0 and increases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Positive (&amp;gt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle reacts fast around 0 and decreases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_THROTTLE_EXP_BRAKE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>-5</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_adc_conf.throttle_exp_brake>
+        <app_adc_conf.throttle_exp_mode>
+            <longName>Throttle Expo Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The throttle curve mode.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Exponential&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = x^(1 + c)&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Natural&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = (e^(cx) - 1) / (e^c - 1)&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Polynomial&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = x / (1 + c(1 - x))&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;where&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;y:&lt;/span&gt; output&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;x:&lt;/span&gt; input&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;c:&lt;/span&gt; curve&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The curve parameter, offsets and signs are mapped accordingly for each mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_THROTTLE_EXP_MODE</cDefine>
+            <valInt>2</valInt>
+            <enumNames>Exponential</enumNames>
+            <enumNames>Natural</enumNames>
+            <enumNames>Polynomial</enumNames>
+        </app_adc_conf.throttle_exp_mode>
+        <app_adc_conf.ramp_time_pos>
+            <longName>Positive Ramping Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Positive ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from zero to full output.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_RAMP_TIME_POS</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0.3</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>9</vTx>
+        </app_adc_conf.ramp_time_pos>
+        <app_adc_conf.ramp_time_neg>
+            <longName>Negative Ramping Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Negative ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from full output (acceleration or braking) back to zero.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_RAMP_TIME_NEG</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0.1</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>9</vTx>
+        </app_adc_conf.ramp_time_neg>
+        <app_adc_conf.multi_esc>
+            <longName>Multiple VESCs Over CAN</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_MULTI_ESC</cDefine>
+            <valInt>1</valInt>
+        </app_adc_conf.multi_esc>
+        <app_adc_conf.tc>
+            <longName>Traction Control</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Enable traction control between multiple VESCs connected over CAN-bus. This is only is only used for current control modes.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_TC</cDefine>
+            <valInt>0</valInt>
+        </app_adc_conf.tc>
+        <app_adc_conf.tc_max_diff>
+            <longName>TC Max ERPM Difference</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The ERPM difference at which the fastest motor gets swtiched off completely. If the difference in ERPM is lower than that the current to faster motors is scaled down proportionally to the difference.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_TC_MAX_DIFF</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>3000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_adc_conf.tc_max_diff>
+        <app_adc_conf.update_rate_hz>
+            <longName>Update Rate</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Rate at which the input is sampled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_UPDATE_RATE_HZ</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>100000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>500</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </app_adc_conf.update_rate_hz>
+        <app_uart_baudrate>
+            <longName>Baudrate</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;UART Baudrate.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_UART_BAUDRATE</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>20000000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>115200</valInt>
+            <suffix> bps</suffix>
+            <vTx>5</vTx>
+        </app_uart_baudrate>
+        <app_chuk_conf.ctrl_type>
+            <longName>Control Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Off&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The output is switched off regardless of the input.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Current&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current control. The output is off when the joystick is centered. Positive input gives acceleration and negative input braking. To go reverse the Z button can be used to toggle direction.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Current No Reverse&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current control. The output is off when the joystick is centered. Positive input gives acceleration and negative input braking. The reverse function of the Z button is disabled.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Current Bidirectional&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current control. The output is off when the joystick is centered. Positive input always gives forward current and negative current always gives reverse current. This means that when current is applied through 0 speed, the motor will accelerate in the other direction.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_CTRL_TYPE</cDefine>
+            <valInt>1</valInt>
+            <enumNames>Off</enumNames>
+            <enumNames>Current</enumNames>
+            <enumNames>Current No Reverse</enumNames>
+            <enumNames>Current Bidirectional</enumNames>
+        </app_chuk_conf.ctrl_type>
+        <app_chuk_conf.hyst>
+            <longName>Input Deadband</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Deadband region for the input.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_HYST</cDefine>
+            <editorDecimalsDouble>0</editorDecimalsDouble>
+            <editorScale>100</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0.15</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> %</suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.hyst>
+        <app_chuk_conf.ramp_time_pos>
+            <longName>Positive Ramping Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Positive ramping time constant. This filters the joystick input with ramping. This constant represents the amount of secods it takes to ramp from zero to full output.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_RAMP_TIME_POS</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0.4</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.ramp_time_pos>
+        <app_chuk_conf.ramp_time_neg>
+            <longName>Negative Ramping Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Negative ramping time constant. This filters the joystick input with ramping. This constant represents the amount of secods it takes to ramp from full output (acceleration or braking) back to zero.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_RAMP_TIME_NEG</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0.2</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.ramp_time_neg>
+        <app_chuk_conf.stick_erpm_per_s_in_cc>
+            <longName>ERPM Per Second Cruise Control</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The amount of ERPM per second the setpoint changes when giving full joystick input with criuse control activated.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_STICK_ERPM_PER_S_IN_CC</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>500</stepDouble>
+            <valDouble>3000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.stick_erpm_per_s_in_cc>
+        <app_chuk_conf.throttle_exp>
+            <longName>Throttle Expo</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Exponential gain for the throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Zero (0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Linear throttle&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Negative (&amp;lt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle is softer close to 0 and increases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Positive (&amp;gt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle reacts fast around 0 and decreases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_THROTTLE_EXP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>-5</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.throttle_exp>
+        <app_chuk_conf.throttle_exp_brake>
+            <longName>Throttle Expo Brake</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Exponential gain for the throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Zero (0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Linear throttle&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Negative (&amp;lt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle is softer close to 0 and increases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Positive (&amp;gt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle reacts fast around 0 and decreases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_THROTTLE_EXP_BRAKE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>-5</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.throttle_exp_brake>
+        <app_chuk_conf.throttle_exp_mode>
+            <longName>Throttle Expo Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The throttle curve mode.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Exponential&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = x^(1 + c)&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Natural&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = (e^(cx) - 1) / (e^c - 1)&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Polynomial&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = x / (1 + c(1 - x))&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;where&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;y:&lt;/span&gt; output&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;x:&lt;/span&gt; input&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;c:&lt;/span&gt; curve&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The curve parameter, offsets and signs are mapped accordingly for each mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_THROTTLE_EXP_MODE</cDefine>
+            <valInt>2</valInt>
+            <enumNames>Exponential</enumNames>
+            <enumNames>Natural</enumNames>
+            <enumNames>Polynomial</enumNames>
+        </app_chuk_conf.throttle_exp_mode>
+        <app_chuk_conf.multi_esc>
+            <longName>Multiple VESCs Over CAN</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_MULTI_ESC</cDefine>
+            <valInt>1</valInt>
+        </app_chuk_conf.multi_esc>
+        <app_chuk_conf.tc>
+            <longName>Traction Control</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Enable traction control between multiple VESCs connected over CAN-bus. This is only is only used for current control modes.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_TC</cDefine>
+            <valInt>0</valInt>
+        </app_chuk_conf.tc>
+        <app_chuk_conf.tc_max_diff>
+            <longName>TC Max ERPM Difference</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The ERPM difference at which the fastest motor gets swtiched off completely. If the difference in ERPM is lower than that the current to faster motors is scaled down proportionally to the difference.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_TC_MAX_DIFF</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>3000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.tc_max_diff>
+        <app_chuk_conf.use_smart_rev>
+            <longName>Use Smart Reverse</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Use smart reverse function. If enabled, holding full brake will switch to duty cycle mode in the reverse direction when the speed is so low that not enough brake torque can be produced.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;This is useful when trying to stop downhill where you normally would roll forwards slowly even at full brake. Instead, the board will start to go reverse slowly in duty cycle mode if this mode is activated.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_USE_SMART_REV</cDefine>
+            <valInt>1</valInt>
+        </app_chuk_conf.use_smart_rev>
+        <app_chuk_conf.smart_rev_max_duty>
+            <longName>Smart Reverse Max Duty Cycle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Maximum duty cycle to use in smart reverse mode.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_SMART_REV_MAX_DUTY</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.07</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.smart_rev_max_duty>
+        <app_chuk_conf.smart_rev_ramp_time>
+            <longName>Smart Reverse Ramp Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Time to ramp to maximum duty cycle in smart reverse mode.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_SMART_REV_RAMP_TIME</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>3</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.smart_rev_ramp_time>
+        <app_nrf_conf.speed>
+            <longName>Speed</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The air bit rate.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_SPEED</cDefine>
+            <valInt>1</valInt>
+            <enumNames>250 Kbit/s</enumNames>
+            <enumNames>1 MBit/s</enumNames>
+            <enumNames>2 MBit/s</enumNames>
+        </app_nrf_conf.speed>
+        <app_nrf_conf.power>
+            <longName>TX Power</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Transmit power or power off setting.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_POWER</cDefine>
+            <valInt>3</valInt>
+            <enumNames>-18 dBm</enumNames>
+            <enumNames>-12 dBm</enumNames>
+            <enumNames>-6 dBm</enumNames>
+            <enumNames>0 dBm</enumNames>
+            <enumNames>OFF</enumNames>
+        </app_nrf_conf.power>
+        <app_nrf_conf.crc_type>
+            <longName>CRC</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;CRC checksum type.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_CRC</cDefine>
+            <valInt>1</valInt>
+            <enumNames>Disabled</enumNames>
+            <enumNames>1 Byte</enumNames>
+            <enumNames>2 Byte</enumNames>
+        </app_nrf_conf.crc_type>
+        <app_nrf_conf.retry_delay>
+            <longName>Retry Delay</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Delay between retries when no ack is received. If the speed is lower than 2MBit, at least 500 µS should be used.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_RETR_DELAY</cDefine>
+            <valInt>0</valInt>
+            <enumNames>250 µS</enumNames>
+            <enumNames>500 µS</enumNames>
+            <enumNames>750 µS</enumNames>
+            <enumNames>1000 µS</enumNames>
+            <enumNames>1250 µS</enumNames>
+            <enumNames>1500 µS</enumNames>
+            <enumNames>1750 µS</enumNames>
+            <enumNames>2000 µS</enumNames>
+            <enumNames>2250 µS</enumNames>
+            <enumNames>2500 µS</enumNames>
+            <enumNames>2750 µS</enumNames>
+            <enumNames>3000 µS</enumNames>
+            <enumNames>3250 µS</enumNames>
+            <enumNames>3500 µS</enumNames>
+            <enumNames>3750 µS</enumNames>
+            <enumNames>4000 µS</enumNames>
+        </app_nrf_conf.retry_delay>
+        <app_nrf_conf.retries>
+            <longName>Retries</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum number of retries when no ack is received before giving up on the current packet.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_RETRIES</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>15</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>3</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </app_nrf_conf.retries>
+        <app_nrf_conf.channel>
+            <longName>Radio Channel</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Radio channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_CHANNEL</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>125</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>76</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </app_nrf_conf.channel>
+        <app_nrf_conf.address__0>
+            <longName>Address 0</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Address byte 0.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_ADDR_B0</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>198</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </app_nrf_conf.address__0>
+        <app_nrf_conf.address__1>
+            <longName>Address 1</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Address byte 1.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_ADDR_B1</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>199</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </app_nrf_conf.address__1>
+        <app_nrf_conf.address__2>
+            <longName>Address 2</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Address byte 2.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_ADDR_B2</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>0</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </app_nrf_conf.address__2>
+        <app_nrf_conf.send_crc_ack>
+            <longName>Send ACK</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Send ACK when valid packets are received.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_SEND_CRC_ACK</cDefine>
+            <valInt>1</valInt>
+        </app_nrf_conf.send_crc_ack>
+        <app_balance_conf.pid_mode>
+            <longName>PID Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PID loop mode, Angle or Cascadeing Angle Rate.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_PID_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>BALANCE_PID_MODE_ANGLE</enumNames>
+            <enumNames>BALANCE_PID_MODE_ANGLE_RATE_CASCADE</enumNames>
+        </app_balance_conf.pid_mode>
+        <app_balance_conf.kp>
+            <longName>Angle P</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;P value for the PID balance loop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KP</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.kp>
+        <app_balance_conf.ki>
+            <longName>Angle I</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;I value for the PID balance loop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KI</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.ki>
+        <app_balance_conf.kd>
+            <longName>Angle D</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D value for the PID balance loop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KD</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.kd>
+        <app_balance_conf.kp2>
+            <longName>Rate P</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;P value for the PID balance loop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KP2</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.kp2>
+        <app_balance_conf.ki2>
+            <longName>Rate I</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;I value for the PID balance loop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KI2</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.ki2>
+        <app_balance_conf.kd2>
+            <longName>Rate D</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D value for the PID balance loop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KD2</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.kd2>
+        <app_balance_conf.hertz>
+            <longName>Loop Hertz</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Loop Hertz.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_HERTZ</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>4000</maxInt>
+            <minInt>50</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>100</stepInt>
+            <valInt>1000</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.hertz>
+        <app_balance_conf.loop_time_filter>
+            <longName>Loop Time Correction Filter</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Filter overshoot and correct for it.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_LOOP_TIME_FILTER</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>1000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>0</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.loop_time_filter>
+        <app_balance_conf.fault_pitch>
+            <longName>Pitch Axis Fault Cutoff</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Angle to turn off driving (on the pitch axis).&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_PITCH</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>180</maxDouble>
+            <minDouble>-180</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>20</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.fault_pitch>
+        <app_balance_conf.fault_roll>
+            <longName>Roll Axis Fault Cutoff</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Angle to turn off driving (on the roll axis).&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_ROLL</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>180</maxDouble>
+            <minDouble>-180</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>45</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.fault_roll>
+        <app_balance_conf.fault_duty>
+            <longName>Duty Cycle Fault Cutoff</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Duty cycle value to trigger a safety cutoff 0-1% (This cutoff will lock the app untill another fault occurs).&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_DUTY</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.9</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.fault_duty>
+        <app_balance_conf.fault_adc1>
+            <longName>ADC1 Switch Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Voltage below this value will trigger a fault. To disable this switch set this value to 0. Hint: consider a pulldown resisitor!&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_ADC1</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.fault_adc1>
+        <app_balance_conf.fault_adc2>
+            <longName>ADC2 Switch Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Voltage below this value will trigger a fault. To disable this switch set this value to 0. Hint: consider a pulldown resisitor!&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_ADC2</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.fault_adc2>
+        <app_balance_conf.fault_delay_pitch>
+            <longName>Pitch Fault Delay</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Pitch fault cutoff time delay in ms.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_DELAY_PITCH</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>0</valInt>
+            <suffix> ms</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.fault_delay_pitch>
+        <app_balance_conf.fault_delay_roll>
+            <longName>Roll Fault Delay</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Roll fault cutoff time delay in ms.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_DELAY_ROLL</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>0</valInt>
+            <suffix> ms</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.fault_delay_roll>
+        <app_balance_conf.fault_delay_duty>
+            <longName>Duty Fault Delay</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty cycle cutoff time delay in ms.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_DELAY_DUTY</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>0</valInt>
+            <suffix> ms</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.fault_delay_duty>
+        <app_balance_conf.fault_delay_switch_half>
+            <longName>Half Switch Fault Delay</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Half switch cutoff time delay in ms.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_DELAY_SWITCH_HALF</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>0</valInt>
+            <suffix> ms</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.fault_delay_switch_half>
+        <app_balance_conf.fault_delay_switch_full>
+            <longName>Full Switch Fault Delay</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Full switch cutoff time delay in ms.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_DELAY_SWITCH_FULL</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>0</valInt>
+            <suffix> ms</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.fault_delay_switch_full>
+        <app_balance_conf.fault_adc_half_erpm>
+            <longName>ADC Half State Fault ERPM</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM (absoulte value) below which a half state on the ADC switches will be considered a fault.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_ADC_HALF_ERPM</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>100000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>1000</valInt>
+            <suffix> ERPM</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.fault_adc_half_erpm>
+        <app_balance_conf.fault_is_dual_switch>
+            <longName>Treat both sensors as one</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Treat both sensors as a single one, i.e. startup only requires one of the sensors, and heel lifts aren't possible (for advanced riders only!).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_IS_DUAL_SWITCH</cDefine>
+            <valInt>0</valInt>
+        </app_balance_conf.fault_is_dual_switch>
+        <app_balance_conf.tiltback_duty_angle>
+            <longName>Angle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Angle of rise for duty cycle tiltback.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_DUTY_ANGLE</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>45</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>10</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.tiltback_duty_angle>
+        <app_balance_conf.tiltback_duty_speed>
+            <longName>Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed at which vehicle is being tilted back when exceeding duty cycle limit (fast tiltback can be dangerous!).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_DUTY_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>3</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.tiltback_duty_speed>
+        <app_balance_conf.tiltback_duty>
+            <longName>Duty Cycle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty cycle threshold to trigger a safety tiltback (Tiltback raises the nose of the vehicle informing you to slow down).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_DUTY</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.75</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.tiltback_duty>
+        <app_balance_conf.tiltback_hv_angle>
+            <longName>Angle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Angle of rise for high voltage tiltback.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_HV_ANGLE</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>45</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>10</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.tiltback_hv_angle>
+        <app_balance_conf.tiltback_hv_speed>
+            <longName>Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed at which vehicle is being tilted back when exceeding high voltage limit (fast tiltback can be dangerous!).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_HV_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>3</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.tiltback_hv_speed>
+        <app_balance_conf.tiltback_hv>
+            <longName>High Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;High voltage threshold to trigger a safety tiltback (Tiltback raises the nose of the vehicle to alert you). High voltage tiltback is most likely to be triggered when braking or going downhill on a full battery, sometimes resulting in a tail drag on board shaped vehicles. &lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_HV</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>100</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.tiltback_hv>
+        <app_balance_conf.tiltback_lv_angle>
+            <longName>Angle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Angle of rise for low voltage tiltback.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_LV_ANGLE</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>45</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>10</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.tiltback_lv_angle>
+        <app_balance_conf.tiltback_lv_speed>
+            <longName>Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed at which vehicle is being tilted back when below low voltage threshold (fast tiltback can be dangerous and further contribute to voltage sag!).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_LV_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>3</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.tiltback_lv_speed>
+        <app_balance_conf.tiltback_lv>
+            <longName>Low Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Low voltage threshold to trigger a safety tiltback (Tiltback raises the nose of the vehicle informing you to slow down). &lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_LV</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.tiltback_lv>
+        <app_balance_conf.tiltback_return_speed>
+            <longName>Return To Level Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed at which vehicle is being returned back to normal after a tiltback condition has been cleared (should be equal to or slower than slowest tiltback speed).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_RETURN_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.tiltback_return_speed>
+        <app_balance_conf.tiltback_constant>
+            <longName>Constant Tiltback</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Tiltback that will be applied above a configurable minimum ERPM. AKA nose angle adjustment, can be downwards too.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_CONSTANT</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>80</maxDouble>
+            <minDouble>-80</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.tiltback_constant>
+        <app_balance_conf.tiltback_constant_erpm>
+            <longName>Constant Tiltback ERPM</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; APPCONF_BALANCE_FAULT_ADC_HALF_ERPMmargin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM (absolute value) above which constant tiltback will be applied.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_CONSTANT_ERPM</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>100000</maxInt>
+            <minInt>200</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>100</stepInt>
+            <valInt>500</valInt>
+            <suffix> ERPM</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.tiltback_constant_erpm>
+        <app_balance_conf.tiltback_variable>
+            <longName>Variable Tiltback</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Nose angle adjustment that will be applied depending on speed, specified in degrees per 1000 erpm, applied linearly up to a maximum set in Variable Tiltback Maximum. Can be downwards (negative) too. Applies in addition to constant tiltback.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_VARIABLE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>-1</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °/1000 ERPM</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.tiltback_variable>
+        <app_balance_conf.tiltback_variable_max>
+            <longName>Variable Tiltback Maximum</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum angle which variable tiltback is permitted to add (in addition to constant tiltback). Does not affect or prevent alert tiltbacks.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_VARIABLE_MAX</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>80</maxDouble>
+            <minDouble>-80</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.tiltback_variable_max>
+        <app_balance_conf.noseangling_speed>
+            <longName>Nose Angling Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed at which vehicle will tilt to the desired angle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_NOSEANGLING_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>5</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.noseangling_speed>
+        <app_balance_conf.startup_pitch_tolerance>
+            <longName>Startup Pitch Axis Angle Tolerance</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Angle at which balancing will start (on the main axis). Measured in degrees from upright (0).&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_STARTUP_PITCH_TOLERANCE</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>80</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>20</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.startup_pitch_tolerance>
+        <app_balance_conf.startup_roll_tolerance>
+            <longName>Startup Roll Axis Angle Tolerance</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Angle at which balancing will start (on the cross axis). Measured in degrees from upright (0).&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_STARTUP_ROLL_TOLERANCE</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>80</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>8</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.startup_roll_tolerance>
+        <app_balance_conf.startup_speed>
+            <longName>Startup Centering Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed at which wheel will center itself on startup.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_STARTUP_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>30</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.startup_speed>
+        <app_balance_conf.deadzone>
+            <longName>Deadzone</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Deadzone disables balancing at center.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_DEADZONE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.deadzone>
+        <app_balance_conf.multi_esc>
+            <longName>Multiple VESCs Over CAN</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_MULTI_ESC</cDefine>
+            <valInt>0</valInt>
+        </app_balance_conf.multi_esc>
+        <app_balance_conf.yaw_kp>
+            <longName>Yaw P</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;P value for yaw PID stabilization.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_YAW_KP</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>-10000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.yaw_kp>
+        <app_balance_conf.yaw_ki>
+            <longName>Yaw I</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;I value for yaw PID stabilization.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_YAW_KI</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>-10000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.yaw_ki>
+        <app_balance_conf.yaw_kd>
+            <longName>Yaw D</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D value for yaw PID stabilization.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_YAW_KD</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>-10000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.yaw_kd>
+        <app_balance_conf.roll_steer_kp>
+            <longName>Roll Steer KP</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Roll angle to yaw setpoint adjustment proportion. This is a constant turning speed regardless of forward travel speed. It will turn tighter at low speeds&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_ROLL_STEER_KP</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>-10000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.roll_steer_kp>
+        <app_balance_conf.roll_steer_erpm_kp>
+            <longName>Roll Steer ERPM KP</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Roll angle multiplied by ERPM to yaw setpoint adjustment proportion. Scaling turn speed by erpm will give a constant turning radius at all speeds, like a normal vehicle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_ROLL_STEER_ERPM_KP</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>-10000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0001</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.roll_steer_erpm_kp>
+        <app_balance_conf.brake_current>
+            <longName>Brake Current</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Breaking current to be applied when balance app is not actively balancing.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_BRAKE_CURRENT</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>2</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.brake_current>
+        <app_balance_conf.brake_timeout>
+            <longName>Brake Timeout</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Turn off the brake after this many seconds. It will automatically reactivate if the motor moves. 0 = Disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_BRAKE_TIMEOUT</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>5</stepInt>
+            <valInt>10</valInt>
+            <suffix> s</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.brake_timeout>
+        <app_balance_conf.yaw_current_clamp>
+            <longName>Yaw Current Clamp</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum current to be applied to yaw motions. This lets you overpower the pid traction.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_YAW_CURRENT_CLAMP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.yaw_current_clamp>
+        <app_balance_conf.ki_limit>
+            <longName>I term limit</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;I term limiter, used to prevent windup. 0 = disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KI_LIMIT</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>2</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.ki_limit>
+        <app_balance_conf.kd_pt1_lowpass_frequency>
+            <longName>D term PT1 Low Pass Filter</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D term filter above this frequency. 0 = Disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KD_PT1_LOWPASS_FREQUENCY</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>4000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>0</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.kd_pt1_lowpass_frequency>
+        <app_balance_conf.kd_pt1_highpass_frequency>
+            <longName>D term PT1 High Pass Filter</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D term filter below this frequency. 0 = Disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KD_PT1_HIGHPASS_FREQUENCY</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>4000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>0</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.kd_pt1_highpass_frequency>
+        <app_balance_conf.booster_angle>
+            <longName>Start Angle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Angle at which booster is applied (actually measued as absolute deviation from setpoint).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_BOOSTER_ANGLE</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>80</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>8</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.booster_angle>
+        <app_balance_conf.booster_ramp>
+            <longName>Ramp Up</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Degrees over which booster will ramp from 0A to the Configured Current, starting at start Angle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_BOOSTER_RAMP</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>80</maxDouble>
+            <minDouble>1</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.booster_ramp>
+        <app_balance_conf.booster_current>
+            <longName>Current Boost</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Extra current to be applied when booster angle is reached.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_BOOSTER_CURRENT</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.booster_current>
+        <app_balance_conf.torquetilt_start_current>
+            <longName>Start Current Threshold</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum output current threshold for torque tiltback to start applying.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TORQUETILT_START_CURRENT</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>2</stepDouble>
+            <valDouble>10</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.torquetilt_start_current>
+        <app_balance_conf.torquetilt_angle_limit>
+            <longName>Tilitback Angle Limit</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Max angle to which torque tiltback will tilt.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TORQUETILT_ANGLE_LIMIT</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>80</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>5</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.torquetilt_angle_limit>
+        <app_balance_conf.torquetilt_on_speed>
+            <longName>Max Tiltback Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Max speed at which torque tiltback will tilt to the desired angle (tilt will be slower if current increases slowly).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TORQUETILT_ON_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>5</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.torquetilt_on_speed>
+        <app_balance_conf.torquetilt_off_speed>
+            <longName>Max Tiltback Release Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Max speed at which torque tiltback will release to the desired angle back to 0 (tilt will be slower if current decreases slowly).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TORQUETILT_OFF_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>3</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.torquetilt_off_speed>
+        <app_balance_conf.torquetilt_strength>
+            <longName>Strength</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;How much tiltback should be applied based on output current.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TORQUETILT_STRENGTH</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °/A</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.torquetilt_strength>
+        <app_balance_conf.torquetilt_filter>
+            <longName>Current Filter</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Biquad Low pass filter on the current used for calculating the torquetilt. This smooths out spikes in the current, and prevents torquetilt from being twitchy.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TORQUETILT_FILTER</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>2</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> Hz</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.torquetilt_filter>
+        <app_balance_conf.turntilt_strength>
+            <longName>Strength</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;How much tiltback should be applied based on the sine of the roll angle. A strength value of N will give N degrees of tiltback when the vehicle is rolled to 90 degrees.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TURNTILT_STRENGTH</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>90</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> </suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.turntilt_strength>
+        <app_balance_conf.turntilt_angle_limit>
+            <longName>Tilitback Angle Limit</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Max angle to which turn tiltback will tilt. This wont change the power curve, only stop it at the limit.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TURNTILT_ANGLE_LIMIT</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>30</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>5</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.turntilt_angle_limit>
+        <app_balance_conf.turntilt_start_angle>
+            <longName>Roll Angle Threshold</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Min angle threshold to apply turntilt. Similar to a deadzone, except after reaching the angle, it will apply as if it started from 0.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TURNTILT_START_ANGLE</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>45</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.turntilt_start_angle>
+        <app_balance_conf.turntilt_start_erpm>
+            <longName>ERPM Threshold</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM threshold to apply turntilt.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TURNTILT_START_ERPM</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>100000</maxInt>
+            <minInt>100</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>100</stepInt>
+            <valInt>100</valInt>
+            <suffix> ERPM</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.turntilt_start_erpm>
+        <app_balance_conf.turntilt_speed>
+            <longName>Max Tiltback Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Max speed at which turntilt will tilt to the desired angle (tilt will be slower if roll angle increases slowly).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TURNTILT_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>5</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.turntilt_speed>
+        <app_balance_conf.turntilt_erpm_boost>
+            <longName>Speed Boost %</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Increase the strength based on ERPM. Boost percent is added linearly from 0 erpm (0% boost) to max erpm (Full configured boost % is applied).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TURNTILT_ERPM_BOOST</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>5</stepInt>
+            <valInt>20</valInt>
+            <suffix> %</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.turntilt_erpm_boost>
+        <app_balance_conf.turntilt_erpm_boost_end>
+            <longName>Speed Boost Max ERPM</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM (absolute value) to end boosting the turn tilt effect, above this erpm there will be constant boost % (at your configured boost %).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TURNTILT_ERPM_BOOST_END</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>100000</maxInt>
+            <minInt>100</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>100</stepInt>
+            <valInt>20000</valInt>
+            <suffix> ERPM</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.turntilt_erpm_boost_end>
+        <app_pas_conf.ctrl_type>
+            <longName>Control Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Off&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The output is switched off regardless of the input.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Cadence&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Cadence control. The output is proportional to the pedalling speed, off when there is no pedalling.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Constant Torque&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Constant Torque control. Pedalling provides constant output, off when no pedalling. Suited for gearless setup.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_CTRL_TYPE</cDefine>
+            <valInt>1</valInt>
+            <enumNames>Off</enumNames>
+            <enumNames>Cadence</enumNames>
+            <enumNames>Constant Torque</enumNames>
+        </app_pas_conf.ctrl_type>
+        <app_pas_conf.sensor_type>
+            <longName>Sensor Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Quadrature&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This interface provides 2 signals that can be decoded to know the pedalling direction (forward of backwards).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_SENSOR_TYPE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Quadrature</enumNames>
+        </app_pas_conf.sensor_type>
+        <app_pas_conf.pedal_rpm_start>
+            <longName>Pedal RPM Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Pedal RPM at which the assist starts. Below this value the output current is zero.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_PEDAL_RPM_START</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>200</maxDouble>
+            <minDouble>1</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>10</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </app_pas_conf.pedal_rpm_start>
+        <app_pas_conf.pedal_rpm_end>
+            <longName>Pedal RPM End</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Pedal RPM at which the assist stops increasing. Above this pedal speed the assist output will stay at its maximum.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_PEDAL_RPM_END</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>300</maxDouble>
+            <minDouble>1</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>120</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </app_pas_conf.pedal_rpm_end>
+        <app_pas_conf.invert_pedal_direction>
+            <longName>Invert Pedal Direction</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Inverts pedal direction&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_INVERT_PEDAL_DIRECTION</cDefine>
+            <valInt>0</valInt>
+        </app_pas_conf.invert_pedal_direction>
+        <app_pas_conf.magnets>
+            <longName>Sensor Magnets</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;How many magnets the PAS sensor assembly has. 24 magnets would provide 24 pulses per pedal revolution.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;12 and 24 magnet setups are typical.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_MAGNETS</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>128</maxInt>
+            <minInt>6</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>6</stepInt>
+            <valInt>24</valInt>
+            <suffix></suffix>
+            <vTx>3</vTx>
+        </app_pas_conf.magnets>
+        <app_pas_conf.use_filter>
+            <longName>Use Filter</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use a low pass filter in the PAS input signal&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_USE_FILTER</cDefine>
+            <valInt>1</valInt>
+        </app_pas_conf.use_filter>
+        <app_pas_conf.current_scaling>
+            <longName>PAS Max Current</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum PAS output current will be limited to this percentage of the global output current.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_CURRENT_SCALING</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>0.08</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </app_pas_conf.current_scaling>
+        <app_pas_conf.ramp_time_pos>
+            <longName>Positive Ramping Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Positive ramping time constant. This filters the PAS input with ramping and represents the amount of secods it takes to ramp from zero to full output.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_RAMP_TIME_POS</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>0.2</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>0.3</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>7</vTx>
+        </app_pas_conf.ramp_time_pos>
+        <app_pas_conf.ramp_time_neg>
+            <longName>Negative Ramping Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Negative ramping time constant. This filters the PAS input with ramping and represents the amount of secods it takes to ramp from full to zero output.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_RAMP_TIME_NEG</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>0.2</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>0.2</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>7</vTx>
+        </app_pas_conf.ramp_time_neg>
+        <app_pas_conf.update_rate_hz>
+            <longName>Update Rate</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Frequency at which the PAS control loop is executed&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_UPDATE_RATE_HZ</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>1000</maxInt>
+            <minInt>10</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>500</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </app_pas_conf.update_rate_hz>
+        <imu_conf.type>
+            <longName>IMU Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;IMU type. The internal IMU is only available if the hardware supports it. External IMUs can be connected to the SDA and SCL pins. If using an external IMU, make sure that no app that uses the same pins is selected.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_TYPE</cDefine>
+            <valInt>1</valInt>
+            <enumNames>IMU_TYPE_OFF</enumNames>
+            <enumNames>IMU_TYPE_INTERNAL</enumNames>
+            <enumNames>IMU_TYPE_EXTERNAL_MPU9X50</enumNames>
+            <enumNames>IMU_TYPE_EXTERNAL_ICM20948</enumNames>
+            <enumNames>IMU_TYPE_EXTERNAL_BMI160</enumNames>
+            <enumNames>IMU_TYPE_EXTERNAL_LSM6DS3</enumNames>
+        </imu_conf.type>
+        <imu_conf.mode>
+            <longName>IMU AHRS Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use the Madgwick or Mahony AHRS filter.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_AHRS_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>AHRS_MODE_MADGWICK</enumNames>
+            <enumNames>AHRS_MODE_MAHONY</enumNames>
+            <enumNames>AHRS_MODE_MADGWICK_FUSION</enumNames>
+        </imu_conf.mode>
+        <imu_conf.filter>
+            <longName>Accel/Gyro Filter</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Set the onboard accel/gyro filters.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_FILTER</cDefine>
+            <valInt>0</valInt>
+            <enumNames>IMU_FILTER_LOW</enumNames>
+            <enumNames>IMU_FILTER_MEDIUM</enumNames>
+            <enumNames>IMU_FILTER_HIGH</enumNames>
+        </imu_conf.filter>
+        <imu_conf.accel_lowpass_filter_x>
+            <longName>Accel lowpass filter X</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Accelerometer lowpass filter&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Biquad lowpass filter applied to X axis. This is run on the ESC and will be applied regardless of IMU model.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Setting the filter to 0Hz will disable it.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_ACCEL_LOWPASS_FILTER_X</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> Hz</suffix>
+            <vTx>7</vTx>
+        </imu_conf.accel_lowpass_filter_x>
+        <imu_conf.accel_lowpass_filter_y>
+            <longName>Accel lowpass filter Y</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Accelerometer lowpass filter&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Biquad lowpass filter applied to Y axis. This is run on the ESC and will be applied regardless of IMU model.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Setting the filter to 0Hz will disable it.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_ACCEL_LOWPASS_FILTER_Y</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> Hz</suffix>
+            <vTx>7</vTx>
+        </imu_conf.accel_lowpass_filter_y>
+        <imu_conf.accel_lowpass_filter_z>
+            <longName>Accel lowpass filter Z</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Accelerometer lowpass filter&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Biquad lowpass filter applied to Z axis. This is run on the ESC and will be applied regardless of IMU model.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Setting the filter to 0Hz will disable it.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_ACCEL_LOWPASS_FILTER_Z</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> Hz</suffix>
+            <vTx>7</vTx>
+        </imu_conf.accel_lowpass_filter_z>
+        <imu_conf.gyro_lowpass_filter>
+            <longName>Gyro lowpass filter</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Gyrosocpe lowpass filter&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Biquad lowpass filter applied to all 3 axes of the gyroscope. This is run on the ESC and will be applied regardless of IMU model.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Setting the filter to 0Hz will disable it.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_GYRO_LOWPASS_FILTER</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> Hz</suffix>
+            <vTx>7</vTx>
+        </imu_conf.gyro_lowpass_filter>
+        <imu_conf.sample_rate_hz>
+            <longName>Sample Rate</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;IMU sample rate. Higher sample rates use more CPU cycles, but perform better.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_SAMPLE_RATE_HZ</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>1</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>200</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </imu_conf.sample_rate_hz>
+        <imu_conf.use_magnetometer>
+            <longName>Use magnetometer</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use magnetometer.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_USE_MAGNETOMETER</cDefine>
+            <valInt>1</valInt>
+        </imu_conf.use_magnetometer>
+        <imu_conf.accel_confidence_decay>
+            <longName>Accelerometer Confidence Decay</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This factor sets how fast the accelerometer confidence will be decreased if the acceleration vector differs from 1.0.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_ACCEL_CONFIDENCE_DECAY</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>999</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </imu_conf.accel_confidence_decay>
+        <imu_conf.mahony_kp>
+            <longName>Mahony KP</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;KP for Mahony filter. Decides how much the accelerometer is used for attitude estimation. Increasing this value helps against gyro offsets, but makes the output noisier.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_MAHONY_KP</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>999</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0.3</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </imu_conf.mahony_kp>
+        <imu_conf.mahony_ki>
+            <longName>Mahony KI</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;KI for Mahony filter. Integrates gyro offsets over time.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_MAHONY_KI</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>999</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </imu_conf.mahony_ki>
+        <imu_conf.madgwick_beta>
+            <longName>Madgwick Beta</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Beta for Madgwick filter. Decides how much the accelerometer is used for attitude estimation. Increasing this value helps against gyro offsets, but makes the output noisier.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_MADGWICK_BETA</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>999</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.1</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </imu_conf.madgwick_beta>
+        <imu_conf.rot_roll>
+            <longName>Imu Rotation Roll</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Roll rotation of IMU. Can be adjusted if the IMU is not aligned with the vehicle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_ROT_ROLL</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>360</maxDouble>
+            <minDouble>-360</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </imu_conf.rot_roll>
+        <imu_conf.rot_pitch>
+            <longName>Imu Rotation Pitch</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Pitch rotation of IMU. Can be adjusted if the IMU is not aligned with the vehicle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_ROT_PITCH</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>360</maxDouble>
+            <minDouble>-360</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </imu_conf.rot_pitch>
+        <imu_conf.rot_yaw>
+            <longName>Imu Rotation Yaw</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Yaw rotation of IMU. Can be adjusted if the IMU is not aligned with the vehicle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_ROT_YAW</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>360</maxDouble>
+            <minDouble>-360</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </imu_conf.rot_yaw>
+        <imu_conf.accel_offsets__0>
+            <longName>Accel Offset X</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Accelerometer offset X.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_A_OFFSET_0</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>16</maxDouble>
+            <minDouble>-16</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> G</suffix>
+            <vTx>9</vTx>
+        </imu_conf.accel_offsets__0>
+        <imu_conf.accel_offsets__1>
+            <longName>Accel Offset Y</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Accelerometer offset Y.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_A_OFFSET_1</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>16</maxDouble>
+            <minDouble>-16</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> G</suffix>
+            <vTx>9</vTx>
+        </imu_conf.accel_offsets__1>
+        <imu_conf.accel_offsets__2>
+            <longName>Accel Offset Z</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Accelerometer offset Z.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_A_OFFSET_2</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>16</maxDouble>
+            <minDouble>-16</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> G</suffix>
+            <vTx>9</vTx>
+        </imu_conf.accel_offsets__2>
+        <imu_conf.gyro_offsets__0>
+            <longName>Gyro Offset X</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Gyro offset (drift) X.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_G_OFFSET_0</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>-1000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>9</vTx>
+        </imu_conf.gyro_offsets__0>
+        <imu_conf.gyro_offsets__1>
+            <longName>Gyro Offset Y</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Gyro offset (drift) Y.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_G_OFFSET_1</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>-1000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>9</vTx>
+        </imu_conf.gyro_offsets__1>
+        <imu_conf.gyro_offsets__2>
+            <longName>Gyro Offset Z</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Gyro offset (drift) Z.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_G_OFFSET_2</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>-1000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>9</vTx>
+        </imu_conf.gyro_offsets__2>
+    </Params>
+    <SerOrder>
+        <ser>controller_id</ser>
+        <ser>timeout_msec</ser>
+        <ser>timeout_brake_current</ser>
+        <ser>can_status_rate_1</ser>
+        <ser>can_status_rate_2</ser>
+        <ser>can_status_msgs_r1</ser>
+        <ser>can_status_msgs_r2</ser>
+        <ser>can_baud_rate</ser>
+        <ser>pairing_done</ser>
+        <ser>permanent_uart_enabled</ser>
+        <ser>shutdown_mode</ser>
+        <ser>can_mode</ser>
+        <ser>uavcan_esc_index</ser>
+        <ser>uavcan_raw_mode</ser>
+        <ser>uavcan_raw_rpm_max</ser>
+        <ser>uavcan_status_current_mode</ser>
+        <ser>servo_out_enable</ser>
+        <ser>kill_sw_mode</ser>
+        <ser>app_to_use</ser>
+        <ser>app_ppm_conf.ctrl_type</ser>
+        <ser>app_ppm_conf.pid_max_erpm</ser>
+        <ser>app_ppm_conf.hyst</ser>
+        <ser>app_ppm_conf.pulse_start</ser>
+        <ser>app_ppm_conf.pulse_end</ser>
+        <ser>app_ppm_conf.pulse_center</ser>
+        <ser>app_ppm_conf.median_filter</ser>
+        <ser>app_ppm_conf.safe_start</ser>
+        <ser>app_ppm_conf.throttle_exp</ser>
+        <ser>app_ppm_conf.throttle_exp_brake</ser>
+        <ser>app_ppm_conf.throttle_exp_mode</ser>
+        <ser>app_ppm_conf.ramp_time_pos</ser>
+        <ser>app_ppm_conf.ramp_time_neg</ser>
+        <ser>app_ppm_conf.multi_esc</ser>
+        <ser>app_ppm_conf.tc</ser>
+        <ser>app_ppm_conf.tc_max_diff</ser>
+        <ser>app_ppm_conf.max_erpm_for_dir</ser>
+        <ser>app_ppm_conf.smart_rev_max_duty</ser>
+        <ser>app_ppm_conf.smart_rev_ramp_time</ser>
+        <ser>app_adc_conf.ctrl_type</ser>
+        <ser>app_adc_conf.hyst</ser>
+        <ser>app_adc_conf.voltage_start</ser>
+        <ser>app_adc_conf.voltage_end</ser>
+        <ser>app_adc_conf.voltage_min</ser>
+        <ser>app_adc_conf.voltage_max</ser>
+        <ser>app_adc_conf.voltage_center</ser>
+        <ser>app_adc_conf.voltage2_start</ser>
+        <ser>app_adc_conf.voltage2_end</ser>
+        <ser>app_adc_conf.use_filter</ser>
+        <ser>app_adc_conf.safe_start</ser>
+        <ser>app_adc_conf.buttons</ser>
+        <ser>app_adc_conf.voltage_inverted</ser>
+        <ser>app_adc_conf.voltage2_inverted</ser>
+        <ser>app_adc_conf.throttle_exp</ser>
+        <ser>app_adc_conf.throttle_exp_brake</ser>
+        <ser>app_adc_conf.throttle_exp_mode</ser>
+        <ser>app_adc_conf.ramp_time_pos</ser>
+        <ser>app_adc_conf.ramp_time_neg</ser>
+        <ser>app_adc_conf.multi_esc</ser>
+        <ser>app_adc_conf.tc</ser>
+        <ser>app_adc_conf.tc_max_diff</ser>
+        <ser>app_adc_conf.update_rate_hz</ser>
+        <ser>app_uart_baudrate</ser>
+        <ser>app_chuk_conf.ctrl_type</ser>
+        <ser>app_chuk_conf.hyst</ser>
+        <ser>app_chuk_conf.ramp_time_pos</ser>
+        <ser>app_chuk_conf.ramp_time_neg</ser>
+        <ser>app_chuk_conf.stick_erpm_per_s_in_cc</ser>
+        <ser>app_chuk_conf.throttle_exp</ser>
+        <ser>app_chuk_conf.throttle_exp_brake</ser>
+        <ser>app_chuk_conf.throttle_exp_mode</ser>
+        <ser>app_chuk_conf.multi_esc</ser>
+        <ser>app_chuk_conf.tc</ser>
+        <ser>app_chuk_conf.tc_max_diff</ser>
+        <ser>app_chuk_conf.use_smart_rev</ser>
+        <ser>app_chuk_conf.smart_rev_max_duty</ser>
+        <ser>app_chuk_conf.smart_rev_ramp_time</ser>
+        <ser>app_nrf_conf.speed</ser>
+        <ser>app_nrf_conf.power</ser>
+        <ser>app_nrf_conf.crc_type</ser>
+        <ser>app_nrf_conf.retry_delay</ser>
+        <ser>app_nrf_conf.retries</ser>
+        <ser>app_nrf_conf.channel</ser>
+        <ser>app_nrf_conf.address__0</ser>
+        <ser>app_nrf_conf.address__1</ser>
+        <ser>app_nrf_conf.address__2</ser>
+        <ser>app_nrf_conf.send_crc_ack</ser>
+        <ser>app_balance_conf.pid_mode</ser>
+        <ser>app_balance_conf.kp</ser>
+        <ser>app_balance_conf.ki</ser>
+        <ser>app_balance_conf.kd</ser>
+        <ser>app_balance_conf.kp2</ser>
+        <ser>app_balance_conf.ki2</ser>
+        <ser>app_balance_conf.kd2</ser>
+        <ser>app_balance_conf.hertz</ser>
+        <ser>app_balance_conf.loop_time_filter</ser>
+        <ser>app_balance_conf.fault_pitch</ser>
+        <ser>app_balance_conf.fault_roll</ser>
+        <ser>app_balance_conf.fault_duty</ser>
+        <ser>app_balance_conf.fault_adc1</ser>
+        <ser>app_balance_conf.fault_adc2</ser>
+        <ser>app_balance_conf.fault_delay_pitch</ser>
+        <ser>app_balance_conf.fault_delay_roll</ser>
+        <ser>app_balance_conf.fault_delay_duty</ser>
+        <ser>app_balance_conf.fault_delay_switch_half</ser>
+        <ser>app_balance_conf.fault_delay_switch_full</ser>
+        <ser>app_balance_conf.fault_adc_half_erpm</ser>
+        <ser>app_balance_conf.fault_is_dual_switch</ser>
+        <ser>app_balance_conf.tiltback_duty_angle</ser>
+        <ser>app_balance_conf.tiltback_duty_speed</ser>
+        <ser>app_balance_conf.tiltback_duty</ser>
+        <ser>app_balance_conf.tiltback_hv_angle</ser>
+        <ser>app_balance_conf.tiltback_hv_speed</ser>
+        <ser>app_balance_conf.tiltback_hv</ser>
+        <ser>app_balance_conf.tiltback_lv_angle</ser>
+        <ser>app_balance_conf.tiltback_lv_speed</ser>
+        <ser>app_balance_conf.tiltback_lv</ser>
+        <ser>app_balance_conf.tiltback_return_speed</ser>
+        <ser>app_balance_conf.tiltback_constant</ser>
+        <ser>app_balance_conf.tiltback_constant_erpm</ser>
+        <ser>app_balance_conf.tiltback_variable</ser>
+        <ser>app_balance_conf.tiltback_variable_max</ser>
+        <ser>app_balance_conf.noseangling_speed</ser>
+        <ser>app_balance_conf.startup_pitch_tolerance</ser>
+        <ser>app_balance_conf.startup_roll_tolerance</ser>
+        <ser>app_balance_conf.startup_speed</ser>
+        <ser>app_balance_conf.deadzone</ser>
+        <ser>app_balance_conf.multi_esc</ser>
+        <ser>app_balance_conf.yaw_kp</ser>
+        <ser>app_balance_conf.yaw_ki</ser>
+        <ser>app_balance_conf.yaw_kd</ser>
+        <ser>app_balance_conf.roll_steer_kp</ser>
+        <ser>app_balance_conf.roll_steer_erpm_kp</ser>
+        <ser>app_balance_conf.brake_current</ser>
+        <ser>app_balance_conf.brake_timeout</ser>
+        <ser>app_balance_conf.yaw_current_clamp</ser>
+        <ser>app_balance_conf.ki_limit</ser>
+        <ser>app_balance_conf.kd_pt1_lowpass_frequency</ser>
+        <ser>app_balance_conf.kd_pt1_highpass_frequency</ser>
+        <ser>app_balance_conf.booster_angle</ser>
+        <ser>app_balance_conf.booster_ramp</ser>
+        <ser>app_balance_conf.booster_current</ser>
+        <ser>app_balance_conf.torquetilt_start_current</ser>
+        <ser>app_balance_conf.torquetilt_angle_limit</ser>
+        <ser>app_balance_conf.torquetilt_on_speed</ser>
+        <ser>app_balance_conf.torquetilt_off_speed</ser>
+        <ser>app_balance_conf.torquetilt_strength</ser>
+        <ser>app_balance_conf.torquetilt_filter</ser>
+        <ser>app_balance_conf.turntilt_strength</ser>
+        <ser>app_balance_conf.turntilt_angle_limit</ser>
+        <ser>app_balance_conf.turntilt_start_angle</ser>
+        <ser>app_balance_conf.turntilt_start_erpm</ser>
+        <ser>app_balance_conf.turntilt_speed</ser>
+        <ser>app_balance_conf.turntilt_erpm_boost</ser>
+        <ser>app_balance_conf.turntilt_erpm_boost_end</ser>
+        <ser>app_pas_conf.ctrl_type</ser>
+        <ser>app_pas_conf.sensor_type</ser>
+        <ser>app_pas_conf.current_scaling</ser>
+        <ser>app_pas_conf.pedal_rpm_start</ser>
+        <ser>app_pas_conf.pedal_rpm_end</ser>
+        <ser>app_pas_conf.invert_pedal_direction</ser>
+        <ser>app_pas_conf.magnets</ser>
+        <ser>app_pas_conf.use_filter</ser>
+        <ser>app_pas_conf.ramp_time_pos</ser>
+        <ser>app_pas_conf.ramp_time_neg</ser>
+        <ser>app_pas_conf.update_rate_hz</ser>
+        <ser>imu_conf.type</ser>
+        <ser>imu_conf.mode</ser>
+        <ser>imu_conf.filter</ser>
+        <ser>imu_conf.accel_lowpass_filter_x</ser>
+        <ser>imu_conf.accel_lowpass_filter_y</ser>
+        <ser>imu_conf.accel_lowpass_filter_z</ser>
+        <ser>imu_conf.gyro_lowpass_filter</ser>
+        <ser>imu_conf.sample_rate_hz</ser>
+        <ser>imu_conf.use_magnetometer</ser>
+        <ser>imu_conf.accel_confidence_decay</ser>
+        <ser>imu_conf.mahony_kp</ser>
+        <ser>imu_conf.mahony_ki</ser>
+        <ser>imu_conf.madgwick_beta</ser>
+        <ser>imu_conf.rot_roll</ser>
+        <ser>imu_conf.rot_pitch</ser>
+        <ser>imu_conf.rot_yaw</ser>
+        <ser>imu_conf.accel_offsets__0</ser>
+        <ser>imu_conf.accel_offsets__1</ser>
+        <ser>imu_conf.accel_offsets__2</ser>
+        <ser>imu_conf.gyro_offsets__0</ser>
+        <ser>imu_conf.gyro_offsets__1</ser>
+        <ser>imu_conf.gyro_offsets__2</ser>
+    </SerOrder>
+    <Grouping>
+        <group>
+            <groupName>General</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>app_to_use</param>
+                    <param>controller_id</param>
+                    <param>timeout_msec</param>
+                    <param>timeout_brake_current</param>
+                    <param>can_baud_rate</param>
+                    <param>pairing_done</param>
+                    <param>permanent_uart_enabled</param>
+                    <param>shutdown_mode</param>
+                    <param>can_mode</param>
+                    <param>uavcan_esc_index</param>
+                    <param>uavcan_raw_mode</param>
+                    <param>uavcan_raw_rpm_max</param>
+                    <param>uavcan_status_current_mode</param>
+                    <param>servo_out_enable</param>
+                    <param>kill_sw_mode</param>
+                    <param>::sep::CAN Messages Rate 1</param>
+                    <param>can_status_rate_1</param>
+                    <param>can_status_msgs_r1</param>
+                    <param>::sep::CAN Messages Rate 2</param>
+                    <param>can_status_rate_2</param>
+                    <param>can_status_msgs_r2</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>PPM</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>app_ppm_conf.ctrl_type</param>
+                    <param>app_ppm_conf.median_filter</param>
+                    <param>app_ppm_conf.safe_start</param>
+                    <param>app_ppm_conf.pid_max_erpm</param>
+                    <param>app_ppm_conf.ramp_time_pos</param>
+                    <param>app_ppm_conf.ramp_time_neg</param>
+                    <param>app_ppm_conf.max_erpm_for_dir</param>
+                    <param>app_ppm_conf.smart_rev_max_duty</param>
+                    <param>app_ppm_conf.smart_rev_ramp_time</param>
+                    <param>::sep::Multiple VESCs over CAN</param>
+                    <param>app_ppm_conf.multi_esc</param>
+                    <param>app_ppm_conf.tc</param>
+                    <param>app_ppm_conf.tc_max_diff</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Mapping</subgroupName>
+                <subgroupParams>
+                    <param>app_ppm_conf.pulse_start</param>
+                    <param>app_ppm_conf.pulse_end</param>
+                    <param>app_ppm_conf.pulse_center</param>
+                    <param>app_ppm_conf.hyst</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Throttle Curve</subgroupName>
+                <subgroupParams>
+                    <param>app_ppm_conf.throttle_exp</param>
+                    <param>app_ppm_conf.throttle_exp_brake</param>
+                    <param>app_ppm_conf.throttle_exp_mode</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>ADC</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>app_adc_conf.ctrl_type</param>
+                    <param>app_adc_conf.use_filter</param>
+                    <param>app_adc_conf.safe_start</param>
+                    <param>app_adc_conf.update_rate_hz</param>
+                    <param>app_adc_conf.ramp_time_pos</param>
+                    <param>app_adc_conf.ramp_time_neg</param>
+                    <param>app_adc_conf.buttons</param>
+                    <param>::sep::Multiple VESCs over CAN-bus</param>
+                    <param>app_adc_conf.multi_esc</param>
+                    <param>app_adc_conf.tc</param>
+                    <param>app_adc_conf.tc_max_diff</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Mapping</subgroupName>
+                <subgroupParams>
+                    <param>app_adc_conf.hyst</param>
+                    <param>::sep::ADC 1</param>
+                    <param>app_adc_conf.voltage_start</param>
+                    <param>app_adc_conf.voltage_end</param>
+                    <param>app_adc_conf.voltage_center</param>
+                    <param>app_adc_conf.voltage_inverted</param>
+                    <param>app_adc_conf.voltage_min</param>
+                    <param>app_adc_conf.voltage_max</param>
+                    <param>::sep::ADC 2</param>
+                    <param>app_adc_conf.voltage2_start</param>
+                    <param>app_adc_conf.voltage2_end</param>
+                    <param>app_adc_conf.voltage2_inverted</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Throttle Curve</subgroupName>
+                <subgroupParams>
+                    <param>app_adc_conf.throttle_exp</param>
+                    <param>app_adc_conf.throttle_exp_brake</param>
+                    <param>app_adc_conf.throttle_exp_mode</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>UART</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>app_uart_baudrate</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>VESC Remote</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>app_chuk_conf.ctrl_type</param>
+                    <param>app_chuk_conf.ramp_time_pos</param>
+                    <param>app_chuk_conf.ramp_time_neg</param>
+                    <param>app_chuk_conf.stick_erpm_per_s_in_cc</param>
+                    <param>app_chuk_conf.hyst</param>
+                    <param>app_chuk_conf.use_smart_rev</param>
+                    <param>app_chuk_conf.smart_rev_max_duty</param>
+                    <param>app_chuk_conf.smart_rev_ramp_time</param>
+                    <param>::sep::Multiple VESCs over CAN-bus</param>
+                    <param>app_chuk_conf.multi_esc</param>
+                    <param>app_chuk_conf.tc</param>
+                    <param>app_chuk_conf.tc_max_diff</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Throttle Curve</subgroupName>
+                <subgroupParams>
+                    <param>app_chuk_conf.throttle_exp</param>
+                    <param>app_chuk_conf.throttle_exp_brake</param>
+                    <param>app_chuk_conf.throttle_exp_mode</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>NRF</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>::sep::Radio</param>
+                    <param>app_nrf_conf.power</param>
+                    <param>app_nrf_conf.speed</param>
+                    <param>app_nrf_conf.channel</param>
+                    <param>::sep::Integrity</param>
+                    <param>app_nrf_conf.crc_type</param>
+                    <param>app_nrf_conf.send_crc_ack</param>
+                    <param>app_nrf_conf.retry_delay</param>
+                    <param>app_nrf_conf.retries</param>
+                    <param>::sep::Address</param>
+                    <param>app_nrf_conf.address__0</param>
+                    <param>app_nrf_conf.address__1</param>
+                    <param>app_nrf_conf.address__2</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>Balance</groupName>
+            <subgroup>
+                <subgroupName>Tune</subgroupName>
+                <subgroupParams>
+                    <param>::sep::PID</param>
+                    <param>app_balance_conf.pid_mode</param>
+                    <param>app_balance_conf.kp</param>
+                    <param>app_balance_conf.ki</param>
+                    <param>app_balance_conf.kd</param>
+                    <param>app_balance_conf.kp2</param>
+                    <param>app_balance_conf.ki2</param>
+                    <param>app_balance_conf.kd2</param>
+                    <param>::sep::Main Loop</param>
+                    <param>app_balance_conf.hertz</param>
+                    <param>app_balance_conf.loop_time_filter</param>
+                    <param>::sep::Filters</param>
+                    <param>app_balance_conf.ki_limit</param>
+                    <param>app_balance_conf.kd_pt1_lowpass_frequency</param>
+                    <param>app_balance_conf.kd_pt1_highpass_frequency</param>
+                    <param>::sep::Experimental</param>
+                    <param>app_balance_conf.deadzone</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Tune Modifiers</subgroupName>
+                <subgroupParams>
+                    <param>::sep::Nose Angling</param>
+                    <param>app_balance_conf.tiltback_constant</param>
+                    <param>app_balance_conf.tiltback_constant_erpm</param>
+                    <param>app_balance_conf.tiltback_variable</param>
+                    <param>app_balance_conf.tiltback_variable_max</param>
+                    <param>app_balance_conf.noseangling_speed</param>
+                    <param>::sep::Booster</param>
+                    <param>app_balance_conf.booster_angle</param>
+                    <param>app_balance_conf.booster_ramp</param>
+                    <param>app_balance_conf.booster_current</param>
+                    <param>::sep::Torque Tiltback</param>
+                    <param>app_balance_conf.torquetilt_strength</param>
+                    <param>app_balance_conf.torquetilt_start_current</param>
+                    <param>app_balance_conf.torquetilt_angle_limit</param>
+                    <param>app_balance_conf.torquetilt_on_speed</param>
+                    <param>app_balance_conf.torquetilt_off_speed</param>
+                    <param>app_balance_conf.torquetilt_filter</param>
+                    <param>::sep::Turn/Roll Tiltback</param>
+                    <param>app_balance_conf.turntilt_strength</param>
+                    <param>app_balance_conf.turntilt_angle_limit</param>
+                    <param>app_balance_conf.turntilt_start_angle</param>
+                    <param>app_balance_conf.turntilt_start_erpm</param>
+                    <param>app_balance_conf.turntilt_speed</param>
+                    <param>app_balance_conf.turntilt_erpm_boost</param>
+                    <param>app_balance_conf.turntilt_erpm_boost_end</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Startup</subgroupName>
+                <subgroupParams>
+                    <param>::sep::Tolerances</param>
+                    <param>app_balance_conf.startup_pitch_tolerance</param>
+                    <param>app_balance_conf.startup_roll_tolerance</param>
+                    <param>::sep::Centering</param>
+                    <param>app_balance_conf.startup_speed</param>
+                    <param>::sep::Holding</param>
+                    <param>app_balance_conf.brake_current</param>
+                    <param>app_balance_conf.brake_timeout</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Tiltback</subgroupName>
+                <subgroupParams>
+                    <param>::sep::General Config</param>
+                    <param>app_balance_conf.tiltback_return_speed</param>
+                    <param>::sep::Duty Cycle Tiltback</param>
+                    <param>app_balance_conf.tiltback_duty</param>
+                    <param>app_balance_conf.tiltback_duty_angle</param>
+                    <param>app_balance_conf.tiltback_duty_speed</param>
+                    <param>::sep::High Voltage Tiltback</param>
+                    <param>app_balance_conf.tiltback_hv</param>
+                    <param>app_balance_conf.tiltback_hv_angle</param>
+                    <param>app_balance_conf.tiltback_hv_speed</param>
+                    <param>::sep::Low Voltage Tiltback</param>
+                    <param>app_balance_conf.tiltback_lv</param>
+                    <param>app_balance_conf.tiltback_lv_angle</param>
+                    <param>app_balance_conf.tiltback_lv_speed</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Fault</subgroupName>
+                <subgroupParams>
+                    <param>::sep::Angle Faults</param>
+                    <param>app_balance_conf.fault_pitch</param>
+                    <param>app_balance_conf.fault_delay_pitch</param>
+                    <param>app_balance_conf.fault_roll</param>
+                    <param>app_balance_conf.fault_delay_roll</param>
+                    <param>::sep::Speed Faults</param>
+                    <param>app_balance_conf.fault_duty</param>
+                    <param>app_balance_conf.fault_delay_duty</param>
+                    <param>::sep::Switches</param>
+                    <param>app_balance_conf.fault_adc1</param>
+                    <param>app_balance_conf.fault_adc2</param>
+                    <param>app_balance_conf.fault_delay_switch_half</param>
+                    <param>app_balance_conf.fault_delay_switch_full</param>
+                    <param>app_balance_conf.fault_adc_half_erpm</param>
+                    <param>app_balance_conf.fault_is_dual_switch</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Multi ESC</subgroupName>
+                <subgroupParams>
+                    <param>::sep::Multi ESC</param>
+                    <param>app_balance_conf.multi_esc</param>
+                    <param>::sep::Stabilization PID</param>
+                    <param>app_balance_conf.yaw_kp</param>
+                    <param>app_balance_conf.yaw_ki</param>
+                    <param>app_balance_conf.yaw_kd</param>
+                    <param>::sep::Steering</param>
+                    <param>app_balance_conf.roll_steer_kp</param>
+                    <param>app_balance_conf.roll_steer_erpm_kp</param>
+                    <param>app_balance_conf.yaw_current_clamp</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>IMU</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>imu_conf.type</param>
+                    <param>imu_conf.use_magnetometer</param>
+                    <param>imu_conf.sample_rate_hz</param>
+                    <param>imu_conf.filter</param>
+                    <param>imu_conf.accel_lowpass_filter_x</param>
+                    <param>imu_conf.accel_lowpass_filter_y</param>
+                    <param>imu_conf.accel_lowpass_filter_z</param>
+                    <param>imu_conf.gyro_lowpass_filter</param>
+                    <param>::sep::AHRS</param>
+                    <param>imu_conf.mode</param>
+                    <param>imu_conf.accel_confidence_decay</param>
+                    <param>imu_conf.mahony_kp</param>
+                    <param>imu_conf.mahony_ki</param>
+                    <param>imu_conf.madgwick_beta</param>
+                    <param>::sep::Rotation</param>
+                    <param>imu_conf.rot_roll</param>
+                    <param>imu_conf.rot_pitch</param>
+                    <param>imu_conf.rot_yaw</param>
+                    <param>::sep::Offsets</param>
+                    <param>imu_conf.accel_offsets__0</param>
+                    <param>imu_conf.accel_offsets__1</param>
+                    <param>imu_conf.accel_offsets__2</param>
+                    <param>imu_conf.gyro_offsets__0</param>
+                    <param>imu_conf.gyro_offsets__1</param>
+                    <param>imu_conf.gyro_offsets__2</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>PAS</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>app_pas_conf.ctrl_type</param>
+                    <param>app_pas_conf.sensor_type</param>
+                    <param>app_pas_conf.pedal_rpm_start</param>
+                    <param>app_pas_conf.pedal_rpm_end</param>
+                    <param>app_pas_conf.invert_pedal_direction</param>
+                    <param>app_pas_conf.magnets</param>
+                    <param>app_pas_conf.use_filter</param>
+                    <param>app_pas_conf.current_scaling</param>
+                    <param>app_pas_conf.ramp_time_pos</param>
+                    <param>app_pas_conf.ramp_time_neg</param>
+                    <param>app_pas_conf.update_rate_hz</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+    </Grouping>
+</ConfigParams>
diff --git a/res/config/6.02/parameters_mcconf.xml b/res/config/6.02/parameters_mcconf.xml
new file mode 100644
index 000000000..6ef7031cf
--- /dev/null
+++ b/res/config/6.02/parameters_mcconf.xml
@@ -0,0 +1,4908 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ConfigParams>
+    <Params>
+        <pwm_mode>
+            <longName>PWM Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The PWM mode to use for BLDC motors. Synchronous is the most tested and recommended mode. The others are likely to cause problems.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_PWM_MODE</cDefine>
+            <valInt>1</valInt>
+            <enumNames>Nonsynchronous HISW</enumNames>
+            <enumNames>Synchronous</enumNames>
+            <enumNames>Bipolar</enumNames>
+        </pwm_mode>
+        <comm_mode>
+            <longName>Commutation Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Delay&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This is what most cheap hobby ESCs use, which is detecting a BEMF zero crossing and adding a delay&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Integrate&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The back-EMF is sampled continuously after a zero crossing and the area under it is integrated. This is more robust and works better at low speed. For this mode the BEMF coupling and integration limit has to be know. The detect function can be used to measure these parameters.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_COMM_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Integrate</enumNames>
+            <enumNames>Delay</enumNames>
+        </comm_mode>
+        <motor_type>
+            <longName>Motor Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;BLDC&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Trapezoidal commutation mode for PMSM motors.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;DC&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;DC motor. A DC motor is connected to phase 1 and phase 3.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;FOC&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Field Oriented Control (FOC) for PMSM (or BLDC) motors. The motor is commutated with sine waves instead of a trapezoidal waveform as is the case for BLDC commutation. FOC runs the motors more quietly (especially at low speed and high load), is slightly more efficient and provides automatic optimal timing.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;GPD&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;General Purpose Drive between phase 1 and 3. Should be used with a custom application on the VESC, or on the computer with the VESC Tool backend providing samples.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_DEFAULT_MOTOR_TYPE</cDefine>
+            <valInt>2</valInt>
+            <enumNames>BLDC</enumNames>
+            <enumNames>DC</enumNames>
+            <enumNames>FOC</enumNames>
+            <enumNames>GPD</enumNames>
+        </motor_type>
+        <sensor_mode>
+            <longName>Sensor Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sensor mode for BLDC commutation. Hybrid means that sensors will be used at low speed and sensorless at high speed.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SENSOR_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Sensorless</enumNames>
+            <enumNames>Sensored</enumNames>
+            <enumNames>Hybrid</enumNames>
+        </sensor_mode>
+        <l_current_max>
+            <longName>Motor Current Max</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum motor current.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_CURRENT_MAX</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>60</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </l_current_max>
+        <l_current_min>
+            <longName>Motor Current Max Brake</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Maximum (braking) motor current. The is the maximum current that will be fed back to the VESC and when braking, thus negative. The energy from the braking current will be fed back to the battery.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_CURRENT_MIN</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>0</maxDouble>
+            <minDouble>-1000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>-60</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </l_current_min>
+        <l_in_current_max>
+            <longName>Battery Current Max</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The maximum current that can be drawn from the battery. The battery current is always lower than or equal to the motor current.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_IN_CURRENT_MAX</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>99</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </l_in_current_max>
+        <l_in_current_min>
+            <longName>Battery Current Max Regen</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The maximum regenerative current that can be fed to the battery (thus negative). The battery current is always lower than or equal to the motor current.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_IN_CURRENT_MIN</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>0</maxDouble>
+            <minDouble>-1000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>-60</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </l_in_current_min>
+        <l_abs_current_max>
+            <longName>Absolute Maximum Current</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The current magnitude above which all output will be switched off and a fault code thrown. Usually the current control loops take care of limiting the current, but in some conditions short current spikes can appear very quickly. The system can handle them quite well in most cased, so this value can be set relatively high compared to the other current values to avoid cutouts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_MAX_ABS_CURRENT</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>150</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </l_abs_current_max>
+        <l_min_erpm>
+            <longName>Max ERPM Reverse</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The maximum reverse electrical RPM.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_RPM_MIN</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>0</maxDouble>
+            <minDouble>-1e+06</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>-100000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </l_min_erpm>
+        <l_max_erpm>
+            <longName>Max ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The maximum electrical RPM.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_RPM_MAX</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>100000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </l_max_erpm>
+        <l_erpm_start>
+            <longName>ERPM Limit Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Start to reduce the current at this fraction of the ERPM limit. Lowering this number will make the ERPM limit softer.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_RPM_START</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.8</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </l_erpm_start>
+        <l_max_erpm_fbrake>
+            <longName>Max ERPM Full Brake</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The maximum ERPM at which a full brake is allowed (BLDC Only).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_CURR_MAX_RPM_FBRAKE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>300</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </l_max_erpm_fbrake>
+        <l_max_erpm_fbrake_cc>
+            <longName>Max ERPM Full Brake Current Control</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The ERPM below which a direction change is allowed in current control (BLDC Only).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_CURR_MAX_RPM_FBRAKE_CC</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>1500</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </l_max_erpm_fbrake_cc>
+        <l_min_vin>
+            <longName>Minimum Input Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The input voltage below which a fault code is thrown.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_MIN_VOLTAGE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>8</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </l_min_vin>
+        <l_max_vin>
+            <longName>Maximum Input Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The input voltage above which a fault code is thrown.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_MAX_VOLTAGE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>57</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </l_max_vin>
+        <l_battery_cut_start>
+            <longName>Battery Voltage Cutoff Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The input voltage where current starts to get reduced. There is still full braking current available as braking only charges the battery.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_BATTERY_CUT_START</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>10</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </l_battery_cut_start>
+        <l_battery_cut_end>
+            <longName>Battery Voltage Cutoff End</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The input voltage below which current draw is not allowed anymore. There is still full braking current available as braking only charges the battery.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_BATTERY_CUT_END</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>8</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </l_battery_cut_end>
+        <l_slow_abs_current>
+            <longName>Slow ABS Current Limit</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use the filtered current for the ABS max fault code. Will not trigger as easily on very short spikes.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_SLOW_ABS_OVERCURRENT</cDefine>
+            <valInt>1</valInt>
+        </l_slow_abs_current>
+        <l_temp_fet_start>
+            <longName>MOSFET Temp Cutoff Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The MOSFET temperature at which motor current starts to get reduced.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_LIM_TEMP_FET_START</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>190</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>85</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix> °C</suffix>
+            <vTx>7</vTx>
+        </l_temp_fet_start>
+        <l_temp_fet_end>
+            <longName>MOSFET Temp Cutoff End</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The MOSFET temperature above which motor current is not allowed and a fault is thrown.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_LIM_TEMP_FET_END</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>190</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>100</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix> °C</suffix>
+            <vTx>7</vTx>
+        </l_temp_fet_end>
+        <l_temp_motor_start>
+            <longName>Motor Temp Cutoff Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The motor temperature at which motor current starts to get reduced.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_LIM_TEMP_MOTOR_START</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>190</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>85</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix> °C</suffix>
+            <vTx>7</vTx>
+        </l_temp_motor_start>
+        <l_temp_motor_end>
+            <longName>Motor Temp Cutoff End</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The motor temperature above which motor current is not allowed and a fault is thrown.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_LIM_TEMP_MOTOR_END</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>190</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>100</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix> °C</suffix>
+            <vTx>7</vTx>
+        </l_temp_motor_end>
+        <l_temp_accel_dec>
+            <longName>Acceleration Temperature Decrease</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Decrease the motor and MOSFET temperature limits by this amount during acceleration. This is useful to still have braking torque left when the components get warm. A decrease of 0 % means that the acceleration temperature limits are the same as the braking temperature limits, and a decrease of 100 % meanse that the acceleration temperature limits are at 25 °C.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_LIM_TEMP_ACCEL_DEC</cDefine>
+            <editorDecimalsDouble>0</editorDecimalsDouble>
+            <editorScale>100</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0.15</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> %</suffix>
+            <vTx>7</vTx>
+        </l_temp_accel_dec>
+        <l_min_duty>
+            <longName>Minimum Duty Cycle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Minimum allowed duty cycle.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_MIN_DUTY</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>100</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0.005</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> %</suffix>
+            <vTx>7</vTx>
+        </l_min_duty>
+        <l_max_duty>
+            <longName>Maximum Duty Cycle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Maximum allowed duty cycle.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_MAX_DUTY</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>100</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0.95</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> %</suffix>
+            <vTx>7</vTx>
+        </l_max_duty>
+        <l_watt_max>
+            <longName>Maximum Wattage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum allowed wattage output. If your region has laws that only allow a limited wattage, this parameter can be useful. However, keep in mind that limiting the wattage does not make much sense in practice since torque, heat losses, mechanical wear and component load are all current dependent.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Notice that setting this parameter to a very high value essentially disables it, which is why the default value is high. The other limits will still apply.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_WATT_MAX</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>1.5e+06</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> W</suffix>
+            <vTx>9</vTx>
+        </l_watt_max>
+        <l_watt_min>
+            <longName>Maximum Braking Wattage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum allowed braking wattage (thus negative). There usually aren't any laws limiting how much braking is allowed, and limiting the wattage does not make much sense in general, so this parameter is present mostly for the sake of completeness. There might be some applications where limiting the braking wattage is useful though.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Notice that setting this parameter to a very high value essentially disables it, which is why the default value is high. The other limits will still apply.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_WATT_MIN</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>0</maxDouble>
+            <minDouble>-2e+06</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>-1.5e+06</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> W</suffix>
+            <vTx>9</vTx>
+        </l_watt_min>
+        <l_current_max_scale>
+            <longName>Max Current Scale</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Maximum current scale. This value is multiplied with the maximum current. It is a convenient method to scale the current limits without forgetting the actual maximum value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_CURRENT_MAX_SCALE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </l_current_max_scale>
+        <l_current_min_scale>
+            <longName>Min Current Scale</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Minimum current scale. This value is multiplied with the minimum current. It is a convenient method to scale the current limits without forgetting the actual maximum value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_CURRENT_MIN_SCALE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </l_current_min_scale>
+        <l_duty_start>
+            <longName>Duty Cycle Current Limit Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Start to reduce the current at this duty cycle. Lowering this number will make the motor limit the torque softly when reaching max speed, however, it will also decrease the top speed a bit.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_DUTY_START</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </l_duty_start>
+        <sl_min_erpm>
+            <longName>Minimum ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum sensorless ERPM (BLDC Only). Run the motor in open loop when the estimated ERPM is below this value.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SL_MIN_RPM</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>150</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </sl_min_erpm>
+        <sl_min_erpm_cycle_int_limit>
+            <longName>Minimum ERPM Integrator</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The minimum ERPM for which the integrator limit is calculated. Setting this too low will make the coupling compensation too large at low speed resulting in bad startup.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SL_MIN_ERPM_CYCLE_INT_LIMIT</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>1100</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </sl_min_erpm_cycle_int_limit>
+        <sl_max_fullbreak_current_dir_change>
+            <longName>Max Brake Current at Direction Change</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Only allow motor direction change below this current.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SL_MAX_FB_CURR_DIR_CHANGE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>10</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </sl_max_fullbreak_current_dir_change>
+        <sl_cycle_int_limit>
+            <longName>Cycle Integrator Limit</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Cycle integrator limit. This is how much area will be integrated under the back EMF after a zero crossing before doing a commutation. A too low value will cause a too early commutation, and a too high value will cause a too late commutation. A too late commutation will cause more problems than too early commutations.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>62</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </sl_cycle_int_limit>
+        <sl_phase_advance_at_br>
+            <longName>Phase Advance at BR ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Phase (timing) advance at the BR ERPM value. Below that value the advance will be less proportional to the current ERPM.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SL_PHASE_ADVANCE_AT_BR</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
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+            <showDisplay>0</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>0.8</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </sl_phase_advance_at_br>
+        <sl_cycle_int_rpm_br>
+            <longName>BR ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The ERPM at which phase advance (timing) is the maximum.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SL_CYCLE_INT_BR</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>80000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </sl_cycle_int_rpm_br>
+        <sl_bemf_coupling_k>
+            <longName>BEMF Coupling</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;BEMF coupling. Roughly describes how much of the input voltage is seen on the BEMF at low modulation. Compensating for that at low speed helps the startup a lot.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SL_BEMF_COUPLING_K</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
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+            <maxDouble>5000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>600</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </sl_bemf_coupling_k>
+        <hall_table__0>
+            <longName>Hall Table [0]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 0.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_HALL_TAB_0</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>6</maxInt>
+            <minInt>-1</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>-1</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </hall_table__0>
+        <hall_table__1>
+            <longName>Hall Table [1]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 1.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_HALL_TAB_1</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
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+            <stepInt>1</stepInt>
+            <valInt>1</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </hall_table__1>
+        <hall_table__2>
+            <longName>Hall Table [2]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 2.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_HALL_TAB_2</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>6</maxInt>
+            <minInt>-1</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>3</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </hall_table__2>
+        <hall_table__3>
+            <longName>Hall Table [3]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 3.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_HALL_TAB_3</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>6</maxInt>
+            <minInt>-1</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>2</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </hall_table__3>
+        <hall_table__4>
+            <longName>Hall Table [4]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 4.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_HALL_TAB_4</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>6</maxInt>
+            <minInt>-1</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>5</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </hall_table__4>
+        <hall_table__5>
+            <longName>Hall Table [5]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 5.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_HALL_TAB_5</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>6</maxInt>
+            <minInt>-1</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>6</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </hall_table__5>
+        <hall_table__6>
+            <longName>Hall Table [6]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
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+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 6.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_HALL_TAB_6</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>6</maxInt>
+            <minInt>-1</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>4</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </hall_table__6>
+        <hall_table__7>
+            <longName>Hall Table [7]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 7.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_HALL_TAB_7</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>6</maxInt>
+            <minInt>-1</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>-1</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </hall_table__7>
+        <hall_sl_erpm>
+            <longName>Sensorless ERPM Hybrid</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM above which sensorless commutation is used in hybrid mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_HALL_ERPM</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>2000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </hall_sl_erpm>
+        <foc_current_kp>
+            <longName>Current KP</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current controller proportional gain.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_CURRENT_KP</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.03</valDouble>
+            <vTxDoubleScale>100000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_current_kp>
+        <foc_current_ki>
+            <longName>Current KI</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current controller integral gain.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_CURRENT_KI</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
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+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>50</valDouble>
+            <vTxDoubleScale>100000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_current_ki>
+        <foc_f_zv>
+            <longName>Zero Vector Frequency</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The frequency at which the output toggles between the zero vectors (V0 and V7) in the space vector modulation.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The controllers and estimators run at half of this frequency. If the option &lt;span style=&quot; font-weight:600;&quot;&gt;Sample in V0 and V7&lt;/span&gt; is active the controllers and estimators run at the full zero vector frequency, but this option is only available on hardware with phase shunts.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;NOTE&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;There has been some confusion on what the zero vector frequency is referring to. It is the rate between the zero vectors V0 (when all low-side switches are on) and V7 (when all high-side switches are on).&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If you scope one of the phases you will see a signal at half the set frequency, which is what the timer runs at. That is because the motor phases will be shorted both when the signal is low and when it is high. This is one of the core concepts of space-vector modulation and how you can effectively double the switching frequency with the same amount of switching.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;There is also some frequency content at half of this frequency depending on the modulated vector, but it is mainly at the set switching frequency and this is also what matters when e.g. calculating ripple current due to motor inductance.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Some links to discussions about this:&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;https://vesc-project.com/node/3278&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;https://github.com/vedderb/bldc/pull/397&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_F_ZV</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>0.001</editorScale>
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+            <maxDouble>150000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>25000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> kHz</suffix>
+            <vTx>9</vTx>
+        </foc_f_zv>
+        <foc_dt_us>
+            <longName>Dead Time Compensation</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Compensation for dead time distortion. Makes some difference at low speed.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_DT_US</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.12</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix> µS</suffix>
+            <vTx>9</vTx>
+        </foc_dt_us>
+        <foc_encoder_inverted>
+            <longName>Encoder Inverted</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The encoder is inverted if it counts backwards while the motor is turning forwards.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_ENCODER_INVERTED</cDefine>
+            <valInt>0</valInt>
+        </foc_encoder_inverted>
+        <foc_encoder_offset>
+            <longName>Encoder Offset</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Offset between the encoder zero and motor zero points.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_ENCODER_OFFSET</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>360</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>180</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_encoder_offset>
+        <foc_encoder_ratio>
+            <longName>Encoder Ratio</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Ratio between encoder and motor. E.g. a 14 pole motor with a directly attached encoder has ratio 7.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_ENCODER_RATIO</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>7</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_encoder_ratio>
+        <foc_sensor_mode>
+            <longName>Sensor Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sensor mode for the motor.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Sensorless&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Don't use any position sensor on the motor and only rely on the observer and starting algorithm. Works well for most applications (not position control), but the start can be a bit delayed.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use an encoder on the motor shaft. Works well for position control applications such as CNC mills.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Hall Sensors&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use hall sensors with 60 or 120 degree spacing in the motor. Gives starts without any delay at all, but does not work that well for most position control applications.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;HFI&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;High Frequency Injection. Track the position down to 0 speed by injecting voltage pulses and analyzing the response of the motor. Works on most motors that have enough difference in D-axis and Q-axis inductance.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;VSS&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Vedder Sensorless Start. Use HFI just after starting the motor to resolve the initial position and set the observer state to that position. This can help the observer track the motor correctly from 0 speed. As this also is based on saturation it can help start some motors with low saliency.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;45 Deg V0V7 HFI (Silent)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A different approach to HFI that is completely silent if the zero vector frequency is high enough (maximum around 32 kHz). It is also more stable under high load when configured properly. This implementation relies on a good inductance measurement (in addition to some difference in Lq and Ld), so if it does not work well you can try adjusting the inductance 1-5 % up and down. Note that phase shunts are required to make this mode silent, otherwise the sampling has to be done at half the frequency in V0 only.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;45 Deg V0 HFI&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as above, but will only sample in V0.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Coupled V0V7 HFI (Silent)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Inject a voltage in the D axis and measure the response in the Q axis. It is much less sensitive to getting the average inductance correct as the coupling between the axes shows up without an offset in the response. It does not work as well as the 45 degree HFI under high load though. &lt;span style=&quot; font-weight:600;&quot;&gt;Credit:&lt;/span&gt; Elwin and David (mxlemming) on the VESC Discord channel.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Coupled V0 HFI&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as above, but will only sample in V0.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;NOTE:&lt;/span&gt; HFI and VSS only work when the FOC switching frequency is at or below 30 KHz.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;NOTE2:&lt;/span&gt; Some of the HFI-methods will get a division by 0 if Ld - Lq is set to 0, which can make the CPU reboot.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SENSOR_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Sensorless</enumNames>
+            <enumNames>Encoder</enumNames>
+            <enumNames>Hall Sensors</enumNames>
+            <enumNames>HFI</enumNames>
+            <enumNames>VSS</enumNames>
+            <enumNames>45 Deg V0V7 HFI (Silent)</enumNames>
+            <enumNames>45 Deg V0 HFI</enumNames>
+            <enumNames>Coupled V0V7 HFI (Silent)</enumNames>
+            <enumNames>Coupled V0 HFI</enumNames>
+        </foc_sensor_mode>
+        <foc_pll_kp>
+            <longName>Speed Tracker Kp</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed tracker proportional gain. The speed tracker estimates the motor speed by tracking the phase angle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_PLL_KP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>2000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_pll_kp>
+        <foc_pll_ki>
+            <longName>Speed Tracker Ki</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed tracker integral gain. The speed tracker estimates the motor speed by tracking the phase angle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_PLL_KI</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>30000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_pll_ki>
+        <foc_motor_l>
+            <longName>Motor Inductance (L)</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The average of LD and LQ inductance.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_MOTOR_L</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1e+06</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>7e-06</valDouble>
+            <vTxDoubleScale>1e+08</vTxDoubleScale>
+            <suffix> µH</suffix>
+            <vTx>9</vTx>
+        </foc_motor_l>
+        <foc_motor_ld_lq_diff>
+            <longName>Motor Inductance Difference (Ld - Lq)</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The difference between Ld and Lq inductance. It represents the motor saliency. This can be measured using the &lt;span style=&quot; font-style:italic;&quot;&gt;measure_ind&lt;/span&gt; terminal command, but the regular detection interface does not print it yet.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_MOTOR_LD_LQ_DIFF</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1e+06</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10</maxDouble>
+            <minDouble>-10</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1e+08</vTxDoubleScale>
+            <suffix> µH</suffix>
+            <vTx>9</vTx>
+        </foc_motor_ld_lq_diff>
+        <foc_motor_r>
+            <longName>Motor Resistance (R)</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The motor winding resistance. Should be half of what is measured between two motor wires.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_MOTOR_R</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1000</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0.015</valDouble>
+            <vTxDoubleScale>100000</vTxDoubleScale>
+            <suffix> mΩ</suffix>
+            <vTx>9</vTx>
+        </foc_motor_r>
+        <foc_motor_flux_linkage>
+            <longName>Motor Flux Linkage (λ)</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The flux linkage of the motor (λ) [mWb]&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_MOTOR_FLUX_LINKAGE</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1000</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.00245</valDouble>
+            <vTxDoubleScale>100000</vTxDoubleScale>
+            <suffix> mWb</suffix>
+            <vTx>9</vTx>
+        </foc_motor_flux_linkage>
+        <foc_observer_gain>
+            <longName>Observer Gain (x1M)</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The observer gain. If the motor does not run smoothly with the calculated value, this value can be tweaked. Try with doubling or halving it in that case.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OBSERVER_GAIN</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1e-06</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2e+10</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>9e+07</valDouble>
+            <vTxDoubleScale>0.01</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_observer_gain>
+        <foc_observer_gain_slow>
+            <longName>Observer Gain At Minimum Duty</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The observer gain scaled at minimum duty cycle. Decreasing this parameter will make observer gain lower at lower modulation, which can help tracking the motor. Setting this parameter to 1 will make the observer gain constant at all modulations.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OBSERVER_GAIN_SLOW</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.05</valDouble>
+            <vTxDoubleScale>0.01</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_observer_gain_slow>
+        <foc_observer_offset>
+            <longName>Observer Offset</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Observer offset in switching cycles.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;There is some delay between when the current ant voltage measurements are taken and when the output is applied. This will cause the observer phase to lag behind the motor phase at high speed when the zero vector frequency is low in comparison.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This parameter adds an offset to the observer phase in multiples of the zero vector frequency to compensate for that delay. The default value should be good for most hardware, but if needed this value can be fine-tuned using and encoder and/or a power analyzer.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Important Note&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Before changing this value, make sure that any phase delay is not caused by incorrect motor parameters or incorrect measurements. Only change this value if you have excluded other possible causes and you know what you are doing.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OBSERVER_OFFSET</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>-5</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>-1</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </foc_observer_offset>
+        <foc_duty_dowmramp_kp>
+            <longName>Duty Downramp Kp</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The proportional gain for the duty downramp controller. This controller is used in duty cycle mode when the duty cycle is decreased. Since this is done by limiting the modulation, very large current spikes can be caused. By using a controller these current spikes can be limited.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_DUTY_DOWNRAMP_KP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>10</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_duty_dowmramp_kp>
+        <foc_duty_dowmramp_ki>
+            <longName>Duty Downramp Ki</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The integral gain for the duty downramp controller. This controller is used in duty cycle mode when the duty cycle is decreased. Since this is done by limiting the modulation, very large current spikes can be caused. By using a controller these current spikes can be limited.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_DUTY_DOWNRAMP_KI</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>200</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_duty_dowmramp_ki>
+        <foc_start_curr_dec>
+            <longName>Start Current Decrease</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Decrease the current limit to this percentage at start. This helps starting the motor as the observer can track it easier when the current is low.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This setting will not give the full starting torque, but for some applications, such as propellers and pumps, that does not matter.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_START_CURR_DEC</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </foc_start_curr_dec>
+        <foc_start_curr_dec_rpm>
+            <longName>Start Current Decrease ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Above this ERPM the full current is available.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_START_CURR_DEC_RPM</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>400</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_start_curr_dec_rpm>
+        <foc_openloop_rpm>
+            <longName>Openloop ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM below which openloop commutation is used when running sensorless. Can be tweaked for the best startup depending on e.g. the load inertia.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OPENLOOP_RPM</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>400</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_openloop_rpm>
+        <foc_openloop_rpm_low>
+            <longName>Openloop ERPM at Min Current</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; ; font-weight:600;&quot;&gt;Rationale&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;With low current, the observer has an easier time locking onto the motor, as the `resistance_error * current` has to be low compared to the back-emf for the observer to work.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; ; font-weight:600;&quot;&gt;Functional description&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The openloop ERPM is scaled with the motor current setpoint. This is the fraction of Openloop ERPM at 0A (i.e. minimum current).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OPENLOOP_RPM_LOW</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.1</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </foc_openloop_rpm_low>
+        <foc_d_gain_scale_start>
+            <longName>D Axis Gain Scaling Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Start decreasing the D axis current controller gain at this modulation.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <valDouble>0.9</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </foc_d_gain_scale_start>
+        <foc_d_gain_scale_max_mod>
+            <longName>D Axis Gain Scaling at Max Mod</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D axis current controller gain at maximum modulation.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.2</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </foc_d_gain_scale_max_mod>
+        <foc_sl_openloop_hyst>
+            <longName>Openloop Hysteresis</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Go to openloop mode if the ERPM has been below the openloop RPM for this amount of time.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SL_OPENLOOP_HYST</cDefine>
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+            <stepDouble>0.05</stepDouble>
+            <valDouble>0.1</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> S</suffix>
+            <vTx>7</vTx>
+        </foc_sl_openloop_hyst>
+        <foc_sl_openloop_time_lock>
+            <longName>Openloop Lock Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Lock motor for this amount of time in the beginning of the open loop sequence.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SL_OPENLOOP_T_LOCK</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
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+            <stepDouble>0.05</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> S</suffix>
+            <vTx>7</vTx>
+        </foc_sl_openloop_time_lock>
+        <foc_sl_openloop_time_ramp>
+            <longName>Openloop Ramp Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
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+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Ramp up the openloop speed in the openloop sequence for this amount of time.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SL_OPENLOOP_T_RAMP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
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+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> S</suffix>
+            <vTx>7</vTx>
+        </foc_sl_openloop_time_ramp>
+        <foc_sl_openloop_time>
+            <longName>Openloop Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Stay in openloop for this amount of time after finishing the ramp.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SL_OPENLOOP_TIME</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
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+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>0.1</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> S</suffix>
+            <vTx>7</vTx>
+        </foc_sl_openloop_time>
+        <foc_sl_openloop_boost_q>
+            <longName>Openloop Current Boost</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Rationale&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-style:italic;&quot;&gt;Current boost&lt;/span&gt; can help the motor get over its initial cogging torque more easily, but it also potentially makes the start more jittery.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Functional description&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current boost in the Q-axis during the open loop procedure. &lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;For instance, if the commanded value is 1A and the boost is 10A, then it will run at `1A + 10A` for `Openloop lock time + Openloop ramp time + Openloop time` seconds. Then it will continue at 1A in closed-loop.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <stepDouble>0.5</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>7</vTx>
+        </foc_sl_openloop_boost_q>
+        <foc_sl_openloop_max_q>
+            <longName>Openloop Current Max</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Limit the current during the openloop sequence to this value. Setting the boost current higher than this value means that the openloop current is a constant value (this one).&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A negative value means that this limit is disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <editorDecimalsDouble>2</editorDecimalsDouble>
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+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>-1</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>7</vTx>
+        </foc_sl_openloop_max_q>
+        <foc_hall_table__0>
+            <longName>Hall Table [0]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 0.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <longName>Hall Table [1]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 1.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <transmittable>1</transmittable>
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 2.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <transmittable>1</transmittable>
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 3.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 4.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <transmittable>1</transmittable>
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 5.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <longName>Hall Table [6]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 6.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HALL_TAB_6</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>255</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </foc_hall_table__6>
+        <foc_hall_table__7>
+            <longName>Hall Table [7]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 7.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HALL_TAB_7</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>255</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </foc_hall_table__7>
+        <foc_hall_interp_erpm>
+            <longName>Hall Interpolation ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;ERPM above which hall sensors are interpolated.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HALL_INTERP_ERPM</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>10</stepDouble>
+            <valDouble>500</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_hall_interp_erpm>
+        <foc_sl_erpm>
+            <longName>Sensorless ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM above which sensorless commutation is used in sensored modes.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SL_ERPM</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>2500</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_sl_erpm>
+        <foc_sample_v0_v7>
+            <longName>Sample in V0 and V7</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Sample currents and voltages in both V0 and V7 of the space vector modulation, and run the control loop at twice the rate. Can be useful for high speed motors at limited switching frequency, or in order to decrease the modulation noise. Notice that this option will require twice the amount of computational power for a given switching frequency.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Note&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;This option is only valid for hardware with phase shunts, such as the VESC Six. For other shunt configurations it is ignored.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SAMPLE_V0_V7</cDefine>
+            <valInt>0</valInt>
+        </foc_sample_v0_v7>
+        <foc_sample_high_current>
+            <longName>High Current Sampling Mode</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Choose the lowest currents during sampling to derive the highest current. Since the motor currents are balanced and sum to 0, two of the phase currents can be used to derive the third one. Enabling this option will make the current measurement compare all motor currents and derive the highest one from the two lower currents. This way higher currents can be measured than the ADC gain allows by a factor of 2 / sqrt(3), or roughly 1.15. For example, for the VESC6 this increases the current measurement capability from 165A to roughly 190A.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Note&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;This option is only valid for hardware with three shunts, such as the VESC Six. For other shunt configurations it is ignored.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SAMPLE_HIGH_CURRENT</cDefine>
+            <valInt>0</valInt>
+        </foc_sample_high_current>
+        <foc_sat_comp_mode>
+            <longName>Saturation Compensation Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Stator Saturation Compensation Mode:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Disabled&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;No saturation compensation is done.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Factor&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The &lt;span style=&quot; font-style:italic;&quot;&gt;Saturation Compensation Factor&lt;/span&gt; is used to determine how much to decrease the inductance and flux linkage based on the current.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Lambda&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The decrease in flux linkage is used to make a proportional decrease in inductance. This requires that one of the observers with Lambda Compensation is used.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Lambda and Factor&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;First the lambda compensation and then the factor is used. Also requires that one of the observers with Lambda Compensation is used.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SAT_COMP_MODE</cDefine>
+            <valInt>2</valInt>
+            <enumNames>Disabled</enumNames>
+            <enumNames>Factor</enumNames>
+            <enumNames>Lambda</enumNames>
+            <enumNames>Lambda and Factor</enumNames>
+        </foc_sat_comp_mode>
+        <foc_sat_comp>
+            <longName>Saturation Compensation Factor</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Stator saturation compensation.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;When using high currents the stator of the motor can get saturated. This will change the motor parameters, making it difficult for the sensorless observer to track the rotor position. The effect is most noticeable when running the motor with high current at low speed - it will get stuck and then &amp;quot;cog&amp;quot; when open loop operation tries to restart the motor. If you observe this behavior you can try to increase this parameter. This parameter attempts to compensate for effects of stator saturation, making it possible to run motors sensorlessly even at high current and low speed.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Reasonable values for this parameters are 15 % or less. If going higher than that gives good results something else is most likely wrong in your configuration.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Consider the following:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Motors that run at low speed and high torque tend to get saturated, such as e-bike direct drive hub motors.&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Coreless motors should in theory never get saturated.&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The effect of this parameter is proportional to the maximum motor current limit, meaning that this parameter has no effect at zero current and full effect at full current. If you change the maximum motor current limit you have to adapt this parameter accordingly.&lt;/li&gt;&lt;/ul&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SAT_COMP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </foc_sat_comp>
+        <foc_temp_comp>
+            <longName>Temp Comp</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use temperature compensation for the motor resistance used by the observer. Should help at low speed when the motor temperature is far away from the temperature at which the resistance was measured.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_TEMP_COMP</cDefine>
+            <valInt>0</valInt>
+        </foc_temp_comp>
+        <foc_temp_comp_base_temp>
+            <longName>Temp Comp Base Temp</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Motor temperature at which the motor resistance was measured.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_TEMP_COMP_BASE_TEMP</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>120</maxDouble>
+            <minDouble>-120</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>25</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °C</suffix>
+            <vTx>7</vTx>
+        </foc_temp_comp_base_temp>
+        <foc_current_filter_const>
+            <longName>Current Filter Constant</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Constant for the filtered current in the FOC implementation. Will affect how fast the slow abs max current fault triggers. Range 0 to 1, where 0 is the slowest and 1 is no filtering.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_CURRENT_FILTER_CONST</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.1</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </foc_current_filter_const>
+        <foc_cc_decoupling>
+            <longName>Current Controller Decoupling</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;FOC current controller decoupling using feed forward. This will make the current controller perform better during transient conditions; it may also introduce some noise. The available modes are:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_CC_DECOUPLING_DISABLED&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Decoupling is disabled&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_CC_DECOUPLING_CROSS&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Cross decoupling between the D and Q axes is enabled.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_CC_DECOUPLING_BEMF&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Back EMF decoupling on the Q axis is enabled. This improves performance significantly if the motor speed changes rapidly, but makes the current controller depend on the speed tracker.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_CC_DECOUPLING_CROSS_BEMF&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Both options above are enabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_CC_DECOUPLING</cDefine>
+            <valInt>2</valInt>
+            <enumNames>FOC_CC_DECOUPLING_DISABLED</enumNames>
+            <enumNames>FOC_CC_DECOUPLING_CROSS</enumNames>
+            <enumNames>FOC_CC_DECOUPLING_BEMF</enumNames>
+            <enumNames>FOC_CC_DECOUPLING_CROSS_BEMF</enumNames>
+        </foc_cc_decoupling>
+        <foc_observer_type>
+            <longName>Observer Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Type of rotor position observer for field oriented control (FOC). The options are:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_OBSERVER_ORTEGA_ORIGINAL&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The observer described here:&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;a href=&quot;http://cas.ensmp.fr/~praly/Telechargement/Journaux/2010-IEEE_TPEL-Lee-Hong-Nam-Ortega-Praly-Astolfi.pdf&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;http://cas.ensmp.fr/~praly/Telechargement/Journaux/2010-IEEE_TPEL-Lee-Hong-Nam-Ortega-Praly-Astolfi.pdf&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; text-decoration: underline; color:#0000ff;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_OBSERVER_MXLEMMING&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Observer by David Molony, also known as mxlemming. This observer does not rely on the observer gain parameter, which is a significant advantage.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_OBSERVER_ORTEGA_LAMBDA_COMP&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_OBSERVER_MXLEMMING_LAMBDA_COMP&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the others, but with flux linkage tracking. The flux linkage tracker uses the observer gain for both observers, but it is less critical to get it right here as the flux linkage is mostly DC (unless the current is high and the motor starts to saturate).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OBSERVER_TYPE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>FOC_OBSERVER_ORTEGA_ORIGINAL</enumNames>
+            <enumNames>FOC_OBSERVER_MXLEMMING</enumNames>
+            <enumNames>FOC_OBSERVER_ORTEGA_LAMBDA_COMP</enumNames>
+            <enumNames>FOC_OBSERVER_MXLEMMING_LAMBDA_COMP</enumNames>
+        </foc_observer_type>
+        <foc_hfi_voltage_start>
+            <longName>HFI Start Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;HFI voltage at start to resolve ambiguity. This voltage has to cause a current that is high enough to see signs of saturation in the motor.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HFI_VOLTAGE_START</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>20</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </foc_hfi_voltage_start>
+        <foc_hfi_voltage_run>
+            <longName>HFI Run Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;HFI voltage during operation, after ambiguity has been resolved.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HFI_VOLTAGE_RUN</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>4</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </foc_hfi_voltage_run>
+        <foc_hfi_voltage_max>
+            <longName>HFI Max Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;HFI voltage during operation, at maximum current. Increasing the voltage at higher currents helps with tracking. A higher voltage makes HFI noisier and wastes more power, which is why this option allows increasing it at high motor currents when it is needed.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The HFI voltage is mapped between voltage_run and voltage_max, relative to the motor current.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HFI_VOLTAGE_MAX</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>5</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </foc_hfi_voltage_max>
+        <foc_hfi_gain>
+            <longName>HFI Gain</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Correction gain for the silent HFI mode. Higher values are better at handling sudden changes in speed, but also make the position tracking noisier.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HFI_GAIN</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>99</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.4</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </foc_hfi_gain>
+        <foc_hfi_hyst>
+            <longName>HFI Current Hysteresis</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current hysteresis for the silent HFI mode. This sets above which current magnitude the injected voltage vector changes phase. Always setting the phase opposite of the set current is best for tracking, but every phase change causes a small click that can be heard. This hysteresis reduces how often the phase is changed around 0 current at the cost of some performance.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HFI_HYST</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>2</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>7</vTx>
+        </foc_hfi_hyst>
+        <foc_sl_erpm_hfi>
+            <longName>Sensorless ERPM HFI</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;ERPM below which HFI is used.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SL_ERPM_HFI</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>2000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_sl_erpm_hfi>
+        <foc_hfi_start_samples>
+            <longName>HFI Start Samples</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Number of HFI samples to resolve ambiguity at start. Every sample takes a bit more than 0.5 ms, and no throttle can be applied during this time. The default value is barely noticeable.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HFI_START_SAMPLES</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>60000</maxInt>
+            <minInt>2</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>65</valInt>
+            <suffix></suffix>
+            <vTx>3</vTx>
+        </foc_hfi_start_samples>
+        <foc_hfi_obs_ovr_sec>
+            <longName>HFI Observer Override Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Override HFI position with observer position for this amount of time after dropping below the HFI ERPM threshold. This can prevent oscillating between the two at a transition. Setting this value too high can make HFI catch the motor 180 electrical degrees off, as the observer position might degrade too much.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HFI_OBS_OVR_SEC</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1000</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>5000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0.001</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> ms</suffix>
+            <vTx>9</vTx>
+        </foc_hfi_obs_ovr_sec>
+        <foc_hfi_samples>
+            <longName>HFI Samples</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Number of HFI samples for each motor revolution. This can't be an arbitrary number as the size of Fourier transforms and sine tables depends on it.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Fewer samples will give noisier measurements, but allows estimating the position at a higher rate. The noise can be reduced by increasing the HFI voltage.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HFI_SAMPLES</cDefine>
+            <valInt>1</valInt>
+            <enumNames>8</enumNames>
+            <enumNames>16</enumNames>
+            <enumNames>32</enumNames>
+        </foc_hfi_samples>
+        <foc_offsets_cal_on_boot>
+            <longName>Run calibration at boot</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Run calibration every boot.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_CAL_ON_BOOT</cDefine>
+            <valInt>1</valInt>
+        </foc_offsets_cal_on_boot>
+        <foc_offsets_current__0>
+            <longName>Current Offset 0</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current channel 0 offset in ADC counts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_CURRENT_0</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>8192</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>2048</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_offsets_current__0>
+        <foc_offsets_current__1>
+            <longName>Current Offset 1</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current channel 1 offset in ADC counts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_CURRENT_1</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>8192</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>2048</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_offsets_current__1>
+        <foc_offsets_current__2>
+            <longName>Current Offset 2</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current channel 2 offset in ADC counts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_CURRENT_2</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>8192</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>2048</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_offsets_current__2>
+        <foc_offsets_voltage__0>
+            <longName>Voltage Offset 0</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage channel 0 offset. This is at the ADC input, so it is not scaled with the voltage dividers.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_VOLTAGE_0</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2</maxDouble>
+            <minDouble>-2</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0005</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </foc_offsets_voltage__0>
+        <foc_offsets_voltage__1>
+            <longName>Voltage Offset 1</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage channel 1 offset. This is at the ADC input, so it is not scaled with the voltage dividers.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_VOLTAGE_1</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2</maxDouble>
+            <minDouble>-2</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0005</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </foc_offsets_voltage__1>
+        <foc_offsets_voltage__2>
+            <longName>Voltage Offset 2</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage channel 2 offset. This is at the ADC input, so it is not scaled with the voltage dividers.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_VOLTAGE_2</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2</maxDouble>
+            <minDouble>-2</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0005</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </foc_offsets_voltage__2>
+        <foc_offsets_voltage_undriven__0>
+            <longName>Voltage Offset Undriven 0</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage channel 0 offset when the motor is undriven. This is at the ADC input, so it is not scaled with the voltage dividers.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_VOLTAGE_UNDRIVEN_0</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2</maxDouble>
+            <minDouble>-2</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0005</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </foc_offsets_voltage_undriven__0>
+        <foc_offsets_voltage_undriven__1>
+            <longName>Voltage Offset Undriven 1</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage channel 1 offset when the motor is undriven. This is at the ADC input, so it is not scaled with the voltage dividers.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_VOLTAGE_UNDRIVEN_1</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2</maxDouble>
+            <minDouble>-2</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0005</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </foc_offsets_voltage_undriven__1>
+        <foc_offsets_voltage_undriven__2>
+            <longName>Voltage Offset Undriven 2</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage channel 2 offset when the motor is undriven. This is at the ADC input, so it is not scaled with the voltage dividers.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_VOLTAGE_UNDRIVEN_2</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2</maxDouble>
+            <minDouble>-2</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0005</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </foc_offsets_voltage_undriven__2>
+        <foc_phase_filter_enable>
+            <longName>Enable Phase Filters</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This enables the use of phase voltage filters on hardware that supports it. Instead of calculating the phase voltage from the input voltage and modulation, it is measured directly by low-pass filtering the power stage output. The advantage of doing so is that it eliminates dead-time distortion, which helps track the motor at very low speeds. It should also be very useful on hardware with an IGBT output stage, as it compensated for the effect of IGBT voltage drop too.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_PHASE_FILTER_ENABLE</cDefine>
+            <valInt>1</valInt>
+        </foc_phase_filter_enable>
+        <foc_phase_filter_disable_fault>
+            <longName>Disable Phase Filter Fault Code</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Disable the phase filter fault code. This can be useful if the phase filter fault seems to trigger for no reason on some difficult motors.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_PHASE_FILTER_DISABLE_FAULT</cDefine>
+            <valInt>0</valInt>
+        </foc_phase_filter_disable_fault>
+        <foc_phase_filter_max_erpm>
+            <longName>Maximum ERPM for phase filters</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use the filtered phase voltage up until this ERPM, then use the value derived from the input voltage and the modulation. The delay and attenuation from the phase filters increases with the motor speed, while the dead-time distortion becomes less significant. The delay and attenuation is partly compensated for, but at some point it is still better to derive the phase voltages from the input voltage and modulation. This parameter sets that point.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_PHASE_FILTER_MAX_ERPM</cDefine>
+            <editorDecimalsDouble>0</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>10</stepDouble>
+            <valDouble>10000</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> ERPM</suffix>
+            <vTx>9</vTx>
+        </foc_phase_filter_max_erpm>
+        <foc_mtpa_mode>
+            <longName>MTPA Algorithm Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This parameter will enable the Maximum Torque Per Amp (MTPA) algorithm that injects a negative d axis current to follow the optimum torque trajectory. This is specially valuable on Interior Permanent Magnet (IPM) motors because they have large saliency and can yield a substantial torque increase.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The available modes are:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Disabled&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This disables the MTPA algorithm.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;IQ Target&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The D-axis current is based on the set Q-axis current. This makes the target value less noisy, but relies on the current controller keeping keeping the Q-axis current close to the set value. This mode does not work well with duty cycle control.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;IQ Measured&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The D-axis current is based on the measured Q-axis current. The commanded D-axis current will be more affected by noise, but it does not rely on the Q-axis current controller to keep the current at the set value.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Note:&lt;/span&gt; Only enable this feature if you know very well what you are doing. IPM motors are not popular and injecting negative id current can increase the motor speed. If id current suddenly collapses (under a fault condition for example) the DC Bus voltage can increase well beyond the powerstage rating causing a fire and maximum braking power at the motor shaft.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_MTPA_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Disabled</enumNames>
+            <enumNames>IQ Target</enumNames>
+            <enumNames>IQ Measured</enumNames>
+        </foc_mtpa_mode>
+        <foc_fw_current_max>
+            <longName>Field Weakening Current Max</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Maximum field weakening (FW) current.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_FW_CURRENT_MAX</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </foc_fw_current_max>
+        <foc_fw_duty_start>
+            <longName>Field Weakening Duty Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Start field weakening at this fraction of maximum duty cycle. &lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_FW_DUTY_START</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>100</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0.9</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> %</suffix>
+            <vTx>7</vTx>
+        </foc_fw_duty_start>
+        <foc_fw_q_current_factor>
+            <longName>Q Axis Current Factor</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Give the q axis current this much of the field weakening current as braking current (opposite to the current direction). This helps slow the motor down when commanding 0 current in case the position has an offset and the field weakening current contributes with torque.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_FW_Q_CURRENT_FACTOR</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>100</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0.02</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> %</suffix>
+            <vTx>7</vTx>
+        </foc_fw_q_current_factor>
+        <foc_fw_ramp_time>
+            <longName>Field Weakening Ramp Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum time to ramp the field weakening current. Setting this to 0 will make the field weakening respond instantly (limited by the D axis current controller).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_FW_RAMP_TIME</cDefine>
+            <editorDecimalsDouble>0</editorDecimalsDouble>
+            <editorScale>1000</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>30</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>10</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> ms</suffix>
+            <vTx>7</vTx>
+        </foc_fw_ramp_time>
+        <foc_speed_soure>
+            <longName>Speed Tracker Position Source</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Position source for the speed trackers.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Corrected Position&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use the derived motor control position from sensors, HFI and observer.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Observer&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use the observer position. This is usually less noisy than hall sensors or hfi, but it can drift slowly at 0 speed.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SPEED_SOURCE</cDefine>
+            <valInt>1</valInt>
+            <enumNames>Corrected Position</enumNames>
+            <enumNames>Observer</enumNames>
+        </foc_speed_soure>
+        <gpd_buffer_notify_left>
+            <longName>Buffer Notification Length</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Send notification when the sample fifo buffer has less than this amount of samples left.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_GPD_BUFFER_NOTIFY_LEFT</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>2048</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>200</valInt>
+            <suffix></suffix>
+            <vTx>4</vTx>
+        </gpd_buffer_notify_left>
+        <gpd_buffer_interpol>
+            <longName>Buffer Sampling Interpolation</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Interpolate buffer samples, meaning that they are used for several pwm cycles. This number defines for how many samples a sample is reused. 0 means that a new sample is picked every cycle, 1 means that one sample is used twice etc.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_GPD_BUFFER_INTERPOL</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>2048</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>0</valInt>
+            <suffix></suffix>
+            <vTx>4</vTx>
+        </gpd_buffer_interpol>
+        <gpd_current_filter_const>
+            <longName>Current Filter Constant</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Constant for the filtered current in the GPD implementation. Will affect how fast the slow abs max current fault triggers. Range 0 to 1, where 0 is the slowest and 1 is no filtering.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_GPD_CURRENT_FILTER_CONST</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.1</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </gpd_current_filter_const>
+        <gpd_current_kp>
+            <longName>Current KP</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current controller proportional gain.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_GPD_CURRENT_KP</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.03</valDouble>
+            <vTxDoubleScale>100000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </gpd_current_kp>
+        <gpd_current_ki>
+            <longName>Current KI</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current controller integral gain.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_GPD_CURRENT_KI</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>50</valDouble>
+            <vTxDoubleScale>100000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </gpd_current_ki>
+        <sp_pid_loop_rate>
+            <longName>PID Loop Rate</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Rate at which the position and speed controllers run.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SP_PID_LOOP_RATE</cDefine>
+            <valInt>5</valInt>
+            <enumNames>25 Hz</enumNames>
+            <enumNames>50 Hz</enumNames>
+            <enumNames>100 Hz</enumNames>
+            <enumNames>250 Hz</enumNames>
+            <enumNames>500 Hz</enumNames>
+            <enumNames>1000 Hz</enumNames>
+            <enumNames>2500 Hz</enumNames>
+            <enumNames>5000 Hz</enumNames>
+            <enumNames>10000 Hz</enumNames>
+        </sp_pid_loop_rate>
+        <s_pid_kp>
+            <longName>Speed PID Kp</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Proportional gain for the speed controller. FOC and BLDC need different parameters because their speed controllers differ.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_S_PID_KP</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0001</stepDouble>
+            <valDouble>0.004</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </s_pid_kp>
+        <s_pid_ki>
+            <longName>Speed PID Ki</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Integral gain for the speed controller. FOC and BLDC need different parameters because their speed controllers differ.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_S_PID_KI</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0001</stepDouble>
+            <valDouble>0.004</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </s_pid_ki>
+        <s_pid_kd>
+            <longName>Speed PID Kd</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Derivative gain for the speed controller. FOC and BLDC need different parameters because their speed controllers differ.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_S_PID_KD</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0001</stepDouble>
+            <valDouble>0.0001</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </s_pid_kd>
+        <s_pid_kd_filter>
+            <longName>Speed PID Kd Filter</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Filter on derivative term for speed controller. The range is 0 to 1, where 0 is the maximum amount of filtering (infinite) and 1 is no filtering.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_S_PID_KD_FILTER</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.2</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </s_pid_kd_filter>
+        <s_pid_min_erpm>
+            <longName>Minimum ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM below which the speed controller is disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_S_PID_MIN_RPM</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>900</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </s_pid_min_erpm>
+        <s_pid_allow_braking>
+            <longName>Allow Braking</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Allow the speed controller to apply braking current. In general this option should be enabled, but for some applications it might make sense to disable braking during speed control.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_S_PID_ALLOW_BRAKING</cDefine>
+            <valInt>1</valInt>
+        </s_pid_allow_braking>
+        <s_pid_ramp_erpms_s>
+            <longName>Ramp eRPMs per second</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;This allows to control how fast the input of the speed command is allowed to increase each second. If user does not want to use this ramp, just apply a negative value such as -1.0. Only positive values are considered.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_S_PID_RAMP_ERPMS_S</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>-1</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>25000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </s_pid_ramp_erpms_s>
+        <p_pid_kp>
+            <longName>Position PID Kp</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Proportional gain for the position controller.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_P_PID_KP</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.001</stepDouble>
+            <valDouble>0.03</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </p_pid_kp>
+        <p_pid_ki>
+            <longName>Position PID Ki</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Integral gain for the position controller.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_P_PID_KI</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.001</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </p_pid_ki>
+        <p_pid_kd>
+            <longName>Position PID Kd</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Derivative gain for the position controller.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_P_PID_KD</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0001</stepDouble>
+            <valDouble>0.0004</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </p_pid_kd>
+        <p_pid_offset>
+            <longName>Position PID Offset Angle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Angle offset for the position controller.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_P_PID_OFFSET</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>360</maxDouble>
+            <minDouble>-360</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </p_pid_offset>
+        <p_pid_kd_proc>
+            <longName>Position PID Kd Process</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Derivative gain for the position controller. This derivative term is applied on the process variable (position_now) only and not on the error term (position_set - position_now). This way oscillations can be dampened without amplifying control signal input.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_P_PID_KD_PROC</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0001</stepDouble>
+            <valDouble>0.0004</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </p_pid_kd_proc>
+        <p_pid_kd_filter>
+            <longName>Position PID Kd Filter</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Filter on derivative term for position controller. The range is 0 to 1, where 0 is the maximum amount of filtering (infinite) and 1 is no filtering.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_P_PID_KD_FILTER</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.2</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </p_pid_kd_filter>
+        <p_pid_ang_div>
+            <longName>Position Angle Division</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Angle division for the position controller. Can be used to map one control rotation to several motor rotations.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_P_PID_ANG_DIV</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>100000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </p_pid_ang_div>
+        <p_pid_gain_dec_angle>
+            <longName>Gain Decrease Angle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Decrease position PID-gains when the errors is below this angle in electrical degrees. Helps at low speed when using low resolution encoders, such as hall sensors. A value of around 300 seems to work ok with hall sensors.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_P_PID_GAIN_DEC_ANGLE</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>7</vTx>
+        </p_pid_gain_dec_angle>
+        <cc_startup_boost_duty>
+            <longName>Startup boost</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Startup boost in current control. Essentially defines the lowest duty cycle to be used in current control mode, to give a bit more punch when starting.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_CC_STARTUP_BOOST_DUTY</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.005</stepDouble>
+            <valDouble>0.01</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </cc_startup_boost_duty>
+        <cc_min_current>
+            <longName>Minimum Current</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum current used by the current controller. Commanded currents below this value will release the motor.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_CC_MIN_CURRENT</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0.05</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </cc_min_current>
+        <cc_gain>
+            <longName>Current Controller Gain</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Gain for the BLDC and DC current controller. Should be lower for low inductance motors.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_CC_GAIN</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0005</stepDouble>
+            <valDouble>0.0046</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </cc_gain>
+        <cc_ramp_step_max>
+            <longName>Current Control Ramp Step Max</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum duty cycle ramp step in current control mode for DC and BLDC motors.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_CC_RAMP_STEP</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.005</stepDouble>
+            <valDouble>0.04</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </cc_ramp_step_max>
+        <m_fault_stop_time_ms>
+            <longName>Fault Stop Time</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Amount of time to leave the motor disabled after a fault code.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_FAULT_STOP_TIME</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>30000000</maxInt>
+            <minInt>-1</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>500</stepInt>
+            <valInt>500</valInt>
+            <suffix> ms</suffix>
+            <vTx>6</vTx>
+        </m_fault_stop_time_ms>
+        <m_duty_ramp_step>
+            <longName>Duty Ramp Step Max</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum duty cycle ramp step for DC and BLDC motors.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_RAMP_STEP</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.005</stepDouble>
+            <valDouble>0.02</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </m_duty_ramp_step>
+        <m_current_backoff_gain>
+            <longName>Current Backoff Gain</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Gain for the BLDC and DC current backoff. Used to limit the current in duty cycle mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_CURRENT_BACKOFF_GAIN</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>50</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.5</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </m_current_backoff_gain>
+        <m_encoder_counts>
+            <longName>Encoder counts</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600; font-style:italic;&quot;&gt;ABI Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Number of counts for the A-B-Index encoder. This usually is the encoder resolution times 4, since every edge in the quadrature signal is counted. This setting only matters when using an ABI encoder.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600; font-style:italic;&quot;&gt;BISSC Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Number of bit for the BISSC encoder. This is the encoder resolution bit number for monoturn encoder.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_ENCODER_COUNTS</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>30000000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>8192</valInt>
+            <suffix></suffix>
+            <vTx>5</vTx>
+        </m_encoder_counts>
+        <m_encoder_sin_amp>
+            <longName>Sine Amplitude</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Amplitude of the sine-input in volts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_ENCODER_SIN_AMP</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2</maxDouble>
+            <minDouble>0.01</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </m_encoder_sin_amp>
+        <m_encoder_cos_amp>
+            <longName>Cosine Amplitude</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Amplitude of the cosine-input in volts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_ENCODER_COS_AMP</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2</maxDouble>
+            <minDouble>0.01</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </m_encoder_cos_amp>
+        <m_encoder_sin_offset>
+            <longName>Sine Offset</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sine offset in volts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_ENCODER_SIN_OFFSET</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>1.65</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </m_encoder_sin_offset>
+        <m_encoder_cos_offset>
+            <longName>Cosine Offset</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Cosine offset in volts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_ENCODER_COS_OFFSET</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>1.65</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </m_encoder_cos_offset>
+        <m_encoder_sincos_filter_constant>
+            <longName>Sin/Cos Filter Constant</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sin/Cos Encoder low pass filter constant. Will affect the ratio between lag and noise on the encoder position feedback. Range 0 to 1, where 0 has the lowest noise and most phase lag, and 1 has no lag and unfiltered noise.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_ENCODER_SINCOS_FILTER</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.5</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </m_encoder_sincos_filter_constant>
+        <m_encoder_sincos_phase_correction>
+            <longName>Sin/Cos Phase Correction</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sin/Cos Phase error compensation in deg. Some sin/cos encoders do not output perfect 90° phase between sin and cos signals. This parameter allows for compensating a phase error between sin and cos signals.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_ENCODER_SINCOS_PHASE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>45</maxDouble>
+            <minDouble>-45</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>7</vTx>
+        </m_encoder_sincos_phase_correction>
+        <m_sensor_port_mode>
+            <longName>Sensor Port Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Mode for the sensor port. Can be changed for compatibility with different rotor position sensors. Notice that this setting does not have any impact when running sensorless. &lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The modes are:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Hall Sensors&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The motor has hall sensors built in which give a position resolution of 120 degrees.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ABI Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A rotary encoder with A-B-Index output. Notice that this encoder does not help until the index pulse is found, so when running FOC open loop mode will be used for up to one mechanical revolution to find the index position when trying to run a motor for the first time after a power cycle.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Notice that you also have to set the number of encoder counts in order to use this type of encoder. This usually is the number of pulses per revolution times 4, since every edge of both pulse trains is counted.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;AS5047 Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;An AS5047 magnetic encoder connected over SPI. This one provides absolute positions from start, but tends to have a bit of nonlinearity.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;AS5X47U Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;An AS5147U or AS5247U magnetic encoder connected over SPI. It is similar to the AS5047 but with additional safety features making it capable of automotive safety levels. It must be connected to SPI in the COMM port. To use this encoder, you have to make sure that no app uses UART, I2C, ADC2, or ADC3.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;SIN/COS Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A Sin/Cos encoder is a position feedback device similar to a quadrature encoder, except instead of outputting digital pulses, it outputs analog voltages with sinusoidal shapes offset by 90°. Provides absolute positions from the start, but its sensitive to EMI and requires special filtering,  transient protections and shielded wiring.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TS5700N8501 Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This encoder uses RS485, so it has to be connected to the COMM port. A RS485-transceiver such as the &lt;span style=&quot; font-family:'sans-serif';&quot;&gt;ADM485 is required, where RX and TX are used as the data lines. ADC1 is used to trigger between RX and TX, which is needed as the communication is half duplex. To use this encoder, you have to make sure that no app uses UART or ADC1.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'sans-serif';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TS5700N8501 Encoder Multiturn&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as above, but uses the multiturn function. The angle is divided by 10000, thus can be used for up to 10000 revolutions. The position PID parameters need to be increased by a factor of around 10000 for this to work similarly to the single turn mode. Note that this is not a good implementation and needs improvement in the future. 180 degrees PID setpoint corresponds to multiturn position 0.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'sans-serif';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;MT6816 Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A magnetic encoder using a high speed SPI communication. Provides absolute position from start. It has to be connected to a hardware-based SPI peripheral.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;BISSC Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This encoder uses  RS422, so it has to be connected to the COMM port for high speed communication. A RS422-transceiver such as the MAX490 is required, where CLK and MISO are used as clock and data input lines. To use this encoder, you have to make sure that no app uses UART or ADC1. The ABI resolution field is used to set the BISSC encoder accuracy: 2^(BissC Resolution)&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TLE5102 Encoder&lt;/span&gt; &lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A magnetic encoder using the bidirectional SSC protocol. Provides absolute position from start and error protected communication. Currently both “SSC SW” and “SSC HW” use software bitbanging. “SSC SW” uses the hall connector pins which must not have filters. “SSC HW” uses the 7-8 pin adc/uart connector. Recommend 5v sensor power.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Wires must be shielded and/or run together or you will get communication errors.&lt;br /&gt;&lt;br /&gt;“SSC SW” Connections: H1 = SCK, H2 = DATA , H3 = CS &lt;br /&gt;“SSC HW” Connections: ADC1 = SCK, TX = DATA , NSS = CS&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Custom Encoder&lt;/span&gt; &lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This means that a native library is loaded that handles reading of the encoder and provides the decoded angle.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_SENSOR_PORT_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Hall Sensors</enumNames>
+            <enumNames>ABI Encoder</enumNames>
+            <enumNames>AS5047 Encoder</enumNames>
+            <enumNames>AD2S1205 Resolver</enumNames>
+            <enumNames>Sin/Cos Encoder</enumNames>
+            <enumNames>TS5700N8501 Encoder</enumNames>
+            <enumNames>TS5700N8501 Encoder (Multiturn)</enumNames>
+            <enumNames>MT6816 Encoder (SPI)</enumNames>
+            <enumNames>AS5X47U Encoder (SPI)</enumNames>
+            <enumNames>BISSC Encoder (SPI)</enumNames>
+            <enumNames>TLE5012 Encoder (SSC SW)</enumNames>
+            <enumNames>TLE5012 Encoder (SSC HW)</enumNames>
+            <enumNames>Custom Encoder</enumNames>
+        </m_sensor_port_mode>
+        <m_invert_direction>
+            <longName>Invert Motor Direction</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Invert the motor direction. This option can be used to make the motor turn in the opposite direction. All state and control commands in &lt;span style=&quot; font-weight:600;&quot;&gt;mc_interface&lt;/span&gt; will respect this setting, so it should work as well as swithcing two motor cables for all applications.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_INVERT_DIRECTION</cDefine>
+            <valInt>0</valInt>
+        </m_invert_direction>
+        <m_drv8301_oc_mode>
+            <longName>DRV8301 OC Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The mode for the over current protection feature of the DRV8301. The over current protection in the DRV8301 works by measuring the voltage drop across the MOSFETs and shuts them off of it exceeds a configurable limit.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Notice&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This setting only has impact on hardware with the DRV8301&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_DRV8301_OC_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Current Limit</enumNames>
+            <enumNames>OC Latch Shutdown</enumNames>
+            <enumNames>Report Only</enumNames>
+            <enumNames>Disabled</enumNames>
+        </m_drv8301_oc_mode>
+        <m_drv8301_oc_adj>
+            <longName>DRV8301 OC Adjustment</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The threshold for the over current protection feature of the DRV8301. Lower values correspond to lower currents. See the datasheet for more information about this setting.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Notice&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This setting only has impact on hardware with the DRV8301&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_DRV8301_OC_ADJ</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>31</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>16</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </m_drv8301_oc_adj>
+        <m_bldc_f_sw_min>
+            <longName>Minimum Switching Frequency</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The minimum switching frequency in BLDC mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_BLDC_F_SW_MIN</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>0.001</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>40000</maxDouble>
+            <minDouble>3000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>3000</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> kHz</suffix>
+            <vTx>9</vTx>
+        </m_bldc_f_sw_min>
+        <m_bldc_f_sw_max>
+            <longName>Maximum Switching Frequency</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The maximum switching frequency in BLDC mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_BLDC_F_SW_MAX</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>0.001</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>40000</maxDouble>
+            <minDouble>3000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>35000</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> kHz</suffix>
+            <vTx>9</vTx>
+        </m_bldc_f_sw_max>
+        <m_dc_f_sw>
+            <longName>Switching Frequency</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The switching frequency in DC mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_DC_F_SW</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>0.001</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>25000</maxDouble>
+            <minDouble>3000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>25000</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> kHz</suffix>
+            <vTx>9</vTx>
+        </m_dc_f_sw>
+        <m_ntc_motor_beta>
+            <longName>Beta Value for Motor Thermistor</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Beta Value for Motor Thermistor.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_NTC_MOTOR_BETA</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>100</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>3380</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> K</suffix>
+            <vTx>9</vTx>
+        </m_ntc_motor_beta>
+        <m_out_aux_mode>
+            <longName>Auxiliary Output Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Auxiliary output mode. Can be used to e.g. activate a relay after a certain delay for bus capacitor precharging.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_OUT_AUX_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Off</enumNames>
+            <enumNames>On after 2 seconds</enumNames>
+            <enumNames>On after 5 seconds</enumNames>
+            <enumNames>On after 10 seconds</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>On when running</enumNames>
+            <enumNames>On when not running</enumNames>
+            <enumNames>Temp motor &gt; 50 C</enumNames>
+            <enumNames>Temp mosfet &gt; 50 C</enumNames>
+            <enumNames>Temp motor &gt; 70 C</enumNames>
+            <enumNames>Temp mosfet &gt; 70 C</enumNames>
+            <enumNames>Temp motor or mosfet &gt; 50 C</enumNames>
+            <enumNames>Temp motor or mosfet &gt; 70 C</enumNames>
+        </m_out_aux_mode>
+        <m_motor_temp_sens_type>
+            <longName>Motor Temperature Sensor Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Motor temperature sensor type. Most small hobby motors have a 10K NTC thermistor, whereas some larger motors have 1K PTC thermistors (such as the KTY84).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_MOTOR_TEMP_SENS_TYPE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>NTC 10K at 25°C</enumNames>
+            <enumNames>PTC 1K at 100 °C</enumNames>
+            <enumNames>KTY83/122</enumNames>
+            <enumNames>NTC 100K at 25°C</enumNames>
+            <enumNames>KTY84/130</enumNames>
+            <enumNames>NTC Custom</enumNames>
+            <enumNames>PTC Custom</enumNames>
+            <enumNames>PT1000</enumNames>
+            <enumNames>Disabled</enumNames>
+        </m_motor_temp_sens_type>
+        <m_ptc_motor_coeff>
+            <longName>Coefficient for PTC Motor Thermistor</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Coefficient for PTC Motor Thermistor. Unit: %/K&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_PTC_MOTOR_COEFF</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0.05</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.61</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> %/K</suffix>
+            <vTx>9</vTx>
+        </m_ptc_motor_coeff>
+        <m_ntcx_ptcx_res>
+            <longName>Custom NTC/PTC Resistance</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Resistance of custom NTC/PTC resistor.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_NTCX_PTCX_RES</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>0.001</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>200000</maxDouble>
+            <minDouble>100</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>10000</valDouble>
+            <vTxDoubleScale>0.1</vTxDoubleScale>
+            <suffix> kΩ</suffix>
+            <vTx>7</vTx>
+        </m_ntcx_ptcx_res>
+        <m_ntcx_ptcx_temp_base>
+            <longName>Custom NTC/PTC Base Temperature</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Base temperature of custom NTC/PTC resistor.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_NTCX_PTCX_BASE_TEMP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500</maxDouble>
+            <minDouble>-274</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>25</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix> °C</suffix>
+            <vTx>7</vTx>
+        </m_ntcx_ptcx_temp_base>
+        <m_hall_extra_samples>
+            <longName>Hall Sensor Extra Samples</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Read the hall sensor port this many extra samples and use a median filter. Increasing this number will reduce noise on the hall sensor readings, but makes the motor control interrupt take longer and thus limits the maximum switching frequency.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_HALL_EXTRA_SAMPLES</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>99</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>1</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </m_hall_extra_samples>
+        <m_batt_filter_const>
+            <longName>Battery Filter Constant</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Battery Level Filtering. The higher this number is the more the battery level is filtered. Too little filtering will make the battery level affected by the power draw and too much filtering will prevent the battery level to keep up with changes.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_BATT_FILTER_CONST</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>99</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>1</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>1</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </m_batt_filter_const>
+        <si_motor_poles>
+            <longName>Motor Poles</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Motor pole count. Most outrunners have 14 poles. Inrunners usually have 2 or 4 poles. The motor pole count is required for speed and travel distance calculation.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SI_MOTOR_POLES</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>254</maxInt>
+            <minInt>2</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>2</stepInt>
+            <valInt>14</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </si_motor_poles>
+        <si_gear_ratio>
+            <longName>Gear Ratio</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Gear ratio. For example, if the motor has a 12 tooth pulley and the wheel has a 36 tooth pulley, the gear ratio is:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;36 / 12 = &lt;span style=&quot; font-weight:600;&quot;&gt;3.0&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SI_GEAR_RATIO</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>9999</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>3</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </si_gear_ratio>
+        <si_wheel_diameter>
+            <longName>Wheel Diameter</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Wheel diameter, in mm.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SI_WHEEL_DIAMETER</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1000</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>9999</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0.083</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> mm</suffix>
+            <vTx>9</vTx>
+        </si_wheel_diameter>
+        <si_battery_type>
+            <longName>Battery Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Battery Type&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;BATTERY_TYPE_LIION_3_0__4_2&lt;/span&gt;,&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Lithoium ion, voltage range: 3.0 to 4.2&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;BATTERY_TYPE_LIIRON_2_6__3_6&lt;/span&gt;,&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Lithoium iron phosphate, voltage range: 2.6 to 3.6&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;BATTERY_TYPE_LEAD_ACID&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Lead Acid, voltage range: 2.1 to 2.36&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SI_BATTERY_TYPE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>BATTERY_TYPE_LIION_3_0__4_2</enumNames>
+            <enumNames>BATTERY_TYPE_LIIRON_2_6__3_6</enumNames>
+            <enumNames>BATTERY_TYPE_LEAD_ACID</enumNames>
+        </si_battery_type>
+        <si_battery_cells>
+            <longName>Battery Cells Series</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Battery cells in series.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SI_BATTERY_CELLS</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>1</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>3</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </si_battery_cells>
+        <si_battery_ah>
+            <longName>Battery Capacity</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Battery capacity in ampere hours.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SI_BATTERY_AH</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>6</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> Ah</suffix>
+            <vTx>9</vTx>
+        </si_battery_ah>
+        <si_motor_nl_current>
+            <longName>Motor No Load Current</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;No load current for the motor. Can be measured by running the motor at around 50% duty cycle without load and noting the motor current draw.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The no load current can be used in the motor comparison tool for calculating efficiencies and comparing different motors, gear ratios etc.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SI_MOTOR_NL_CURRENT</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>999</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </si_motor_nl_current>
+        <motor_brand>
+            <longName>Motor Brand</longName>
+            <type>3</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The motor brand, e.g. Turnigy.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <valString>Unnamed</valString>
+            <maxLen>0</maxLen>
+        </motor_brand>
+        <motor_model>
+            <longName>Motor Model</longName>
+            <type>3</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The motor model, e.g. 6374 168KV.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <valString>Not Specified</valString>
+            <maxLen>0</maxLen>
+        </motor_model>
+        <motor_weight>
+            <longName>Motor Weight</longName>
+            <type>1</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The weight of the motor in grams.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> g</suffix>
+            <vTx>9</vTx>
+        </motor_weight>
+        <motor_sensor_type>
+            <longName>Position Sensor</longName>
+            <type>4</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Does this motor come with some kind of position sensor?&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <valInt>0</valInt>
+            <enumNames>No sensor</enumNames>
+            <enumNames>Hall Sensors</enumNames>
+            <enumNames>ABI Encoder</enumNames>
+            <enumNames>AS5047 Encoder</enumNames>
+            <enumNames>AS5X47U Encoder</enumNames>
+            <enumNames>Other Sensor</enumNames>
+        </motor_sensor_type>
+        <motor_description>
+            <longName>Motor Description</longName>
+            <type>3</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;This is an editor where a description can be stored for your motor configuration. Images can also be inserted. Notice that this information is not written to the VESC, so it has to be stored in an XML file.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <valString>A motor description can be edited here.</valString>
+            <maxLen>0</maxLen>
+        </motor_description>
+        <motor_quality_bearings>
+            <longName>Bearing Quality</longName>
+            <type>2</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Motor bearing quality. 0 is neutral/unknown, negative is bad and positive is good.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>5</maxInt>
+            <minInt>-5</minInt>
+            <showDisplay>1</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>0</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </motor_quality_bearings>
+        <motor_quality_magnets>
+            <longName>Magnet Quality</longName>
+            <type>2</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Motor magnet quality. 0 is neutral/unknown, negative is bad and positive is good.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>5</maxInt>
+            <minInt>-5</minInt>
+            <showDisplay>1</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>0</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </motor_quality_magnets>
+        <motor_quality_construction>
+            <longName>Construction Quality</longName>
+            <type>2</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Motor construction quality. 0 is neutral/unknown, negative is bad and positive is good.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>5</maxInt>
+            <minInt>-5</minInt>
+            <showDisplay>1</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>0</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </motor_quality_construction>
+        <motor_quality_description>
+            <longName>Quality Description</longName>
+            <type>3</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A text summary of the motor quality.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <valString>Some comments about the motor quality. Images can be added as well.</valString>
+            <maxLen>0</maxLen>
+        </motor_quality_description>
+        <bms.type>
+            <longName>BMS Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Type of BMS. This determines how BMS-related messages on the CAN-bus are interpreted. Options are:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;None&lt;/span&gt;:&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;No BMS is used. All messages on the CAN-bus are ignored by the BMS module.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;VESC BMS:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC BMS is used.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_BMS_TYPE</cDefine>
+            <valInt>1</valInt>
+            <enumNames>None</enumNames>
+            <enumNames>VESC BMS</enumNames>
+        </bms.type>
+        <bms.limit_mode>
+            <longName>BMS Limit Mode</longName>
+            <type>6</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Choose how to limit the motor current based on data from the BMS.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Overtemp&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Decrease the input and regen current as the battery gets to hot.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;SOC&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Decrease the input current as the state of charge (SOC) gets too low.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_BMS_LIMIT_MODE</cDefine>
+            <valInt>3</valInt>
+            <enumNames>Overtemp</enumNames>
+            <enumNames>SOC</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+        </bms.limit_mode>
+        <bms.t_limit_start>
+            <longName>Temperature Limit Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The battery temperature above which battery current starts to get reduced.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;If there is more than one BMS on the CAN-bus, the one with the highest value will be used.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_BMS_T_LIMIT_START</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>99</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>45</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °C</suffix>
+            <vTx>7</vTx>
+        </bms.t_limit_start>
+        <bms.t_limit_end>
+            <longName>Temperature Limit End</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The battery temperature above which battery current is not allowed and a fault is thrown.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;If there is more than one BMS on the CAN-bus, the one with the highest value will be ued.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_BMS_T_LIMIT_END</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>99</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>65</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °C</suffix>
+            <vTx>7</vTx>
+        </bms.t_limit_end>
+        <bms.soc_limit_start>
+            <longName>SOC Limit Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The battery state of charge (SOC) below which battery current starts to get reduced.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;If there is more than one BMS on the CAN-bus, the one with the lowest value will be ued.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_BMS_SOC_LIMIT_START</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.05</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </bms.soc_limit_start>
+        <bms.soc_limit_end>
+            <longName>SOC Limit End</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The battery state of charge (SOC) below which battery current is not allowed anymore.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If there is more than one BMS on the CAN-bus, the one with the lowest value will be ued.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_BMS_SOC_LIMIT_END</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </bms.soc_limit_end>
+        <bms.fwd_can_mode>
+            <longName>Forward CAN to Local</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Forward CAN-frames to local device as they are received. This is useful when many BMSes are connected on a CAN-bus to avoid polling the state from each one of them.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This can cause a lot of data if there are many BMSes on the CAN-bus, so it is recommended to only do it over the USB-connection.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Options:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Disabled&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This function is disabled.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;USB Only&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Only forward frames to device connected over USB.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Any Interface&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Forward frames to device connected using any interface.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_BMS_FWD_CAN_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Disabled</enumNames>
+            <enumNames>USB Only</enumNames>
+            <enumNames>Any Interface</enumNames>
+        </bms.fwd_can_mode>
+    </Params>
+    <SerOrder>
+        <ser>pwm_mode</ser>
+        <ser>comm_mode</ser>
+        <ser>motor_type</ser>
+        <ser>sensor_mode</ser>
+        <ser>l_current_max</ser>
+        <ser>l_current_min</ser>
+        <ser>l_in_current_max</ser>
+        <ser>l_in_current_min</ser>
+        <ser>l_abs_current_max</ser>
+        <ser>l_min_erpm</ser>
+        <ser>l_max_erpm</ser>
+        <ser>l_erpm_start</ser>
+        <ser>l_max_erpm_fbrake</ser>
+        <ser>l_max_erpm_fbrake_cc</ser>
+        <ser>l_min_vin</ser>
+        <ser>l_max_vin</ser>
+        <ser>l_battery_cut_start</ser>
+        <ser>l_battery_cut_end</ser>
+        <ser>l_slow_abs_current</ser>
+        <ser>l_temp_fet_start</ser>
+        <ser>l_temp_fet_end</ser>
+        <ser>l_temp_motor_start</ser>
+        <ser>l_temp_motor_end</ser>
+        <ser>l_temp_accel_dec</ser>
+        <ser>l_min_duty</ser>
+        <ser>l_max_duty</ser>
+        <ser>l_watt_max</ser>
+        <ser>l_watt_min</ser>
+        <ser>l_current_max_scale</ser>
+        <ser>l_current_min_scale</ser>
+        <ser>l_duty_start</ser>
+        <ser>sl_min_erpm</ser>
+        <ser>sl_min_erpm_cycle_int_limit</ser>
+        <ser>sl_max_fullbreak_current_dir_change</ser>
+        <ser>sl_cycle_int_limit</ser>
+        <ser>sl_phase_advance_at_br</ser>
+        <ser>sl_cycle_int_rpm_br</ser>
+        <ser>sl_bemf_coupling_k</ser>
+        <ser>hall_table__0</ser>
+        <ser>hall_table__1</ser>
+        <ser>hall_table__2</ser>
+        <ser>hall_table__3</ser>
+        <ser>hall_table__4</ser>
+        <ser>hall_table__5</ser>
+        <ser>hall_table__6</ser>
+        <ser>hall_table__7</ser>
+        <ser>hall_sl_erpm</ser>
+        <ser>foc_current_kp</ser>
+        <ser>foc_current_ki</ser>
+        <ser>foc_f_zv</ser>
+        <ser>foc_dt_us</ser>
+        <ser>foc_encoder_inverted</ser>
+        <ser>foc_encoder_offset</ser>
+        <ser>foc_encoder_ratio</ser>
+        <ser>foc_sensor_mode</ser>
+        <ser>foc_pll_kp</ser>
+        <ser>foc_pll_ki</ser>
+        <ser>foc_motor_l</ser>
+        <ser>foc_motor_ld_lq_diff</ser>
+        <ser>foc_motor_r</ser>
+        <ser>foc_motor_flux_linkage</ser>
+        <ser>foc_observer_gain</ser>
+        <ser>foc_observer_gain_slow</ser>
+        <ser>foc_observer_offset</ser>
+        <ser>foc_duty_dowmramp_kp</ser>
+        <ser>foc_duty_dowmramp_ki</ser>
+        <ser>foc_start_curr_dec</ser>
+        <ser>foc_start_curr_dec_rpm</ser>
+        <ser>foc_openloop_rpm</ser>
+        <ser>foc_openloop_rpm_low</ser>
+        <ser>foc_d_gain_scale_start</ser>
+        <ser>foc_d_gain_scale_max_mod</ser>
+        <ser>foc_sl_openloop_hyst</ser>
+        <ser>foc_sl_openloop_time_lock</ser>
+        <ser>foc_sl_openloop_time_ramp</ser>
+        <ser>foc_sl_openloop_time</ser>
+        <ser>foc_sl_openloop_boost_q</ser>
+        <ser>foc_sl_openloop_max_q</ser>
+        <ser>foc_hall_table__0</ser>
+        <ser>foc_hall_table__1</ser>
+        <ser>foc_hall_table__2</ser>
+        <ser>foc_hall_table__3</ser>
+        <ser>foc_hall_table__4</ser>
+        <ser>foc_hall_table__5</ser>
+        <ser>foc_hall_table__6</ser>
+        <ser>foc_hall_table__7</ser>
+        <ser>foc_hall_interp_erpm</ser>
+        <ser>foc_sl_erpm</ser>
+        <ser>foc_sample_v0_v7</ser>
+        <ser>foc_sample_high_current</ser>
+        <ser>foc_sat_comp_mode</ser>
+        <ser>foc_sat_comp</ser>
+        <ser>foc_temp_comp</ser>
+        <ser>foc_temp_comp_base_temp</ser>
+        <ser>foc_current_filter_const</ser>
+        <ser>foc_cc_decoupling</ser>
+        <ser>foc_observer_type</ser>
+        <ser>foc_hfi_voltage_start</ser>
+        <ser>foc_hfi_voltage_run</ser>
+        <ser>foc_hfi_voltage_max</ser>
+        <ser>foc_hfi_gain</ser>
+        <ser>foc_hfi_hyst</ser>
+        <ser>foc_sl_erpm_hfi</ser>
+        <ser>foc_hfi_start_samples</ser>
+        <ser>foc_hfi_obs_ovr_sec</ser>
+        <ser>foc_hfi_samples</ser>
+        <ser>foc_offsets_cal_on_boot</ser>
+        <ser>foc_offsets_current__0</ser>
+        <ser>foc_offsets_current__1</ser>
+        <ser>foc_offsets_current__2</ser>
+        <ser>foc_offsets_voltage__0</ser>
+        <ser>foc_offsets_voltage__1</ser>
+        <ser>foc_offsets_voltage__2</ser>
+        <ser>foc_offsets_voltage_undriven__0</ser>
+        <ser>foc_offsets_voltage_undriven__1</ser>
+        <ser>foc_offsets_voltage_undriven__2</ser>
+        <ser>foc_phase_filter_enable</ser>
+        <ser>foc_phase_filter_disable_fault</ser>
+        <ser>foc_phase_filter_max_erpm</ser>
+        <ser>foc_mtpa_mode</ser>
+        <ser>foc_fw_current_max</ser>
+        <ser>foc_fw_duty_start</ser>
+        <ser>foc_fw_ramp_time</ser>
+        <ser>foc_fw_q_current_factor</ser>
+        <ser>foc_speed_soure</ser>
+        <ser>gpd_buffer_notify_left</ser>
+        <ser>gpd_buffer_interpol</ser>
+        <ser>gpd_current_filter_const</ser>
+        <ser>gpd_current_kp</ser>
+        <ser>gpd_current_ki</ser>
+        <ser>sp_pid_loop_rate</ser>
+        <ser>s_pid_kp</ser>
+        <ser>s_pid_ki</ser>
+        <ser>s_pid_kd</ser>
+        <ser>s_pid_kd_filter</ser>
+        <ser>s_pid_min_erpm</ser>
+        <ser>s_pid_allow_braking</ser>
+        <ser>s_pid_ramp_erpms_s</ser>
+        <ser>p_pid_kp</ser>
+        <ser>p_pid_ki</ser>
+        <ser>p_pid_kd</ser>
+        <ser>p_pid_kd_proc</ser>
+        <ser>p_pid_kd_filter</ser>
+        <ser>p_pid_ang_div</ser>
+        <ser>p_pid_gain_dec_angle</ser>
+        <ser>p_pid_offset</ser>
+        <ser>cc_startup_boost_duty</ser>
+        <ser>cc_min_current</ser>
+        <ser>cc_gain</ser>
+        <ser>cc_ramp_step_max</ser>
+        <ser>m_fault_stop_time_ms</ser>
+        <ser>m_duty_ramp_step</ser>
+        <ser>m_current_backoff_gain</ser>
+        <ser>m_encoder_counts</ser>
+        <ser>m_encoder_sin_amp</ser>
+        <ser>m_encoder_cos_amp</ser>
+        <ser>m_encoder_sin_offset</ser>
+        <ser>m_encoder_cos_offset</ser>
+        <ser>m_encoder_sincos_filter_constant</ser>
+        <ser>m_encoder_sincos_phase_correction</ser>
+        <ser>m_sensor_port_mode</ser>
+        <ser>m_invert_direction</ser>
+        <ser>m_drv8301_oc_mode</ser>
+        <ser>m_drv8301_oc_adj</ser>
+        <ser>m_bldc_f_sw_min</ser>
+        <ser>m_bldc_f_sw_max</ser>
+        <ser>m_dc_f_sw</ser>
+        <ser>m_ntc_motor_beta</ser>
+        <ser>m_out_aux_mode</ser>
+        <ser>m_motor_temp_sens_type</ser>
+        <ser>m_ptc_motor_coeff</ser>
+        <ser>m_ntcx_ptcx_res</ser>
+        <ser>m_ntcx_ptcx_temp_base</ser>
+        <ser>m_hall_extra_samples</ser>
+        <ser>m_batt_filter_const</ser>
+        <ser>si_motor_poles</ser>
+        <ser>si_gear_ratio</ser>
+        <ser>si_wheel_diameter</ser>
+        <ser>si_battery_type</ser>
+        <ser>si_battery_cells</ser>
+        <ser>si_battery_ah</ser>
+        <ser>si_motor_nl_current</ser>
+        <ser>bms.type</ser>
+        <ser>bms.limit_mode</ser>
+        <ser>bms.t_limit_start</ser>
+        <ser>bms.t_limit_end</ser>
+        <ser>bms.soc_limit_start</ser>
+        <ser>bms.soc_limit_end</ser>
+        <ser>bms.fwd_can_mode</ser>
+    </SerOrder>
+    <Grouping>
+        <group>
+            <groupName>General</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>motor_type</param>
+                    <param>m_invert_direction</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Sensors</subgroupName>
+                <subgroupParams>
+                    <param>m_sensor_port_mode</param>
+                    <param>::sep::ABI Encoder</param>
+                    <param>m_encoder_counts</param>
+                    <param>::sep::Sin/Cos Encoder</param>
+                    <param>m_encoder_sin_amp</param>
+                    <param>m_encoder_cos_amp</param>
+                    <param>m_encoder_sin_offset</param>
+                    <param>m_encoder_cos_offset</param>
+                    <param>m_encoder_sincos_filter_constant</param>
+                    <param>m_encoder_sincos_phase_correction</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Current</subgroupName>
+                <subgroupParams>
+                    <param>::sep::Motor</param>
+                    <param>l_current_max</param>
+                    <param>l_current_min</param>
+                    <param>l_abs_current_max</param>
+                    <param>l_slow_abs_current</param>
+                    <param>l_current_max_scale</param>
+                    <param>l_current_min_scale</param>
+                    <param>::sep::Battery</param>
+                    <param>l_in_current_max</param>
+                    <param>l_in_current_min</param>
+                    <param>::sep::DRV8301</param>
+                    <param>m_drv8301_oc_mode</param>
+                    <param>m_drv8301_oc_adj</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Voltage</subgroupName>
+                <subgroupParams>
+                    <param>l_battery_cut_start</param>
+                    <param>l_battery_cut_end</param>
+                    <param>m_batt_filter_const</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>RPM</subgroupName>
+                <subgroupParams>
+                    <param>l_max_erpm</param>
+                    <param>l_min_erpm</param>
+                    <param>l_erpm_start</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Wattage</subgroupName>
+                <subgroupParams>
+                    <param>l_watt_max</param>
+                    <param>l_watt_min</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Temperature</subgroupName>
+                <subgroupParams>
+                    <param>::sep::Motor Temperature Sensor Type</param>
+                    <param>m_motor_temp_sens_type</param>
+                    <param>m_ntc_motor_beta</param>
+                    <param>m_ptc_motor_coeff</param>
+                    <param>m_ntcx_ptcx_res</param>
+                    <param>m_ntcx_ptcx_temp_base</param>
+                    <param>::sep::General</param>
+                    <param>l_temp_accel_dec</param>
+                    <param>::sep::MOSFET</param>
+                    <param>l_temp_fet_start</param>
+                    <param>l_temp_fet_end</param>
+                    <param>::sep::Motor</param>
+                    <param>l_temp_motor_start</param>
+                    <param>l_temp_motor_end</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>BMS</subgroupName>
+                <subgroupParams>
+                    <param>bms.type</param>
+                    <param>bms.limit_mode</param>
+                    <param>bms.t_limit_start</param>
+                    <param>bms.t_limit_end</param>
+                    <param>bms.soc_limit_start</param>
+                    <param>bms.soc_limit_end</param>
+                    <param>bms.fwd_can_mode</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Advanced</subgroupName>
+                <subgroupParams>
+                    <param>l_min_vin</param>
+                    <param>l_max_vin</param>
+                    <param>l_min_duty</param>
+                    <param>l_max_duty</param>
+                    <param>cc_min_current</param>
+                    <param>m_fault_stop_time_ms</param>
+                    <param>m_out_aux_mode</param>
+                    <param>l_duty_start</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>BLDC</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>sensor_mode</param>
+                    <param>comm_mode</param>
+                    <param>cc_startup_boost_duty</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Sensorless</subgroupName>
+                <subgroupParams>
+                    <param>sl_cycle_int_limit</param>
+                    <param>sl_min_erpm</param>
+                    <param>sl_min_erpm_cycle_int_limit</param>
+                    <param>sl_bemf_coupling_k</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Sensors</subgroupName>
+                <subgroupParams>
+                    <param>hall_sl_erpm</param>
+                    <param>hall_table__0</param>
+                    <param>hall_table__1</param>
+                    <param>hall_table__2</param>
+                    <param>hall_table__3</param>
+                    <param>hall_table__4</param>
+                    <param>hall_table__5</param>
+                    <param>hall_table__6</param>
+                    <param>hall_table__7</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Advanced</subgroupName>
+                <subgroupParams>
+                    <param>sl_phase_advance_at_br</param>
+                    <param>sl_cycle_int_rpm_br</param>
+                    <param>l_max_erpm_fbrake</param>
+                    <param>pwm_mode</param>
+                    <param>cc_gain</param>
+                    <param>cc_ramp_step_max</param>
+                    <param>m_duty_ramp_step</param>
+                    <param>m_current_backoff_gain</param>
+                    <param>m_bldc_f_sw_min</param>
+                    <param>m_bldc_f_sw_max</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>DC</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>cc_gain</param>
+                    <param>cc_ramp_step_max</param>
+                    <param>m_duty_ramp_step</param>
+                    <param>m_current_backoff_gain</param>
+                    <param>m_dc_f_sw</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>FOC</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>foc_sensor_mode</param>
+                    <param>foc_motor_r</param>
+                    <param>foc_motor_l</param>
+                    <param>foc_motor_ld_lq_diff</param>
+                    <param>foc_motor_flux_linkage</param>
+                    <param>foc_current_kp</param>
+                    <param>foc_current_ki</param>
+                    <param>foc_observer_gain</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Sensorless</subgroupName>
+                <subgroupParams>
+                    <param>foc_openloop_rpm</param>
+                    <param>foc_openloop_rpm_low</param>
+                    <param>foc_sl_openloop_hyst</param>
+                    <param>foc_sl_openloop_time_lock</param>
+                    <param>foc_sl_openloop_time_ramp</param>
+                    <param>foc_sl_openloop_time</param>
+                    <param>foc_sl_openloop_boost_q</param>
+                    <param>foc_sl_openloop_max_q</param>
+                    <param>foc_start_curr_dec</param>
+                    <param>foc_start_curr_dec_rpm</param>
+                    <param>foc_sat_comp_mode</param>
+                    <param>foc_sat_comp</param>
+                    <param>foc_temp_comp</param>
+                    <param>foc_temp_comp_base_temp</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Hall Sensors</subgroupName>
+                <subgroupParams>
+                    <param>foc_sl_erpm</param>
+                    <param>foc_hall_interp_erpm</param>
+                    <param>foc_hall_table__0</param>
+                    <param>foc_hall_table__1</param>
+                    <param>foc_hall_table__2</param>
+                    <param>foc_hall_table__3</param>
+                    <param>foc_hall_table__4</param>
+                    <param>foc_hall_table__5</param>
+                    <param>foc_hall_table__6</param>
+                    <param>foc_hall_table__7</param>
+                    <param>m_hall_extra_samples</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Encoder</subgroupName>
+                <subgroupParams>
+                    <param>foc_sl_erpm</param>
+                    <param>foc_encoder_offset</param>
+                    <param>foc_encoder_ratio</param>
+                    <param>foc_encoder_inverted</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>HFI</subgroupName>
+                <subgroupParams>
+                    <param>foc_hfi_samples</param>
+                    <param>foc_hfi_voltage_start</param>
+                    <param>foc_hfi_voltage_run</param>
+                    <param>foc_hfi_voltage_max</param>
+                    <param>foc_hfi_gain</param>
+                    <param>foc_hfi_hyst</param>
+                    <param>foc_sl_erpm_hfi</param>
+                    <param>foc_hfi_start_samples</param>
+                    <param>foc_hfi_obs_ovr_sec</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>VSS</subgroupName>
+                <subgroupParams>
+                    <param>foc_hfi_samples</param>
+                    <param>foc_hfi_voltage_start</param>
+                    <param>foc_hfi_start_samples</param>
+                    <param>foc_openloop_rpm</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Filters</subgroupName>
+                <subgroupParams>
+                    <param>foc_phase_filter_enable</param>
+                    <param>foc_phase_filter_max_erpm</param>
+                    <param>foc_phase_filter_disable_fault</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Offsets</subgroupName>
+                <subgroupParams>
+                    <param>foc_offsets_cal_on_boot</param>
+                    <param>::sep::Current</param>
+                    <param>foc_offsets_current__0</param>
+                    <param>foc_offsets_current__1</param>
+                    <param>foc_offsets_current__2</param>
+                    <param>::sep::Voltage</param>
+                    <param>foc_offsets_voltage__0</param>
+                    <param>foc_offsets_voltage__1</param>
+                    <param>foc_offsets_voltage__2</param>
+                    <param>::sep::Voltage Undriven</param>
+                    <param>foc_offsets_voltage_undriven__0</param>
+                    <param>foc_offsets_voltage_undriven__1</param>
+                    <param>foc_offsets_voltage_undriven__2</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Field Weakening</subgroupName>
+                <subgroupParams>
+                    <param>foc_fw_current_max</param>
+                    <param>foc_fw_duty_start</param>
+                    <param>foc_fw_ramp_time</param>
+                    <param>foc_fw_q_current_factor</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Advanced</subgroupName>
+                <subgroupParams>
+                    <param>foc_f_zv</param>
+                    <param>foc_dt_us</param>
+                    <param>foc_pll_kp</param>
+                    <param>foc_pll_ki</param>
+                    <param>foc_duty_dowmramp_kp</param>
+                    <param>foc_duty_dowmramp_ki</param>
+                    <param>foc_sample_v0_v7</param>
+                    <param>foc_sample_high_current</param>
+                    <param>foc_observer_gain_slow</param>
+                    <param>foc_current_filter_const</param>
+                    <param>foc_cc_decoupling</param>
+                    <param>foc_observer_type</param>
+                    <param>foc_d_gain_scale_start</param>
+                    <param>foc_d_gain_scale_max_mod</param>
+                    <param>foc_mtpa_mode</param>
+                    <param>foc_observer_offset</param>
+                    <param>foc_speed_soure</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>GPD</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>pwm_mode</param>
+                    <param>gpd_buffer_notify_left</param>
+                    <param>gpd_buffer_interpol</param>
+                    <param>gpd_current_filter_const</param>
+                    <param>gpd_current_kp</param>
+                    <param>gpd_current_ki</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>PID Controllers</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>::sep::Common</param>
+                    <param>sp_pid_loop_rate</param>
+                    <param>::sep::Speed Controller</param>
+                    <param>s_pid_kp</param>
+                    <param>s_pid_ki</param>
+                    <param>s_pid_kd</param>
+                    <param>s_pid_kd_filter</param>
+                    <param>s_pid_min_erpm</param>
+                    <param>s_pid_allow_braking</param>
+                    <param>s_pid_ramp_erpms_s</param>
+                    <param>foc_speed_soure</param>
+                    <param>::sep::Position Controller</param>
+                    <param>p_pid_kp</param>
+                    <param>p_pid_ki</param>
+                    <param>p_pid_kd</param>
+                    <param>p_pid_kd_proc</param>
+                    <param>p_pid_kd_filter</param>
+                    <param>p_pid_ang_div</param>
+                    <param>p_pid_gain_dec_angle</param>
+                    <param>p_pid_offset</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>Additional Info</groupName>
+            <subgroup>
+                <subgroupName>Setup</subgroupName>
+                <subgroupParams>
+                    <param>si_motor_poles</param>
+                    <param>si_gear_ratio</param>
+                    <param>si_wheel_diameter</param>
+                    <param>si_battery_type</param>
+                    <param>si_battery_cells</param>
+                    <param>si_battery_ah</param>
+                    <param>si_motor_nl_current</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>motor_brand</param>
+                    <param>motor_model</param>
+                    <param>motor_weight</param>
+                    <param>motor_sensor_type</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Quality</subgroupName>
+                <subgroupParams>
+                    <param>motor_quality_bearings</param>
+                    <param>motor_quality_magnets</param>
+                    <param>motor_quality_construction</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+    </Grouping>
+</ConfigParams>
diff --git a/res_config.qrc b/res_config.qrc
index b5fa06689..eb70bf6ef 100755
--- a/res_config.qrc
+++ b/res_config.qrc
@@ -61,5 +61,8 @@
         <file>res/config/6.00/info.xml</file>
         <file>res/config/6.00/parameters_appconf.xml</file>
         <file>res/config/6.00/parameters_mcconf.xml</file>
+        <file>res/config/6.02/info.xml</file>
+        <file>res/config/6.02/parameters_appconf.xml</file>
+        <file>res/config/6.02/parameters_mcconf.xml</file>
     </qresource>
 </RCC>
diff --git a/vescinterface.cpp b/vescinterface.cpp
index 91a6b6b48..d964b50fb 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -3546,6 +3546,39 @@ void VescInterface::fwVersionReceived(FW_RX_PARAMS params)
         compCommands.append(int(COMM_QMLUI_WRITE));
     }
 
+    if (fw_connected >= qMakePair(6, 00)) {
+        compCommands.append(int(COMM_IO_BOARD_GET_ALL));
+        compCommands.append(int(COMM_IO_BOARD_SET_PWM));
+        compCommands.append(int(COMM_IO_BOARD_SET_DIGITAL));
+        compCommands.append(int(COMM_BM_MEM_WRITE));
+        compCommands.append(int(COMM_BMS_BLNC_SELFTEST));
+        compCommands.append(int(COMM_GET_EXT_HUM_TMP));
+        compCommands.append(int(COMM_GET_STATS));
+        compCommands.append(int(COMM_RESET_STATS));
+        compCommands.append(int(COMM_LISP_READ_CODE));
+        compCommands.append(int(COMM_LISP_WRITE_CODE));
+        compCommands.append(int(COMM_LISP_ERASE_CODE));
+        compCommands.append(int(COMM_LISP_SET_RUNNING));
+        compCommands.append(int(COMM_LISP_GET_STATS));
+        compCommands.append(int(COMM_LISP_PRINT));
+        compCommands.append(int(COMM_BMS_SET_BATT_TYPE));
+        compCommands.append(int(COMM_BMS_GET_BATT_TYPE));
+        compCommands.append(int(COMM_LISP_REPL_CMD));
+        compCommands.append(int(COMM_LISP_STREAM_CODE));
+        compCommands.append(int(COMM_FILE_LIST));
+        compCommands.append(int(COMM_FILE_READ));
+        compCommands.append(int(COMM_FILE_WRITE));
+        compCommands.append(int(COMM_FILE_MKDIR));
+        compCommands.append(int(COMM_FILE_REMOVE));
+        compCommands.append(int(COMM_LOG_START));
+        compCommands.append(int(COMM_LOG_STOP));
+        compCommands.append(int(COMM_LOG_CONFIG_FIELD));
+        compCommands.append(int(COMM_LOG_DATA_F32));
+        compCommands.append(int(COMM_SET_APPCONF_NO_STORE));
+        compCommands.append(int(COMM_GET_GNSS));
+        compCommands.append(int(COMM_LOG_DATA_F64));
+    }
+
     if (fwPairs.contains(fw_connected) || Utility::configSupportedFws().contains(fw_connected)) {
         compCommands.append(int(COMM_SET_MCCONF));
         compCommands.append(int(COMM_GET_MCCONF));

From 25458636479414bfeae11c958726861d70b47d6d Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 10 Dec 2022 12:23:31 +0100
Subject: [PATCH 356/559] Removed dev from changelog

---
 res/CHANGELOG | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/res/CHANGELOG b/res/CHANGELOG
index d1c172f84..87169ce6e 100644
--- a/res/CHANGELOG
+++ b/res/CHANGELOG
@@ -1,4 +1,4 @@
-== 6.00 <dev> ==
+== 6.00 ==
 * Added support for compressed firmware upload.
 * Reduce CPU usage by only plotting RT data when the plot is visible.
 * Lisp scripting editor and integration.

From da09482fbf00c3d033ac1b9a1b7aa8da1f9adf23 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 10 Dec 2022 12:55:18 +0100
Subject: [PATCH 357/559] Do not mess with parent tab bar as that brings it out
 of sync with the swipe view

---
 mobile/SetupWizardIMU.qml | 2 --
 1 file changed, 2 deletions(-)

diff --git a/mobile/SetupWizardIMU.qml b/mobile/SetupWizardIMU.qml
index 6f5ace3e7..8e98c6b1d 100644
--- a/mobile/SetupWizardIMU.qml
+++ b/mobile/SetupWizardIMU.qml
@@ -59,7 +59,6 @@ Item {
     function openDialog() {
         dialog.open()
         openTimer.start()
-        tabBar.currentIndex = 0
     }
 
     Timer {
@@ -167,7 +166,6 @@ Item {
             height: parent.height
             id: stackLayout
             currentIndex: 0
-        onCurrentIndexChanged: {tabBar.currentIndex = currentIndex}
 
             Item{// Welcome Screen #0
                 width: parent.width

From 64ae1cc051c27def5bd0df101cac3027210c2a11 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 10 Dec 2022 21:59:13 +0100
Subject: [PATCH 358/559] Fixed config backup/restore when can-forwading from a
 device that is not a motor controller

---
 vescinterface.cpp | 16 ++++++++++++----
 1 file changed, 12 insertions(+), 4 deletions(-)

diff --git a/vescinterface.cpp b/vescinterface.cpp
index d964b50fb..3bb82e92d 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -4067,13 +4067,17 @@ bool VescInterface::confStoreBackup(bool can, QString name)
         commands()->setSendCan(false);
     }
 
-    res = storeConf();
+    FW_RX_PARAMS fwp;
+    Utility::getFwVersionBlocking(this, &fwp);
+
+    if (fwp.hwType == HW_TYPE_VESC) {
+        res = storeConf();
+    }
 
     if (res && can) {
         for (int d: scanCan()) {
             commands()->setSendCan(true, d);
 
-            FW_RX_PARAMS fwp;
             Utility::getFwVersionBlocking(this, &fwp);
 
             if (fwp.hwType == HW_TYPE_VESC) {
@@ -4211,13 +4215,17 @@ bool VescInterface::confRestoreBackup(bool can)
         commands()->setSendCan(false);
     }
 
-    res = restoreConf();
+    FW_RX_PARAMS fwp;
+    Utility::getFwVersionBlocking(this, &fwp);
+
+    if (fwp.hwType == HW_TYPE_VESC) {
+        res = restoreConf();
+    }
 
     if (res && can) {
         for (int d: scanCan()) {
             commands()->setSendCan(true, d);
 
-            FW_RX_PARAMS fwp;
             Utility::getFwVersionBlocking(this, &fwp);
 
             if (fwp.hwType == HW_TYPE_VESC) {

From 60f090c4794728e2b1e4dbaba7519e451b84b4cd Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 12 Dec 2022 11:52:50 +0100
Subject: [PATCH 359/559] Avoid storing large file in RAM during and after
 download

---
 pages/pagefirmware.cpp | 42 ++++++++++++++++++++++++------------------
 1 file changed, 24 insertions(+), 18 deletions(-)

diff --git a/pages/pagefirmware.cpp b/pages/pagefirmware.cpp
index 3d00edfd0..4ddaff14c 100755
--- a/pages/pagefirmware.cpp
+++ b/pages/pagefirmware.cpp
@@ -692,27 +692,33 @@ void PageFirmware::on_dlArchiveButton_clicked()
     QNetworkRequest request(url);
     QNetworkReply *reply = manager.get(request);
 
-    connect(reply, &QNetworkReply::downloadProgress, [this](qint64 bytesReceived, qint64 bytesTotal) {
-        ui->displayDl->setText("Downloading...");
-        ui->displayDl->setValue(100.0 * (double)bytesReceived / (double)bytesTotal);
-    });
-
-    QEventLoop loop;
-    connect(reply, SIGNAL(finished()), &loop, SLOT(quit()));
-    loop.exec();
-
-    if (reply->error() == QNetworkReply::NoError) {
-        ui->displayDl->setText("Download Finished");
-        QString path = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation) +
-                "/res_fw.rcc";
-        QFile file(path);
-        if (file.open(QIODevice::WriteOnly)) {
+    QString path = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation) + "/res_fw.rcc";
+    QFile file(path);
+    QResource::unregisterResource(path);
+    if (file.open(QIODevice::WriteOnly)) {
+        auto conn = connect(reply, &QNetworkReply::downloadProgress, [&file, reply, this]
+                            (qint64 bytesReceived, qint64 bytesTotal) {
+            ui->displayDl->setText("Downloading...");
+            ui->displayDl->setValue(100.0 * (double)bytesReceived / (double)bytesTotal);
+            file.write(reply->read(reply->size()));
+        });
+
+        QEventLoop loop;
+        connect(reply, SIGNAL(finished()), &loop, SLOT(quit()));
+        loop.exec();
+        disconnect(conn);
+
+        if (reply->error() == QNetworkReply::NoError) {
             file.write(reply->readAll());
-            file.close();
-            reloadArchive();
+            ui->displayDl->setText("Download Done");
+        } else {
+            ui->displayDl->setText("Download Failed");
         }
+
+        file.close();
+        reloadArchive();
     } else {
-        ui->displayDl->setText("Download Failed");
+        ui->displayDl->setText("Could not open local file");
     }
 
     reply->abort();

From 29252acff01ffd4557d3cefc40cd5e79cafebe6f Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 13 Dec 2022 12:48:38 +0100
Subject: [PATCH 360/559] Disable updates while adding parameter editors to
 hopefully improve performance a bit

---
 widgets/paramtable.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/widgets/paramtable.cpp b/widgets/paramtable.cpp
index abe2255c7..650525715 100644
--- a/widgets/paramtable.cpp
+++ b/widgets/paramtable.cpp
@@ -88,13 +88,17 @@ void ParamTable::addRowSeparator(QString text)
 
 void ParamTable::addParamSubgroup(ConfigParams *params, QString groupName, QString subgroupName)
 {
-    for (auto p: params->getParamsFromSubgroup(groupName, subgroupName)) {
+    setUpdatesEnabled(false);
+    foreach (auto p, params->getParamsFromSubgroup(groupName, subgroupName)) {
         if (p.startsWith("::sep::")) {
             addRowSeparator(p.mid(7));
         } else {
             addParamRow(params, p);
         }
     }
+    QTimer::singleShot(0, [this]() {
+        setUpdatesEnabled(true);
+    });
 }
 
 void ParamTable::clearParams()

From 75c64a7e37221bd2b00323a358f7eed24a683318 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 14 Dec 2022 16:32:59 +0100
Subject: [PATCH 361/559] Allow the input wizard to run on old firmware when
 reading the config is supported

---
 setupwizardapp.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/setupwizardapp.cpp b/setupwizardapp.cpp
index 8db7b4c25..688828590 100644
--- a/setupwizardapp.cpp
+++ b/setupwizardapp.cpp
@@ -174,7 +174,8 @@ AppConnectionPage::AppConnectionPage(VescInterface *vesc, QWidget *parent)
 
 int AppConnectionPage::nextId() const
 {
-    if (mVesc->commands()->isLimitedMode()) {
+    if (mVesc->commands()->isLimitedMode() &&
+            !mVesc->commands()->getLimitedCompatibilityCommands().contains(int(COMM_GET_APPCONF))) {
         return SetupWizardApp::Page_Firmware;
     } else {
         return SetupWizardApp::Page_Multi;

From 3540ae81cbcea9b85106dbe11f01c7bb0942d88e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 14 Dec 2022 21:14:19 +0100
Subject: [PATCH 362/559] Further corrected previous commit

---
 setupwizardapp.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/setupwizardapp.cpp b/setupwizardapp.cpp
index 688828590..7ffb182a5 100644
--- a/setupwizardapp.cpp
+++ b/setupwizardapp.cpp
@@ -100,7 +100,9 @@ AppIntroPage::AppIntroPage(VescInterface *vesc, QWidget *parent)
 int AppIntroPage::nextId() const
 {
     if (mVesc->isPortConnected()) {
-        if (mVesc->commands()->isLimitedMode() || !mResetInputOk) {
+        if ((mVesc->commands()->isLimitedMode() &&
+             !mVesc->commands()->getLimitedCompatibilityCommands().contains(int(COMM_GET_APPCONF))) ||
+                !mResetInputOk) {
             return SetupWizardApp::Page_Firmware;
         } else {
             if (mVesc->getCanDevsLast().size() == 0) {

From 0e33ff23d5912853a092c844fe785cfa70802ebd Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 16 Dec 2022 15:23:35 +0100
Subject: [PATCH 363/559] Added custom package install support to mobile UI

---
 codeloader.cpp            | 20 ++++++++++
 codeloader.h              |  1 +
 mobile/MultiSettings.qml  | 10 ++---
 mobile/Packages.qml       | 81 ++++++++++++++++++++++++++++++++++++++-
 pages/pagevescpackage.cpp | 10 +----
 pages/pagevescpackage.ui  | 50 +++++++++++++++++-------
 vesc_tool.pro             |  2 +-
 7 files changed, 143 insertions(+), 31 deletions(-)

diff --git a/codeloader.cpp b/codeloader.cpp
index a766c7506..ae6c92ece 100644
--- a/codeloader.cpp
+++ b/codeloader.cpp
@@ -692,6 +692,9 @@ VescPackage CodeLoader::unpackVescPackage(QByteArray data)
     VescPackage pkg;
     VByteArray vb(qUncompress(data));
 
+    // Yes, packet is a typo and should say package...
+    // That does not matter in practice and changing that now breaks
+    // compatibility.
     if (vb.vbPopFrontString() != "VESC Packet") {
         qWarning() << "Invalid VESC Packet";
         return pkg;
@@ -773,6 +776,22 @@ bool CodeLoader::installVescPackage(QByteArray data)
     return installVescPackage(unpackVescPackage(data));
 }
 
+bool CodeLoader::installVescPackageFromPath(QString path)
+{
+    if (path.startsWith("file:/")) {
+        path.remove(0, 6);
+    }
+
+    QFile f(path);
+    if (!f.open(QIODevice::ReadOnly)) {
+        mVesc->emitMessageDialog(tr("Write Package"),
+                                 tr("Could not open package file for reading."),
+                                 false, false);
+        return false;
+    }
+
+    return installVescPackage(f.readAll());
+}
 
 QVariantList CodeLoader::reloadPackageArchive()
 {
@@ -829,6 +848,7 @@ bool CodeLoader::downloadPackageArchive()
 
     if (reply->error() == QNetworkReply::NoError) {
         QString path = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation) + "/vesc_pkg_all.rcc";
+        QResource::unregisterResource(path);
         QFile file(path);
         if (file.open(QIODevice::WriteOnly)) {
             file.write(reply->readAll());
diff --git a/codeloader.h b/codeloader.h
index b0a9de28e..d06f1b231 100644
--- a/codeloader.h
+++ b/codeloader.h
@@ -49,6 +49,7 @@ class CodeLoader : public QObject
     VescPackage unpackVescPackage(QByteArray data);
     bool installVescPackage(VescPackage pkg);
     Q_INVOKABLE bool installVescPackage(QByteArray data);
+    Q_INVOKABLE bool installVescPackageFromPath(QString path);
 
     Q_INVOKABLE QVariantList reloadPackageArchive();
     Q_INVOKABLE bool downloadPackageArchive();
diff --git a/mobile/MultiSettings.qml b/mobile/MultiSettings.qml
index 3fe77a1b1..af384c0ff 100644
--- a/mobile/MultiSettings.qml
+++ b/mobile/MultiSettings.qml
@@ -37,7 +37,7 @@ Item {
     function openDialog() {
         if (!VescIf.isPortConnected()) {
             VescIf.emitMessageDialog("Multi Setup",
-                                     "You are not connected to the VESC. Please connect first.", false, false)
+                                     "You are not connected. Please connect first.", false, false)
             return
         }
 
@@ -186,7 +186,7 @@ Item {
                         RowLayout {
                             Button {
                                 Layout.fillWidth: true
-                                text: "Write General to All VESCs"
+                                text: "Write General to All"
 
                                 onClicked: {
                                     disableDialog("Writing Parameters...")
@@ -236,7 +236,7 @@ Item {
                         RowLayout {
                             Button {
                                 Layout.fillWidth: true
-                                text: "Write Limits to All VESCs"
+                                text: "Write Limits to All"
                                 onClicked: {
                                     disableDialog("Writing Parameters...")
                                     workaroundTimerWriteLimitsAll.start()
@@ -318,7 +318,7 @@ Item {
                         RowLayout {
                             Button {
                                 Layout.fillWidth: true
-                                text: "Write FOC to All VESCs"
+                                text: "Write FOC to All"
 
                                 onClicked: {
                                     disableDialog("Writing Parameters...")
@@ -368,7 +368,7 @@ Item {
                         RowLayout {
                             Button {
                                 Layout.fillWidth: true
-                                text: "Write BMS to All VESCs"
+                                text: "Write BMS to All"
 
                                 onClicked: {
                                     disableDialog("Writing Parameters...")
diff --git a/mobile/Packages.qml b/mobile/Packages.qml
index 2ca3e6542..8f8f8b3f5 100644
--- a/mobile/Packages.qml
+++ b/mobile/Packages.qml
@@ -17,9 +17,10 @@
     along with this program.  If not, see <http://www.gnu.org/licenses/>.
     */
 
-import QtQuick 2.12
-import QtQuick.Controls 2.12
+import QtQuick 2.15
+import QtQuick.Controls 2.15
 import QtQuick.Layouts 1.3
+import QtQuick.Dialogs 1.3 as Dl
 
 import Vedder.vesc.vescinterface 1.0
 import Vedder.vesc.commands 1.0
@@ -28,6 +29,7 @@ import Vedder.vesc.utility 1.0
 import Vedder.vesc.codeloader 1.0
 
 Item {
+    id: appPageItem
     property var dialogParent: ApplicationWindow.overlay
     property ConfigParams mAppConf: VescIf.appConfig()
     property Commands mCommands: VescIf.commands()
@@ -235,6 +237,81 @@ Item {
                     }
                 }
             }
+
+            Button {
+                Layout.preferredWidth: 50
+                Layout.fillWidth: true
+                text: "..."
+                onClicked: menu.open()
+
+                Menu {
+                    id: menu
+                    bottomPadding: notchBot
+                    leftPadding: notchLeft
+                    rightPadding: notchRight
+                    parent: appPageItem
+                    y: parent.height - implicitHeight
+                    width: parent.width
+
+                    MenuItem {
+                        text: "Install from file..."
+                        onTriggered: {
+                            if (Utility.requestFilePermission()) {
+                                fileDialogLoad.close()
+                                fileDialogLoad.open()
+                            } else {
+                                VescIf.emitMessageDialog(
+                                            "File Permissions",
+                                            "Unable to request file system permission.",
+                                            false, false)
+                            }
+                        }
+
+                        Dl.FileDialog {
+                            id: fileDialogLoad
+                            title: "Please choose a file"
+                            nameFilters: ["*"]
+                            selectExisting: true
+                            selectMultiple: false
+                            onAccepted: {
+                                workaroundTimerFile.pkgPath = fileUrl.toString()
+                                close()
+                                parent.forceActiveFocus()
+
+                                disableDialog()
+                                workaroundTimerFile.start()
+                            }
+
+                            onRejected: {
+                                close()
+                                parent.forceActiveFocus()
+                            }
+                        }
+
+                        Timer {
+                            property string pkgPath: ""
+                            id: workaroundTimerFile
+                            interval: 0
+                            repeat: false
+                            running: false
+                            onTriggered: {
+                                if (mLoader.installVescPackageFromPath(pkgPath)) {
+                                    enableDialog()
+                                    VescIf.emitMessageDialog("Install Package",
+                                                             "Install Done! Please disconnect and reconnect to " +
+                                                             "apply possible VESC Tool GUI updates from this package.",
+                                                             true, false)
+                                } else {
+                                    enableDialog()
+                                    VescIf.emitMessageDialog("Install Package",
+                                                             "Install failed",
+                                                             false, false)
+                                }
+                            }
+                        }
+                    }
+                }
+            }
         }
     }
 
diff --git a/pages/pagevescpackage.cpp b/pages/pagevescpackage.cpp
index f262ef9b3..53f3e715b 100644
--- a/pages/pagevescpackage.cpp
+++ b/pages/pagevescpackage.cpp
@@ -217,19 +217,11 @@ void PageVescPackage::on_writeButton_clicked()
         return;
     }
 
-    QFile f(ui->loadEdit->text());
-    if (!f.open(QIODevice::ReadOnly)) {
-        mVesc->emitMessageDialog(tr("Write Package"),
-                                 tr("Could not open package file for reading."),
-                                 false, false);
-        return;
-    }
-
     QProgressDialog dialog(tr("Writing..."), QString(), 0, 0, this);
     dialog.setWindowModality(Qt::WindowModal);
     dialog.show();
 
-    mLoader.installVescPackage(f.readAll());
+    mLoader.installVescPackageFromPath(ui->loadEdit->text());
 }
 
 void PageVescPackage::on_outputRefreshButton_clicked()
diff --git a/pages/pagevescpackage.ui b/pages/pagevescpackage.ui
index 3efd00f21..c1954dfbe 100644
--- a/pages/pagevescpackage.ui
+++ b/pages/pagevescpackage.ui
@@ -29,13 +29,6 @@
       <layout class="QVBoxLayout" name="verticalLayout_6">
        <item>
         <layout class="QHBoxLayout" name="horizontalLayout_6">
-         <item>
-          <widget class="QPushButton" name="uninstallButton">
-           <property name="text">
-            <string>Uninstall Current</string>
-           </property>
-          </widget>
-         </item>
          <item>
           <widget class="DisplayPercentage" name="displayDl" native="true">
            <property name="sizePolicy">
@@ -115,12 +108,12 @@
            </item>
            <item>
             <widget class="QPushButton" name="installButton">
-             <property name="text">
-              <string>Install to VESC</string>
-             </property>
              <property name="toolTip">
               <string>Uninstall current package and install the selected package to the connected VESC</string>
              </property>
+             <property name="text">
+              <string>Install</string>
+             </property>
             </widget>
            </item>
           </layout>
@@ -191,16 +184,16 @@
           </item>
           <item>
            <widget class="QPushButton" name="writeButton">
+            <property name="toolTip">
+             <string>Uninstall current package and install the selected package to the connected VESC</string>
+            </property>
             <property name="text">
-             <string>Install to VESC</string>
+             <string>Install</string>
             </property>
             <property name="icon">
              <iconset resource="../res.qrc">
               <normaloff>:/res/icons/Download-96.png</normaloff>:/res/icons/Download-96.png</iconset>
             </property>
-            <property name="toolTip">
-             <string>Uninstall current package and install the selected package to the connected VESC</string>
-            </property>
            </widget>
           </item>
          </layout>
@@ -420,6 +413,35 @@
      </widget>
     </widget>
    </item>
+   <item>
+    <widget class="QGroupBox" name="groupBox">
+     <property name="title">
+      <string>Tools</string>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout_5">
+      <item>
+       <widget class="QPushButton" name="uninstallButton">
+        <property name="text">
+         <string>Uninstall Current</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <spacer name="horizontalSpacer">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>40</width>
+          <height>20</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+     </layout>
+    </widget>
+   </item>
   </layout>
  </widget>
  <customwidgets>
diff --git a/vesc_tool.pro b/vesc_tool.pro
index 4c541a7ed..5981aca8b 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -10,7 +10,7 @@ VT_INTRO_VERSION = 1
 VT_CONFIG_VERSION = 2
 11
 # Set to 0 for stable versions and to test version number for development versions.
-VT_IS_TEST_VERSION = 1
+VT_IS_TEST_VERSION = 2
 
 VT_ANDROID_VERSION_ARMV7 = 126
 VT_ANDROID_VERSION_ARM64 = 127

From e04e0b98ef3ff3d7b9f708515449d3bb7e30e21a Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 16 Dec 2022 16:05:06 +0100
Subject: [PATCH 364/559] Added lbm keywords

---
 QCodeEditor/resources/languages/lisp.xml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 878014eec..a400683d2 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -271,6 +271,9 @@
 <name>sqrt</name>
 <name>log</name>
 <name>log10</name>
+<name>floor</name>
+<name>ceil</name>
+<name>round</name>
 <name>deg2rad</name>
 <name>rad2deg</name>
 <name>vec3-rot</name>

From 5b1ad1ddb2848060f2c1b647910b115e5e6a2563 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 16 Dec 2022 21:18:46 +0100
Subject: [PATCH 365/559] Added option to build binary without included
 firmwares

---
 vesc_tool.pro | 14 ++++++++++----
 1 file changed, 10 insertions(+), 4 deletions(-)

diff --git a/vesc_tool.pro b/vesc_tool.pro
index 5981aca8b..9a1b4f375 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -41,6 +41,9 @@ ios: {
 # Build mobile GUI
 #CONFIG += build_mobile
 
+# Exclude built-in firmwares
+#CONFIG += exclude_fw
+
 ios: {
     CONFIG    += build_mobile
     DEFINES   += QT_NO_PRINTER
@@ -264,13 +267,16 @@ include(QCodeEditor/qcodeeditor.pri)
 include(esp32/esp32.pri)
 
 RESOURCES += res.qrc \
-    res_fw_bms.qrc \
-    res/firmwares/res_fw.qrc \
     res_lisp.qrc \
-    res_qml.qrc \
-    res/firmwares_esp/res_fw_esp.qrc
+    res_qml.qrc
 RESOURCES += res_config.qrc
 
+!exclude_fw {
+    RESOURCES += res_fw_bms.qrc
+    RESOURCES += res/firmwares/res_fw.qrc
+    RESOURCES += res/firmwares_esp/res_fw_esp.qrc
+}
+
 build_original {
     RESOURCES += res_original.qrc
     DEFINES += VER_ORIGINAL

From c61172523d7293bc1eddb1da2691f94edd406918 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 17 Dec 2022 01:36:09 +0100
Subject: [PATCH 366/559] Updated express firmware

---
 .../ESP32-C3/VESC Express/app.bin             | Bin 1177968 -> 1235376 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/res/firmwares_esp/ESP32-C3/VESC Express/app.bin b/res/firmwares_esp/ESP32-C3/VESC Express/app.bin
index 5da58edd5c47de2eb7d0ae7c68548dbbbf74e3f1..f7cf715afb3414082f41c0b79a180302dfa1a76e 100644
GIT binary patch
literal 1235376
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From c92885d820ea4b819cde2f4c9c9cd0658d9b0973 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 19 Dec 2022 00:19:32 +0100
Subject: [PATCH 367/559] Added res, lambda and temp lbm syntax, added temp est
 example

---
 QCodeEditor/resources/languages/lisp.xml |  3 +++
 res/Lisp/Examples/est_temp.lisp          | 14 ++++++++++++++
 res_lisp.qrc                             |  1 +
 3 files changed, 18 insertions(+)
 create mode 100644 res/Lisp/Examples/est_temp.lisp

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index a400683d2..64ce8aaae 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -217,6 +217,9 @@
 <name>get-iq</name>
 <name>get-vd</name>
 <name>get-vq</name>
+<name>get-est-lambda</name>
+<name>get-est-res</name>
+<name>get-est-ind</name>
 <name>get-duty</name>
 <name>get-rpm</name>
 <name>get-temp-fet</name>
diff --git a/res/Lisp/Examples/est_temp.lisp b/res/Lisp/Examples/est_temp.lisp
new file mode 100644
index 000000000..aa05bfcfe
--- /dev/null
+++ b/res/Lisp/Examples/est_temp.lisp
@@ -0,0 +1,14 @@
+; Calculate motor temperature from resistance observer. Works best on low speed and high current.
+
+(def tfac 0.00386)
+(def r-comp 0.004) ; Sum of cable and MOSFET resistance
+(def r-base (- (* 0.001 (conf-get 'foc-motor-r)) r-comp))
+(def t-base 25.0) ; Temperature at which the motor resistance was measured
+
+(loopwhile t
+    (progn
+        (def t-meas (get-temp-mot))
+        (def r-est (- (get-est-res) r-comp))
+        (def t-est (+ t-base (/ (- r-est r-base) (* tfac r-base))))
+        (sleep 0.1)
+))
diff --git a/res_lisp.qrc b/res_lisp.qrc
index fb04e3990..77e02e1e5 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -37,5 +37,6 @@
         <file>res/Lisp/Examples/crc16.lisp</file>
         <file>res/Lisp/Examples/encoder_sincos_cal.lisp</file>
         <file>res/Lisp/Examples/test_extensions.lisp</file>
+        <file>res/Lisp/Examples/est_temp.lisp</file>
     </qresource>
 </RCC>

From 0eebf822024129cf0e48a9a1775594ccdf72c0b1 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 19 Dec 2022 10:21:08 +0100
Subject: [PATCH 368/559] Compatibility command update

---
 vescinterface.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/vescinterface.cpp b/vescinterface.cpp
index 3bb82e92d..1bfce10ea 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -3544,9 +3544,6 @@ void VescInterface::fwVersionReceived(FW_RX_PARAMS params)
         compCommands.append(int(COMM_CUSTOM_HW_DATA));
         compCommands.append(int(COMM_QMLUI_ERASE));
         compCommands.append(int(COMM_QMLUI_WRITE));
-    }
-
-    if (fw_connected >= qMakePair(6, 00)) {
         compCommands.append(int(COMM_IO_BOARD_GET_ALL));
         compCommands.append(int(COMM_IO_BOARD_SET_PWM));
         compCommands.append(int(COMM_IO_BOARD_SET_DIGITAL));
@@ -3554,6 +3551,9 @@ void VescInterface::fwVersionReceived(FW_RX_PARAMS params)
         compCommands.append(int(COMM_BMS_BLNC_SELFTEST));
         compCommands.append(int(COMM_GET_EXT_HUM_TMP));
         compCommands.append(int(COMM_GET_STATS));
+    }
+
+    if (fw_connected >= qMakePair(6, 00)) {
         compCommands.append(int(COMM_RESET_STATS));
         compCommands.append(int(COMM_LISP_READ_CODE));
         compCommands.append(int(COMM_LISP_WRITE_CODE));

From 737946ad875c78539010f98b8f12521bc4a5a47c Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 27 Dec 2022 10:58:33 +0100
Subject: [PATCH 369/559] Updated PPM and ADC mapping widgets

---
 res/config/6.02/info.xml | 43 ++++++++++++++------------
 widgets/adcmap.cpp       | 47 +++++-----------------------
 widgets/adcmap.h         |  2 +-
 widgets/adcmap.ui        | 17 ++++++-----
 widgets/ppmmap.cpp       | 41 ++++++-------------------
 widgets/ppmmap.h         |  2 +-
 widgets/ppmmap.ui        | 66 +++++++++++++++++-----------------------
 7 files changed, 81 insertions(+), 137 deletions(-)

diff --git a/res/config/6.02/info.xml b/res/config/6.02/info.xml
index b7b0c00e1..9fbb0e6fb 100644
--- a/res/config/6.02/info.xml
+++ b/res/config/6.02/info.xml
@@ -886,16 +886,17 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;PPM pulselength mapping is used to map the minimum and maximum throttle values from the PPM remote to the minimum and maximum throttle values of the VESC. The following procedure can be used:&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;ol style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Activate the PPM app and reboot the VESC.&lt;/li&gt;
-&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Set the PPM control mode to disabled to avoid motor movement and write the configuration.&lt;/li&gt;
-&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Connect the remote.&lt;/li&gt;
-&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Activate app realtime data streaming in the main toolbar. The input display should show the decoded input value and pulse length if the remote is connected and on.&lt;/li&gt;
-&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Move the throttle between the minimum and maximum values to get them sampled.&lt;/li&gt;
-&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Apply the result.&lt;/li&gt;&lt;/ol&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Input mapping should also be usable for those oneshot pulselengths that are popular for some multirotor flight controllers that don't have support for proper ESC communication such as CAN-bus or UART.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PPM pulselength mapping is used to map the minimum and maximum throttle values from the PPM remote to the minimum and maximum throttle values of the motor controller. The following procedure can be used:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ol style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Activate the PPM app and write the configuration.&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Set the PPM control mode to disabled to avoid motor movement and write the configuration.&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Connect the remote.&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Activate app realtime data streaming in the main toolbar. The input display should show the decoded input value and pulse length if the remote is connected and on.&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Move the throttle between the minimum and maximum values to get them sampled.&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Apply the result.&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Write the configuration.&lt;/li&gt;&lt;/ol&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Input mapping should also be usable for those oneshot pulselengths that are popular for some multirotor flight controllers that don't have support for proper ESC communication such as CAN-bus or UART.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine></cDefine>
         </app_ppm_mapping_help>
         <app_adc_mapping_help>
@@ -906,15 +907,17 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;ADC voltage mapping is used to map the minimum and maximum throttle values from the analog throttle to the minimum and maximum throttle values of the VESC. The following procedure can be used:&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;ol style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Activate the ADC app and write the app configuration to the VESC.&lt;/li&gt;
-&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Set the ADC control mode to disabled to avoid motor movement and write the configuration.&lt;/li&gt;
-&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Connect the throttle(s).&lt;/li&gt;
-&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Activate realtime &lt;span style=&quot; font-weight:600;&quot;&gt;app&lt;/span&gt; data streaming in the main toolbar. The input displays should show the decoded input value and voltage if the throttle is connected.&lt;/li&gt;
-&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Move the throttle between the minimum and maximum values to get them sampled.&lt;/li&gt;
-&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Apply the result.&lt;/li&gt;&lt;/ol&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ADC voltage mapping is used to map the minimum and maximum throttle values from the analog throttle to the minimum and maximum throttle values of the motor controller. The following procedure can be used:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ol style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Activate the ADC app and write the app configuration.&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Set the ADC control mode to disabled to avoid motor movement and write the configuration.&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Connect the throttle(s).&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Activate realtime &lt;span style=&quot; font-weight:600;&quot;&gt;app&lt;/span&gt; data streaming in the main toolbar. The input displays should show the decoded input value and voltage if the throttle is connected.&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Move the throttle between the minimum and maximum values to get them sampled.&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Apply the result.&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Activate the desired control mode.&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Write the app configuration.&lt;/li&gt;&lt;/ol&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine></cDefine>
         </app_adc_mapping_help>
         <wizard_startup_intro>
@@ -956,6 +959,7 @@ p, li { white-space: pre-wrap; }
 &lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;keeping in mind that software and hardware failures can happen. Although we design our products to minimize such issues, you should always operate with the understanding that a failure can occur at any point of time and without warning. As such, you shall take the appropriate precautions to minimize danger in case of failure.&lt;/span&gt; &lt;/li&gt;&lt;/ul&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine></cDefine>
             <valString>Important usage information</valString>
+            <maxLen>0</maxLen>
         </wizard_startup_usage>
         <wizard_startup_warranty>
             <longName>Warranty</longName>
@@ -989,6 +993,7 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;This means you can use it on your own derived works, in part or completely, as long as you also adopt the same license. You find the complete text of the license at https://creativecommons.org/licenses/by-sa/3.0/legalcode&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine></cDefine>
             <valString>LIMITED WARRANTY STATEMENT</valString>
+            <maxLen>0</maxLen>
         </wizard_startup_warranty>
         <wizard_startup_conclusion>
             <longName>Conclusion</longName>
diff --git a/widgets/adcmap.cpp b/widgets/adcmap.cpp
index d6788c64e..55b8e929f 100644
--- a/widgets/adcmap.cpp
+++ b/widgets/adcmap.cpp
@@ -32,12 +32,13 @@ AdcMap::AdcMap(QWidget *parent) :
     QString theme = Utility::getThemePath();
     ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
     ui->resetButton->setIcon(QPixmap(theme + "icons/Restart-96.png"));
-    ui->applyButton->setIcon(QPixmap(theme + "icons/apply.png"));
+    ui->applyButton->setIcon(QPixmap(theme + "icons/Ok-96.png"));
 
     layout()->setContentsMargins(0, 0, 0, 0);
     mVesc = 0;
     mResetDone = true;
-    on_controlTypeBox_currentIndexChanged(ui->controlTypeBox->currentIndex());
+
+    on_dualBox_toggled(ui->dualBox->isChecked());
 }
 
 AdcMap::~AdcMap()
@@ -55,11 +56,6 @@ void AdcMap::setVesc(VescInterface *vesc)
     mVesc = vesc;
 
     if (mVesc) {
-        ConfigParam *p = mVesc->appConfig()->getParam("app_adc_conf.ctrl_type");
-        if (p) {
-            ui->controlTypeBox->addItems(p->enumNames);
-        }
-
         connect(mVesc->commands(), SIGNAL(decodedAdcReceived(double,double,double,double)),
                 this, SLOT(decodedAdcReceived(double,double,double,double)));
     }
@@ -133,38 +129,6 @@ void AdcMap::decodedAdcReceived(double value, double voltage, double value2, dou
     }
 }
 
-void AdcMap::on_controlTypeBox_currentIndexChanged(int index)
-{
-    // Cast to the enum to get a warning when unhandled cases
-    // are added in datatypes.h.
-    switch (adc_control_type(index)) {
-    case ADC_CTRL_TYPE_CURRENT_REV_CENTER:
-    case ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_CENTER:
-    case ADC_CTRL_TYPE_DUTY_REV_CENTER:
-    case ADC_CTRL_TYPE_PID_REV_CENTER:
-    case ADC_CTRL_TYPE_CURRENT_REV_BUTTON_BRAKE_CENTER:
-        ui->displayCh1->setDual(true);
-        break;
-
-    case ADC_CTRL_TYPE_NONE:
-    case ADC_CTRL_TYPE_CURRENT:
-    case ADC_CTRL_TYPE_CURRENT_REV_BUTTON:
-    case ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_BUTTON:
-    case ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_ADC:
-    case ADC_CTRL_TYPE_DUTY:
-    case ADC_CTRL_TYPE_DUTY_REV_BUTTON:
-    case ADC_CTRL_TYPE_PID_REV_BUTTON:
-    case ADC_CTRL_TYPE_CURRENT_REV_BUTTON_BRAKE_ADC:
-    case ADC_CTRL_TYPE_PID:
-        ui->displayCh1->setDual(false);
-        break;
-    }
-
-    ui->displayCh1->setEnabled(index != ADC_CTRL_TYPE_NONE);
-    ui->displayCh2->setEnabled(index == ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_ADC ||
-                               index == ADC_CTRL_TYPE_CURRENT_REV_BUTTON_BRAKE_ADC);
-}
-
 void AdcMap::on_helpButton_clicked()
 {
     if (mVesc) {
@@ -199,3 +163,8 @@ void AdcMap::on_applyButton_clicked()
         }
     }
 }
+
+void AdcMap::on_dualBox_toggled(bool checked)
+{
+    ui->displayCh1->setDual(checked);
+}
diff --git a/widgets/adcmap.h b/widgets/adcmap.h
index 002f5dec4..e72012a45 100644
--- a/widgets/adcmap.h
+++ b/widgets/adcmap.h
@@ -41,10 +41,10 @@ class AdcMap : public QWidget
 private slots:
     void decodedAdcReceived(double value, double voltage, double value2, double voltage2);
 
-    void on_controlTypeBox_currentIndexChanged(int index);
     void on_helpButton_clicked();
     void on_resetButton_clicked();
     void on_applyButton_clicked();
+    void on_dualBox_toggled(bool checked);
 
 private:
     Ui::AdcMap *ui;
diff --git a/widgets/adcmap.ui b/widgets/adcmap.ui
index 300a171e2..b4395c53f 100644
--- a/widgets/adcmap.ui
+++ b/widgets/adcmap.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>610</width>
-    <height>145</height>
+    <height>159</height>
    </rect>
   </property>
   <property name="font">
@@ -28,9 +28,12 @@
       <item>
        <layout class="QHBoxLayout" name="horizontalLayout_2">
         <item>
-         <widget class="QComboBox" name="controlTypeBox">
+         <widget class="QCheckBox" name="dualBox">
           <property name="toolTip">
-           <string>Choose the control type. Some control types have centered input, some don't.</string>
+           <string>Show centered graph, which is how the centered control modes interpret the throttle.</string>
+          </property>
+          <property name="text">
+           <string>Use Centered Control</string>
           </property>
          </widget>
         </item>
@@ -46,7 +49,7 @@
            <string>Show help</string>
           </property>
           <property name="text">
-           <string/>
+           <string>Help</string>
           </property>
           <property name="icon">
            <iconset resource="../res.qrc">
@@ -66,7 +69,7 @@
            <string>Reset min and max</string>
           </property>
           <property name="text">
-           <string/>
+           <string>Reset</string>
           </property>
           <property name="icon">
            <iconset resource="../res.qrc">
@@ -86,11 +89,11 @@
            <string>Apply min and max to configuration</string>
           </property>
           <property name="text">
-           <string/>
+           <string>Apply</string>
           </property>
           <property name="icon">
            <iconset resource="../res.qrc">
-            <normaloff>:/res/icons/apply.png</normaloff>:/res/icons/apply.png</iconset>
+            <normaloff>:/res/+theme_light/icons/Ok-96.png</normaloff>:/res/+theme_light/icons/Ok-96.png</iconset>
           </property>
           <property name="iconSize">
            <size>
diff --git a/widgets/ppmmap.cpp b/widgets/ppmmap.cpp
index 063ab790c..f367ada14 100644
--- a/widgets/ppmmap.cpp
+++ b/widgets/ppmmap.cpp
@@ -32,11 +32,13 @@ PpmMap::PpmMap(QWidget *parent) :
     QString theme = Utility::getThemePath();
     ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
     ui->applyButton->setIcon(QPixmap(theme + "icons/apply.png"));
-    ui->resetButton->setIcon(QPixmap(theme + "icons/Restart-96.png"));
+    ui->applyButton->setIcon(QPixmap(theme + "icons/Ok-96.png"));
 
     layout()->setContentsMargins(0, 0, 0, 0);
     mVesc = 0;
     mResetDone = true;
+
+    on_dualBox_toggled(ui->dualBox->isChecked());
 }
 
 PpmMap::~PpmMap()
@@ -54,11 +56,6 @@ void PpmMap::setVesc(VescInterface *vesc)
     mVesc = vesc;
 
     if (mVesc) {
-        ConfigParam *p = mVesc->appConfig()->getParam("app_ppm_conf.ctrl_type");
-        if (p) {
-            ui->controlTypeBox->addItems(p->enumNames);
-        }
-
         connect(mVesc->commands(), SIGNAL(decodedPpmReceived(double,double)),
                 this, SLOT(decodedPpmReceived(double,double)));
     }
@@ -128,32 +125,6 @@ void PpmMap::decodedPpmReceived(double value, double last_len)
     }
 }
 
-void PpmMap::on_controlTypeBox_currentIndexChanged(int index)
-{
-    switch (index) {
-    case 0: // Off
-    case 1: // Current
-    case 3: // Current No Reverse With Brake
-    case 4: // Duty Cycle
-    case 6: // PID Speed Control
-        ui->display->setDual(true);
-        ui->displayVesc->setDual(true);
-        break;
-
-    case 2: // Current No Reverse
-    case 5: // Duty Cycle No Reverse
-    case 7: // PID Speed Control No Reverse
-        ui->display->setDual(false);
-        ui->displayVesc->setDual(false);
-        break;
-
-    default:
-        break;
-    }
-
-    ui->display->setEnabled(index != 0);
-}
-
 void PpmMap::on_helpButton_clicked()
 {
     if (mVesc) {
@@ -184,3 +155,9 @@ void PpmMap::on_applyButton_clicked()
         }
     }
 }
+
+void PpmMap::on_dualBox_toggled(bool checked)
+{
+    ui->display->setDual(checked);
+    ui->displayVesc->setDual(checked);
+}
diff --git a/widgets/ppmmap.h b/widgets/ppmmap.h
index b976ef7fe..387f4cede 100644
--- a/widgets/ppmmap.h
+++ b/widgets/ppmmap.h
@@ -41,10 +41,10 @@ class PpmMap : public QWidget
 private slots:
     void decodedPpmReceived(double value, double last_len);
 
-    void on_controlTypeBox_currentIndexChanged(int index);
     void on_helpButton_clicked();
     void on_resetButton_clicked();
     void on_applyButton_clicked();
+    void on_dualBox_toggled(bool checked);
 
 private:
     Ui::PpmMap *ui;
diff --git a/widgets/ppmmap.ui b/widgets/ppmmap.ui
index 74154707e..8d2b50e3f 100644
--- a/widgets/ppmmap.ui
+++ b/widgets/ppmmap.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>512</width>
-    <height>181</height>
+    <height>187</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -23,9 +23,12 @@
       <item>
        <layout class="QHBoxLayout" name="horizontalLayout">
         <item>
-         <widget class="QComboBox" name="controlTypeBox">
+         <widget class="QCheckBox" name="dualBox">
           <property name="toolTip">
-           <string>Choose the control type. Some control types have centered input, some don't.</string>
+           <string>Show centered graph, which is how the centered control modes interpret the throttle.</string>
+          </property>
+          <property name="text">
+           <string>Use Centered Control</string>
           </property>
          </widget>
         </item>
@@ -41,7 +44,7 @@
            <string>Show help</string>
           </property>
           <property name="text">
-           <string/>
+           <string>Help</string>
           </property>
           <property name="icon">
            <iconset resource="../res.qrc">
@@ -50,7 +53,7 @@
          </widget>
         </item>
         <item>
-         <widget class="QPushButton" name="applyButton">
+         <widget class="QPushButton" name="resetButton">
           <property name="sizePolicy">
            <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
             <horstretch>0</horstretch>
@@ -58,14 +61,30 @@
            </sizepolicy>
           </property>
           <property name="toolTip">
-           <string>Apply min, max and center to VESC Tool configuration</string>
+           <string>Reset min and max</string>
           </property>
           <property name="text">
-           <string/>
+           <string>Reset</string>
           </property>
           <property name="icon">
            <iconset resource="../res.qrc">
-            <normaloff>:/res/icons/apply.png</normaloff>:/res/icons/apply.png</iconset>
+            <normaloff>:/res/icons/Restart-96.png</normaloff>:/res/icons/Restart-96.png</iconset>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="applyButton">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="toolTip">
+           <string>Apply min, max and center to VESC Tool configuration</string>
+          </property>
+          <property name="text">
+           <string>Apply</string>
           </property>
           <property name="iconSize">
            <size>
@@ -157,26 +176,6 @@
           </property>
          </widget>
         </item>
-        <item>
-         <widget class="QPushButton" name="resetButton">
-          <property name="sizePolicy">
-           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-            <horstretch>0</horstretch>
-            <verstretch>0</verstretch>
-           </sizepolicy>
-          </property>
-          <property name="toolTip">
-           <string>Reset min and max</string>
-          </property>
-          <property name="text">
-           <string/>
-          </property>
-          <property name="icon">
-           <iconset resource="../res.qrc">
-            <normaloff>:/res/icons/Restart-96.png</normaloff>:/res/icons/Restart-96.png</iconset>
-          </property>
-         </widget>
-        </item>
        </layout>
       </item>
       <item>
@@ -210,7 +209,7 @@
            <string>Current VESC output. Will be updated after writing the app configuration.</string>
           </property>
           <property name="text">
-           <string>From VESC</string>
+           <string>VESC Firmware</string>
           </property>
          </widget>
         </item>
@@ -230,15 +229,6 @@
        </layout>
       </item>
      </layout>
-     <zorder>display</zorder>
-     <zorder>controlTypeBox</zorder>
-     <zorder>resetButton</zorder>
-     <zorder>helpButton</zorder>
-     <zorder>applyButton</zorder>
-     <zorder>centerBox</zorder>
-     <zorder>label</zorder>
-     <zorder>label_2</zorder>
-     <zorder>displayVesc</zorder>
     </widget>
    </item>
   </layout>

From e333a74c9ed38efcd16f315d0c8ead04c8db553b Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 27 Dec 2022 13:03:25 +0100
Subject: [PATCH 370/559] Factored out and improved experiment plot, added
 experiment plot to lisp page, rearranged lisp page

---
 pages/pagelisp.cpp         |   4 +-
 pages/pagelisp.ui          | 101 ++++---
 pages/pagertdata.cpp       | 394 +------------------------
 pages/pagertdata.h         |  24 +-
 pages/pagertdata.ui        | 423 +--------------------------
 widgets/experimentplot.cpp | 445 +++++++++++++++++++++++++++++
 widgets/experimentplot.h   |  73 +++++
 widgets/experimentplot.ui  | 568 +++++++++++++++++++++++++++++++++++++
 widgets/scripteditor.cpp   |   3 +-
 widgets/widgets.pri        |   3 +
 10 files changed, 1156 insertions(+), 882 deletions(-)
 create mode 100644 widgets/experimentplot.cpp
 create mode 100644 widgets/experimentplot.h
 create mode 100644 widgets/experimentplot.ui

diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index 523932b2c..cc4a1359b 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -193,7 +193,7 @@ PageLisp::~PageLisp()
         set.remove("pagelisp/recentfiles");
         set.beginWriteArray("pagelisp/recentfiles");
         int ind = 0;
-        for (auto f: mRecentFiles) {
+        foreach (auto f, mRecentFiles) {
             set.setArrayIndex(ind);
             set.setValue("path", f);
             ind++;
@@ -223,6 +223,7 @@ void PageLisp::setVesc(VescInterface *vesc)
 {
     mVesc = vesc;
     mLoader.setVesc(vesc);
+    ui->experimentPlot->setVesc(vesc);
 
     connect(mVesc->commands(), &Commands::lispPrintReceived, [this](QString str) {
         ui->debugEdit->moveCursor(QTextCursor::End);
@@ -243,7 +244,6 @@ void PageLisp::setVesc(VescInterface *vesc)
         ui->heapBar->setValue(stats.heap_use);
         ui->memBar->setValue(stats.mem_use);
         ui->stackBar->setValue(stats.stack_use);
-        ui->doneCtxRLabel->setText(stats.done_ctx_r);
 
         ui->bindingTable->setColumnCount(2);
         ui->bindingTable->setRowCount(stats.number_bindings.size());
diff --git a/pages/pagelisp.ui b/pages/pagelisp.ui
index 174ded2a7..9fea97bb1 100644
--- a/pages/pagelisp.ui
+++ b/pages/pagelisp.ui
@@ -147,7 +147,7 @@
         </item>
        </layout>
       </widget>
-      <widget class="QWidget" name="">
+      <widget class="QWidget" name="layoutWidget2">
        <layout class="QVBoxLayout" name="verticalLayout_2">
         <item>
          <layout class="QHBoxLayout" name="horizontalLayout_8">
@@ -203,17 +203,17 @@
         </item>
         <item>
          <layout class="QGridLayout" name="gridLayout">
-          <item row="3" column="1">
-           <widget class="QProgressBar" name="stackBar">
+          <item row="2" column="1">
+           <widget class="QProgressBar" name="memBar">
             <property name="value">
              <number>0</number>
             </property>
            </widget>
           </item>
-          <item row="0" column="0">
-           <widget class="QLabel" name="label">
+          <item row="3" column="0">
+           <widget class="QLabel" name="label_2">
             <property name="text">
-             <string>CPU</string>
+             <string>Stack</string>
             </property>
            </widget>
           </item>
@@ -224,10 +224,17 @@
             </property>
            </widget>
           </item>
-          <item row="4" column="1">
-           <widget class="QLabel" name="doneCtxRLabel">
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_3">
             <property name="text">
-             <string/>
+             <string>Heap</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="0">
+           <widget class="QLabel" name="label">
+            <property name="text">
+             <string>CPU</string>
             </property>
            </widget>
           </item>
@@ -238,6 +245,13 @@
             </property>
            </widget>
           </item>
+          <item row="3" column="1">
+           <widget class="QProgressBar" name="stackBar">
+            <property name="value">
+             <number>0</number>
+            </property>
+           </widget>
+          </item>
           <item row="0" column="1">
            <widget class="QProgressBar" name="cpuBar">
             <property name="maximum">
@@ -251,34 +265,6 @@
             </property>
            </widget>
           </item>
-          <item row="3" column="0">
-           <widget class="QLabel" name="label_2">
-            <property name="text">
-             <string>Stack</string>
-            </property>
-           </widget>
-          </item>
-          <item row="4" column="0">
-           <widget class="QLabel" name="label_7">
-            <property name="text">
-             <string>Result</string>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="1">
-           <widget class="QProgressBar" name="memBar">
-            <property name="value">
-             <number>0</number>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="0">
-           <widget class="QLabel" name="label_3">
-            <property name="text">
-             <string>Heap</string>
-            </property>
-           </widget>
-          </item>
          </layout>
         </item>
         <item>
@@ -371,7 +357,7 @@
      </widget>
      <widget class="QTabWidget" name="tabWidget">
       <property name="tabPosition">
-       <enum>QTabWidget::West</enum>
+       <enum>QTabWidget::North</enum>
       </property>
       <property name="tabShape">
        <enum>QTabWidget::Triangular</enum>
@@ -381,7 +367,7 @@
       </property>
       <widget class="QWidget" name="tab">
        <attribute name="title">
-        <string>Console</string>
+        <string>Console/REPL</string>
        </attribute>
        <layout class="QHBoxLayout" name="horizontalLayout_7">
         <item>
@@ -420,13 +406,6 @@
               </property>
              </widget>
             </item>
-            <item>
-             <widget class="QLabel" name="label_5">
-              <property name="text">
-               <string>Repl</string>
-              </property>
-             </widget>
-            </item>
             <item>
              <widget class="HistoryLineEdit" name="replEdit"/>
             </item>
@@ -576,7 +555,7 @@
       </widget>
       <widget class="QWidget" name="tab_4">
        <attribute name="title">
-        <string>Plot</string>
+        <string>Binding Plot</string>
        </attribute>
        <layout class="QHBoxLayout" name="horizontalLayout_6">
         <item>
@@ -764,12 +743,34 @@
         </item>
        </layout>
       </widget>
+      <widget class="QWidget" name="tab_5">
+       <attribute name="title">
+        <string>Experiment Plot</string>
+       </attribute>
+       <layout class="QVBoxLayout" name="verticalLayout_9">
+        <item>
+         <widget class="ExperimentPlot" name="experimentPlot" native="true"/>
+        </item>
+       </layout>
+      </widget>
      </widget>
     </widget>
    </item>
   </layout>
  </widget>
  <customwidgets>
+  <customwidget>
+   <class>QCustomPlot</class>
+   <extends>QWidget</extends>
+   <header>widgets/qcustomplot.h</header>
+   <container>1</container>
+  </customwidget>
+  <customwidget>
+   <class>ExperimentPlot</class>
+   <extends>QWidget</extends>
+   <header>widgets/experimentplot.h</header>
+   <container>1</container>
+  </customwidget>
   <customwidget>
    <class>VTextBrowser</class>
    <extends>QTextEdit</extends>
@@ -781,12 +782,6 @@
    <header>widgets/scripteditor.h</header>
    <container>1</container>
   </customwidget>
-  <customwidget>
-   <class>QCustomPlot</class>
-   <extends>QWidget</extends>
-   <header>widgets/qcustomplot.h</header>
-   <container>1</container>
-  </customwidget>
   <customwidget>
    <class>HistoryLineEdit</class>
    <extends>QLineEdit</extends>
diff --git a/pages/pagertdata.cpp b/pages/pagertdata.cpp
index 57bf30f48..92bcdb3c2 100644
--- a/pages/pagertdata.cpp
+++ b/pages/pagertdata.cpp
@@ -1,5 +1,5 @@
 /*
-    Copyright 2016 - 2019 Benjamin Vedder	benjamin@vedder.se
+    Copyright 2016 - 2022 Benjamin Vedder	benjamin@vedder.se
 
     This file is part of VESC Tool.
 
@@ -19,7 +19,6 @@
 
 #include "pagertdata.h"
 #include "ui_pagertdata.h"
-#include "widgets/helpdialog.h"
 #include <QFileDialog>
 #include <QMessageBox>
 #include "utility.h"
@@ -36,28 +35,22 @@ PageRtData::PageRtData(QWidget *parent) :
     mVesc = nullptr;
 
     QString theme = Utility::getThemePath();
-    ui->experimentClearDataButton->setIcon(QPixmap(theme + "icons/Delete-96.png"));
-    ui->experimentShowLineButton->setIcon(QPixmap(theme + "icons/3ph_sine.png"));
-    ui->experimentScatterButton->setIcon(QPixmap(theme + "icons/Polyline-96.png"));
     ui->rescaleButton->setIcon(QPixmap(theme + "icons/expand_off.png"));
 
     QIcon mycon = QIcon(theme + "icons/expand_off.png");
     mycon.addPixmap(QPixmap(theme + "icons/expand_on.png"), QIcon::Normal, QIcon::On);
     mycon.addPixmap(QPixmap(theme + "icons/expand_off.png"), QIcon::Normal, QIcon::Off);
     ui->zoomHButton->setIcon(mycon);
-    ui->experimentHZoomButton->setIcon(mycon);
 
     mycon = QIcon(theme + "icons/expand_v_off.png");
     mycon.addPixmap(QPixmap(theme + "icons/expand_v_on.png"), QIcon::Normal, QIcon::On);
     mycon.addPixmap(QPixmap(theme + "icons/expand_v_off.png"), QIcon::Normal, QIcon::Off);
     ui->zoomVButton->setIcon(mycon);
-    ui->experimentVZoomButton->setIcon(mycon);
 
     mycon = QIcon(theme + "icons/size_off.png");
     mycon.addPixmap(QPixmap(theme + "icons/size_on.png"), QIcon::Normal, QIcon::On);
     mycon.addPixmap(QPixmap(theme + "icons/size_off.png"), QIcon::Normal, QIcon::Off);
     ui->autoscaleButton->setIcon(mycon);
-    ui->experimentAutoScaleButton->setIcon(mycon);
 
     mycon = QIcon(theme + "icons/rt_off.png");
     mycon.addPixmap(QPixmap(theme + "icons/rt_on.png"), QIcon::Normal, QIcon::On);
@@ -73,17 +66,12 @@ PageRtData::PageRtData(QWidget *parent) :
     mUpdateValPlot = false;
     mUpdatePosPlot = false;
 
-    mExperimentReplot = false;
-    mExperimentPlotNow = 0;
-
-    QCustomPlot* allPlots[6] =
+    QCustomPlot* allPlots[] =
                 {ui->currentPlot, ui->tempPlot, ui->focPlot,
-                ui->posPlot, ui->experimentPlot, ui->rpmPlot};
-    for(int j = 0; j<6; j++)
-    {
+                ui->posPlot, ui->rpmPlot};
+    for(int j = 0;j < 5; j++) {
         Utility::setPlotColors(allPlots[j]);
         allPlots[j]->setInteractions(QCP::iRangeDrag | QCP::iRangeZoom);
-        //allPlots[j]->setBufferDevicePixelRatio(1.5);
     }
 
     // Current and duty
@@ -184,43 +172,6 @@ PageRtData::PageRtData(QWidget *parent) :
     ui->posPlot->xAxis->setLabel("Sample");
     ui->posPlot->yAxis->setLabel("Degrees");
 
-    // Experiment
-    ui->experimentPlot->xAxis->grid()->setSubGridVisible(true);
-    ui->experimentPlot->yAxis->grid()->setSubGridVisible(true);
-
-    connect(ui->experimentGraph1Button, &QPushButton::toggled,
-            [=]() {mExperimentReplot = true;});
-    connect(ui->experimentGraph2Button, &QPushButton::toggled,
-            [=]() {mExperimentReplot = true;});
-    connect(ui->experimentGraph3Button, &QPushButton::toggled,
-            [=]() {mExperimentReplot = true;});
-    connect(ui->experimentGraph4Button, &QPushButton::toggled,
-            [=]() {mExperimentReplot = true;});
-    connect(ui->experimentGraph5Button, &QPushButton::toggled,
-            [=]() {mExperimentReplot = true;});
-    connect(ui->experimentGraph6Button, &QPushButton::toggled,
-            [=]() {mExperimentReplot = true;});
-    connect(ui->experimentScatterButton, &QPushButton::toggled,
-            [=]() {mExperimentReplot = true;});
-    connect(ui->experimentShowLineButton, &QPushButton::toggled,
-            [=]() {mExperimentReplot = true;});
-
-    connect(ui->experimentHZoomButton, &QPushButton::toggled,
-            [=]() {
-        Qt::Orientations plotOrientations = Qt::Orientations(
-                ((ui->experimentHZoomButton->isChecked() ? Qt::Horizontal : 0) |
-                 (ui->experimentVZoomButton->isChecked() ? Qt::Vertical : 0)));
-        ui->experimentPlot->axisRect()->setRangeZoom(plotOrientations);
-    });
-
-    connect(ui->experimentVZoomButton, &QPushButton::toggled,
-            [=]() {
-        Qt::Orientations plotOrientations = Qt::Orientations(
-                ((ui->experimentHZoomButton->isChecked() ? Qt::Horizontal : 0) |
-                 (ui->experimentVZoomButton->isChecked() ? Qt::Vertical : 0)));
-        ui->experimentPlot->axisRect()->setRangeZoom(plotOrientations);
-    });
-
     connect(mTimer, SIGNAL(timeout()),
             this, SLOT(timerSlot()));
 }
@@ -239,19 +190,13 @@ void PageRtData::setVesc(VescInterface *vesc)
 {
     mVesc = vesc;
 
+    ui->experimentPlot->setVesc(vesc);
+
     if (mVesc) {
-        connect(mVesc->commands(), SIGNAL(valuesReceived(MC_VALUES,unsigned int)),
-                this, SLOT(valuesReceived(MC_VALUES, unsigned int)));
+        connect(mVesc->commands(), SIGNAL(valuesReceived(MC_VALUES,uint)),
+                this, SLOT(valuesReceived(MC_VALUES,uint)));
         connect(mVesc->commands(), SIGNAL(rotorPosReceived(double)),
                 this, SLOT(rotorPosReceived(double)));
-        connect(mVesc->commands(), SIGNAL(plotInitReceived(QString,QString)),
-                this, SLOT(plotInitReceived(QString,QString)));
-        connect(mVesc->commands(), SIGNAL(plotDataReceived(double,double)),
-                this, SLOT(plotDataReceived(double,double)));
-        connect(mVesc->commands(), SIGNAL(plotAddGraphReceived(QString)),
-                this, SLOT(plotAddGraphReceived(QString)));
-        connect(mVesc->commands(), SIGNAL(plotSetGraphReceived(int)),
-                this, SLOT(plotSetGraphReceived(int)));
     }
 }
 
@@ -363,45 +308,6 @@ void PageRtData::timerSlot()
 
         mUpdatePosPlot = false;
     }
-
-    if (mExperimentReplot) {
-        ui->experimentPlot->clearGraphs();
-
-        for (int i = 0;i < mExperimentPlots.size();i++) {
-            switch (i) {
-            case 0: if (!ui->experimentGraph1Button->isChecked()) {continue;} break;
-            case 1: if (!ui->experimentGraph2Button->isChecked()) {continue;} break;
-            case 2: if (!ui->experimentGraph3Button->isChecked()) {continue;} break;
-            case 3: if (!ui->experimentGraph4Button->isChecked()) {continue;} break;
-            case 4: if (!ui->experimentGraph5Button->isChecked()) {continue;} break;
-            case 5: if (!ui->experimentGraph6Button->isChecked()) {continue;} break;
-            default: break;
-            }
-
-            ui->experimentPlot->addGraph();
-            ui->experimentPlot->graph()->setData(mExperimentPlots.at(i).xData, mExperimentPlots.at(i).yData);
-            ui->experimentPlot->graph()->setName(mExperimentPlots.at(i).label);
-
-            ui->experimentPlot->graph()->setPen(QPen(mExperimentPlots.at(i).color));
-            if (ui->experimentScatterButton->isChecked()) {
-                ui->experimentPlot->graph()->setScatterStyle(QCPScatterStyle(QCPScatterStyle::ssDisc, 5));
-            }
-            if (ui->experimentShowLineButton->isChecked()) {
-                ui->experimentPlot->graph()->setLineStyle(QCPGraph::LineStyle::lsLine);
-            } else {
-                ui->experimentPlot->graph()->setLineStyle(QCPGraph::LineStyle::lsNone);
-            }
-        }
-
-        ui->experimentPlot->legend->setVisible(mExperimentPlots.size() > 1);
-
-        if (ui->experimentAutoScaleButton->isChecked()) {
-            ui->experimentPlot->rescaleAxes();
-        }
-
-        ui->experimentPlot->replotWhenVisible();
-        mExperimentReplot = false;
-    }
 }
 
 void PageRtData::valuesReceived(MC_VALUES values, unsigned int mask)
@@ -447,63 +353,6 @@ void PageRtData::rotorPosReceived(double pos)
     mUpdatePosPlot = true;
 }
 
-void PageRtData::plotInitReceived(QString xLabel, QString yLabel)
-{
-    mExperimentPlots.clear();
-
-    ui->experimentPlot->clearGraphs();
-    ui->experimentPlot->xAxis->setLabel(xLabel);
-    ui->experimentPlot->yAxis->setLabel(yLabel);
-
-    mExperimentReplot = true;
-}
-
-void PageRtData::plotDataReceived(double x, double y)
-{
-    if (mExperimentPlots.size() <= mExperimentPlotNow) {
-        mExperimentPlots.resize(mExperimentPlotNow + 1);
-    }
-
-    mExperimentPlots[mExperimentPlotNow].xData.append(x);
-    mExperimentPlots[mExperimentPlotNow].yData.append(y);
-
-    int samples = mExperimentPlots[mExperimentPlotNow].xData.size();
-    int historyMax = ui->experimentHistoryBox->value();
-    if (samples > historyMax) {
-        mExperimentPlots[mExperimentPlotNow].xData.remove(0, samples - historyMax);
-        mExperimentPlots[mExperimentPlotNow].yData.remove(0, samples - historyMax);
-    }
-
-    mExperimentReplot = true;
-}
-
-void PageRtData::plotAddGraphReceived(QString name)
-{
-    mExperimentPlots.resize(mExperimentPlots.size() + 1);
-    mExperimentPlots.last().label = name;
-
-    if (mExperimentPlots.size() == 1) {
-        mExperimentPlots.last().color = Utility::getAppQColor("plot_graph1");
-    } else if (mExperimentPlots.size() == 2) {
-        mExperimentPlots.last().color = Utility::getAppQColor("plot_graph2");
-    } else if (mExperimentPlots.size() == 3) {
-        mExperimentPlots.last().color = Utility::getAppQColor("plot_graph3");
-    } else if (mExperimentPlots.size() == 4) {
-        mExperimentPlots.last().color = Utility::getAppQColor("plot_graph4");
-    } else if (mExperimentPlots.size() == 5) {
-        mExperimentPlots.last().color = Utility::getAppQColor("plot_graph5");
-    } else {
-        mExperimentPlots.last().color = Utility::getAppQColor("plot_graph6");
-    }
-
-    mExperimentReplot = true;
-}
-
-void PageRtData::plotSetGraphReceived(int graph)
-{
-    mExperimentPlotNow = graph;
-}
-
 void PageRtData::appendDoubleAndTrunc(QVector<double> *vec, double num, int maxSize)
 {
     vec->append(num);
@@ -616,187 +465,6 @@ void PageRtData::on_tempShowMotorBox_toggled(bool checked)
     }
 }
 
-void PageRtData::on_experimentLoadXmlButton_clicked()
-{
-    QString filename = QFileDialog::getOpenFileName(this,
-                                                    tr("Load Plot"), "",
-                                                    tr("Xml files (*.xml)"));
-
-    if (!filename.isEmpty()) {
-        QFile file(filename);
-        if (!file.open(QIODevice::ReadOnly)) {
-            QMessageBox::critical(this, "Load Plot",
-                                  "Could not open\n" + filename + "\nfor reading");
-            return;
-        }
-
-        QXmlStreamReader stream(&file);
-
-        // Look for plot tag
-        bool plots_found = false;
-        while (stream.readNextStartElement()) {
-            if (stream.name() == "plot") {
-                plots_found = true;
-                break;
-            }
-        }
-
-        if (plots_found) {
-            mExperimentPlots.clear();
-
-            while (stream.readNextStartElement()) {
-                QString name = stream.name().toString();
-
-                if (name == "xlabel") {
-                    ui->experimentPlot->xAxis->setLabel(stream.readElementText());
-                } else if (name == "ylabel") {
-                    ui->experimentPlot->yAxis->setLabel(stream.readElementText());
-                } else if (name == "graph") {
-                    EXPERIMENT_PLOT p;
-
-                    while (stream.readNextStartElement()) {
-                        QString name2 = stream.name().toString();
-
-                        if (name2 == "label") {
-                            p.label = stream.readElementText();
-                        } else if (name2 == "color") {
-                            p.color = QColor(stream.readElementText());
-                        } else if (name2 == "point") {
-                            while (stream.readNextStartElement()) {
-                                QString name3 = stream.name().toString();
-
-                                if (name3 == "x") {
-                                    p.xData.append(stream.readElementText().toDouble());
-                                } else if (name3 == "y") {
-                                    p.yData.append(stream.readElementText().toDouble());
-                                } else {
-                                    qWarning() << ": Unknown XML element :" << name2;
-                                    stream.skipCurrentElement();
-                                }
-                            }
-                        } else {
-                            qWarning() << ": Unknown XML element :" << name2;
-                            stream.skipCurrentElement();
-                        }
-
-                        if (stream.hasError()) {
-                            qWarning() << " : XML ERROR :" << stream.errorString();
-                        }
-                    }
-
-                    mExperimentPlots.append(p);
-                }
-
-                if (stream.hasError()) {
-                    qWarning() << "XML ERROR :" << stream.errorString();
-                    qWarning() << stream.lineNumber() << stream.columnNumber();
-                }
-            }
-
-            mExperimentReplot = true;
-
-            file.close();
-            if (mVesc) {
-                mVesc->emitStatusMessage("Loaded plot", true);
-            }
-        } else {
-            QMessageBox::critical(this, "Load Plot",
-                                  "plot tag not found in " + filename);
-        }
-    }
-}
-
-void PageRtData::on_experimentSaveXmlButton_clicked()
-{
-    QString filename = QFileDialog::getSaveFileName(this,
-                                                    tr("Save Plot"), "",
-                                                    tr("Xml files (*.xml)"));
-
-    if (filename.isEmpty()) {
-        return;
-    }
-
-    if (!filename.toLower().endsWith(".xml")) {
-        filename.append(".xml");
-    }
-
-    QFile file(filename);
-    if (!file.open(QIODevice::WriteOnly)) {
-        QMessageBox::critical(this, "Save Plot",
-                              "Could not open\n" + filename + "\nfor writing");
-        return;
-    }
-
-    QXmlStreamWriter stream(&file);
-    stream.setCodec("UTF-8");
-    stream.setAutoFormatting(true);
-    stream.writeStartDocument();
-
-    stream.writeStartElement("plot");
-    stream.writeTextElement("xlabel", ui->experimentPlot->xAxis->label());
-    stream.writeTextElement("ylabel", ui->experimentPlot->yAxis->label());
-
-    for (EXPERIMENT_PLOT p: mExperimentPlots) {
-        stream.writeStartElement("graph");
-        stream.writeTextElement("label", p.label);
-        stream.writeTextElement("color", p.color.name());
-        for (int i = 0;i < p.xData.size();i++) {
-            stream.writeStartElement("point");
-            stream.writeTextElement("x", QString::number(p.xData.at(i)));
-            stream.writeTextElement("y", QString::number(p.yData.at(i)));
-            stream.writeEndElement();
-        }
-        stream.writeEndElement();
-    }
-
-    stream.writeEndDocument();
-    file.close();
-}
-
-void PageRtData::on_experimentSavePngButton_clicked()
-{
-    QString fileName = QFileDialog::getSaveFileName(this,
-                                                    tr("Save Image"), "",
-                                                    tr("PNG Files (*.png)"));
-
-    if (!fileName.isEmpty()) {
-        if (!fileName.toLower().endsWith(".png")) {
-            fileName.append(".png");
-        }
-
-        ui->experimentPlot->savePng(fileName,
-                                    ui->experimentWBox->value(),
-                                    ui->experimentHBox->value(),
-                                    ui->experimentScaleBox->value());
-    }
-}
-
-void PageRtData::on_experimentSavePdfButton_clicked()
-{
-    QString fileName = QFileDialog::getSaveFileName(this,
-                                                    tr("Save PDF"), "",
-                                                    tr("PDF Files (*.pdf)"));
-
-    if (!fileName.isEmpty()) {
-        if (!fileName.toLower().endsWith(".pdf")) {
-            fileName.append(".pdf");
-        }
-
-        ui->experimentPlot->savePdf(fileName,
-                                    ui->experimentWBox->value(),
-                                    ui->experimentHBox->value());
-    }
-}
-
-void PageRtData::on_experimentClearDataButton_clicked()
-{
-    for (auto &d: mExperimentPlots) {
-        d.xData.clear();
-        d.yData.clear();
-    }
-    mExperimentReplot = true;
-}
-
 void PageRtData::on_logRtButton_toggled(bool checked)
 {
     QSettings set;
@@ -809,49 +477,3 @@ void PageRtData::on_logRtButton_toggled(bool checked)
         mVesc->closeRtLogFile();
     }
 }
-
-void PageRtData::on_experimentSaveCsvButton_clicked()
-{
-    QString filename = QFileDialog::getSaveFileName(this,
-                                                    tr("Save Plot"), "",
-                                                    tr("Csv files (*.csv)"));
-
-    if (filename.isEmpty()) {
-        return;
-    }
-
-    if (!filename.toLower().endsWith(".csv")) {
-        filename.append(".csv");
-    }
-
-    QFile file(filename);
-    if (!file.open(QIODevice::WriteOnly)) {
-        QMessageBox::critical(this, "Save Plot",
-                              "Could not open\n" + filename + "\nfor writing");
-        return;
-    }
-
-    QTextStream os(&file);
-
-    int maxLen = 0;
-    for (EXPERIMENT_PLOT p: mExperimentPlots) {
-        os << p.label << " x;" << p.label << " y;";
-        if (p.xData.length() > maxLen) {
-            maxLen = p.xData.length();
-        }
-    }
-    os << "\n";
-
-    for (int i = 0;i < maxLen;i++) {
-        for (EXPERIMENT_PLOT p: mExperimentPlots) {
-            if (p.xData.length() > i) {
-                os << p.xData.at(i) << ";" << p.yData.at(i) << ";";
-            } else {
-                os << ";;";
-            }
-        }
-        os << "\n";
-    }
-
-    file.close();
-}
diff --git a/pages/pagertdata.h b/pages/pagertdata.h
index 820f1d8a0..f97b7bb50 100644
--- a/pages/pagertdata.h
+++ b/pages/pagertdata.h
@@ -1,5 +1,5 @@
 /*
-    Copyright 2016 - 2017 Benjamin Vedder	benjamin@vedder.se
+    Copyright 2016 - 2022 Benjamin Vedder	benjamin@vedder.se
 
     This file is part of VESC Tool.
 
@@ -24,7 +24,6 @@
 #include <QVector>
 #include <QTimer>
 #include "vescinterface.h"
-#include "widgets/qcustomplot.h"
 
 namespace Ui {
 class PageRtData;
@@ -45,10 +44,6 @@ private slots:
     void timerSlot();
     void valuesReceived(MC_VALUES values, unsigned int mask);
     void rotorPosReceived(double pos);
-    void plotInitReceived(QString xLabel, QString yLabel);
-    void plotDataReceived(double x, double y);
-    void plotAddGraphReceived(QString name);
-    void plotSetGraphReceived(int graph);
 
     void on_zoomHButton_toggled(bool checked);
     void on_zoomVButton_toggled(bool checked);
@@ -62,13 +57,7 @@ private slots:
     void on_posStopButton_clicked();
     void on_tempShowMosfetBox_toggled(bool checked);
     void on_tempShowMotorBox_toggled(bool checked);
-    void on_experimentLoadXmlButton_clicked();
-    void on_experimentSaveXmlButton_clicked();
-    void on_experimentSavePngButton_clicked();
-    void on_experimentSavePdfButton_clicked();
-    void on_experimentClearDataButton_clicked();
     void on_logRtButton_toggled(bool checked);
-    void on_experimentSaveCsvButton_clicked();
 
 private:
     Ui::PageRtData *ui;
@@ -97,17 +86,6 @@ private slots:
     bool mUpdateValPlot;
     bool mUpdatePosPlot;
 
-    typedef struct {
-        QString label;
-        QColor color;
-        QVector<double> xData;
-        QVector<double> yData;
-    } EXPERIMENT_PLOT;
-
-    QVector<EXPERIMENT_PLOT> mExperimentPlots;
-    int mExperimentPlotNow;
-    bool mExperimentReplot;
-
     void appendDoubleAndTrunc(QVector<double> *vec, double num, int maxSize);
     void updateZoom();
 
diff --git a/pages/pagertdata.ui b/pages/pagertdata.ui
index 67d2b6104..a9312c209 100644
--- a/pages/pagertdata.ui
+++ b/pages/pagertdata.ui
@@ -234,422 +234,7 @@
         </attribute>
         <layout class="QVBoxLayout" name="verticalLayout_10">
          <item>
-          <layout class="QHBoxLayout" name="horizontalLayout_8">
-           <property name="spacing">
-            <number>2</number>
-           </property>
-           <item>
-            <widget class="QSpinBox" name="experimentWBox">
-             <property name="prefix">
-              <string>W: </string>
-             </property>
-             <property name="maximum">
-              <number>4000</number>
-             </property>
-             <property name="value">
-              <number>640</number>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QSpinBox" name="experimentHBox">
-             <property name="prefix">
-              <string>H: </string>
-             </property>
-             <property name="maximum">
-              <number>4000</number>
-             </property>
-             <property name="value">
-              <number>480</number>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QDoubleSpinBox" name="experimentScaleBox">
-             <property name="prefix">
-              <string>S: </string>
-             </property>
-             <property name="singleStep">
-              <double>0.100000000000000</double>
-             </property>
-             <property name="value">
-              <double>1.000000000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <spacer name="horizontalSpacer_3">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>40</width>
-               <height>20</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-           <item>
-            <widget class="QSpinBox" name="experimentHistoryBox">
-             <property name="toolTip">
-              <string>Drop old samples when the plot grows larger than this</string>
-             </property>
-             <property name="prefix">
-              <string>History: </string>
-             </property>
-             <property name="minimum">
-              <number>2</number>
-             </property>
-             <property name="maximum">
-              <number>10000</number>
-             </property>
-             <property name="singleStep">
-              <number>50</number>
-             </property>
-             <property name="value">
-              <number>2000</number>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="experimentClearDataButton">
-             <property name="toolTip">
-              <string>Clear data from plots</string>
-             </property>
-             <property name="text">
-              <string/>
-             </property>
-             <property name="icon">
-              <iconset resource="../res.qrc">
-               <normaloff>:/res/icons/Delete-96.png</normaloff>:/res/icons/Delete-96.png</iconset>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="experimentShowLineButton">
-             <property name="text">
-              <string/>
-             </property>
-             <property name="icon">
-              <iconset resource="../res.qrc">
-               <normaloff>:/res/icons/3ph_sine.png</normaloff>:/res/icons/3ph_sine.png</iconset>
-             </property>
-             <property name="checkable">
-              <bool>true</bool>
-             </property>
-             <property name="checked">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="experimentScatterButton">
-             <property name="toolTip">
-              <string>Use Scatterplot</string>
-             </property>
-             <property name="text">
-              <string/>
-             </property>
-             <property name="icon">
-              <iconset resource="../res.qrc">
-               <normaloff>:/res/icons/Polyline-96.png</normaloff>:/res/icons/Polyline-96.png</iconset>
-             </property>
-             <property name="checkable">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="experimentGraph1Button">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="maximumSize">
-              <size>
-               <width>25</width>
-               <height>16777215</height>
-              </size>
-             </property>
-             <property name="toolTip">
-              <string>Show this graph</string>
-             </property>
-             <property name="text">
-              <string>1</string>
-             </property>
-             <property name="checkable">
-              <bool>true</bool>
-             </property>
-             <property name="checked">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="experimentGraph2Button">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="maximumSize">
-              <size>
-               <width>25</width>
-               <height>16777215</height>
-              </size>
-             </property>
-             <property name="toolTip">
-              <string>Show this graph</string>
-             </property>
-             <property name="text">
-              <string>2</string>
-             </property>
-             <property name="checkable">
-              <bool>true</bool>
-             </property>
-             <property name="checked">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="experimentGraph3Button">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="maximumSize">
-              <size>
-               <width>25</width>
-               <height>16777215</height>
-              </size>
-             </property>
-             <property name="toolTip">
-              <string>Show this graph</string>
-             </property>
-             <property name="text">
-              <string>3</string>
-             </property>
-             <property name="checkable">
-              <bool>true</bool>
-             </property>
-             <property name="checked">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="experimentGraph4Button">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="maximumSize">
-              <size>
-               <width>25</width>
-               <height>16777215</height>
-              </size>
-             </property>
-             <property name="toolTip">
-              <string>Show this graph</string>
-             </property>
-             <property name="text">
-              <string>4</string>
-             </property>
-             <property name="checkable">
-              <bool>true</bool>
-             </property>
-             <property name="checked">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="experimentGraph5Button">
-             <property name="maximumSize">
-              <size>
-               <width>25</width>
-               <height>16777215</height>
-              </size>
-             </property>
-             <property name="text">
-              <string>5</string>
-             </property>
-             <property name="checkable">
-              <bool>true</bool>
-             </property>
-             <property name="checked">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="experimentGraph6Button">
-             <property name="maximumSize">
-              <size>
-               <width>25</width>
-               <height>16777215</height>
-              </size>
-             </property>
-             <property name="text">
-              <string>6</string>
-             </property>
-             <property name="checkable">
-              <bool>true</bool>
-             </property>
-             <property name="checked">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="experimentAutoScaleButton">
-             <property name="toolTip">
-              <string>Auto-Scale Plot when samples are received</string>
-             </property>
-             <property name="text">
-              <string/>
-             </property>
-             <property name="icon">
-              <iconset resource="../res.qrc">
-               <normaloff>:/res/icons/size_off.png</normaloff>
-               <normalon>:/res/icons/size_on.png</normalon>:/res/icons/size_off.png</iconset>
-             </property>
-             <property name="checkable">
-              <bool>true</bool>
-             </property>
-             <property name="checked">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="experimentHZoomButton">
-             <property name="toolTip">
-              <string>Enable Horizontal Zoom</string>
-             </property>
-             <property name="text">
-              <string/>
-             </property>
-             <property name="icon">
-              <iconset resource="../res.qrc">
-               <normaloff>:/res/icons/expand_off.png</normaloff>
-               <normalon>:/res/icons/expand_on.png</normalon>:/res/icons/expand_off.png</iconset>
-             </property>
-             <property name="checkable">
-              <bool>true</bool>
-             </property>
-             <property name="checked">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="experimentVZoomButton">
-             <property name="toolTip">
-              <string>Enable Vertical Zoom</string>
-             </property>
-             <property name="text">
-              <string/>
-             </property>
-             <property name="icon">
-              <iconset resource="../res.qrc">
-               <normaloff>:/res/icons/expand_v_off.png</normaloff>
-               <normalon>:/res/icons/expand_v_on.png</normalon>:/res/icons/expand_v_off.png</iconset>
-             </property>
-             <property name="checkable">
-              <bool>true</bool>
-             </property>
-             <property name="checked">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-          </layout>
-         </item>
-         <item>
-          <layout class="QHBoxLayout" name="horizontalLayout_9">
-           <item>
-            <widget class="QLabel" name="label_6">
-             <property name="text">
-              <string>Import</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="experimentLoadXmlButton">
-             <property name="text">
-              <string>XML</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <spacer name="horizontalSpacer_2">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>40</width>
-               <height>20</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-           <item>
-            <widget class="QLabel" name="label_7">
-             <property name="text">
-              <string>Export</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="experimentSaveXmlButton">
-             <property name="text">
-              <string>XML</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="experimentSaveCsvButton">
-             <property name="text">
-              <string>CSV</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="experimentSavePngButton">
-             <property name="text">
-              <string>PNG</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="experimentSavePdfButton">
-             <property name="text">
-              <string>PDF</string>
-             </property>
-            </widget>
-           </item>
-          </layout>
-         </item>
-         <item>
-          <widget class="QCustomPlot" name="experimentPlot" native="true">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-          </widget>
+          <widget class="ExperimentPlot" name="experimentPlot" native="true"/>
          </item>
         </layout>
        </widget>
@@ -879,6 +464,12 @@
    <header>widgets/rtdatatext.h</header>
    <container>1</container>
   </customwidget>
+  <customwidget>
+   <class>ExperimentPlot</class>
+   <extends>QWidget</extends>
+   <header>widgets/experimentplot.h</header>
+   <container>1</container>
+  </customwidget>
  </customwidgets>
  <resources>
   <include location="../res.qrc"/>
diff --git a/widgets/experimentplot.cpp b/widgets/experimentplot.cpp
new file mode 100644
index 000000000..338464729
--- /dev/null
+++ b/widgets/experimentplot.cpp
@@ -0,0 +1,445 @@
+/*
+    Copyright 2022 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+
+#include "experimentplot.h"
+#include "ui_experimentplot.h"
+#include "utility.h"
+
+ExperimentPlot::ExperimentPlot(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::ExperimentPlot)
+{
+    ui->setupUi(this);
+    layout()->setContentsMargins(0, 0, 0, 0);
+
+    QString theme = Utility::getThemePath();
+    ui->experimentClearDataButton->setIcon(QPixmap(theme + "icons/Delete-96.png"));
+    ui->experimentShowLineButton->setIcon(QPixmap(theme + "icons/3ph_sine.png"));
+    ui->experimentScatterButton->setIcon(QPixmap(theme + "icons/Polyline-96.png"));
+
+    QIcon mycon = QIcon(theme + "icons/expand_on.png");
+    mycon.addPixmap(QPixmap(theme + "icons/expand_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(QPixmap(theme + "icons/expand_off.png"), QIcon::Normal, QIcon::Off);
+    ui->experimentHZoomButton->setIcon(mycon);
+
+    mycon = QIcon(theme + "icons/expand_v_on.png");
+    mycon.addPixmap(QPixmap(theme + "icons/expand_v_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(QPixmap(theme + "icons/expand_v_off.png"), QIcon::Normal, QIcon::Off);
+    ui->experimentVZoomButton->setIcon(mycon);
+
+    mycon = QIcon(theme + "icons/size_on.png");
+    mycon.addPixmap(QPixmap(theme + "icons/size_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(QPixmap(theme + "icons/size_off.png"), QIcon::Normal, QIcon::Off);
+    ui->experimentAutoScaleButton->setIcon(mycon);
+
+    mVesc = 0;
+    mExperimentReplot = false;
+    mExperimentPlotNow = 0;
+
+    mTimer = new QTimer(this);
+    mTimer->start(20);
+
+    Utility::setPlotColors(ui->experimentPlot);
+    ui->experimentPlot->setInteractions(QCP::iRangeDrag | QCP::iRangeZoom);
+
+    connect(mTimer, &QTimer::timeout, [=]() {
+        if (mExperimentReplot) {
+            ui->experimentPlot->clearGraphs();
+
+            for (int i = 0;i < mExperimentPlots.size();i++) {
+                switch (i) {
+                case 0: if (!ui->experimentGraph1Button->isChecked()) {continue;} break;
+                case 1: if (!ui->experimentGraph2Button->isChecked()) {continue;} break;
+                case 2: if (!ui->experimentGraph3Button->isChecked()) {continue;} break;
+                case 3: if (!ui->experimentGraph4Button->isChecked()) {continue;} break;
+                case 4: if (!ui->experimentGraph5Button->isChecked()) {continue;} break;
+                case 5: if (!ui->experimentGraph6Button->isChecked()) {continue;} break;
+                default: break;
+                }
+
+                ui->experimentPlot->addGraph();
+                ui->experimentPlot->graph()->setData(mExperimentPlots.at(i).xData, mExperimentPlots.at(i).yData);
+                ui->experimentPlot->graph()->setName(mExperimentPlots.at(i).label);
+
+                ui->experimentPlot->graph()->setPen(QPen(mExperimentPlots.at(i).color));
+                if (ui->experimentScatterButton->isChecked()) {
+                    ui->experimentPlot->graph()->setScatterStyle(QCPScatterStyle(QCPScatterStyle::ssDisc, 5));
+                }
+                if (ui->experimentShowLineButton->isChecked()) {
+                    ui->experimentPlot->graph()->setLineStyle(QCPGraph::LineStyle::lsLine);
+                } else {
+                    ui->experimentPlot->graph()->setLineStyle(QCPGraph::LineStyle::lsNone);
+                }
+            }
+
+            ui->experimentPlot->legend->setVisible(mExperimentPlots.size() > 1);
+
+            if (ui->experimentAutoScaleButton->isChecked()) {
+                ui->experimentPlot->rescaleAxes();
+            }
+
+            ui->experimentPlot->replotWhenVisible();
+            mExperimentReplot = false;
+        }
+    });
+
+    connect(ui->experimentGraph1Button, &QPushButton::toggled,
+            [=]() {mExperimentReplot = true;});
+    connect(ui->experimentGraph2Button, &QPushButton::toggled,
+            [=]() {mExperimentReplot = true;});
+    connect(ui->experimentGraph3Button, &QPushButton::toggled,
+            [=]() {mExperimentReplot = true;});
+    connect(ui->experimentGraph4Button, &QPushButton::toggled,
+            [=]() {mExperimentReplot = true;});
+    connect(ui->experimentGraph5Button, &QPushButton::toggled,
+            [=]() {mExperimentReplot = true;});
+    connect(ui->experimentGraph6Button, &QPushButton::toggled,
+            [=]() {mExperimentReplot = true;});
+    connect(ui->experimentScatterButton, &QPushButton::toggled,
+            [=]() {mExperimentReplot = true;});
+    connect(ui->experimentShowLineButton, &QPushButton::toggled,
+            [=]() {mExperimentReplot = true;});
+    connect(ui->experimentAutoScaleButton, &QPushButton::toggled,
+            [=]() {mExperimentReplot = true;});
+
+    connect(ui->experimentHZoomButton, &QPushButton::toggled, [=]() {
+        Qt::Orientations plotOrientations = Qt::Orientations(
+                    ((ui->experimentHZoomButton->isChecked() ? Qt::Horizontal : 0) |
+                     (ui->experimentVZoomButton->isChecked() ? Qt::Vertical : 0)));
+        ui->experimentPlot->axisRect()->setRangeZoom(plotOrientations);
+    });
+
+    connect(ui->experimentVZoomButton, &QPushButton::toggled, [=]() {
+        Qt::Orientations plotOrientations = Qt::Orientations(
+                    ((ui->experimentHZoomButton->isChecked() ? Qt::Horizontal : 0) |
+                     (ui->experimentVZoomButton->isChecked() ? Qt::Vertical : 0)));
+        ui->experimentPlot->axisRect()->setRangeZoom(plotOrientations);
+    });
+}
+
+ExperimentPlot::~ExperimentPlot()
+{
+    delete ui;
+}
+
+VescInterface *ExperimentPlot::vesc() const
+{
+    return mVesc;
+}
+
+void ExperimentPlot::setVesc(VescInterface *newVesc)
+{
+    mVesc = newVesc;
+
+    if (mVesc) {
+        connect(mVesc->commands(), SIGNAL(plotInitReceived(QString,QString)),
+                this, SLOT(plotInitReceived(QString,QString)));
+        connect(mVesc->commands(), SIGNAL(plotDataReceived(double,double)),
+                this, SLOT(plotDataReceived(double,double)));
+        connect(mVesc->commands(), SIGNAL(plotAddGraphReceived(QString)),
+                this, SLOT(plotAddGraphReceived(QString)));
+        connect(mVesc->commands(), SIGNAL(plotSetGraphReceived(int)),
+                this, SLOT(plotSetGraphReceived(int)));
+    }
+}
+
+void ExperimentPlot::on_experimentLoadXmlButton_clicked()
+{
+    QString filename = QFileDialog::getOpenFileName(this,
+                                                    tr("Load Plot"), "",
+                                                    tr("Xml files (*.xml)"));
+
+    if (!filename.isEmpty()) {
+        QFile file(filename);
+        if (!file.open(QIODevice::ReadOnly)) {
+            QMessageBox::critical(this, "Load Plot",
+                                  "Could not open\n" + filename + "\nfor reading");
+            return;
+        }
+
+        QXmlStreamReader stream(&file);
+
+        // Look for plot tag
+        bool plots_found = false;
+        while (stream.readNextStartElement()) {
+            if (stream.name() == "plot") {
+                plots_found = true;
+                break;
+            }
+        }
+
+        if (plots_found) {
+            mExperimentPlots.clear();
+
+            while (stream.readNextStartElement()) {
+                QString name = stream.name().toString();
+
+                if (name == "xlabel") {
+                    ui->experimentPlot->xAxis->setLabel(stream.readElementText());
+                } else if (name == "ylabel") {
+                    ui->experimentPlot->yAxis->setLabel(stream.readElementText());
+                } else if (name == "graph") {
+                    EXPERIMENT_PLOT p;
+
+                    while (stream.readNextStartElement()) {
+                        QString name2 = stream.name().toString();
+
+                        if (name2 == "label") {
+                            p.label = stream.readElementText();
+                        } else if (name2 == "color") {
+                            p.color = QColor(stream.readElementText());
+                        } else if (name2 == "point") {
+                            while (stream.readNextStartElement()) {
+                                QString name3 = stream.name().toString();
+
+                                if (name3 == "x") {
+                                    p.xData.append(stream.readElementText().toDouble());
+                                } else if (name3 == "y") {
+                                    p.yData.append(stream.readElementText().toDouble());
+                                } else {
+                                    qWarning() << ": Unknown XML element :" << name2;
+                                    stream.skipCurrentElement();
+                                }
+                            }
+                        } else {
+                            qWarning() << ": Unknown XML element :" << name2;
+                            stream.skipCurrentElement();
+                        }
+
+                        if (stream.hasError()) {
+                            qWarning() << " : XML ERROR :" << stream.errorString();
+                        }
+                    }
+
+                    mExperimentPlots.append(p);
+                }
+
+                if (stream.hasError()) {
+                    qWarning() << "XML ERROR :" << stream.errorString();
+                    qWarning() << stream.lineNumber() << stream.columnNumber();
+                }
+            }
+
+            mExperimentReplot = true;
+
+            file.close();
+            if (mVesc) {
+                mVesc->emitStatusMessage("Loaded plot", true);
+            }
+        } else {
+            QMessageBox::critical(this, "Load Plot",
+                                  "plot tag not found in " + filename);
+        }
+    }
+}
+
+void ExperimentPlot::on_experimentSaveXmlButton_clicked()
+{
+    QString filename = QFileDialog::getSaveFileName(this,
+                                                    tr("Save Plot"), "",
+                                                    tr("Xml files (*.xml)"));
+
+    if (filename.isEmpty()) {
+        return;
+    }
+
+    if (!filename.endsWith(".xml", Qt::CaseInsensitive)) {
+        filename.append(".xml");
+    }
+
+    QFile file(filename);
+    if (!file.open(QIODevice::WriteOnly)) {
+        QMessageBox::critical(this, "Save Plot",
+                              "Could not open\n" + filename + "\nfor writing");
+        return;
+    }
+
+    QXmlStreamWriter stream(&file);
+    stream.setCodec("UTF-8");
+    stream.setAutoFormatting(true);
+    stream.writeStartDocument();
+
+    stream.writeStartElement("plot");
+    stream.writeTextElement("xlabel", ui->experimentPlot->xAxis->label());
+    stream.writeTextElement("ylabel", ui->experimentPlot->yAxis->label());
+
+    foreach (auto p, mExperimentPlots) {
+        stream.writeStartElement("graph");
+        stream.writeTextElement("label", p.label);
+        stream.writeTextElement("color", p.color.name());
+        for (int i = 0;i < p.xData.size();i++) {
+            stream.writeStartElement("point");
+            stream.writeTextElement("x", QString::number(p.xData.at(i)));
+            stream.writeTextElement("y", QString::number(p.yData.at(i)));
+            stream.writeEndElement();
+        }
+        stream.writeEndElement();
+    }
+
+    stream.writeEndDocument();
+    file.close();
+}
+
+void ExperimentPlot::on_experimentSavePngButton_clicked()
+{
+    QString fileName = QFileDialog::getSaveFileName(this,
+                                                    tr("Save Image"), "",
+                                                    tr("PNG Files (*.png)"));
+
+    if (!fileName.isEmpty()) {
+        if (!fileName.endsWith(".png", Qt::CaseInsensitive)) {
+            fileName.append(".png");
+        }
+
+        ui->experimentPlot->savePng(fileName,
+                                    ui->experimentWBox->value(),
+                                    ui->experimentHBox->value(),
+                                    ui->experimentScaleBox->value());
+    }
+}
+
+void ExperimentPlot::on_experimentSavePdfButton_clicked()
+{
+    QString fileName = QFileDialog::getSaveFileName(this,
+                                                    tr("Save PDF"), "",
+                                                    tr("PDF Files (*.pdf)"));
+
+    if (!fileName.isEmpty()) {
+        if (!fileName.endsWith(".pdf", Qt::CaseInsensitive)) {
+            fileName.append(".pdf");
+        }
+
+        ui->experimentPlot->savePdf(fileName,
+                                    ui->experimentWBox->value(),
+                                    ui->experimentHBox->value());
+    }
+}
+
+void ExperimentPlot::on_experimentClearDataButton_clicked()
+{
+    for (auto &d: mExperimentPlots) {
+        d.xData.clear();
+        d.yData.clear();
+    }
+    mExperimentReplot = true;
+}
+
+void ExperimentPlot::on_experimentSaveCsvButton_clicked()
+{
+    QString filename = QFileDialog::getSaveFileName(this,
+                                                    tr("Save Plot"), "",
+                                                    tr("Csv files (*.csv)"));
+
+    if (filename.isEmpty()) {
+        return;
+    }
+
+    if (!filename.endsWith(".csv", Qt::CaseInsensitive)) {
+        filename.append(".csv");
+    }
+
+    QFile file(filename);
+    if (!file.open(QIODevice::WriteOnly)) {
+        QMessageBox::critical(this, "Save Plot",
+                              "Could not open\n" + filename + "\nfor writing");
+        return;
+    }
+
+    QTextStream os(&file);
+
+    int maxLen = 0;
+    foreach (auto p, mExperimentPlots) {
+        os << p.label << " x;" << p.label << " y;";
+        if (p.xData.length() > maxLen) {
+            maxLen = p.xData.length();
+        }
+    }
+    os << "\n";
+
+    for (int i = 0;i < maxLen;i++) {
+        foreach (auto p, mExperimentPlots) {
+            if (p.xData.length() > i) {
+                os << p.xData.at(i) << ";" << p.yData.at(i) << ";";
+            } else {
+                os << ";;";
+            }
+        }
+        os << "\n";
+    }
+
+    file.close();
+}
+
+void ExperimentPlot::plotInitReceived(QString xLabel, QString yLabel)
+{
+    mExperimentPlots.clear();
+
+    ui->experimentPlot->clearGraphs();
+    ui->experimentPlot->xAxis->setLabel(xLabel);
+    ui->experimentPlot->yAxis->setLabel(yLabel);
+
+    mExperimentReplot = true;
+}
+
+void ExperimentPlot::plotDataReceived(double x, double y)
+{
+    if (mExperimentPlots.size() <= mExperimentPlotNow) {
+        mExperimentPlots.resize(mExperimentPlotNow + 1);
+    }
+
+    mExperimentPlots[mExperimentPlotNow].xData.append(x);
+    mExperimentPlots[mExperimentPlotNow].yData.append(y);
+
+    int samples = mExperimentPlots[mExperimentPlotNow].xData.size();
+    int historyMax = ui->experimentHistoryBox->value();
+    if (samples > historyMax) {
+        mExperimentPlots[mExperimentPlotNow].xData.remove(0, samples - historyMax);
+        mExperimentPlots[mExperimentPlotNow].yData.remove(0, samples - historyMax);
+    }
+
+    mExperimentReplot = true;
+}
+
+void ExperimentPlot::plotAddGraphReceived(QString name)
+{
+    mExperimentPlots.resize(mExperimentPlots.size() + 1);
+    mExperimentPlots.last().label = name;
+
+    if (mExperimentPlots.size() == 1) {
+        mExperimentPlots.last().color = Utility::getAppQColor("plot_graph1");
+    } else if (mExperimentPlots.size() == 2) {
+        mExperimentPlots.last().color = Utility::getAppQColor("plot_graph2");
+    } else if (mExperimentPlots.size() == 3) {
+        mExperimentPlots.last().color = Utility::getAppQColor("plot_graph3");
+    } else if (mExperimentPlots.size() == 4) {
+        mExperimentPlots.last().color = Utility::getAppQColor("plot_graph4");
+    } else if (mExperimentPlots.size() == 5) {
+        mExperimentPlots.last().color = Utility::getAppQColor("plot_graph5");
+    } else {
+        mExperimentPlots.last().color = Utility::getAppQColor("plot_graph6");
+    }
+
+    mExperimentReplot = true;
+}
+
+void ExperimentPlot::plotSetGraphReceived(int graph)
+{
+    mExperimentPlotNow = graph;
+}
diff --git a/widgets/experimentplot.h b/widgets/experimentplot.h
new file mode 100644
index 000000000..2e19bad14
--- /dev/null
+++ b/widgets/experimentplot.h
@@ -0,0 +1,73 @@
+/*
+    Copyright 2022 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#ifndef EXPERIMENTPLOT_H
+#define EXPERIMENTPLOT_H
+
+#include <QWidget>
+#include <QTimer>
+#include "vescinterface.h"
+
+namespace Ui {
+class ExperimentPlot;
+}
+
+class ExperimentPlot : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit ExperimentPlot(QWidget *parent = nullptr);
+    ~ExperimentPlot();
+
+    VescInterface *vesc() const;
+    void setVesc(VescInterface *newVesc);
+
+private slots:
+    void on_experimentLoadXmlButton_clicked();
+    void on_experimentSaveXmlButton_clicked();
+    void on_experimentSavePngButton_clicked();
+    void on_experimentSavePdfButton_clicked();
+    void on_experimentClearDataButton_clicked();
+    void on_experimentSaveCsvButton_clicked();
+
+    void plotInitReceived(QString xLabel, QString yLabel);
+    void plotDataReceived(double x, double y);
+    void plotAddGraphReceived(QString name);
+    void plotSetGraphReceived(int graph);
+
+private:
+    typedef struct {
+        QString label;
+        QColor color;
+        QVector<double> xData;
+        QVector<double> yData;
+    } EXPERIMENT_PLOT;
+
+    QVector<EXPERIMENT_PLOT> mExperimentPlots;
+    int mExperimentPlotNow;
+    bool mExperimentReplot;
+
+    Ui::ExperimentPlot *ui;
+    VescInterface *mVesc;
+    QTimer *mTimer;
+
+};
+
+#endif // EXPERIMENTPLOT_H
diff --git a/widgets/experimentplot.ui b/widgets/experimentplot.ui
new file mode 100644
index 000000000..2dce45a1f
--- /dev/null
+++ b/widgets/experimentplot.ui
@@ -0,0 +1,568 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ExperimentPlot</class>
+ <widget class="QWidget" name="ExperimentPlot">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>1442</width>
+    <height>599</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QHBoxLayout" name="horizontalLayout">
+   <item>
+    <widget class="QScrollArea" name="scrollArea">
+     <property name="horizontalScrollBarPolicy">
+      <enum>Qt::ScrollBarAlwaysOff</enum>
+     </property>
+     <property name="widgetResizable">
+      <bool>true</bool>
+     </property>
+     <widget class="QWidget" name="scrollAreaWidgetContents">
+      <property name="geometry">
+       <rect>
+        <x>0</x>
+        <y>0</y>
+        <width>194</width>
+        <height>579</height>
+       </rect>
+      </property>
+      <layout class="QVBoxLayout" name="verticalLayout_2">
+       <property name="spacing">
+        <number>2</number>
+       </property>
+       <property name="leftMargin">
+        <number>3</number>
+       </property>
+       <property name="topMargin">
+        <number>3</number>
+       </property>
+       <property name="rightMargin">
+        <number>9</number>
+       </property>
+       <property name="bottomMargin">
+        <number>3</number>
+       </property>
+       <item>
+        <widget class="QGroupBox" name="groupBox_3">
+         <property name="title">
+          <string>Settings</string>
+         </property>
+         <layout class="QGridLayout" name="gridLayout_2">
+          <property name="leftMargin">
+           <number>3</number>
+          </property>
+          <property name="topMargin">
+           <number>3</number>
+          </property>
+          <property name="rightMargin">
+           <number>3</number>
+          </property>
+          <property name="bottomMargin">
+           <number>3</number>
+          </property>
+          <property name="spacing">
+           <number>2</number>
+          </property>
+          <item row="2" column="1">
+           <widget class="QPushButton" name="experimentShowLineButton">
+            <property name="maximumSize">
+             <size>
+              <width>25</width>
+              <height>25</height>
+             </size>
+            </property>
+            <property name="toolTip">
+             <string>LinePlot</string>
+            </property>
+            <property name="text">
+             <string/>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/3ph_sine.png</normaloff>:/res/icons/3ph_sine.png</iconset>
+            </property>
+            <property name="checkable">
+             <bool>true</bool>
+            </property>
+            <property name="checked">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QPushButton" name="experimentGraph1Button">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>25</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="toolTip">
+             <string>Show this graph</string>
+            </property>
+            <property name="text">
+             <string>1</string>
+            </property>
+            <property name="checkable">
+             <bool>true</bool>
+            </property>
+            <property name="checked">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QPushButton" name="experimentGraph2Button">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>25</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="toolTip">
+             <string>Show this graph</string>
+            </property>
+            <property name="text">
+             <string>2</string>
+            </property>
+            <property name="checkable">
+             <bool>true</bool>
+            </property>
+            <property name="checked">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="2">
+           <widget class="QPushButton" name="experimentScatterButton">
+            <property name="maximumSize">
+             <size>
+              <width>25</width>
+              <height>25</height>
+             </size>
+            </property>
+            <property name="toolTip">
+             <string>Use Scatterplot</string>
+            </property>
+            <property name="text">
+             <string/>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Polyline-96.png</normaloff>:/res/icons/Polyline-96.png</iconset>
+            </property>
+            <property name="checkable">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="4">
+           <widget class="QPushButton" name="experimentGraph5Button">
+            <property name="maximumSize">
+             <size>
+              <width>25</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="text">
+             <string>5</string>
+            </property>
+            <property name="checkable">
+             <bool>true</bool>
+            </property>
+            <property name="checked">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="5">
+           <widget class="QPushButton" name="experimentGraph6Button">
+            <property name="maximumSize">
+             <size>
+              <width>25</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="text">
+             <string>6</string>
+            </property>
+            <property name="checkable">
+             <bool>true</bool>
+            </property>
+            <property name="checked">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="3">
+           <widget class="QPushButton" name="experimentGraph4Button">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>25</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="toolTip">
+             <string>Show this graph</string>
+            </property>
+            <property name="text">
+             <string>4</string>
+            </property>
+            <property name="checkable">
+             <bool>true</bool>
+            </property>
+            <property name="checked">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QPushButton" name="experimentClearDataButton">
+            <property name="maximumSize">
+             <size>
+              <width>25</width>
+              <height>25</height>
+             </size>
+            </property>
+            <property name="toolTip">
+             <string>Clear data from plots</string>
+            </property>
+            <property name="text">
+             <string/>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Delete-96.png</normaloff>:/res/icons/Delete-96.png</iconset>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="4">
+           <widget class="QToolButton" name="experimentHZoomButton">
+            <property name="maximumSize">
+             <size>
+              <width>25</width>
+              <height>25</height>
+             </size>
+            </property>
+            <property name="toolTip">
+             <string>Enable Horizontal Zoom</string>
+            </property>
+            <property name="text">
+             <string/>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/expand_off.png</normaloff>
+              <normalon>:/res/icons/expand_on.png</normalon>:/res/icons/expand_off.png</iconset>
+            </property>
+            <property name="checkable">
+             <bool>true</bool>
+            </property>
+            <property name="checked">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="5">
+           <widget class="QToolButton" name="experimentVZoomButton">
+            <property name="maximumSize">
+             <size>
+              <width>25</width>
+              <height>25</height>
+             </size>
+            </property>
+            <property name="toolTip">
+             <string>Enable Vertical Zoom</string>
+            </property>
+            <property name="text">
+             <string/>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/expand_v_off.png</normaloff>
+              <normalon>:/res/icons/expand_v_on.png</normalon>:/res/icons/expand_v_off.png</iconset>
+            </property>
+            <property name="checkable">
+             <bool>true</bool>
+            </property>
+            <property name="checked">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="3">
+           <widget class="QToolButton" name="experimentAutoScaleButton">
+            <property name="maximumSize">
+             <size>
+              <width>25</width>
+              <height>25</height>
+             </size>
+            </property>
+            <property name="toolTip">
+             <string>Auto-Scale Plot when samples are received</string>
+            </property>
+            <property name="text">
+             <string/>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/size_off.png</normaloff>
+              <normalon>:/res/icons/size_on.png</normalon>:/res/icons/size_off.png</iconset>
+            </property>
+            <property name="checkable">
+             <bool>true</bool>
+            </property>
+            <property name="checked">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="2">
+           <widget class="QPushButton" name="experimentGraph3Button">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>25</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="toolTip">
+             <string>Show this graph</string>
+            </property>
+            <property name="text">
+             <string>3</string>
+            </property>
+            <property name="checkable">
+             <bool>true</bool>
+            </property>
+            <property name="checked">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="0" colspan="6">
+           <widget class="QSpinBox" name="experimentHistoryBox">
+            <property name="toolTip">
+             <string>Drop old samples when the plot grows larger than this</string>
+            </property>
+            <property name="prefix">
+             <string>History: </string>
+            </property>
+            <property name="minimum">
+             <number>2</number>
+            </property>
+            <property name="maximum">
+             <number>10000</number>
+            </property>
+            <property name="singleStep">
+             <number>50</number>
+            </property>
+            <property name="value">
+             <number>2000</number>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox">
+         <property name="title">
+          <string>Import</string>
+         </property>
+         <layout class="QVBoxLayout" name="verticalLayout">
+          <property name="spacing">
+           <number>2</number>
+          </property>
+          <property name="leftMargin">
+           <number>3</number>
+          </property>
+          <property name="topMargin">
+           <number>3</number>
+          </property>
+          <property name="rightMargin">
+           <number>3</number>
+          </property>
+          <property name="bottomMargin">
+           <number>3</number>
+          </property>
+          <item>
+           <widget class="QPushButton" name="experimentLoadXmlButton">
+            <property name="text">
+             <string>XML</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox_2">
+         <property name="title">
+          <string>Export</string>
+         </property>
+         <layout class="QGridLayout" name="gridLayout">
+          <property name="leftMargin">
+           <number>3</number>
+          </property>
+          <property name="topMargin">
+           <number>3</number>
+          </property>
+          <property name="rightMargin">
+           <number>3</number>
+          </property>
+          <property name="bottomMargin">
+           <number>3</number>
+          </property>
+          <property name="spacing">
+           <number>2</number>
+          </property>
+          <item row="0" column="1">
+           <widget class="QSpinBox" name="experimentHBox">
+            <property name="toolTip">
+             <string>Export Height</string>
+            </property>
+            <property name="prefix">
+             <string>H: </string>
+            </property>
+            <property name="maximum">
+             <number>4000</number>
+            </property>
+            <property name="value">
+             <number>480</number>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QPushButton" name="experimentSaveXmlButton">
+            <property name="text">
+             <string>XML</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="0">
+           <widget class="QSpinBox" name="experimentWBox">
+            <property name="toolTip">
+             <string>Export Width</string>
+            </property>
+            <property name="prefix">
+             <string>W: </string>
+            </property>
+            <property name="maximum">
+             <number>4000</number>
+            </property>
+            <property name="value">
+             <number>640</number>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="0">
+           <widget class="QPushButton" name="experimentSaveCsvButton">
+            <property name="text">
+             <string>CSV</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QPushButton" name="experimentSavePngButton">
+            <property name="text">
+             <string>PNG</string>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="1">
+           <widget class="QPushButton" name="experimentSavePdfButton">
+            <property name="text">
+             <string>PDF</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0" colspan="2">
+           <widget class="QDoubleSpinBox" name="experimentScaleBox">
+            <property name="toolTip">
+             <string>Export Scale</string>
+            </property>
+            <property name="prefix">
+             <string>S: </string>
+            </property>
+            <property name="singleStep">
+             <double>0.100000000000000</double>
+            </property>
+            <property name="value">
+             <double>1.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <spacer name="verticalSpacer">
+         <property name="orientation">
+          <enum>Qt::Vertical</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>256</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+   <item>
+    <widget class="QCustomPlot" name="experimentPlot" native="true">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+       <horstretch>1</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>QCustomPlot</class>
+   <extends>QWidget</extends>
+   <header>widgets/qcustomplot.h</header>
+   <container>1</container>
+  </customwidget>
+ </customwidgets>
+ <resources>
+  <include location="../res.qrc"/>
+ </resources>
+ <connections/>
+</ui>
diff --git a/widgets/scripteditor.cpp b/widgets/scripteditor.cpp
index f99083940..db5975174 100644
--- a/widgets/scripteditor.cpp
+++ b/widgets/scripteditor.cpp
@@ -135,8 +135,7 @@ void ScriptEditor::on_saveButton_clicked()
 
     QFileInfo fi(fileName);
     if (!fi.exists()) {
-        QMessageBox::critical(this, "Save File",
-                              "Current file path not valid. Use save as instead.");
+        on_saveAsButton_clicked();
         return;
     }
 
diff --git a/widgets/widgets.pri b/widgets/widgets.pri
index 73bd60c11..c720224c9 100644
--- a/widgets/widgets.pri
+++ b/widgets/widgets.pri
@@ -1,4 +1,5 @@
 FORMS += \
+    $$PWD/experimentplot.ui \
     $$PWD/parameditbitfield.ui \
     $$PWD/parameditbool.ui \
     $$PWD/parameditdouble.ui \
@@ -23,6 +24,7 @@ FORMS += \
 HEADERS += \
     $$PWD/batttempplot.h \
     $$PWD/canlistitem.h \
+    $$PWD/experimentplot.h \
     $$PWD/parameditbitfield.h \
     $$PWD/parameditbool.h \
     $$PWD/parameditdouble.h \
@@ -60,6 +62,7 @@ HEADERS += \
 SOURCES += \
     $$PWD/batttempplot.cpp \
     $$PWD/canlistitem.cpp \
+    $$PWD/experimentplot.cpp \
     $$PWD/parameditbitfield.cpp \
     $$PWD/parameditbool.cpp \
     $$PWD/parameditdouble.cpp \

From 9e432e9b5fd627a0193400ced5ab053f8f0cac5d Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 27 Dec 2022 13:08:22 +0100
Subject: [PATCH 371/559] Updated changelog

---
 res/CHANGELOG | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/res/CHANGELOG b/res/CHANGELOG
index 87169ce6e..92aba8155 100644
--- a/res/CHANGELOG
+++ b/res/CHANGELOG
@@ -1,3 +1,15 @@
+== 6.02 ==
+* Improved experiment plot.
+* Updated PPM and ADC mapping widgets.
+* Better compatibility with old firmwares.
+* LispBM
+    - More examples
+    - Rearranged UI
+    - Added experiment plot
+* Mobile custom package install support.
+* Old firmware download RAM usage fix.
+* Config backup/restore improvements.
+
 == 6.00 ==
 * Added support for compressed firmware upload.
 * Reduce CPU usage by only plotting RT data when the plot is visible.

From 170a2d0954dda9da40c1e28d49f7a910bb1be794 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 27 Dec 2022 13:34:34 +0100
Subject: [PATCH 372/559] Automatically reload ui when installing and
 uninstalling packages

---
 codeloader.cpp            |  3 +++
 mobile/Packages.qml       | 10 +++++-----
 pages/pagevescpackage.cpp |  9 +++++----
 res/CHANGELOG             |  1 +
 vescinterface.h           |  5 +++++
 5 files changed, 19 insertions(+), 9 deletions(-)

diff --git a/codeloader.cpp b/codeloader.cpp
index ae6c92ece..60deab4b8 100644
--- a/codeloader.cpp
+++ b/codeloader.cpp
@@ -768,6 +768,9 @@ bool CodeLoader::installVescPackage(VescPackage pkg)
         mVesc->commands()->lispSetRunning(1);
     }
 
+    Utility::sleepWithEventLoop(500);
+    mVesc->reloadFirmware();
+
     return res;
 }
 
diff --git a/mobile/Packages.qml b/mobile/Packages.qml
index 8f8f8b3f5..04985b68e 100644
--- a/mobile/Packages.qml
+++ b/mobile/Packages.qml
@@ -229,10 +229,11 @@ Item {
                     onTriggered: {
                         mLoader.lispErase()
                         mLoader.qmlErase()
+                        Utility.sleepWithEventLoop(500)
+                        VescIf.reloadFirmware()
                         enableDialog()
                         VescIf.emitMessageDialog("Uninstall Package",
-                                                 "Uninstallation Done! Please disconnect and reconnect to " +
-                                                 "revert possible VESC Tool GUI updates.",
+                                                 "Uninstallation Done!",
                                                  true, false)
                     }
                 }
@@ -298,13 +299,12 @@ Item {
                                 if (mLoader.installVescPackageFromPath(pkgPath)) {
                                     enableDialog()
                                     VescIf.emitMessageDialog("Install Package",
-                                                             "Install Done! Please disconnect and reconnect to " +
-                                                             "apply possible VESC Tool GUI updates from this package.",
+                                                             "Installation Done!",
                                                              true, false)
                                 } else {
                                     enableDialog()
                                     VescIf.emitMessageDialog("Install Package",
-                                                             "Install failed",
+                                                             "Installation failed",
                                                              false, false)
                                 }
                             }
diff --git a/pages/pagevescpackage.cpp b/pages/pagevescpackage.cpp
index 53f3e715b..441214397 100644
--- a/pages/pagevescpackage.cpp
+++ b/pages/pagevescpackage.cpp
@@ -279,9 +279,11 @@ void PageVescPackage::on_uninstallButton_clicked()
     mLoader.qmlErase();
     mLoader.lispErase();
 
+    Utility::sleepWithEventLoop(500);
+    mVesc->reloadFirmware();
+
     mVesc->emitMessageDialog(tr("Uninstall Package"),
-                             tr("Uninstallation Done! Please disconnect and reconnect to "
-                                "revert possible VESC Tool GUI updates."),
+                             tr("Uninstallation Done!"),
                              true);
 }
 
@@ -304,8 +306,7 @@ void PageVescPackage::on_installButton_clicked()
         mLoader.installVescPackage(mCurrentPkg);
 
         mVesc->emitMessageDialog(tr("Install Package"),
-                                 tr("Install Done! Please disconnect and reconnect to "
-                                    "apply possible VESC Tool GUI updates from this package."),
+                                 tr("Installation Done!"),
                                  true);
     } else {
         mVesc->emitMessageDialog(tr("Install Package"),
diff --git a/res/CHANGELOG b/res/CHANGELOG
index 92aba8155..8028c5ca3 100644
--- a/res/CHANGELOG
+++ b/res/CHANGELOG
@@ -9,6 +9,7 @@
 * Mobile custom package install support.
 * Old firmware download RAM usage fix.
 * Config backup/restore improvements.
+* Automatically reload UI after installing and uninstalling packages.
 
 == 6.00 ==
 * Added support for compressed firmware upload.
diff --git a/vescinterface.h b/vescinterface.h
index 9354ea96f..aadcb6566 100755
--- a/vescinterface.h
+++ b/vescinterface.h
@@ -255,6 +255,11 @@ class VescInterface : public QObject
     Q_INVOKABLE bool updateTcpHubPassword(QString uuid, QString newPass);
     Q_INVOKABLE bool connectTcpHubUuid(QString uuid);
 
+    // Force reloading of firmware version, custom UIs and custom configs
+    Q_INVOKABLE void reloadFirmware() {
+        updateFwRx(false);
+    }
+
 signals:
     void statusMessage(const QString &msg, bool isGood);
     void messageDialog(const QString &title, const QString &msg, bool isGood, bool richText);

From d193e544d5b2730f64dcb70937dd5c467fc2578d Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 27 Dec 2022 13:44:39 +0100
Subject: [PATCH 373/559] Autoscan mobile CAN-list

---
 mobile/CanScreen.qml | 6 ++++++
 mobile/main.qml      | 7 +++++++
 res/CHANGELOG        | 1 +
 3 files changed, 14 insertions(+)

diff --git a/mobile/CanScreen.qml b/mobile/CanScreen.qml
index 4713abf28..6933bd5bd 100644
--- a/mobile/CanScreen.qml
+++ b/mobile/CanScreen.qml
@@ -37,6 +37,12 @@ Item {
         scanButton.enabled = VescIf.isPortConnected()
     }
 
+    function scanIfEmpty() {
+        if (canList.count == 0 && VescIf.isPortConnected()) {
+            scanButton.clicked()
+        }
+    }
+
     Timer {
         repeat: true
         interval: 1000
diff --git a/mobile/main.qml b/mobile/main.qml
index 6b566bf64..6dfb17f49 100644
--- a/mobile/main.qml
+++ b/mobile/main.qml
@@ -125,8 +125,15 @@ ApplicationWindow {
             }
 
             CanScreen {
+                id: canScreen
                 anchors.fill: parent
             }
+
+            onVisibleChanged: {
+                if (visible) {
+                    canScreen.scanIfEmpty()
+                }
+            }
         }
     }
 
diff --git a/res/CHANGELOG b/res/CHANGELOG
index 8028c5ca3..1178d0594 100644
--- a/res/CHANGELOG
+++ b/res/CHANGELOG
@@ -10,6 +10,7 @@
 * Old firmware download RAM usage fix.
 * Config backup/restore improvements.
 * Automatically reload UI after installing and uninstalling packages.
+* Automatically scan mobile CAN-list if empty.
 
 == 6.00 ==
 * Added support for compressed firmware upload.

From 21d3b17ed682c190381fb70e622d850343f4f52d Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 28 Dec 2022 12:43:49 +0100
Subject: [PATCH 374/559] Updated changelog and markdown support in them

---
 build_cp_fw                     |   2 +-
 mobile/main.qml                 |   7 +-
 res.qrc                         |   4 +-
 res/{CHANGELOG => CHANGELOG.md} | 588 ++++++++++++++++++++++----------
 utility.cpp                     |   4 +-
 widgets/helpdialog.cpp          |   8 +-
 6 files changed, 421 insertions(+), 192 deletions(-)
 rename res/{CHANGELOG => CHANGELOG.md} (66%)

diff --git a/build_cp_fw b/build_cp_fw
index 939e99161..513aac70a 100755
--- a/build_cp_fw
+++ b/build_cp_fw
@@ -17,7 +17,7 @@ make all_fw_clean
 cd $DIR
 rm -r res/firmwares/*
 cp -r $FWPATH/package/* res/firmwares/
-cp $FWPATH/CHANGELOG res/firmwares
+cp $FWPATH/CHANGELOG.md res/firmwares
 
 rm -r $FWPATH/package/*
 
diff --git a/mobile/main.qml b/mobile/main.qml
index 6dfb17f49..99bf828ba 100644
--- a/mobile/main.qml
+++ b/mobile/main.qml
@@ -1070,9 +1070,14 @@ ApplicationWindow {
         }
 
         function onMessageDialog(title, msg, isGood, richText) {
+            if (!richText && msg.trim().startsWith("#")) {
+                vescDialogLabel.textFormat = Text.MarkdownText
+            } else {
+                vescDialogLabel.textFormat = richText ? Text.RichText : Text.AutoText
+            }
+
             vescDialog.title = title
             vescDialogLabel.text = (richText ? "<style>a:link { color: lightblue; }</style>" : "") + msg
-            vescDialogLabel.textFormat = richText ? Text.RichText : Text.AutoText
             vescDialogScroll.ScrollBar.vertical.position = 0
             vescDialog.open()
         }
diff --git a/res.qrc b/res.qrc
index 312fa92e9..570fc7ee8 100644
--- a/res.qrc
+++ b/res.qrc
@@ -5,8 +5,8 @@
         <file>res/images/ebike_throttle.jpg</file>
         <file>res/images/nunchuk.jpg</file>
         <file>res/images/vedder_nunchuk.jpg</file>
-        <file>res/firmwares/CHANGELOG</file>
-        <file>res/CHANGELOG</file>
+        <file>res/firmwares/CHANGELOG.md</file>
+        <file>res/CHANGELOG.md</file>
         <file>res/images/multi_master.png</file>
         <file>res/images/multi_single.png</file>
         <file>res/images/multi_slave.png</file>
diff --git a/res/CHANGELOG b/res/CHANGELOG.md
similarity index 66%
rename from res/CHANGELOG
rename to res/CHANGELOG.md
index 1178d0594..512d01079 100644
--- a/res/CHANGELOG
+++ b/res/CHANGELOG.md
@@ -1,26 +1,31 @@
-== 6.02 ==
+### 6.02
+#### Released TBD
 * Improved experiment plot.
 * Updated PPM and ADC mapping widgets.
 * Better compatibility with old firmwares.
 * LispBM
-    - More examples
-    - Rearranged UI
-    - Added experiment plot
+	* More examples
+	* Rearranged UI
+	* Added experiment plot
 * Mobile custom package install support.
 * Old firmware download RAM usage fix.
 * Config backup/restore improvements.
 * Automatically reload UI after installing and uninstalling packages.
 * Automatically scan mobile CAN-list if empty.
+* Changelogs updated and changed to markdown.
 
-== 6.00 ==
+---
+
+### 6.00
+#### Released 2022-12-08
 * Added support for compressed firmware upload.
 * Reduce CPU usage by only plotting RT data when the plot is visible.
 * Lisp scripting editor and integration.
- - Autocompletion.
- - Syntax highlighting.
- - Real-time binding, CPU and memory monitors.
- - Console for printing
- - Examples
+	* Autocompletion.
+	* Syntax highlighting.
+	* Real-time binding, CPU and memory monitors.
+	* Console for printing
+	* Examples
 * Added custom load code support to motor comparison tool.
 * Added support for bitfield parameters.
 * Added VESC UDP broadcast listener.
@@ -34,20 +39,23 @@
 * Custom config pages on mobile.
 * Wizard and multisettings improvements when connected over CAN.
 
-== 3.01 ==
+---
+
+### 3.01
+#### Released 2022-01-16
 * Fixed simultaneous CAN FW upload when other devices (such as BMS) are on the CAN-bus.
 * Fixed configuration backup and restore over CAN-bus.
 * Added test version information to about dialog.
 * Added scripting page
- - Syntax highlighting.
- - Recent files.
- - Example files.
- - Auto-completion tree.
- - Run in widget, window or full screen.
- - Debug print output.
- - Toggle line comment.
- - Auto-indentation of line or block.
- - Search, highlight and replace text.
+	* Syntax highlighting.
+	* Recent files.
+	* Example files.
+	* Auto-completion tree.
+	* Run in widget, window or full screen.
+	* Debug print output.
+	* Toggle line comment.
+	* Auto-indentation of line or block.
+	* Search, highlight and replace text.
 * Only capture esc key for stopping the motor when connected.
 * Fixed FOC detect all no can when connected over CAN.
 * Increased motor and mosfet temperature limit editor range.
@@ -62,40 +70,52 @@
 * Better DPI scaling.
 * Configurable plot line thickness.
 * Mobile:
- - New CAN forwarding bar.
- - Setting to disable screen rotation.
- - New RT Data page and gauges.
- - Statistics page.
+	* New CAN forwarding bar.
+	* Setting to disable screen rotation.
+	* New RT Data page and gauges.
+	* Statistics page.
 * Upload bootloader before firmware if firmware has bootloader erase support.
 * Added motor comparison tool.
 
-== 3.00 ==
+---
+
+### 3.00
+#### Released 2021-01-11
 * Focus for this release: External hardware and BMS support.
- - Added hw type setting.
- - Hide VESC settings when connected to other hardware.
- - Added BMS commands
+	* Added hw type setting.
+	* Hide VESC settings when connected to other hardware.
+	* Added BMS commands
 * Other updates
- - Only allow uploading firmware to all VESCs when they have the same hardware version.
- - Added UDP server and client.
- - Added NRF52 UICR read and write support to SWDPROG page.
- - Realtime IMU and balance data. See: https://github.com/vedderb/vesc_tool/pull/91
- - Made CAN list resizeable.
- - Made FOC detection result dialog scrollable.
- - Added gamepad control support.
- - Use QStandardPaths::AppDataLocation for OSM tile cache.
- - Added more custom firmare paths to SWDPROG to easily switch between firmware files.
-
-== 2.06 ==
+	* Only allow uploading firmware to all VESCs when they have the same hardware version.
+	* Added UDP server and client.
+	* Added NRF52 UICR read and write support to SWDPROG page.
+	* Realtime IMU and balance data. See: https://github.com/vedderb/vesc_tool/pull/91
+	* Made CAN list resizeable.
+	* Made FOC detection result dialog scrollable.
+	* Added gamepad control support.
+	* Use QStandardPaths::AppDataLocation for OSM tile cache.
+	* Added more custom firmare paths to SWDPROG to easily switch between firmware files.
+
+---
+
+### 2.06
+#### Released ?
 * Prevent repeated test version notification dialogs.
 * Made IMU calibration more compact to decrease the minimum horizontal size.
 
-== 2.05 ==
+---
+
+### 2.05
+#### Released 2020-04-27
 * FW 5.01 support:
- - Fixed PPM bug in previous release.
+	* Fixed PPM bug in previous release.
+
+---
 
-== 2.04 ==
+### 2.04
+#### Released 2020-04-27
 * FW 5.0 support:
- - Dual motor support, for e.g. unity.
+	* Dual motor support, for e.g. unity.
 * Added NRF pair to VESC Remote page.
 * Added detect all without CAN button.
 * Updated observer gain calculation.
@@ -109,7 +129,10 @@
 * Log setup values in desktop VESC Tool too.
 * Added IMU orientation calibration widget.
 
-== 2.03 ==
+---
+
+### 2.03
+#### Released ?
 * App balance updates. See https://github.com/vedderb/bldc/pull/138.
 * Changed back FOC time constant.
 * Added test version warning.
@@ -117,11 +140,17 @@
 * Updated to Qt 5.12.7 for the android build.
 * Start linux version without openssl on version mismatch.
 
-== 2.02 ==
+---
+
+### 2.02
+#### Released ?
 * Better autoconnect.
 * Increased maximum file size for SWD prog.
 
-== 2.01 ==
+---
+
+### 2.01
+#### Released ?
 * Upadted NRF52 firmware to support NRF remotes at the same time as VESC Tool is connected.
 * Fixed swdprog bootloader paths.
 * Added option to remove experiment plot line.
@@ -132,44 +161,59 @@
 * Added TCP server to desktop VESC Tool.
 * Added CAN analyzer page.
 
-== 2.00 ==
+---
+
+### 2.00
+#### Released ?
 * Focus for this release: increase backwards compatibility with old firmwares.
- - Include XML files for old firmwares. Currently 3.60 - 3.66, but more will be added.
- - Store grouping information in XML files to allow changing the GUI dynamically based on firmware version.
- - Support for more commands in limited mode.
- - Support for reading and writing motor and app configuration in limited mode.
- - Updated _all_ configuration pages to use the grouping information, and to dynamically reload when the configuration changes.
- - Keep a record of known issues with old firmwares, and warn if a problematic firmware is in use.
- - Support for making/restoring backups of the motor and app configurations of all VESCs on the CAN Bus.
+	* Include XML files for old firmwares. Currently 3.60	* 3.66, but more will be added.
+	* Store grouping information in XML files to allow changing the GUI dynamically based on firmware version.
+	* Support for more commands in limited mode.
+	* Support for reading and writing motor and app configuration in limited mode.
+	* Updated _all_ configuration pages to use the grouping information, and to dynamically reload when the configuration changes.
+	* Keep a record of known issues with old firmwares, and warn if a problematic firmware is in use.
+	* Support for making/restoring backups of the motor and app configurations of all VESCs on the CAN Bus.
 * Other updates
- - Store XML configurations with predefined parameter order instead of randomly.
- - Use OSM tile server by default as the higher resolution one is quite slow.
- - Added support for VESC 100/250.
- - Clear arrays in settings before writing to them.
- - Sync settings at end of write.
- - Fixed temperature plot visibility boxes.
- - Made yAxis2 visible on FOC RT data.
- - Better tooltip on keyboard control button.
- - Show message when configuration verification fails.
-
-== 1.29 ==
+	* Store XML configurations with predefined parameter order instead of randomly.
+	* Use OSM tile server by default as the higher resolution one is quite slow.
+	* Added support for VESC 100/250.
+	* Clear arrays in settings before writing to them.
+	* Sync settings at end of write.
+	* Fixed temperature plot visibility boxes.
+	* Made yAxis2 visible on FOC RT data.
+	* Better tooltip on keyboard control button.
+	* Show message when configuration verification fails.
+
+---
+
+### 1.29
+#### Released ?
 * Replaced miniLZO with lzokay to resolve crash on Android, and to get a bit better compression ratio.
 
-== 1.28 ==
+---
+
+### 1.28
+#### Released 2019-12-22
 * FW 3.65:
- - Added support for PTC motor thermistors (such as the KTY84).
- - APP_PPM sleep fix. Should solve CAN issues.
+	* Added support for PTC motor thermistors (such as the KTY84).
+	* APP_PPM sleep fix. Should solve CAN issues.
+
+---
 
-== 1.27 ==
+### 1.27
+#### Released ?
 * Added option to truncate history in experiment plot.
 * Disable optimization for LZO on android to prevent crash during FW update on 32-bit devices.
 * Added HW60_MK3 FW.
 * New wand firmware.
 
-== 1.26 ==
+---
+
+### 1.26
+#### Released ?
 * Log analysis:
- - Added ability to filter out outliers from map plot.
- - Added file browser tab.
+	* Added ability to filter out outliers from map plot.
+	* Added file browser tab.
 * Renamed 75/300 bootloader so that it also matches with the R2.
 * Added FW upload compression support for faster firmware uploads.
 * Added clear data button to experiment plot.
@@ -177,39 +221,57 @@
 * Better observer gain calculation.
 * Disconnect BLE in destructor.
 
-== 1.25 ==
+---
+
+### 1.25
+#### Released ?
 * Renamed Nunchuk to VESC Remote.
 * Log analysis:
- - Improved tile caching.
- - Option to not autozoom map when zooming data.
- - Only update ENU reference when loading data.
+	* Improved tile caching.
+	* Option to not autozoom map when zooming data.
+	* Only update ENU reference when loading data.
 * Use statically linked openssl on linux build.
 
-== 1.24 ==
+---
+
+### 1.24
+#### Released ?
 * Log:
- - Fixed midnight bug.
- - Improved spanslider behavior.
- - Implemented scroll-to-zoom.
- - Improved performance when analyzing large logs.
- - Remember vertical line position.
+	* Fixed midnight bug.
+	* Improved spanslider behavior.
+	* Implemented scroll-to-zoom.
+	* Improved performance when analyzing large logs.
+	* Remember vertical line position.
 
-== 1.23 ==
+---
+
+### 1.23
+#### Released ?
 * Added more data to log analysis:
- - GNSS Accuracy.
- - Values for first VESC on CAN-bus.
- - Latitude and longitude.
- - GNSS vertical speed and accuracy.
- - Number of VESCs.
+	* GNSS Accuracy.
+	* Values for first VESC on CAN-bus.
+	* Latitude and longitude.
+	* GNSS vertical speed and accuracy.
+	* Number of VESCs.
+
+---
 
-== 1.22 ==
+### 1.22
+#### Released ?
 * Use foregroud service to keep GNSS alive during logging.
 * Always use wake lock during logging.
 
-== 1.21 ==
+---
+
+### 1.21
+#### Released ?
 * Only hide GUI when the application enters the hidden state.
 * Opengl ES2 for static linux build.
 
-== 1.20 ==
+---
+
+### 1.20
+#### Released 2019-09-27
 * Added TCP server to mobile version.
 * Remember log files location.
 * Added comperhensive log analysis page.
@@ -224,34 +286,43 @@
 * Fixed FW upload button flickering bug.
 * EUC app support.
 * FW 3.62 support:
- - EUC app.
- - Fixed NRF remote reverse bug.
- - Added COMM_BM_MEM_READ.
+	* EUC app.
+	* Fixed NRF remote reverse bug.
+	* Added COMM_BM_MEM_READ.
 * New Wand firmware:
- - Possible freeze fix.
- - Added joystick error detection.
- - Switch between imperial and metric by holding both buttons.
+	* Possible freeze fix.
+	* Added joystick error detection.
+	* Switch between imperial and metric by holding both buttons.
 
-== 1.19 ==
+---
+
+### 1.19
+#### Released 2019-09-09
 * Display prefix and suffix correctly in mobile app.
 * FW 3.61 support:
- - Added PPM_CTRL_TYPE_CURRENT_SMART_REV mode.
+	* Added PPM_CTRL_TYPE_CURRENT_SMART_REV mode.
+
+---
 
-== 1.18 ==
+### 1.18
+#### Released 2019-09-08
 * Native CAN-bus fixes.
 * Don't build with can-bus support in static mode as it breaks the linux serial port.
 * FW 3.60 support:
- - Fixed IMU9x50 bug.
- - Unrigester ICM20948 terminal callbacks when unused.
- - Added experiment plot functions.
- - Added D and Q axis voltage to RT data.
- - Added smart reverse function to nunchuk app.
+	* Fixed IMU9x50 bug.
+	* Unrigester ICM20948 terminal callbacks when unused.
+	* Added experiment plot functions.
+	* Added D and Q axis voltage to RT data.
+	* Added smart reverse function to nunchuk app.
 * Added experiment plots to RT data page.
 * D and Q axis voltage in FOC RT plot.
 * Updated wand firmware.
 * More debug information from input reset CAN function.
 
-== 1.17 ==
+---
+
+### 1.17
+#### Released 2019-09-03
 * FOC wizard motor pole setting now only allows multiples of two.
 * Native CAN-bus support.
 * Added support for multiple SWD interfaces.
@@ -265,21 +336,30 @@
 * Do not disconnect after bootloader update and show different message.
 * Added IMU page with many IMU settings and live plots to adjust them.
 
-== 1.16 ==
+---
+
+### 1.16
+#### Released ?
 * Added support to export sampled data as CSV.
 * Added erase only button to SWD prog.
 
-== 1.15 ==
+---
+
+### 1.15
+#### Released ?
 * Keep screen on setting on android.
 * Added support for imperial units.
 * Added battery current warning.
 
-== 1.14 ==
+---
+
+### 1.14
+#### Released 2019-07-01
 * FW 3.58 support:
- - Set motor to FOC mode after successful FOC detection instead of the default type for the hardware.
- - APP_ADC: Do not send brake command over CAN if config.multi_esc is not set.
- - APP_PPM: Make pulses invalid if they are above 150 % instead of 120 %.
- - APP_PPM: Introduced a new control mode that allows reverse with hysteria (@ackmaniac port).
+	* Set motor to FOC mode after successful FOC detection instead of the default type for the hardware.
+	* APP_ADC: Do not send brake command over CAN if config.multi_esc is not set.
+	* APP_PPM: Make pulses invalid if they are above 150 % instead of 120 %.
+	* APP_PPM: Introduced a new control mode that allows reverse with hysteria (@ackmaniac port).
 * Moved to Qt 5.12 for the mobile version.
 * Added arm64_v8a and x86 builds.
 * Request file permission when opening log and fw files.
@@ -287,91 +367,142 @@
 * Added help text about RT logging.
 * Try to create RT logging path if it does not exist.
 
-== 1.13 ==
+---
+
+### 1.13
+#### Released 2019-05-16
 * FW 3.57 support:
- - Added CAN status message 5 with input voltage and tachometer data.
- - Fix github issue #94.
- - Use default F_SW for HW after autodetect FOC.
+	* Added CAN status message 5 with input voltage and tachometer data.
+	* Fix github issue #94.
+	* Use default F_SW for HW after autodetect FOC.
 
-== 1.12 ==
+---
+
+### 1.12
+#### Released ?
 * Fixed 16k_16m_rx11_tx9 NRF51 fw as well.
 
-== 1.11 ==
+---
+
+### 1.11
+#### Released ?
 * Added RT data logging to CSV file (desktop and mobile).
 * Fixed 16K NRF51 firmware (again).
 
-== 1.10 ==
+---
+
+### 1.10
+#### Released 2019-05-03
 * FW 3.56 support.
- - Fixed current offset fault in BLDC mode.
- - Support for multiple IMUs and ICM-20948.
+	* Fixed current offset fault in BLDC mode.
+	* Support for multiple IMUs and ICM-20948.
 * Include working firmwares for 16K NRF51 modules.
 
-== 1.09 ==
+---
+
+### 1.09
+#### Released 2019-04-26
 * FW 3.55 support.
- - New ADC control mode.
- - Initial support for sin/cos encoders.
- - Nunchuk CC fixes.
- - PPM multi duty mode fix.
+	* New ADC control mode.
+	* Initial support for sin/cos encoders.
+	* Nunchuk CC fixes.
+	* PPM multi duty mode fix.
 * Added more fault codes.
 
-== 1.08 ==
+---
+
+### 1.08
+#### Released 2019-03-31
 * FW 3.54 support.
 * SWD programming support, using the VESC as a programmer.
- - Can be used to flash bricked VESCs from a working one.
- - Can be used to make a custom NRF5x module.
+	* Can be used to flash bricked VESCs from a working one.
+	* Can be used to make a custom NRF5x module.
 * Remember last custom firmware file path.
 
-== 1.07 ==
+---
+
+### 1.07
+#### Released 2019-03-20
 * FW 3.53 support.
 * Updated parameters in default FOC detection.
 * Added missing l_max_erpm_fbrake parameter.
 
-== 1.06 ==
+---
+
+### 1.06
+#### Released 2019-03-10
 * FW 3.52 support.
 * Added setting to disable permanent UART.
 * Added IMU page.
 * Added 3D orientation visualization to mobile interface.
 
-== 1.05 ==
+---
+
+### 1.05
+#### Released 2019-03-04
 * Fixed bug with encoder detection command.
 * FW 3.51 support.
 
-== 1.04 ==
+---
+
+### 1.04
+#### Released ?
 * Fixed crash when turning off BLE module while connected.
 
-== 1.03 ==
+---
+
+### 1.03
+#### Released ?
 * FW compatibility check on all devices on CAN-bus when performing simultaneous configurations.
 
-== 1.02 ==
+---
+
+### 1.02
+#### Released 2019-03-01
 * FW 3.50 support
 * Signature in app and motor configuration.
 * Generate parameter parser for firmware.
 * Signature checks on configurations.
 
-== 1.01 ==
+---
+
+### 1.01
+#### Released ?
 * Save last connected port.
 * Show UUID after pairing, and ask user to write it down.
 * Clear version text on FW page when disconnected.
 
-== 1.00 ==
+---
+
+### 1.00
+#### Released ?
 * First build for VESC Tool on google play.
 * Added direction setup to desktop version.
 * Added direction setup to QML start tools.
 
-== 0.99 ==
+---
+
+### 0.99
+#### Released 2019-02-18
 * FW 3.48 support.
 * Added (non-secure) BLE pairing support.
 * Color adjustments.
 * Highlight active profile.
 * Several qml style improvements.
 
-== 0.98 ==
+---
+
+### 0.98
+#### Released ?
 * FW 3.47 support.
 * Profiles based on current percentages.
 * Removed input current from profiles.
 * Made watt limit optional for profiles.
 
-== 0.97 ==
+---
+
+### 0.97
+#### Released ?
 * FW 3.46 support.
 * CAN-bus scan support.
 * New motor setup wizard.
@@ -379,7 +510,10 @@
 * Horizontal screen support for motor cfg and app cfg.
 * Invert direction setup tool.
 
-== 0.96 ==
+---
+
+### 0.96
+#### Released ?
 * Experiment page.
 * Shorter FW Upload timeout.
 * FW 3.44 support.
@@ -395,48 +529,75 @@
 * General purpose drive support.
 * Added calc apply old settings button to FOC detection.
 
-== 0.95 ==
+---
+
+### 0.95
+#### Released 2018-07-06
 * FW 3.39: auxiliary output support.
 
-== 0.94 ==
+---
+
+### 0.94
+#### Released ?
 * Map detected BLE devices by address instead of by name to show multiple devices with the same name.
 
-== 0.93 ==
+---
+
+### 0.93
+#### Released ?
 * BLE device naming support.
 
-== 0.92 ==
+---
+
+### 0.92
+#### Released 2018-04-22
 * Added generic bootloader for all hardwares.
 * FW 3.38 support.
 
-== 0.91 ==
+---
+
+### 0.91
+#### Released 2018-03-24
 * Mobile: Added controls dialog, which can be opened from drawer menu.
 * FW 3.37 support.
 * Current value ranges to 1000 A.
 
-== 0.90 ==
+---
+
+### 0.90
+#### Released ?
 * Mobile:
- - Added NRF pairing to mobile UI.
- - Added terminal page.
+	* Added NRF pairing to mobile UI.
+	* Added terminal page.
 * FW 3.36 support: D term filter for position and speed controllers.
 
-== 0.89 ==
+---
+
+### 0.89
+#### Released ?
 * Added history to terminal text edit that can be accessed with the up and down arrows.
 * Major mobile UI update:
- - MC configuration.
- - App configuration.
- - FOC parameter detection.
- - BLDC parameter detection.
- - FOC encoder detection.
- - FOC hall sensor detection.
- - PPM pulselength mapping.
- - ADC voltage mapping.
- - At this point the mobile UI should be able to do a full configuration.
-
-== 0.88 ==
+	* MC configuration.
+	* App configuration.
+	* FOC parameter detection.
+	* BLDC parameter detection.
+	* FOC encoder detection.
+	* FOC hall sensor detection.
+	* PPM pulselength mapping.
+	* ADC voltage mapping.
+	* At this point the mobile UI should be able to do a full configuration.
+
+---
+
+### 0.88
+#### Released ?
 * Added Option in APP > NRF > Transmit Power for powering off the nRF module.
 * Mobile: reload mc_config and app_config on fw rx change to rescale meters.
 
-== 0.87 ==
+---
+
+### 0.87
+#### Released 2018-01-24
 * RT plot time measurement improvement.
 * First implementation of BLE support.
 * Added poll command timeouts.
@@ -447,19 +608,31 @@
 * Firmware display synchronization fix.
 * FW 3.34 support.
 
-== 0.86 ==
+---
+
+### 0.86
+#### Released 2017-11-08
 * FW 3.33 support.
 * Synchronized CAN FWD ID between connection pages.
 
-== 0.85 ==
+---
+
+### 0.85
+#### Released 2017-11-08
 * FW 3.32 support.
 * Configurable CAN baud rate.
 
-== 0.84 ==
+---
+
+### 0.84
+#### Released 2017-10-27
 * FW 3.31 support.
 * Input setup wizard improvements.
 
-== 0.83 ==
+---
+
+### 0.83
+#### Released 2017-10-20
 * Embedded fonts for consistency and static linking without fontconfig.
 * Split PPM wizard page into two pages.
 * Split ADC wizard page into two pages.
@@ -467,41 +640,65 @@
 * FW 3.30 support.
 * Added firmware upload unplug power warning.
 
-== 0.82 ==
+---
+
+### 0.82
+#### Released 2017-09-21
 * Only show introduction if it has changed since the previous version.
 * Proper fix for RT data time scale https://github.com/vedderb/vesc_tool/pull/5
 * FW 3.29 support.
 
-== 0.81 ==
+---
+
+### 0.81
+#### Released 2017-09-06
 * Fixed RT data time scale.
 * Individual throttle curves for acc and brake.
-* Support for FW 3.27.
+* Support for FW 3.28.
+
+---
 
-== 0.80 ==
+### 0.80
+#### Released 2017-09-04
 * Fixed C header export names (PPM_HYST).
 * Fixed some typos.
 * Added platinum version to build system.
 * Increased maximum motor resistance in detection widget.
 * Support for FW 3.27.
 
-== 0.79 ==
+---
+
+### 0.79
+#### Released ?
 * Made help dialogs for FOC and BLDC detect non-modal.
 * Support for FW 3.26.
 
-== 0.78 ==
+---
+
+### 0.78
+#### Released ?
 * Added experimental bootloader upload support.
 * Changed tab shape and fixed spelling mistake in additional motor info page.
 
-== 0.77 ==
+---
+
+### 0.77
+#### Released ?
 * Fixed bug in percentage display mode for floats that would cause rounding errors.
 * Changed version check to assume a floating point number so that older online versions won't be considered as newer.
 * Added support for FW 3.25 with ADC ramping and a new ADC control mode.
 
-== 0.76 ==
+---
+
+### 0.76
+#### Released ?
 * Changed default current controller gain calculation time constant.
 * Support for FW 3.24
 
-== 0.75 ==
+---
+
+### 0.75
+#### Released ?
 * Improved UI scaling support for high DPI monitors.
 * Realtime data text box fixes.
 * FOC hall table read bug fix.
@@ -509,24 +706,36 @@
 * Improved current controller gain calculation.
 * QCustomPlot scale factor 1 for high-DPI monitors. This gives lower resolution, but plotting is much faster.
 
-== 0.7 ==
+---
+
+### 0.7
+#### Released ?
 * Check motor paramters after writing them and show dialog if they were truncated.
 * FW 3.22 support.
 * UI scaling support.
 * New configuration page for VESC Tool.
 * Updated wzards with scalable high resolution images.
 
-== 0.6 ==
+---
+
+### 0.6
+#### Released ?
 * Added firmware changelog to help menu.
 * FW 3.20 support.
 * ADC center throttle support.
 
-== 0.5 ==
+---
+
+### 0.5
+#### Released ?
 * FW 3.19 support.
 * Sampled data is now transmitted in floating point with scaling done at the VESC.
 * Updated setup wizard logos.
 
-== 0.4 ==
+---
+
+### 0.4
+#### Released ?
 * FW 3.18 support.
 * Autoconnect support.
 * Autoconnect buttons in welcome and connection page.
@@ -534,22 +743,31 @@
 * Check for the latest VESC Tool version online.
 * Poll serial port in addition to waiting for the readyRead signal since readyRead is not emitted recursively. This can be a problem when e.g. showing message boxes and data comes in.
 
-== 0.3 ==
+---
+
+### 0.3
+#### Released ?
 * FW 3.17 support.
 * Automatic build support for different versions.
 * VESC Project forum link in help menu.
 
-== 0.2 ==
+---
+
+### 0.2
+#### Released ?
 * First complete version of input setup wizard.
 * Support for DRV configuration.
 * Support for throttle curves.
 * Bug fix in displaybar and displaybarpercentage which made them render incorrectly in scroll areas.
 
-=== 0.1 ===
+---
+
+### 0.1
+#### Released ?
 * Added changelog.
 * Created VTextBrowser for displaying rich text with more control.
- - Hyperlink support in help texts.
- - Correct cursor display.
+	* Hyperlink support in help texts.
+	* Correct cursor display.
 * Image updates.
 * Text updates and corrections.
 * Updated welcome page.
diff --git a/utility.cpp b/utility.cpp
index 1c8821718..c9664be6f 100755
--- a/utility.cpp
+++ b/utility.cpp
@@ -206,7 +206,7 @@ void Utility::checkVersion(VescInterface *vesc)
 
 QString Utility::fwChangeLog()
 {
-    QFile cl("://res/firmwares/CHANGELOG");
+    QFile cl("://res/firmwares/CHANGELOG.md");
     if (cl.open(QIODevice::ReadOnly | QIODevice::Text)) {
         return QString::fromUtf8(cl.readAll());
     } else {
@@ -216,7 +216,7 @@ QString Utility::fwChangeLog()
 
 QString Utility::vescToolChangeLog()
 {
-    QFile cl("://res/CHANGELOG");
+    QFile cl("://res/CHANGELOG.md");
     if (cl.open(QIODevice::ReadOnly | QIODevice::Text)) {
         return QString::fromUtf8(cl.readAll());
     } else {
diff --git a/widgets/helpdialog.cpp b/widgets/helpdialog.cpp
index 0d68c0717..c7626531c 100644
--- a/widgets/helpdialog.cpp
+++ b/widgets/helpdialog.cpp
@@ -35,7 +35,13 @@ HelpDialog::HelpDialog(QString title, QString text, QWidget *parent) :
 
     setAttribute(Qt::WA_DeleteOnClose);
     setWindowTitle(title);
-    ui->textEdit->setText(text);
+
+    if (text.trimmed().startsWith('#')) {
+        ui->textEdit->setMarkdown(text);
+    } else {
+        ui->textEdit->setText(text);
+    }
+
     ui->textEdit->viewport()->setAutoFillBackground(false);
 }
 

From ce1b352181f1e90db44d3e95c92487dfaaac3c4c Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 28 Dec 2022 16:21:04 +0100
Subject: [PATCH 375/559] Do not change tab after loading qml

---
 mobile/main.qml | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/mobile/main.qml b/mobile/main.qml
index 99bf828ba..6457e6327 100644
--- a/mobile/main.qml
+++ b/mobile/main.qml
@@ -971,8 +971,6 @@ ApplicationWindow {
             swipeView.insertItem(1, uiHwPage)
             tabBar.insertItem(1, uiHwButton)
             uiHwPage.visible = true
-            swipeView.setCurrentIndex(0)
-            swipeView.setCurrentIndex(1)
         } else {
             uiHwPage.visible = false
             uiHwPage.parent = null
@@ -1003,8 +1001,6 @@ ApplicationWindow {
             swipeView.insertItem(1, uiAppPage)
             tabBar.insertItem(1, uiAppButton)
             uiAppPage.visible = true
-            swipeView.setCurrentIndex(0)
-            swipeView.setCurrentIndex(1)
         } else {
             uiAppPage.visible = false
             uiAppPage.parent = null

From f4915536f70220021f962f3164223f399e3df582 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 28 Dec 2022 16:26:35 +0100
Subject: [PATCH 376/559] Changed experiment plot scale text

---
 widgets/experimentplot.ui | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/widgets/experimentplot.ui b/widgets/experimentplot.ui
index 2dce45a1f..14546a16b 100644
--- a/widgets/experimentplot.ui
+++ b/widgets/experimentplot.ui
@@ -27,7 +27,7 @@
        <rect>
         <x>0</x>
         <y>0</y>
-        <width>194</width>
+        <width>188</width>
         <height>579</height>
        </rect>
       </property>
@@ -511,7 +511,7 @@
              <string>Export Scale</string>
             </property>
             <property name="prefix">
-             <string>S: </string>
+             <string>Scale: </string>
             </property>
             <property name="singleStep">
              <double>0.100000000000000</double>

From b7320f5e6f6709e5fe5068ba7676f7269e9b965b Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 28 Dec 2022 17:35:08 +0100
Subject: [PATCH 377/559] Added plot interpolation example

---
 res/Lisp/Examples/plot_interpolation.lisp | 148 ++++++++++++++++++++++
 res_lisp.qrc                              |   1 +
 vesc_tool.pro                             |   4 +-
 3 files changed, 151 insertions(+), 2 deletions(-)
 create mode 100644 res/Lisp/Examples/plot_interpolation.lisp

diff --git a/res/Lisp/Examples/plot_interpolation.lisp b/res/Lisp/Examples/plot_interpolation.lisp
new file mode 100644
index 000000000..0ceee0a7a
--- /dev/null
+++ b/res/Lisp/Examples/plot_interpolation.lisp
@@ -0,0 +1,148 @@
+; Interpolation and plotting test. Go the the experiment plot to see the results while running this example.
+
+; See http://paulbourke.net/miscellaneous/interpolation/
+
+(defun fun-linear (y0 y1 y2 y3 mu)
+    (+ (* y1 (- 1 mu)) (* y2 mu))
+)
+
+(defun fun-cos (y0 y1 y2 y3 mu) (let (
+            (mu2 (/ (- 1.0 (cos (* mu 3.1415923))) 2.0))
+        )
+        (+ (* y1 (- 1.0 mu2)) (* y2 mu2))
+))
+
+(defun fun-cubic (y0 y1 y2 y3 mu) (let (
+            (mu2 (* mu mu))
+            (a0 (+ (- y3 y2 y0) y1))
+            (a1 (- y0 y1 a0))
+            (a2 (- y2 y0))
+        )
+        (+ (* a0 mu mu2) (* a1 mu2) (* a2 mu) y1)
+))
+
+(defun fun-hermite (y0 y1 y2 y3 mu) (let (
+            (mu2 (* mu mu))
+            (a0 (+ (* -0.5 y0) (* 1.5 y1) (* -1.5 y2) (* 0.5 y3)))
+            (a1 (+ y0 (* -2.5 y1) (* 2.0 y2) (* -0.5 y3)))
+            (a2 (+ (* -0.5 y0) (* 0.5 y2)))
+        )
+        (+ (* a0 mu mu2) (* a1 mu2) (* a2 mu) y1)
+))
+
+(defun trunc (val min max)
+    (cond
+        ((< val min) min)
+        ((> val max) max)
+        (t val)
+))
+
+(defun interpolate (val tab fun)
+    (let (
+            (ind (looprange i 0 (length tab)
+                    (if (> (first (ix tab i)) val)
+                        (break i)
+                        i
+            )))
+            (last-ind (- (length tab) 1))
+            (y0 (second (ix tab (trunc (- ind 2) 0 last-ind))))
+            (y1 (second (ix tab (trunc (- ind 1) 0 last-ind))))
+            (y2 (second (ix tab ind)))
+            (y3 (second (ix tab (trunc (+ ind 1) 0 last-ind))))
+            (p0 (first (ix tab (trunc (- ind 1) 0 last-ind))))
+            (p1 (first (ix tab ind)))
+            (mu (if (= ind 0)
+                    0.0
+                    (trunc (/ (- val p0) (- p1 p0)) 0.0 1.0)
+            ))
+        )
+        
+        (fun y0 y1 y2 y3 mu)
+))
+
+(defun plot-range (start end points tab fun)
+    (looprange i 0 points
+        (let (
+                (val (+ (* (/ i (to-float points)) (- end start)) start))
+            )
+            (plot-send-points val (interpolate val tab fun))
+)))
+
+(def int-tab '(
+        (-500.0 90.0)
+        (0.0 80.0)
+        (500.0 82.0)
+        (1000.0 90.0)
+        (1500.0 94.0)
+        (3000.0 96.0)
+        (5000.0 100.0)
+))
+
+(def val-start -1000.0)
+(def val-end 5500.0)
+(def points 300)
+
+(plot-init "Val" "Output")
+(plot-add-graph "Linear")
+(plot-add-graph "Cosine")
+(plot-add-graph "Cubic")
+(plot-add-graph "Hermite")
+
+(plot-set-graph 0)
+(plot-range val-start val-end points int-tab fun-linear)
+
+(plot-set-graph 1)
+(plot-range val-start val-end points int-tab fun-cos)
+
+(plot-set-graph 2)
+(plot-range val-start val-end points int-tab fun-cubic)
+
+(plot-set-graph 3)
+(plot-range val-start val-end points int-tab fun-hermite)
+
+; ---------- Performance Tests ------------- ;
+
+; Measure the time it takes to run expr in milliseconds.
+; Repeat times and take average.
+(defun time-expr-ms (expr times)
+    (let (
+            (seq (append '(progn) (map (fn (x) expr) (range times))))
+            (start (systime))
+            (res (eval seq))
+        )
+        (* (/ (secs-since start) times) 1000)
+))
+
+(print (str-from-n (time-expr-ms '(interpolate -600 int-tab fun-linear) 50) "\nLinear start : %.2f ms"))
+(print (str-from-n (time-expr-ms '(interpolate 1100 int-tab fun-linear) 50) "Linear mid   : %.2f ms"))
+(print (str-from-n (time-expr-ms '(interpolate 6000 int-tab fun-linear) 50) "Linear end   : %.2f ms\n\n"))
+
+(print (str-from-n (time-expr-ms '(interpolate -600 int-tab fun-cos) 50) "Cosine start : %.2f ms"))
+(print (str-from-n (time-expr-ms '(interpolate 1100 int-tab fun-cos) 50) "Cosine mid   : %.2f ms"))
+(print (str-from-n (time-expr-ms '(interpolate 6000 int-tab fun-cos) 50) "Cosine end   : %.2f ms\n\n"))
+
+(print (str-from-n (time-expr-ms '(interpolate -600 int-tab fun-cubic) 50) "Cubic start  : %.2f ms"))
+(print (str-from-n (time-expr-ms '(interpolate 1100 int-tab fun-cubic) 50) "Cubic mid    : %.2f ms"))
+(print (str-from-n (time-expr-ms '(interpolate 6000 int-tab fun-cubic) 50) "Cubic end    : %.2f ms\n\n"))
+
+(print (str-from-n (time-expr-ms '(interpolate -600 int-tab fun-hermite) 50) "Hermite start: %.2f ms"))
+(print (str-from-n (time-expr-ms '(interpolate 1100 int-tab fun-hermite) 50) "Hermite mid  : %.2f ms"))
+(print (str-from-n (time-expr-ms '(interpolate 6000 int-tab fun-hermite) 50) "Hermite end  : %.2f ms\n\n"))
+
+;-- Results 2022-12-28
+
+;Linear start : 2.40 ms
+;Linear mid   : 3.26 ms
+;Linear end   : 3.64 ms
+;
+;Cosine start : 2.46 ms
+;Cosine mid   : 3.37 ms
+;Cosine end   : 3.71 ms
+;
+;Cubic start  : 2.60 ms
+;Cubic mid    : 3.47 ms
+;Cubic end    : 3.76 ms
+;
+;Hermite start: 2.77 ms
+;Hermite mid  : 3.64 ms
+;Hermite end  : 3.93 ms
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 77e02e1e5..539f52d0e 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -38,5 +38,6 @@
         <file>res/Lisp/Examples/encoder_sincos_cal.lisp</file>
         <file>res/Lisp/Examples/test_extensions.lisp</file>
         <file>res/Lisp/Examples/est_temp.lisp</file>
+        <file>res/Lisp/Examples/plot_interpolation.lisp</file>
     </qresource>
 </RCC>
diff --git a/vesc_tool.pro b/vesc_tool.pro
index 9a1b4f375..f2e0a301a 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -8,9 +8,9 @@
 VT_VERSION = 6.02
 VT_INTRO_VERSION = 1
 VT_CONFIG_VERSION = 2
-11
+
 # Set to 0 for stable versions and to test version number for development versions.
-VT_IS_TEST_VERSION = 2
+VT_IS_TEST_VERSION = 3
 
 VT_ANDROID_VERSION_ARMV7 = 126
 VT_ANDROID_VERSION_ARM64 = 127

From a37db4f17e751f66d64936b89076fc41c68ad0bf Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 30 Dec 2022 23:41:21 +0100
Subject: [PATCH 378/559] ExperimentPlot button glow fix

---
 res.qrc                         |   2 +
 res/+theme_light/icons/glow.png | Bin 0 -> 4772 bytes
 res/icons/glow.png              | Bin 0 -> 15287 bytes
 widgets/experimentplot.cpp      |  51 ++++++-
 widgets/experimentplot.ui       | 226 ++++++++++++++++----------------
 5 files changed, 162 insertions(+), 117 deletions(-)
 create mode 100644 res/+theme_light/icons/glow.png
 create mode 100644 res/icons/glow.png

diff --git a/res.qrc b/res.qrc
index 570fc7ee8..b7b02904a 100644
--- a/res.qrc
+++ b/res.qrc
@@ -326,5 +326,7 @@
         <file>res/+theme_light/icons/Package-96.png</file>
         <file>res/icons/Connected-hl-96.png</file>
         <file>res/+theme_light/icons/Connected-hl-96.png</file>
+        <file>res/icons/glow.png</file>
+        <file>res/+theme_light/icons/glow.png</file>
     </qresource>
 </RCC>
diff --git a/res/+theme_light/icons/glow.png b/res/+theme_light/icons/glow.png
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HcmV?d00001

diff --git a/widgets/experimentplot.cpp b/widgets/experimentplot.cpp
index 338464729..3190a0c2d 100644
--- a/widgets/experimentplot.cpp
+++ b/widgets/experimentplot.cpp
@@ -30,10 +30,6 @@ ExperimentPlot::ExperimentPlot(QWidget *parent) :
     layout()->setContentsMargins(0, 0, 0, 0);
 
     QString theme = Utility::getThemePath();
-    ui->experimentClearDataButton->setIcon(QPixmap(theme + "icons/Delete-96.png"));
-    ui->experimentShowLineButton->setIcon(QPixmap(theme + "icons/3ph_sine.png"));
-    ui->experimentScatterButton->setIcon(QPixmap(theme + "icons/Polyline-96.png"));
-
     QIcon mycon = QIcon(theme + "icons/expand_on.png");
     mycon.addPixmap(QPixmap(theme + "icons/expand_on.png"), QIcon::Normal, QIcon::On);
     mycon.addPixmap(QPixmap(theme + "icons/expand_off.png"), QIcon::Normal, QIcon::Off);
@@ -49,6 +45,53 @@ ExperimentPlot::ExperimentPlot(QWidget *parent) :
     mycon.addPixmap(QPixmap(theme + "icons/size_off.png"), QIcon::Normal, QIcon::Off);
     ui->experimentAutoScaleButton->setIcon(mycon);
 
+    auto genPic = [](QString p1, QString p2, QString text) {
+        QPixmap pix(133, 133);
+        pix.fill(Qt::transparent);
+        QPainter p(&pix);
+
+        p.setRenderHint(QPainter::Antialiasing, true);
+        p.setRenderHint(QPainter::TextAntialiasing, true);
+        p.setRenderHint(QPainter::SmoothPixmapTransform, true);
+
+        if (!p1.isEmpty()) {
+            p.drawImage(pix.rect(), QImage(p1));
+        }
+
+        if (!p2.isEmpty()) {
+            p.drawImage(pix.rect(), QImage(p2));
+        }
+
+        if (!text.isEmpty()) {
+            QFont font = p.font();
+            font.setPixelSize(pix.height());
+            font.setBold(true);
+            p.setFont(font);
+            p.setPen(Utility::getAppQColor("lightText"));
+            p.drawText(pix.rect(), Qt::AlignCenter, text);
+        }
+
+        return QPixmap(pix);
+    };
+
+    auto updateIcon = [genPic](QToolButton *btn, QString pic, QString txt) {
+        QIcon mycon = QIcon(genPic(pic, "", txt));
+        mycon.addPixmap(genPic(Utility::getThemePath() + "icons/glow.png", pic, txt), QIcon::Normal, QIcon::On);
+        mycon.addPixmap(genPic("", pic, txt), QIcon::Normal, QIcon::Off);
+        btn->setIcon(mycon);
+    };
+
+    updateIcon(ui->experimentGraph1Button, "", "1");
+    updateIcon(ui->experimentGraph2Button, "", "2");
+    updateIcon(ui->experimentGraph3Button, "", "3");
+    updateIcon(ui->experimentGraph4Button, "", "4");
+    updateIcon(ui->experimentGraph5Button, "", "5");
+    updateIcon(ui->experimentGraph6Button, "", "6");
+    updateIcon(ui->experimentShowLineButton, theme + "icons/3ph_sine.png", "");
+    updateIcon(ui->experimentScatterButton, theme + "icons/Polyline-96.png", "");
+
+    ui->experimentClearDataButton->setIcon(QPixmap(theme + "icons/Delete-96.png"));
+
     mVesc = 0;
     mExperimentReplot = false;
     mExperimentPlotNow = 0;
diff --git a/widgets/experimentplot.ui b/widgets/experimentplot.ui
index 14546a16b..47582b88d 100644
--- a/widgets/experimentplot.ui
+++ b/widgets/experimentplot.ui
@@ -68,8 +68,8 @@
           <property name="spacing">
            <number>2</number>
           </property>
-          <item row="2" column="1">
-           <widget class="QPushButton" name="experimentShowLineButton">
+          <item row="2" column="4">
+           <widget class="QToolButton" name="experimentHZoomButton">
             <property name="maximumSize">
              <size>
               <width>25</width>
@@ -77,14 +77,15 @@
              </size>
             </property>
             <property name="toolTip">
-             <string>LinePlot</string>
+             <string>Enable Horizontal Zoom</string>
             </property>
             <property name="text">
              <string/>
             </property>
             <property name="icon">
              <iconset resource="../res.qrc">
-              <normaloff>:/res/icons/3ph_sine.png</normaloff>:/res/icons/3ph_sine.png</iconset>
+              <normaloff>:/res/icons/expand_off.png</normaloff>
+              <normalon>:/res/icons/expand_on.png</normalon>:/res/icons/expand_off.png</iconset>
             </property>
             <property name="checkable">
              <bool>true</bool>
@@ -94,25 +95,51 @@
             </property>
            </widget>
           </item>
-          <item row="1" column="0">
-           <widget class="QPushButton" name="experimentGraph1Button">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
+          <item row="2" column="5">
+           <widget class="QToolButton" name="experimentVZoomButton">
+            <property name="maximumSize">
+             <size>
+              <width>25</width>
+              <height>25</height>
+             </size>
+            </property>
+            <property name="toolTip">
+             <string>Enable Vertical Zoom</string>
             </property>
+            <property name="text">
+             <string/>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/expand_v_off.png</normaloff>
+              <normalon>:/res/icons/expand_v_on.png</normalon>:/res/icons/expand_v_off.png</iconset>
+            </property>
+            <property name="checkable">
+             <bool>true</bool>
+            </property>
+            <property name="checked">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="3">
+           <widget class="QToolButton" name="experimentAutoScaleButton">
             <property name="maximumSize">
              <size>
               <width>25</width>
-              <height>16777215</height>
+              <height>25</height>
              </size>
             </property>
             <property name="toolTip">
-             <string>Show this graph</string>
+             <string>Auto-Scale Plot when samples are received</string>
             </property>
             <property name="text">
-             <string>1</string>
+             <string/>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/size_off.png</normaloff>
+              <normalon>:/res/icons/size_on.png</normalon>:/res/icons/size_off.png</iconset>
             </property>
             <property name="checkable">
              <bool>true</bool>
@@ -122,8 +149,30 @@
             </property>
            </widget>
           </item>
+          <item row="0" column="0" colspan="6">
+           <widget class="QSpinBox" name="experimentHistoryBox">
+            <property name="toolTip">
+             <string>Drop old samples when the plot grows larger than this</string>
+            </property>
+            <property name="prefix">
+             <string>History: </string>
+            </property>
+            <property name="minimum">
+             <number>2</number>
+            </property>
+            <property name="maximum">
+             <number>10000</number>
+            </property>
+            <property name="singleStep">
+             <number>50</number>
+            </property>
+            <property name="value">
+             <number>2000</number>
+            </property>
+           </widget>
+          </item>
           <item row="1" column="1">
-           <widget class="QPushButton" name="experimentGraph2Button">
+           <widget class="QToolButton" name="experimentGraph2Button">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
               <horstretch>0</horstretch>
@@ -133,14 +182,14 @@
             <property name="maximumSize">
              <size>
               <width>25</width>
-              <height>16777215</height>
+              <height>25</height>
              </size>
             </property>
             <property name="toolTip">
              <string>Show this graph</string>
             </property>
             <property name="text">
-             <string>2</string>
+             <string/>
             </property>
             <property name="checkable">
              <bool>true</bool>
@@ -151,7 +200,7 @@
            </widget>
           </item>
           <item row="2" column="2">
-           <widget class="QPushButton" name="experimentScatterButton">
+           <widget class="QToolButton" name="experimentScatterButton">
             <property name="maximumSize">
              <size>
               <width>25</width>
@@ -173,16 +222,25 @@
             </property>
            </widget>
           </item>
-          <item row="1" column="4">
-           <widget class="QPushButton" name="experimentGraph5Button">
+          <item row="1" column="0">
+           <widget class="QToolButton" name="experimentGraph1Button">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
             <property name="maximumSize">
              <size>
               <width>25</width>
-              <height>16777215</height>
+              <height>25</height>
              </size>
             </property>
+            <property name="toolTip">
+             <string>Show this graph</string>
+            </property>
             <property name="text">
-             <string>5</string>
+             <string/>
             </property>
             <property name="checkable">
              <bool>true</bool>
@@ -192,16 +250,25 @@
             </property>
            </widget>
           </item>
-          <item row="1" column="5">
-           <widget class="QPushButton" name="experimentGraph6Button">
+          <item row="1" column="2">
+           <widget class="QToolButton" name="experimentGraph3Button">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
             <property name="maximumSize">
              <size>
               <width>25</width>
-              <height>16777215</height>
+              <height>25</height>
              </size>
             </property>
+            <property name="toolTip">
+             <string>Show this graph</string>
+            </property>
             <property name="text">
-             <string>6</string>
+             <string/>
             </property>
             <property name="checkable">
              <bool>true</bool>
@@ -212,7 +279,7 @@
            </widget>
           </item>
           <item row="1" column="3">
-           <widget class="QPushButton" name="experimentGraph4Button">
+           <widget class="QToolButton" name="experimentGraph4Button">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
               <horstretch>0</horstretch>
@@ -222,14 +289,14 @@
             <property name="maximumSize">
              <size>
               <width>25</width>
-              <height>16777215</height>
+              <height>25</height>
              </size>
             </property>
             <property name="toolTip">
              <string>Show this graph</string>
             </property>
             <property name="text">
-             <string>4</string>
+             <string/>
             </property>
             <property name="checkable">
              <bool>true</bool>
@@ -239,45 +306,17 @@
             </property>
            </widget>
           </item>
-          <item row="2" column="0">
-           <widget class="QPushButton" name="experimentClearDataButton">
-            <property name="maximumSize">
-             <size>
-              <width>25</width>
-              <height>25</height>
-             </size>
-            </property>
-            <property name="toolTip">
-             <string>Clear data from plots</string>
-            </property>
-            <property name="text">
-             <string/>
-            </property>
-            <property name="icon">
-             <iconset resource="../res.qrc">
-              <normaloff>:/res/icons/Delete-96.png</normaloff>:/res/icons/Delete-96.png</iconset>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="4">
-           <widget class="QToolButton" name="experimentHZoomButton">
+          <item row="1" column="4">
+           <widget class="QToolButton" name="experimentGraph5Button">
             <property name="maximumSize">
              <size>
               <width>25</width>
               <height>25</height>
              </size>
             </property>
-            <property name="toolTip">
-             <string>Enable Horizontal Zoom</string>
-            </property>
             <property name="text">
              <string/>
             </property>
-            <property name="icon">
-             <iconset resource="../res.qrc">
-              <normaloff>:/res/icons/expand_off.png</normaloff>
-              <normalon>:/res/icons/expand_on.png</normalon>:/res/icons/expand_off.png</iconset>
-            </property>
             <property name="checkable">
              <bool>true</bool>
             </property>
@@ -286,25 +325,17 @@
             </property>
            </widget>
           </item>
-          <item row="2" column="5">
-           <widget class="QToolButton" name="experimentVZoomButton">
+          <item row="1" column="5">
+           <widget class="QToolButton" name="experimentGraph6Button">
             <property name="maximumSize">
              <size>
               <width>25</width>
               <height>25</height>
              </size>
             </property>
-            <property name="toolTip">
-             <string>Enable Vertical Zoom</string>
-            </property>
             <property name="text">
              <string/>
             </property>
-            <property name="icon">
-             <iconset resource="../res.qrc">
-              <normaloff>:/res/icons/expand_v_off.png</normaloff>
-              <normalon>:/res/icons/expand_v_on.png</normalon>:/res/icons/expand_v_off.png</iconset>
-            </property>
             <property name="checkable">
              <bool>true</bool>
             </property>
@@ -313,8 +344,8 @@
             </property>
            </widget>
           </item>
-          <item row="2" column="3">
-           <widget class="QToolButton" name="experimentAutoScaleButton">
+          <item row="2" column="0">
+           <widget class="QToolButton" name="experimentClearDataButton">
             <property name="maximumSize">
              <size>
               <width>25</width>
@@ -322,43 +353,34 @@
              </size>
             </property>
             <property name="toolTip">
-             <string>Auto-Scale Plot when samples are received</string>
+             <string>Clear data from plots</string>
             </property>
             <property name="text">
              <string/>
             </property>
             <property name="icon">
              <iconset resource="../res.qrc">
-              <normaloff>:/res/icons/size_off.png</normaloff>
-              <normalon>:/res/icons/size_on.png</normalon>:/res/icons/size_off.png</iconset>
-            </property>
-            <property name="checkable">
-             <bool>true</bool>
-            </property>
-            <property name="checked">
-             <bool>true</bool>
+              <normaloff>:/res/icons/Delete-96.png</normaloff>:/res/icons/Delete-96.png</iconset>
             </property>
            </widget>
           </item>
-          <item row="1" column="2">
-           <widget class="QPushButton" name="experimentGraph3Button">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
+          <item row="2" column="1">
+           <widget class="QToolButton" name="experimentShowLineButton">
             <property name="maximumSize">
              <size>
               <width>25</width>
-              <height>16777215</height>
+              <height>25</height>
              </size>
             </property>
             <property name="toolTip">
-             <string>Show this graph</string>
+             <string>LinePlot</string>
             </property>
             <property name="text">
-             <string>3</string>
+             <string/>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/3ph_sine.png</normaloff>:/res/icons/3ph_sine.png</iconset>
             </property>
             <property name="checkable">
              <bool>true</bool>
@@ -368,28 +390,6 @@
             </property>
            </widget>
           </item>
-          <item row="0" column="0" colspan="6">
-           <widget class="QSpinBox" name="experimentHistoryBox">
-            <property name="toolTip">
-             <string>Drop old samples when the plot grows larger than this</string>
-            </property>
-            <property name="prefix">
-             <string>History: </string>
-            </property>
-            <property name="minimum">
-             <number>2</number>
-            </property>
-            <property name="maximum">
-             <number>10000</number>
-            </property>
-            <property name="singleStep">
-             <number>50</number>
-            </property>
-            <property name="value">
-             <number>2000</number>
-            </property>
-           </widget>
-          </item>
          </layout>
         </widget>
        </item>

From 944ee7976153642455c0f8082a5dfb6c904a0360 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 2 Jan 2023 13:15:05 +0100
Subject: [PATCH 379/559] Updated express firmware

---
 .../ESP32-C3/VESC Express/app.bin             | Bin 1235376 -> 1235616 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/res/firmwares_esp/ESP32-C3/VESC Express/app.bin b/res/firmwares_esp/ESP32-C3/VESC Express/app.bin
index f7cf715afb3414082f41c0b79a180302dfa1a76e..4a6c1f2391df06e305b76511fb4c29fd54f80976 100644
GIT binary patch
delta 182864
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From 1800f1694202aedd25bebedb8cead1443610a43b Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 2 Jan 2023 23:16:20 +0100
Subject: [PATCH 380/559] First attempt at image caching for faster loading

---
 boardsetupwindow.cpp           | 62 ++++++++++++-------------
 configparams.cpp               |  4 +-
 configparams.h                 |  5 +-
 pages/pageappadc.cpp           |  6 +--
 pages/pageappbalance.cpp       | 12 ++---
 pages/pageappgeneral.cpp       |  2 +-
 pages/pageappimu.cpp           |  2 +-
 pages/pageappnrf.cpp           |  2 +-
 pages/pageappnunchuk.cpp       |  4 +-
 pages/pageapppas.cpp           |  2 +-
 pages/pageappppm.cpp           |  6 +--
 pages/pageappuart.cpp          |  2 +-
 pages/pagebldc.cpp             |  8 ++--
 pages/pagecananalyzer.cpp      |  4 +-
 pages/pagecontrollers.cpp      |  2 +-
 pages/pagecustomconfig.cpp     |  2 +-
 pages/pagedc.cpp               |  2 +-
 pages/pagefoc.cpp              | 20 ++++----
 pages/pagegpd.cpp              |  2 +-
 pages/pagemotor.cpp            | 18 ++++----
 pages/pagemotorinfo.cpp        |  6 +--
 setupwizardapp.cpp             | 84 +++++++++++++++++-----------------
 setupwizardmotor.cpp           | 54 +++++++++++-----------
 vescinterface.h                | 13 ++++++
 widgets/detectallfocdialog.cpp | 18 ++++----
 widgets/parameditbitfield.cpp  | 14 ++++--
 widgets/parameditbitfield.h    |  3 +-
 widgets/parameditbitfield.ui   | 16 +------
 widgets/parameditbool.cpp      | 15 ++++--
 widgets/parameditbool.h        |  2 +-
 widgets/parameditbool.ui       | 16 +------
 widgets/parameditdouble.cpp    | 14 ++++--
 widgets/parameditdouble.h      |  2 +-
 widgets/parameditdouble.ui     | 20 ++------
 widgets/parameditenum.cpp      | 14 ++++--
 widgets/parameditenum.h        |  2 +-
 widgets/parameditenum.ui       | 16 +------
 widgets/parameditint.cpp       | 14 ++++--
 widgets/parameditint.h         |  2 +-
 widgets/parameditint.ui        | 20 ++------
 widgets/parameditstring.cpp    | 14 ++++--
 widgets/parameditstring.h      |  2 +-
 widgets/parameditstring.ui     | 16 +------
 widgets/paramtable.cpp         |  8 ++--
 widgets/paramtable.h           |  4 +-
 45 files changed, 263 insertions(+), 293 deletions(-)

diff --git a/boardsetupwindow.cpp b/boardsetupwindow.cpp
index fc9dc0d90..430d08bb0 100644
--- a/boardsetupwindow.cpp
+++ b/boardsetupwindow.cpp
@@ -1056,39 +1056,39 @@ void BoardSetupWindow::loadAppConfXML(QString path){
 
         switch(mAppConfig_Target->getParamEnum("app_to_use")){
         case 4: //ppm and uart
-            ui->appTab->addParamRow(mAppConfig_Target, "app_uart_baudrate");
+            ui->appTab->addParamRow(mAppConfig_Target, "app_uart_baudrate", mVesc);
             [[clang::fallthrough]];
         case 1: //ppm
-            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.ctrl_type");
-            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.pulse_start");
-            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.pulse_center");
-            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.hyst");
-            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.ramp_time_pos");
-            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.ramp_time_neg");
+            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.ctrl_type", mVesc);
+            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.pulse_start", mVesc);
+            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.pulse_center", mVesc);
+            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.hyst", mVesc);
+            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.ramp_time_pos", mVesc);
+            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.ramp_time_neg", mVesc);
             if(mAppConfig_Target->getParamBool("app_ppm_conf.tc")){
-                ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.tc");
-                ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.tc_max_diff");
+                ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.tc", mVesc);
+                ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.tc_max_diff", mVesc);
             }
             if(mAppConfig_Target->getParamEnum("app_ppm_conf.ctrl_type") == 9){
-                ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.smart_rev_max_duty");
-                ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.smart_rev_ramp_time");
+                ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.smart_rev_max_duty", mVesc);
+                ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.smart_rev_ramp_time", mVesc);
             }
             break;
         case 2: //adc
             break;
         case 3: //uart
-            ui->appTab->addParamRow(mAppConfig_Target, "app_uart_baudrate");
-            ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.ctrl_type");
-            ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.hyst");
-            ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.ramp_time_pos");
-            ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.ramp_time_neg");
+            ui->appTab->addParamRow(mAppConfig_Target, "app_uart_baudrate", mVesc);
+            ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.ctrl_type", mVesc);
+            ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.hyst", mVesc);
+            ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.ramp_time_pos", mVesc);
+            ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.ramp_time_neg", mVesc);
             if(mAppConfig_Target->getParamBool("app_chuk_conf.tc")){
-                ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.tc");
-                ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.tc_max_diff");
+                ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.tc", mVesc);
+                ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.tc_max_diff", mVesc);
             }
             if(mAppConfig_Target->getParamBool("app_chuk_conf.use_smart_rev")){
-                ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.smart_rev_max_duty");
-                ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.smart_rev_ramp_time");
+                ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.smart_rev_max_duty", mVesc);
+                ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.smart_rev_ramp_time", mVesc);
             }
             break;
         default:
@@ -1108,7 +1108,7 @@ void BoardSetupWindow::loadAppConfXML(QString path){
         showStatusInfo("Loaded app configuration", true);
         QString str;
 
-        ui->appTab->addParamRow(mAppConfig_Target, "app_to_use");
+        ui->appTab->addParamRow(mAppConfig_Target, "app_to_use", mVesc);
         foreach(QObject *p, ui->appTab->children().at(0)->children()){
             p->setProperty("enabled",false);
         }
@@ -1149,16 +1149,16 @@ void BoardSetupWindow::loadMotorConfXML(QString path){
         mcXmlPath = path;
         showStatusInfo("Loaded motor configuration", true);
         QString str;
-        ui->motorTab->addParamRow(mMcConfig_Target, "foc_motor_r");
-        ui->motorTab->addParamRow(mMcConfig_Target, "foc_motor_l");
-        ui->motorTab->addParamRow(mMcConfig_Target, "foc_motor_flux_linkage");
-        ui->motorTab->addParamRow(mMcConfig_Target, "foc_sensor_mode");
-        ui->motorTab->addParamRow(mMcConfig_Target, "l_current_max");
-        ui->motorTab->addParamRow(mMcConfig_Target, "l_current_min");
-        ui->motorTab->addParamRow(mMcConfig_Target, "l_in_current_max");
-        ui->motorTab->addParamRow(mMcConfig_Target, "l_in_current_min");
-        ui->motorTab->addParamRow(mMcConfig_Target, "l_battery_cut_start");
-        ui->motorTab->addParamRow(mMcConfig_Target, "l_battery_cut_end");
+        ui->motorTab->addParamRow(mMcConfig_Target, "foc_motor_r", mVesc);
+        ui->motorTab->addParamRow(mMcConfig_Target, "foc_motor_l", mVesc);
+        ui->motorTab->addParamRow(mMcConfig_Target, "foc_motor_flux_linkage", mVesc);
+        ui->motorTab->addParamRow(mMcConfig_Target, "foc_sensor_mode", mVesc);
+        ui->motorTab->addParamRow(mMcConfig_Target, "l_current_max", mVesc);
+        ui->motorTab->addParamRow(mMcConfig_Target, "l_current_min", mVesc);
+        ui->motorTab->addParamRow(mMcConfig_Target, "l_in_current_max", mVesc);
+        ui->motorTab->addParamRow(mMcConfig_Target, "l_in_current_min", mVesc);
+        ui->motorTab->addParamRow(mMcConfig_Target, "l_battery_cut_start", mVesc);
+        ui->motorTab->addParamRow(mMcConfig_Target, "l_battery_cut_end", mVesc);
         ui->motorConfigEdit->setText(path);
 
         foreach(QObject *p, ui->motorTab->children().at(0)->children()){
diff --git a/configparams.cpp b/configparams.cpp
index ed8ab5d09..fd3593509 100644
--- a/configparams.cpp
+++ b/configparams.cpp
@@ -554,7 +554,7 @@ void ConfigParams::setParamOrder(const QStringList &order)
     mParamList = order;
 }
 
-QWidget *ConfigParams::getEditor(const QString &name, QWidget *parent)
+QWidget *ConfigParams::getEditor(const QString &name, QWidget *parent, VescInterface *vesc)
 {
     QWidget *retVal = 0;
 
@@ -605,7 +605,7 @@ QWidget *ConfigParams::getEditor(const QString &name, QWidget *parent)
         } break;
 
         case CFG_T_BITFIELD: {
-            ParamEditBitfield *edit = new ParamEditBitfield(parent);
+            ParamEditBitfield *edit = new ParamEditBitfield(parent, vesc);
             edit->setName(name);
             edit->setConfig(this);
             retVal = edit;
diff --git a/configparams.h b/configparams.h
index a10a4dd3e..9654d1352 100644
--- a/configparams.h
+++ b/configparams.h
@@ -27,6 +27,9 @@
 #include "configparam.h"
 #include "vbytearray.h"
 
+// Forward declaration to avoid recursive inclusion
+class VescInterface;
+
 class ConfigParams : public QObject
 {
     Q_OBJECT
@@ -78,7 +81,7 @@ class ConfigParams : public QObject
     Q_INVOKABLE QStringList getParamOrder() const;
     void setParamOrder(const QStringList &order);
 
-    QWidget *getEditor(const QString &name, QWidget *parent = nullptr);
+    QWidget *getEditor(const QString &name, QWidget *parent = nullptr, VescInterface *vesc = nullptr);
 
     void getParamSerial(VByteArray &vb, const QString &name);
     void setParamSerial(VByteArray &vb, const QString &name, QObject *src = nullptr);
diff --git a/pages/pageappadc.cpp b/pages/pageappadc.cpp
index 7eabc9803..560695c03 100644
--- a/pages/pageappadc.cpp
+++ b/pages/pageappadc.cpp
@@ -74,9 +74,9 @@ void PageAppAdc::reloadParams()
         ui->mappingTab->clearParams();
         ui->throttleCurveTab->clearParams();
 
-        ui->generalTab->addParamSubgroup(mVesc->appConfig(), "adc", "general");
-        ui->mappingTab->addParamSubgroup(mVesc->appConfig(), "adc", "mapping");
-        ui->throttleCurveTab->addParamSubgroup(mVesc->appConfig(), "adc", "throttle curve");
+        ui->generalTab->addParamSubgroup(mVesc->appConfig(), "adc", "general", mVesc);
+        ui->mappingTab->addParamSubgroup(mVesc->appConfig(), "adc", "mapping", mVesc);
+        ui->throttleCurveTab->addParamSubgroup(mVesc->appConfig(), "adc", "throttle curve", mVesc);
     }
 }
 
diff --git a/pages/pageappbalance.cpp b/pages/pageappbalance.cpp
index d497b9074..b9926be28 100644
--- a/pages/pageappbalance.cpp
+++ b/pages/pageappbalance.cpp
@@ -121,12 +121,12 @@ void PageAppBalance::reloadParams()
         ui->faultPane->clearParams();
         ui->multiescPane->clearParams();
 
-        ui->tunePane->addParamSubgroup(mVesc->appConfig(), "balance", "tune");
-        ui->modifiersPane->addParamSubgroup(mVesc->appConfig(), "balance", "tune modifiers");
-        ui->startupPane->addParamSubgroup(mVesc->appConfig(), "balance", "startup");
-        ui->tiltbackPane->addParamSubgroup(mVesc->appConfig(), "balance", "tiltback");
-        ui->faultPane->addParamSubgroup(mVesc->appConfig(), "balance", "fault");
-        ui->multiescPane->addParamSubgroup(mVesc->appConfig(), "balance", "multi esc");
+        ui->tunePane->addParamSubgroup(mVesc->appConfig(), "balance", "tune", mVesc);
+        ui->modifiersPane->addParamSubgroup(mVesc->appConfig(), "balance", "tune modifiers", mVesc);
+        ui->startupPane->addParamSubgroup(mVesc->appConfig(), "balance", "startup", mVesc);
+        ui->tiltbackPane->addParamSubgroup(mVesc->appConfig(), "balance", "tiltback", mVesc);
+        ui->faultPane->addParamSubgroup(mVesc->appConfig(), "balance", "fault", mVesc);
+        ui->multiescPane->addParamSubgroup(mVesc->appConfig(), "balance", "multi esc", mVesc);
     }
 }
 
diff --git a/pages/pageappgeneral.cpp b/pages/pageappgeneral.cpp
index fda9b054b..5ab79196e 100644
--- a/pages/pageappgeneral.cpp
+++ b/pages/pageappgeneral.cpp
@@ -52,7 +52,7 @@ void PageAppGeneral::reloadParams()
 {
     if (mVesc) {
         ui->appTab->clearParams();
-        ui->appTab->addParamSubgroup(mVesc->appConfig(), "general", "general");
+        ui->appTab->addParamSubgroup(mVesc->appConfig(), "general", "general", mVesc);
     }
 }
 
diff --git a/pages/pageappimu.cpp b/pages/pageappimu.cpp
index b1478bcf8..3c1cb88cc 100644
--- a/pages/pageappimu.cpp
+++ b/pages/pageappimu.cpp
@@ -154,7 +154,7 @@ void PageAppImu::reloadParams()
 {
     if (mVesc) {
         ui->tableWidget->clearParams();
-        ui->tableWidget->addParamSubgroup(mVesc->appConfig(), "imu", "general");
+        ui->tableWidget->addParamSubgroup(mVesc->appConfig(), "imu", "general", mVesc);
     }
 }
 
diff --git a/pages/pageappnrf.cpp b/pages/pageappnrf.cpp
index bf28c41eb..a94b6844e 100644
--- a/pages/pageappnrf.cpp
+++ b/pages/pageappnrf.cpp
@@ -53,6 +53,6 @@ void PageAppNrf::reloadParams()
 {
     if (mVesc) {
         ui->generalTab->clearParams();
-        ui->generalTab->addParamSubgroup(mVesc->appConfig(), "nrf", "general");
+        ui->generalTab->addParamSubgroup(mVesc->appConfig(), "nrf", "general", mVesc);
     }
 }
diff --git a/pages/pageappnunchuk.cpp b/pages/pageappnunchuk.cpp
index 6cf392cb9..beaf95df8 100644
--- a/pages/pageappnunchuk.cpp
+++ b/pages/pageappnunchuk.cpp
@@ -76,8 +76,8 @@ void PageAppNunchuk::reloadParams()
         ui->generalTab->clearParams();
         ui->throttleCurveTab->clearParams();
 
-        ui->generalTab->addParamSubgroup(mVesc->appConfig(), "vesc remote", "general");
-        ui->throttleCurveTab->addParamSubgroup(mVesc->appConfig(), "vesc remote", "throttle curve");
+        ui->generalTab->addParamSubgroup(mVesc->appConfig(), "vesc remote", "general", mVesc);
+        ui->throttleCurveTab->addParamSubgroup(mVesc->appConfig(), "vesc remote", "throttle curve", mVesc);
     }
 }
 
diff --git a/pages/pageapppas.cpp b/pages/pageapppas.cpp
index 113c16a36..051e3400a 100644
--- a/pages/pageapppas.cpp
+++ b/pages/pageapppas.cpp
@@ -52,6 +52,6 @@ void PageAppPas::reloadParams()
 {
     if (mVesc) {
         ui->generalTab->clearParams();
-        ui->generalTab->addParamSubgroup(mVesc->appConfig(), "pas", "general");
+        ui->generalTab->addParamSubgroup(mVesc->appConfig(), "pas", "general", mVesc);
     }
 }
diff --git a/pages/pageappppm.cpp b/pages/pageappppm.cpp
index df85cbdc4..765b6154e 100644
--- a/pages/pageappppm.cpp
+++ b/pages/pageappppm.cpp
@@ -74,9 +74,9 @@ void PageAppPpm::reloadParams()
         ui->mappingTab->clearParams();
         ui->throttleCurveTab->clearParams();
 
-        ui->generalTab->addParamSubgroup(mVesc->appConfig(), "ppm", "general");
-        ui->mappingTab->addParamSubgroup(mVesc->appConfig(), "ppm", "mapping");
-        ui->throttleCurveTab->addParamSubgroup(mVesc->appConfig(), "ppm", "throttle curve");
+        ui->generalTab->addParamSubgroup(mVesc->appConfig(), "ppm", "general", mVesc);
+        ui->mappingTab->addParamSubgroup(mVesc->appConfig(), "ppm", "mapping", mVesc);
+        ui->throttleCurveTab->addParamSubgroup(mVesc->appConfig(), "ppm", "throttle curve", mVesc);
     }
 }
 
diff --git a/pages/pageappuart.cpp b/pages/pageappuart.cpp
index 2cc1a146b..d6662a4c7 100644
--- a/pages/pageappuart.cpp
+++ b/pages/pageappuart.cpp
@@ -52,6 +52,6 @@ void PageAppUart::reloadParams()
 {
     if (mVesc) {
         ui->generalTab->clearParams();
-        ui->generalTab->addParamSubgroup(mVesc->appConfig(), "uart", "general");
+        ui->generalTab->addParamSubgroup(mVesc->appConfig(), "uart", "general", mVesc);
     }
 }
diff --git a/pages/pagebldc.cpp b/pages/pagebldc.cpp
index 4b895a26c..d1ca00209 100644
--- a/pages/pagebldc.cpp
+++ b/pages/pagebldc.cpp
@@ -57,9 +57,9 @@ void PageBldc::reloadParams()
         ui->sensorTab->clearParams();
         ui->advancedTab->clearParams();
 
-        ui->generalTab->addParamSubgroup(mVesc->mcConfig(), "bldc", "general");
-        ui->sensorlessTab->addParamSubgroup(mVesc->mcConfig(), "bldc", "sensorless");
-        ui->sensorTab->addParamSubgroup(mVesc->mcConfig(), "bldc", "sensors");
-        ui->advancedTab->addParamSubgroup(mVesc->mcConfig(), "bldc", "advanced");
+        ui->generalTab->addParamSubgroup(mVesc->mcConfig(), "bldc", "general", mVesc);
+        ui->sensorlessTab->addParamSubgroup(mVesc->mcConfig(), "bldc", "sensorless", mVesc);
+        ui->sensorTab->addParamSubgroup(mVesc->mcConfig(), "bldc", "sensors", mVesc);
+        ui->advancedTab->addParamSubgroup(mVesc->mcConfig(), "bldc", "advanced", mVesc);
     }
 }
diff --git a/pages/pagecananalyzer.cpp b/pages/pagecananalyzer.cpp
index 3d3177dae..f8774ab9a 100644
--- a/pages/pagecananalyzer.cpp
+++ b/pages/pagecananalyzer.cpp
@@ -62,8 +62,8 @@ void PageCanAnalyzer::reloadParams()
 {
     if (mVesc) {
         ui->paramTable->clearParams();
-        ui->paramTable->addParamRow(mVesc->appConfig(), "can_mode");
-        ui->paramTable->addParamRow(mVesc->appConfig(), "can_baud_rate");
+        ui->paramTable->addParamRow(mVesc->appConfig(), "can_mode", mVesc);
+        ui->paramTable->addParamRow(mVesc->appConfig(), "can_baud_rate", mVesc);
     }
 }
 
diff --git a/pages/pagecontrollers.cpp b/pages/pagecontrollers.cpp
index 78dbabffd..f307f1fe8 100644
--- a/pages/pagecontrollers.cpp
+++ b/pages/pagecontrollers.cpp
@@ -56,7 +56,7 @@ void PageControllers::reloadParams()
 {
     if (mVesc) {
         ui->paramTab->clearParams();
-        ui->paramTab->addParamSubgroup(mVesc->mcConfig(), "pid controllers", "general");
+        ui->paramTab->addParamSubgroup(mVesc->mcConfig(), "pid controllers", "general", mVesc);
     }
 }
 
diff --git a/pages/pagecustomconfig.cpp b/pages/pagecustomconfig.cpp
index 1f5222334..f5ede1afd 100644
--- a/pages/pagecustomconfig.cpp
+++ b/pages/pagecustomconfig.cpp
@@ -81,7 +81,7 @@ void PageCustomConfig::customConfigLoadDone()
             ui->tabWidget->setTabText(i, tabNames.at(i));
             ParamTable *t = dynamic_cast<ParamTable*>(ui->tabWidget->widget(i));
             t->clearParams();
-            t->addParamSubgroup(p, "General", tabNames.at(i));
+            t->addParamSubgroup(p, "General", tabNames.at(i), mVesc);
         }
     }
 }
diff --git a/pages/pagedc.cpp b/pages/pagedc.cpp
index d843d8732..36b42098e 100644
--- a/pages/pagedc.cpp
+++ b/pages/pagedc.cpp
@@ -52,6 +52,6 @@ void PageDc::reloadParams()
 {
     if (mVesc) {
         ui->paramTab->clearParams();
-        ui->paramTab->addParamSubgroup(mVesc->mcConfig(), "dc", "general");
+        ui->paramTab->addParamSubgroup(mVesc->mcConfig(), "dc", "general", mVesc);
     }
 }
diff --git a/pages/pagefoc.cpp b/pages/pagefoc.cpp
index c8fa64f6f..9dfccfa3c 100644
--- a/pages/pagefoc.cpp
+++ b/pages/pagefoc.cpp
@@ -67,16 +67,16 @@ void PageFoc::reloadParams()
         ui->fwTab->clearParams();
         ui->advancedTab->clearParams();
 
-        ui->generalTab->addParamSubgroup(mVesc->mcConfig(), "foc", "general");
-        ui->sensorlessTab->addParamSubgroup(mVesc->mcConfig(), "foc", "sensorless");
-        ui->hallTab->addParamSubgroup(mVesc->mcConfig(), "foc", "hall sensors");
-        ui->encoderTab->addParamSubgroup(mVesc->mcConfig(), "foc", "encoder");
-        ui->hfiTab->addParamSubgroup(mVesc->mcConfig(), "foc", "hfi");
-        ui->vssTab->addParamSubgroup(mVesc->mcConfig(), "foc", "vss");
-        ui->filterTab->addParamSubgroup(mVesc->mcConfig(), "foc", "filters");
-        ui->offsetTab->addParamSubgroup(mVesc->mcConfig(), "foc", "offsets");
-        ui->fwTab->addParamSubgroup(mVesc->mcConfig(), "foc", "field weakening");
-        ui->advancedTab->addParamSubgroup(mVesc->mcConfig(), "foc", "advanced");
+        ui->generalTab->addParamSubgroup(mVesc->mcConfig(), "foc", "general", mVesc);
+        ui->sensorlessTab->addParamSubgroup(mVesc->mcConfig(), "foc", "sensorless", mVesc);
+        ui->hallTab->addParamSubgroup(mVesc->mcConfig(), "foc", "hall sensors", mVesc);
+        ui->encoderTab->addParamSubgroup(mVesc->mcConfig(), "foc", "encoder", mVesc);
+        ui->hfiTab->addParamSubgroup(mVesc->mcConfig(), "foc", "hfi", mVesc);
+        ui->vssTab->addParamSubgroup(mVesc->mcConfig(), "foc", "vss", mVesc);
+        ui->filterTab->addParamSubgroup(mVesc->mcConfig(), "foc", "filters", mVesc);
+        ui->offsetTab->addParamSubgroup(mVesc->mcConfig(), "foc", "offsets", mVesc);
+        ui->fwTab->addParamSubgroup(mVesc->mcConfig(), "foc", "field weakening", mVesc);
+        ui->advancedTab->addParamSubgroup(mVesc->mcConfig(), "foc", "advanced", mVesc);
     }
 }
 
diff --git a/pages/pagegpd.cpp b/pages/pagegpd.cpp
index 06409aaab..3cc0a521f 100644
--- a/pages/pagegpd.cpp
+++ b/pages/pagegpd.cpp
@@ -49,5 +49,5 @@ void PageGPD::setVesc(VescInterface *vesc)
 void PageGPD::reloadParams()
 {
     ui->paramTab->clearParams();
-    ui->paramTab->addParamSubgroup(mVesc->mcConfig(), "gpd", "general");
+    ui->paramTab->addParamSubgroup(mVesc->mcConfig(), "gpd", "general", mVesc);
 }
diff --git a/pages/pagemotor.cpp b/pages/pagemotor.cpp
index 0433b9829..ea930c04e 100644
--- a/pages/pagemotor.cpp
+++ b/pages/pagemotor.cpp
@@ -63,13 +63,13 @@ void PageMotor::reloadParams()
     ui->bmsTab->clearParams();
     ui->advancedTab->clearParams();
 
-    ui->motorTab->addParamSubgroup(mVesc->mcConfig(), "general", "general");
-    ui->sensorsTab->addParamSubgroup(mVesc->mcConfig(), "general", "sensors");
-    ui->currentTab->addParamSubgroup(mVesc->mcConfig(), "general", "current");
-    ui->voltageTab->addParamSubgroup(mVesc->mcConfig(), "general", "voltage");
-    ui->rpmTab->addParamSubgroup(mVesc->mcConfig(), "general", "rpm");
-    ui->wattageTab->addParamSubgroup(mVesc->mcConfig(), "general", "wattage");
-    ui->tempTab->addParamSubgroup(mVesc->mcConfig(), "general", "temperature");
-    ui->bmsTab->addParamSubgroup(mVesc->mcConfig(), "general", "bms");
-    ui->advancedTab->addParamSubgroup(mVesc->mcConfig(), "general", "advanced");
+    ui->motorTab->addParamSubgroup(mVesc->mcConfig(), "general", "general", mVesc);
+    ui->sensorsTab->addParamSubgroup(mVesc->mcConfig(), "general", "sensors", mVesc);
+    ui->currentTab->addParamSubgroup(mVesc->mcConfig(), "general", "current", mVesc);
+    ui->voltageTab->addParamSubgroup(mVesc->mcConfig(), "general", "voltage", mVesc);
+    ui->rpmTab->addParamSubgroup(mVesc->mcConfig(), "general", "rpm", mVesc);
+    ui->wattageTab->addParamSubgroup(mVesc->mcConfig(), "general", "wattage", mVesc);
+    ui->tempTab->addParamSubgroup(mVesc->mcConfig(), "general", "temperature", mVesc);
+    ui->bmsTab->addParamSubgroup(mVesc->mcConfig(), "general", "bms", mVesc);
+    ui->advancedTab->addParamSubgroup(mVesc->mcConfig(), "general", "advanced", mVesc);
 }
diff --git a/pages/pagemotorinfo.cpp b/pages/pagemotorinfo.cpp
index 0496330dd..1e162e5be 100644
--- a/pages/pagemotorinfo.cpp
+++ b/pages/pagemotorinfo.cpp
@@ -61,9 +61,9 @@ void PageMotorInfo::reloadParams()
         ui->generalTab->clearParams();
         ui->qualityTab->clearParams();
 
-        ui->setupTab->addParamSubgroup(mVesc->mcConfig(), "Additional Info", "setup");
-        ui->generalTab->addParamSubgroup(mVesc->mcConfig(), "Additional Info", "general");
-        ui->qualityTab->addParamSubgroup(mVesc->mcConfig(), "Additional Info", "quality");
+        ui->setupTab->addParamSubgroup(mVesc->mcConfig(), "Additional Info", "setup", mVesc);
+        ui->generalTab->addParamSubgroup(mVesc->mcConfig(), "Additional Info", "general", mVesc);
+        ui->qualityTab->addParamSubgroup(mVesc->mcConfig(), "Additional Info", "quality", mVesc);
 
         ui->descriptionEdit->document()->setHtml(mVesc->mcConfig()->getParamQString("motor_description"));
         ui->qualityEdit->document()->setHtml(mVesc->mcConfig()->getParamQString("motor_quality_description"));
diff --git a/setupwizardapp.cpp b/setupwizardapp.cpp
index 7ffb182a5..6af76405b 100644
--- a/setupwizardapp.cpp
+++ b/setupwizardapp.cpp
@@ -448,18 +448,18 @@ void AppNunchukPage::initializePage()
 {
     mParamTab->setRowCount(0);
 
-    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.ctrl_type");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.ramp_time_pos");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.ramp_time_neg");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.stick_erpm_per_s_in_cc");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.hyst");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.use_smart_rev");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.smart_rev_max_duty");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.smart_rev_ramp_time");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.ctrl_type", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.ramp_time_pos", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.ramp_time_neg", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.stick_erpm_per_s_in_cc", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.hyst", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.use_smart_rev", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.smart_rev_max_duty", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.smart_rev_ramp_time", mVesc);
 
     mParamTab->addRowSeparator(tr("Multiple VESCs over CAN-bus"));
-    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.tc");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.tc_max_diff");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.tc", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.tc_max_diff", mVesc);
     mVesc->appConfig()->updateParamBool("app_chuk_conf.multi_esc", true);
 
     if (field("Input").toInt() == SetupWizardApp::Input_Nunchuk) {
@@ -554,10 +554,10 @@ void AppPpmMapPage::initializePage()
 {
     mParamTab->setRowCount(0);
 
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.pulse_start");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.pulse_end");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.pulse_center");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.hyst");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.pulse_start", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.pulse_end", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.pulse_center", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.hyst", mVesc);
 
     mVesc->appConfig()->updateParamEnum("app_ppm_conf.ctrl_type", 0);
     mVesc->appConfig()->updateParamEnum("app_to_use", 4);
@@ -626,19 +626,19 @@ void AppPpmPage::initializePage()
     mParamTab->setRowCount(0);
 
     mParamTab->addRowSeparator(tr("General"));
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.ctrl_type");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.median_filter");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.safe_start");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.ramp_time_pos");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.ramp_time_neg");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.pid_max_erpm");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.max_erpm_for_dir");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.smart_rev_max_duty");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.smart_rev_ramp_time");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.ctrl_type", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.median_filter", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.safe_start", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.ramp_time_pos", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.ramp_time_neg", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.pid_max_erpm", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.max_erpm_for_dir", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.smart_rev_max_duty", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.smart_rev_ramp_time", mVesc);
 
     mParamTab->addRowSeparator(tr("Multiple VESCs over CAN-bus"));
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.tc");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.tc_max_diff");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.tc", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.tc_max_diff", mVesc);
     mVesc->appConfig()->updateParamBool("app_ppm_conf.multi_esc", true);
 
     mVesc->appConfig()->updateParamEnum("app_ppm_conf.ctrl_type", 3);
@@ -686,14 +686,14 @@ void AppAdcMapPage::initializePage()
 {
     mParamTab->setRowCount(0);
 
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage_start");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage_end");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage_center");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage_inverted");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage2_start");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage2_end");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage2_inverted");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.hyst");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage_start", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage_end", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage_center", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage_inverted", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage2_start", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage2_end", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage2_inverted", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.hyst", mVesc);
 
     mVesc->appConfig()->updateParamEnum("app_to_use", 5);
     mVesc->appConfig()->updateParamEnum("app_adc_conf.ctrl_type", 0);
@@ -775,17 +775,17 @@ void AppAdcPage::initializePage()
     mParamTab->setRowCount(0);
 
     mParamTab->addRowSeparator(tr("General"));
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.ctrl_type");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.use_filter");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.safe_start");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.cc_button_inverted");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.rev_button_inverted");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.ramp_time_pos");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.ramp_time_neg");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.ctrl_type", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.use_filter", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.safe_start", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.cc_button_inverted", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.rev_button_inverted", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.ramp_time_pos", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.ramp_time_neg", mVesc);
 
     mParamTab->addRowSeparator(tr("Multiple VESCs over CAN-bus"));
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.tc");
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.tc_max_diff");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.tc", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.tc_max_diff", mVesc);
     mVesc->appConfig()->updateParamBool("app_adc_conf.multi_esc", true);
 
     mVesc->appConfig()->updateParamEnum("app_adc_conf.ctrl_type", 1);
diff --git a/setupwizardmotor.cpp b/setupwizardmotor.cpp
index b3eeec10d..9cf401e62 100644
--- a/setupwizardmotor.cpp
+++ b/setupwizardmotor.cpp
@@ -216,7 +216,7 @@ MotorTypePage::MotorTypePage(VescInterface *vesc, QWidget *parent)
                    "configuration pages."));
 
     mParamTab = new ParamTable;
-    mParamTab->addParamRow(mVesc->mcConfig(), "motor_type");
+    mParamTab->addParamRow(mVesc->mcConfig(), "motor_type", mVesc);
 
     QVBoxLayout *layout = new QVBoxLayout;
     layout->addWidget(mParamTab);
@@ -266,11 +266,11 @@ CurrentsPage::CurrentsPage(VescInterface *vesc, QWidget *parent)
 
     mParamTab = new ParamTable;
     mParamTab->addRowSeparator(tr("Motor"));
-    mParamTab->addParamRow(mVesc->mcConfig(), "l_current_max");
-    mParamTab->addParamRow(mVesc->mcConfig(), "l_current_min");
+    mParamTab->addParamRow(mVesc->mcConfig(), "l_current_max", mVesc);
+    mParamTab->addParamRow(mVesc->mcConfig(), "l_current_min", mVesc);
     mParamTab->addRowSeparator(tr("Battery"));
-    mParamTab->addParamRow(mVesc->mcConfig(), "l_in_current_max");
-    mParamTab->addParamRow(mVesc->mcConfig(), "l_in_current_min");
+    mParamTab->addParamRow(mVesc->mcConfig(), "l_in_current_max", mVesc);
+    mParamTab->addParamRow(mVesc->mcConfig(), "l_in_current_min", mVesc);
     mConfigureBatteryCutoff = true;
 
     mLabel = new QLabel(tr("<font color=\"red\">WARNING: </font>"
@@ -337,8 +337,8 @@ VoltagesPage::VoltagesPage(VescInterface *vesc, QWidget *parent)
     setSubTitle(tr("Set soft voltage limits to prevent overdischarging your battery."));
 
     mParamTab = new ParamTable;
-    mParamTab->addParamRow(mVesc->mcConfig(), "l_battery_cut_start");
-    mParamTab->addParamRow(mVesc->mcConfig(), "l_battery_cut_end");
+    mParamTab->addParamRow(mVesc->mcConfig(), "l_battery_cut_start", mVesc);
+    mParamTab->addParamRow(mVesc->mcConfig(), "l_battery_cut_end", mVesc);
 
     mCalc = new BatteryCalculator(this);
     mCalc->setVesc(vesc);
@@ -373,7 +373,7 @@ SensorsPage::SensorsPage(VescInterface *vesc, QWidget *parent)
     mParamTab = new ParamTable;
     mTypeBefore = -1;
 
-    mParamTab->addParamRow(mVesc->mcConfig(), "m_encoder_counts");
+    mParamTab->addParamRow(mVesc->mcConfig(), "m_encoder_counts", mVesc);
     registerField("SensorMode", mSensorMode, "currentData");
 
     QVBoxLayout *layout = new QVBoxLayout;
@@ -550,14 +550,14 @@ bool BldcPage::validatePage()
 void BldcPage::initializePage()
 {
     mParamTab->setRowCount(0);
-    mParamTab->addParamRow(mVesc->mcConfig(), "sl_cycle_int_limit");
-    mParamTab->addParamRow(mVesc->mcConfig(), "sl_bemf_coupling_k");
+    mParamTab->addParamRow(mVesc->mcConfig(), "sl_cycle_int_limit", mVesc);
+    mParamTab->addParamRow(mVesc->mcConfig(), "sl_bemf_coupling_k", mVesc);
     mParamTab->addRowSeparator(tr("Hall Sensor Settings"));
 
     if (field("SensorMode").toInt() == SetupWizardMotor::Sensor_Hall) {
-        mParamTab->addParamRow(mVesc->mcConfig(), "hall_sl_erpm");
+        mParamTab->addParamRow(mVesc->mcConfig(), "hall_sl_erpm", mVesc);
         for (int i = 0;i < 8;i++) {
-            mParamTab->addParamRow(mVesc->mcConfig(), QString("hall_table_%1").arg(i));
+            mParamTab->addParamRow(mVesc->mcConfig(), QString("hall_table_%1").arg(i), mVesc);
         }
     }
 }
@@ -574,12 +574,12 @@ FocPage::FocPage(VescInterface *vesc, QWidget *parent)
     mDetect = new DetectFoc(this);
     mDetect->setVesc(vesc);
 
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_motor_r");
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_motor_l");
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_motor_flux_linkage");
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_current_kp");
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_current_ki");
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_observer_gain");
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_motor_r", mVesc);
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_motor_l", mVesc);
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_motor_flux_linkage", mVesc);
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_current_kp", mVesc);
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_current_ki", mVesc);
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_observer_gain", mVesc);
 
     QVBoxLayout *layout = new QVBoxLayout;
     layout->addWidget(mParamTab);
@@ -705,15 +705,15 @@ FocHallPage::FocHallPage(VescInterface *vesc, QWidget *parent)
     mDetect = new DetectFocHall(this);
     mDetect->setVesc(vesc);
 
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_sl_erpm");
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__0");
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__1");
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__2");
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__3");
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__4");
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__5");
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__6");
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__7");
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_sl_erpm", mVesc);
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__0", mVesc);
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__1", mVesc);
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__2", mVesc);
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__3", mVesc);
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__4", mVesc);
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__5", mVesc);
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__6", mVesc);
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__7", mVesc);
 
     QVBoxLayout *layout = new QVBoxLayout;
     layout->addWidget(mParamTab);
diff --git a/vescinterface.h b/vescinterface.h
index aadcb6566..89e77a62a 100755
--- a/vescinterface.h
+++ b/vescinterface.h
@@ -20,6 +20,7 @@
 #ifndef VESCINTERFACE_H
 #define VESCINTERFACE_H
 
+#include "qpixmap.h"
 #include <QObject>
 #include <QDateTime>
 #include <QTimer>
@@ -260,6 +261,16 @@ class VescInterface : public QObject
         updateFwRx(false);
     }
 
+    QPixmap getPixmap(QString path) {
+        if (mPixmapCache.contains(path)) {
+            return mPixmapCache[path];
+        } else {
+            QPixmap p(path);
+            mPixmapCache.insert(path, p);
+            return p;
+        }
+    }
+
 signals:
     void statusMessage(const QString &msg, bool isGood);
     void messageDialog(const QString &title, const QString &msg, bool isGood, bool richText);
@@ -460,6 +471,8 @@ private slots:
     void updateFwRx(bool fwRx);
     void setLastConnectionType(conn_t type);
 
+    QMap<QString, QPixmap> mPixmapCache;
+
 };
 
 #endif // VESCINTERFACE_H
diff --git a/widgets/detectallfocdialog.cpp b/widgets/detectallfocdialog.cpp
index 2f908cff0..1185b15a1 100644
--- a/widgets/detectallfocdialog.cpp
+++ b/widgets/detectallfocdialog.cpp
@@ -116,21 +116,21 @@ DetectAllFocDialog::DetectAllFocDialog(VescInterface *vesc, QWidget *parent) :
     ui->motorList->setSelectionMode(QAbstractItemView::SingleSelection);
     ui->motorList->setCurrentRow(0);
 
-    ui->simpleBatteryTab->addParamRow(mVesc->mcConfig(), "si_battery_type");
-    ui->simpleBatteryTab->addParamRow(mVesc->mcConfig(), "si_battery_cells");
-    ui->simpleBatteryTab->addParamRow(mVesc->mcConfig(), "si_battery_ah");
+    ui->simpleBatteryTab->addParamRow(mVesc->mcConfig(), "si_battery_type", mVesc);
+    ui->simpleBatteryTab->addParamRow(mVesc->mcConfig(), "si_battery_cells", mVesc);
+    ui->simpleBatteryTab->addParamRow(mVesc->mcConfig(), "si_battery_ah", mVesc);
 
     QVBoxLayout *layout = new QVBoxLayout;
     layout->addWidget(mVesc->mcConfig()->getEditor("si_wheel_diameter"));
     ui->wheelDiameterBox->setLayout(layout);
 
     // Advanced tab
-    ui->paramTab->addParamRow(mVesc->mcConfig(), "si_motor_poles");
-    ui->paramTab->addParamRow(mVesc->mcConfig(), "si_gear_ratio");
-    ui->paramTab->addParamRow(mVesc->mcConfig(), "si_wheel_diameter");
-    ui->paramTab->addParamRow(mVesc->mcConfig(), "si_battery_type");
-    ui->paramTab->addParamRow(mVesc->mcConfig(), "si_battery_cells");
-    ui->paramTab->addParamRow(mVesc->mcConfig(), "si_battery_ah");
+    ui->paramTab->addParamRow(mVesc->mcConfig(), "si_motor_poles", mVesc);
+    ui->paramTab->addParamRow(mVesc->mcConfig(), "si_gear_ratio", mVesc);
+    ui->paramTab->addParamRow(mVesc->mcConfig(), "si_wheel_diameter", mVesc);
+    ui->paramTab->addParamRow(mVesc->mcConfig(), "si_battery_type", mVesc);
+    ui->paramTab->addParamRow(mVesc->mcConfig(), "si_battery_cells", mVesc);
+    ui->paramTab->addParamRow(mVesc->mcConfig(), "si_battery_ah", mVesc);
 
     connect(ui->pulleyMotorBox, SIGNAL(valueChanged(int)),
             this, SLOT(updateGearRatio()));
diff --git a/widgets/parameditbitfield.cpp b/widgets/parameditbitfield.cpp
index d26b0a26a..1aefe6c38 100644
--- a/widgets/parameditbitfield.cpp
+++ b/widgets/parameditbitfield.cpp
@@ -22,16 +22,22 @@
 #include "utility.h"
 #include "helpdialog.h"
 
-ParamEditBitfield::ParamEditBitfield(QWidget *parent) :
+ParamEditBitfield::ParamEditBitfield(QWidget *parent, VescInterface *vesc) :
     QWidget(parent),
     ui(new Ui::ParamEditBitfield)
 {
     ui->setupUi(this);
 
     QString theme = Utility::getThemePath();
-    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-    ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
-    ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
+    if (vesc) {
+        ui->helpButton->setIcon(vesc->getPixmap(theme + "icons/Help-96.png"));
+        ui->readButton->setIcon(vesc->getPixmap(theme + "icons/Upload-96.png"));
+        ui->readDefaultButton->setIcon(vesc->getPixmap(theme + "icons/Data Backup-96.png"));
+    } else {
+        ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
+        ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
+        ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
+    }
 
     auto updateFun = [this]() {
         if (mConfig) {
diff --git a/widgets/parameditbitfield.h b/widgets/parameditbitfield.h
index ef9017f48..6a49503aa 100644
--- a/widgets/parameditbitfield.h
+++ b/widgets/parameditbitfield.h
@@ -22,6 +22,7 @@
 
 #include <QWidget>
 #include "configparams.h"
+#include "vescinterface.h"
 
 namespace Ui {
 class ParamEditBitfield;
@@ -32,7 +33,7 @@ class ParamEditBitfield : public QWidget
     Q_OBJECT
 
 public:
-    explicit ParamEditBitfield(QWidget *parent = nullptr);
+    explicit ParamEditBitfield(QWidget *parent = nullptr, VescInterface *vesc = nullptr);
     ~ParamEditBitfield();
 
     void setConfig(ConfigParams *config);
diff --git a/widgets/parameditbitfield.ui b/widgets/parameditbitfield.ui
index d21ce5283..c4093f068 100644
--- a/widgets/parameditbitfield.ui
+++ b/widgets/parameditbitfield.ui
@@ -103,10 +103,6 @@
      <property name="text">
       <string/>
      </property>
-     <property name="icon">
-      <iconset resource="../res.qrc">
-       <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
-     </property>
     </widget>
    </item>
    <item>
@@ -123,10 +119,6 @@
      <property name="text">
       <string/>
      </property>
-     <property name="icon">
-      <iconset resource="../res.qrc">
-       <normaloff>:/res/icons/Data Backup-96.png</normaloff>:/res/icons/Data Backup-96.png</iconset>
-     </property>
     </widget>
    </item>
    <item>
@@ -143,16 +135,10 @@
      <property name="text">
       <string/>
      </property>
-     <property name="icon">
-      <iconset resource="../res.qrc">
-       <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
-     </property>
     </widget>
    </item>
   </layout>
  </widget>
- <resources>
-  <include location="../res.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>
diff --git a/widgets/parameditbool.cpp b/widgets/parameditbool.cpp
index de63781df..756635fea 100644
--- a/widgets/parameditbool.cpp
+++ b/widgets/parameditbool.cpp
@@ -23,16 +23,23 @@
 #include "helpdialog.h"
 #include "utility.h"
 
-ParamEditBool::ParamEditBool(QWidget *parent) :
+ParamEditBool::ParamEditBool(QWidget *parent, VescInterface *vesc) :
     QWidget(parent),
     ui(new Ui::ParamEditBool)
 {
     ui->setupUi(this);
 
     QString theme = Utility::getThemePath();
-    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-    ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
-    ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
+
+    if (vesc) {
+        ui->helpButton->setIcon(vesc->getPixmap(theme + "icons/Help-96.png"));
+        ui->readButton->setIcon(vesc->getPixmap(theme + "icons/Upload-96.png"));
+        ui->readDefaultButton->setIcon(vesc->getPixmap(theme + "icons/Data Backup-96.png"));
+    } else {
+        ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
+        ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
+        ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
+    }
 }
 
 ParamEditBool::~ParamEditBool()
diff --git a/widgets/parameditbool.h b/widgets/parameditbool.h
index 0a6c3980b..cadea9065 100644
--- a/widgets/parameditbool.h
+++ b/widgets/parameditbool.h
@@ -32,7 +32,7 @@ class ParamEditBool : public QWidget
     Q_OBJECT
 
 public:
-    explicit ParamEditBool(QWidget *parent = 0);
+    explicit ParamEditBool(QWidget *parent = nullptr, VescInterface *vesc = nullptr);
     ~ParamEditBool();
     void setConfig(ConfigParams *config);
     QString name() const;
diff --git a/widgets/parameditbool.ui b/widgets/parameditbool.ui
index 5bcca5ac3..1f36810ee 100644
--- a/widgets/parameditbool.ui
+++ b/widgets/parameditbool.ui
@@ -57,10 +57,6 @@
      <property name="text">
       <string/>
      </property>
-     <property name="icon">
-      <iconset resource="../res.qrc">
-       <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
-     </property>
     </widget>
    </item>
    <item>
@@ -77,10 +73,6 @@
      <property name="text">
       <string/>
      </property>
-     <property name="icon">
-      <iconset resource="../res.qrc">
-       <normaloff>:/res/icons/Data Backup-96.png</normaloff>:/res/icons/Data Backup-96.png</iconset>
-     </property>
     </widget>
    </item>
    <item>
@@ -97,16 +89,10 @@
      <property name="text">
       <string/>
      </property>
-     <property name="icon">
-      <iconset resource="../res.qrc">
-       <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
-     </property>
     </widget>
    </item>
   </layout>
  </widget>
- <resources>
-  <include location="../res.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>
diff --git a/widgets/parameditdouble.cpp b/widgets/parameditdouble.cpp
index ea350bf84..56932f58e 100644
--- a/widgets/parameditdouble.cpp
+++ b/widgets/parameditdouble.cpp
@@ -24,16 +24,22 @@
 #include <cmath>
 #include "utility.h"
 
-ParamEditDouble::ParamEditDouble(QWidget *parent) :
+ParamEditDouble::ParamEditDouble(QWidget *parent, VescInterface *vesc) :
     QWidget(parent),
     ui(new Ui::ParamEditDouble)
 {
     ui->setupUi(this);
 
     QString theme = Utility::getThemePath();
-    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-    ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
-    ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
+    if (vesc) {
+        ui->helpButton->setIcon(vesc->getPixmap(theme + "icons/Help-96.png"));
+        ui->readButton->setIcon(vesc->getPixmap(theme + "icons/Upload-96.png"));
+        ui->readDefaultButton->setIcon(vesc->getPixmap(theme + "icons/Data Backup-96.png"));
+    } else {
+        ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
+        ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
+        ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
+    }
 
     mConfig = 0;
     mMaxVal = 1.0;
diff --git a/widgets/parameditdouble.h b/widgets/parameditdouble.h
index c386410cd..a83679307 100644
--- a/widgets/parameditdouble.h
+++ b/widgets/parameditdouble.h
@@ -36,7 +36,7 @@ class ParamEditDouble : public QWidget
     Q_OBJECT
 
 public:
-    explicit ParamEditDouble(QWidget *parent = 0);
+    explicit ParamEditDouble(QWidget *parent = nullptr, VescInterface *vesc = nullptr);
     ~ParamEditDouble();
     void setConfig(ConfigParams *config);
     QString name() const;
diff --git a/widgets/parameditdouble.ui b/widgets/parameditdouble.ui
index f4f196d0c..93a55089a 100644
--- a/widgets/parameditdouble.ui
+++ b/widgets/parameditdouble.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>86</width>
-    <height>26</height>
+    <width>146</width>
+    <height>27</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -45,10 +45,6 @@
        <property name="text">
         <string/>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
-       </property>
       </widget>
      </item>
      <item>
@@ -65,10 +61,6 @@
        <property name="text">
         <string/>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/Data Backup-96.png</normaloff>:/res/icons/Data Backup-96.png</iconset>
-       </property>
       </widget>
      </item>
      <item>
@@ -85,18 +77,12 @@
        <property name="text">
         <string/>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
-       </property>
       </widget>
      </item>
     </layout>
    </item>
   </layout>
  </widget>
- <resources>
-  <include location="../res.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>
diff --git a/widgets/parameditenum.cpp b/widgets/parameditenum.cpp
index 4adb714c4..b21022bbf 100644
--- a/widgets/parameditenum.cpp
+++ b/widgets/parameditenum.cpp
@@ -23,7 +23,7 @@
 #include "helpdialog.h"
 #include "utility.h"
 
-ParamEditEnum::ParamEditEnum(QWidget *parent) :
+ParamEditEnum::ParamEditEnum(QWidget *parent, VescInterface *vesc) :
     QWidget(parent),
     ui(new Ui::ParamEditEnum)
 {
@@ -31,9 +31,15 @@ ParamEditEnum::ParamEditEnum(QWidget *parent) :
     mConfig = 0;
 
     QString theme = Utility::getThemePath();
-    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-    ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
-    ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
+    if (vesc) {
+        ui->helpButton->setIcon(vesc->getPixmap(theme + "icons/Help-96.png"));
+        ui->readButton->setIcon(vesc->getPixmap(theme + "icons/Upload-96.png"));
+        ui->readDefaultButton->setIcon(vesc->getPixmap(theme + "icons/Data Backup-96.png"));
+    } else {
+        ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
+        ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
+        ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
+    }
 }
 
 ParamEditEnum::~ParamEditEnum()
diff --git a/widgets/parameditenum.h b/widgets/parameditenum.h
index 8e1490c0b..a7ea261c8 100644
--- a/widgets/parameditenum.h
+++ b/widgets/parameditenum.h
@@ -32,7 +32,7 @@ class ParamEditEnum : public QWidget
     Q_OBJECT
 
 public:
-    explicit ParamEditEnum(QWidget *parent = 0);
+    explicit ParamEditEnum(QWidget *parent = nullptr, VescInterface *vesc = nullptr);
     ~ParamEditEnum();
     void setConfig(ConfigParams *config);
     QString name() const;
diff --git a/widgets/parameditenum.ui b/widgets/parameditenum.ui
index ebdccf74e..f0af1a413 100644
--- a/widgets/parameditenum.ui
+++ b/widgets/parameditenum.ui
@@ -46,10 +46,6 @@
      <property name="text">
       <string/>
      </property>
-     <property name="icon">
-      <iconset resource="../res.qrc">
-       <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
-     </property>
     </widget>
    </item>
    <item>
@@ -66,10 +62,6 @@
      <property name="text">
       <string/>
      </property>
-     <property name="icon">
-      <iconset resource="../res.qrc">
-       <normaloff>:/res/icons/Data Backup-96.png</normaloff>:/res/icons/Data Backup-96.png</iconset>
-     </property>
     </widget>
    </item>
    <item>
@@ -86,16 +78,10 @@
      <property name="text">
       <string/>
      </property>
-     <property name="icon">
-      <iconset resource="../res.qrc">
-       <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
-     </property>
     </widget>
    </item>
   </layout>
  </widget>
- <resources>
-  <include location="../res.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>
diff --git a/widgets/parameditint.cpp b/widgets/parameditint.cpp
index 76a7fa215..759b50146 100644
--- a/widgets/parameditint.cpp
+++ b/widgets/parameditint.cpp
@@ -24,7 +24,7 @@
 #include "helpdialog.h"
 #include "utility.h"
 
-ParamEditInt::ParamEditInt(QWidget *parent) :
+ParamEditInt::ParamEditInt(QWidget *parent, VescInterface *vesc) :
     QWidget(parent),
     ui(new Ui::ParamEditInt)
 {
@@ -33,9 +33,15 @@ ParamEditInt::ParamEditInt(QWidget *parent) :
     mMaxVal = 1;
 
     QString theme = Utility::getThemePath();
-    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-    ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
-    ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
+    if (vesc) {
+        ui->helpButton->setIcon(vesc->getPixmap(theme + "icons/Help-96.png"));
+        ui->readButton->setIcon(vesc->getPixmap(theme + "icons/Upload-96.png"));
+        ui->readDefaultButton->setIcon(vesc->getPixmap(theme + "icons/Data Backup-96.png"));
+    } else {
+        ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
+        ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
+        ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
+    }
 
     mDisplay = new DisplayPercentage(this);
     mIntBox = new QSpinBox(this);
diff --git a/widgets/parameditint.h b/widgets/parameditint.h
index d3a719a59..973fe8ac7 100644
--- a/widgets/parameditint.h
+++ b/widgets/parameditint.h
@@ -34,7 +34,7 @@ class ParamEditInt : public QWidget
     Q_OBJECT
 
 public:
-    explicit ParamEditInt(QWidget *parent = 0);
+    explicit ParamEditInt(QWidget *parent = nullptr, VescInterface *vesc = nullptr);
     ~ParamEditInt();
 
     void setConfig(ConfigParams *config);
diff --git a/widgets/parameditint.ui b/widgets/parameditint.ui
index e81ef47c5..747641a46 100644
--- a/widgets/parameditint.ui
+++ b/widgets/parameditint.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>86</width>
-    <height>26</height>
+    <width>146</width>
+    <height>27</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -45,10 +45,6 @@
        <property name="text">
         <string/>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
-       </property>
       </widget>
      </item>
      <item>
@@ -65,10 +61,6 @@
        <property name="text">
         <string/>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/Data Backup-96.png</normaloff>:/res/icons/Data Backup-96.png</iconset>
-       </property>
       </widget>
      </item>
      <item>
@@ -85,18 +77,12 @@
        <property name="text">
         <string/>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
-       </property>
       </widget>
      </item>
     </layout>
    </item>
   </layout>
  </widget>
- <resources>
-  <include location="../res.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>
diff --git a/widgets/parameditstring.cpp b/widgets/parameditstring.cpp
index 507f659e7..64c6772f6 100644
--- a/widgets/parameditstring.cpp
+++ b/widgets/parameditstring.cpp
@@ -22,16 +22,22 @@
 #include "helpdialog.h"
 #include "utility.h"
 
-ParamEditString::ParamEditString(QWidget *parent) :
+ParamEditString::ParamEditString(QWidget *parent, VescInterface *vesc) :
     QWidget(parent),
     ui(new Ui::ParamEditString)
 {
     ui->setupUi(this);
 
     QString theme = Utility::getThemePath();
-    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-    ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
-    ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
+    if (vesc) {
+        ui->helpButton->setIcon(vesc->getPixmap(theme + "icons/Help-96.png"));
+        ui->readButton->setIcon(vesc->getPixmap(theme + "icons/Upload-96.png"));
+        ui->readDefaultButton->setIcon(vesc->getPixmap(theme + "icons/Data Backup-96.png"));
+    } else {
+        ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
+        ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
+        ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
+    }
 }
 
 ParamEditString::~ParamEditString()
diff --git a/widgets/parameditstring.h b/widgets/parameditstring.h
index 55cf36c9a..3b4e118f9 100644
--- a/widgets/parameditstring.h
+++ b/widgets/parameditstring.h
@@ -32,7 +32,7 @@ class ParamEditString : public QWidget
     Q_OBJECT
 
 public:
-    explicit ParamEditString(QWidget *parent = 0);
+    explicit ParamEditString(QWidget *parent = nullptr, VescInterface *vesc = nullptr);
     ~ParamEditString();
     void setConfig(ConfigParams *config);
     QString name() const;
diff --git a/widgets/parameditstring.ui b/widgets/parameditstring.ui
index 4694e9cc0..71110ebf9 100644
--- a/widgets/parameditstring.ui
+++ b/widgets/parameditstring.ui
@@ -46,10 +46,6 @@
      <property name="text">
       <string/>
      </property>
-     <property name="icon">
-      <iconset resource="../res.qrc">
-       <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
-     </property>
     </widget>
    </item>
    <item>
@@ -66,10 +62,6 @@
      <property name="text">
       <string/>
      </property>
-     <property name="icon">
-      <iconset resource="../res.qrc">
-       <normaloff>:/res/icons/Data Backup-96.png</normaloff>:/res/icons/Data Backup-96.png</iconset>
-     </property>
     </widget>
    </item>
    <item>
@@ -86,16 +78,10 @@
      <property name="text">
       <string/>
      </property>
-     <property name="icon">
-      <iconset resource="../res.qrc">
-       <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
-     </property>
     </widget>
    </item>
   </layout>
  </widget>
- <resources>
-  <include location="../res.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>
diff --git a/widgets/paramtable.cpp b/widgets/paramtable.cpp
index 650525715..71cb528cf 100644
--- a/widgets/paramtable.cpp
+++ b/widgets/paramtable.cpp
@@ -39,10 +39,10 @@ ParamTable::ParamTable(QWidget *parent) : QTableWidget(parent)
     verticalHeader()->setVisible(false);
 }
 
-bool ParamTable::addParamRow(ConfigParams *params, QString paramName)
+bool ParamTable::addParamRow(ConfigParams *params, QString paramName, VescInterface *vesc)
 {
     bool res = false;
-    QWidget *editor = params->getEditor(paramName);
+    QWidget *editor = params->getEditor(paramName, nullptr, vesc);
     QString name = params->getLongName(paramName);
 
     if (editor) {
@@ -86,14 +86,14 @@ void ParamTable::addRowSeparator(QString text)
     resizeRowsToContents();
 }
 
-void ParamTable::addParamSubgroup(ConfigParams *params, QString groupName, QString subgroupName)
+void ParamTable::addParamSubgroup(ConfigParams *params, QString groupName, QString subgroupName, VescInterface *vesc)
 {
     setUpdatesEnabled(false);
     foreach (auto p, params->getParamsFromSubgroup(groupName, subgroupName)) {
         if (p.startsWith("::sep::")) {
             addRowSeparator(p.mid(7));
         } else {
-            addParamRow(params, p);
+            addParamRow(params, p, vesc);
         }
     }
     QTimer::singleShot(0, [this]() {
diff --git a/widgets/paramtable.h b/widgets/paramtable.h
index 7923e0fbc..d89c6522a 100644
--- a/widgets/paramtable.h
+++ b/widgets/paramtable.h
@@ -28,9 +28,9 @@ class ParamTable : public QTableWidget
 {
 public:
     ParamTable(QWidget *parent = nullptr);
-    bool addParamRow(ConfigParams *params, QString paramName);
+    bool addParamRow(ConfigParams *params, QString paramName, VescInterface *vesc = nullptr);
     void addRowSeparator(QString text);
-    void addParamSubgroup(ConfigParams *params, QString groupName, QString subgroupName);
+    void addParamSubgroup(ConfigParams *params, QString groupName, QString subgroupName, VescInterface *vesc = nullptr);
     void clearParams();
 
 };

From 6178287f0aeb26c82e1e8f82d85d37fc01c3404e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 2 Jan 2023 23:41:58 +0100
Subject: [PATCH 381/559] Revert "First attempt at image caching for faster
 loading"

This reverts commit 1800f1694202aedd25bebedb8cead1443610a43b.
---
 boardsetupwindow.cpp           | 62 ++++++++++++-------------
 configparams.cpp               |  4 +-
 configparams.h                 |  5 +-
 pages/pageappadc.cpp           |  6 +--
 pages/pageappbalance.cpp       | 12 ++---
 pages/pageappgeneral.cpp       |  2 +-
 pages/pageappimu.cpp           |  2 +-
 pages/pageappnrf.cpp           |  2 +-
 pages/pageappnunchuk.cpp       |  4 +-
 pages/pageapppas.cpp           |  2 +-
 pages/pageappppm.cpp           |  6 +--
 pages/pageappuart.cpp          |  2 +-
 pages/pagebldc.cpp             |  8 ++--
 pages/pagecananalyzer.cpp      |  4 +-
 pages/pagecontrollers.cpp      |  2 +-
 pages/pagecustomconfig.cpp     |  2 +-
 pages/pagedc.cpp               |  2 +-
 pages/pagefoc.cpp              | 20 ++++----
 pages/pagegpd.cpp              |  2 +-
 pages/pagemotor.cpp            | 18 ++++----
 pages/pagemotorinfo.cpp        |  6 +--
 setupwizardapp.cpp             | 84 +++++++++++++++++-----------------
 setupwizardmotor.cpp           | 54 +++++++++++-----------
 vescinterface.h                | 13 ------
 widgets/detectallfocdialog.cpp | 18 ++++----
 widgets/parameditbitfield.cpp  | 14 ++----
 widgets/parameditbitfield.h    |  3 +-
 widgets/parameditbitfield.ui   | 16 ++++++-
 widgets/parameditbool.cpp      | 15 ++----
 widgets/parameditbool.h        |  2 +-
 widgets/parameditbool.ui       | 16 ++++++-
 widgets/parameditdouble.cpp    | 14 ++----
 widgets/parameditdouble.h      |  2 +-
 widgets/parameditdouble.ui     | 20 ++++++--
 widgets/parameditenum.cpp      | 14 ++----
 widgets/parameditenum.h        |  2 +-
 widgets/parameditenum.ui       | 16 ++++++-
 widgets/parameditint.cpp       | 14 ++----
 widgets/parameditint.h         |  2 +-
 widgets/parameditint.ui        | 20 ++++++--
 widgets/parameditstring.cpp    | 14 ++----
 widgets/parameditstring.h      |  2 +-
 widgets/parameditstring.ui     | 16 ++++++-
 widgets/paramtable.cpp         |  8 ++--
 widgets/paramtable.h           |  4 +-
 45 files changed, 293 insertions(+), 263 deletions(-)

diff --git a/boardsetupwindow.cpp b/boardsetupwindow.cpp
index 430d08bb0..fc9dc0d90 100644
--- a/boardsetupwindow.cpp
+++ b/boardsetupwindow.cpp
@@ -1056,39 +1056,39 @@ void BoardSetupWindow::loadAppConfXML(QString path){
 
         switch(mAppConfig_Target->getParamEnum("app_to_use")){
         case 4: //ppm and uart
-            ui->appTab->addParamRow(mAppConfig_Target, "app_uart_baudrate", mVesc);
+            ui->appTab->addParamRow(mAppConfig_Target, "app_uart_baudrate");
             [[clang::fallthrough]];
         case 1: //ppm
-            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.ctrl_type", mVesc);
-            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.pulse_start", mVesc);
-            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.pulse_center", mVesc);
-            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.hyst", mVesc);
-            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.ramp_time_pos", mVesc);
-            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.ramp_time_neg", mVesc);
+            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.ctrl_type");
+            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.pulse_start");
+            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.pulse_center");
+            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.hyst");
+            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.ramp_time_pos");
+            ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.ramp_time_neg");
             if(mAppConfig_Target->getParamBool("app_ppm_conf.tc")){
-                ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.tc", mVesc);
-                ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.tc_max_diff", mVesc);
+                ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.tc");
+                ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.tc_max_diff");
             }
             if(mAppConfig_Target->getParamEnum("app_ppm_conf.ctrl_type") == 9){
-                ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.smart_rev_max_duty", mVesc);
-                ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.smart_rev_ramp_time", mVesc);
+                ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.smart_rev_max_duty");
+                ui->appTab->addParamRow(mAppConfig_Target, "app_ppm_conf.smart_rev_ramp_time");
             }
             break;
         case 2: //adc
             break;
         case 3: //uart
-            ui->appTab->addParamRow(mAppConfig_Target, "app_uart_baudrate", mVesc);
-            ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.ctrl_type", mVesc);
-            ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.hyst", mVesc);
-            ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.ramp_time_pos", mVesc);
-            ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.ramp_time_neg", mVesc);
+            ui->appTab->addParamRow(mAppConfig_Target, "app_uart_baudrate");
+            ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.ctrl_type");
+            ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.hyst");
+            ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.ramp_time_pos");
+            ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.ramp_time_neg");
             if(mAppConfig_Target->getParamBool("app_chuk_conf.tc")){
-                ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.tc", mVesc);
-                ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.tc_max_diff", mVesc);
+                ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.tc");
+                ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.tc_max_diff");
             }
             if(mAppConfig_Target->getParamBool("app_chuk_conf.use_smart_rev")){
-                ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.smart_rev_max_duty", mVesc);
-                ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.smart_rev_ramp_time", mVesc);
+                ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.smart_rev_max_duty");
+                ui->appTab->addParamRow(mAppConfig_Target, "app_chuk_conf.smart_rev_ramp_time");
             }
             break;
         default:
@@ -1108,7 +1108,7 @@ void BoardSetupWindow::loadAppConfXML(QString path){
         showStatusInfo("Loaded app configuration", true);
         QString str;
 
-        ui->appTab->addParamRow(mAppConfig_Target, "app_to_use", mVesc);
+        ui->appTab->addParamRow(mAppConfig_Target, "app_to_use");
         foreach(QObject *p, ui->appTab->children().at(0)->children()){
             p->setProperty("enabled",false);
         }
@@ -1149,16 +1149,16 @@ void BoardSetupWindow::loadMotorConfXML(QString path){
         mcXmlPath = path;
         showStatusInfo("Loaded motor configuration", true);
         QString str;
-        ui->motorTab->addParamRow(mMcConfig_Target, "foc_motor_r", mVesc);
-        ui->motorTab->addParamRow(mMcConfig_Target, "foc_motor_l", mVesc);
-        ui->motorTab->addParamRow(mMcConfig_Target, "foc_motor_flux_linkage", mVesc);
-        ui->motorTab->addParamRow(mMcConfig_Target, "foc_sensor_mode", mVesc);
-        ui->motorTab->addParamRow(mMcConfig_Target, "l_current_max", mVesc);
-        ui->motorTab->addParamRow(mMcConfig_Target, "l_current_min", mVesc);
-        ui->motorTab->addParamRow(mMcConfig_Target, "l_in_current_max", mVesc);
-        ui->motorTab->addParamRow(mMcConfig_Target, "l_in_current_min", mVesc);
-        ui->motorTab->addParamRow(mMcConfig_Target, "l_battery_cut_start", mVesc);
-        ui->motorTab->addParamRow(mMcConfig_Target, "l_battery_cut_end", mVesc);
+        ui->motorTab->addParamRow(mMcConfig_Target, "foc_motor_r");
+        ui->motorTab->addParamRow(mMcConfig_Target, "foc_motor_l");
+        ui->motorTab->addParamRow(mMcConfig_Target, "foc_motor_flux_linkage");
+        ui->motorTab->addParamRow(mMcConfig_Target, "foc_sensor_mode");
+        ui->motorTab->addParamRow(mMcConfig_Target, "l_current_max");
+        ui->motorTab->addParamRow(mMcConfig_Target, "l_current_min");
+        ui->motorTab->addParamRow(mMcConfig_Target, "l_in_current_max");
+        ui->motorTab->addParamRow(mMcConfig_Target, "l_in_current_min");
+        ui->motorTab->addParamRow(mMcConfig_Target, "l_battery_cut_start");
+        ui->motorTab->addParamRow(mMcConfig_Target, "l_battery_cut_end");
         ui->motorConfigEdit->setText(path);
 
         foreach(QObject *p, ui->motorTab->children().at(0)->children()){
diff --git a/configparams.cpp b/configparams.cpp
index fd3593509..ed8ab5d09 100644
--- a/configparams.cpp
+++ b/configparams.cpp
@@ -554,7 +554,7 @@ void ConfigParams::setParamOrder(const QStringList &order)
     mParamList = order;
 }
 
-QWidget *ConfigParams::getEditor(const QString &name, QWidget *parent, VescInterface *vesc)
+QWidget *ConfigParams::getEditor(const QString &name, QWidget *parent)
 {
     QWidget *retVal = 0;
 
@@ -605,7 +605,7 @@ QWidget *ConfigParams::getEditor(const QString &name, QWidget *parent, VescInter
         } break;
 
         case CFG_T_BITFIELD: {
-            ParamEditBitfield *edit = new ParamEditBitfield(parent, vesc);
+            ParamEditBitfield *edit = new ParamEditBitfield(parent);
             edit->setName(name);
             edit->setConfig(this);
             retVal = edit;
diff --git a/configparams.h b/configparams.h
index 9654d1352..a10a4dd3e 100644
--- a/configparams.h
+++ b/configparams.h
@@ -27,9 +27,6 @@
 #include "configparam.h"
 #include "vbytearray.h"
 
-// Forward declaration to avoid recursive inclusion
-class VescInterface;
-
 class ConfigParams : public QObject
 {
     Q_OBJECT
@@ -81,7 +78,7 @@ class ConfigParams : public QObject
     Q_INVOKABLE QStringList getParamOrder() const;
     void setParamOrder(const QStringList &order);
 
-    QWidget *getEditor(const QString &name, QWidget *parent = nullptr, VescInterface *vesc = nullptr);
+    QWidget *getEditor(const QString &name, QWidget *parent = nullptr);
 
     void getParamSerial(VByteArray &vb, const QString &name);
     void setParamSerial(VByteArray &vb, const QString &name, QObject *src = nullptr);
diff --git a/pages/pageappadc.cpp b/pages/pageappadc.cpp
index 560695c03..7eabc9803 100644
--- a/pages/pageappadc.cpp
+++ b/pages/pageappadc.cpp
@@ -74,9 +74,9 @@ void PageAppAdc::reloadParams()
         ui->mappingTab->clearParams();
         ui->throttleCurveTab->clearParams();
 
-        ui->generalTab->addParamSubgroup(mVesc->appConfig(), "adc", "general", mVesc);
-        ui->mappingTab->addParamSubgroup(mVesc->appConfig(), "adc", "mapping", mVesc);
-        ui->throttleCurveTab->addParamSubgroup(mVesc->appConfig(), "adc", "throttle curve", mVesc);
+        ui->generalTab->addParamSubgroup(mVesc->appConfig(), "adc", "general");
+        ui->mappingTab->addParamSubgroup(mVesc->appConfig(), "adc", "mapping");
+        ui->throttleCurveTab->addParamSubgroup(mVesc->appConfig(), "adc", "throttle curve");
     }
 }
 
diff --git a/pages/pageappbalance.cpp b/pages/pageappbalance.cpp
index b9926be28..d497b9074 100644
--- a/pages/pageappbalance.cpp
+++ b/pages/pageappbalance.cpp
@@ -121,12 +121,12 @@ void PageAppBalance::reloadParams()
         ui->faultPane->clearParams();
         ui->multiescPane->clearParams();
 
-        ui->tunePane->addParamSubgroup(mVesc->appConfig(), "balance", "tune", mVesc);
-        ui->modifiersPane->addParamSubgroup(mVesc->appConfig(), "balance", "tune modifiers", mVesc);
-        ui->startupPane->addParamSubgroup(mVesc->appConfig(), "balance", "startup", mVesc);
-        ui->tiltbackPane->addParamSubgroup(mVesc->appConfig(), "balance", "tiltback", mVesc);
-        ui->faultPane->addParamSubgroup(mVesc->appConfig(), "balance", "fault", mVesc);
-        ui->multiescPane->addParamSubgroup(mVesc->appConfig(), "balance", "multi esc", mVesc);
+        ui->tunePane->addParamSubgroup(mVesc->appConfig(), "balance", "tune");
+        ui->modifiersPane->addParamSubgroup(mVesc->appConfig(), "balance", "tune modifiers");
+        ui->startupPane->addParamSubgroup(mVesc->appConfig(), "balance", "startup");
+        ui->tiltbackPane->addParamSubgroup(mVesc->appConfig(), "balance", "tiltback");
+        ui->faultPane->addParamSubgroup(mVesc->appConfig(), "balance", "fault");
+        ui->multiescPane->addParamSubgroup(mVesc->appConfig(), "balance", "multi esc");
     }
 }
 
diff --git a/pages/pageappgeneral.cpp b/pages/pageappgeneral.cpp
index 5ab79196e..fda9b054b 100644
--- a/pages/pageappgeneral.cpp
+++ b/pages/pageappgeneral.cpp
@@ -52,7 +52,7 @@ void PageAppGeneral::reloadParams()
 {
     if (mVesc) {
         ui->appTab->clearParams();
-        ui->appTab->addParamSubgroup(mVesc->appConfig(), "general", "general", mVesc);
+        ui->appTab->addParamSubgroup(mVesc->appConfig(), "general", "general");
     }
 }
 
diff --git a/pages/pageappimu.cpp b/pages/pageappimu.cpp
index 3c1cb88cc..b1478bcf8 100644
--- a/pages/pageappimu.cpp
+++ b/pages/pageappimu.cpp
@@ -154,7 +154,7 @@ void PageAppImu::reloadParams()
 {
     if (mVesc) {
         ui->tableWidget->clearParams();
-        ui->tableWidget->addParamSubgroup(mVesc->appConfig(), "imu", "general", mVesc);
+        ui->tableWidget->addParamSubgroup(mVesc->appConfig(), "imu", "general");
     }
 }
 
diff --git a/pages/pageappnrf.cpp b/pages/pageappnrf.cpp
index a94b6844e..bf28c41eb 100644
--- a/pages/pageappnrf.cpp
+++ b/pages/pageappnrf.cpp
@@ -53,6 +53,6 @@ void PageAppNrf::reloadParams()
 {
     if (mVesc) {
         ui->generalTab->clearParams();
-        ui->generalTab->addParamSubgroup(mVesc->appConfig(), "nrf", "general", mVesc);
+        ui->generalTab->addParamSubgroup(mVesc->appConfig(), "nrf", "general");
     }
 }
diff --git a/pages/pageappnunchuk.cpp b/pages/pageappnunchuk.cpp
index beaf95df8..6cf392cb9 100644
--- a/pages/pageappnunchuk.cpp
+++ b/pages/pageappnunchuk.cpp
@@ -76,8 +76,8 @@ void PageAppNunchuk::reloadParams()
         ui->generalTab->clearParams();
         ui->throttleCurveTab->clearParams();
 
-        ui->generalTab->addParamSubgroup(mVesc->appConfig(), "vesc remote", "general", mVesc);
-        ui->throttleCurveTab->addParamSubgroup(mVesc->appConfig(), "vesc remote", "throttle curve", mVesc);
+        ui->generalTab->addParamSubgroup(mVesc->appConfig(), "vesc remote", "general");
+        ui->throttleCurveTab->addParamSubgroup(mVesc->appConfig(), "vesc remote", "throttle curve");
     }
 }
 
diff --git a/pages/pageapppas.cpp b/pages/pageapppas.cpp
index 051e3400a..113c16a36 100644
--- a/pages/pageapppas.cpp
+++ b/pages/pageapppas.cpp
@@ -52,6 +52,6 @@ void PageAppPas::reloadParams()
 {
     if (mVesc) {
         ui->generalTab->clearParams();
-        ui->generalTab->addParamSubgroup(mVesc->appConfig(), "pas", "general", mVesc);
+        ui->generalTab->addParamSubgroup(mVesc->appConfig(), "pas", "general");
     }
 }
diff --git a/pages/pageappppm.cpp b/pages/pageappppm.cpp
index 765b6154e..df85cbdc4 100644
--- a/pages/pageappppm.cpp
+++ b/pages/pageappppm.cpp
@@ -74,9 +74,9 @@ void PageAppPpm::reloadParams()
         ui->mappingTab->clearParams();
         ui->throttleCurveTab->clearParams();
 
-        ui->generalTab->addParamSubgroup(mVesc->appConfig(), "ppm", "general", mVesc);
-        ui->mappingTab->addParamSubgroup(mVesc->appConfig(), "ppm", "mapping", mVesc);
-        ui->throttleCurveTab->addParamSubgroup(mVesc->appConfig(), "ppm", "throttle curve", mVesc);
+        ui->generalTab->addParamSubgroup(mVesc->appConfig(), "ppm", "general");
+        ui->mappingTab->addParamSubgroup(mVesc->appConfig(), "ppm", "mapping");
+        ui->throttleCurveTab->addParamSubgroup(mVesc->appConfig(), "ppm", "throttle curve");
     }
 }
 
diff --git a/pages/pageappuart.cpp b/pages/pageappuart.cpp
index d6662a4c7..2cc1a146b 100644
--- a/pages/pageappuart.cpp
+++ b/pages/pageappuart.cpp
@@ -52,6 +52,6 @@ void PageAppUart::reloadParams()
 {
     if (mVesc) {
         ui->generalTab->clearParams();
-        ui->generalTab->addParamSubgroup(mVesc->appConfig(), "uart", "general", mVesc);
+        ui->generalTab->addParamSubgroup(mVesc->appConfig(), "uart", "general");
     }
 }
diff --git a/pages/pagebldc.cpp b/pages/pagebldc.cpp
index d1ca00209..4b895a26c 100644
--- a/pages/pagebldc.cpp
+++ b/pages/pagebldc.cpp
@@ -57,9 +57,9 @@ void PageBldc::reloadParams()
         ui->sensorTab->clearParams();
         ui->advancedTab->clearParams();
 
-        ui->generalTab->addParamSubgroup(mVesc->mcConfig(), "bldc", "general", mVesc);
-        ui->sensorlessTab->addParamSubgroup(mVesc->mcConfig(), "bldc", "sensorless", mVesc);
-        ui->sensorTab->addParamSubgroup(mVesc->mcConfig(), "bldc", "sensors", mVesc);
-        ui->advancedTab->addParamSubgroup(mVesc->mcConfig(), "bldc", "advanced", mVesc);
+        ui->generalTab->addParamSubgroup(mVesc->mcConfig(), "bldc", "general");
+        ui->sensorlessTab->addParamSubgroup(mVesc->mcConfig(), "bldc", "sensorless");
+        ui->sensorTab->addParamSubgroup(mVesc->mcConfig(), "bldc", "sensors");
+        ui->advancedTab->addParamSubgroup(mVesc->mcConfig(), "bldc", "advanced");
     }
 }
diff --git a/pages/pagecananalyzer.cpp b/pages/pagecananalyzer.cpp
index f8774ab9a..3d3177dae 100644
--- a/pages/pagecananalyzer.cpp
+++ b/pages/pagecananalyzer.cpp
@@ -62,8 +62,8 @@ void PageCanAnalyzer::reloadParams()
 {
     if (mVesc) {
         ui->paramTable->clearParams();
-        ui->paramTable->addParamRow(mVesc->appConfig(), "can_mode", mVesc);
-        ui->paramTable->addParamRow(mVesc->appConfig(), "can_baud_rate", mVesc);
+        ui->paramTable->addParamRow(mVesc->appConfig(), "can_mode");
+        ui->paramTable->addParamRow(mVesc->appConfig(), "can_baud_rate");
     }
 }
 
diff --git a/pages/pagecontrollers.cpp b/pages/pagecontrollers.cpp
index f307f1fe8..78dbabffd 100644
--- a/pages/pagecontrollers.cpp
+++ b/pages/pagecontrollers.cpp
@@ -56,7 +56,7 @@ void PageControllers::reloadParams()
 {
     if (mVesc) {
         ui->paramTab->clearParams();
-        ui->paramTab->addParamSubgroup(mVesc->mcConfig(), "pid controllers", "general", mVesc);
+        ui->paramTab->addParamSubgroup(mVesc->mcConfig(), "pid controllers", "general");
     }
 }
 
diff --git a/pages/pagecustomconfig.cpp b/pages/pagecustomconfig.cpp
index f5ede1afd..1f5222334 100644
--- a/pages/pagecustomconfig.cpp
+++ b/pages/pagecustomconfig.cpp
@@ -81,7 +81,7 @@ void PageCustomConfig::customConfigLoadDone()
             ui->tabWidget->setTabText(i, tabNames.at(i));
             ParamTable *t = dynamic_cast<ParamTable*>(ui->tabWidget->widget(i));
             t->clearParams();
-            t->addParamSubgroup(p, "General", tabNames.at(i), mVesc);
+            t->addParamSubgroup(p, "General", tabNames.at(i));
         }
     }
 }
diff --git a/pages/pagedc.cpp b/pages/pagedc.cpp
index 36b42098e..d843d8732 100644
--- a/pages/pagedc.cpp
+++ b/pages/pagedc.cpp
@@ -52,6 +52,6 @@ void PageDc::reloadParams()
 {
     if (mVesc) {
         ui->paramTab->clearParams();
-        ui->paramTab->addParamSubgroup(mVesc->mcConfig(), "dc", "general", mVesc);
+        ui->paramTab->addParamSubgroup(mVesc->mcConfig(), "dc", "general");
     }
 }
diff --git a/pages/pagefoc.cpp b/pages/pagefoc.cpp
index 9dfccfa3c..c8fa64f6f 100644
--- a/pages/pagefoc.cpp
+++ b/pages/pagefoc.cpp
@@ -67,16 +67,16 @@ void PageFoc::reloadParams()
         ui->fwTab->clearParams();
         ui->advancedTab->clearParams();
 
-        ui->generalTab->addParamSubgroup(mVesc->mcConfig(), "foc", "general", mVesc);
-        ui->sensorlessTab->addParamSubgroup(mVesc->mcConfig(), "foc", "sensorless", mVesc);
-        ui->hallTab->addParamSubgroup(mVesc->mcConfig(), "foc", "hall sensors", mVesc);
-        ui->encoderTab->addParamSubgroup(mVesc->mcConfig(), "foc", "encoder", mVesc);
-        ui->hfiTab->addParamSubgroup(mVesc->mcConfig(), "foc", "hfi", mVesc);
-        ui->vssTab->addParamSubgroup(mVesc->mcConfig(), "foc", "vss", mVesc);
-        ui->filterTab->addParamSubgroup(mVesc->mcConfig(), "foc", "filters", mVesc);
-        ui->offsetTab->addParamSubgroup(mVesc->mcConfig(), "foc", "offsets", mVesc);
-        ui->fwTab->addParamSubgroup(mVesc->mcConfig(), "foc", "field weakening", mVesc);
-        ui->advancedTab->addParamSubgroup(mVesc->mcConfig(), "foc", "advanced", mVesc);
+        ui->generalTab->addParamSubgroup(mVesc->mcConfig(), "foc", "general");
+        ui->sensorlessTab->addParamSubgroup(mVesc->mcConfig(), "foc", "sensorless");
+        ui->hallTab->addParamSubgroup(mVesc->mcConfig(), "foc", "hall sensors");
+        ui->encoderTab->addParamSubgroup(mVesc->mcConfig(), "foc", "encoder");
+        ui->hfiTab->addParamSubgroup(mVesc->mcConfig(), "foc", "hfi");
+        ui->vssTab->addParamSubgroup(mVesc->mcConfig(), "foc", "vss");
+        ui->filterTab->addParamSubgroup(mVesc->mcConfig(), "foc", "filters");
+        ui->offsetTab->addParamSubgroup(mVesc->mcConfig(), "foc", "offsets");
+        ui->fwTab->addParamSubgroup(mVesc->mcConfig(), "foc", "field weakening");
+        ui->advancedTab->addParamSubgroup(mVesc->mcConfig(), "foc", "advanced");
     }
 }
 
diff --git a/pages/pagegpd.cpp b/pages/pagegpd.cpp
index 3cc0a521f..06409aaab 100644
--- a/pages/pagegpd.cpp
+++ b/pages/pagegpd.cpp
@@ -49,5 +49,5 @@ void PageGPD::setVesc(VescInterface *vesc)
 void PageGPD::reloadParams()
 {
     ui->paramTab->clearParams();
-    ui->paramTab->addParamSubgroup(mVesc->mcConfig(), "gpd", "general", mVesc);
+    ui->paramTab->addParamSubgroup(mVesc->mcConfig(), "gpd", "general");
 }
diff --git a/pages/pagemotor.cpp b/pages/pagemotor.cpp
index ea930c04e..0433b9829 100644
--- a/pages/pagemotor.cpp
+++ b/pages/pagemotor.cpp
@@ -63,13 +63,13 @@ void PageMotor::reloadParams()
     ui->bmsTab->clearParams();
     ui->advancedTab->clearParams();
 
-    ui->motorTab->addParamSubgroup(mVesc->mcConfig(), "general", "general", mVesc);
-    ui->sensorsTab->addParamSubgroup(mVesc->mcConfig(), "general", "sensors", mVesc);
-    ui->currentTab->addParamSubgroup(mVesc->mcConfig(), "general", "current", mVesc);
-    ui->voltageTab->addParamSubgroup(mVesc->mcConfig(), "general", "voltage", mVesc);
-    ui->rpmTab->addParamSubgroup(mVesc->mcConfig(), "general", "rpm", mVesc);
-    ui->wattageTab->addParamSubgroup(mVesc->mcConfig(), "general", "wattage", mVesc);
-    ui->tempTab->addParamSubgroup(mVesc->mcConfig(), "general", "temperature", mVesc);
-    ui->bmsTab->addParamSubgroup(mVesc->mcConfig(), "general", "bms", mVesc);
-    ui->advancedTab->addParamSubgroup(mVesc->mcConfig(), "general", "advanced", mVesc);
+    ui->motorTab->addParamSubgroup(mVesc->mcConfig(), "general", "general");
+    ui->sensorsTab->addParamSubgroup(mVesc->mcConfig(), "general", "sensors");
+    ui->currentTab->addParamSubgroup(mVesc->mcConfig(), "general", "current");
+    ui->voltageTab->addParamSubgroup(mVesc->mcConfig(), "general", "voltage");
+    ui->rpmTab->addParamSubgroup(mVesc->mcConfig(), "general", "rpm");
+    ui->wattageTab->addParamSubgroup(mVesc->mcConfig(), "general", "wattage");
+    ui->tempTab->addParamSubgroup(mVesc->mcConfig(), "general", "temperature");
+    ui->bmsTab->addParamSubgroup(mVesc->mcConfig(), "general", "bms");
+    ui->advancedTab->addParamSubgroup(mVesc->mcConfig(), "general", "advanced");
 }
diff --git a/pages/pagemotorinfo.cpp b/pages/pagemotorinfo.cpp
index 1e162e5be..0496330dd 100644
--- a/pages/pagemotorinfo.cpp
+++ b/pages/pagemotorinfo.cpp
@@ -61,9 +61,9 @@ void PageMotorInfo::reloadParams()
         ui->generalTab->clearParams();
         ui->qualityTab->clearParams();
 
-        ui->setupTab->addParamSubgroup(mVesc->mcConfig(), "Additional Info", "setup", mVesc);
-        ui->generalTab->addParamSubgroup(mVesc->mcConfig(), "Additional Info", "general", mVesc);
-        ui->qualityTab->addParamSubgroup(mVesc->mcConfig(), "Additional Info", "quality", mVesc);
+        ui->setupTab->addParamSubgroup(mVesc->mcConfig(), "Additional Info", "setup");
+        ui->generalTab->addParamSubgroup(mVesc->mcConfig(), "Additional Info", "general");
+        ui->qualityTab->addParamSubgroup(mVesc->mcConfig(), "Additional Info", "quality");
 
         ui->descriptionEdit->document()->setHtml(mVesc->mcConfig()->getParamQString("motor_description"));
         ui->qualityEdit->document()->setHtml(mVesc->mcConfig()->getParamQString("motor_quality_description"));
diff --git a/setupwizardapp.cpp b/setupwizardapp.cpp
index 6af76405b..7ffb182a5 100644
--- a/setupwizardapp.cpp
+++ b/setupwizardapp.cpp
@@ -448,18 +448,18 @@ void AppNunchukPage::initializePage()
 {
     mParamTab->setRowCount(0);
 
-    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.ctrl_type", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.ramp_time_pos", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.ramp_time_neg", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.stick_erpm_per_s_in_cc", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.hyst", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.use_smart_rev", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.smart_rev_max_duty", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.smart_rev_ramp_time", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.ctrl_type");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.ramp_time_pos");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.ramp_time_neg");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.stick_erpm_per_s_in_cc");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.hyst");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.use_smart_rev");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.smart_rev_max_duty");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.smart_rev_ramp_time");
 
     mParamTab->addRowSeparator(tr("Multiple VESCs over CAN-bus"));
-    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.tc", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.tc_max_diff", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.tc");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_chuk_conf.tc_max_diff");
     mVesc->appConfig()->updateParamBool("app_chuk_conf.multi_esc", true);
 
     if (field("Input").toInt() == SetupWizardApp::Input_Nunchuk) {
@@ -554,10 +554,10 @@ void AppPpmMapPage::initializePage()
 {
     mParamTab->setRowCount(0);
 
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.pulse_start", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.pulse_end", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.pulse_center", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.hyst", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.pulse_start");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.pulse_end");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.pulse_center");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.hyst");
 
     mVesc->appConfig()->updateParamEnum("app_ppm_conf.ctrl_type", 0);
     mVesc->appConfig()->updateParamEnum("app_to_use", 4);
@@ -626,19 +626,19 @@ void AppPpmPage::initializePage()
     mParamTab->setRowCount(0);
 
     mParamTab->addRowSeparator(tr("General"));
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.ctrl_type", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.median_filter", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.safe_start", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.ramp_time_pos", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.ramp_time_neg", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.pid_max_erpm", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.max_erpm_for_dir", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.smart_rev_max_duty", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.smart_rev_ramp_time", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.ctrl_type");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.median_filter");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.safe_start");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.ramp_time_pos");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.ramp_time_neg");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.pid_max_erpm");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.max_erpm_for_dir");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.smart_rev_max_duty");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.smart_rev_ramp_time");
 
     mParamTab->addRowSeparator(tr("Multiple VESCs over CAN-bus"));
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.tc", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.tc_max_diff", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.tc");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_ppm_conf.tc_max_diff");
     mVesc->appConfig()->updateParamBool("app_ppm_conf.multi_esc", true);
 
     mVesc->appConfig()->updateParamEnum("app_ppm_conf.ctrl_type", 3);
@@ -686,14 +686,14 @@ void AppAdcMapPage::initializePage()
 {
     mParamTab->setRowCount(0);
 
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage_start", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage_end", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage_center", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage_inverted", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage2_start", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage2_end", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage2_inverted", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.hyst", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage_start");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage_end");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage_center");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage_inverted");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage2_start");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage2_end");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.voltage2_inverted");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.hyst");
 
     mVesc->appConfig()->updateParamEnum("app_to_use", 5);
     mVesc->appConfig()->updateParamEnum("app_adc_conf.ctrl_type", 0);
@@ -775,17 +775,17 @@ void AppAdcPage::initializePage()
     mParamTab->setRowCount(0);
 
     mParamTab->addRowSeparator(tr("General"));
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.ctrl_type", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.use_filter", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.safe_start", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.cc_button_inverted", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.rev_button_inverted", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.ramp_time_pos", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.ramp_time_neg", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.ctrl_type");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.use_filter");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.safe_start");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.cc_button_inverted");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.rev_button_inverted");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.ramp_time_pos");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.ramp_time_neg");
 
     mParamTab->addRowSeparator(tr("Multiple VESCs over CAN-bus"));
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.tc", mVesc);
-    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.tc_max_diff", mVesc);
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.tc");
+    mParamTab->addParamRow(mVesc->appConfig(), "app_adc_conf.tc_max_diff");
     mVesc->appConfig()->updateParamBool("app_adc_conf.multi_esc", true);
 
     mVesc->appConfig()->updateParamEnum("app_adc_conf.ctrl_type", 1);
diff --git a/setupwizardmotor.cpp b/setupwizardmotor.cpp
index 9cf401e62..b3eeec10d 100644
--- a/setupwizardmotor.cpp
+++ b/setupwizardmotor.cpp
@@ -216,7 +216,7 @@ MotorTypePage::MotorTypePage(VescInterface *vesc, QWidget *parent)
                    "configuration pages."));
 
     mParamTab = new ParamTable;
-    mParamTab->addParamRow(mVesc->mcConfig(), "motor_type", mVesc);
+    mParamTab->addParamRow(mVesc->mcConfig(), "motor_type");
 
     QVBoxLayout *layout = new QVBoxLayout;
     layout->addWidget(mParamTab);
@@ -266,11 +266,11 @@ CurrentsPage::CurrentsPage(VescInterface *vesc, QWidget *parent)
 
     mParamTab = new ParamTable;
     mParamTab->addRowSeparator(tr("Motor"));
-    mParamTab->addParamRow(mVesc->mcConfig(), "l_current_max", mVesc);
-    mParamTab->addParamRow(mVesc->mcConfig(), "l_current_min", mVesc);
+    mParamTab->addParamRow(mVesc->mcConfig(), "l_current_max");
+    mParamTab->addParamRow(mVesc->mcConfig(), "l_current_min");
     mParamTab->addRowSeparator(tr("Battery"));
-    mParamTab->addParamRow(mVesc->mcConfig(), "l_in_current_max", mVesc);
-    mParamTab->addParamRow(mVesc->mcConfig(), "l_in_current_min", mVesc);
+    mParamTab->addParamRow(mVesc->mcConfig(), "l_in_current_max");
+    mParamTab->addParamRow(mVesc->mcConfig(), "l_in_current_min");
     mConfigureBatteryCutoff = true;
 
     mLabel = new QLabel(tr("<font color=\"red\">WARNING: </font>"
@@ -337,8 +337,8 @@ VoltagesPage::VoltagesPage(VescInterface *vesc, QWidget *parent)
     setSubTitle(tr("Set soft voltage limits to prevent overdischarging your battery."));
 
     mParamTab = new ParamTable;
-    mParamTab->addParamRow(mVesc->mcConfig(), "l_battery_cut_start", mVesc);
-    mParamTab->addParamRow(mVesc->mcConfig(), "l_battery_cut_end", mVesc);
+    mParamTab->addParamRow(mVesc->mcConfig(), "l_battery_cut_start");
+    mParamTab->addParamRow(mVesc->mcConfig(), "l_battery_cut_end");
 
     mCalc = new BatteryCalculator(this);
     mCalc->setVesc(vesc);
@@ -373,7 +373,7 @@ SensorsPage::SensorsPage(VescInterface *vesc, QWidget *parent)
     mParamTab = new ParamTable;
     mTypeBefore = -1;
 
-    mParamTab->addParamRow(mVesc->mcConfig(), "m_encoder_counts", mVesc);
+    mParamTab->addParamRow(mVesc->mcConfig(), "m_encoder_counts");
     registerField("SensorMode", mSensorMode, "currentData");
 
     QVBoxLayout *layout = new QVBoxLayout;
@@ -550,14 +550,14 @@ bool BldcPage::validatePage()
 void BldcPage::initializePage()
 {
     mParamTab->setRowCount(0);
-    mParamTab->addParamRow(mVesc->mcConfig(), "sl_cycle_int_limit", mVesc);
-    mParamTab->addParamRow(mVesc->mcConfig(), "sl_bemf_coupling_k", mVesc);
+    mParamTab->addParamRow(mVesc->mcConfig(), "sl_cycle_int_limit");
+    mParamTab->addParamRow(mVesc->mcConfig(), "sl_bemf_coupling_k");
     mParamTab->addRowSeparator(tr("Hall Sensor Settings"));
 
     if (field("SensorMode").toInt() == SetupWizardMotor::Sensor_Hall) {
-        mParamTab->addParamRow(mVesc->mcConfig(), "hall_sl_erpm", mVesc);
+        mParamTab->addParamRow(mVesc->mcConfig(), "hall_sl_erpm");
         for (int i = 0;i < 8;i++) {
-            mParamTab->addParamRow(mVesc->mcConfig(), QString("hall_table_%1").arg(i), mVesc);
+            mParamTab->addParamRow(mVesc->mcConfig(), QString("hall_table_%1").arg(i));
         }
     }
 }
@@ -574,12 +574,12 @@ FocPage::FocPage(VescInterface *vesc, QWidget *parent)
     mDetect = new DetectFoc(this);
     mDetect->setVesc(vesc);
 
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_motor_r", mVesc);
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_motor_l", mVesc);
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_motor_flux_linkage", mVesc);
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_current_kp", mVesc);
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_current_ki", mVesc);
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_observer_gain", mVesc);
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_motor_r");
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_motor_l");
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_motor_flux_linkage");
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_current_kp");
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_current_ki");
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_observer_gain");
 
     QVBoxLayout *layout = new QVBoxLayout;
     layout->addWidget(mParamTab);
@@ -705,15 +705,15 @@ FocHallPage::FocHallPage(VescInterface *vesc, QWidget *parent)
     mDetect = new DetectFocHall(this);
     mDetect->setVesc(vesc);
 
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_sl_erpm", mVesc);
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__0", mVesc);
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__1", mVesc);
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__2", mVesc);
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__3", mVesc);
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__4", mVesc);
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__5", mVesc);
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__6", mVesc);
-    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__7", mVesc);
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_sl_erpm");
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__0");
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__1");
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__2");
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__3");
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__4");
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__5");
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__6");
+    mParamTab->addParamRow(mVesc->mcConfig(), "foc_hall_table__7");
 
     QVBoxLayout *layout = new QVBoxLayout;
     layout->addWidget(mParamTab);
diff --git a/vescinterface.h b/vescinterface.h
index 89e77a62a..aadcb6566 100755
--- a/vescinterface.h
+++ b/vescinterface.h
@@ -20,7 +20,6 @@
 #ifndef VESCINTERFACE_H
 #define VESCINTERFACE_H
 
-#include "qpixmap.h"
 #include <QObject>
 #include <QDateTime>
 #include <QTimer>
@@ -261,16 +260,6 @@ class VescInterface : public QObject
         updateFwRx(false);
     }
 
-    QPixmap getPixmap(QString path) {
-        if (mPixmapCache.contains(path)) {
-            return mPixmapCache[path];
-        } else {
-            QPixmap p(path);
-            mPixmapCache.insert(path, p);
-            return p;
-        }
-    }
-
 signals:
     void statusMessage(const QString &msg, bool isGood);
     void messageDialog(const QString &title, const QString &msg, bool isGood, bool richText);
@@ -471,8 +460,6 @@ private slots:
     void updateFwRx(bool fwRx);
     void setLastConnectionType(conn_t type);
 
-    QMap<QString, QPixmap> mPixmapCache;
-
 };
 
 #endif // VESCINTERFACE_H
diff --git a/widgets/detectallfocdialog.cpp b/widgets/detectallfocdialog.cpp
index 1185b15a1..2f908cff0 100644
--- a/widgets/detectallfocdialog.cpp
+++ b/widgets/detectallfocdialog.cpp
@@ -116,21 +116,21 @@ DetectAllFocDialog::DetectAllFocDialog(VescInterface *vesc, QWidget *parent) :
     ui->motorList->setSelectionMode(QAbstractItemView::SingleSelection);
     ui->motorList->setCurrentRow(0);
 
-    ui->simpleBatteryTab->addParamRow(mVesc->mcConfig(), "si_battery_type", mVesc);
-    ui->simpleBatteryTab->addParamRow(mVesc->mcConfig(), "si_battery_cells", mVesc);
-    ui->simpleBatteryTab->addParamRow(mVesc->mcConfig(), "si_battery_ah", mVesc);
+    ui->simpleBatteryTab->addParamRow(mVesc->mcConfig(), "si_battery_type");
+    ui->simpleBatteryTab->addParamRow(mVesc->mcConfig(), "si_battery_cells");
+    ui->simpleBatteryTab->addParamRow(mVesc->mcConfig(), "si_battery_ah");
 
     QVBoxLayout *layout = new QVBoxLayout;
     layout->addWidget(mVesc->mcConfig()->getEditor("si_wheel_diameter"));
     ui->wheelDiameterBox->setLayout(layout);
 
     // Advanced tab
-    ui->paramTab->addParamRow(mVesc->mcConfig(), "si_motor_poles", mVesc);
-    ui->paramTab->addParamRow(mVesc->mcConfig(), "si_gear_ratio", mVesc);
-    ui->paramTab->addParamRow(mVesc->mcConfig(), "si_wheel_diameter", mVesc);
-    ui->paramTab->addParamRow(mVesc->mcConfig(), "si_battery_type", mVesc);
-    ui->paramTab->addParamRow(mVesc->mcConfig(), "si_battery_cells", mVesc);
-    ui->paramTab->addParamRow(mVesc->mcConfig(), "si_battery_ah", mVesc);
+    ui->paramTab->addParamRow(mVesc->mcConfig(), "si_motor_poles");
+    ui->paramTab->addParamRow(mVesc->mcConfig(), "si_gear_ratio");
+    ui->paramTab->addParamRow(mVesc->mcConfig(), "si_wheel_diameter");
+    ui->paramTab->addParamRow(mVesc->mcConfig(), "si_battery_type");
+    ui->paramTab->addParamRow(mVesc->mcConfig(), "si_battery_cells");
+    ui->paramTab->addParamRow(mVesc->mcConfig(), "si_battery_ah");
 
     connect(ui->pulleyMotorBox, SIGNAL(valueChanged(int)),
             this, SLOT(updateGearRatio()));
diff --git a/widgets/parameditbitfield.cpp b/widgets/parameditbitfield.cpp
index 1aefe6c38..d26b0a26a 100644
--- a/widgets/parameditbitfield.cpp
+++ b/widgets/parameditbitfield.cpp
@@ -22,22 +22,16 @@
 #include "utility.h"
 #include "helpdialog.h"
 
-ParamEditBitfield::ParamEditBitfield(QWidget *parent, VescInterface *vesc) :
+ParamEditBitfield::ParamEditBitfield(QWidget *parent) :
     QWidget(parent),
     ui(new Ui::ParamEditBitfield)
 {
     ui->setupUi(this);
 
     QString theme = Utility::getThemePath();
-    if (vesc) {
-        ui->helpButton->setIcon(vesc->getPixmap(theme + "icons/Help-96.png"));
-        ui->readButton->setIcon(vesc->getPixmap(theme + "icons/Upload-96.png"));
-        ui->readDefaultButton->setIcon(vesc->getPixmap(theme + "icons/Data Backup-96.png"));
-    } else {
-        ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-        ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
-        ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
-    }
+    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
+    ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
+    ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
 
     auto updateFun = [this]() {
         if (mConfig) {
diff --git a/widgets/parameditbitfield.h b/widgets/parameditbitfield.h
index 6a49503aa..ef9017f48 100644
--- a/widgets/parameditbitfield.h
+++ b/widgets/parameditbitfield.h
@@ -22,7 +22,6 @@
 
 #include <QWidget>
 #include "configparams.h"
-#include "vescinterface.h"
 
 namespace Ui {
 class ParamEditBitfield;
@@ -33,7 +32,7 @@ class ParamEditBitfield : public QWidget
     Q_OBJECT
 
 public:
-    explicit ParamEditBitfield(QWidget *parent = nullptr, VescInterface *vesc = nullptr);
+    explicit ParamEditBitfield(QWidget *parent = nullptr);
     ~ParamEditBitfield();
 
     void setConfig(ConfigParams *config);
diff --git a/widgets/parameditbitfield.ui b/widgets/parameditbitfield.ui
index c4093f068..d21ce5283 100644
--- a/widgets/parameditbitfield.ui
+++ b/widgets/parameditbitfield.ui
@@ -103,6 +103,10 @@
      <property name="text">
       <string/>
      </property>
+     <property name="icon">
+      <iconset resource="../res.qrc">
+       <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
+     </property>
     </widget>
    </item>
    <item>
@@ -119,6 +123,10 @@
      <property name="text">
       <string/>
      </property>
+     <property name="icon">
+      <iconset resource="../res.qrc">
+       <normaloff>:/res/icons/Data Backup-96.png</normaloff>:/res/icons/Data Backup-96.png</iconset>
+     </property>
     </widget>
    </item>
    <item>
@@ -135,10 +143,16 @@
      <property name="text">
       <string/>
      </property>
+     <property name="icon">
+      <iconset resource="../res.qrc">
+       <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
+     </property>
     </widget>
    </item>
   </layout>
  </widget>
- <resources/>
+ <resources>
+  <include location="../res.qrc"/>
+ </resources>
  <connections/>
 </ui>
diff --git a/widgets/parameditbool.cpp b/widgets/parameditbool.cpp
index 756635fea..de63781df 100644
--- a/widgets/parameditbool.cpp
+++ b/widgets/parameditbool.cpp
@@ -23,23 +23,16 @@
 #include "helpdialog.h"
 #include "utility.h"
 
-ParamEditBool::ParamEditBool(QWidget *parent, VescInterface *vesc) :
+ParamEditBool::ParamEditBool(QWidget *parent) :
     QWidget(parent),
     ui(new Ui::ParamEditBool)
 {
     ui->setupUi(this);
 
     QString theme = Utility::getThemePath();
-
-    if (vesc) {
-        ui->helpButton->setIcon(vesc->getPixmap(theme + "icons/Help-96.png"));
-        ui->readButton->setIcon(vesc->getPixmap(theme + "icons/Upload-96.png"));
-        ui->readDefaultButton->setIcon(vesc->getPixmap(theme + "icons/Data Backup-96.png"));
-    } else {
-        ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-        ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
-        ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
-    }
+    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
+    ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
+    ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
 }
 
 ParamEditBool::~ParamEditBool()
diff --git a/widgets/parameditbool.h b/widgets/parameditbool.h
index cadea9065..0a6c3980b 100644
--- a/widgets/parameditbool.h
+++ b/widgets/parameditbool.h
@@ -32,7 +32,7 @@ class ParamEditBool : public QWidget
     Q_OBJECT
 
 public:
-    explicit ParamEditBool(QWidget *parent = nullptr, VescInterface *vesc = nullptr);
+    explicit ParamEditBool(QWidget *parent = 0);
     ~ParamEditBool();
     void setConfig(ConfigParams *config);
     QString name() const;
diff --git a/widgets/parameditbool.ui b/widgets/parameditbool.ui
index 1f36810ee..5bcca5ac3 100644
--- a/widgets/parameditbool.ui
+++ b/widgets/parameditbool.ui
@@ -57,6 +57,10 @@
      <property name="text">
       <string/>
      </property>
+     <property name="icon">
+      <iconset resource="../res.qrc">
+       <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
+     </property>
     </widget>
    </item>
    <item>
@@ -73,6 +77,10 @@
      <property name="text">
       <string/>
      </property>
+     <property name="icon">
+      <iconset resource="../res.qrc">
+       <normaloff>:/res/icons/Data Backup-96.png</normaloff>:/res/icons/Data Backup-96.png</iconset>
+     </property>
     </widget>
    </item>
    <item>
@@ -89,10 +97,16 @@
      <property name="text">
       <string/>
      </property>
+     <property name="icon">
+      <iconset resource="../res.qrc">
+       <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
+     </property>
     </widget>
    </item>
   </layout>
  </widget>
- <resources/>
+ <resources>
+  <include location="../res.qrc"/>
+ </resources>
  <connections/>
 </ui>
diff --git a/widgets/parameditdouble.cpp b/widgets/parameditdouble.cpp
index 56932f58e..ea350bf84 100644
--- a/widgets/parameditdouble.cpp
+++ b/widgets/parameditdouble.cpp
@@ -24,22 +24,16 @@
 #include <cmath>
 #include "utility.h"
 
-ParamEditDouble::ParamEditDouble(QWidget *parent, VescInterface *vesc) :
+ParamEditDouble::ParamEditDouble(QWidget *parent) :
     QWidget(parent),
     ui(new Ui::ParamEditDouble)
 {
     ui->setupUi(this);
 
     QString theme = Utility::getThemePath();
-    if (vesc) {
-        ui->helpButton->setIcon(vesc->getPixmap(theme + "icons/Help-96.png"));
-        ui->readButton->setIcon(vesc->getPixmap(theme + "icons/Upload-96.png"));
-        ui->readDefaultButton->setIcon(vesc->getPixmap(theme + "icons/Data Backup-96.png"));
-    } else {
-        ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-        ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
-        ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
-    }
+    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
+    ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
+    ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
 
     mConfig = 0;
     mMaxVal = 1.0;
diff --git a/widgets/parameditdouble.h b/widgets/parameditdouble.h
index a83679307..c386410cd 100644
--- a/widgets/parameditdouble.h
+++ b/widgets/parameditdouble.h
@@ -36,7 +36,7 @@ class ParamEditDouble : public QWidget
     Q_OBJECT
 
 public:
-    explicit ParamEditDouble(QWidget *parent = nullptr, VescInterface *vesc = nullptr);
+    explicit ParamEditDouble(QWidget *parent = 0);
     ~ParamEditDouble();
     void setConfig(ConfigParams *config);
     QString name() const;
diff --git a/widgets/parameditdouble.ui b/widgets/parameditdouble.ui
index 93a55089a..f4f196d0c 100644
--- a/widgets/parameditdouble.ui
+++ b/widgets/parameditdouble.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>146</width>
-    <height>27</height>
+    <width>86</width>
+    <height>26</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -45,6 +45,10 @@
        <property name="text">
         <string/>
        </property>
+       <property name="icon">
+        <iconset resource="../res.qrc">
+         <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
+       </property>
       </widget>
      </item>
      <item>
@@ -61,6 +65,10 @@
        <property name="text">
         <string/>
        </property>
+       <property name="icon">
+        <iconset resource="../res.qrc">
+         <normaloff>:/res/icons/Data Backup-96.png</normaloff>:/res/icons/Data Backup-96.png</iconset>
+       </property>
       </widget>
      </item>
      <item>
@@ -77,12 +85,18 @@
        <property name="text">
         <string/>
        </property>
+       <property name="icon">
+        <iconset resource="../res.qrc">
+         <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
+       </property>
       </widget>
      </item>
     </layout>
    </item>
   </layout>
  </widget>
- <resources/>
+ <resources>
+  <include location="../res.qrc"/>
+ </resources>
  <connections/>
 </ui>
diff --git a/widgets/parameditenum.cpp b/widgets/parameditenum.cpp
index b21022bbf..4adb714c4 100644
--- a/widgets/parameditenum.cpp
+++ b/widgets/parameditenum.cpp
@@ -23,7 +23,7 @@
 #include "helpdialog.h"
 #include "utility.h"
 
-ParamEditEnum::ParamEditEnum(QWidget *parent, VescInterface *vesc) :
+ParamEditEnum::ParamEditEnum(QWidget *parent) :
     QWidget(parent),
     ui(new Ui::ParamEditEnum)
 {
@@ -31,15 +31,9 @@ ParamEditEnum::ParamEditEnum(QWidget *parent, VescInterface *vesc) :
     mConfig = 0;
 
     QString theme = Utility::getThemePath();
-    if (vesc) {
-        ui->helpButton->setIcon(vesc->getPixmap(theme + "icons/Help-96.png"));
-        ui->readButton->setIcon(vesc->getPixmap(theme + "icons/Upload-96.png"));
-        ui->readDefaultButton->setIcon(vesc->getPixmap(theme + "icons/Data Backup-96.png"));
-    } else {
-        ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-        ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
-        ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
-    }
+    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
+    ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
+    ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
 }
 
 ParamEditEnum::~ParamEditEnum()
diff --git a/widgets/parameditenum.h b/widgets/parameditenum.h
index a7ea261c8..8e1490c0b 100644
--- a/widgets/parameditenum.h
+++ b/widgets/parameditenum.h
@@ -32,7 +32,7 @@ class ParamEditEnum : public QWidget
     Q_OBJECT
 
 public:
-    explicit ParamEditEnum(QWidget *parent = nullptr, VescInterface *vesc = nullptr);
+    explicit ParamEditEnum(QWidget *parent = 0);
     ~ParamEditEnum();
     void setConfig(ConfigParams *config);
     QString name() const;
diff --git a/widgets/parameditenum.ui b/widgets/parameditenum.ui
index f0af1a413..ebdccf74e 100644
--- a/widgets/parameditenum.ui
+++ b/widgets/parameditenum.ui
@@ -46,6 +46,10 @@
      <property name="text">
       <string/>
      </property>
+     <property name="icon">
+      <iconset resource="../res.qrc">
+       <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
+     </property>
     </widget>
    </item>
    <item>
@@ -62,6 +66,10 @@
      <property name="text">
       <string/>
      </property>
+     <property name="icon">
+      <iconset resource="../res.qrc">
+       <normaloff>:/res/icons/Data Backup-96.png</normaloff>:/res/icons/Data Backup-96.png</iconset>
+     </property>
     </widget>
    </item>
    <item>
@@ -78,10 +86,16 @@
      <property name="text">
       <string/>
      </property>
+     <property name="icon">
+      <iconset resource="../res.qrc">
+       <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
+     </property>
     </widget>
    </item>
   </layout>
  </widget>
- <resources/>
+ <resources>
+  <include location="../res.qrc"/>
+ </resources>
  <connections/>
 </ui>
diff --git a/widgets/parameditint.cpp b/widgets/parameditint.cpp
index 759b50146..76a7fa215 100644
--- a/widgets/parameditint.cpp
+++ b/widgets/parameditint.cpp
@@ -24,7 +24,7 @@
 #include "helpdialog.h"
 #include "utility.h"
 
-ParamEditInt::ParamEditInt(QWidget *parent, VescInterface *vesc) :
+ParamEditInt::ParamEditInt(QWidget *parent) :
     QWidget(parent),
     ui(new Ui::ParamEditInt)
 {
@@ -33,15 +33,9 @@ ParamEditInt::ParamEditInt(QWidget *parent, VescInterface *vesc) :
     mMaxVal = 1;
 
     QString theme = Utility::getThemePath();
-    if (vesc) {
-        ui->helpButton->setIcon(vesc->getPixmap(theme + "icons/Help-96.png"));
-        ui->readButton->setIcon(vesc->getPixmap(theme + "icons/Upload-96.png"));
-        ui->readDefaultButton->setIcon(vesc->getPixmap(theme + "icons/Data Backup-96.png"));
-    } else {
-        ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-        ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
-        ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
-    }
+    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
+    ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
+    ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
 
     mDisplay = new DisplayPercentage(this);
     mIntBox = new QSpinBox(this);
diff --git a/widgets/parameditint.h b/widgets/parameditint.h
index 973fe8ac7..d3a719a59 100644
--- a/widgets/parameditint.h
+++ b/widgets/parameditint.h
@@ -34,7 +34,7 @@ class ParamEditInt : public QWidget
     Q_OBJECT
 
 public:
-    explicit ParamEditInt(QWidget *parent = nullptr, VescInterface *vesc = nullptr);
+    explicit ParamEditInt(QWidget *parent = 0);
     ~ParamEditInt();
 
     void setConfig(ConfigParams *config);
diff --git a/widgets/parameditint.ui b/widgets/parameditint.ui
index 747641a46..e81ef47c5 100644
--- a/widgets/parameditint.ui
+++ b/widgets/parameditint.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>146</width>
-    <height>27</height>
+    <width>86</width>
+    <height>26</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -45,6 +45,10 @@
        <property name="text">
         <string/>
        </property>
+       <property name="icon">
+        <iconset resource="../res.qrc">
+         <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
+       </property>
       </widget>
      </item>
      <item>
@@ -61,6 +65,10 @@
        <property name="text">
         <string/>
        </property>
+       <property name="icon">
+        <iconset resource="../res.qrc">
+         <normaloff>:/res/icons/Data Backup-96.png</normaloff>:/res/icons/Data Backup-96.png</iconset>
+       </property>
       </widget>
      </item>
      <item>
@@ -77,12 +85,18 @@
        <property name="text">
         <string/>
        </property>
+       <property name="icon">
+        <iconset resource="../res.qrc">
+         <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
+       </property>
       </widget>
      </item>
     </layout>
    </item>
   </layout>
  </widget>
- <resources/>
+ <resources>
+  <include location="../res.qrc"/>
+ </resources>
  <connections/>
 </ui>
diff --git a/widgets/parameditstring.cpp b/widgets/parameditstring.cpp
index 64c6772f6..507f659e7 100644
--- a/widgets/parameditstring.cpp
+++ b/widgets/parameditstring.cpp
@@ -22,22 +22,16 @@
 #include "helpdialog.h"
 #include "utility.h"
 
-ParamEditString::ParamEditString(QWidget *parent, VescInterface *vesc) :
+ParamEditString::ParamEditString(QWidget *parent) :
     QWidget(parent),
     ui(new Ui::ParamEditString)
 {
     ui->setupUi(this);
 
     QString theme = Utility::getThemePath();
-    if (vesc) {
-        ui->helpButton->setIcon(vesc->getPixmap(theme + "icons/Help-96.png"));
-        ui->readButton->setIcon(vesc->getPixmap(theme + "icons/Upload-96.png"));
-        ui->readDefaultButton->setIcon(vesc->getPixmap(theme + "icons/Data Backup-96.png"));
-    } else {
-        ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-        ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
-        ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
-    }
+    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
+    ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
+    ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
 }
 
 ParamEditString::~ParamEditString()
diff --git a/widgets/parameditstring.h b/widgets/parameditstring.h
index 3b4e118f9..55cf36c9a 100644
--- a/widgets/parameditstring.h
+++ b/widgets/parameditstring.h
@@ -32,7 +32,7 @@ class ParamEditString : public QWidget
     Q_OBJECT
 
 public:
-    explicit ParamEditString(QWidget *parent = nullptr, VescInterface *vesc = nullptr);
+    explicit ParamEditString(QWidget *parent = 0);
     ~ParamEditString();
     void setConfig(ConfigParams *config);
     QString name() const;
diff --git a/widgets/parameditstring.ui b/widgets/parameditstring.ui
index 71110ebf9..4694e9cc0 100644
--- a/widgets/parameditstring.ui
+++ b/widgets/parameditstring.ui
@@ -46,6 +46,10 @@
      <property name="text">
       <string/>
      </property>
+     <property name="icon">
+      <iconset resource="../res.qrc">
+       <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
+     </property>
     </widget>
    </item>
    <item>
@@ -62,6 +66,10 @@
      <property name="text">
       <string/>
      </property>
+     <property name="icon">
+      <iconset resource="../res.qrc">
+       <normaloff>:/res/icons/Data Backup-96.png</normaloff>:/res/icons/Data Backup-96.png</iconset>
+     </property>
     </widget>
    </item>
    <item>
@@ -78,10 +86,16 @@
      <property name="text">
       <string/>
      </property>
+     <property name="icon">
+      <iconset resource="../res.qrc">
+       <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
+     </property>
     </widget>
    </item>
   </layout>
  </widget>
- <resources/>
+ <resources>
+  <include location="../res.qrc"/>
+ </resources>
  <connections/>
 </ui>
diff --git a/widgets/paramtable.cpp b/widgets/paramtable.cpp
index 71cb528cf..650525715 100644
--- a/widgets/paramtable.cpp
+++ b/widgets/paramtable.cpp
@@ -39,10 +39,10 @@ ParamTable::ParamTable(QWidget *parent) : QTableWidget(parent)
     verticalHeader()->setVisible(false);
 }
 
-bool ParamTable::addParamRow(ConfigParams *params, QString paramName, VescInterface *vesc)
+bool ParamTable::addParamRow(ConfigParams *params, QString paramName)
 {
     bool res = false;
-    QWidget *editor = params->getEditor(paramName, nullptr, vesc);
+    QWidget *editor = params->getEditor(paramName);
     QString name = params->getLongName(paramName);
 
     if (editor) {
@@ -86,14 +86,14 @@ void ParamTable::addRowSeparator(QString text)
     resizeRowsToContents();
 }
 
-void ParamTable::addParamSubgroup(ConfigParams *params, QString groupName, QString subgroupName, VescInterface *vesc)
+void ParamTable::addParamSubgroup(ConfigParams *params, QString groupName, QString subgroupName)
 {
     setUpdatesEnabled(false);
     foreach (auto p, params->getParamsFromSubgroup(groupName, subgroupName)) {
         if (p.startsWith("::sep::")) {
             addRowSeparator(p.mid(7));
         } else {
-            addParamRow(params, p, vesc);
+            addParamRow(params, p);
         }
     }
     QTimer::singleShot(0, [this]() {
diff --git a/widgets/paramtable.h b/widgets/paramtable.h
index d89c6522a..7923e0fbc 100644
--- a/widgets/paramtable.h
+++ b/widgets/paramtable.h
@@ -28,9 +28,9 @@ class ParamTable : public QTableWidget
 {
 public:
     ParamTable(QWidget *parent = nullptr);
-    bool addParamRow(ConfigParams *params, QString paramName, VescInterface *vesc = nullptr);
+    bool addParamRow(ConfigParams *params, QString paramName);
     void addRowSeparator(QString text);
-    void addParamSubgroup(ConfigParams *params, QString groupName, QString subgroupName, VescInterface *vesc = nullptr);
+    void addParamSubgroup(ConfigParams *params, QString groupName, QString subgroupName);
     void clearParams();
 
 };

From 6dc1c410c7721693b888b47f4378bf4842085b4d Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 3 Jan 2023 00:35:16 +0100
Subject: [PATCH 382/559] Another attempt at image caching for faster loading

---
 main.cpp                       |   2 +
 mainwindow.cpp                 | 164 ++++++++++++++++-----------------
 pages/pageappsettings.cpp      |   3 +-
 pages/pagebms.cpp              |  15 ++-
 pages/pagecananalyzer.cpp      |   6 +-
 pages/pageconnection.cpp       |  69 +++++++-------
 pages/pagecontrollers.cpp      |   3 +-
 pages/pagecustomconfig.cpp     |  11 +--
 pages/pageespprog.cpp          |  17 ++--
 pages/pageexperiments.cpp      |  45 +++++----
 pages/pagefirmware.cpp         |  21 ++---
 pages/pagelisp.cpp             |  54 ++++++-----
 pages/pageloganalysis.cpp      |  36 ++++----
 pages/pagemotorcomparison.cpp  |  49 +++++-----
 pages/pagemotorsettings.cpp    |   3 +-
 pages/pagertdata.cpp           |  27 +++---
 pages/pagesampleddata.cpp      |  42 ++++-----
 pages/pagescripting.cpp        |  44 +++++----
 pages/pageswdprog.cpp          |  34 ++++---
 pages/pageterminal.cpp         |   7 +-
 pages/pagevescpackage.cpp      |  23 +++--
 pages/pagewelcome.cpp          |  17 ++--
 parametereditor.cpp            |  89 +++++++++---------
 preferences.cpp                |  25 +++--
 setupwizardapp.cpp             |  20 ++--
 setupwizardmotor.cpp           |   1 -
 startupwizard.cpp              |   3 +-
 utility.cpp                    |  15 ++-
 utility.h                      |   2 +
 widgets/adcmap.cpp             |   7 +-
 widgets/adcmap.ui              |  16 +---
 widgets/batterycalculator.cpp  |   6 +-
 widgets/batterycalculator.ui   |  14 +--
 widgets/detectallfocdialog.cpp |  28 +++---
 widgets/detectallfocdialog.ui  |  48 ++--------
 widgets/detectbldc.cpp         |   5 +-
 widgets/detectbldc.ui          |  18 +---
 widgets/detectfoc.cpp          |  21 ++---
 widgets/detectfoc.ui           |  32 +------
 widgets/detectfocencoder.cpp   |   7 +-
 widgets/detectfocencoder.ui    |  20 +---
 widgets/detectfochall.cpp      |   7 +-
 widgets/detectfochall.ui       |  20 +---
 widgets/experimentplot.cpp     |  31 +++----
 widgets/experimentplot.ui      |  31 +------
 widgets/helpdialog.cpp         |   5 +-
 widgets/helpdialog.ui          |   3 -
 widgets/mrichtextedit.cpp      |  45 +++++----
 widgets/mrichtextedit.ui       | 136 +--------------------------
 widgets/nrfpair.cpp            |   5 +-
 widgets/nrfpair.ui             |  15 +--
 widgets/parameditbitfield.cpp  |   7 +-
 widgets/parameditbitfield.ui   |  16 +---
 widgets/parameditbool.cpp      |   7 +-
 widgets/parameditbool.ui       |  16 +---
 widgets/parameditdouble.cpp    |   7 +-
 widgets/parameditdouble.ui     |  20 +---
 widgets/parameditenum.cpp      |   7 +-
 widgets/parameditenum.ui       |  16 +---
 widgets/parameditint.cpp       |   7 +-
 widgets/parameditint.ui        |  20 +---
 widgets/parameditstring.cpp    |   7 +-
 widgets/parameditstring.ui     |  16 +---
 widgets/ppmmap.cpp             |   7 +-
 widgets/ppmmap.ui              |  12 +--
 widgets/scripteditor.cpp       |   9 +-
 widgets/scripteditor.ui        |  20 +---
 67 files changed, 550 insertions(+), 1011 deletions(-)

diff --git a/main.cpp b/main.cpp
index ad76df4cf..f057ac651 100755
--- a/main.cpp
+++ b/main.cpp
@@ -34,6 +34,7 @@
 #include <QSettings>
 #include <QDesktopWidget>
 #include <QFontDatabase>
+#include <QPixmapCache>
 
 #include "tcphub.h"
 
@@ -126,6 +127,7 @@ int main(int argc, char *argv[])
     QSettings set;
     bool isDark = set.value("darkMode", true).toBool();
     Utility::setDarkMode(isDark);
+    QPixmapCache::setCacheLimit(256000);
 
     if (isDark) {
         qputenv("QT_QUICK_CONTROLS_CONF", ":/qtquickcontrols2_dark.conf");
diff --git a/mainwindow.cpp b/mainwindow.cpp
index d47e44ec0..d1bbd1d51 100755
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -119,89 +119,88 @@ MainWindow::MainWindow(QWidget *parent) :
 
     this->setWindowIcon(QIcon(":/res/icon.svg"));
 
-    QString theme = Utility::getThemePath();
-    ui->actionParameterEditorMcconf->setIcon(QPixmap(theme + "icons/Horizontal Settings Mixer-96.png"));
-    ui->actionParameterEditorAppconf->setIcon(QPixmap(theme + "icons/Horizontal Settings Mixer-96.png"));
-    ui->actionParameterEditorFW->setIcon(QPixmap(theme + "icons/Horizontal Settings Mixer-96.png"));
-    ui->actionParameterEditorCustomConf0->setIcon(QPixmap(theme + "icons/Horizontal Settings Mixer-96.png"));
-    ui->actionSaveAppconfXml->setIcon(QPixmap(theme + "icons/Save as-96.png"));
-    ui->actionPreferences->setIcon(QPixmap(theme + "icons/Settings-96.png"));
-    ui->actionLoadAppconfXml->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->actionSaveMotorConfXml->setIcon(QPixmap(theme + "icons/Save as-96.png"));
-    ui->actionLoadMotorConfXml->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->actionSaveAppConfigurationHeader->setIcon(QPixmap(theme + "icons/Save as-96.png"));
-    ui->actionSaveAppConfigurationHeaderWrap->setIcon(QPixmap(theme + "icons/Save as-96.png"));
-    ui->actionSaveMotorConfigurationHeader->setIcon(QPixmap(theme + "icons/Save as-96.png"));
-    ui->actionSaveMotorConfigurationHeaderWrap->setIcon(QPixmap(theme + "icons/Save as-96.png"));
-    ui->actionExportConfigurationParser->setIcon(QPixmap(theme + "icons/Save as-96.png"));
-    ui->actionTerminalPrintFaults->setIcon(QPixmap(theme + "icons/Console-96.png"));
-    ui->actionTerminalShowHelp->setIcon(QPixmap(theme + "icons/Help-96.png"));
-    ui->actionTerminalClear->setIcon(QPixmap(theme + "icons/Delete-96.png"));
-    ui->actionTerminalPrintThreads->setIcon(QPixmap(theme + "icons/Electronics-96.png"));
-    ui->actionTerminalDRVResetLatchedFaults->setIcon(QPixmap(theme + "icons/Bug-96.png"));
-    ui->actionLibrariesUsed->setIcon(QPixmap(theme + "icons/About-96.png"));
-    ui->actionMotorSetupWizard->setIcon(QPixmap(theme + "icons/Wizard-96.png"));
-    ui->actionAppSetupWizard->setIcon(QPixmap(theme + "icons/Wizard-96.png"));
-    ui->actionAutoSetupFOC->setIcon(QPixmap(theme + "icons/Wizard-96.png"));
-    ui->actionSetupMotorsFOCQuick->setIcon(QPixmap(theme + "icons/Wizard-96.png"));
-    ui->actionAboutQt->setIcon(QPixmap(theme + "icons/About-96.png"));
-    ui->actionParameterEditorInfo->setIcon(QPixmap(theme + "icons/Horizontal Settings Mixer-96.png"));
-    ui->actionSafetyInformation->setIcon(QPixmap(theme + "icons/About-96.png"));
-    ui->actionVESCToolChangelog->setIcon(QPixmap(theme + "icons/About-96.png"));
-    ui->actionFirmwareChangelog->setIcon(QPixmap(theme + "icons/About-96.png"));
-    ui->actionWarrantyStatement->setIcon(QPixmap(theme + "icons/About-96.png"));
-    ui->actionLicense->setIcon(QPixmap(theme + "icons/About-96.png"));
-    ui->actionVESCProjectForums->setIcon(QPixmap(theme + "icons/User Group Man Man-96.png"));
-    ui->actionLoadFirmwareConfigs->setIcon(QPixmap(theme + "icons/Electronics-96.png"));
-    ui->actionBackupConfiguration->setIcon(QPixmap(theme + "icons/Save-96.png"));
-    ui->actionBackupConfigurationsCAN->setIcon(QPixmap(theme + "icons/Save-96.png"));
-    ui->actionRestoreConfiguration->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->actionRestoreConfigurationsCAN->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->actionClearConfigurationBackups->setIcon(QPixmap(theme + "icons/Delete-96.png"));
-    ui->actionBackupConfiguration->setIcon(QPixmap(theme + "icons/Save as-96.png"));
-    ui->actionReboot->setIcon(QPixmap(theme + "icons/Refresh-96.png"));
-    ui->actionExit->setIcon(QPixmap(theme + "icons/Shutdown-96.png"));
-    ui->pageLabel->setPixmap(QPixmap(theme + "logo.png"));
-    ui->actionReconnect->setIcon(QIcon(theme + "icons/Connected-96.png"));
-    ui->actionDisconnect->setIcon(QIcon(theme + "icons/Disconnected-96.png"));
-    ui->actionReadMcconf->setIcon(QIcon(theme + "icons/motor_up.png"));
-    ui->actionReadMcconfDefault->setIcon(QIcon(theme + "icons/motor_default.png"));
-    ui->actionWriteMcconf->setIcon(QIcon(theme + "icons/motor_down.png"));
-    ui->actionReadAppconf->setIcon(QIcon(theme + "icons/app_up.png"));
-    ui->actionReadAppconfDefault->setIcon(QIcon(theme + "icons/app_default.png"));
-    ui->actionWriteAppconf->setIcon(QIcon(theme + "icons/app_down.png"));
-
-    QIcon mycon = QIcon(theme + "icons/keys_off.png");
-    mycon.addPixmap(QPixmap(theme + "icons/keys_on.png"), QIcon::Normal, QIcon::On);
+    ui->actionParameterEditorMcconf->setIcon(Utility::getIcon("icons/Horizontal Settings Mixer-96.png"));
+    ui->actionParameterEditorAppconf->setIcon(Utility::getIcon("icons/Horizontal Settings Mixer-96.png"));
+    ui->actionParameterEditorFW->setIcon(Utility::getIcon("icons/Horizontal Settings Mixer-96.png"));
+    ui->actionParameterEditorCustomConf0->setIcon(Utility::getIcon("icons/Horizontal Settings Mixer-96.png"));
+    ui->actionSaveAppconfXml->setIcon(Utility::getIcon("icons/Save as-96.png"));
+    ui->actionPreferences->setIcon(Utility::getIcon("icons/Settings-96.png"));
+    ui->actionLoadAppconfXml->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->actionSaveMotorConfXml->setIcon(Utility::getIcon("icons/Save as-96.png"));
+    ui->actionLoadMotorConfXml->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->actionSaveAppConfigurationHeader->setIcon(Utility::getIcon("icons/Save as-96.png"));
+    ui->actionSaveAppConfigurationHeaderWrap->setIcon(Utility::getIcon("icons/Save as-96.png"));
+    ui->actionSaveMotorConfigurationHeader->setIcon(Utility::getIcon("icons/Save as-96.png"));
+    ui->actionSaveMotorConfigurationHeaderWrap->setIcon(Utility::getIcon("icons/Save as-96.png"));
+    ui->actionExportConfigurationParser->setIcon(Utility::getIcon("icons/Save as-96.png"));
+    ui->actionTerminalPrintFaults->setIcon(Utility::getIcon("icons/Console-96.png"));
+    ui->actionTerminalShowHelp->setIcon(Utility::getIcon("icons/Help-96.png"));
+    ui->actionTerminalClear->setIcon(Utility::getIcon("icons/Delete-96.png"));
+    ui->actionTerminalPrintThreads->setIcon(Utility::getIcon("icons/Electronics-96.png"));
+    ui->actionTerminalDRVResetLatchedFaults->setIcon(Utility::getIcon("icons/Bug-96.png"));
+    ui->actionLibrariesUsed->setIcon(Utility::getIcon("icons/About-96.png"));
+    ui->actionMotorSetupWizard->setIcon(Utility::getIcon("icons/Wizard-96.png"));
+    ui->actionAppSetupWizard->setIcon(Utility::getIcon("icons/Wizard-96.png"));
+    ui->actionAutoSetupFOC->setIcon(Utility::getIcon("icons/Wizard-96.png"));
+    ui->actionSetupMotorsFOCQuick->setIcon(Utility::getIcon("icons/Wizard-96.png"));
+    ui->actionAboutQt->setIcon(Utility::getIcon("icons/About-96.png"));
+    ui->actionParameterEditorInfo->setIcon(Utility::getIcon("icons/Horizontal Settings Mixer-96.png"));
+    ui->actionSafetyInformation->setIcon(Utility::getIcon("icons/About-96.png"));
+    ui->actionVESCToolChangelog->setIcon(Utility::getIcon("icons/About-96.png"));
+    ui->actionFirmwareChangelog->setIcon(Utility::getIcon("icons/About-96.png"));
+    ui->actionWarrantyStatement->setIcon(Utility::getIcon("icons/About-96.png"));
+    ui->actionLicense->setIcon(Utility::getIcon("icons/About-96.png"));
+    ui->actionVESCProjectForums->setIcon(Utility::getIcon("icons/User Group Man Man-96.png"));
+    ui->actionLoadFirmwareConfigs->setIcon(Utility::getIcon("icons/Electronics-96.png"));
+    ui->actionBackupConfiguration->setIcon(Utility::getIcon("icons/Save-96.png"));
+    ui->actionBackupConfigurationsCAN->setIcon(Utility::getIcon("icons/Save-96.png"));
+    ui->actionRestoreConfiguration->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->actionRestoreConfigurationsCAN->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->actionClearConfigurationBackups->setIcon(Utility::getIcon("icons/Delete-96.png"));
+    ui->actionBackupConfiguration->setIcon(Utility::getIcon("icons/Save as-96.png"));
+    ui->actionReboot->setIcon(Utility::getIcon("icons/Refresh-96.png"));
+    ui->actionExit->setIcon(Utility::getIcon("icons/Shutdown-96.png"));
+    ui->pageLabel->setPixmap(Utility::getIcon("logo.png"));
+    ui->actionReconnect->setIcon(Utility::getIcon("icons/Connected-96.png"));
+    ui->actionDisconnect->setIcon(Utility::getIcon("icons/Disconnected-96.png"));
+    ui->actionReadMcconf->setIcon(Utility::getIcon("icons/motor_up.png"));
+    ui->actionReadMcconfDefault->setIcon(Utility::getIcon("icons/motor_default.png"));
+    ui->actionWriteMcconf->setIcon(Utility::getIcon("icons/motor_down.png"));
+    ui->actionReadAppconf->setIcon(Utility::getIcon("icons/app_up.png"));
+    ui->actionReadAppconfDefault->setIcon(Utility::getIcon("icons/app_default.png"));
+    ui->actionWriteAppconf->setIcon(Utility::getIcon("icons/app_down.png"));
+
+    QIcon mycon = QIcon(Utility::getIcon("icons/keys_off.png"));
+    mycon.addPixmap(Utility::getIcon("icons/keys_on.png"), QIcon::Normal, QIcon::On);
     ui->actionKeyboardControl->setIcon(mycon);
-    ui->actionGamepadControl->setIcon(QIcon(theme + "icons/Controller-96.png"));
-    mycon = QIcon(theme + "icons/rt_off.png");
-    mycon.addPixmap(QPixmap(theme + "icons/rt_on.png"), QIcon::Normal, QIcon::On);
+    ui->actionGamepadControl->setIcon(Utility::getIcon("icons/Controller-96.png"));
+    mycon = QIcon(Utility::getIcon("icons/rt_off.png"));
+    mycon.addPixmap(Utility::getIcon("icons/rt_on.png"), QIcon::Normal, QIcon::On);
     ui->actionRtData->setIcon(mycon);
-    mycon = QIcon(theme + "icons/rt_app_off.png");
-    mycon.addPixmap(QPixmap(theme + "icons/rt_app_on.png"), QIcon::Normal, QIcon::On);
+    mycon = QIcon(Utility::getIcon("icons/rt_app_off.png"));
+    mycon.addPixmap(Utility::getIcon("icons/rt_app_on.png"), QIcon::Normal, QIcon::On);
     ui->actionRtDataApp->setIcon(mycon);
-    mycon = QIcon(theme + "icons/imu_off.png");
-    mycon.addPixmap(QPixmap(theme + "icons/imu_on.png"), QIcon::Normal, QIcon::On);
+    mycon = QIcon(Utility::getIcon("icons/imu_off.png"));
+    mycon.addPixmap(Utility::getIcon("icons/imu_on.png"), QIcon::Normal, QIcon::On);
     ui->actionIMU->setIcon(mycon);
-    mycon = QIcon(theme + "icons/bms_off.png");
-    mycon.addPixmap(QPixmap(theme + "icons/bms_on.png"), QIcon::Normal, QIcon::On);
+    mycon = QIcon(Utility::getIcon("icons/bms_off.png"));
+    mycon.addPixmap(Utility::getIcon("icons/bms_on.png"), QIcon::Normal, QIcon::On);
     ui->actionrtDataBms->setIcon(mycon);
-    mycon = QIcon(theme + "icons/alive_off.png");
-    mycon.addPixmap(QPixmap(theme + "icons/alive_on.png"), QIcon::Normal, QIcon::On);
+    mycon = QIcon(Utility::getIcon("icons/alive_off.png"));
+    mycon.addPixmap(Utility::getIcon("icons/alive_on.png"), QIcon::Normal, QIcon::On);
     ui->actionSendAlive->setIcon(mycon);
-    mycon = QIcon(theme + "icons/can_off.png");
-    mycon.addPixmap(QPixmap(theme + "icons/can_on.png"), QIcon::Normal, QIcon::On);
+    mycon = QIcon(Utility::getIcon("icons/can_off.png"));
+    mycon.addPixmap(Utility::getIcon("icons/can_on.png"), QIcon::Normal, QIcon::On);
     ui->actionCanFwd->setIcon(mycon);
-    ui->scanCanButton->setIcon(QIcon(theme + "icons/Refresh-96.png"));
+    ui->scanCanButton->setIcon(Utility::getIcon("icons/Refresh-96.png"));
 
-    ui->dutyButton->setIcon(QIcon(theme + "icons/Circled Play-96.png"));
-    ui->currentButton->setIcon(QIcon(theme + "icons/Circled Play-96.png"));
-    ui->speedButton->setIcon(QIcon(theme + "icons/Circled Play-96.png"));
-    ui->posButton->setIcon(QIcon(theme + "icons/Circled Play-96.png"));
-    ui->brakeCurrentButton->setIcon(QIcon(theme + "icons/Brake Warning-96.png"));
-    ui->handbrakeButton->setIcon(QIcon(theme + "icons/Brake Warning-96.png"));
-    ui->fullBrakeButton->setIcon(QIcon(theme + "icons/Anchor-96.png"));
+    ui->dutyButton->setIcon(Utility::getIcon( "icons/Circled Play-96.png"));
+    ui->currentButton->setIcon(Utility::getIcon("icons/Circled Play-96.png"));
+    ui->speedButton->setIcon(Utility::getIcon("icons/Circled Play-96.png"));
+    ui->posButton->setIcon(Utility::getIcon("icons/Circled Play-96.png"));
+    ui->brakeCurrentButton->setIcon(Utility::getIcon("icons/Brake Warning-96.png"));
+    ui->handbrakeButton->setIcon(Utility::getIcon("icons/Brake Warning-96.png"));
+    ui->fullBrakeButton->setIcon(Utility::getIcon("icons/Anchor-96.png"));
 
     qRegisterMetaType<QtMsgType>("QtMsgType");
 
@@ -252,7 +251,7 @@ MainWindow::MainWindow(QWidget *parent) :
 
     QMenu *fwMenu = new QMenu(this);
     fwMenu->setTitle("Load Firmware Configs");
-    fwMenu->setIcon(QIcon( theme + "icons/Electronics-96.png"));
+    fwMenu->setIcon(Utility::getIcon("icons/Electronics-96.png"));
     for (auto fw: Utility::configSupportedFws()) {
         QAction *action = new QAction(fwMenu);
         action->setText(QString("%1.%2").arg(fw.first).arg(fw.second, 2, 10, QChar('0')));
@@ -268,11 +267,10 @@ MainWindow::MainWindow(QWidget *parent) :
     auto reloadBackupMenu = [this, backupMenu]() {
         backupMenu->clear();
         backupMenu->setTitle("Load Configuration Backups for UUID");
-        QString theme = Utility::getThemePath();
-        backupMenu->setIcon(QIcon( theme + "icons/Open Folder-96.png"));
+        backupMenu->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
         for (auto uuid: mVesc->confListBackups()) {
             QAction *action = new QAction(backupMenu);
-            action->setIcon(QIcon( theme + "icons/Electronics-96.png"));
+            action->setIcon(Utility::getIcon("icons/Electronics-96.png"));
             QString txt = uuid;
             QString name = mVesc->confBackupName(uuid);
             if (!name.isEmpty()) {
@@ -516,12 +514,10 @@ MainWindow::MainWindow(QWidget *parent) :
 
     mPortTimer.start(1000);
     connect(&mPortTimer, &QTimer::timeout, [this]() {
-        QString theme = Utility::getThemePath();
-
         if (!mVesc->isPortConnected() && mVesc->lastPortAvailable()) {
-            ui->actionReconnect->setIcon(QIcon(theme + "icons/Connected-hl-96.png"));
+            ui->actionReconnect->setIcon(Utility::getIcon("icons/Connected-hl-96.png"));
         } else {
-            ui->actionReconnect->setIcon(QIcon(theme + "icons/Connected-96.png"));
+            ui->actionReconnect->setIcon(Utility::getIcon("icons/Connected-96.png"));
         }
 
         ui->actionReconnect->setEnabled(!mVesc->isPortConnected());
@@ -1315,8 +1311,6 @@ void MainWindow::reloadPages()
     connect(ui->actionSetupMotorsFOCQuick, SIGNAL(triggered(bool)),
             mPageWelcome, SLOT(startSetupWizardFocSimple()));
 
-
-
     mPageConnection = new PageConnection(this);
     mPageConnection->setVesc(mVesc);
     ui->pageWidget->addWidget(mPageConnection);
diff --git a/pages/pageappsettings.cpp b/pages/pageappsettings.cpp
index 3093c3fc5..9545a91af 100644
--- a/pages/pageappsettings.cpp
+++ b/pages/pageappsettings.cpp
@@ -27,8 +27,7 @@ PageAppSettings::PageAppSettings(QWidget *parent) :
     ui(new Ui::PageAppSettings)
 {
     ui->setupUi(this);
-    QString theme = Utility::getThemePath();
-    ui->appWizardButton->setIcon(QPixmap(theme + "icons/Wizard-96.png"));
+    ui->appWizardButton->setIcon(Utility::getIcon("icons/Wizard-96.png"));
     layout()->setContentsMargins(0, 0, 0, 0);
     mVesc = nullptr;
 }
diff --git a/pages/pagebms.cpp b/pages/pagebms.cpp
index 0594481bb..e590337c5 100644
--- a/pages/pagebms.cpp
+++ b/pages/pagebms.cpp
@@ -28,14 +28,13 @@ PageBms::PageBms(QWidget *parent) :
     ui->setupUi(this);
     mVesc = nullptr;
 
-    QString theme = Utility::getThemePath();
-    ui->balOnButton->setIcon(QPixmap(theme + "/icons/Circled Play-96.png"));
-    ui->chgEnButton->setIcon(QPixmap(theme + "/icons/Circled Play-96.png"));
-    ui->balOffButton->setIcon(QPixmap(theme + "/icons/Stop-96.png"));
-    ui->chgDisButton->setIcon(QPixmap(theme + "/icons/Stop-96.png"));
-    ui->resetAhButton->setIcon(QPixmap(theme + "/icons/Restart-96.png"));
-    ui->resetWhButton->setIcon(QPixmap(theme + "/icons/Restart-96.png"));
-    ui->zeroCurrentButton->setIcon(QPixmap(theme + "/icons/Refresh-96.png"));
+    ui->balOnButton->setIcon(Utility::getIcon("/icons/Circled Play-96.png"));
+    ui->chgEnButton->setIcon(Utility::getIcon("/icons/Circled Play-96.png"));
+    ui->balOffButton->setIcon(Utility::getIcon("/icons/Stop-96.png"));
+    ui->chgDisButton->setIcon(Utility::getIcon("/icons/Stop-96.png"));
+    ui->resetAhButton->setIcon(Utility::getIcon("/icons/Restart-96.png"));
+    ui->resetWhButton->setIcon(Utility::getIcon("/icons/Restart-96.png"));
+    ui->zeroCurrentButton->setIcon(Utility::getIcon("/icons/Refresh-96.png"));
 
     ui->valTable->setColumnWidth(0, 200);
     ui->splitter->setSizes(QList<int>({1000, 500}));
diff --git a/pages/pagecananalyzer.cpp b/pages/pagecananalyzer.cpp
index 3d3177dae..d16625107 100644
--- a/pages/pagecananalyzer.cpp
+++ b/pages/pagecananalyzer.cpp
@@ -27,10 +27,8 @@ PageCanAnalyzer::PageCanAnalyzer(QWidget *parent) :
 {
     ui->setupUi(this);
 
-
-    QString theme = Utility::getThemePath();
-    ui->clearRxButton->setIcon(QPixmap(theme + "icons/Delete-96.png"));
-    ui->sendButton->setIcon(QPixmap(theme + "icons/Send File-96.png"));
+    ui->clearRxButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
+    ui->sendButton->setIcon(Utility::getIcon("icons/Send File-96.png"));
 
     layout()->setContentsMargins(0, 0, 0, 0);
     ui->msgTable->setColumnWidth(1, 120);
diff --git a/pages/pageconnection.cpp b/pages/pageconnection.cpp
index 7dc5396dc..c134545c3 100644
--- a/pages/pageconnection.cpp
+++ b/pages/pageconnection.cpp
@@ -39,41 +39,40 @@ PageConnection::PageConnection(QWidget *parent) :
 
     mTimer->start(20);
 
-    QString theme = Utility::getThemePath();
-    ui->CANbusScanButton->setIcon(QPixmap(theme + "icons/Refresh-96.png"));
-    ui->canRefreshButton->setIcon(QPixmap(theme + "icons/Refresh-96.png"));
-    ui->CANbusConnectButton->setIcon(QPixmap(theme + "icons/Connected-96.png"));
-    ui->CANbusDisconnectButton->setIcon(QPixmap(theme + "icons/Disconnected-96.png"));
-    ui->tcpConnectButton->setIcon(QPixmap(theme + "icons/Connected-96.png"));
-    ui->tcpDisconnectButton->setIcon(QPixmap(theme + "icons/Disconnected-96.png"));
-    ui->udpConnectButton->setIcon(QPixmap(theme + "icons/Connected-96.png"));
-    ui->udpDisconnectButton->setIcon(QPixmap(theme + "icons/Disconnected-96.png"));
-    ui->serialRefreshButton->setIcon(QPixmap(theme + "icons/Refresh-96.png"));
-    ui->serialConnectButton->setIcon(QPixmap(theme + "icons/Connected-96.png"));
-    ui->serialDisconnectButton->setIcon(QPixmap(theme + "icons/Disconnected-96.png"));
-    ui->bleConnectButton->setIcon(QPixmap(theme + "icons/Connected-96.png"));
-    ui->bleDisconnectButton->setIcon(QPixmap(theme + "icons/Disconnected-96.png"));
-    ui->bleScanButton->setIcon(QPixmap(theme + "icons/Refresh-96.png"));
-    ui->CANbusScanButton->setIcon(QPixmap(theme + "icons/Refresh-96.png"));
-    ui->addConnectedButton->setIcon(QPixmap(theme + "icons/Plus Math-96.png"));
-    ui->addUuidButton->setIcon(QPixmap(theme + "icons/Plus Math-96.png"));
-    ui->unpairButton->setIcon(QPixmap(theme + "icons/Restart-96.png"));
-    ui->deletePairedButton->setIcon(QPixmap(theme + "icons/Delete-96.png"));
-    ui->clearPairedButton->setIcon(QPixmap(theme + "icons/Delete-96.png"));
-    ui->canDefaultButton->setIcon(QPixmap(theme + "icons/Bug-96.png"));
-    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-    ui->autoConnectButton->setIcon(QPixmap(theme + "icons/Wizard-96.png"));
-    ui->bleSetNameButton->setIcon(QPixmap(theme + "icons/Ok-96.png"));
-    ui->pairConnectedButton->setIcon(QPixmap(theme + "icons/Circled Play-96.png"));
-    ui->tcpHubConnectButton->setIcon(QPixmap(theme + "icons/Connected-96.png"));
-    ui->tcpHubDisconnectButton->setIcon(QPixmap(theme + "icons/Disconnected-96.png"));
-    ui->hubDefaultButton->setIcon(QPixmap(theme + "icons/Restart-96.png"));
-    ui->tcpDetectConnectButton->setIcon(QPixmap(theme + "icons/Connected-96.png"));
-    ui->tcpDetectDisconnectButton->setIcon(QPixmap(theme + "icons/Disconnected-96.png"));
-
-    QIcon mycon = QIcon(theme + "icons/can_off.png");
-    mycon.addPixmap(QPixmap(theme + "icons/can_off.png"), QIcon::Normal, QIcon::Off);
-    mycon.addPixmap(QPixmap(theme + "icons/can_on.png"), QIcon::Normal, QIcon::On);
+    ui->CANbusScanButton->setIcon(Utility::getIcon("icons/Refresh-96.png"));
+    ui->canRefreshButton->setIcon(Utility::getIcon("icons/Refresh-96.png"));
+    ui->CANbusConnectButton->setIcon(Utility::getIcon("icons/Connected-96.png"));
+    ui->CANbusDisconnectButton->setIcon(Utility::getIcon("icons/Disconnected-96.png"));
+    ui->tcpConnectButton->setIcon(Utility::getIcon("icons/Connected-96.png"));
+    ui->tcpDisconnectButton->setIcon(Utility::getIcon("icons/Disconnected-96.png"));
+    ui->udpConnectButton->setIcon(Utility::getIcon("icons/Connected-96.png"));
+    ui->udpDisconnectButton->setIcon(Utility::getIcon("icons/Disconnected-96.png"));
+    ui->serialRefreshButton->setIcon(Utility::getIcon("icons/Refresh-96.png"));
+    ui->serialConnectButton->setIcon(Utility::getIcon("icons/Connected-96.png"));
+    ui->serialDisconnectButton->setIcon(Utility::getIcon("icons/Disconnected-96.png"));
+    ui->bleConnectButton->setIcon(Utility::getIcon("icons/Connected-96.png"));
+    ui->bleDisconnectButton->setIcon(Utility::getIcon("icons/Disconnected-96.png"));
+    ui->bleScanButton->setIcon(Utility::getIcon("icons/Refresh-96.png"));
+    ui->CANbusScanButton->setIcon(Utility::getIcon("icons/Refresh-96.png"));
+    ui->addConnectedButton->setIcon(Utility::getIcon("icons/Plus Math-96.png"));
+    ui->addUuidButton->setIcon(Utility::getIcon("icons/Plus Math-96.png"));
+    ui->unpairButton->setIcon(Utility::getIcon("icons/Restart-96.png"));
+    ui->deletePairedButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
+    ui->clearPairedButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
+    ui->canDefaultButton->setIcon(Utility::getIcon("icons/Bug-96.png"));
+    ui->helpButton->setIcon(Utility::getIcon("icons/Help-96.png"));
+    ui->autoConnectButton->setIcon(Utility::getIcon("icons/Wizard-96.png"));
+    ui->bleSetNameButton->setIcon(Utility::getIcon("icons/Ok-96.png"));
+    ui->pairConnectedButton->setIcon(Utility::getIcon("icons/Circled Play-96.png"));
+    ui->tcpHubConnectButton->setIcon(Utility::getIcon("icons/Connected-96.png"));
+    ui->tcpHubDisconnectButton->setIcon(Utility::getIcon("icons/Disconnected-96.png"));
+    ui->hubDefaultButton->setIcon(Utility::getIcon("icons/Restart-96.png"));
+    ui->tcpDetectConnectButton->setIcon(Utility::getIcon("icons/Connected-96.png"));
+    ui->tcpDetectDisconnectButton->setIcon(Utility::getIcon("icons/Disconnected-96.png"));
+
+    QIcon mycon = QIcon(Utility::getIcon("icons/can_off.png"));
+    mycon.addPixmap(Utility::getIcon("icons/can_off.png"), QIcon::Normal, QIcon::Off);
+    mycon.addPixmap(Utility::getIcon("icons/can_on.png"), QIcon::Normal, QIcon::On);
     ui->canFwdButton->setIcon(mycon);
 
     mUdpListen = new UdpServerSimple(this);
diff --git a/pages/pagecontrollers.cpp b/pages/pagecontrollers.cpp
index 78dbabffd..3d0ddc6d6 100644
--- a/pages/pagecontrollers.cpp
+++ b/pages/pagecontrollers.cpp
@@ -29,8 +29,7 @@ PageControllers::PageControllers(QWidget *parent) :
     layout()->setContentsMargins(0, 0, 0, 0);
     mVesc = nullptr;
 
-    QString theme = Utility::getThemePath();
-    ui->posOffsetApplyButton->setIcon(QPixmap(theme + "icons/Download-96.png"));
+    ui->posOffsetApplyButton->setIcon(Utility::getIcon("icons/Download-96.png"));
 }
 
 PageControllers::~PageControllers()
diff --git a/pages/pagecustomconfig.cpp b/pages/pagecustomconfig.cpp
index 1f5222334..3772062b8 100644
--- a/pages/pagecustomconfig.cpp
+++ b/pages/pagecustomconfig.cpp
@@ -31,12 +31,11 @@ PageCustomConfig::PageCustomConfig(QWidget *parent) :
     mVesc = nullptr;
     mConfNum = 0;
 
-    QString theme = Utility::getThemePath();
-    ui->readButton->setIcon(QPixmap(theme + "/icons/Upload-96.png"));
-    ui->readDefaultButton->setIcon(QPixmap(theme + "/icons/Upload-96.png"));
-    ui->writeButton->setIcon(QPixmap(theme + "/icons/Download-96.png"));
-    ui->saveXmlButton->setIcon(QPixmap(theme + "/icons/Save as-96.png"));
-    ui->loadXmlButton->setIcon(QPixmap(theme + "/icons/Open Folder-96.png"));
+    ui->readButton->setIcon(Utility::getIcon("/icons/Upload-96.png"));
+    ui->readDefaultButton->setIcon(Utility::getIcon("/icons/Upload-96.png"));
+    ui->writeButton->setIcon(Utility::getIcon("/icons/Download-96.png"));
+    ui->saveXmlButton->setIcon(Utility::getIcon("/icons/Save as-96.png"));
+    ui->loadXmlButton->setIcon(Utility::getIcon("/icons/Open Folder-96.png"));
 }
 
 PageCustomConfig::~PageCustomConfig()
diff --git a/pages/pageespprog.cpp b/pages/pageespprog.cpp
index cae456768..87c6b121c 100644
--- a/pages/pageespprog.cpp
+++ b/pages/pageespprog.cpp
@@ -30,15 +30,14 @@ PageEspProg::PageEspProg(QWidget *parent) :
     layout()->setContentsMargins(0, 0, 0, 0);
     mVesc = nullptr;
 
-    QString theme = Utility::getThemePath();
-    ui->blChooseButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->partChooseButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->appChooseButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->flashButton->setIcon(QPixmap(theme + "icons/Download-96.png"));
-    ui->flashBlButton->setIcon(QPixmap(theme + "icons/Download-96.png"));
-    ui->serialConnectButton->setIcon(QPixmap(theme + "icons/Connected-96.png"));
-    ui->serialDisconnectButton->setIcon(QPixmap(theme + "icons/Disconnected-96.png"));
-    ui->serialRefreshButton->setIcon(QPixmap(theme + "icons/Refresh-96.png"));
+    ui->blChooseButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->partChooseButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->appChooseButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->flashButton->setIcon(Utility::getIcon("icons/Download-96.png"));
+    ui->flashBlButton->setIcon(Utility::getIcon("icons/Download-96.png"));
+    ui->serialConnectButton->setIcon(Utility::getIcon("icons/Connected-96.png"));
+    ui->serialDisconnectButton->setIcon(Utility::getIcon("icons/Disconnected-96.png"));
+    ui->serialRefreshButton->setIcon(Utility::getIcon("icons/Refresh-96.png"));
 
     QSettings set;
     if (set.contains("pageespprog/lastcustomblfile")) {
diff --git a/pages/pageexperiments.cpp b/pages/pageexperiments.cpp
index ec325684b..4d4590c9e 100644
--- a/pages/pageexperiments.cpp
+++ b/pages/pageexperiments.cpp
@@ -40,33 +40,32 @@ PageExperiments::PageExperiments(QWidget *parent) :
     layout()->setContentsMargins(0, 0, 0, 0);
     mVesc = 0;
 
-    QString theme = Utility::getThemePath();
-    ui->currentRunButton->setIcon(QPixmap(theme + "icons/Circled Play-96.png"));
-    ui->dutyRunButton->setIcon(QPixmap(theme + "icons/Circled Play-96.png"));
-    ui->rpmRunButton->setIcon(QPixmap(theme + "icons/Circled Play-96.png"));
-    ui->rescaleButton->setIcon(QPixmap(theme + "icons/size_off.png"));
-    ui->victronRefreshButton->setIcon(QPixmap(theme + "icons/Refresh-96.png"));
-    ui->victronConnectButton->setIcon(QPixmap(theme + "icons/Connected-96.png"));
-    ui->victronDisconnectButton->setIcon(QPixmap(theme + "icons/Disconnected-96.png"));
-    ui->openButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->openCompButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->saveCsvButton->setIcon(QPixmap(theme + "icons/Save-96.png"));
-    ui->savePngButton->setIcon(QPixmap(theme + "icons/Save-96.png"));
-    ui->savePdfButton->setIcon(QPixmap(theme + "icons/Save-96.png"));
-
-    QIcon mycon = QIcon(theme + "icons/expand_off.png");
-    mycon.addPixmap(QPixmap(theme + "icons/expand_on.png"), QIcon::Normal, QIcon::On);
-    mycon.addPixmap(QPixmap(theme + "icons/expand_off.png"), QIcon::Normal, QIcon::Off);
+    ui->currentRunButton->setIcon(Utility::getIcon("icons/Circled Play-96.png"));
+    ui->dutyRunButton->setIcon(Utility::getIcon("icons/Circled Play-96.png"));
+    ui->rpmRunButton->setIcon(Utility::getIcon("icons/Circled Play-96.png"));
+    ui->rescaleButton->setIcon(Utility::getIcon("icons/size_off.png"));
+    ui->victronRefreshButton->setIcon(Utility::getIcon("icons/Refresh-96.png"));
+    ui->victronConnectButton->setIcon(Utility::getIcon("icons/Connected-96.png"));
+    ui->victronDisconnectButton->setIcon(Utility::getIcon("icons/Disconnected-96.png"));
+    ui->openButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->openCompButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->saveCsvButton->setIcon(Utility::getIcon("icons/Save-96.png"));
+    ui->savePngButton->setIcon(Utility::getIcon("icons/Save-96.png"));
+    ui->savePdfButton->setIcon(Utility::getIcon("icons/Save-96.png"));
+
+    QIcon mycon = QIcon(Utility::getIcon("icons/expand_off.png"));
+    mycon.addPixmap(Utility::getIcon("icons/expand_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(Utility::getIcon("icons/expand_off.png"), QIcon::Normal, QIcon::Off);
     ui->zoomHButton->setIcon(mycon);
 
-    mycon = QIcon(theme + "icons/expand_v_off.png");
-    mycon.addPixmap(QPixmap(theme + "icons/expand_v_on.png"), QIcon::Normal, QIcon::On);
-    mycon.addPixmap(QPixmap(theme + "icons/expand_v_off.png"), QIcon::Normal, QIcon::Off);
+    mycon = QIcon(Utility::getIcon("icons/expand_v_off.png"));
+    mycon.addPixmap(Utility::getIcon("icons/expand_v_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(Utility::getIcon("icons/expand_v_off.png"), QIcon::Normal, QIcon::Off);
     ui->zoomVButton->setIcon(mycon);
 
-    mycon = QIcon(theme + "icons/size_off.png");
-    mycon.addPixmap(QPixmap(theme + "icons/size_on.png"), QIcon::Normal, QIcon::On);
-    mycon.addPixmap(QPixmap(theme + "icons/size_off.png"), QIcon::Normal, QIcon::Off);
+    mycon = QIcon(Utility::getIcon("icons/size_off.png"));
+    mycon.addPixmap(Utility::getIcon("icons/size_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(Utility::getIcon("icons/size_off.png"), QIcon::Normal, QIcon::Off);
     ui->autoscaleButton->setIcon(mycon);
 
 
diff --git a/pages/pagefirmware.cpp b/pages/pagefirmware.cpp
index 4ddaff14c..4091b062f 100755
--- a/pages/pagefirmware.cpp
+++ b/pages/pagefirmware.cpp
@@ -40,17 +40,16 @@ PageFirmware::PageFirmware(QWidget *parent) :
     ui->cancelButton->setEnabled(false);
     mVesc = nullptr;
 
-    QString theme = Utility::getThemePath();
-    ui->changelogButton->setIcon(QPixmap(theme + "icons/About-96.png"));
-    ui->chooseButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->choose2Button->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->choose3Button->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->choose4Button->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->cancelButton->setIcon(QPixmap(theme + "icons/Cancel-96.png"));
-    ui->uploadButton->setIcon(QPixmap(theme + "icons/Download-96.png"));
-    ui->uploadAllButton->setIcon(QPixmap(theme + "icons/Download-96.png"));
-    ui->readVersionButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
-    ui->dlArchiveButton->setIcon(QPixmap(theme + "icons/Download-96.png"));
+    ui->changelogButton->setIcon(Utility::getIcon("icons/About-96.png"));
+    ui->chooseButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->choose2Button->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->choose3Button->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->choose4Button->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->cancelButton->setIcon(Utility::getIcon("icons/Cancel-96.png"));
+    ui->uploadButton->setIcon(Utility::getIcon("icons/Download-96.png"));
+    ui->uploadAllButton->setIcon(Utility::getIcon("icons/Download-96.png"));
+    ui->readVersionButton->setIcon(Utility::getIcon("icons/Upload-96.png"));
+    ui->dlArchiveButton->setIcon(Utility::getIcon("icons/Download-96.png"));
 
     updateHwList(FW_RX_PARAMS());
     updateBlList(FW_RX_PARAMS());
diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index cc4a1359b..23ca09551 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -38,35 +38,34 @@ PageLisp::PageLisp(QWidget *parent) :
     makeEditorConnections(ui->mainEdit);
 
     QPushButton *plusButton = new QPushButton();
-    QString theme = Utility::getThemePath();
-    plusButton->setIcon(QIcon(theme +"icons/Plus Math-96.png"));
-    ui->runButton->setIcon(QIcon(theme +"icons/Circled Play-96.png"));
-    ui->stopButton->setIcon(QIcon(theme +"icons/Shutdown-96.png"));
-    ui->helpButton->setIcon(QIcon(theme +"icons/Help-96.png"));
-    ui->clearConsoleButton->setIcon(QIcon(theme +"icons/Delete-96.png"));
-    ui->openRecentButton->setIcon(QIcon(theme +"icons/Open Folder-96.png"));
-    ui->removeSelectedButton->setIcon(QIcon(theme +"icons/Delete-96.png"));
-    ui->clearRecentButton->setIcon(QIcon(theme +"icons/Delete-96.png"));
-    ui->openExampleButton->setIcon(QIcon(theme +"icons/Open Folder-96.png"));
-    ui->uploadButton->setIcon(QIcon(theme +"icons/Download-96.png"));
-    ui->readExistingButton->setIcon(QIcon(theme +"icons/Upload-96.png"));
-    ui->eraseButton->setIcon(QIcon(theme +"icons/Delete-96.png"));
-    ui->replHelpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-    ui->streamButton->setIcon(QIcon(theme +"icons/Download-96.png"));
-
-    QIcon mycon = QIcon(theme + "icons/expand_off.png");
-    mycon.addPixmap(QPixmap(theme + "icons/expand_on.png"), QIcon::Normal, QIcon::On);
-    mycon.addPixmap(QPixmap(theme + "icons/expand_off.png"), QIcon::Normal, QIcon::Off);
+    plusButton->setIcon(Utility::getIcon("icons/Plus Math-96.png"));
+    ui->runButton->setIcon(Utility::getIcon("icons/Circled Play-96.png"));
+    ui->stopButton->setIcon(Utility::getIcon("icons/Shutdown-96.png"));
+    ui->helpButton->setIcon(Utility::getIcon("icons/Help-96.png"));
+    ui->clearConsoleButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
+    ui->openRecentButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->removeSelectedButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
+    ui->clearRecentButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
+    ui->openExampleButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->uploadButton->setIcon(Utility::getIcon("icons/Download-96.png"));
+    ui->readExistingButton->setIcon(Utility::getIcon("icons/Upload-96.png"));
+    ui->eraseButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
+    ui->replHelpButton->setIcon(Utility::getIcon("icons/Help-96.png"));
+    ui->streamButton->setIcon(Utility::getIcon("icons/Download-96.png"));
+
+    QIcon mycon = Utility::getIcon( "icons/expand_off.png");
+    mycon.addPixmap(Utility::getIcon("icons/expand_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(Utility::getIcon("icons/expand_off.png"), QIcon::Normal, QIcon::Off);
     ui->zoomHButton->setIcon(mycon);
 
-    mycon = QIcon(theme + "icons/expand_v_off.png");
-    mycon.addPixmap(QPixmap(theme + "icons/expand_v_on.png"), QIcon::Normal, QIcon::On);
-    mycon.addPixmap(QPixmap(theme + "icons/expand_v_off.png"), QIcon::Normal, QIcon::Off);
+    mycon = Utility::getIcon( "icons/expand_v_off.png");
+    mycon.addPixmap(Utility::getIcon("icons/expand_v_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(Utility::getIcon("icons/expand_v_off.png"), QIcon::Normal, QIcon::Off);
     ui->zoomVButton->setIcon(mycon);
 
-    mycon = QIcon(theme + "icons/size_off.png");
-    mycon.addPixmap(QPixmap(theme + "icons/size_on.png"), QIcon::Normal, QIcon::On);
-    mycon.addPixmap(QPixmap(theme + "icons/size_off.png"), QIcon::Normal, QIcon::Off);
+    mycon = Utility::getIcon( "icons/size_off.png");
+    mycon.addPixmap(Utility::getIcon("icons/size_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(Utility::getIcon("icons/size_off.png"), QIcon::Normal, QIcon::Off);
     ui->autoscaleButton->setIcon(mycon);
 
     plusButton->setFlat(true);
@@ -137,7 +136,7 @@ PageLisp::PageLisp(QWidget *parent) :
 
     // Add close button that clears the main editor
     QPushButton *closeButton = new QPushButton();
-    closeButton->setIcon(QIcon(theme +"icons/Delete-96.png"));
+    closeButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
     closeButton->setFlat(true);
     ui->fileTabs->tabBar()->setTabButton(0, QTabBar::RightSide, closeButton);
 
@@ -385,10 +384,9 @@ void PageLisp::createEditorTab(QString fileName, QString content)
 
     editor->setFileNow(fileName);
     editor->codeEditor()->setPlainText(content);
-    QString theme = Utility::getThemePath();
 
     QPushButton *closeButton = new QPushButton();
-    closeButton->setIcon(QIcon(theme +"icons/Cancel-96.png"));
+    closeButton->setIcon(Utility::getIcon("icons/Cancel-96.png"));
     closeButton->setFlat(true);
     ui->fileTabs->tabBar()->setTabButton(tabIndex, QTabBar::RightSide, closeButton);
 
diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index b50de9130..66012971a 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -35,23 +35,22 @@ PageLogAnalysis::PageLogAnalysis(QWidget *parent) :
 
     resetInds();
 
-    QString theme = Utility::getThemePath();
-    ui->centerButton->setIcon(QPixmap(theme + "icons/icons8-target-96.png"));
-    ui->playButton->setIcon(QPixmap(theme + "icons/Circled Play-96.png"));
-    ui->logListRefreshButton->setIcon(QPixmap(theme + "icons/Refresh-96.png"));
-    ui->logListOpenButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->openCurrentButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->openCsvButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->savePlotPdfButton->setIcon(QPixmap(theme + "icons/Line Chart-96.png"));
-    ui->savePlotPngButton->setIcon(QPixmap(theme + "icons/Line Chart-96.png"));
-    ui->saveMapPdfButton->setIcon(QPixmap(theme + "icons/Waypoint Map-96.png"));
-    ui->saveMapPngButton->setIcon(QPixmap(theme + "icons/Waypoint Map-96.png"));
-    ui->vescLogListRefreshButton->setIcon(QPixmap(theme + "icons/Refresh-96.png"));
-    ui->vescLogListOpenButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->vescUpButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
-    ui->vescSaveAsButton->setIcon(QPixmap(theme + "icons/Save as-96.png"));
-    ui->vescLogDeleteButton->setIcon(QPixmap(theme + "icons/Delete-96.png"));
-    ui->saveCsvButton->setIcon(QPixmap(theme + "icons/Line Chart-96.png"));
+    ui->centerButton->setIcon(Utility::getIcon("icons/icons8-target-96.png"));
+    ui->playButton->setIcon(Utility::getIcon("icons/Circled Play-96.png"));
+    ui->logListRefreshButton->setIcon(Utility::getIcon("icons/Refresh-96.png"));
+    ui->logListOpenButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->openCurrentButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->openCsvButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->savePlotPdfButton->setIcon(Utility::getIcon("icons/Line Chart-96.png"));
+    ui->savePlotPngButton->setIcon(Utility::getIcon("icons/Line Chart-96.png"));
+    ui->saveMapPdfButton->setIcon(Utility::getIcon("icons/Waypoint Map-96.png"));
+    ui->saveMapPngButton->setIcon(Utility::getIcon("icons/Waypoint Map-96.png"));
+    ui->vescLogListRefreshButton->setIcon(Utility::getIcon("icons/Refresh-96.png"));
+    ui->vescLogListOpenButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->vescUpButton->setIcon(Utility::getIcon("icons/Upload-96.png"));
+    ui->vescSaveAsButton->setIcon(Utility::getIcon("icons/Save as-96.png"));
+    ui->vescLogDeleteButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
+    ui->saveCsvButton->setIcon(Utility::getIcon("icons/Line Chart-96.png"));
 
     updateTileServers();
 
@@ -1389,10 +1388,9 @@ void PageLogAnalysis::on_vescLogListRefreshButton_clicked()
             continue;
         }
 
-        QString theme = Utility::getThemePath();
         QTableWidgetItem *itName = new QTableWidgetItem(fe.name);
         itName->setData(Qt::UserRole, QVariant::fromValue(fe));
-        itName->setIcon(fe.isDir ? QPixmap(theme + "icons/Open Folder-96.png") : QPixmap(theme + "icons/Line Chart-96.png"));
+        itName->setIcon(fe.isDir ? Utility::getIcon("icons/Open Folder-96.png") : Utility::getIcon("icons/Line Chart-96.png"));
         ui->vescLogTable->setRowCount(ui->vescLogTable->rowCount() + 1);
         ui->vescLogTable->setItem(ui->vescLogTable->rowCount() - 1, 0, itName);
 
diff --git a/pages/pagemotorcomparison.cpp b/pages/pagemotorcomparison.cpp
index ebc06c428..59f4bf4d3 100644
--- a/pages/pagemotorcomparison.cpp
+++ b/pages/pagemotorcomparison.cpp
@@ -36,35 +36,34 @@ PageMotorComparison::PageMotorComparison(QWidget *parent) :
     ui->qmlWidget->setResizeMode(QQuickWidget::SizeRootObjectToView);
     ui->qmlWidget->setClearColor(Utility::getAppQColor("normalBackground"));
 
-    QString theme = Utility::getThemePath();
-    ui->testRunButton->setIcon(QPixmap(theme + "icons/Process-96.png"));
-    ui->rescaleButton->setIcon(QPixmap(theme + "icons/expand_off.png"));
-    ui->qmlChooseButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->qmlRunButton->setIcon(QPixmap(theme + "icons/Circled Play-96.png"));
-    ui->savePlotPdfButton->setIcon(QPixmap(theme + "icons/Line Chart-96.png"));
-    ui->savePlotPngButton->setIcon(QPixmap(theme + "icons/Line Chart-96.png"));
-
-    ui->m1SetupGearingButton->setIcon(QPixmap(theme + "icons/motor_up.png"));
-    ui->m1LoadConfButton->setIcon(QPixmap(theme + "icons/motor_up.png"));
-    ui->m1ConfChooseButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-
-    ui->m2SetupGearingButton->setIcon(QPixmap(theme + "icons/motor_up.png"));
-    ui->m2LoadConfButton->setIcon(QPixmap(theme + "icons/motor_up.png"));
-    ui->m2ConfChooseButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-
-    QIcon mycon = QIcon(theme + "icons/expand_off.png");
-    mycon.addPixmap(QPixmap(theme + "icons/expand_on.png"), QIcon::Normal, QIcon::On);
-    mycon.addPixmap(QPixmap(theme + "icons/expand_off.png"), QIcon::Normal, QIcon::Off);
+    ui->testRunButton->setIcon(Utility::getIcon("icons/Process-96.png"));
+    ui->rescaleButton->setIcon(Utility::getIcon("icons/expand_off.png"));
+    ui->qmlChooseButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->qmlRunButton->setIcon(Utility::getIcon("icons/Circled Play-96.png"));
+    ui->savePlotPdfButton->setIcon(Utility::getIcon("icons/Line Chart-96.png"));
+    ui->savePlotPngButton->setIcon(Utility::getIcon("icons/Line Chart-96.png"));
+
+    ui->m1SetupGearingButton->setIcon(Utility::getIcon("icons/motor_up.png"));
+    ui->m1LoadConfButton->setIcon(Utility::getIcon("icons/motor_up.png"));
+    ui->m1ConfChooseButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+
+    ui->m2SetupGearingButton->setIcon(Utility::getIcon("icons/motor_up.png"));
+    ui->m2LoadConfButton->setIcon(Utility::getIcon("icons/motor_up.png"));
+    ui->m2ConfChooseButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+
+    QIcon mycon = QIcon(Utility::getIcon("icons/expand_off.png"));
+    mycon.addPixmap(Utility::getIcon("icons/expand_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(Utility::getIcon("icons/expand_off.png"), QIcon::Normal, QIcon::Off);
     ui->zoomHButton->setIcon(mycon);
 
-    mycon = QIcon(theme + "icons/expand_v_off.png");
-    mycon.addPixmap(QPixmap(theme + "icons/expand_v_on.png"), QIcon::Normal, QIcon::On);
-    mycon.addPixmap(QPixmap(theme + "icons/expand_v_off.png"), QIcon::Normal, QIcon::Off);
+    mycon = QIcon(Utility::getIcon("icons/expand_v_off.png"));
+    mycon.addPixmap(Utility::getIcon("icons/expand_v_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(Utility::getIcon("icons/expand_v_off.png"), QIcon::Normal, QIcon::Off);
     ui->zoomVButton->setIcon(mycon);
 
-    mycon = QIcon(theme + "icons/size_off.png");
-    mycon.addPixmap(QPixmap(theme + "icons/size_on.png"), QIcon::Normal, QIcon::On);
-    mycon.addPixmap(QPixmap(theme + "icons/size_off.png"), QIcon::Normal, QIcon::Off);
+    mycon = QIcon(Utility::getIcon("icons/size_off.png"));
+    mycon.addPixmap(Utility::getIcon("icons/size_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(Utility::getIcon("icons/size_off.png"), QIcon::Normal, QIcon::Off);
     ui->autoscaleButton->setIcon(mycon);
 
 
diff --git a/pages/pagemotorsettings.cpp b/pages/pagemotorsettings.cpp
index 69164873d..19d9699c8 100644
--- a/pages/pagemotorsettings.cpp
+++ b/pages/pagemotorsettings.cpp
@@ -31,8 +31,7 @@ PageMotorSettings::PageMotorSettings(QWidget *parent) :
     layout()->setContentsMargins(0, 0, 0, 0);
     mVesc = nullptr;
 
-    QString theme = Utility::getThemePath();
-    ui->motorSetupWizardButton->setIcon(QPixmap(theme + "icons/Wizard-96.png"));
+    ui->motorSetupWizardButton->setIcon(Utility::getIcon("icons/Wizard-96.png"));
 }
 
 PageMotorSettings::~PageMotorSettings()
diff --git a/pages/pagertdata.cpp b/pages/pagertdata.cpp
index 92bcdb3c2..ca0f220a9 100644
--- a/pages/pagertdata.cpp
+++ b/pages/pagertdata.cpp
@@ -34,27 +34,26 @@ PageRtData::PageRtData(QWidget *parent) :
     layout()->setContentsMargins(0, 0, 0, 0);
     mVesc = nullptr;
 
-    QString theme = Utility::getThemePath();
-    ui->rescaleButton->setIcon(QPixmap(theme + "icons/expand_off.png"));
+    ui->rescaleButton->setIcon(Utility::getIcon("icons/expand_off.png"));
 
-    QIcon mycon = QIcon(theme + "icons/expand_off.png");
-    mycon.addPixmap(QPixmap(theme + "icons/expand_on.png"), QIcon::Normal, QIcon::On);
-    mycon.addPixmap(QPixmap(theme + "icons/expand_off.png"), QIcon::Normal, QIcon::Off);
+    QIcon mycon = QIcon(Utility::getIcon("icons/expand_off.png"));
+    mycon.addPixmap(Utility::getIcon("icons/expand_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(Utility::getIcon("icons/expand_off.png"), QIcon::Normal, QIcon::Off);
     ui->zoomHButton->setIcon(mycon);
 
-    mycon = QIcon(theme + "icons/expand_v_off.png");
-    mycon.addPixmap(QPixmap(theme + "icons/expand_v_on.png"), QIcon::Normal, QIcon::On);
-    mycon.addPixmap(QPixmap(theme + "icons/expand_v_off.png"), QIcon::Normal, QIcon::Off);
+    mycon = QIcon(Utility::getIcon("icons/expand_v_off.png"));
+    mycon.addPixmap(Utility::getIcon("icons/expand_v_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(Utility::getIcon("icons/expand_v_off.png"), QIcon::Normal, QIcon::Off);
     ui->zoomVButton->setIcon(mycon);
 
-    mycon = QIcon(theme + "icons/size_off.png");
-    mycon.addPixmap(QPixmap(theme + "icons/size_on.png"), QIcon::Normal, QIcon::On);
-    mycon.addPixmap(QPixmap(theme + "icons/size_off.png"), QIcon::Normal, QIcon::Off);
+    mycon = QIcon(Utility::getIcon("icons/size_off.png"));
+    mycon.addPixmap(Utility::getIcon("icons/size_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(Utility::getIcon("icons/size_off.png"), QIcon::Normal, QIcon::Off);
     ui->autoscaleButton->setIcon(mycon);
 
-    mycon = QIcon(theme + "icons/rt_off.png");
-    mycon.addPixmap(QPixmap(theme + "icons/rt_on.png"), QIcon::Normal, QIcon::On);
-    mycon.addPixmap(QPixmap(theme + "icons/rt_off.png"), QIcon::Normal, QIcon::Off);
+    mycon = QIcon(Utility::getIcon("icons/rt_off.png"));
+    mycon.addPixmap(Utility::getIcon("icons/rt_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(Utility::getIcon("icons/rt_off.png"), QIcon::Normal, QIcon::Off);
     ui->logRtButton->setIcon(mycon);
 
     mTimer = new QTimer(this);
diff --git a/pages/pagesampleddata.cpp b/pages/pagesampleddata.cpp
index 374fd22dc..65e9178c1 100644
--- a/pages/pagesampleddata.cpp
+++ b/pages/pagesampleddata.cpp
@@ -30,32 +30,30 @@ PageSampledData::PageSampledData(QWidget *parent) :
 {
     ui->setupUi(this);
 
-
-    QString theme = Utility::getThemePath();
-    ui->rescaleButton->setIcon(QPixmap(theme + "icons/expand_off.png"));
-    ui->saveDataButton->setIcon(QPixmap(theme + "icons/Save as-96.png"));
-    ui->sampleNowButton->setIcon(QPixmap(theme + "icons/3ph_sine.png"));
-    ui->sampleStartButton->setIcon(QPixmap(theme + "icons/motor.png"));
-    ui->sampleStopButton->setIcon(QPixmap(theme + "icons/Cancel-96.png"));
-    ui->sampleTriggerFaultButton->setIcon(QPixmap(theme + "icons/sample_trigger_fault.png"));
-    ui->sampleTriggerFaultNosendButton->setIcon(QPixmap(theme + "icons/sample_trigger_fault_nosend.png"));
-    ui->sampleTriggerStartButton->setIcon(QPixmap(theme + "icons/sampl_trigger_start.png"));
-    ui->sampleTriggerStartNosendButton->setIcon(QPixmap(theme + "icons/sample_trigger_start_nosend.png"));
-    ui->sampleLastButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
-
-    QIcon mycon = QIcon(theme + "icons/expand_off.png");
-    mycon.addPixmap(QPixmap(theme + "icons/expand_on.png"), QIcon::Normal, QIcon::On);
-    mycon.addPixmap(QPixmap(theme + "icons/expand_off.png"), QIcon::Normal, QIcon::Off);
+    ui->rescaleButton->setIcon(Utility::getIcon("icons/expand_off.png"));
+    ui->saveDataButton->setIcon(Utility::getIcon("icons/Save as-96.png"));
+    ui->sampleNowButton->setIcon(Utility::getIcon("icons/3ph_sine.png"));
+    ui->sampleStartButton->setIcon(Utility::getIcon("icons/motor.png"));
+    ui->sampleStopButton->setIcon(Utility::getIcon("icons/Cancel-96.png"));
+    ui->sampleTriggerFaultButton->setIcon(Utility::getIcon("icons/sample_trigger_fault.png"));
+    ui->sampleTriggerFaultNosendButton->setIcon(Utility::getIcon("icons/sample_trigger_fault_nosend.png"));
+    ui->sampleTriggerStartButton->setIcon(Utility::getIcon("icons/sampl_trigger_start.png"));
+    ui->sampleTriggerStartNosendButton->setIcon(Utility::getIcon("icons/sample_trigger_start_nosend.png"));
+    ui->sampleLastButton->setIcon(Utility::getIcon("icons/Upload-96.png"));
+
+    QIcon mycon = QIcon(Utility::getIcon("icons/expand_off.png"));
+    mycon.addPixmap(Utility::getIcon("icons/expand_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(Utility::getIcon("icons/expand_off.png"), QIcon::Normal, QIcon::Off);
     ui->zoomHButton->setIcon(mycon);
 
-    mycon = QIcon(theme + "icons/expand_v_off.png");
-    mycon.addPixmap(QPixmap(theme + "icons/expand_v_on.png"), QIcon::Normal, QIcon::On);
-    mycon.addPixmap(QPixmap(theme + "icons/expand_v_off.png"), QIcon::Normal, QIcon::Off);
+    mycon = QIcon(Utility::getIcon("icons/expand_v_off.png"));
+    mycon.addPixmap(Utility::getIcon("icons/expand_v_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(Utility::getIcon("icons/expand_v_off.png"), QIcon::Normal, QIcon::Off);
     ui->zoomVButton->setIcon(mycon);
 
-    mycon = QIcon(theme + "icons/size_off.png");
-    mycon.addPixmap(QPixmap(theme + "icons/size_on.png"), QIcon::Normal, QIcon::On);
-    mycon.addPixmap(QPixmap(theme + "icons/size_off.png"), QIcon::Normal, QIcon::Off);
+    mycon = QIcon(Utility::getIcon("icons/size_off.png"));
+    mycon.addPixmap(Utility::getIcon("icons/size_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(Utility::getIcon("icons/size_off.png"), QIcon::Normal, QIcon::Off);
 
 
     layout()->setContentsMargins(0, 0, 0, 0);
diff --git a/pages/pagescripting.cpp b/pages/pagescripting.cpp
index 3a5145996..cb43c880c 100755
--- a/pages/pagescripting.cpp
+++ b/pages/pagescripting.cpp
@@ -45,26 +45,25 @@ PageScripting::PageScripting(QWidget *parent) :
     makeEditorConnections(ui->mainEdit);
 
     QPushButton *plusButton = new QPushButton();
-    QString theme = Utility::getThemePath();
-    plusButton->setIcon(QIcon(theme +"icons/Plus Math-96.png"));
-    ui->runButton->setIcon(QIcon(theme +"icons/Circled Play-96.png"));
-    ui->runWindowButton->setIcon(QIcon(theme +"icons/Circled Play-96.png"));
-    ui->fullscreenButton->setIcon(QIcon(theme +"icons/size_off.png"));
-    ui->stopButton->setIcon(QIcon(theme +"icons/Shutdown-96.png"));
-    ui->helpButton->setIcon(QIcon(theme +"icons/Help-96.png"));
-    ui->clearConsoleButton->setIcon(QIcon(theme +"icons/Delete-96.png"));
-    ui->openRecentButton->setIcon(QIcon(theme +"icons/Open Folder-96.png"));
-    ui->removeSelectedButton->setIcon(QIcon(theme +"icons/Delete-96.png"));
-    ui->clearRecentButton->setIcon(QIcon(theme +"icons/Delete-96.png"));
-    ui->openExampleButton->setIcon(QIcon(theme +"icons/Open Folder-96.png"));
-    ui->exportCArrayAppButton->setIcon(QIcon(theme +"icons/Save as-96.png"));
-    ui->exportCArrayHwButton->setIcon(QIcon(theme +"icons/Save as-96.png"));
-    ui->calcSizeButton->setIcon(QIcon(theme +"icons/Calculator-96.png"));
-    ui->openQmluiAppButton->setIcon(QIcon(theme +"icons/Open Folder-96.png"));
-    ui->openQmluiHwButton->setIcon(QIcon(theme +"icons/Open Folder-96.png"));
-    ui->uploadButton->setIcon(QIcon(theme +"icons/Download-96.png"));
-    ui->eraseOnlyButton->setIcon(QIcon(theme +"icons/Delete-96.png"));
-    ui->clearUploadTextButton->setIcon(QIcon(theme +"icons/Delete-96.png"));
+    plusButton->setIcon(Utility::getIcon("icons/Plus Math-96.png"));
+    ui->runButton->setIcon(Utility::getIcon("icons/Circled Play-96.png"));
+    ui->runWindowButton->setIcon(Utility::getIcon("icons/Circled Play-96.png"));
+    ui->fullscreenButton->setIcon(Utility::getIcon("icons/size_off.png"));
+    ui->stopButton->setIcon(Utility::getIcon("icons/Shutdown-96.png"));
+    ui->helpButton->setIcon(Utility::getIcon("icons/Help-96.png"));
+    ui->clearConsoleButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
+    ui->openRecentButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->removeSelectedButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
+    ui->clearRecentButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
+    ui->openExampleButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->exportCArrayAppButton->setIcon(Utility::getIcon("icons/Save as-96.png"));
+    ui->exportCArrayHwButton->setIcon(Utility::getIcon("icons/Save as-96.png"));
+    ui->calcSizeButton->setIcon(Utility::getIcon("icons/Calculator-96.png"));
+    ui->openQmluiAppButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->openQmluiHwButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->uploadButton->setIcon(Utility::getIcon("icons/Download-96.png"));
+    ui->eraseOnlyButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
+    ui->clearUploadTextButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
 
     plusButton->setFlat(true);
     plusButton->setText("New Tab");
@@ -134,7 +133,7 @@ PageScripting::PageScripting(QWidget *parent) :
 
     // Add close button that clears the main editor
     QPushButton *closeButton = new QPushButton();
-    closeButton->setIcon(QIcon(theme +"icons/Delete-96.png"));
+    closeButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
     closeButton->setFlat(true);
     ui->fileTabs->tabBar()->setTabButton(0, QTabBar::RightSide, closeButton);
 
@@ -420,10 +419,9 @@ void PageScripting::createEditorTab(QString fileName, QString content)
 
     editor->setFileNow(fileName);
     editor->codeEditor()->setPlainText(content);
-    QString theme = Utility::getThemePath();
 
     QPushButton *closeButton = new QPushButton();
-    closeButton->setIcon(QIcon(theme +"icons/Cancel-96.png"));
+    closeButton->setIcon(Utility::getIcon("icons/Cancel-96.png"));
     closeButton->setFlat(true);
     ui->fileTabs->tabBar()->setTabButton(tabIndex, QTabBar::RightSide, closeButton);
 
diff --git a/pages/pageswdprog.cpp b/pages/pageswdprog.cpp
index 36f220a13..59e44669f 100644
--- a/pages/pageswdprog.cpp
+++ b/pages/pageswdprog.cpp
@@ -35,21 +35,20 @@ PageSwdProg::PageSwdProg(QWidget *parent) :
     layout()->setContentsMargins(0, 0, 0, 0);
     mVesc = nullptr;
 
-    QString theme = Utility::getThemePath();
-    ui->chooseButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->choose2Button->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->choose3Button->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->choose4Button->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->uicrReadButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
-    ui->uicrWriteButton->setIcon(QPixmap(theme + "icons/Download-96.png"));
-    ui->uicrEraseButton->setIcon(QPixmap(theme + "icons/Delete-96.png"));
-    ui->connectButton->setIcon(QPixmap(theme + "icons/Connected-96.png"));
-    ui->connectNrf5xButton->setIcon(QPixmap(theme + "icons/Connected-96.png"));
-    ui->disconnectButton->setIcon(QPixmap(theme + "icons/Disconnected-96.png"));
-    ui->resetButton->setIcon(QPixmap(theme + "icons/Restart-96.png"));
-    ui->eraseFlashButton->setIcon(QPixmap(theme + "icons/Delete-96.png"));
-    ui->uploadButton->setIcon(QPixmap(theme + "icons/Download-96.png"));
-    ui->cancelButton->setIcon(QPixmap(theme + "icons/Cancel-96.png"));
+    ui->chooseButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->choose2Button->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->choose3Button->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->choose4Button->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->uicrReadButton->setIcon(Utility::getIcon("icons/Upload-96.png"));
+    ui->uicrWriteButton->setIcon(Utility::getIcon("icons/Download-96.png"));
+    ui->uicrEraseButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
+    ui->connectButton->setIcon(Utility::getIcon("icons/Connected-96.png"));
+    ui->connectNrf5xButton->setIcon(Utility::getIcon("icons/Connected-96.png"));
+    ui->disconnectButton->setIcon(Utility::getIcon("icons/Disconnected-96.png"));
+    ui->resetButton->setIcon(Utility::getIcon("icons/Restart-96.png"));
+    ui->eraseFlashButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
+    ui->uploadButton->setIcon(Utility::getIcon("icons/Download-96.png"));
+    ui->cancelButton->setIcon(Utility::getIcon("icons/Cancel-96.png"));
 
     mTimer = new QTimer(this);
     mTimer->start(500);
@@ -87,10 +86,9 @@ PageSwdProg::PageSwdProg(QWidget *parent) :
         le->setFont(font);
         ui->uicrTable->setCellWidget(ui->uicrTable->rowCount() - 1, 2, le);
 
-        QString theme = Utility::getThemePath();
         QPushButton *readButton = new QPushButton;
         readButton->setText("Read");
-        readButton->setIcon(QIcon(theme +"icons/Upload-96.png"));
+        readButton->setIcon(Utility::getIcon("icons/Upload-96.png"));
         ui->uicrTable->setCellWidget(ui->uicrTable->rowCount() - 1, 3, readButton);
 
         connect(readButton, &QAbstractButton::clicked, [this, offset, le]() {
@@ -119,7 +117,7 @@ PageSwdProg::PageSwdProg(QWidget *parent) :
 
         QPushButton *writeButton = new QPushButton;
         writeButton->setText("Write");
-        writeButton->setIcon(QIcon(theme +"icons/Download-96.png"));
+        writeButton->setIcon(Utility::getIcon("icons/Download-96.png"));
         ui->uicrTable->setCellWidget(ui->uicrTable->rowCount() - 1, 4, writeButton);
 
         connect(writeButton, &QAbstractButton::clicked, [this, offset, le, name]() {
diff --git a/pages/pageterminal.cpp b/pages/pageterminal.cpp
index 0babc1d05..ec9339e61 100644
--- a/pages/pageterminal.cpp
+++ b/pages/pageterminal.cpp
@@ -27,10 +27,9 @@ PageTerminal::PageTerminal(QWidget *parent) :
 {
     ui->setupUi(this);
 
-    QString theme = Utility::getThemePath();
-    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-    ui->sendButton->setIcon(QPixmap(theme + "icons/Send File-96.png"));
-    ui->clearButton->setIcon(QPixmap(theme + "icons/Delete-96.png"));
+    ui->helpButton->setIcon(Utility::getIcon("icons/Help-96.png"));
+    ui->sendButton->setIcon(Utility::getIcon("icons/Send File-96.png"));
+    ui->clearButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
 
     layout()->setContentsMargins(0, 0, 0, 0);
     mVesc = 0;
diff --git a/pages/pagevescpackage.cpp b/pages/pagevescpackage.cpp
index 441214397..c730d298e 100644
--- a/pages/pagevescpackage.cpp
+++ b/pages/pagevescpackage.cpp
@@ -33,18 +33,17 @@ PageVescPackage::PageVescPackage(QWidget *parent) :
     mVesc = nullptr;
     layout()->setContentsMargins(0, 0, 0, 0);
 
-    QString theme = Utility::getThemePath();
-    ui->chooseLoadButton->setIcon(QIcon(theme +"icons/Open Folder-96.png"));
-    ui->chooseLispButton->setIcon(QIcon(theme +"icons/Open Folder-96.png"));
-    ui->chooseOutputButton->setIcon(QIcon(theme +"icons/Open Folder-96.png"));
-    ui->chooseQmlButton->setIcon(QIcon(theme +"icons/Open Folder-96.png"));
-    ui->writeButton->setIcon(QIcon(theme +"icons/Download-96.png"));
-    ui->loadRefreshButton->setIcon(QIcon(theme +"icons/Refresh-96.png"));
-    ui->outputRefreshButton->setIcon(QIcon(theme +"icons/Refresh-96.png"));
-    ui->saveButton->setIcon(QIcon(theme +"icons/Save-96.png"));
-    ui->dlArchiveButton->setIcon(QPixmap(theme + "icons/Refresh-96.png"));
-    ui->installButton->setIcon(QIcon(theme +"icons/Download-96.png"));
-    ui->uninstallButton->setIcon(QIcon(theme +"icons/Delete-96.png"));
+    ui->chooseLoadButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->chooseLispButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->chooseOutputButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->chooseQmlButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->writeButton->setIcon(Utility::getIcon("icons/Download-96.png"));
+    ui->loadRefreshButton->setIcon(Utility::getIcon("icons/Refresh-96.png"));
+    ui->outputRefreshButton->setIcon(Utility::getIcon("icons/Refresh-96.png"));
+    ui->saveButton->setIcon(Utility::getIcon("icons/Save-96.png"));
+    ui->dlArchiveButton->setIcon(Utility::getIcon("icons/Refresh-96.png"));
+    ui->installButton->setIcon(Utility::getIcon("icons/Download-96.png"));
+    ui->uninstallButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
 
     QSettings set;
     ui->loadEdit->setText(set.value("pagevescpackage/lastpkgload", "").toString());
diff --git a/pages/pagewelcome.cpp b/pages/pagewelcome.cpp
index 3e40a97a9..042595a72 100755
--- a/pages/pagewelcome.cpp
+++ b/pages/pagewelcome.cpp
@@ -37,15 +37,14 @@ PageWelcome::PageWelcome(QWidget *parent) :
     ui->setupUi(this);
     mUtil = new Utility(this);
 
-    QString theme = Utility::getThemePath();
-    ui->autoConnectButton->setIcon(QIcon(theme + "icons/Connected-96.png"));
-    ui->wizardFocSimpleButton->setIcon(QIcon(theme + "icons/Wizard-96.png"));
-    ui->wizardAppButton->setIcon(QIcon(theme + "icons/Wizard-96.png"));
-    ui->nrfPairButton->setIcon(QIcon(theme + "icons/icons8-fantasy-96.png"));
-    ui->multiSettingButton->setIcon(QIcon(theme + "icons/Settings-96.png"));
-    ui->invertDirButton->setIcon(QIcon(theme + "icons/Process-96.png"));
-    ui->setupBluetoothButton->setIcon(QIcon(theme + "icons/bluetooth.png"));
-    ui->wizardIMUButton->setIcon(QIcon(theme + "icons/imu_off.png"));
+    ui->autoConnectButton->setIcon(Utility::getIcon("icons/Connected-96.png"));
+    ui->wizardFocSimpleButton->setIcon(Utility::getIcon("icons/Wizard-96.png"));
+    ui->wizardAppButton->setIcon(Utility::getIcon("icons/Wizard-96.png"));
+    ui->nrfPairButton->setIcon(Utility::getIcon("icons/icons8-fantasy-96.png"));
+    ui->multiSettingButton->setIcon(Utility::getIcon("icons/Settings-96.png"));
+    ui->invertDirButton->setIcon(Utility::getIcon("icons/Process-96.png"));
+    ui->setupBluetoothButton->setIcon(Utility::getIcon("icons/bluetooth.png"));
+    ui->wizardIMUButton->setIcon(Utility::getIcon("icons/imu_off.png"));
 
     layout()->setContentsMargins(0, 0, 0, 0);
     mVesc = nullptr;
diff --git a/parametereditor.cpp b/parametereditor.cpp
index de9953810..d71544e49 100644
--- a/parametereditor.cpp
+++ b/parametereditor.cpp
@@ -34,51 +34,50 @@ ParameterEditor::ParameterEditor(QWidget *parent) :
     ui->setupUi(this);
     setEditorValues("new_parameter", ConfigParam());
 
-    QString theme = Utility::getThemePath();
-    windowIcon().addPixmap(QPixmap(theme + "icons/Horizontal Settings Mixer-96.png"));
-    ui->paramRemoveButton->setIcon(QPixmap(theme + "icons/Delete-96.png"));
-    ui->paramDownButton->setIcon(QPixmap(theme + "icons/Down-96.png"));
-    ui->paramUpButton->setIcon(QPixmap(theme + "icons/Up-96.png"));
-    ui->paramOpenButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->enumRemoveButton->setIcon(QPixmap(theme + "icons/Delete-96.png"));
-    ui->enumMoveDownButton->setIcon(QPixmap(theme + "icons/Down-96.png"));
-    ui->enumMoveUpButton->setIcon(QPixmap(theme + "icons/Up-96.png"));
-    ui->enumAddButton->setIcon(QPixmap(theme + "icons/Plus Math-96.png"));
-    ui->paramResetButton->setIcon(QPixmap(theme + "icons/Refresh-96.png"));
-    ui->paramSaveButton->setIcon(QPixmap(theme + "icons/Save-96.png"));
-    ui->serRemoveButton->setIcon(QPixmap(theme + "icons/Delete-96.png"));
-    ui->serDownButton->setIcon(QPixmap(theme + "icons/Down-96.png"));
-    ui->serUpButton->setIcon(QPixmap(theme + "icons/Up-96.png"));
-    ui->serAddButton->setIcon(QPixmap(theme + "icons/Plus Math-96.png"));
-
-    ui->groupRemoveButton->setIcon(QPixmap(theme + "icons/Delete-96.png"));
-    ui->groupDownButton->setIcon(QPixmap(theme + "icons/Down-96.png"));
-    ui->groupUpButton->setIcon(QPixmap(theme + "icons/Up-96.png"));
-    ui->groupAddButton->setIcon(QPixmap(theme + "icons/Plus Math-96.png"));
-    ui->groupEditButton->setIcon(QPixmap(theme + "icons/icons8-edit-96.png"));
-
-    ui->subgroupRemoveButton->setIcon(QPixmap(theme + "icons/Delete-96.png"));
-    ui->subgroupDownButton->setIcon(QPixmap(theme + "icons/Down-96.png"));
-    ui->subgroupUpButton->setIcon(QPixmap(theme + "icons/Up-96.png"));
-    ui->subgroupAddButton->setIcon(QPixmap(theme + "icons/Plus Math-96.png"));
-    ui->subgroupEditButton->setIcon(QPixmap(theme + "icons/icons8-edit-96.png"));
-
-    ui->groupParamRemoveButton->setIcon(QPixmap(theme + "icons/Delete-96.png"));
-    ui->groupParamDownButton->setIcon(QPixmap(theme + "icons/Down-96.png"));
-    ui->groupParamUpButton->setIcon(QPixmap(theme + "icons/Up-96.png"));
-    ui->groupParamAddButton->setIcon(QPixmap(theme + "icons/Plus Math-96.png"));
-    ui->groupParamEditButton->setIcon(QPixmap(theme + "icons/icons8-edit-96.png"));
-
-    ui->actionCalculatePacketSize->setIcon(QPixmap(theme + "icons/Calculator-96.png"));
-    ui->actionCalculateCompressedCArraySize->setIcon(QPixmap(theme + "icons/Calculator-96.png"));
-    ui->actionSave_XML_as->setIcon(QPixmap(theme + "icons/Save as-96.png"));
-    ui->actionExportCompressedCArray->setIcon(QPixmap(theme + "icons/Save as-96.png"));
-    ui->actionSave_Configuration_C_Header_as->setIcon(QPixmap(theme + "icons/Save as-96.png"));
-    ui->actionSave_Configuration_C_Header_ifdef_wrapped_as->setIcon(QPixmap(theme + "icons/Save as-96.png"));
-    ui->actionSave_XML_and_export_config_parser_and_compressed_C_array->setIcon(QPixmap(theme + "icons/Save as-96.png"));
-    ui->actionLoad_XML->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->actionExportConfigurationParser->setIcon(QPixmap(theme + "icons/Save as-96.png"));
-    ui->actionDeleteAll->setIcon(QPixmap(theme + "icons/Delete-96.png"));
+    windowIcon().addPixmap(Utility::getIcon("icons/Horizontal Settings Mixer-96.png"));
+    ui->paramRemoveButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
+    ui->paramDownButton->setIcon(Utility::getIcon("icons/Down-96.png"));
+    ui->paramUpButton->setIcon(Utility::getIcon("icons/Up-96.png"));
+    ui->paramOpenButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->enumRemoveButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
+    ui->enumMoveDownButton->setIcon(Utility::getIcon("icons/Down-96.png"));
+    ui->enumMoveUpButton->setIcon(Utility::getIcon("icons/Up-96.png"));
+    ui->enumAddButton->setIcon(Utility::getIcon("icons/Plus Math-96.png"));
+    ui->paramResetButton->setIcon(Utility::getIcon("icons/Refresh-96.png"));
+    ui->paramSaveButton->setIcon(Utility::getIcon("icons/Save-96.png"));
+    ui->serRemoveButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
+    ui->serDownButton->setIcon(Utility::getIcon("icons/Down-96.png"));
+    ui->serUpButton->setIcon(Utility::getIcon("icons/Up-96.png"));
+    ui->serAddButton->setIcon(Utility::getIcon("icons/Plus Math-96.png"));
+
+    ui->groupRemoveButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
+    ui->groupDownButton->setIcon(Utility::getIcon("icons/Down-96.png"));
+    ui->groupUpButton->setIcon(Utility::getIcon("icons/Up-96.png"));
+    ui->groupAddButton->setIcon(Utility::getIcon("icons/Plus Math-96.png"));
+    ui->groupEditButton->setIcon(Utility::getIcon("icons/icons8-edit-96.png"));
+
+    ui->subgroupRemoveButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
+    ui->subgroupDownButton->setIcon(Utility::getIcon("icons/Down-96.png"));
+    ui->subgroupUpButton->setIcon(Utility::getIcon("icons/Up-96.png"));
+    ui->subgroupAddButton->setIcon(Utility::getIcon("icons/Plus Math-96.png"));
+    ui->subgroupEditButton->setIcon(Utility::getIcon("icons/icons8-edit-96.png"));
+
+    ui->groupParamRemoveButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
+    ui->groupParamDownButton->setIcon(Utility::getIcon("icons/Down-96.png"));
+    ui->groupParamUpButton->setIcon(Utility::getIcon("icons/Up-96.png"));
+    ui->groupParamAddButton->setIcon(Utility::getIcon("icons/Plus Math-96.png"));
+    ui->groupParamEditButton->setIcon(Utility::getIcon("icons/icons8-edit-96.png"));
+
+    ui->actionCalculatePacketSize->setIcon(Utility::getIcon("icons/Calculator-96.png"));
+    ui->actionCalculateCompressedCArraySize->setIcon(Utility::getIcon("icons/Calculator-96.png"));
+    ui->actionSave_XML_as->setIcon(Utility::getIcon("icons/Save as-96.png"));
+    ui->actionExportCompressedCArray->setIcon(Utility::getIcon("icons/Save as-96.png"));
+    ui->actionSave_Configuration_C_Header_as->setIcon(Utility::getIcon("icons/Save as-96.png"));
+    ui->actionSave_Configuration_C_Header_ifdef_wrapped_as->setIcon(Utility::getIcon("icons/Save as-96.png"));
+    ui->actionSave_XML_and_export_config_parser_and_compressed_C_array->setIcon(Utility::getIcon("icons/Save as-96.png"));
+    ui->actionLoad_XML->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->actionExportConfigurationParser->setIcon(Utility::getIcon("icons/Save as-96.png"));
+    ui->actionDeleteAll->setIcon(Utility::getIcon("icons/Delete-96.png"));
 
     mStatusInfoTime = 0;
     mStatusLabel = new QLabel(this);
diff --git a/preferences.cpp b/preferences.cpp
index acb876f1d..e106c9b49 100755
--- a/preferences.cpp
+++ b/preferences.cpp
@@ -41,19 +41,18 @@ Preferences::Preferences(QWidget *parent) :
             this, SLOT(timerSlot()));
 
     ui->setupUi(this);
-    QString theme = Utility::getThemePath();
-
-    ui->pollRestoreButton->setIcon(QPixmap(theme + "icons/Restart-96.png"));
-    ui->pathScriptInputChooseButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->pathRtLogChooseButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->pathScriptOutputChooseButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->jsConf1Button->setIcon(QPixmap(theme + "icons/Horizontal Settings Mixer-96.png"));
-    ui->jsConf2Button->setIcon(QPixmap(theme + "icons/Horizontal Settings Mixer-96.png"));
-    ui->jsConf3Button->setIcon(QPixmap(theme + "icons/Horizontal Settings Mixer-96.png"));
-    ui->jsConf4Button->setIcon(QPixmap(theme + "icons/Horizontal Settings Mixer-96.png"));
-    ui->jsConnectButton->setIcon(QPixmap(theme + "icons/Connected-96.png"));
-    ui->jsScanButton->setIcon(QPixmap(theme + "icons/Connected-96.png"));
-    ui->jsResetConfigButton->setIcon(QPixmap(theme + "icons/Restart-96.png"));
+
+    ui->pollRestoreButton->setIcon(Utility::getIcon("icons/Restart-96.png"));
+    ui->pathScriptInputChooseButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->pathRtLogChooseButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->pathScriptOutputChooseButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->jsConf1Button->setIcon(Utility::getIcon("icons/Horizontal Settings Mixer-96.png"));
+    ui->jsConf2Button->setIcon(Utility::getIcon("icons/Horizontal Settings Mixer-96.png"));
+    ui->jsConf3Button->setIcon(Utility::getIcon("icons/Horizontal Settings Mixer-96.png"));
+    ui->jsConf4Button->setIcon(Utility::getIcon("icons/Horizontal Settings Mixer-96.png"));
+    ui->jsConnectButton->setIcon(Utility::getIcon("icons/Connected-96.png"));
+    ui->jsScanButton->setIcon(Utility::getIcon("icons/Connected-96.png"));
+    ui->jsResetConfigButton->setIcon(Utility::getIcon("icons/Restart-96.png"));
 
     ui->uiScaleBox->setValue(mSettings.value("app_scale_factor", 1.0).toDouble());
     ui->uiPlotWidthBox->setValue(mSettings.value("plot_line_width",4.0).toDouble());
diff --git a/setupwizardapp.cpp b/setupwizardapp.cpp
index 7ffb182a5..addb9c147 100644
--- a/setupwizardapp.cpp
+++ b/setupwizardapp.cpp
@@ -44,8 +44,7 @@ SetupWizardApp::SetupWizardApp(VescInterface *vesc, QWidget *parent)
 
     setStartId(Page_Intro);
     setWizardStyle(ModernStyle);
-    QString theme = Utility::getThemePath();
-    QPixmap icon_logo = QIcon(":/res/icon.svg").pixmap(QSize(this->devicePixelRatioF() * 48, this->devicePixelRatioF() * 48));
+    QPixmap icon_logo = QIcon(Utility::getIcon(":/res/icon.svg")).pixmap(QSize(this->devicePixelRatioF() * 48, this->devicePixelRatioF() * 48));
     icon_logo.setDevicePixelRatio(this->devicePixelRatioF());
     setPixmap(QWizard::LogoPixmap, icon_logo);
     resize(800, 450);
@@ -53,7 +52,7 @@ SetupWizardApp::SetupWizardApp(VescInterface *vesc, QWidget *parent)
     setWindowTitle(tr("App Setup Wizard"));
 
     mSideLabel = new AspectImgLabel(Qt::Vertical);
-    mSideLabel->setPixmap(QPixmap(theme +"logo_vertical.png"));
+    mSideLabel->setPixmap(Utility::getIcon("logo_vertical.png"));
     mSideLabel->setScaledContents(true);
     setSideWidget(mSideLabel);
 
@@ -244,13 +243,11 @@ void AppMultiPage::initializePage()
     FW_RX_PARAMS params;
     Utility::getFwVersionBlocking(mVesc, &params);
 
-    QString theme = Utility::getThemePath();
-
     if (params.hwType == HW_TYPE_VESC) {
         QListWidgetItem *item = new QListWidgetItem;
         item->setText(tr("This VESC (ID: %1)").
                       arg(mVesc->appConfig()->getParamInt("controller_id")));
-        item->setIcon(QIcon(theme +"icons/Connected-96.png"));
+        item->setIcon(Utility::getIcon("icons/Connected-96.png"));
         item->setData(Qt::UserRole, -1);
         mCanFwdList->addItem(item);
     }
@@ -269,7 +266,7 @@ void AppMultiPage::initializePage()
 
         QListWidgetItem *item = new QListWidgetItem;
         item->setText(tr("VESC with ID: %1").arg(dev));
-        item->setIcon(QIcon(theme +"icons/can_off.png"));
+        item->setIcon(Utility::getIcon("icons/can_off.png"));
         item->setData(Qt::UserRole, dev);
         mCanFwdList->addItem(item);
     }
@@ -409,8 +406,7 @@ AppNunchukPage::AppNunchukPage(VescInterface *vesc, QWidget *parent)
     mNrfPair = new NrfPair;
     mTimer = new QTimer(this);
     mWriteButton = new QPushButton(tr(" | Write Configuration To Vesc"));
-    QString theme = Utility::getThemePath();
-    mWriteButton->setIcon(QIcon(theme +"icons/app_down.png"));
+    mWriteButton->setIcon(Utility::getIcon("icons/app_down.png"));
     mWriteButton->setIconSize(QSize(24, 24));
 
     mNrfPair->setVesc(mVesc);
@@ -597,8 +593,7 @@ AppPpmPage::AppPpmPage(VescInterface *vesc, QWidget *parent)
 
     mParamTab = new ParamTable;
     mWriteButton = new QPushButton(tr(" | Write Configuration To Vesc"));
-    QString theme = Utility::getThemePath();
-    mWriteButton->setIcon(QIcon(theme +"icons/app_down.png"));
+    mWriteButton->setIcon(Utility::getIcon("icons/app_down.png"));
     mWriteButton->setIconSize(QSize(24, 24));
 
     QVBoxLayout *layout = new QVBoxLayout;
@@ -746,8 +741,7 @@ AppAdcPage::AppAdcPage(VescInterface *vesc, QWidget *parent)
 
     mParamTab = new ParamTable;
     mWriteButton = new QPushButton(tr(" | Write Configuration To Vesc"));
-    QString theme = Utility::getThemePath();
-    mWriteButton->setIcon(QIcon(theme +"icons/app_down.png"));
+    mWriteButton->setIcon(Utility::getIcon("icons/app_down.png"));
     mWriteButton->setIconSize(QSize(24, 24));
 
     QVBoxLayout *layout = new QVBoxLayout;
diff --git a/setupwizardmotor.cpp b/setupwizardmotor.cpp
index b3eeec10d..bb5328313 100644
--- a/setupwizardmotor.cpp
+++ b/setupwizardmotor.cpp
@@ -40,7 +40,6 @@ SetupWizardMotor::SetupWizardMotor(VescInterface *vesc, QWidget *parent)
 
     setStartId(Page_Intro);
     setWizardStyle(ModernStyle);
-    QString theme = Utility::getThemePath();
     QPixmap icon_logo = QIcon(":/res/icon.svg").pixmap(QSize(this->devicePixelRatioF() * 48, this->devicePixelRatioF() * 48));
     icon_logo.setDevicePixelRatio(this->devicePixelRatioF());
     setPixmap(QWizard::LogoPixmap, icon_logo);
diff --git a/startupwizard.cpp b/startupwizard.cpp
index 35bc1e197..0dd5516a3 100644
--- a/startupwizard.cpp
+++ b/startupwizard.cpp
@@ -34,7 +34,6 @@ StartupWizard::StartupWizard(VescInterface *vesc, QWidget *parent)
     setPage(Page_Warranty, new StartupWarrantyPage(vesc));
     setPage(Page_Conclusion, new StartupConclusionPage(vesc));
 
-    QString theme = Utility::getThemePath();
     setStartId(Page_Intro);
     setWizardStyle(ModernStyle);
     QPixmap icon_logo = QIcon(":/res/icon.svg").pixmap(QSize(this->devicePixelRatioF() * 48, this->devicePixelRatioF() * 48));
@@ -45,7 +44,7 @@ StartupWizard::StartupWizard(VescInterface *vesc, QWidget *parent)
     setWindowTitle(tr("VESC Tool Introduction"));
 
     mSideLabel = new AspectImgLabel(Qt::Vertical);
-    mSideLabel->setPixmap(QPixmap(theme + "logo_vertical.png"));
+    mSideLabel->setPixmap(Utility::getIcon("logo_vertical.png"));
     mSideLabel->setScaledContents(true);
     setSideWidget(mSideLabel);
 
diff --git a/utility.cpp b/utility.cpp
index c9664be6f..ee3cdb36a 100755
--- a/utility.cpp
+++ b/utility.cpp
@@ -36,7 +36,7 @@
 #include <QtGlobal>
 #include <QNetworkInterface>
 #include <QDirIterator>
-
+#include <QPixmapCache>
 
 #ifdef Q_OS_ANDROID
 #include <QtAndroid>
@@ -2271,6 +2271,17 @@ QString Utility::waitForLine(QTcpSocket *socket, int timeoutMs)
     return res;
 }
 
+QPixmap Utility::getIcon(QString path)
+{
+    QPixmap pm;
+    if (!QPixmapCache::find(path, &pm)) {
+        pm.load(getThemePath() + path);
+        QPixmapCache::insert(path, pm);
+    }
+
+    return pm;
+}
+
 void Utility::setDarkMode(bool isDarkSetting)
 {
     isDark = isDarkSetting;
@@ -2283,7 +2294,7 @@ bool Utility::isDarkMode()
 
 QString Utility::getThemePath()
 {
-    if(isDark) {
+    if (isDark) {
         return ":/res/";
     } else {
         return ":/res/+theme_light/";
diff --git a/utility.h b/utility.h
index 4181eaf57..ef12d43e3 100644
--- a/utility.h
+++ b/utility.h
@@ -137,6 +137,8 @@ class Utility : public QObject
 
     static QString waitForLine(QTcpSocket *socket, int timeoutMs);
 
+    static QPixmap getIcon(QString path);
+
 signals:
 
 public slots:
diff --git a/widgets/adcmap.cpp b/widgets/adcmap.cpp
index 55b8e929f..12ef49901 100644
--- a/widgets/adcmap.cpp
+++ b/widgets/adcmap.cpp
@@ -29,10 +29,9 @@ AdcMap::AdcMap(QWidget *parent) :
 {
     ui->setupUi(this);
 
-    QString theme = Utility::getThemePath();
-    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-    ui->resetButton->setIcon(QPixmap(theme + "icons/Restart-96.png"));
-    ui->applyButton->setIcon(QPixmap(theme + "icons/Ok-96.png"));
+    ui->helpButton->setIcon(Utility::getIcon("icons/Help-96.png"));
+    ui->resetButton->setIcon(Utility::getIcon("icons/Restart-96.png"));
+    ui->applyButton->setIcon(Utility::getIcon("icons/Ok-96.png"));
 
     layout()->setContentsMargins(0, 0, 0, 0);
     mVesc = 0;
diff --git a/widgets/adcmap.ui b/widgets/adcmap.ui
index b4395c53f..8257decc7 100644
--- a/widgets/adcmap.ui
+++ b/widgets/adcmap.ui
@@ -51,10 +51,6 @@
           <property name="text">
            <string>Help</string>
           </property>
-          <property name="icon">
-           <iconset resource="../res.qrc">
-            <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
-          </property>
          </widget>
         </item>
         <item>
@@ -71,10 +67,6 @@
           <property name="text">
            <string>Reset</string>
           </property>
-          <property name="icon">
-           <iconset resource="../res.qrc">
-            <normaloff>:/res/icons/Restart-96.png</normaloff>:/res/icons/Restart-96.png</iconset>
-          </property>
          </widget>
         </item>
         <item>
@@ -91,10 +83,6 @@
           <property name="text">
            <string>Apply</string>
           </property>
-          <property name="icon">
-           <iconset resource="../res.qrc">
-            <normaloff>:/res/+theme_light/icons/Ok-96.png</normaloff>:/res/+theme_light/icons/Ok-96.png</iconset>
-          </property>
           <property name="iconSize">
            <size>
             <width>45</width>
@@ -305,8 +293,6 @@
    <container>1</container>
   </customwidget>
  </customwidgets>
- <resources>
-  <include location="../res.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>
diff --git a/widgets/batterycalculator.cpp b/widgets/batterycalculator.cpp
index 4aa567755..eb821fdcc 100644
--- a/widgets/batterycalculator.cpp
+++ b/widgets/batterycalculator.cpp
@@ -28,10 +28,8 @@ BatteryCalculator::BatteryCalculator(QWidget *parent) :
 {
     ui->setupUi(this);
 
-    QString theme = Utility::getThemePath();
-    ui->batteryCalcButton->setIcon(QPixmap(theme + "icons/apply.png"));
-    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-
+    ui->batteryCalcButton->setIcon(Utility::getIcon("icons/apply.png"));
+    ui->helpButton->setIcon(Utility::getIcon("icons/Help-96.png"));
 
     layout()->setContentsMargins(0, 0, 0, 0);
     mVesc = 0;
diff --git a/widgets/batterycalculator.ui b/widgets/batterycalculator.ui
index c549d21f3..f1e9b1105 100644
--- a/widgets/batterycalculator.ui
+++ b/widgets/batterycalculator.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>474</width>
-    <height>125</height>
+    <height>134</height>
    </rect>
   </property>
   <property name="font">
@@ -64,10 +64,6 @@
         <property name="text">
          <string/>
         </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons/apply.png</normaloff>:/res/icons/apply.png</iconset>
-        </property>
         <property name="iconSize">
          <size>
           <width>45</width>
@@ -135,10 +131,6 @@
         <property name="text">
          <string/>
         </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
-        </property>
        </widget>
       </item>
      </layout>
@@ -146,8 +138,6 @@
    </item>
   </layout>
  </widget>
- <resources>
-  <include location="../res.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>
diff --git a/widgets/detectallfocdialog.cpp b/widgets/detectallfocdialog.cpp
index 2f908cff0..156a00a07 100644
--- a/widgets/detectallfocdialog.cpp
+++ b/widgets/detectallfocdialog.cpp
@@ -31,19 +31,17 @@ DetectAllFocDialog::DetectAllFocDialog(VescInterface *vesc, QWidget *parent) :
 {
     ui->setupUi(this);
 
-    QString theme = Utility::getThemePath();
-    ui->tabWidget->setTabIcon(0, QPixmap(theme + "icons/Wizard-96.png"));
-    ui->tabWidget->setTabIcon(1, QPixmap(theme + "icons/Horizontal Settings Mixer-96.png"));
-    ui->nextMotorButton->setIcon(QPixmap(theme + "icons/Down-96.png"));
-    ui->prevBattButton->setIcon(QPixmap(theme + "icons/Up-96.png"));
-    ui->nextBattButton->setIcon(QPixmap(theme + "icons/Down-96.png"));
-    ui->prevSetupButton->setIcon(QPixmap(theme + "icons/Up-96.png"));
-    ui->prevDirButton->setIcon(QPixmap(theme + "icons/Up-96.png"));
-    ui->runButton->setIcon(QPixmap(theme + "icons/Circled Play-96.png"));
-    ui->runNoCanButton->setIcon(QPixmap(theme + "icons/Circled Play-96.png"));
-    ui->runAdvancedButton->setIcon(QPixmap(theme + "icons/Circled Play-96.png"));
-    ui->finishButton->setIcon(QPixmap(theme + "icons/Circled Ok-96.png"));
-
+    ui->tabWidget->setTabIcon(0, Utility::getIcon("icons/Wizard-96.png"));
+    ui->tabWidget->setTabIcon(1, Utility::getIcon("icons/Horizontal Settings Mixer-96.png"));
+    ui->nextMotorButton->setIcon(Utility::getIcon("icons/Down-96.png"));
+    ui->prevBattButton->setIcon(Utility::getIcon("icons/Up-96.png"));
+    ui->nextBattButton->setIcon(Utility::getIcon("icons/Down-96.png"));
+    ui->prevSetupButton->setIcon(Utility::getIcon("icons/Up-96.png"));
+    ui->prevDirButton->setIcon(Utility::getIcon("icons/Up-96.png"));
+    ui->runButton->setIcon(Utility::getIcon("icons/Circled Play-96.png"));
+    ui->runNoCanButton->setIcon(Utility::getIcon("icons/Circled Play-96.png"));
+    ui->runAdvancedButton->setIcon(Utility::getIcon("icons/Circled Play-96.png"));
+    ui->finishButton->setIcon(Utility::getIcon("icons/Ok-96.png"));
 
     mVesc = vesc;
     mRejectOk = true;
@@ -75,7 +73,7 @@ DetectAllFocDialog::DetectAllFocDialog(VescInterface *vesc, QWidget *parent) :
 
     item = new QListWidgetItem;
     item->setText(tr("Large Outrunner (~2000 g)"));
-    item->setIcon(QIcon(theme +"icons/motor.png"));
+    item->setIcon(Utility::getIcon("icons/motor.png"));
     item->setData(Qt::UserRole, QVariant::fromValue(MotorData(400, 700, 4000, 14)));
     ui->motorList->addItem(item);
 
@@ -93,7 +91,7 @@ DetectAllFocDialog::DetectAllFocDialog(VescInterface *vesc, QWidget *parent) :
 
     item = new QListWidgetItem;
     item->setText(tr("Large Inrunner (~2000 g)"));
-    item->setIcon(QIcon(theme +"icons/motor.png"));
+    item->setIcon(Utility::getIcon("icons/motor.png"));
     item->setData(Qt::UserRole, QVariant::fromValue(MotorData(400, 1000, 4000, 4)));
     ui->motorList->addItem(item);
 
diff --git a/widgets/detectallfocdialog.ui b/widgets/detectallfocdialog.ui
index 65e10d091..977d549be 100644
--- a/widgets/detectallfocdialog.ui
+++ b/widgets/detectallfocdialog.ui
@@ -47,8 +47,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>770</width>
-            <height>432</height>
+            <width>796</width>
+            <height>481</height>
            </rect>
           </property>
           <attribute name="label">
@@ -78,10 +78,6 @@
                <property name="text">
                 <string>Next</string>
                </property>
-               <property name="icon">
-                <iconset resource="../res.qrc">
-                 <normaloff>:/res/icons/Down-96.png</normaloff>:/res/icons/Down-96.png</iconset>
-               </property>
               </widget>
              </item>
             </layout>
@@ -93,8 +89,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>770</width>
-            <height>432</height>
+            <width>796</width>
+            <height>481</height>
            </rect>
           </property>
           <attribute name="label">
@@ -124,10 +120,6 @@
                <property name="text">
                 <string>Previous</string>
                </property>
-               <property name="icon">
-                <iconset resource="../res.qrc">
-                 <normaloff>:/res/icons/Up-96.png</normaloff>:/res/icons/Up-96.png</iconset>
-               </property>
               </widget>
              </item>
              <item>
@@ -135,10 +127,6 @@
                <property name="text">
                 <string>Next</string>
                </property>
-               <property name="icon">
-                <iconset resource="../res.qrc">
-                 <normaloff>:/res/icons/Down-96.png</normaloff>:/res/icons/Down-96.png</iconset>
-               </property>
               </widget>
              </item>
             </layout>
@@ -150,8 +138,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>770</width>
-            <height>432</height>
+            <width>796</width>
+            <height>481</height>
            </rect>
           </property>
           <attribute name="label">
@@ -246,10 +234,6 @@
                <property name="text">
                 <string>Previous</string>
                </property>
-               <property name="icon">
-                <iconset resource="../res.qrc">
-                 <normaloff>:/res/icons/Up-96.png</normaloff>:/res/icons/Up-96.png</iconset>
-               </property>
               </widget>
              </item>
              <item>
@@ -257,10 +241,6 @@
                <property name="text">
                 <string>Run Detection (no CAN)</string>
                </property>
-               <property name="icon">
-                <iconset resource="../res.qrc">
-                 <normaloff>:/res/icons/Circled Play-96.png</normaloff>:/res/icons/Circled Play-96.png</iconset>
-               </property>
               </widget>
              </item>
              <item>
@@ -274,10 +254,6 @@
                <property name="text">
                 <string>Run Detection</string>
                </property>
-               <property name="icon">
-                <iconset resource="../res.qrc">
-                 <normaloff>:/res/icons/Circled Play-96.png</normaloff>:/res/icons/Circled Play-96.png</iconset>
-               </property>
               </widget>
              </item>
             </layout>
@@ -289,8 +265,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>770</width>
-            <height>432</height>
+            <width>796</width>
+            <height>481</height>
            </rect>
           </property>
           <attribute name="label">
@@ -327,10 +303,6 @@
                <property name="text">
                 <string>Previous</string>
                </property>
-               <property name="icon">
-                <iconset resource="../res.qrc">
-                 <normaloff>:/res/icons/Up-96.png</normaloff>:/res/icons/Up-96.png</iconset>
-               </property>
               </widget>
              </item>
              <item>
@@ -338,10 +310,6 @@
                <property name="text">
                 <string>Finish</string>
                </property>
-               <property name="icon">
-                <iconset resource="../res.qrc">
-                 <normaloff>:/res/icons/Ok-96.png</normaloff>:/res/icons/Ok-96.png</iconset>
-               </property>
               </widget>
              </item>
             </layout>
diff --git a/widgets/detectbldc.cpp b/widgets/detectbldc.cpp
index 598ba8027..15cca772b 100644
--- a/widgets/detectbldc.cpp
+++ b/widgets/detectbldc.cpp
@@ -30,9 +30,8 @@ DetectBldc::DetectBldc(QWidget *parent) :
 {
     ui->setupUi(this);
 
-    QString theme = Utility::getThemePath();
-    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-    ui->applyButton->setIcon(QPixmap(theme + "icons/apply.png"));
+    ui->helpButton->setIcon(Utility::getIcon("icons/Help-96.png"));
+    ui->applyButton->setIcon(Utility::getIcon("icons/apply.png"));
 
     layout()->setContentsMargins(0, 0, 0, 0);
     mVesc = 0;
diff --git a/widgets/detectbldc.ui b/widgets/detectbldc.ui
index 5748dd89a..5a000f7ae 100644
--- a/widgets/detectbldc.ui
+++ b/widgets/detectbldc.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>509</width>
-    <height>140</height>
+    <height>151</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -84,10 +84,6 @@
           <property name="text">
            <string/>
           </property>
-          <property name="icon">
-           <iconset resource="../res.qrc">
-            <normaloff>:/res/icons/apply.png</normaloff>:/res/icons/apply.png</iconset>
-          </property>
           <property name="iconSize">
            <size>
             <width>45</width>
@@ -131,10 +127,6 @@
           <property name="text">
            <string/>
           </property>
-          <property name="icon">
-           <iconset resource="../res.qrc">
-            <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
-          </property>
          </widget>
         </item>
         <item row="1" column="0">
@@ -145,10 +137,6 @@
           <property name="text">
            <string/>
           </property>
-          <property name="icon">
-           <iconset resource="../res.qrc">
-            <normaloff>:/res/icons/Circled Play-96.png</normaloff>:/res/icons/Circled Play-96.png</iconset>
-          </property>
          </widget>
         </item>
        </layout>
@@ -168,8 +156,6 @@
    </item>
   </layout>
  </widget>
- <resources>
-  <include location="../res.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>
diff --git a/widgets/detectfoc.cpp b/widgets/detectfoc.cpp
index 8aa58534e..f8a404fa9 100644
--- a/widgets/detectfoc.cpp
+++ b/widgets/detectfoc.cpp
@@ -30,17 +30,16 @@ DetectFoc::DetectFoc(QWidget *parent) :
 {
     ui->setupUi(this);
 
-    QString theme = Utility::getThemePath();
-    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-    ui->pushButton->setIcon(QPixmap(theme + "icons/arrow_r.png"));
-    ui->pushButton_2->setIcon(QPixmap(theme + "icons/arrow_r.png"));
-    ui->pushButton_3->setIcon(QPixmap(theme + "icons/arrow_r.png"));
-    ui->rlButton->setIcon(QPixmap(theme + "icons/rl.png"));
-    ui->lambdaButton->setIcon(QPixmap(theme + "icons/lambda.png"));
-    ui->applyAllButton->setIcon(QPixmap(theme + "icons/apply.png"));
-    ui->calcGainButton->setIcon(QPixmap(theme + "icons/Calculator-96.png"));
-    ui->calcKpKiButton->setIcon(QPixmap(theme + "icons/Calculator-96.png"));
-    ui->calcApplyLocalButton->setIcon(QPixmap(theme + "icons/Calculator-96.png"));
+    ui->helpButton->setIcon(Utility::getIcon("icons/Help-96.png"));
+    ui->pushButton->setIcon(Utility::getIcon("icons/arrow_r.png"));
+    ui->pushButton_2->setIcon(Utility::getIcon("icons/arrow_r.png"));
+    ui->pushButton_3->setIcon(Utility::getIcon("icons/arrow_r.png"));
+    ui->rlButton->setIcon(Utility::getIcon("icons/rl.png"));
+    ui->lambdaButton->setIcon(Utility::getIcon("icons/lambda.png"));
+    ui->applyAllButton->setIcon(Utility::getIcon("icons/apply.png"));
+    ui->calcGainButton->setIcon(Utility::getIcon("icons/Calculator-96.png"));
+    ui->calcKpKiButton->setIcon(Utility::getIcon("icons/Calculator-96.png"));
+    ui->calcApplyLocalButton->setIcon(Utility::getIcon("icons/Calculator-96.png"));
 
     layout()->setContentsMargins(0, 0, 0, 0);
     mVesc = nullptr;
diff --git a/widgets/detectfoc.ui b/widgets/detectfoc.ui
index 2b72bfba3..d82a1b9fa 100644
--- a/widgets/detectfoc.ui
+++ b/widgets/detectfoc.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>791</width>
-    <height>196</height>
+    <width>769</width>
+    <height>197</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -196,10 +196,6 @@
         <property name="text">
          <string/>
         </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons/Calculator-96.png</normaloff>:/res/icons/Calculator-96.png</iconset>
-        </property>
        </widget>
       </item>
       <item row="3" column="1">
@@ -216,10 +212,6 @@
         <property name="text">
          <string/>
         </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons/Calculator-96.png</normaloff>:/res/icons/Calculator-96.png</iconset>
-        </property>
        </widget>
       </item>
       <item row="1" column="6">
@@ -278,10 +270,6 @@
           <property name="text">
            <string/>
           </property>
-          <property name="icon">
-           <iconset resource="../res.qrc">
-            <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
-          </property>
           <property name="iconSize">
            <size>
             <width>16</width>
@@ -323,10 +311,6 @@
           <property name="text">
            <string/>
           </property>
-          <property name="icon">
-           <iconset resource="../res.qrc">
-            <normaloff>:/res/icons/rl.png</normaloff>:/res/icons/rl.png</iconset>
-          </property>
           <property name="iconSize">
            <size>
             <width>20</width>
@@ -368,10 +352,6 @@
           <property name="text">
            <string/>
           </property>
-          <property name="icon">
-           <iconset resource="../res.qrc">
-            <normaloff>:/res/icons/lambda.png</normaloff>:/res/icons/lambda.png</iconset>
-          </property>
           <property name="iconSize">
            <size>
             <width>20</width>
@@ -419,10 +399,6 @@
           <property name="text">
            <string/>
           </property>
-          <property name="icon">
-           <iconset resource="../res.qrc">
-            <normaloff>:/res/icons/apply.png</normaloff>:/res/icons/apply.png</iconset>
-          </property>
           <property name="iconSize">
            <size>
             <width>50</width>
@@ -528,10 +504,6 @@
         <property name="text">
          <string>Calc Apply Old</string>
         </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons/Calculator-96.png</normaloff>:/res/icons/Calculator-96.png</iconset>
-        </property>
        </widget>
       </item>
       <item row="3" column="5">
diff --git a/widgets/detectfocencoder.cpp b/widgets/detectfocencoder.cpp
index 47a025e0b..e759c585e 100644
--- a/widgets/detectfocencoder.cpp
+++ b/widgets/detectfocencoder.cpp
@@ -29,10 +29,9 @@ DetectFocEncoder::DetectFocEncoder(QWidget *parent) :
 {
     ui->setupUi(this);
 
-    QString theme = Utility::getThemePath();
-    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-    ui->startButton->setIcon(QPixmap(theme + "icons/Circled Play-96.png"));
-    ui->applyButton->setIcon(QPixmap(theme + "icons/apply.png"));
+    ui->helpButton->setIcon(Utility::getIcon("icons/Help-96.png"));
+    ui->startButton->setIcon(Utility::getIcon("icons/Circled Play-96.png"));
+    ui->applyButton->setIcon(Utility::getIcon("icons/apply.png"));
 
     layout()->setContentsMargins(0, 0, 0, 0);
     mVesc = 0;
diff --git a/widgets/detectfocencoder.ui b/widgets/detectfocencoder.ui
index ef1c55d53..1cb75895e 100644
--- a/widgets/detectfocencoder.ui
+++ b/widgets/detectfocencoder.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>605</width>
-    <height>66</height>
+    <width>626</width>
+    <height>70</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -46,10 +46,6 @@
         <property name="text">
          <string/>
         </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
-        </property>
        </widget>
       </item>
       <item>
@@ -82,10 +78,6 @@
         <property name="text">
          <string/>
         </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons/Circled Play-96.png</normaloff>:/res/icons/Circled Play-96.png</iconset>
-        </property>
        </widget>
       </item>
       <item>
@@ -175,10 +167,6 @@
         <property name="text">
          <string/>
         </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons/apply.png</normaloff>:/res/icons/apply.png</iconset>
-        </property>
         <property name="iconSize">
          <size>
           <width>45</width>
@@ -192,8 +180,6 @@
    </item>
   </layout>
  </widget>
- <resources>
-  <include location="../res.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>
diff --git a/widgets/detectfochall.cpp b/widgets/detectfochall.cpp
index 32660f9ef..64d7a366e 100644
--- a/widgets/detectfochall.cpp
+++ b/widgets/detectfochall.cpp
@@ -29,10 +29,9 @@ DetectFocHall::DetectFocHall(QWidget *parent) :
 {
     ui->setupUi(this);
 
-    QString theme = Utility::getThemePath();
-    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-    ui->startButton->setIcon(QPixmap(theme + "icons/Circled Play-96.png"));
-    ui->applyButton->setIcon(QPixmap(theme + "icons/apply.png"));
+    ui->helpButton->setIcon(Utility::getIcon("icons/Help-96.png"));
+    ui->startButton->setIcon(Utility::getIcon("icons/Circled Play-96.png"));
+    ui->applyButton->setIcon(Utility::getIcon("icons/apply.png"));
 
     layout()->setContentsMargins(0, 0, 0, 0);
     mVesc = nullptr;
diff --git a/widgets/detectfochall.ui b/widgets/detectfochall.ui
index 4866650f4..99a6b2bac 100644
--- a/widgets/detectfochall.ui
+++ b/widgets/detectfochall.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>466</width>
-    <height>121</height>
+    <width>456</width>
+    <height>114</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -48,10 +48,6 @@
           <property name="text">
            <string/>
           </property>
-          <property name="icon">
-           <iconset resource="../res.qrc">
-            <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
-          </property>
          </widget>
         </item>
         <item>
@@ -87,10 +83,6 @@
           <property name="text">
            <string/>
           </property>
-          <property name="icon">
-           <iconset resource="../res.qrc">
-            <normaloff>:/res/icons/Circled Play-96.png</normaloff>:/res/icons/Circled Play-96.png</iconset>
-          </property>
          </widget>
         </item>
         <item>
@@ -107,10 +99,6 @@
           <property name="text">
            <string/>
           </property>
-          <property name="icon">
-           <iconset resource="../res.qrc">
-            <normaloff>:/res/icons/apply.png</normaloff>:/res/icons/apply.png</iconset>
-          </property>
           <property name="iconSize">
            <size>
             <width>45</width>
@@ -261,8 +249,6 @@
    </item>
   </layout>
  </widget>
- <resources>
-  <include location="../res.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>
diff --git a/widgets/experimentplot.cpp b/widgets/experimentplot.cpp
index 3190a0c2d..8e9f37f05 100644
--- a/widgets/experimentplot.cpp
+++ b/widgets/experimentplot.cpp
@@ -29,20 +29,19 @@ ExperimentPlot::ExperimentPlot(QWidget *parent) :
     ui->setupUi(this);
     layout()->setContentsMargins(0, 0, 0, 0);
 
-    QString theme = Utility::getThemePath();
-    QIcon mycon = QIcon(theme + "icons/expand_on.png");
-    mycon.addPixmap(QPixmap(theme + "icons/expand_on.png"), QIcon::Normal, QIcon::On);
-    mycon.addPixmap(QPixmap(theme + "icons/expand_off.png"), QIcon::Normal, QIcon::Off);
+    QIcon mycon = QIcon(Utility::getIcon("icons/expand_on.png"));
+    mycon.addPixmap(Utility::getIcon("icons/expand_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(Utility::getIcon("icons/expand_off.png"), QIcon::Normal, QIcon::Off);
     ui->experimentHZoomButton->setIcon(mycon);
 
-    mycon = QIcon(theme + "icons/expand_v_on.png");
-    mycon.addPixmap(QPixmap(theme + "icons/expand_v_on.png"), QIcon::Normal, QIcon::On);
-    mycon.addPixmap(QPixmap(theme + "icons/expand_v_off.png"), QIcon::Normal, QIcon::Off);
+    mycon = QIcon(Utility::getIcon("icons/expand_v_on.png"));
+    mycon.addPixmap(Utility::getIcon("icons/expand_v_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(Utility::getIcon("icons/expand_v_off.png"), QIcon::Normal, QIcon::Off);
     ui->experimentVZoomButton->setIcon(mycon);
 
-    mycon = QIcon(theme + "icons/size_on.png");
-    mycon.addPixmap(QPixmap(theme + "icons/size_on.png"), QIcon::Normal, QIcon::On);
-    mycon.addPixmap(QPixmap(theme + "icons/size_off.png"), QIcon::Normal, QIcon::Off);
+    mycon = QIcon(Utility::getIcon("icons/size_on.png"));
+    mycon.addPixmap(Utility::getIcon("icons/size_on.png"), QIcon::Normal, QIcon::On);
+    mycon.addPixmap(Utility::getIcon("icons/size_off.png"), QIcon::Normal, QIcon::Off);
     ui->experimentAutoScaleButton->setIcon(mycon);
 
     auto genPic = [](QString p1, QString p2, QString text) {
@@ -55,11 +54,11 @@ ExperimentPlot::ExperimentPlot(QWidget *parent) :
         p.setRenderHint(QPainter::SmoothPixmapTransform, true);
 
         if (!p1.isEmpty()) {
-            p.drawImage(pix.rect(), QImage(p1));
+            p.drawImage(pix.rect(), Utility::getIcon(p1).toImage());
         }
 
         if (!p2.isEmpty()) {
-            p.drawImage(pix.rect(), QImage(p2));
+            p.drawImage(pix.rect(), Utility::getIcon(p2).toImage());
         }
 
         if (!text.isEmpty()) {
@@ -76,7 +75,7 @@ ExperimentPlot::ExperimentPlot(QWidget *parent) :
 
     auto updateIcon = [genPic](QToolButton *btn, QString pic, QString txt) {
         QIcon mycon = QIcon(genPic(pic, "", txt));
-        mycon.addPixmap(genPic(Utility::getThemePath() + "icons/glow.png", pic, txt), QIcon::Normal, QIcon::On);
+        mycon.addPixmap(genPic("icons/glow.png", pic, txt), QIcon::Normal, QIcon::On);
         mycon.addPixmap(genPic("", pic, txt), QIcon::Normal, QIcon::Off);
         btn->setIcon(mycon);
     };
@@ -87,10 +86,10 @@ ExperimentPlot::ExperimentPlot(QWidget *parent) :
     updateIcon(ui->experimentGraph4Button, "", "4");
     updateIcon(ui->experimentGraph5Button, "", "5");
     updateIcon(ui->experimentGraph6Button, "", "6");
-    updateIcon(ui->experimentShowLineButton, theme + "icons/3ph_sine.png", "");
-    updateIcon(ui->experimentScatterButton, theme + "icons/Polyline-96.png", "");
+    updateIcon(ui->experimentShowLineButton, "icons/3ph_sine.png", "");
+    updateIcon(ui->experimentScatterButton, "icons/Polyline-96.png", "");
 
-    ui->experimentClearDataButton->setIcon(QPixmap(theme + "icons/Delete-96.png"));
+    ui->experimentClearDataButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
 
     mVesc = 0;
     mExperimentReplot = false;
diff --git a/widgets/experimentplot.ui b/widgets/experimentplot.ui
index 47582b88d..c61499b46 100644
--- a/widgets/experimentplot.ui
+++ b/widgets/experimentplot.ui
@@ -82,11 +82,6 @@
             <property name="text">
              <string/>
             </property>
-            <property name="icon">
-             <iconset resource="../res.qrc">
-              <normaloff>:/res/icons/expand_off.png</normaloff>
-              <normalon>:/res/icons/expand_on.png</normalon>:/res/icons/expand_off.png</iconset>
-            </property>
             <property name="checkable">
              <bool>true</bool>
             </property>
@@ -109,11 +104,6 @@
             <property name="text">
              <string/>
             </property>
-            <property name="icon">
-             <iconset resource="../res.qrc">
-              <normaloff>:/res/icons/expand_v_off.png</normaloff>
-              <normalon>:/res/icons/expand_v_on.png</normalon>:/res/icons/expand_v_off.png</iconset>
-            </property>
             <property name="checkable">
              <bool>true</bool>
             </property>
@@ -136,11 +126,6 @@
             <property name="text">
              <string/>
             </property>
-            <property name="icon">
-             <iconset resource="../res.qrc">
-              <normaloff>:/res/icons/size_off.png</normaloff>
-              <normalon>:/res/icons/size_on.png</normalon>:/res/icons/size_off.png</iconset>
-            </property>
             <property name="checkable">
              <bool>true</bool>
             </property>
@@ -213,10 +198,6 @@
             <property name="text">
              <string/>
             </property>
-            <property name="icon">
-             <iconset resource="../res.qrc">
-              <normaloff>:/res/icons/Polyline-96.png</normaloff>:/res/icons/Polyline-96.png</iconset>
-            </property>
             <property name="checkable">
              <bool>true</bool>
             </property>
@@ -358,10 +339,6 @@
             <property name="text">
              <string/>
             </property>
-            <property name="icon">
-             <iconset resource="../res.qrc">
-              <normaloff>:/res/icons/Delete-96.png</normaloff>:/res/icons/Delete-96.png</iconset>
-            </property>
            </widget>
           </item>
           <item row="2" column="1">
@@ -378,10 +355,6 @@
             <property name="text">
              <string/>
             </property>
-            <property name="icon">
-             <iconset resource="../res.qrc">
-              <normaloff>:/res/icons/3ph_sine.png</normaloff>:/res/icons/3ph_sine.png</iconset>
-            </property>
             <property name="checkable">
              <bool>true</bool>
             </property>
@@ -561,8 +534,6 @@
    <container>1</container>
   </customwidget>
  </customwidgets>
- <resources>
-  <include location="../res.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>
diff --git a/widgets/helpdialog.cpp b/widgets/helpdialog.cpp
index c7626531c..295e6d6db 100644
--- a/widgets/helpdialog.cpp
+++ b/widgets/helpdialog.cpp
@@ -29,9 +29,8 @@ HelpDialog::HelpDialog(QString title, QString text, QWidget *parent) :
 {
     ui->setupUi(this);
 
-    QString theme = Utility::getThemePath();
-    this->setWindowIcon(QPixmap(theme + "icons/Help-96.png"));
-    ui->label->setPixmap(QPixmap(theme + "icons/About-96.png"));
+    this->setWindowIcon(Utility::getIcon("icons/Help-96.png"));
+    ui->label->setPixmap(Utility::getIcon("icons/About-96.png"));
 
     setAttribute(Qt::WA_DeleteOnClose);
     setWindowTitle(title);
diff --git a/widgets/helpdialog.ui b/widgets/helpdialog.ui
index 9f0e8b902..5fb3e612b 100644
--- a/widgets/helpdialog.ui
+++ b/widgets/helpdialog.ui
@@ -37,9 +37,6 @@
        <property name="text">
         <string/>
        </property>
-       <property name="pixmap">
-        <pixmap resource="../res.qrc">:/res/icons/About-96.png</pixmap>
-       </property>
        <property name="scaledContents">
         <bool>true</bool>
        </property>
diff --git a/widgets/mrichtextedit.cpp b/widgets/mrichtextedit.cpp
index 9432b3f17..a2b4c191b 100644
--- a/widgets/mrichtextedit.cpp
+++ b/widgets/mrichtextedit.cpp
@@ -45,29 +45,28 @@ MRichTextEdit::MRichTextEdit(QWidget *parent) : QWidget(parent) {
     m_lastBlockList = 0;
     f_textedit->setTabStopDistance(40);
 
-    QString theme = Utility::getThemePath();
-    f_undo->setIcon(QPixmap(theme + "icons_textedit/Undo-96.png"));
-    f_redo->setIcon(QPixmap(theme + "icons_textedit/Undo-96.png"));
-    f_cut->setIcon(QPixmap(theme + "icons_textedit/Cut-96.png"));
-    f_copy->setIcon(QPixmap(theme + "icons_textedit/Copy-96.png"));
-    f_paste->setIcon(QPixmap(theme + "icons_textedit/Paste-96.png"));
-    f_link->setIcon(QPixmap(theme + "icons_textedit/Link-96.png"));
-    f_image->setIcon(QPixmap(theme + "icons_textedit/Add Image-96.png"));
-    f_menu->setIcon(QPixmap(theme + "icons_textedit/Menu 2-96.png"));
-    f_bold->setIcon(QPixmap(theme + "icons_textedit/Bold-96.png"));
-    f_italic->setIcon(QPixmap(theme + "icons_textedit/Italic-96.png"));
-    f_underline->setIcon(QPixmap(theme + "icons_textedit/Text Color-96.png"));
-    f_strikeout->setIcon(QPixmap(theme + "icons_textedit/Strikethrough-96.png"));
-    f_list_bullet->setIcon(QPixmap(theme + "icons_textedit/Bulleted List-96.png"));
-    f_list_ordered->setIcon(QPixmap(theme + "icons_textedit/Numbered List-96.png"));
-    f_indent_dec->setIcon(QPixmap(theme + "icons_textedit/Indent-96.png"));
-    f_indent_inc->setIcon(QPixmap(theme + "icons_textedit/Outdent-96.png"));
-    f_bgcolor->setIcon(QPixmap(theme + "icons_textedit/Fill Color-96.png"));
-    f_fgcolor->setIcon(QPixmap(theme + "icons_textedit/Fill Color-96.png"));
-    f_align_left->setIcon(QPixmap(theme + "icons_textedit/Align Left-96.png"));
-    f_align_center->setIcon(QPixmap(theme + "icons_textedit/Align Center-96.png"));
-    f_align_right->setIcon(QPixmap(theme + "icons_textedit/Align Right-96.png"));
-    f_align_justify->setIcon(QPixmap(theme + "icons_textedit/Align Justify-96.png"));
+    f_undo->setIcon(Utility::getIcon("icons_textedit/Undo-96.png"));
+    f_redo->setIcon(Utility::getIcon("icons_textedit/Undo-96.png"));
+    f_cut->setIcon(Utility::getIcon("icons_textedit/Cut-96.png"));
+    f_copy->setIcon(Utility::getIcon("icons_textedit/Copy-96.png"));
+    f_paste->setIcon(Utility::getIcon("icons_textedit/Paste-96.png"));
+    f_link->setIcon(Utility::getIcon("icons_textedit/Link-96.png"));
+    f_image->setIcon(Utility::getIcon("icons_textedit/Add Image-96.png"));
+    f_menu->setIcon(Utility::getIcon("icons_textedit/Menu 2-96.png"));
+    f_bold->setIcon(Utility::getIcon("icons_textedit/Bold-96.png"));
+    f_italic->setIcon(Utility::getIcon("icons_textedit/Italic-96.png"));
+    f_underline->setIcon(Utility::getIcon("icons_textedit/Text Color-96.png"));
+    f_strikeout->setIcon(Utility::getIcon("icons_textedit/Strikethrough-96.png"));
+    f_list_bullet->setIcon(Utility::getIcon("icons_textedit/Bulleted List-96.png"));
+    f_list_ordered->setIcon(Utility::getIcon("icons_textedit/Numbered List-96.png"));
+    f_indent_dec->setIcon(Utility::getIcon("icons_textedit/Indent-96.png"));
+    f_indent_inc->setIcon(Utility::getIcon("icons_textedit/Outdent-96.png"));
+    f_bgcolor->setIcon(Utility::getIcon("icons_textedit/Fill Color-96.png"));
+    f_fgcolor->setIcon(Utility::getIcon("icons_textedit/Fill Color-96.png"));
+    f_align_left->setIcon(Utility::getIcon("icons_textedit/Align Left-96.png"));
+    f_align_center->setIcon(Utility::getIcon("icons_textedit/Align Center-96.png"));
+    f_align_right->setIcon(Utility::getIcon("icons_textedit/Align Right-96.png"));
+    f_align_justify->setIcon(Utility::getIcon("icons_textedit/Align Justify-96.png"));
 
     connect(f_textedit, SIGNAL(currentCharFormatChanged(QTextCharFormat)),
             this, SLOT(slotCurrentCharFormatChanged(QTextCharFormat)));
diff --git a/widgets/mrichtextedit.ui b/widgets/mrichtextedit.ui
index febb40db3..99223fc06 100644
--- a/widgets/mrichtextedit.ui
+++ b/widgets/mrichtextedit.ui
@@ -78,13 +78,6 @@
         <property name="toolTip">
          <string>Undo (CTRL+Z)</string>
         </property>
-        <property name="text">
-         <string>Undo</string>
-        </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons_textedit/Undo-96.png</normaloff>:/res/icons_textedit/Undo-96.png</iconset>
-        </property>
         <property name="iconSize">
          <size>
           <width>16</width>
@@ -104,13 +97,6 @@
         <property name="toolTip">
          <string>Redo</string>
         </property>
-        <property name="text">
-         <string>Redo</string>
-        </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons_textedit/Redo-96.png</normaloff>:/res/icons_textedit/Redo-96.png</iconset>
-        </property>
         <property name="iconSize">
          <size>
           <width>16</width>
@@ -127,13 +113,6 @@
         <property name="toolTip">
          <string>Cut (CTRL+X)</string>
         </property>
-        <property name="text">
-         <string>Cut</string>
-        </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons_textedit/Cut-96.png</normaloff>:/res/icons_textedit/Cut-96.png</iconset>
-        </property>
         <property name="iconSize">
          <size>
           <width>16</width>
@@ -150,13 +129,6 @@
         <property name="toolTip">
          <string>Copy (CTRL+C)</string>
         </property>
-        <property name="text">
-         <string>Copy</string>
-        </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons_textedit/Copy-96.png</normaloff>:/res/icons_textedit/Copy-96.png</iconset>
-        </property>
         <property name="iconSize">
          <size>
           <width>16</width>
@@ -173,13 +145,6 @@
         <property name="toolTip">
          <string>Paste (CTRL+V)</string>
         </property>
-        <property name="text">
-         <string>Paste</string>
-        </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons_textedit/Paste-96.png</normaloff>:/res/icons_textedit/Paste-96.png</iconset>
-        </property>
         <property name="iconSize">
          <size>
           <width>16</width>
@@ -203,13 +168,6 @@
         <property name="toolTip">
          <string>Link (CTRL+L)</string>
         </property>
-        <property name="text">
-         <string>Link</string>
-        </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons_textedit/Link-96.png</normaloff>:/res/icons_textedit/Link-96.png</iconset>
-        </property>
         <property name="iconSize">
          <size>
           <width>16</width>
@@ -259,13 +217,6 @@
         <property name="toolTip">
          <string>Insert image...</string>
         </property>
-        <property name="text">
-         <string notr="true">Insert Image</string>
-        </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons_textedit/Add Image-96.png</normaloff>:/res/icons_textedit/Add Image-96.png</iconset>
-        </property>
        </widget>
       </item>
       <item>
@@ -289,10 +240,6 @@
         <property name="text">
          <string>...</string>
         </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons_textedit/Menu 2-96.png</normaloff>:/res/icons_textedit/Menu 2-96.png</iconset>
-        </property>
        </widget>
       </item>
      </layout>
@@ -339,11 +286,7 @@
          <string notr="true">Bold (CTRL+B)</string>
         </property>
         <property name="text">
-         <string>Bold</string>
-        </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons_textedit/Bold-96.png</normaloff>:/res/icons_textedit/Bold-96.png</iconset>
+         <string/>
         </property>
         <property name="iconSize">
          <size>
@@ -364,13 +307,6 @@
         <property name="toolTip">
          <string>Italic (CTRL+I)</string>
         </property>
-        <property name="text">
-         <string>Italic</string>
-        </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons_textedit/Italic-96.png</normaloff>:/res/icons_textedit/Italic-96.png</iconset>
-        </property>
         <property name="iconSize">
          <size>
           <width>16</width>
@@ -390,13 +326,6 @@
         <property name="toolTip">
          <string>Underline (CTRL+U)</string>
         </property>
-        <property name="text">
-         <string>Underline</string>
-        </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons_textedit/Text Color-96.png</normaloff>:/res/icons_textedit/Text Color-96.png</iconset>
-        </property>
         <property name="iconSize">
          <size>
           <width>16</width>
@@ -410,13 +339,6 @@
       </item>
       <item>
        <widget class="QToolButton" name="f_strikeout">
-        <property name="text">
-         <string>Strike Out</string>
-        </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons_textedit/Strikethrough-96.png</normaloff>:/res/icons_textedit/Strikethrough-96.png</iconset>
-        </property>
         <property name="checkable">
          <bool>true</bool>
         </property>
@@ -430,13 +352,6 @@
         <property name="toolTip">
          <string>Bullet list (CTRL+-)</string>
         </property>
-        <property name="text">
-         <string>Bullet list</string>
-        </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons_textedit/Bulleted List-96.png</normaloff>:/res/icons_textedit/Bulleted List-96.png</iconset>
-        </property>
         <property name="iconSize">
          <size>
           <width>16</width>
@@ -456,13 +371,6 @@
         <property name="toolTip">
          <string>Ordered list (CTRL+=)</string>
         </property>
-        <property name="text">
-         <string>Ordered list</string>
-        </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons_textedit/Numbered List-96.png</normaloff>:/res/icons_textedit/Numbered List-96.png</iconset>
-        </property>
         <property name="iconSize">
          <size>
           <width>16</width>
@@ -489,13 +397,6 @@
         <property name="toolTip">
          <string>Decrease indentation (CTRL+,)</string>
         </property>
-        <property name="text">
-         <string>Decrease indentation</string>
-        </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons_textedit/Indent-96.png</normaloff>:/res/icons_textedit/Indent-96.png</iconset>
-        </property>
         <property name="iconSize">
          <size>
           <width>16</width>
@@ -512,13 +413,6 @@
         <property name="toolTip">
          <string>Increase indentation (CTRL+.)</string>
         </property>
-        <property name="text">
-         <string>Increase indentation</string>
-        </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons_textedit/Outdent-96.png</normaloff>:/res/icons_textedit/Outdent-96.png</iconset>
-        </property>
         <property name="iconSize">
          <size>
           <width>16</width>
@@ -545,10 +439,6 @@
         <property name="text">
          <string/>
         </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons_textedit/Fill Color-96.png</normaloff>:/res/icons_textedit/Fill Color-96.png</iconset>
-        </property>
         <property name="iconSize">
          <size>
           <width>16</width>
@@ -571,10 +461,6 @@
         <property name="text">
          <string/>
         </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons_textedit/Fill Color-96.png</normaloff>:/res/icons_textedit/Fill Color-96.png</iconset>
-        </property>
        </widget>
       </item>
       <item>
@@ -592,10 +478,6 @@
         <property name="text">
          <string/>
         </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons_textedit/Align Left-96.png</normaloff>:/res/icons_textedit/Align Left-96.png</iconset>
-        </property>
         <property name="checkable">
          <bool>true</bool>
         </property>
@@ -609,10 +491,6 @@
         <property name="text">
          <string/>
         </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons_textedit/Align Center-96.png</normaloff>:/res/icons_textedit/Align Center-96.png</iconset>
-        </property>
         <property name="checkable">
          <bool>true</bool>
         </property>
@@ -626,10 +504,6 @@
         <property name="text">
          <string/>
         </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons_textedit/Align Right-96.png</normaloff>:/res/icons_textedit/Align Right-96.png</iconset>
-        </property>
         <property name="checkable">
          <bool>true</bool>
         </property>
@@ -643,10 +517,6 @@
         <property name="text">
          <string/>
         </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons_textedit/Align Justify-96.png</normaloff>:/res/icons_textedit/Align Justify-96.png</iconset>
-        </property>
         <property name="checkable">
          <bool>true</bool>
         </property>
@@ -692,8 +562,6 @@
   <tabstop>f_image</tabstop>
   <tabstop>f_menu</tabstop>
  </tabstops>
- <resources>
-  <include location="../res.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>
diff --git a/widgets/nrfpair.cpp b/widgets/nrfpair.cpp
index 74c7ce968..9ce819b89 100644
--- a/widgets/nrfpair.cpp
+++ b/widgets/nrfpair.cpp
@@ -29,9 +29,8 @@ NrfPair::NrfPair(QWidget *parent) :
 {
     ui->setupUi(this);
 
-    QString theme = Utility::getThemePath();
-    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-    ui->startButton->setIcon(QPixmap(theme + "icons/Circled Play-96.png"));
+    ui->helpButton->setIcon(Utility::getIcon("icons/Help-96.png"));
+    ui->startButton->setIcon(Utility::getIcon("icons/Circled Play-96.png"));
 
     layout()->setContentsMargins(0, 0, 0, 0);
     mVesc = 0;
diff --git a/widgets/nrfpair.ui b/widgets/nrfpair.ui
index 408ff6884..68684b141 100644
--- a/widgets/nrfpair.ui
+++ b/widgets/nrfpair.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>356</width>
-    <height>84</height>
+    <height>88</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -31,10 +31,6 @@
         <property name="text">
          <string/>
         </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
-        </property>
        </widget>
       </item>
       <item>
@@ -51,10 +47,6 @@
         <property name="text">
          <string/>
         </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons/Circled Play-96.png</normaloff>:/res/icons/Circled Play-96.png</iconset>
-        </property>
        </widget>
       </item>
       <item>
@@ -80,7 +72,6 @@
        <widget class="QLabel" name="countLabel">
         <property name="font">
          <font>
-          <weight>75</weight>
           <bold>true</bold>
          </font>
         </property>
@@ -100,8 +91,6 @@
    </item>
   </layout>
  </widget>
- <resources>
-  <include location="../res.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>
diff --git a/widgets/parameditbitfield.cpp b/widgets/parameditbitfield.cpp
index d26b0a26a..4727168aa 100644
--- a/widgets/parameditbitfield.cpp
+++ b/widgets/parameditbitfield.cpp
@@ -28,10 +28,9 @@ ParamEditBitfield::ParamEditBitfield(QWidget *parent) :
 {
     ui->setupUi(this);
 
-    QString theme = Utility::getThemePath();
-    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-    ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
-    ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
+    ui->helpButton->setIcon(Utility::getIcon("icons/Help-96.png"));
+    ui->readButton->setIcon(Utility::getIcon("icons/Upload-96.png"));
+    ui->readDefaultButton->setIcon(Utility::getIcon("icons/Data Backup-96.png"));
 
     auto updateFun = [this]() {
         if (mConfig) {
diff --git a/widgets/parameditbitfield.ui b/widgets/parameditbitfield.ui
index d21ce5283..c4093f068 100644
--- a/widgets/parameditbitfield.ui
+++ b/widgets/parameditbitfield.ui
@@ -103,10 +103,6 @@
      <property name="text">
       <string/>
      </property>
-     <property name="icon">
-      <iconset resource="../res.qrc">
-       <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
-     </property>
     </widget>
    </item>
    <item>
@@ -123,10 +119,6 @@
      <property name="text">
       <string/>
      </property>
-     <property name="icon">
-      <iconset resource="../res.qrc">
-       <normaloff>:/res/icons/Data Backup-96.png</normaloff>:/res/icons/Data Backup-96.png</iconset>
-     </property>
     </widget>
    </item>
    <item>
@@ -143,16 +135,10 @@
      <property name="text">
       <string/>
      </property>
-     <property name="icon">
-      <iconset resource="../res.qrc">
-       <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
-     </property>
     </widget>
    </item>
   </layout>
  </widget>
- <resources>
-  <include location="../res.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>
diff --git a/widgets/parameditbool.cpp b/widgets/parameditbool.cpp
index de63781df..354e09506 100644
--- a/widgets/parameditbool.cpp
+++ b/widgets/parameditbool.cpp
@@ -29,10 +29,9 @@ ParamEditBool::ParamEditBool(QWidget *parent) :
 {
     ui->setupUi(this);
 
-    QString theme = Utility::getThemePath();
-    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-    ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
-    ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
+    ui->helpButton->setIcon(Utility::getIcon("icons/Help-96.png"));
+    ui->readButton->setIcon(Utility::getIcon("icons/Upload-96.png"));
+    ui->readDefaultButton->setIcon(Utility::getIcon("icons/Data Backup-96.png"));
 }
 
 ParamEditBool::~ParamEditBool()
diff --git a/widgets/parameditbool.ui b/widgets/parameditbool.ui
index 5bcca5ac3..1f36810ee 100644
--- a/widgets/parameditbool.ui
+++ b/widgets/parameditbool.ui
@@ -57,10 +57,6 @@
      <property name="text">
       <string/>
      </property>
-     <property name="icon">
-      <iconset resource="../res.qrc">
-       <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
-     </property>
     </widget>
    </item>
    <item>
@@ -77,10 +73,6 @@
      <property name="text">
       <string/>
      </property>
-     <property name="icon">
-      <iconset resource="../res.qrc">
-       <normaloff>:/res/icons/Data Backup-96.png</normaloff>:/res/icons/Data Backup-96.png</iconset>
-     </property>
     </widget>
    </item>
    <item>
@@ -97,16 +89,10 @@
      <property name="text">
       <string/>
      </property>
-     <property name="icon">
-      <iconset resource="../res.qrc">
-       <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
-     </property>
     </widget>
    </item>
   </layout>
  </widget>
- <resources>
-  <include location="../res.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>
diff --git a/widgets/parameditdouble.cpp b/widgets/parameditdouble.cpp
index ea350bf84..e7d785e27 100644
--- a/widgets/parameditdouble.cpp
+++ b/widgets/parameditdouble.cpp
@@ -30,10 +30,9 @@ ParamEditDouble::ParamEditDouble(QWidget *parent) :
 {
     ui->setupUi(this);
 
-    QString theme = Utility::getThemePath();
-    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-    ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
-    ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
+    ui->helpButton->setIcon(Utility::getIcon("icons/Help-96.png"));
+    ui->readButton->setIcon(Utility::getIcon("icons/Upload-96.png"));
+    ui->readDefaultButton->setIcon(Utility::getIcon("icons/Data Backup-96.png"));
 
     mConfig = 0;
     mMaxVal = 1.0;
diff --git a/widgets/parameditdouble.ui b/widgets/parameditdouble.ui
index f4f196d0c..93a55089a 100644
--- a/widgets/parameditdouble.ui
+++ b/widgets/parameditdouble.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>86</width>
-    <height>26</height>
+    <width>146</width>
+    <height>27</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -45,10 +45,6 @@
        <property name="text">
         <string/>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
-       </property>
       </widget>
      </item>
      <item>
@@ -65,10 +61,6 @@
        <property name="text">
         <string/>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/Data Backup-96.png</normaloff>:/res/icons/Data Backup-96.png</iconset>
-       </property>
       </widget>
      </item>
      <item>
@@ -85,18 +77,12 @@
        <property name="text">
         <string/>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
-       </property>
       </widget>
      </item>
     </layout>
    </item>
   </layout>
  </widget>
- <resources>
-  <include location="../res.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>
diff --git a/widgets/parameditenum.cpp b/widgets/parameditenum.cpp
index 4adb714c4..54fc6fd11 100644
--- a/widgets/parameditenum.cpp
+++ b/widgets/parameditenum.cpp
@@ -30,10 +30,9 @@ ParamEditEnum::ParamEditEnum(QWidget *parent) :
     ui->setupUi(this);
     mConfig = 0;
 
-    QString theme = Utility::getThemePath();
-    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-    ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
-    ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
+    ui->helpButton->setIcon(Utility::getIcon("icons/Help-96.png"));
+    ui->readButton->setIcon(Utility::getIcon("icons/Upload-96.png"));
+    ui->readDefaultButton->setIcon(Utility::getIcon("icons/Data Backup-96.png"));
 }
 
 ParamEditEnum::~ParamEditEnum()
diff --git a/widgets/parameditenum.ui b/widgets/parameditenum.ui
index ebdccf74e..f0af1a413 100644
--- a/widgets/parameditenum.ui
+++ b/widgets/parameditenum.ui
@@ -46,10 +46,6 @@
      <property name="text">
       <string/>
      </property>
-     <property name="icon">
-      <iconset resource="../res.qrc">
-       <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
-     </property>
     </widget>
    </item>
    <item>
@@ -66,10 +62,6 @@
      <property name="text">
       <string/>
      </property>
-     <property name="icon">
-      <iconset resource="../res.qrc">
-       <normaloff>:/res/icons/Data Backup-96.png</normaloff>:/res/icons/Data Backup-96.png</iconset>
-     </property>
     </widget>
    </item>
    <item>
@@ -86,16 +78,10 @@
      <property name="text">
       <string/>
      </property>
-     <property name="icon">
-      <iconset resource="../res.qrc">
-       <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
-     </property>
     </widget>
    </item>
   </layout>
  </widget>
- <resources>
-  <include location="../res.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>
diff --git a/widgets/parameditint.cpp b/widgets/parameditint.cpp
index 76a7fa215..01fd0e14a 100644
--- a/widgets/parameditint.cpp
+++ b/widgets/parameditint.cpp
@@ -32,10 +32,9 @@ ParamEditInt::ParamEditInt(QWidget *parent) :
     mConfig = 0;
     mMaxVal = 1;
 
-    QString theme = Utility::getThemePath();
-    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-    ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
-    ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
+    ui->helpButton->setIcon(Utility::getIcon("icons/Help-96.png"));
+    ui->readButton->setIcon(Utility::getIcon("icons/Upload-96.png"));
+    ui->readDefaultButton->setIcon(Utility::getIcon("icons/Data Backup-96.png"));
 
     mDisplay = new DisplayPercentage(this);
     mIntBox = new QSpinBox(this);
diff --git a/widgets/parameditint.ui b/widgets/parameditint.ui
index e81ef47c5..747641a46 100644
--- a/widgets/parameditint.ui
+++ b/widgets/parameditint.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>86</width>
-    <height>26</height>
+    <width>146</width>
+    <height>27</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -45,10 +45,6 @@
        <property name="text">
         <string/>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
-       </property>
       </widget>
      </item>
      <item>
@@ -65,10 +61,6 @@
        <property name="text">
         <string/>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/Data Backup-96.png</normaloff>:/res/icons/Data Backup-96.png</iconset>
-       </property>
       </widget>
      </item>
      <item>
@@ -85,18 +77,12 @@
        <property name="text">
         <string/>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
-       </property>
       </widget>
      </item>
     </layout>
    </item>
   </layout>
  </widget>
- <resources>
-  <include location="../res.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>
diff --git a/widgets/parameditstring.cpp b/widgets/parameditstring.cpp
index 507f659e7..eeaa9291b 100644
--- a/widgets/parameditstring.cpp
+++ b/widgets/parameditstring.cpp
@@ -28,10 +28,9 @@ ParamEditString::ParamEditString(QWidget *parent) :
 {
     ui->setupUi(this);
 
-    QString theme = Utility::getThemePath();
-    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-    ui->readButton->setIcon(QPixmap(theme + "icons/Upload-96.png"));
-    ui->readDefaultButton->setIcon(QPixmap(theme + "icons/Data Backup-96.png"));
+    ui->helpButton->setIcon(Utility::getIcon("icons/Help-96.png"));
+    ui->readButton->setIcon(Utility::getIcon("icons/Upload-96.png"));
+    ui->readDefaultButton->setIcon(Utility::getIcon("icons/Data Backup-96.png"));
 }
 
 ParamEditString::~ParamEditString()
diff --git a/widgets/parameditstring.ui b/widgets/parameditstring.ui
index 4694e9cc0..71110ebf9 100644
--- a/widgets/parameditstring.ui
+++ b/widgets/parameditstring.ui
@@ -46,10 +46,6 @@
      <property name="text">
       <string/>
      </property>
-     <property name="icon">
-      <iconset resource="../res.qrc">
-       <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
-     </property>
     </widget>
    </item>
    <item>
@@ -66,10 +62,6 @@
      <property name="text">
       <string/>
      </property>
-     <property name="icon">
-      <iconset resource="../res.qrc">
-       <normaloff>:/res/icons/Data Backup-96.png</normaloff>:/res/icons/Data Backup-96.png</iconset>
-     </property>
     </widget>
    </item>
    <item>
@@ -86,16 +78,10 @@
      <property name="text">
       <string/>
      </property>
-     <property name="icon">
-      <iconset resource="../res.qrc">
-       <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
-     </property>
     </widget>
    </item>
   </layout>
  </widget>
- <resources>
-  <include location="../res.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>
diff --git a/widgets/ppmmap.cpp b/widgets/ppmmap.cpp
index f367ada14..3d67e85e4 100644
--- a/widgets/ppmmap.cpp
+++ b/widgets/ppmmap.cpp
@@ -29,10 +29,9 @@ PpmMap::PpmMap(QWidget *parent) :
 {
     ui->setupUi(this);
 
-    QString theme = Utility::getThemePath();
-    ui->helpButton->setIcon(QPixmap(theme + "icons/Help-96.png"));
-    ui->applyButton->setIcon(QPixmap(theme + "icons/apply.png"));
-    ui->applyButton->setIcon(QPixmap(theme + "icons/Ok-96.png"));
+    ui->helpButton->setIcon(Utility::getIcon("icons/Help-96.png"));
+    ui->applyButton->setIcon(Utility::getIcon("icons/apply.png"));
+    ui->applyButton->setIcon(Utility::getIcon("icons/Ok-96.png"));
 
     layout()->setContentsMargins(0, 0, 0, 0);
     mVesc = 0;
diff --git a/widgets/ppmmap.ui b/widgets/ppmmap.ui
index 8d2b50e3f..01059b10d 100644
--- a/widgets/ppmmap.ui
+++ b/widgets/ppmmap.ui
@@ -46,10 +46,6 @@
           <property name="text">
            <string>Help</string>
           </property>
-          <property name="icon">
-           <iconset resource="../res.qrc">
-            <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
-          </property>
          </widget>
         </item>
         <item>
@@ -66,10 +62,6 @@
           <property name="text">
            <string>Reset</string>
           </property>
-          <property name="icon">
-           <iconset resource="../res.qrc">
-            <normaloff>:/res/icons/Restart-96.png</normaloff>:/res/icons/Restart-96.png</iconset>
-          </property>
          </widget>
         </item>
         <item>
@@ -241,8 +233,6 @@
    <container>1</container>
   </customwidget>
  </customwidgets>
- <resources>
-  <include location="../res.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>
diff --git a/widgets/scripteditor.cpp b/widgets/scripteditor.cpp
index db5975174..ad7cc561b 100644
--- a/widgets/scripteditor.cpp
+++ b/widgets/scripteditor.cpp
@@ -35,11 +35,10 @@ ScriptEditor::ScriptEditor(QWidget *parent) :
     ui->setupUi(this);
     mIsModeLisp = false;
 
-    QString theme = Utility::getThemePath();
-    ui->searchHideButton->setIcon(QPixmap(theme + "icons/Cancel-96.png"));
-    ui->openFileButton->setIcon(QPixmap(theme + "icons/Open Folder-96.png"));
-    ui->saveButton->setIcon(QPixmap(theme + "icons/Save-96.png"));
-    ui->saveAsButton->setIcon(QPixmap(theme + "icons/Save as-96.png"));
+    ui->searchHideButton->setIcon(Utility::getIcon("icons/Cancel-96.png"));
+    ui->openFileButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
+    ui->saveButton->setIcon(Utility::getIcon("icons/Save-96.png"));
+    ui->saveAsButton->setIcon(Utility::getIcon("icons/Save as-96.png"));
     ui->searchWidget->setVisible(false);
     ui->codeEdit->setTabReplaceSize(4);
 
diff --git a/widgets/scripteditor.ui b/widgets/scripteditor.ui
index 20beecf47..1c0d0275b 100644
--- a/widgets/scripteditor.ui
+++ b/widgets/scripteditor.ui
@@ -106,10 +106,6 @@
         <property name="text">
          <string/>
         </property>
-        <property name="icon">
-         <iconset resource="../res.qrc">
-          <normaloff>:/res/icons/Cancel-96.png</normaloff>:/res/icons/Cancel-96.png</iconset>
-        </property>
         <property name="flat">
          <bool>true</bool>
         </property>
@@ -141,10 +137,6 @@
        <property name="text">
         <string>Open</string>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
-       </property>
        <property name="flat">
         <bool>false</bool>
        </property>
@@ -155,10 +147,6 @@
        <property name="text">
         <string>Save</string>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/Save-96.png</normaloff>:/res/icons/Save-96.png</iconset>
-       </property>
        <property name="flat">
         <bool>false</bool>
        </property>
@@ -169,10 +157,6 @@
        <property name="text">
         <string>Save As</string>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/Save as-96.png</normaloff>:/res/icons/Save as-96.png</iconset>
-       </property>
        <property name="flat">
         <bool>false</bool>
        </property>
@@ -189,8 +173,6 @@
    <header>QCodeEditor</header>
   </customwidget>
  </customwidgets>
- <resources>
-  <include location="../res.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>

From 7fe63bcb14a7c00da17733c9c5aff0edfe059688 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 3 Jan 2023 00:54:39 +0100
Subject: [PATCH 383/559] Updated changelog

---
 res/CHANGELOG.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/res/CHANGELOG.md b/res/CHANGELOG.md
index 512d01079..85c82d7cb 100644
--- a/res/CHANGELOG.md
+++ b/res/CHANGELOG.md
@@ -13,6 +13,7 @@
 * Automatically reload UI after installing and uninstalling packages.
 * Automatically scan mobile CAN-list if empty.
 * Changelogs updated and changed to markdown.
+* Pixmap caching for faster start and config reload.
 
 ---
 

From 18c063067b3a546c0d7e0e9ef73aa9781d47bcb0 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 3 Jan 2023 10:11:10 +0100
Subject: [PATCH 384/559] Multithreaded preloading of icons for faster start

---
 main.cpp | 40 +++++++++++++++++++++++++++++++++++++++-
 1 file changed, 39 insertions(+), 1 deletion(-)

diff --git a/main.cpp b/main.cpp
index f057ac651..78622e392 100755
--- a/main.cpp
+++ b/main.cpp
@@ -1,5 +1,5 @@
 /*
-    Copyright 2016 - 2021 Benjamin Vedder	benjamin@vedder.se
+    Copyright 2016 - 2023 Benjamin Vedder	benjamin@vedder.se
 
     This file is part of VESC Tool.
 
@@ -28,6 +28,7 @@
 #include "pages/pagemotorcomparison.h"
 #include "codeloader.h"
 #include "configparam.h"
+#include "utility.h"
 
 #include <QApplication>
 #include <QStyleFactory>
@@ -53,6 +54,7 @@
 #ifndef USE_MOBILE
 
 #include <QProxyStyle>
+#include <QtConcurrent/QtConcurrent>
 
 // Disables focus drawing for all widgets
 class Style_tweaks : public QProxyStyle
@@ -68,6 +70,41 @@ class Style_tweaks : public QProxyStyle
     }
 };
 
+static void preloadImages() {
+    QVector<QFuture<QPair<QString, QPixmap>>> futures;
+
+    auto loadImage = [&futures](QString path) {
+        auto loadFun = [](QString path) {
+            path.remove("://res/+theme_light/");
+
+            QPixmap res;
+            res.load(Utility::getThemePath() + path);
+            return qMakePair(path, res);
+        };
+
+        futures.append(QtConcurrent::run(loadFun, path));
+    };
+
+    QDir dir("://res/+theme_light");
+    dir.setSorting(QDir::Name);
+    foreach (auto fi, dir.entryInfoList()) {
+        if (fi.isDir()) {
+            QDir dir2(fi.absoluteFilePath());
+            dir2.setSorting(QDir::Name);
+            foreach (auto fi2, dir2.entryInfoList()) {
+                loadImage(fi2.absoluteFilePath());
+            }
+        } else {
+            loadImage(fi.absoluteFilePath());
+        }
+    }
+
+    foreach (auto f, futures) {
+        f.waitForFinished();
+        QPixmapCache::insert(f.result().first, f.result().second);
+    }
+}
+
 static void showHelp()
 {
     qDebug() << "Arguments";
@@ -733,6 +770,7 @@ int main(int argc, char *argv[])
             bw = new BoardSetupWindow;
             bw->show();
         } else {
+            preloadImages();
             w = new MainWindow;
             w->show();
         }

From d99abfaf4621f14ce17fbf2fca52cee49e3ec164 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 3 Jan 2023 10:25:40 +0100
Subject: [PATCH 385/559] Added icon preload timer

---
 main.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/main.cpp b/main.cpp
index 78622e392..0fbd223b5 100755
--- a/main.cpp
+++ b/main.cpp
@@ -71,6 +71,9 @@ class Style_tweaks : public QProxyStyle
 };
 
 static void preloadImages() {
+    QElapsedTimer t;
+    t.start();
+
     QVector<QFuture<QPair<QString, QPixmap>>> futures;
 
     auto loadImage = [&futures](QString path) {
@@ -103,6 +106,8 @@ static void preloadImages() {
         f.waitForFinished();
         QPixmapCache::insert(f.result().first, f.result().second);
     }
+
+    qDebug() << "Preloading icons took" << t.elapsed() <<  "ms";
 }
 
 static void showHelp()

From 6d9f355edabdc067ed07576214431dafbf97efb1 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 3 Jan 2023 11:15:46 +0100
Subject: [PATCH 386/559] Some preload fixes

---
 main.cpp    | 5 +++--
 utility.cpp | 4 ++++
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/main.cpp b/main.cpp
index 0fbd223b5..0824a4737 100755
--- a/main.cpp
+++ b/main.cpp
@@ -74,11 +74,13 @@ static void preloadImages() {
     QElapsedTimer t;
     t.start();
 
+    QPixmapCache::setCacheLimit(256000);
+
     QVector<QFuture<QPair<QString, QPixmap>>> futures;
 
     auto loadImage = [&futures](QString path) {
         auto loadFun = [](QString path) {
-            path.remove("://res/+theme_light/");
+            path = path.remove("://res/+theme_light/");
 
             QPixmap res;
             res.load(Utility::getThemePath() + path);
@@ -169,7 +171,6 @@ int main(int argc, char *argv[])
     QSettings set;
     bool isDark = set.value("darkMode", true).toBool();
     Utility::setDarkMode(isDark);
-    QPixmapCache::setCacheLimit(256000);
 
     if (isDark) {
         qputenv("QT_QUICK_CONTROLS_CONF", ":/qtquickcontrols2_dark.conf");
diff --git a/utility.cpp b/utility.cpp
index ee3cdb36a..64c2f0847 100755
--- a/utility.cpp
+++ b/utility.cpp
@@ -2273,6 +2273,10 @@ QString Utility::waitForLine(QTcpSocket *socket, int timeoutMs)
 
 QPixmap Utility::getIcon(QString path)
 {
+    while (path.startsWith("/")) {
+        path.remove(0, 1);
+    }
+
     QPixmap pm;
     if (!QPixmapCache::find(path, &pm)) {
         pm.load(getThemePath() + path);

From dab050ba655897da9645c78d32079b2ed6dcbe6c Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 3 Jan 2023 11:21:05 +0100
Subject: [PATCH 387/559] Small preload tweak

---
 main.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/main.cpp b/main.cpp
index 0824a4737..2c83f969b 100755
--- a/main.cpp
+++ b/main.cpp
@@ -74,6 +74,7 @@ static void preloadImages() {
     QElapsedTimer t;
     t.start();
 
+    // Not sure why this is needed here...
     QPixmapCache::setCacheLimit(256000);
 
     QVector<QFuture<QPair<QString, QPixmap>>> futures;
@@ -171,6 +172,7 @@ int main(int argc, char *argv[])
     QSettings set;
     bool isDark = set.value("darkMode", true).toBool();
     Utility::setDarkMode(isDark);
+    QPixmapCache::setCacheLimit(256000);
 
     if (isDark) {
         qputenv("QT_QUICK_CONTROLS_CONF", ":/qtquickcontrols2_dark.conf");

From d1d2115b3cbafec9c8dd444400d90da55a360d94 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 3 Jan 2023 14:45:30 +0100
Subject: [PATCH 388/559] Removed preloading again as it seems to make it worse
 in some situations

---
 main.cpp | 48 +++---------------------------------------------
 1 file changed, 3 insertions(+), 45 deletions(-)

diff --git a/main.cpp b/main.cpp
index 2c83f969b..cc358a960 100755
--- a/main.cpp
+++ b/main.cpp
@@ -70,49 +70,6 @@ class Style_tweaks : public QProxyStyle
     }
 };
 
-static void preloadImages() {
-    QElapsedTimer t;
-    t.start();
-
-    // Not sure why this is needed here...
-    QPixmapCache::setCacheLimit(256000);
-
-    QVector<QFuture<QPair<QString, QPixmap>>> futures;
-
-    auto loadImage = [&futures](QString path) {
-        auto loadFun = [](QString path) {
-            path = path.remove("://res/+theme_light/");
-
-            QPixmap res;
-            res.load(Utility::getThemePath() + path);
-            return qMakePair(path, res);
-        };
-
-        futures.append(QtConcurrent::run(loadFun, path));
-    };
-
-    QDir dir("://res/+theme_light");
-    dir.setSorting(QDir::Name);
-    foreach (auto fi, dir.entryInfoList()) {
-        if (fi.isDir()) {
-            QDir dir2(fi.absoluteFilePath());
-            dir2.setSorting(QDir::Name);
-            foreach (auto fi2, dir2.entryInfoList()) {
-                loadImage(fi2.absoluteFilePath());
-            }
-        } else {
-            loadImage(fi.absoluteFilePath());
-        }
-    }
-
-    foreach (auto f, futures) {
-        f.waitForFinished();
-        QPixmapCache::insert(f.result().first, f.result().second);
-    }
-
-    qDebug() << "Preloading icons took" << t.elapsed() <<  "ms";
-}
-
 static void showHelp()
 {
     qDebug() << "Arguments";
@@ -317,7 +274,6 @@ int main(int argc, char *argv[])
 
         if ((dash && str.contains('h')) || str == "--help") {
             showHelp();
-            found = true;
             return 0;
         }
 
@@ -392,6 +348,7 @@ int main(int argc, char *argv[])
                 return 1;
             }
         }
+
         if (str == "--tcpHub") {
             if ((i + 1) < args.size()) {
                 i++;
@@ -400,6 +357,7 @@ int main(int argc, char *argv[])
                 found = true;
             }
         }
+
         if (str == "--buildPkg") {
             if ((i + 1) < args.size()) {
                 i++;
@@ -778,7 +736,7 @@ int main(int argc, char *argv[])
             bw = new BoardSetupWindow;
             bw->show();
         } else {
-            preloadImages();
+            QPixmapCache::setCacheLimit(256000);
             w = new MainWindow;
             w->show();
         }

From 297775fa5b7c9908992b41ef698e758addb32e1e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 3 Jan 2023 19:57:01 +0100
Subject: [PATCH 389/559] Added firmware archive to mobile VESC Tool

---
 mobile/FwUpdate.qml    | 230 ++++++++++++++++++++++++++++++++++++-----
 mobile/fwhelper.cpp    |  57 +++++++++-
 mobile/fwhelper.h      |   2 +
 pages/pagefirmware.cpp |  50 ++-------
 res/CHANGELOG.md       |   1 +
 vescinterface.cpp      |  49 +++++++++
 vescinterface.h        |   3 +
 7 files changed, 322 insertions(+), 70 deletions(-)

diff --git a/mobile/FwUpdate.qml b/mobile/FwUpdate.qml
index ec867a4e0..88039e375 100755
--- a/mobile/FwUpdate.qml
+++ b/mobile/FwUpdate.qml
@@ -1,5 +1,5 @@
 /*
-    Copyright 2017 - 2021 Benjamin Vedder	benjamin@vedder.se
+    Copyright 2017 - 2023 Benjamin Vedder	benjamin@vedder.se
 
     This file is part of VESC Tool.
 
@@ -17,8 +17,8 @@
     along with this program.  If not, see <http://www.gnu.org/licenses/>.
     */
 
-import QtQuick 2.11
-import QtQuick.Controls 2.10
+import QtQuick 2.15
+import QtQuick.Controls 2.15
 import QtQuick.Layouts 1.3
 import QtQuick.Dialogs 1.3 as Dl
 
@@ -145,28 +145,9 @@ Item {
                             }
 
                             Component.onCompleted: {
-                                updateHw(VescIf.getLastFwRxParams())
                                 var params = VescIf.getLastFwRxParams()
-
                                 updateHw(params)
                                 updateBl(params)
-
-                                var testFwStr = "";
-                                var fwNameStr = "";
-
-                                if (params.isTestFw > 0) {
-                                    testFwStr = " BETA " +  params.isTestFw
-                                }
-
- 
-                                if (params.fwName !== "") {
-                                    fwNameStr = " (" + params.fwName + ")"
-                                }
-                                    
-                                versionText.text =
-                                        "FW   : v" + params.major + "." + params.minor + fwNameStr + testFwStr + "\n" +
-                                        "HW   : " + params.hw + "\n" +
-                                        "UUID : " + Utility.uuid2Str(params.uuid, false)
                             }
 
                             onCurrentIndexChanged: {
@@ -369,6 +350,130 @@ Item {
                         }
                     }
                 }
+
+                Page {
+                    id: pageArchive
+
+                    ColumnLayout {
+                        anchors.fill: parent
+                        anchors.leftMargin: 10
+                        anchors.rightMargin: 10
+                        anchors.topMargin: 10
+
+                        Rectangle {
+                            Layout.fillWidth: true
+                            height: 30;
+                            border.width: 0
+                            color: "#55" + Utility.getAppHexColor("darkAccent").slice(1)
+                            border.color: Utility.getAppHexColor("lightestBackground")
+
+                            Text {
+                                anchors.centerIn: parent
+                                color: Utility.getAppHexColor("lightText")
+                                text: "Firmware Archive"
+                                font.bold: true
+                                verticalAlignment: Text.AlignVCenter
+                                horizontalAlignment: Text.AlignHCenter
+                            }
+                        }
+
+                        Item {
+                            // Spacer
+                            Layout.fillWidth: true
+                            Layout.fillHeight: true
+                        }
+
+                        Text {
+                            color: Utility.getAppHexColor("lightText")
+                            Layout.fillWidth: true
+                            height: 30;
+                            text: "Firmware Version"
+                            horizontalAlignment: Text.AlignHCenter
+                        }
+
+                        ComboBox {
+                            id: archVerBox
+                            Layout.preferredHeight: 48
+                            Layout.fillWidth: true
+                            Layout.alignment: Qt.AlignHCenter | Qt.AlignVCenter
+                            popup.bottomMargin: 100
+
+                            textRole: "key"
+                            model: ListModel {
+                                id: archVerItems
+                            }
+
+                            Component.onCompleted: {
+                                updateArch()
+                            }
+
+                            onCurrentIndexChanged: {
+                                if (archVerItems.rowCount() === 0) {
+                                    return
+                                }
+
+                                archFwItems.clear()
+                                var fws = fwHelper.getArchiveFirmwares(
+                                            archVerItems.get(archVerBox.currentIndex).value,
+                                            VescIf.getLastFwRxParams())
+
+                                for (var name in fws) {
+                                    archFwItems.append({ key: name, value: fws[name] })
+                                }
+
+                                archFwBox.currentIndex = 0
+                            }
+                        }
+
+                        Text {
+                            color: Utility.getAppHexColor("lightText")
+                            Layout.fillWidth: true
+                            height: 30;
+                            text: "File"
+                            horizontalAlignment: Text.AlignHCenter
+                        }
+
+                        ComboBox {
+                            id: archFwBox
+                            Layout.preferredHeight: 48
+                            Layout.fillWidth: true
+                            Layout.alignment: Qt.AlignHCenter | Qt.AlignVCenter
+                            popup.bottomMargin: 100
+
+                            textRole: "key"
+                            model: ListModel {
+                                id: archFwItems
+                            }
+                        }
+
+                        Button {
+                            id: archUpdateButton
+                            text: "Update Archive"
+                            Layout.fillWidth: true
+
+                            onClicked: {
+                                dlArchiveDialog.open()
+                            }
+                        }
+
+                        ProgressBar {
+                            id: dlProg
+                            Layout.fillWidth: true
+                        }
+
+                        Text {
+                            id: dlText
+                            Layout.fillWidth: true
+                            color: Utility.getAppHexColor("lightText")
+                        }
+
+                        Item {
+                            // Spacer
+                            Layout.fillWidth: true
+                            Layout.fillHeight: true
+                        }
+                    }
+                }
             }
         }
 
@@ -488,10 +593,44 @@ Item {
                 okUploadFw = fwHelper.uploadFirmwareSingleShotTimer(customFwText.text, VescIf, false, Qt.platform.os != "android", fwdCan,"")
             } else if (swipeView.currentIndex == 2) {
                 fwHelper.uploadFirmwareSingleShotTimer(blItems.get(blBox.currentIndex).value, VescIf, true, false, fwdCan,"")
+            } else if (swipeView.currentIndex == 3) {
+                okUploadFw = fwHelper.uploadFirmwareSingleShotTimer(archFwItems.get(archFwBox.currentIndex).value, VescIf, false, false, fwdCan, "")
             }
         }
     }
 
+    Dialog {
+        id: dlArchiveDialog
+        property bool fwdCan: false
+        standardButtons: Dialog.Ok | Dialog.Cancel
+        width: parent.width - 20
+        modal: true
+        focus: true
+        closePolicy: Popup.CloseOnEscape
+
+        Overlay.modal: Rectangle {
+            color: "#AA000000"
+        }
+
+        x: (parent.width - width) / 2
+        y: (parent.height - height) / 2
+
+        Text {
+            color: Utility.getAppHexColor("lightText")
+            text: "This is going do download a few 100 MB of old firmwares. Continue?"
+            verticalAlignment: Text.AlignVCenter
+            anchors.fill: parent
+            wrapMode: Text.WordWrap
+        }
+
+        onAccepted: {
+            archUpdateButton.enabled = false
+            VescIf.downloadFwArchive()
+            updateArch(VescIf.getLastFwRxParams())
+            archUpdateButton.enabled = true
+        }
+    }
+
     function updateHw(params) {
         var hws = fwHelper.getHardwares(params, params.hw)
 
@@ -499,11 +638,7 @@ Item {
         fwItems.clear()
 
         for (var name in hws) {
-            if (name.indexOf("412") !== -1) {
-                hwItems.insert(0, { key: name, value: hws[name] })
-            } else {
-                hwItems.append({ key: name, value: hws[name] })
-            }
+            hwItems.append({ key: name, value: hws[name] })
         }
 
         hwBox.currentIndex = 0
@@ -525,6 +660,19 @@ Item {
         blBox.currentIndex = 0
     }
 
+    function updateArch() {
+        var fws = fwHelper.getArchiveDirs()
+
+        archVerItems.clear()
+        archFwItems.clear()
+
+        for (var name in fws) {
+            archVerItems.append({ key: name, value: fws[name] })
+        }
+
+        archVerBox.currentIndex = 0
+    }
+
     function uploadFw(fwdCan) {
         if (!VescIf.isPortConnected()) {
             VescIf.emitMessageDialog(
@@ -567,7 +715,7 @@ Item {
 
                 if (VescIf.getFwSupportsConfiguration()) {
                     msg += "\n\n" +
-                            "Uploading new firmware will clear all settings on . You can make " +
+                            "Uploading new firmware will clear all settings in the VESC firmware. You can make " +
                             "a backup of the settings from the connection page and restore them after the " +
                             "update if you'd like (if you haven't done the backup already). " +
                             "Do you want to continue with the update, or cancel and do the backup first?"
@@ -626,6 +774,26 @@ Item {
                     msgBl + "\n\n" + msgBl2 +
                     "Do you want to continue?"
             uploadDialog.open()
+        } else if (swipeView.currentIndex === 3) {
+            if (archFwItems.rowCount() === 0) {
+                VescIf.emitMessageDialog(
+                            "Upload Error",
+                            "This version of VESC Tool does not include the selected firmware " +
+                            "for your hardware version. You can try to update the archive and see " +
+                            "if it has been added since your last update.",
+                            false)
+                return;
+            }
+
+            uploadDialog.title = "Warning"
+
+            msg += "\n\n" +
+                    "Uploading new firmware will clear all settings on your device " +
+                    "and you have to do the configuration again. Do you want to " +
+                    "continue?"
+
+            uploadDialogLabel.text = msg
+            uploadDialog.open()
         }
     }
 
@@ -696,6 +864,7 @@ Item {
 
             updateHw(params)
             updateBl(params)
+            updateArch()
 
             var testFwStr = "";
             var fwNameStr = "";
@@ -713,5 +882,10 @@ Item {
                     "HW   : " + params.hw + "\n" +
                     "UUID : " + Utility.uuid2Str(params.uuid, false)
         }
+
+        function onFwArchiveDlProgress(msg, prog) {
+            dlProg.value = prog
+            dlText.text = msg
+        }
     }
 }
diff --git a/mobile/fwhelper.cpp b/mobile/fwhelper.cpp
index 95f45eced..116bb1879 100644
--- a/mobile/fwhelper.cpp
+++ b/mobile/fwhelper.cpp
@@ -18,9 +18,12 @@
     */
 
 #include "fwhelper.h"
-#include <QDirIterator>
 #include "hexfile.h"
 
+#include <QDirIterator>
+#include <QStandardPaths>
+#include <QResource>
+
 FwHelper::FwHelper(QObject *parent) : QObject(parent)
 {
 
@@ -205,3 +208,55 @@ bool FwHelper::uploadFirmwareSingleShotTimer(QString filename, VescInterface *ve
     });
     return true;
 }
+
+QVariantMap FwHelper::getArchiveDirs()
+{
+    QVariantMap fws;
+
+    QString path = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation) + "/res_fw.rcc";
+    QFile file(path);
+    if (file.exists()) {
+        QResource::unregisterResource(path);
+        QResource::registerResource(path);
+
+        QString fwDir = "://fw_archive";
+
+        QDirIterator it(fwDir);
+        while (it.hasNext()) {
+            QFileInfo fi(it.next());
+            fws.insert(fi.fileName(), fi.absoluteFilePath());
+        }
+    }
+
+    return fws;
+}
+
+QVariantMap FwHelper::getArchiveFirmwares(QString fwPath, FW_RX_PARAMS params)
+{
+    QVariantMap fws;
+
+    QDirIterator it(fwPath);
+    while (it.hasNext()) {
+        QFileInfo fi(it.next());
+
+        QDirIterator it2(fi.absoluteFilePath());
+        while (it2.hasNext()) {
+            QFileInfo fi2(it2.next());
+
+            QStringList names = fi.fileName().split("_o_");
+
+            if (params.hw.isEmpty() || names.contains(params.hw, Qt::CaseInsensitive)) {
+                if (fi2.fileName().toLower() == "vesc_default.bin") {
+                    QString name = names.at(0);
+                    for(int i = 1;i < names.size();i++) {
+                        name += " & " + names.at(i);
+                    }
+
+                    fws.insert("HW " + name + ": " + fi2.fileName(), fi2.absoluteFilePath());
+                }
+            }
+        }
+    }
+
+    return fws;
+}
diff --git a/mobile/fwhelper.h b/mobile/fwhelper.h
index 6f3ecab97..a41f67c3c 100644
--- a/mobile/fwhelper.h
+++ b/mobile/fwhelper.h
@@ -36,6 +36,8 @@ class FwHelper : public QObject
                                     bool isBootloader, bool isIncluded, bool fwdCan);
     Q_INVOKABLE bool uploadFirmwareSingleShotTimer(QString filename, VescInterface *vesc,
                                                  bool isBootloader, bool isIncluded, bool fwdCan, QString BLfilename);
+    Q_INVOKABLE QVariantMap getArchiveDirs();
+    Q_INVOKABLE QVariantMap getArchiveFirmwares(QString fwPath, FW_RX_PARAMS params);
 
 signals:
     void fwUploadRes(bool res, bool isBootloader);
diff --git a/pages/pagefirmware.cpp b/pages/pagefirmware.cpp
index 4091b062f..bd3fd9859 100755
--- a/pages/pagefirmware.cpp
+++ b/pages/pagefirmware.cpp
@@ -25,11 +25,6 @@
 #include <QMessageBox>
 #include <QFileDialog>
 #include <QDirIterator>
-#include <QNetworkAccessManager>
-#include <QUrl>
-#include <QNetworkRequest>
-#include <QNetworkReply>
-#include <QEventLoop>
 
 PageFirmware::PageFirmware(QWidget *parent) :
     QWidget(parent),
@@ -104,6 +99,11 @@ void PageFirmware::setVesc(VescInterface *vesc)
                 this, SLOT(fwUploadStatus(QString,double,bool)));
         connect(mVesc, SIGNAL(fwRxChanged(bool,bool)),
                 this, SLOT(fwRxChanged(bool,bool)));
+
+        connect(mVesc, &VescInterface::fwArchiveDlProgress, [this](QString msg, double prog) {
+            ui->displayDl->setText(msg);
+            ui->displayDl->setValue(100.0 * prog);
+        });
     }
 }
 
@@ -658,8 +658,7 @@ void PageFirmware::uploadFw(bool allOverCan)
 
 void PageFirmware::reloadArchive()
 {
-    QString path = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation) +
-            "/res_fw.rcc";
+    QString path = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation) + "/res_fw.rcc";
     QFile file(path);
     if (file.exists()) {
         QResource::unregisterResource(path);
@@ -686,42 +685,11 @@ void PageFirmware::on_dlArchiveButton_clicked()
     ui->dlArchiveButton->setEnabled(false);
     ui->displayDl->setText("Preparing download...");
 
-    QUrl url("http://home.vedder.se/vesc_fw_archive/res_fw.rcc");
-    QNetworkAccessManager manager;
-    QNetworkRequest request(url);
-    QNetworkReply *reply = manager.get(request);
-
-    QString path = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation) + "/res_fw.rcc";
-    QFile file(path);
-    QResource::unregisterResource(path);
-    if (file.open(QIODevice::WriteOnly)) {
-        auto conn = connect(reply, &QNetworkReply::downloadProgress, [&file, reply, this]
-                            (qint64 bytesReceived, qint64 bytesTotal) {
-            ui->displayDl->setText("Downloading...");
-            ui->displayDl->setValue(100.0 * (double)bytesReceived / (double)bytesTotal);
-            file.write(reply->read(reply->size()));
-        });
-
-        QEventLoop loop;
-        connect(reply, SIGNAL(finished()), &loop, SLOT(quit()));
-        loop.exec();
-        disconnect(conn);
-
-        if (reply->error() == QNetworkReply::NoError) {
-            file.write(reply->readAll());
-            ui->displayDl->setText("Download Done");
-        } else {
-            ui->displayDl->setText("Download Failed");
+    if (mVesc) {
+        if (mVesc->downloadFwArchive()) {
+            reloadArchive();
         }
-
-        file.close();
-        reloadArchive();
-    } else {
-        ui->displayDl->setText("Could not open local file");
     }
 
-    reply->abort();
-    reply->deleteLater();
-
     ui->dlArchiveButton->setEnabled(true);
 }
diff --git a/res/CHANGELOG.md b/res/CHANGELOG.md
index 85c82d7cb..bb440b34e 100644
--- a/res/CHANGELOG.md
+++ b/res/CHANGELOG.md
@@ -14,6 +14,7 @@
 * Automatically scan mobile CAN-list if empty.
 * Changelogs updated and changed to markdown.
 * Pixmap caching for faster start and config reload.
+* Firmware archive added in mobile VESC Tool.
 
 ---
 
diff --git a/vescinterface.cpp b/vescinterface.cpp
index 1bfce10ea..f2b3f0671 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -37,6 +37,12 @@
 #include <QSerialPortInfo>
 #endif
 
+#include <QNetworkAccessManager>
+#include <QUrl>
+#include <QNetworkRequest>
+#include <QNetworkReply>
+#include <QEventLoop>
+
 #ifdef HAS_CANBUS
 #include <QCanBus>
 #endif
@@ -3979,6 +3985,49 @@ bool VescInterface::connectTcpHubUuid(QString uuid)
     return false;
 }
 
+bool VescInterface::downloadFwArchive()
+{
+    bool res = false;
+
+    QUrl url("http://home.vedder.se/vesc_fw_archive/res_fw.rcc");
+    QNetworkAccessManager manager;
+    QNetworkRequest request(url);
+    QNetworkReply *reply = manager.get(request);
+
+    QString path = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation) + "/res_fw.rcc";
+    QFile file(path);
+    QResource::unregisterResource(path);
+    if (file.open(QIODevice::WriteOnly)) {
+        auto conn = connect(reply, &QNetworkReply::downloadProgress, [&file, reply, this]
+                            (qint64 bytesReceived, qint64 bytesTotal) {
+            emit fwArchiveDlProgress("Downloading...", (double)bytesReceived / (double)bytesTotal);
+            file.write(reply->read(reply->size()));
+        });
+
+        QEventLoop loop;
+        connect(reply, SIGNAL(finished()), &loop, SLOT(quit()));
+        loop.exec();
+        disconnect(conn);
+
+        if (reply->error() == QNetworkReply::NoError) {
+            file.write(reply->readAll());
+            emit fwArchiveDlProgress("Download Done", 1.0);
+        } else {
+            emit fwArchiveDlProgress("Download Failed", 0.0);
+        }
+
+        file.close();
+        res = true;
+    } else {
+        emit fwArchiveDlProgress("Could not open local file", 0.0);
+    }
+
+    reply->abort();
+    reply->deleteLater();
+
+    return res;
+}
+
 QString VescInterface::getLastTcpHubServer() const
 {
     return mLastTcpHubServer;
diff --git a/vescinterface.h b/vescinterface.h
index aadcb6566..c0cc0ee04 100755
--- a/vescinterface.h
+++ b/vescinterface.h
@@ -260,6 +260,8 @@ class VescInterface : public QObject
         updateFwRx(false);
     }
 
+    Q_INVOKABLE bool downloadFwArchive();
+
 signals:
     void statusMessage(const QString &msg, bool isGood);
     void messageDialog(const QString &title, const QString &msg, bool isGood, bool richText);
@@ -279,6 +281,7 @@ class VescInterface : public QObject
     void configurationBackupsChanged();
     void customConfigLoadDone();
     void qmlLoadDone();
+    void fwArchiveDlProgress(QString msg, double prog);
 
 public slots:
 

From c229f9b92d10c89a91c6b817b929b8bca6e45bfb Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 3 Jan 2023 20:01:22 +0100
Subject: [PATCH 390/559] Added changelog so that build works without included
 firmwares

---
 .gitignore                 |   2 +
 res/firmwares/CHANGELOG.md | 820 +++++++++++++++++++++++++++++++++++++
 2 files changed, 822 insertions(+)
 create mode 100644 res/firmwares/CHANGELOG.md

diff --git a/.gitignore b/.gitignore
index 61b49a353..e0075438d 100644
--- a/.gitignore
+++ b/.gitignore
@@ -47,3 +47,5 @@ android-libvesc_tool.so-deployment-settings.json
 android_release_vesctool.keystore
 build_android_signed
 *.DS_Store
+
+res/firmwares/*/
diff --git a/res/firmwares/CHANGELOG.md b/res/firmwares/CHANGELOG.md
new file mode 100644
index 000000000..5d0e0a386
--- /dev/null
+++ b/res/firmwares/CHANGELOG.md
@@ -0,0 +1,820 @@
+### 6.02
+#### Released TBD
+* LispBM:
+	* Bug fixes.
+	* Added floor, ceil, round.
+	* Added resistance, inductance and flux linkage estimator functions.
+	* Added adc_ctrl_type setting.
+	* Added app_is_disabled.
+
+---
+
+### 6.00
+#### Released 2022-12-08
+* Added stack checks.
+* Release motor fix when cc_min_current is 0.
+* Added support for NTC and PTC temperature sensors with custom resistance and base temperature.
+* Added sandboxed lisp scripting using https://github.com/svenssonjoel/lispBM.
+* Encoder driver split and rewrite to make it easier to support more encoders.
+* Flash writes now work on lower MCU voltages too.
+* Added fwinfo terminal command.
+* CAN status messages are now configured using bitfields.
+* There are two rates at which CAN status messages can be sent now.
+* New silent HFI mode with much better performance at high load.
+* Added app ADC min and max voltage limits for throttle fault detection.
+* Another new silent HFI mode that is less sensitive to getting the inductance correct.
+* Added openloop current boost parameter.
+* Added openloop current max parameter.
+* Added support for dynamic loading of C libraries.
+* Added more observers:
+	* mxlemming
+	* ortega with flux linkage tracking
+	* mxlemming with flux linkage tracking
+* AS5x47 encoder support: https://github.com/vedderb/bldc/pull/511
+* Disable BMS limit options.
+* Added PT1000 temperature sensor support.
+* APP ADC button bitfield and CC disable support.
+* BissC encoder support: https://github.com/vedderb/bldc/pull/536
+* Better detection failt handling and reporting: https://github.com/vedderb/bldc/pull/533
+* TLE5012-support: https://github.com/vedderb/bldc/pull/551
+
+---
+
+### 5.03
+#### Released 2022-01-16
+* Fixed inductance measurement bug.
+* Speed tracker windup protection.
+* Phase filter support.
+* Phase voltage offset calibration.
+* Better current offset calibration.
+* Added power switch commands.
+* Synchronize observer state when running in open loop.
+* Force oberver state magnitude above 50% of flux linkage. This prevents the motor from getting stuck and 'screaming'.
+* Observer global convergence update. Helps tracking the motor through 0 speed.
+* Added HFI start sensor mode.
+* Added TEMP_SENSOR_KTY84_130.
+* Major UAVCAN update. See: https://github.com/vedderb/bldc/pull/269
+* Avoid numerical instability when mapping is done over a narrow range. See: https://github.com/vedderb/bldc/issues/262
+* App Balance updates.
+* Added servo_out_enable appconf option, so that the PPM port can be used to control servos with the default firmware.
+* Better current controller windup protection.
+* Field weakening support (experimental, be careful and use at your own risk).
+* Use filtered current for axis decoupling.
+* Odometer is now persistent after firmware updates.
+* Added hw runtime counter (see hw_status in terminal)
+* Added custom UI support.
+* Limit hall sensor angle rate of change based on ERPM.
+* Added p_pid_gain_dec_angle parameter.
+* Low pass filter input voltage.
+* Dual hardware CAN-scan fix.
+* Dynamic QML-script write support.
+* Use fast speed tracker for current controller.
+* Disable motor for 5 seconds after flash operations.
+* Added kill switch support.
+* Added process derivative term to position controller.
+* Added position PID-controller angle offset.
+* Configurable PID controller rate.
+* Added several AUX port modes.
+* Added configurable safe start modes.
+* Added fusion IMU filter.
+* Added constant torque PAS mode.
+* Correct scaling for resistance and inductance.
+* Fixed inductance measurement bug with f_sw > 30k.
+* Corrected inductance measurement algorithm.
+* Fixed max power loss calculation.
+* Better input current estimation.
+* Added raw sampled data mode.
+* Compensate inductance for motor saliency in observer.
+* Added MTPA mode based on measured current.
+* Faster overvoltage protection.
+* Added statistics counters.
+* Added configurable observer offset.
+
+---
+
+### 5.02
+#### Released 2021-01-11
+* IMU calibration improvement.
+* Added COMM_GET_MCCONF_TEMP command.
+* Added bidirectional current command to VESC remote.
+* Fixed motor temperature reading on hw with ADC mux.
+* Added speed PID input ramping option.
+* Added LSM6DS3 IMU support.
+* Added MTPA support. See See: https://github.com/vedderb/bldc/pull/179
+* Added HW_HD75 support.
+* NRF52 UICR write fix.
+* App PPM rework. See https://github.com/vedderb/bldc/pull/192
+* Added bm_reset terminal command.
+* Added bm support for STM32F30x and STM32L47x.
+* App Balance updates. See https://github.com/vedderb/bldc/pull/193
+* Motor current now based on magnitude of both axes.
+* Initial VESC BMS support.
+* Hall sensor interpolation improvement.
+* Made hall sensor filter configurable.
+* Added locking time and ramp up time parameters to sensorless startup.
+* Removed D axis current injection.
+* Initial VESC IO-board support.
+* Added hall sensor interpolation ERPM config option.
+* Use fast speed estimator for RPM limit.
+* Avoid accumulated rounding error when using PID position angle division.
+* Added UAVCAN raw throttle drive mode (current or duty cycle control).
+* Added MT6816 encoder support. See https://github.com/vedderb/bldc/pull/238
+* Added modulation-based D axis current controller gain scaling. Addresses https://github.com/vedderb/bldc/pull/220
+* Added PAS app. See: https://github.com/vedderb/bldc/pull/243
+* Added 100k CAN-baudrate.
+* Added 100k NTC temperature sensor support.
+
+---
+
+### 5.01
+#### Released 2020-04-27
+* Fixed PPM bug in previous release.
+
+---
+
+### 5.00
+#### Released 2020-04-27
+* Dual motor support. VESC-based controllers such as the focbox unity will now work.
+* Fixed bug in cross BEMF decoupling.
+* Disable CC decoupling during flux linkage measurement.
+* Balance app updates. See: https://github.com/vedderb/bldc/pull/141
+* Observer gain calculation update.
+* Better observer gain scaling. This has a large impact on some motors.
+* Added test build flag, that is transmitted with the FW Version command.
+* Detect all bug fix.
+* Added COMM_SET_BATTERY_CUT command.
+* Added CAN_PACKET_SHUTDOWN CAN-command.
+* GPDRIVE output sample fix.
+* Some ISR optimization.
+* Updated ChibiOS to version 3.0.5.
+* Increased USB thread priority to avoid freeze during connect/disconnect on windows.
+* Smooth current ramping during resistance measurement.
+* Moved fault stop to thread, and added SPI mutexes to DRV drivers.
+* Smooth current ramping in flux linkage measurement and sensor detection.
+* Added hall_analyze terminal command.
+* Motor temperature filtering bug fix.
+* Inductance measurement scaling fix.
+* Better flux linkage measurement.
+* Improved battery level and range estimation.
+* Use fast speed estimator for encoder sensorless transition.
+* Signigicantly improved hall sensor transitions and interpolation.
+* More filtering on the motor temperature.
+* Added IMU orientation calibration support: https://github.com/vedderb/bldc/pull/158
+* Added mcconf_l_duty_start so that the current can be limited smoothly when reaching max speed.
+* Allow throttle in opposite direction even after passing speed limit for PPM and VESC Remote apps.
+
+---
+
+### 4.02
+#### Released 2020-03-06
+* Position PID fix (most notable on multiturn encoders).
+* App balance updates. See https://github.com/vedderb/bldc/pull/138.
+* Changed FOC time constant back to 1000 us.
+* Do not count AS5047 all ones as fault.
+* Improved axis decoupling and integrator windup protection. Should prevent wobbles.
+
+---
+
+### 4.01
+#### Released 2020-02-01
+* Leave debug mode on NRF5x after disconnect to avoid excess power consumption before power cycle.
+* Added encoder_clear_errors and encoder_clear_multiturn terminal commands.
+* Initialize current offsets to 2048 to avoid a fault code to be logged at boot.
+* Added 10K, 20K, 50K and 75K CAN baud rates.
+* Added very basic TS5700N8501 multiturn mode.
+
+---
+
+### 4.00
+#### Released 2020-01-28
+* Added support for HFI to track motor position at 0 speed without sensors. This is the main new feature of FW 4.
+* Fixed CAN-bug in VESC Remote.
+* Reset current integrator when leaving duty cycle control mode. Fixes braking issue https://github.com/vedderb/bldc/issues/125.
+* More accurate and faster inductance measurement.
+* Ability to measyre ld - lq. Useful for MTPA in future firmwares.
+* Reset shutdown when uploading FW data.
+* Added CAN-bride and COMM_CAN_FWD_FRAME.
+* Added CAN_PACKET_POLL_TS5700N8501_STATUS to poll most relevant data last received from the TS5700N8501 encoder.
+* Added TS57N8501 ABM, SF and ALMC to encoder terminal command.
+
+---
+
+### 3.66
+#### Released 2020-01-12
+* Added support for HW 100/250.
+* Added uptime terminal command.
+* Added some delays to DRV8323s SPI driver.
+* Added SWD support for NRF52840 with idcode 0x015B.
+	* TODO: Have a look at https://github.com/blacksphere/blackmagic/commit/302ff20a6d5b806c09e0ca7e996beab3ef3596f4.
+* Fixed INVERTED_SHUNT_POLARITY for BLDC.
+* Added decoupling to FOC current controller.
+* Better motor tracking at high ERPM and low Fsw.
+* Made uart and permanent uart more independent.
+* Do not write to USB if cable has not been connected.
+* Added timeout to USB write.
+* Better FOC current control integrator windup protection.
+* Added FOC observer type selection options.
+* Print TS5700N8501 position in encoder terminal command.
+
+---
+
+### 3.65
+#### Released 2019-12-22
+* Added support for PTC motor temperature sensor (e.g. KTY84)
+* APP_PPM sleep fix. Should solve CAN issues.
+
+---
+
+### 3.64
+#### Released 2019-12-19
+* Added support for HW60_MK3
+* Disable shutdown sampling when the watchdog runs slowly.
+* Added COMM_SET_CURRENT_REL.
+* Added support for boot/ok signal.
+* Added unused mode for aux port.
+* Fixed positive ramping time setting.
+* Changed PPM timeout handling.
+* IRQ priority fix: SYSTICK < UART < MCPWM. Possibly related to http://www.chibios.com/forum/viewtopic.php?f=3&t=4665.
+
+---
+
+### 3.63
+#### Released 2019-12-05
+* NRF remote power meter is now unaffected by temperature decrease and speed limits.
+* Added LZO compression support to firmware upload, making firmware updates 30% - 50% faster.
+* Added LZO compression support to SWD upload.
+* Made serial interrupts priority higher than PWM so that higher speed UART is possible.
+* Added support for TS5700N8501 encoder (via COMM port).
+* Better observer gain calculation.
+
+---
+
+### 3.62
+#### Released 2019-09-27
+* Added COMM_BM_MEM_READ.
+* Merged EUC app (experimental).
+* Fixed NRF remote reverse bug.
+* Do not stop FOC on configuration updates if not needed.
+
+---
+
+### 3.61
+#### Released 2019-09-09
+* Added PPM_CTRL_TYPE_CURRENT_SMART_REV mode.
+
+---
+
+### 3.60
+#### Released 2019-09-08
+* Fixed IMU9x50 bug.
+* Unrigester ICM20948 terminal callbacks when unused.
+* Added experiment plot functions.
+* Added D and Q axis voltage to RT data.
+* Added smart reverse function to nunchuk app.
+
+---
+
+### 3.59
+#### Released 2019-09-03
+* Added more data to MOTE_PACKET_ALIVE.
+* Added app template.
+* Added function to unregister terminal callbacks.
+* Added BMI160 support.
+* Added support for the VESC HD.
+* Added support for SWD programming permanent NRF.
+* Encoder SW SPI fix.
+* Slightly faster boot.
+* Moved custom HW and APP configurations to conf_general.h.
+* Added support for passing HW and APP default configuration as make arguments.
+* Added SW shutdown support.
+* Added command to erase bootloader.
+* Added function to stop IMU threads, so that IMUs can be switched during runtime.
+* Only generate encoder fault when the ERPM is low enough to use the encoder.
+* Added many IMU and AHRS settings to appconf.
+* Re-initialize IMU when appconf is written.
+* Added imu_gyro_info terminal command.
+
+---
+
+### 3.58
+#### Released 2019-07-01
+* Set motor to FOC mode after successful FOC detection instead of the default type for the hardware.
+* APP_ADC: Do not send brake command over CAN if config.multi_esc is not set.
+* APP_PPM: Make pulses invalid if they are above 150 % instead of 120 %.
+* Introduced a new control mode that allows reverse with hysteria (@ackmaniac port)
+
+---
+
+### 3.57
+#### Released 2019-05-16
+* Added CAN status message 5 with input voltage and tachometer data.
+* Fix github issue https://github.com/vedderb/bldc/issues/94.
+* Use default F_SW for HW after autodetect FOC.
+
+---
+
+### 3.56
+#### Released 2019-05-03
+* Fixed current offset fault bug in non-FOC mode.
+* Multiple IMU support.
+* Added support for the ICM-20948 IMU.
+* Decreased ERPM cut in open loop flux linkage measurement.
+
+---
+
+### 3.55
+#### Released 2019-04-26
+* Initial sin/cos encoder support.
+* New ADC control mode.
+* Virtual motor support.
+* Disable chuk cruise control on dropouts.
+* Fix multiple VESCs over CAN duty cycle mode.
+* Added boot and runtime flash memory CRC integrity check.
+* Updated chuk RPM filter and moved it to the beginning of the output thread.
+* Decreased chuk output thread rate from 1 kHz to 200 Hz.
+* Added mpu_read_reg terminal command.
+* Fixed DRV8301 fault readout bug.
+* Added unbalanced current detection.
+* Added high current offset detection.
+
+---
+
+### 3.54
+#### Released 2019-03-31
+* Added mcpwm_foc_set_openloop_duty and mcpwm_foc_set_openloop_duty_phase.
+* Added blackmagic probe SWD output to program other MCUs.
+	* Can be used to flash bricked VESCs from a working one.
+	* Can be used to make a custom NRF5x module.
+
+---
+
+### 3.53
+#### Released 2019-03-20
+* Limit foc_current_filter_const range to prevent damage due to bad configuration.
+* Set default NRF speed to 1 Mbit/s.
+* Use lower switching frequency when detecting resistance to reduce deat-time distortion.
+* Don't enable temperature compensation in auto detection by default.
+
+---
+
+### 3.52
+#### Released 2019-03-10
+* Added support for second revision of HW75/300 with separate UART for NRF51.
+* Added COMM_TERMINAL_CMD_SYNC, which does not drop commands when busy.
+* Added option to disable permanent UART.
+* Moved TIM5 to own file, and use it from other places.
+* Removed need for TIM2 in mcpwm.
+* Added utilization percentage to threads terminal command.
+* Added IMU interface.
+* Added support for the MPU9150 and MPU9250.
+* Added COMM_GET_IMU_DATA.
+
+---
+
+### 3.51
+#### Released 2019-03-04
+* Fixed AS5047 error rate bug at position 0.
+* Increased threshold for AS5047 fault to 5 %.
+* Set correct V_REG value for HW 75/300.
+* Better command processing.
+* Proper scaling when setting relative currents and acceleration and braking currents are different.
+
+---
+
+### 3.50
+#### Released 2019-03-01
+* AS5047 parity check and fault code on error rates > 1 %.
+* Signature on mc and app configuration.
+* FOC loop frequency truncation on all hardwares.
+
+---
+
+### 3.49
+#### Released 2019-03-01
+* New watchdog implementation.
+* HW updates.
+* Fixed DC motor current sampling issue.
+* Deadtime in nanoseconds instead of register value.
+* Use fastest ramping time when throttle is applied.
+
+---
+
+### 3.48
+#### Released 2019-02-18
+* Added pairing flag to appconf.
+* Decreased CAN TX timeout.
+
+---
+
+### 3.47
+#### No official release
+* Current percentage limits.
+* Mcconf_temp based on current scale instead of absolute current.
+* Removed battery current from mcconf_temp.
+* Added current scale parameter.
+* Different braking behavior: prefer cogging over locking the brakes.
+
+---
+
+### 3.46
+#### No official release
+* DC motor RPM measurement and RPM control when using encoder.
+* Support for configurable current low pass filter.
+* Much better recovery when failing to decode packets.
+* Run all detect functions in separate thread.
+* Fixed bug introduced when adding support for dual UARTs.
+* Added support for reverse state on NRF remote.
+* Support to disable app output for a specified time.
+
+---
+
+### 3.45
+#### No official release
+* Default CAN ID from UUID, and hook to define it in hwconf.
+* CAN ping support.
+* Simultaneous firmware update over CAN-bus.
+* Fully automated motor detection, based on maximum motor power losses.
+* Sensor autodetection and configuration support.
+* Softer encoder detection.
+* Better NRF_EXT support.
+* New more reliable flux linkage measurement.
+* Simpler to add hardware versions to build system.
+* More DAS hardware support.
+* DRV8323s support.
+* Initial UAVCAN support.
+* Moved from uart to serial driver to avoid DMA conflicts.
+* Support for permanent UART.
+
+---
+
+### 3.44
+#### No official release
+* NRF_EXT commands support.
+	* Use NRF51822 with ESB remotes.
+* Different radio channel for NRF pairing.
+
+---
+
+### 3.43
+#### No official release
+* Added battery ah to setup info.
+* Changed tacho values in COMM_GET_VALUES_SETUP to meters.
+* Added battery wh COMM_GET_VALUES_SETUP.
+* Better remaining battery capacity calculation.
+
+---
+
+### 3.42
+#### No official release
+* Added setup info parameters:
+	* Motor Poles
+	* Gear Ratio
+	* Wheel Diameter
+	* Battery Type
+	* Battery Cells
+* Added more CAN status messages.
+* Updated speed PID to start properly when braking is disabled.
+* Added COMM_GET_VALUES_SETUP.
+* Added COMM_SET_MCCONF_TEMP.
+* Added COMM_SET_MCCONF_TEMP_SETUP.
+* Added COMM_GET_VALUES_SELECTIVE.
+* Added COMM_GET_VALUES_SETUP_SELECTIVE.
+
+---
+
+### 3.41
+#### No official release
+* First general purpose DC output implementation.
+
+---
+
+### 3.40
+#### Released 2018-07-23
+* Added motor controller ID to COMM_GET_VALUES.
+
+---
+
+### 3.39
+#### Released 2018-07-06
+* Updated HW75_300.
+* Added AUX output support.
+
+---
+
+### 3.38
+#### Released 2018-04-22
+* Fixed temperature limit bug when the acceleration and brake current limits are different in magnitude.
+
+---
+
+### 3.37
+#### Released 2018-03-24
+* Temperature compensation on KI in addition to the observer resistance.
+* Configurable FOC current filter (useful for slow abs max current setting).
+
+---
+
+### 3.36
+#### No official release
+* Added handbrake current commands to the simple CAN interface.
+* Added D-term filter to position and speed controllers.
+
+---
+
+### 3.35
+#### Released 2018-02-17
+* Added option to disable nRF transmission (option in Transmit Power parameter).
+* Fixed servo output driver for all hardwares and removed software servo driver.
+
+---
+
+### 3.34
+#### Released 2018-01-24
+* Added motor PID position to COMM_GET_VALUES.
+* Inverted direction angle normalization in mc_interface.
+* Use relative current mode in APP_ADC to support multiple VESCs with different current limits.
+
+---
+
+### 3.33
+#### Released 2017-11-08
+* Fixed CAN-bus baud rate update.
+
+---
+
+### 3.32
+#### Released 2017-11-08
+* Added CAN-bus baud rate setting.
+
+---
+
+### 3.31
+#### Released 2017-10-27
+* Option to decrease temperature limits during acceleration to still have braking torque left.
+* Added PID speed control mode to ADC app.
+
+---
+
+### 3.30
+#### Released 2017-10-20
+* Activated iterative observer for better operation at high ERPM.
+* Check for NAN and truncate some FOC variables.
+* Speed controller windup protection improvement.
+
+---
+
+### 3.29
+#### Released 2017-09-21
+* Disabled throttle limit scaling for now.
+* Increased packet timeout.
+
+---
+
+### 3.28
+#### Released 2017-09-06
+* DC_CAL timeout.
+* Added board configuration file to avoid braking at boot.
+* Shorter default fault stop time.
+* Lower default PPM ramping time.
+* Configurable beta value for motor thermistor.
+* Individual throttle curves for acceleration and braking.
+
+---
+
+### 3.27
+#### Released 2017-09-04
+* Watt hour reset bug fix
+* Changed the way custom applications are implemented.
+* FOC: high current sampling mode.
+
+---
+
+### 3.26
+#### No official release
+* Current limit bug fix. It is now possible to apply break past the RPM limits.
+* Openloop RPM calculation bug fix.
+
+---
+
+### 3.25
+#### No official release
+* APP multi-VESC PID control: send current instead of duty cycle for better load sharing.
+* Added relative current commands to mc_interface and comm_can.
+* APP ADC: added mode ADC_CTRL_TYPE_CURRENT_REV_BUTTON_BRAKE_ADC.
+* APP ADC: changed behavior when throttle and brake ADC channels are used simultaneously for smoother combination.
+* APP ADC: ramping support.
+* Flux linkage measurement: Added extra try with high integrator value.
+
+---
+
+### 3.24
+#### No official release
+* Changed back inductance calculation since that seems to work much better in practise. (TODO: Have a closer look at why)
+
+---
+
+### 3.23
+#### No official release
+* Improved inductance measurement (bug fix).
+* Multiple tries with different settings on flux linkage measurement.
+* Observer improvements for high speed operation and better performance across the whole speed range.
+* Compile time option to disable override limits.
+
+---
+
+### 3.22
+#### No official release
+* Added hardware-specific limits to configuration parameters.
+* Permanent NRF bug fix.
+
+---
+
+### 3.21
+#### No official release
+* Fixed regression in PID speed controller.
+
+---
+
+### 3.20
+#### No official release
+* PID speed control: Set prev_error to error when the PID is off to make the start smoother.
+* Improved spinup algorithm for flux linkage and bldc parameter measurement.
+* APP ADC: Configurable center voltage for channel 1.
+* APP_UARTCOMM: Keep the processing thread running when stopping the app in case the configuration is made from the UART port itself.
+* Commands: Return results of long running commands to the port they came from even if commands come in between and change the last port.
+
+---
+
+### 3.19
+#### No official release
+* Added terminal plugin hook implementation. Inspired by https://github.com/vedderb/bldc/pull/28
+* Moved sampling buffers to CCM to free some RAM.
+* Added hardware info terminal command.
+* NRF init SPI check fix.
+* Sampled data is now transmitted in floating point with scaling done at the VESC. This avoids hard-coded scaling in VESC Tool.
+
+---
+
+### 3.18
+#### No official release
+* NRF init SPI check.
+* Permanent NRF: reconfigure NRF pins to SPI pins on init failure in case the permanent NRF is not mounted and behave as if there is no permanent NRF.
+
+---
+
+### 3.17
+#### No official release
+* Temperature filtering.
+* FOC: temperature resistance compensation.
+
+---
+
+### 3.16
+#### No official release
+* FOC: stator saturation compensation parameter.
+* FOC: Another update for the fix for throttle limits to prevent loosing range at high speed when the battery current limit is lower than the motor current limit.
+* DRV8301: over current protection settings added to configuration.
+* DRV8301: Reset command andded to terminal.
+* DRV8301: Log fault code read over SPI.
+* DRV: Check for faults in ADC interrupt to catch the state as fast as possible.
+* Send phase samples as well with the sampling function.
+* New sampling modes for debugging.
+* BLDC and DC: Configurable switching frequency
+* FOC detect: increase minimum switching frequency for motor spinup to make it possible to detect high kv motors at high voltage.
+* FOC: observer gain scaling parameter for low modulation.
+
+---
+
+### 3.15
+#### No official release
+* FOC: added the option for FOC sampling in both V0 and V7 to mcconf, so that it can be changed without recompiling the firmware.
+* FOC: tweaked repetition counter and preload to get cleaner waveforms with low latency.
+* FOC: Input voltage filterting and vd/vq filtering while undriven for more stable performance.
+
+---
+
+### 3.14
+#### No official release
+* Different throttle curve modes
+* Improved FOC sensorless startup.
+
+---
+
+### 3.13
+#### No official release
+* Throttle curve for PPM, ADC and Nunchuk.
+* Updated fix for throttle limits to prevent loosing range at high speed when the battery current limit is lower than the motor current limit.
+* APP PPM ramping.
+* APP ADC and PPM current range bug fix for some control modes.
+
+---
+
+### 3.12
+#### No official release
+* APP PPM throttle center setting.
+
+---
+
+### 3.11
+#### No official release
+* BLDC detect: disable direction inversion before detecting parameters.
+* FOC speed control: remove supply voltage scaling since that does not make any sense in current control mode.
+* BLDC speed control: added current-based speed controller option.
+* BLDC: heavier RPM filtering.
+* Speed control: option to disable braking in speed control mode.
+* Added wattage limits. Useful for following laws for electric vehicles in some regions.
+* Use override current limits to scale throttle inputs in apps. Will prevent the throttle from loosing rage at speed if e.g. the battery current limits are lower than the motor current limits.
+
+---
+
+### 3.10
+#### Released 2016-11-06
+* BLDC: removed cycles_running variable.
+* BLDC: update ADC sampling in correct order to avoid corrupt samples when the switching frequency changes a lot at once.
+* Terminal: print fault duty cycle state with one extra decimal.
+
+---
+
+### 3.09
+#### Released 2016-11-06
+* Configuration option for inverting the motor direction.
+* STM32 96-bit unique ID readout.
+
+---
+
+### 3.08
+#### No official release
+* Communication protocol update for floating point variables. This breaks almost all compatibility with old firmwares.
+
+---
+
+### 3.07
+#### Released 2016-11-04
+* Delay after app and motor conf write.
+	* Fixes NRF bug.
+	* Fixes glitches if throttle is given while updating the configurations.
+* Lock mc_interface while storing configuration.
+* Nunchuk app local timeout.
+	* Prevents the output thread from blocking other outputs after being used before.
+* Lock MC interface while storing configurations to flash.
+
+---
+
+### 3.06
+#### No official release
+* spi_sw for NRF stop bug fix.
+
+---
+
+### 3.05
+#### No official release
+* App NRF pairing.
+* App nunchuk chuk error restore bug fix.
+
+---
+
+### 3.04
+#### No official release
+* HW version built into firmware.
+	* Allows VESC Tool to only list firmwares compatible with the hardware.
+
+---
+
+### 3.02
+#### No official release
+* hw_60 support.
+* hw_das support.
+* DRV8301 support.
+	* SPI implementation.
+	* Some terminal commands.
+* DRV8313 support.
+* 3 shunt support.
+* Phase shunt support.
+* Global RPM limit for both BLDC and FOC.
+* Hall sensor software filtering.
+* SPI software filtering.
+* The software filters remove the need for hardware filtering on the sensor port, making it work for all different sensors without modification.
+* Handbrake function for FOC (open loop braking).
+* FOC updates and fixes.
+	* Current control signs.
+	* Control loop integrator fixes.
+	* Phase delay compensation and minimization.
+	* More consistent flux linkage detection.
+	* Resistance and inductance measurement bug fix that could cause a reboot.
+	* Timer sampling improvement and cleanup.
+	* Support for sampling in V0 and V7 when using phase shunts.
+* Fix reboot on over temperature fault code.
+* Motor temperature measurement and soft backoff.
+* Terminal command for rotating magnet field generation (ACIM experimentation).
+* Prevent motor start command during initialization.
+* Hardware specific default configuration support.
+* Stop functionality for apps so that reboots are not required anymore when changing app.
+* EEPROM emulation bug fix: https://github.com/vedderb/bldc/issues/27
+
+---
+
+### 3.00
+#### Released 2016-06-27
+* HW60 support
+* 3 low/high side shunt support
+* permanent NRF option
\ No newline at end of file

From 9d0217e516fdd522c59d4eb69e67c52f6f251469 Mon Sep 17 00:00:00 2001
From: jaykup26 <jmishles@gmail.com>
Date: Fri, 6 Jan 2023 03:37:56 -0600
Subject: [PATCH 391/559] Relaunch program as board tool or mobile (#290)

---
 mainwindow.cpp | 16 ++++++++++++++++
 mainwindow.h   |  2 ++
 mainwindow.ui  | 12 ++++++++++++
 3 files changed, 30 insertions(+)

diff --git a/mainwindow.cpp b/mainwindow.cpp
index d1bbd1d51..1bce4009d 100755
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -1167,6 +1167,22 @@ void MainWindow::on_actionExit_triggered()
     qApp->exit();
 }
 
+void MainWindow::on_actionLaunch_Board_Configurator_triggered()
+{
+    QString program = qApp->arguments()[0];
+    QStringList params = QStringList() << "--useBoardSetupWindow" ;
+    qApp->quit();
+    QProcess::startDetached(program, params);
+}
+
+void MainWindow::on_actionLaunch_Android_Tool_triggered()
+{
+    QString program = qApp->arguments()[0];
+    QStringList params = QStringList() << "--useMobileUi" ;
+    qApp->quit();
+    QProcess::startDetached(program, params);
+}
+
 void MainWindow::on_actionAbout_triggered()
 {
     QMessageBox::about(this, "VESC Tool", Utility::aboutText());
diff --git a/mainwindow.h b/mainwindow.h
index 323126991..9813979c5 100644
--- a/mainwindow.h
+++ b/mainwindow.h
@@ -111,6 +111,8 @@ private slots:
     void on_actionSaveAppconfXml_triggered();
     void on_actionLoadAppconfXml_triggered();
     void on_actionExit_triggered();
+    void on_actionLaunch_Board_Configurator_triggered();
+    void on_actionLaunch_Android_Tool_triggered();
     void on_actionAbout_triggered();
     void on_actionLibrariesUsed_triggered();
     void on_dutyButton_clicked();
diff --git a/mainwindow.ui b/mainwindow.ui
index 719d2aae2..65f62ede0 100644
--- a/mainwindow.ui
+++ b/mainwindow.ui
@@ -663,6 +663,8 @@
     <addaction name="actionSaveAppConfigurationHeader"/>
     <addaction name="actionSaveAppConfigurationHeaderWrap"/>
     <addaction name="separator"/>
+    <addaction name="actionLaunch_Board_Configurator"/>
+    <addaction name="actionLaunch_Android_Tool"/>
     <addaction name="separator"/>
     <addaction name="actionExit"/>
    </widget>
@@ -1402,6 +1404,16 @@ p, li { white-space: pre-wrap; }
     <bool>false</bool>
    </property>
   </action>
+  <action name="actionLaunch_Board_Configurator">
+   <property name="text">
+    <string>Restart + Launch Board Configurator</string>
+   </property>
+  </action>
+  <action name="actionLaunch_Android_Tool">
+   <property name="text">
+    <string>Restart + Launch Android Tool</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <customwidgets>

From 9dcd033876f6c35df4bf467e0a05c017ef9f0a63 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 9 Jan 2023 09:18:17 +0100
Subject: [PATCH 392/559] Icon updates

---
 mainwindow.cpp |   7 +-
 mainwindow.h   |   4 +-
 mainwindow.ui  | 283 +------------------------------------------------
 3 files changed, 12 insertions(+), 282 deletions(-)

diff --git a/mainwindow.cpp b/mainwindow.cpp
index 1bce4009d..e246050ac 100755
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -149,6 +149,7 @@ MainWindow::MainWindow(QWidget *parent) :
     ui->actionVESCToolChangelog->setIcon(Utility::getIcon("icons/About-96.png"));
     ui->actionFirmwareChangelog->setIcon(Utility::getIcon("icons/About-96.png"));
     ui->actionWarrantyStatement->setIcon(Utility::getIcon("icons/About-96.png"));
+    ui->actionAbout->setIcon(Utility::getIcon("icons/About-96.png"));
     ui->actionLicense->setIcon(Utility::getIcon("icons/About-96.png"));
     ui->actionVESCProjectForums->setIcon(Utility::getIcon("icons/User Group Man Man-96.png"));
     ui->actionLoadFirmwareConfigs->setIcon(Utility::getIcon("icons/Electronics-96.png"));
@@ -169,6 +170,8 @@ MainWindow::MainWindow(QWidget *parent) :
     ui->actionReadAppconf->setIcon(Utility::getIcon("icons/app_up.png"));
     ui->actionReadAppconfDefault->setIcon(Utility::getIcon("icons/app_default.png"));
     ui->actionWriteAppconf->setIcon(Utility::getIcon("icons/app_down.png"));
+    ui->actionLaunchMobileTool->setIcon(Utility::getIcon("icons/v_icon-96.png"));
+    ui->actionLaunchBoardConfigurator->setIcon(Utility::getIcon("icons/v_icon-96.png"));
 
     QIcon mycon = QIcon(Utility::getIcon("icons/keys_off.png"));
     mycon.addPixmap(Utility::getIcon("icons/keys_on.png"), QIcon::Normal, QIcon::On);
@@ -1167,7 +1170,7 @@ void MainWindow::on_actionExit_triggered()
     qApp->exit();
 }
 
-void MainWindow::on_actionLaunch_Board_Configurator_triggered()
+void MainWindow::on_actionLaunchBoardConfigurator_triggered()
 {
     QString program = qApp->arguments()[0];
     QStringList params = QStringList() << "--useBoardSetupWindow" ;
@@ -1175,7 +1178,7 @@ void MainWindow::on_actionLaunch_Board_Configurator_triggered()
     QProcess::startDetached(program, params);
 }
 
-void MainWindow::on_actionLaunch_Android_Tool_triggered()
+void MainWindow::on_actionLaunchMobileTool_triggered()
 {
     QString program = qApp->arguments()[0];
     QStringList params = QStringList() << "--useMobileUi" ;
diff --git a/mainwindow.h b/mainwindow.h
index 9813979c5..791d1a491 100644
--- a/mainwindow.h
+++ b/mainwindow.h
@@ -111,8 +111,8 @@ private slots:
     void on_actionSaveAppconfXml_triggered();
     void on_actionLoadAppconfXml_triggered();
     void on_actionExit_triggered();
-    void on_actionLaunch_Board_Configurator_triggered();
-    void on_actionLaunch_Android_Tool_triggered();
+    void on_actionLaunchBoardConfigurator_triggered();
+    void on_actionLaunchMobileTool_triggered();
     void on_actionAbout_triggered();
     void on_actionLibrariesUsed_triggered();
     void on_dutyButton_clicked();
diff --git a/mainwindow.ui b/mainwindow.ui
index 65f62ede0..e55a480cc 100644
--- a/mainwindow.ui
+++ b/mainwindow.ui
@@ -75,9 +75,6 @@
           <property name="text">
            <string/>
           </property>
-          <property name="pixmap">
-           <pixmap resource="res_silver.qrc">:/res/logo.png</pixmap>
-          </property>
           <property name="scaledContents">
            <bool>true</bool>
           </property>
@@ -141,7 +138,6 @@
               <property name="font">
                <font>
                 <family>Roboto</family>
-                <weight>75</weight>
                 <bold>true</bold>
                </font>
               </property>
@@ -195,10 +191,6 @@
           <property name="text">
            <string>Scan CAN</string>
           </property>
-          <property name="icon">
-           <iconset resource="res.qrc">
-            <normaloff>:/res/icons/Refresh-96.png</normaloff>:/res/icons/Refresh-96.png</iconset>
-          </property>
          </widget>
         </item>
        </layout>
@@ -276,10 +268,6 @@
         <property name="text">
          <string/>
         </property>
-        <property name="icon">
-         <iconset resource="res.qrc">
-          <normaloff>:/res/icons/Circled Play-96.png</normaloff>:/res/icons/Circled Play-96.png</iconset>
-        </property>
        </widget>
       </item>
       <item row="0" column="5">
@@ -290,10 +278,6 @@
         <property name="text">
          <string/>
         </property>
-        <property name="icon">
-         <iconset resource="res.qrc">
-          <normaloff>:/res/icons/Brake Warning-96.png</normaloff>:/res/icons/Brake Warning-96.png</iconset>
-        </property>
        </widget>
       </item>
       <item row="1" column="5">
@@ -304,10 +288,6 @@
         <property name="text">
          <string/>
         </property>
-        <property name="icon">
-         <iconset resource="res.qrc">
-          <normaloff>:/res/icons/Brake Warning-96.png</normaloff>:/res/icons/Brake Warning-96.png</iconset>
-        </property>
        </widget>
       </item>
       <item row="0" column="3">
@@ -318,10 +298,6 @@
         <property name="text">
          <string/>
         </property>
-        <property name="icon">
-         <iconset resource="res.qrc">
-          <normaloff>:/res/icons/Circled Play-96.png</normaloff>:/res/icons/Circled Play-96.png</iconset>
-        </property>
        </widget>
       </item>
       <item row="0" column="7" rowspan="2">
@@ -338,10 +314,6 @@
         <property name="text">
          <string/>
         </property>
-        <property name="icon">
-         <iconset resource="res.qrc">
-          <normaloff>:/res/icons/Stop Sign-96.png</normaloff>:/res/icons/Stop Sign-96.png</iconset>
-        </property>
         <property name="iconSize">
          <size>
           <width>40</width>
@@ -364,10 +336,6 @@
         <property name="text">
          <string/>
         </property>
-        <property name="icon">
-         <iconset resource="res.qrc">
-          <normaloff>:/res/icons/Anchor-96.png</normaloff>:/res/icons/Anchor-96.png</iconset>
-        </property>
         <property name="iconSize">
          <size>
           <width>40</width>
@@ -505,10 +473,6 @@
         <property name="text">
          <string/>
         </property>
-        <property name="icon">
-         <iconset resource="res.qrc">
-          <normaloff>:/res/icons/Circled Play-96.png</normaloff>:/res/icons/Circled Play-96.png</iconset>
-        </property>
        </widget>
       </item>
       <item row="0" column="1">
@@ -519,10 +483,6 @@
         <property name="text">
          <string/>
         </property>
-        <property name="icon">
-         <iconset resource="res.qrc">
-          <normaloff>:/res/icons/Circled Play-96.png</normaloff>:/res/icons/Circled Play-96.png</iconset>
-        </property>
         <property name="flat">
          <bool>false</bool>
         </property>
@@ -663,8 +623,8 @@
     <addaction name="actionSaveAppConfigurationHeader"/>
     <addaction name="actionSaveAppConfigurationHeaderWrap"/>
     <addaction name="separator"/>
-    <addaction name="actionLaunch_Board_Configurator"/>
-    <addaction name="actionLaunch_Android_Tool"/>
+    <addaction name="actionLaunchBoardConfigurator"/>
+    <addaction name="actionLaunchMobileTool"/>
     <addaction name="separator"/>
     <addaction name="actionExit"/>
    </widget>
@@ -750,10 +710,6 @@
    <addaction name="menuHelp"/>
   </widget>
   <action name="actionReadMcconf">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/motor_up.png</normaloff>:/res/icons/motor_up.png</iconset>
-   </property>
    <property name="text">
     <string>readMcconf</string>
    </property>
@@ -762,10 +718,6 @@
    </property>
   </action>
   <action name="actionReadMcconfDefault">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/motor_default.png</normaloff>:/res/icons/motor_default.png</iconset>
-   </property>
    <property name="text">
     <string>readMcconfDefault</string>
    </property>
@@ -774,10 +726,6 @@
    </property>
   </action>
   <action name="actionWriteMcconf">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/motor_down.png</normaloff>:/res/icons/motor_down.png</iconset>
-   </property>
    <property name="text">
     <string>writeMcconf</string>
    </property>
@@ -786,28 +734,16 @@
    </property>
   </action>
   <action name="actionSaveMotorConfXml">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Save as-96.png</normaloff>:/res/icons/Save as-96.png</iconset>
-   </property>
    <property name="text">
     <string>Save Motor Configuration XML as...</string>
    </property>
   </action>
   <action name="actionLoadMotorConfXml">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
-   </property>
    <property name="text">
     <string>Load Motor Configuration XML</string>
    </property>
   </action>
   <action name="actionDisconnect">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Disconnected-96.png</normaloff>:/res/icons/Disconnected-96.png</iconset>
-   </property>
    <property name="text">
     <string>disconnect</string>
    </property>
@@ -816,10 +752,6 @@
    </property>
   </action>
   <action name="actionReboot">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Restart-96.png</normaloff>:/res/icons/Restart-96.png</iconset>
-   </property>
    <property name="text">
     <string>Reboot</string>
    </property>
@@ -831,11 +763,6 @@
    <property name="checkable">
     <bool>true</bool>
    </property>
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/can_off.png</normaloff>
-     <normalon>:/res/icons/can_on.png</normalon>:/res/icons/can_off.png</iconset>
-   </property>
    <property name="text">
     <string>canFwd</string>
    </property>
@@ -844,10 +771,6 @@
    </property>
   </action>
   <action name="actionReconnect">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Connected-96.png</normaloff>:/res/icons/Connected-96.png</iconset>
-   </property>
    <property name="text">
     <string>reconnect</string>
    </property>
@@ -859,11 +782,6 @@
    <property name="checkable">
     <bool>true</bool>
    </property>
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/rt_off.png</normaloff>
-     <normalon>:/res/icons/rt_on.png</normalon>:/res/icons/rt_off.png</iconset>
-   </property>
    <property name="text">
     <string>rtData</string>
    </property>
@@ -872,10 +790,6 @@
    </property>
   </action>
   <action name="actionReadAppconf">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/app_up.png</normaloff>:/res/icons/app_up.png</iconset>
-   </property>
    <property name="text">
     <string>readAppconf</string>
    </property>
@@ -884,10 +798,6 @@
    </property>
   </action>
   <action name="actionReadAppconfDefault">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/app_default.png</normaloff>:/res/icons/app_default.png</iconset>
-   </property>
    <property name="text">
     <string>readAppconfDefault</string>
    </property>
@@ -896,10 +806,6 @@
    </property>
   </action>
   <action name="actionWriteAppconf">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/app_down.png</normaloff>:/res/icons/app_down.png</iconset>
-   </property>
    <property name="text">
     <string>writeAppconf</string>
    </property>
@@ -908,37 +814,21 @@
    </property>
   </action>
   <action name="actionSaveAppconfXml">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Save as-96.png</normaloff>:/res/icons/Save as-96.png</iconset>
-   </property>
    <property name="text">
     <string>Save App Configuration XML as...</string>
    </property>
   </action>
   <action name="actionLoadAppconfXml">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
-   </property>
    <property name="text">
     <string>Load App Configuration XML</string>
    </property>
   </action>
   <action name="actionExit">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Shutdown-96.png</normaloff>:/res/icons/Shutdown-96.png</iconset>
-   </property>
    <property name="text">
     <string>Exit</string>
    </property>
   </action>
   <action name="actionAbout">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/About-96.png</normaloff>:/res/icons/About-96.png</iconset>
-   </property>
    <property name="text">
     <string>About VESC Tool</string>
    </property>
@@ -947,11 +837,6 @@
    <property name="checkable">
     <bool>true</bool>
    </property>
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/keys_off.png</normaloff>
-     <normalon>:/res/icons/keys_on.png</normalon>:/res/icons/keys_off.png</iconset>
-   </property>
    <property name="text">
     <string>keyboardControl</string>
    </property>
@@ -977,55 +862,31 @@ p, li { white-space: pre-wrap; }
    </property>
   </action>
   <action name="actionParameterEditorMcconf">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Horizontal Settings Mixer-96.png</normaloff>:/res/icons/Horizontal Settings Mixer-96.png</iconset>
-   </property>
    <property name="text">
     <string>Parameter Editor Mcconf</string>
    </property>
   </action>
   <action name="actionParameterEditorAppconf">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Horizontal Settings Mixer-96.png</normaloff>:/res/icons/Horizontal Settings Mixer-96.png</iconset>
-   </property>
    <property name="text">
     <string>Parameter Editor Appconf</string>
    </property>
   </action>
   <action name="actionSaveAppConfigurationHeader">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Save as-96.png</normaloff>:/res/icons/Save as-96.png</iconset>
-   </property>
    <property name="text">
     <string>Save App Configuration C Header as...</string>
    </property>
   </action>
   <action name="actionSaveMotorConfigurationHeader">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Save as-96.png</normaloff>:/res/icons/Save as-96.png</iconset>
-   </property>
    <property name="text">
     <string>Save Motor Configuration C Header as...</string>
    </property>
   </action>
   <action name="actionSaveAppConfigurationHeaderWrap">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Save as-96.png</normaloff>:/res/icons/Save as-96.png</iconset>
-   </property>
    <property name="text">
     <string>Save App Configuration C Header (ifdef wrapped) as...</string>
    </property>
   </action>
   <action name="actionSaveMotorConfigurationHeaderWrap">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Save as-96.png</normaloff>:/res/icons/Save as-96.png</iconset>
-   </property>
    <property name="text">
     <string>Save Motor Configuration C Header (ifdef wrapped) as...</string>
    </property>
@@ -1034,11 +895,6 @@ p, li { white-space: pre-wrap; }
    <property name="checkable">
     <bool>true</bool>
    </property>
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/rt_app_off.png</normaloff>
-     <normalon>:/res/icons/rt_app_on.png</normalon>:/res/icons/rt_app_off.png</iconset>
-   </property>
    <property name="text">
     <string>rtDataApp</string>
    </property>
@@ -1047,10 +903,6 @@ p, li { white-space: pre-wrap; }
    </property>
   </action>
   <action name="actionTerminalPrintFaults">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Console-96.png</normaloff>:/res/icons/Console-96.png</iconset>
-   </property>
    <property name="text">
     <string>Print Faults</string>
    </property>
@@ -1059,28 +911,16 @@ p, li { white-space: pre-wrap; }
    </property>
   </action>
   <action name="actionTerminalShowHelp">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Help-96.png</normaloff>:/res/icons/Help-96.png</iconset>
-   </property>
    <property name="text">
     <string>Show Help</string>
    </property>
   </action>
   <action name="actionTerminalClear">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Delete-96.png</normaloff>:/res/icons/Delete-96.png</iconset>
-   </property>
    <property name="text">
     <string>Clear Terminal</string>
    </property>
   </action>
   <action name="actionTerminalPrintThreads">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Electronics-96.png</normaloff>:/res/icons/Electronics-96.png</iconset>
-   </property>
    <property name="text">
     <string>Print Threads</string>
    </property>
@@ -1092,11 +932,6 @@ p, li { white-space: pre-wrap; }
    <property name="checkable">
     <bool>true</bool>
    </property>
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/alive_off.png</normaloff>
-     <normalon>:/res/icons/alive_on.png</normalon>:/res/icons/alive_off.png</iconset>
-   </property>
    <property name="text">
     <string>Send Alive Commands</string>
    </property>
@@ -1105,19 +940,11 @@ p, li { white-space: pre-wrap; }
    </property>
   </action>
   <action name="actionLibrariesUsed">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/About-96.png</normaloff>:/res/icons/About-96.png</iconset>
-   </property>
    <property name="text">
     <string>About Libraries Used</string>
    </property>
   </action>
   <action name="actionMotorSetupWizard">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Wizard-96.png</normaloff>:/res/icons/Wizard-96.png</iconset>
-   </property>
    <property name="text">
     <string>Setup Other Motors</string>
    </property>
@@ -1129,10 +956,6 @@ p, li { white-space: pre-wrap; }
    </property>
   </action>
   <action name="actionAppSetupWizard">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Wizard-96.png</normaloff>:/res/icons/Wizard-96.png</iconset>
-   </property>
    <property name="text">
     <string>Setup Input</string>
    </property>
@@ -1144,10 +967,6 @@ p, li { white-space: pre-wrap; }
    </property>
   </action>
   <action name="actionAboutQt">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/About-96.png</normaloff>:/res/icons/About-96.png</iconset>
-   </property>
    <property name="text">
     <string>About Qt</string>
    </property>
@@ -1156,28 +975,16 @@ p, li { white-space: pre-wrap; }
    </property>
   </action>
   <action name="actionParameterEditorInfo">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Horizontal Settings Mixer-96.png</normaloff>:/res/icons/Horizontal Settings Mixer-96.png</iconset>
-   </property>
    <property name="text">
     <string>Parameter Editor Info</string>
    </property>
   </action>
   <action name="actionSafetyInformation">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/About-96.png</normaloff>:/res/icons/About-96.png</iconset>
-   </property>
    <property name="text">
     <string>Safety Information</string>
    </property>
   </action>
   <action name="actionWarrantyStatement">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/About-96.png</normaloff>:/res/icons/About-96.png</iconset>
-   </property>
    <property name="text">
     <string>Limited Warranty Statement</string>
    </property>
@@ -1186,55 +993,31 @@ p, li { white-space: pre-wrap; }
    </property>
   </action>
   <action name="actionVESCToolChangelog">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/About-96.png</normaloff>:/res/icons/About-96.png</iconset>
-   </property>
    <property name="text">
     <string>VESC Tool Changelog</string>
    </property>
   </action>
   <action name="actionTerminalDRVResetLatchedFaults">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Bug-96.png</normaloff>:/res/icons/Bug-96.png</iconset>
-   </property>
    <property name="text">
     <string>DRV Reset Latched Faults</string>
    </property>
   </action>
   <action name="actionVESCProjectForums">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/User Group Man Man-96.png</normaloff>:/res/icons/User Group Man Man-96.png</iconset>
-   </property>
    <property name="text">
     <string>VESC Project Forums</string>
    </property>
   </action>
   <action name="actionFirmwareChangelog">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/About-96.png</normaloff>:/res/icons/About-96.png</iconset>
-   </property>
    <property name="text">
     <string>Firmware Changelog</string>
    </property>
   </action>
   <action name="actionLicense">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/About-96.png</normaloff>:/res/icons/About-96.png</iconset>
-   </property>
    <property name="text">
     <string>License</string>
    </property>
   </action>
   <action name="actionAutoSetupFOC">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Wizard-96.png</normaloff>:/res/icons/Wizard-96.png</iconset>
-   </property>
    <property name="text">
     <string>Setup Motors FOC</string>
    </property>
@@ -1243,10 +1026,6 @@ p, li { white-space: pre-wrap; }
    </property>
   </action>
   <action name="actionExportConfigurationParser">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Save as-96.png</normaloff>:/res/icons/Save as-96.png</iconset>
-   </property>
    <property name="text">
     <string>Export Configuration Parser</string>
    </property>
@@ -1255,11 +1034,6 @@ p, li { white-space: pre-wrap; }
    <property name="checkable">
     <bool>true</bool>
    </property>
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/imu_off.png</normaloff>
-     <normalon>:/res/icons/imu_on.png</normalon>:/res/icons/imu_off.png</iconset>
-   </property>
    <property name="text">
     <string>IMU</string>
    </property>
@@ -1277,10 +1051,6 @@ p, li { white-space: pre-wrap; }
    </property>
   </action>
   <action name="actionBackupConfiguration">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Save-96.png</normaloff>:/res/icons/Save-96.png</iconset>
-   </property>
    <property name="text">
     <string>Backup Configuration</string>
    </property>
@@ -1289,10 +1059,6 @@ p, li { white-space: pre-wrap; }
    </property>
   </action>
   <action name="actionRestoreConfiguration">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
-   </property>
    <property name="text">
     <string>Restore Configuration</string>
    </property>
@@ -1301,19 +1067,11 @@ p, li { white-space: pre-wrap; }
    </property>
   </action>
   <action name="actionClearConfigurationBackups">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Delete-96.png</normaloff>:/res/icons/Delete-96.png</iconset>
-   </property>
    <property name="text">
     <string>Clear Configuration Backups</string>
    </property>
   </action>
   <action name="actionParameterEditorFW">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Horizontal Settings Mixer-96.png</normaloff>:/res/icons/Horizontal Settings Mixer-96.png</iconset>
-   </property>
    <property name="text">
     <string>Parameter Editor FW</string>
    </property>
@@ -1322,19 +1080,11 @@ p, li { white-space: pre-wrap; }
    </property>
   </action>
   <action name="actionBackupConfigurationsCAN">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Save-96.png</normaloff>:/res/icons/Save-96.png</iconset>
-   </property>
    <property name="text">
     <string>Backup Configurations (Including CAN)</string>
    </property>
   </action>
   <action name="actionRestoreConfigurationsCAN">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
-   </property>
    <property name="text">
     <string>Restore Configurations (Including CAN)</string>
    </property>
@@ -1343,11 +1093,6 @@ p, li { white-space: pre-wrap; }
    <property name="checkable">
     <bool>true</bool>
    </property>
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/bms_off.png</normaloff>
-     <normalon>:/res/icons/bms_on.png</normalon>:/res/icons/bms_off.png</iconset>
-   </property>
    <property name="text">
     <string>rtDataBms</string>
    </property>
@@ -1359,11 +1104,6 @@ p, li { white-space: pre-wrap; }
    <property name="checkable">
     <bool>true</bool>
    </property>
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Controller-96.png</normaloff>
-     <normalon>:/res/icons/Controller-96_on.png</normalon>:/res/icons/Controller-96.png</iconset>
-   </property>
    <property name="text">
     <string>Gamepad Control</string>
    </property>
@@ -1372,19 +1112,11 @@ p, li { white-space: pre-wrap; }
    </property>
   </action>
   <action name="actionParameterEditorCustomConf0">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Horizontal Settings Mixer-96.png</normaloff>:/res/icons/Horizontal Settings Mixer-96.png</iconset>
-   </property>
    <property name="text">
     <string>Parameter Editor Custom Conf 0</string>
    </property>
   </action>
   <action name="actionSetupMotorsFOCQuick">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Wizard-96.png</normaloff>:/res/icons/Wizard-96.png</iconset>
-   </property>
    <property name="text">
     <string>Setup Motors FOC (old)</string>
    </property>
@@ -1393,10 +1125,6 @@ p, li { white-space: pre-wrap; }
    </property>
   </action>
   <action name="actionPreferences">
-   <property name="icon">
-    <iconset resource="res.qrc">
-     <normaloff>:/res/icons/Settings-96.png</normaloff>:/res/icons/Settings-96.png</iconset>
-   </property>
    <property name="text">
     <string>Preferences</string>
    </property>
@@ -1404,14 +1132,14 @@ p, li { white-space: pre-wrap; }
     <bool>false</bool>
    </property>
   </action>
-  <action name="actionLaunch_Board_Configurator">
+  <action name="actionLaunchBoardConfigurator">
    <property name="text">
     <string>Restart + Launch Board Configurator</string>
    </property>
   </action>
-  <action name="actionLaunch_Android_Tool">
+  <action name="actionLaunchMobileTool">
    <property name="text">
-    <string>Restart + Launch Android Tool</string>
+    <string>Restart + Launch Mobile Tool</string>
    </property>
   </action>
  </widget>
@@ -1425,7 +1153,6 @@ p, li { white-space: pre-wrap; }
   </customwidget>
  </customwidgets>
  <resources>
-  <include location="res_silver.qrc"/>
   <include location="res.qrc"/>
  </resources>
  <connections/>

From 07af033d6a5a6b1f179367248828f2d38edcd306 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 9 Jan 2023 19:30:56 +0100
Subject: [PATCH 393/559] Added ICU keywords and example

---
 QCodeEditor/resources/languages/lisp.xml |  6 +++++-
 res/Lisp/Examples/input_capture.lisp     | 22 ++++++++++++++++++++++
 res_lisp.qrc                             |  1 +
 3 files changed, 28 insertions(+), 1 deletion(-)
 create mode 100644 res/Lisp/Examples/input_capture.lisp

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 64ce8aaae..a867a82e9 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -80,6 +80,8 @@
 <name>event-can-eid</name>
 <name>event-data-rx</name>
 <name>event-shutdown</name>
+<name>event-icu-width</name>
+<name>event-icu-period</name>
 <name>stat-speed-avg</name>
 <name>stat-speed-max</name>
 <name>stat-power-avg</name>
@@ -190,7 +192,9 @@
 <name>sysinfo</name>
 <name>stats</name>
 <name>stats-reset</name>
-<name>import</name>
+<name>icu-start</name>
+<name>icu-width</name>
+<name>icu-period</name>
 <name>app-adc-detach</name>
 <name>app-adc-override</name>
 <name>app-ppm-detach</name>
diff --git a/res/Lisp/Examples/input_capture.lisp b/res/Lisp/Examples/input_capture.lisp
new file mode 100644
index 000000000..d1ba5c7ed
--- /dev/null
+++ b/res/Lisp/Examples/input_capture.lisp
@@ -0,0 +1,22 @@
+; Start ICU-timer at 1 MHz and measure the high part of the pulse
+(icu-start 1000000 1)
+
+; Callback counter
+(def cb-cnt 0)
+
+(defun proc-icu (width period)
+    (progn
+        (def icu-w width)
+        (def icu-p period)
+        (def cb-cnt (+ cb-cnt 1))
+))
+
+(defun event-handler ()
+    (loopwhile t
+        (recv
+            ((event-icu-period . ((? width) . (? period))) (proc-icu width period))
+            (_ nil)
+)))
+
+(event-register-handler (spawn event-handler))
+(event-enable 'event-icu-period)
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 539f52d0e..79f7e7d3c 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -39,5 +39,6 @@
         <file>res/Lisp/Examples/test_extensions.lisp</file>
         <file>res/Lisp/Examples/est_temp.lisp</file>
         <file>res/Lisp/Examples/plot_interpolation.lisp</file>
+        <file>res/Lisp/Examples/input_capture.lisp</file>
     </qresource>
 </RCC>

From 4bd4b8e2127e80151f0ba9518266a1a594d76334 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 11 Jan 2023 20:34:02 +0100
Subject: [PATCH 394/559] Added stopbutton-icon again

---
 mainwindow.cpp             | 1 +
 res/firmwares/CHANGELOG.md | 1 +
 2 files changed, 2 insertions(+)

diff --git a/mainwindow.cpp b/mainwindow.cpp
index e246050ac..328aaae02 100755
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -202,6 +202,7 @@ MainWindow::MainWindow(QWidget *parent) :
     ui->speedButton->setIcon(Utility::getIcon("icons/Circled Play-96.png"));
     ui->posButton->setIcon(Utility::getIcon("icons/Circled Play-96.png"));
     ui->brakeCurrentButton->setIcon(Utility::getIcon("icons/Brake Warning-96.png"));
+    ui->stopButton->setIcon(Utility::getIcon("icons/Stop Sign-96.png"));
     ui->handbrakeButton->setIcon(Utility::getIcon("icons/Brake Warning-96.png"));
     ui->fullBrakeButton->setIcon(Utility::getIcon("icons/Anchor-96.png"));
 
diff --git a/res/firmwares/CHANGELOG.md b/res/firmwares/CHANGELOG.md
index 5d0e0a386..b15d7e59b 100644
--- a/res/firmwares/CHANGELOG.md
+++ b/res/firmwares/CHANGELOG.md
@@ -6,6 +6,7 @@
 	* Added resistance, inductance and flux linkage estimator functions.
 	* Added adc_ctrl_type setting.
 	* Added app_is_disabled.
+	* Added ICU-driver.
 
 ---
 

From b952cd2b8795e6dead5ccc5d7960b991ff9ccdfb Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 24 Jan 2023 09:16:02 +0100
Subject: [PATCH 395/559] Made external links work in package store

---
 pages/pagevescpackage.ui | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/pages/pagevescpackage.ui b/pages/pagevescpackage.ui
index c1954dfbe..ba8e3f1d1 100644
--- a/pages/pagevescpackage.ui
+++ b/pages/pagevescpackage.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>1035</width>
-    <height>590</height>
+    <height>615</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -104,7 +104,11 @@
          <widget class="QWidget" name="layoutWidget1">
           <layout class="QVBoxLayout" name="verticalLayout_4">
            <item>
-            <widget class="QTextBrowser" name="storeBrowser"/>
+            <widget class="VTextBrowser" name="storeBrowser">
+             <property name="readOnly">
+              <bool>true</bool>
+             </property>
+            </widget>
            </item>
            <item>
             <widget class="QPushButton" name="installButton">
@@ -457,6 +461,11 @@
    <header>widgets/displaypercentage.h</header>
    <container>1</container>
   </customwidget>
+  <customwidget>
+   <class>VTextBrowser</class>
+   <extends>QTextEdit</extends>
+   <header>widgets/vtextbrowser.h</header>
+  </customwidget>
  </customwidgets>
  <resources>
   <include location="../res.qrc"/>

From 6d9d6d7f17c8756a272c267659849ea9c9404efa Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 24 Jan 2023 11:57:02 +0100
Subject: [PATCH 396/559] Added examples and ui tweaks

---
 pages/pagescripting.ui                   |  4 +--
 res/Lisp/Examples/event_custom_data.lisp | 16 ++++++++++++
 res/qml/Examples/SendToLbm.qml           | 32 ++++++++++++++++++++++++
 res_lisp.qrc                             |  1 +
 res_qml.qrc                              |  1 +
 5 files changed, 52 insertions(+), 2 deletions(-)
 create mode 100644 res/Lisp/Examples/event_custom_data.lisp
 create mode 100644 res/qml/Examples/SendToLbm.qml

diff --git a/pages/pagescripting.ui b/pages/pagescripting.ui
index c4ffebb5f..3f3fc3ef7 100644
--- a/pages/pagescripting.ui
+++ b/pages/pagescripting.ui
@@ -20,7 +20,7 @@
       <enum>Qt::Vertical</enum>
      </property>
      <property name="handleWidth">
-      <number>8</number>
+      <number>4</number>
      </property>
      <widget class="QSplitter" name="splitter">
       <property name="orientation">
@@ -155,7 +155,7 @@
      </widget>
      <widget class="QTabWidget" name="tabWidget">
       <property name="tabPosition">
-       <enum>QTabWidget::West</enum>
+       <enum>QTabWidget::North</enum>
       </property>
       <property name="tabShape">
        <enum>QTabWidget::Triangular</enum>
diff --git a/res/Lisp/Examples/event_custom_data.lisp b/res/Lisp/Examples/event_custom_data.lisp
new file mode 100644
index 000000000..c48f726f9
--- /dev/null
+++ b/res/Lisp/Examples/event_custom_data.lisp
@@ -0,0 +1,16 @@
+(defun proc-data (data)
+    (print data)
+)
+
+(defun event-handler ()
+    (loopwhile t
+        (recv
+            ((event-data-rx . (? data)) (proc-data data))
+            (_ nil) ; Ignore other events
+)))
+
+; Spawn the event handler thread and pass the ID it returns to C
+(event-register-handler (spawn event-handler))
+
+; Enable the custom app data event
+(event-enable 'event-data-rx)
diff --git a/res/qml/Examples/SendToLbm.qml b/res/qml/Examples/SendToLbm.qml
new file mode 100644
index 000000000..df37f26e0
--- /dev/null
+++ b/res/qml/Examples/SendToLbm.qml
@@ -0,0 +1,32 @@
+import QtQuick 2.15
+import QtQuick.Controls 2.15
+import QtQuick.Layouts 1.3
+import Vedder.vesc.utility 1.0
+
+import Vedder.vesc.commands 1.0
+
+Item {
+    id: mainItem
+    anchors.fill: parent
+    anchors.margins: 5
+
+    property Commands mCommands: VescIf.commands()
+    
+    function sendStr(str) {
+        // Append null to ensure that the string is null-terminated
+        mCommands.sendCustomAppData(str + "\0")
+    }
+    
+    ColumnLayout {
+        id: gaugeColumn
+        anchors.fill: parent
+        
+        Button{
+            Layout.fillWidth: true
+            text: "Send Hello"
+            onClicked: {
+                sendStr("Hello")
+            }
+        }
+    }
+}
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 79f7e7d3c..39a0f8d2b 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -40,5 +40,6 @@
         <file>res/Lisp/Examples/est_temp.lisp</file>
         <file>res/Lisp/Examples/plot_interpolation.lisp</file>
         <file>res/Lisp/Examples/input_capture.lisp</file>
+        <file>res/Lisp/Examples/event_custom_data.lisp</file>
     </qresource>
 </RCC>
diff --git a/res_qml.qrc b/res_qml.qrc
index 63e06d7c0..1c52dda4e 100644
--- a/res_qml.qrc
+++ b/res_qml.qrc
@@ -29,5 +29,6 @@
         <file>res/qml/Examples/ConfigParams.qml</file>
         <file>res/qml/Examples/TcpHub.qml</file>
         <file>res/qml/Examples/ParamTableAndPlot.qml</file>
+        <file>res/qml/Examples/SendToLbm.qml</file>
     </qresource>
 </RCC>

From dc5e4533288b433fe7a207d7067e049880a31347 Mon Sep 17 00:00:00 2001
From: Mitch Lustig <Mitchlol@users.noreply.github.com>
Date: Mon, 30 Jan 2023 23:35:56 -0800
Subject: [PATCH 397/559] Imu wizard bug fixes (#292)

* IMU Wizards: Orientation bug fixes

* IMU Wizards: Configuration bug fixes

Also added 100hz low pass gyro filter to balance skateboards

* accurately successively derotate roll orientation

* Improve orientation calibrator by using absolute orientations
---
 mobile/SetupWizardIMU.qml | 305 +++++++++++++++++++++-----------------
 1 file changed, 169 insertions(+), 136 deletions(-)

diff --git a/mobile/SetupWizardIMU.qml b/mobile/SetupWizardIMU.qml
index 8e98c6b1d..9e83ea79f 100644
--- a/mobile/SetupWizardIMU.qml
+++ b/mobile/SetupWizardIMU.qml
@@ -26,6 +26,8 @@ Item {
     property bool workingIMU: false
     property int imuType: 0
     property string imuString: "Unknown"
+    property var configuratorRestore: ({})
+    property var orientationRestore: ({})
     property var filteredIMUValues: {
         'roll': 0.0,
         'pitch': 0.0,
@@ -214,6 +216,15 @@ Item {
                         flat: false
 
                         onClicked: {
+                            configuratorRestore = {
+                                "type": mAppConf.getParamEnum("imu_conf.type"),
+                                "sample_rate_hz": mAppConf.getParamInt("imu_conf.sample_rate_hz"),
+                                "mode": mAppConf.getParamEnum("imu_conf.mode"),
+                                "accel_confidence_decay": mAppConf.getParamDouble("imu_conf.accel_confidence_decay"),
+                                "mahony_kp": mAppConf.getParamDouble("imu_conf.mahony_kp"),
+                                "accel_lowpass_filter_z": mAppConf.getParamDouble("imu_conf.accel_lowpass_filter_z"),
+                                "gyro_lowpass_filter": mAppConf.getParamDouble("imu_conf.gyro_lowpass_filter")
+                            }
                             configuratorRadioDefault.checked = true
                             configuratorRadioDefault.onClicked()
                             updateIMUType()
@@ -253,6 +264,24 @@ Item {
                         flat: false
 
                         onClicked: {
+                            orientationRestore = {
+                                "rot_roll": mAppConf.getParamDouble("imu_conf.rot_roll"),
+                                "rot_pitch": mAppConf.getParamDouble("imu_conf.rot_pitch"),
+                                "rot_yaw": mAppConf.getParamDouble("imu_conf.rot_yaw"),
+                                "gyro_offsets__0": mAppConf.getParamDouble("imu_conf.gyro_offsets__0"),
+                                "gyro_offsets__1": mAppConf.getParamDouble("imu_conf.gyro_offsets__1"),
+                                "gyro_offsets__2": mAppConf.getParamDouble("imu_conf.gyro_offsets__2"),
+                                "accel_offsets__0": mAppConf.getParamDouble("imu_conf.accel_offsets__0"),
+                                "accel_offsets__1": mAppConf.getParamDouble("imu_conf.accel_offsets__1"),
+                                "accel_offsets__2": mAppConf.getParamDouble("imu_conf.accel_offsets__2"),
+                            }
+                            mAppConf.updateParamDouble("imu_conf.rot_roll", 0, null)
+                            mAppConf.updateParamDouble("imu_conf.rot_pitch", 0, null)
+                            mAppConf.updateParamDouble("imu_conf.rot_yaw", 0, null)
+                            applyRotationToCalibrationConfig(0, 0, -orientationRestore.rot_yaw * pi/180)
+                            applyRotationToCalibrationConfig(0, -orientationRestore.rot_pitch * pi/180, 0)
+                            applyRotationToCalibrationConfig(-orientationRestore.rot_roll * pi/180, 0, 0)
+                            mCommands.setAppConfNoStore()
                             stackLayout.currentIndex = pages.orientationRoll
                         }
                     }
@@ -569,6 +598,7 @@ Item {
                         flat: true
 
                         onClicked: {
+                            applyRollOffset(orientationRestore.rot_roll * pi/180)
                             stackLayout.currentIndex = pages.orientationPitch
                         }
                     }// Button
@@ -621,6 +651,7 @@ Item {
                         flat: true
 
                         onClicked: {
+                            applyPitchOffset(orientationRestore.rot_pitch * pi/180)
                             stackLayout.currentIndex = pages.orientationYaw
                         }
                     }// Button
@@ -664,7 +695,7 @@ Item {
                         font.family: "DejaVu Sans Mono"
                         wrapMode: Text.Wrap
                         Layout.preferredWidth: parent.width
-                        text: "Yaw Offset: " + (calculatedYawOffset * 180.0/pi).toFixed(2)
+                        text: "Yaw Offset: " + (-(calculatedYawOffset * 180.0/pi).toFixed(2))
                     }// Text
                     Button {
                         id: skipYawButton
@@ -673,6 +704,7 @@ Item {
                         flat: true
 
                         onClicked: {
+                            applyYawOffset(orientationRestore.rot_yaw * pi/180)
                             stackLayout.currentIndex = pages.menu
                         }
                     }// Button
@@ -723,6 +755,23 @@ Item {
                         text: "Search for IMU"
                         flat: false
 
+                        function onIMUSearchCompleted(previousApp) {
+                            searchIMUButton.enabled = true
+                            searchIMUButton.text = "Search for IMU"
+                            mAppConf.updateParamEnum("app_to_use", previousApp)
+                            mCommands.setAppConfNoStore()
+                            updateIMUType()
+                            if(configuratorRadioDefault.checked){
+                                configuratorRadioDefault.onClicked()
+                            }else if(configuratorRadioLogs.checked){
+                                configuratorRadioLogs.onClicked()
+                            }else if(configuratorRadioBUni.checked){
+                                configuratorRadioBUni.onClicked()
+                            }else if(configuratorRadioBSkate.checked){
+                                configuratorRadioBSkate.onClicked()
+                            }
+                        }
+
                         onClicked: {
                             searchIMUButton.enabled = false
                             searchIMUButton.text = "Searching...."
@@ -761,38 +810,22 @@ Item {
                                                                 if(!workingIMU){
                                                                     mAppConf.updateParamEnum("imu_conf.type", 0)
                                                                 }
-                                                                searchIMUButton.enabled = true
-                                                                searchIMUButton.text = "Search for IMU"
-                                                                mAppConf.updateParamEnum("app_to_use", previousApp)
-                                                                mCommands.setAppConfNoStore()
-                                                                updateIMUType()
+                                                                onIMUSearchCompleted(previousApp)
                                                             })
                                                         }else{
-                                                            searchIMUButton.enabled = true
-                                                            searchIMUButton.text = "Search for IMU"
-                                                            mAppConf.updateParamEnum("app_to_use", previousApp)
-                                                            mCommands.setAppConfNoStore()
+                                                            onIMUSearchCompleted(previousApp)
                                                         }
                                                     })
                                                 }else{
-                                                    searchIMUButton.enabled = true
-                                                    searchIMUButton.text = "Search for IMU"
-                                                    mAppConf.updateParamEnum("app_to_use", previousApp)
-                                                    mCommands.setAppConfNoStore()
+                                                    onIMUSearchCompleted(previousApp)
                                                 }
                                             })
                                         }else{
-                                            searchIMUButton.enabled = true
-                                            searchIMUButton.text = "Search for IMU"
-                                            mAppConf.updateParamEnum("app_to_use", previousApp)
-                                            mCommands.setAppConfNoStore()
+                                            onIMUSearchCompleted(previousApp)
                                         }
                                     })
                                 }else{
-                                    searchIMUButton.enabled = true
-                                    searchIMUButton.text = "Search for IMU"
-                                    mAppConf.updateParamEnum("app_to_use", previousApp)
-                                    mCommands.setAppConfNoStore()
+                                    onIMUSearchCompleted(previousApp)
                                 }
                             })
                         }
@@ -824,6 +857,7 @@ Item {
                                 mAppConf.updateParamDouble("imu_conf.accel_confidence_decay", 1.0)
                                 mAppConf.updateParamDouble("imu_conf.mahony_kp", 0.03)
                                 mAppConf.updateParamDouble("imu_conf.accel_lowpass_filter_z", 0.0)
+                                mAppConf.updateParamDouble("imu_conf.gyro_lowpass_filter", 0.0)
                                 configuratorText5.text = configuratorText5.getText()
                             }
                         }
@@ -836,6 +870,7 @@ Item {
                                 mAppConf.updateParamDouble("imu_conf.accel_confidence_decay", 1.0)
                                 mAppConf.updateParamDouble("imu_conf.mahony_kp", 0.03)
                                 mAppConf.updateParamDouble("imu_conf.accel_lowpass_filter_z", 0.0)
+                                mAppConf.updateParamDouble("imu_conf.gyro_lowpass_filter", 0.0)
                                 configuratorText5.text = configuratorText5.getText()
                             }
                         }
@@ -854,6 +889,7 @@ Item {
                                 mAppConf.updateParamDouble("imu_conf.accel_confidence_decay", 1.0)
                                 mAppConf.updateParamDouble("imu_conf.mahony_kp", 0.02)
                                 mAppConf.updateParamDouble("imu_conf.accel_lowpass_filter_z", 0.0)
+                                mAppConf.updateParamDouble("imu_conf.gyro_lowpass_filter", 0.0)
                                 configuratorText5.text = configuratorText5.getText()
                             }
                         }
@@ -872,6 +908,7 @@ Item {
                                 mAppConf.updateParamDouble("imu_conf.accel_confidence_decay", 0.02)
                                 mAppConf.updateParamDouble("imu_conf.mahony_kp", 2.0)
                                 mAppConf.updateParamDouble("imu_conf.accel_lowpass_filter_z", 1.0)
+                                mAppConf.updateParamDouble("imu_conf.gyro_lowpass_filter", 100.0)
                                 configuratorText5.text = configuratorText5.getText()
                             }
                         }
@@ -882,7 +919,8 @@ Item {
                                 "AHRS: " + getAHRS() + "\n" +
                                 "Acc Decay: " + mAppConf.getParamDouble("imu_conf.accel_confidence_decay").toFixed(3) + "\n" +
                                 "Mahony kp: " + mAppConf.getParamDouble("imu_conf.mahony_kp").toFixed(3) + "\n" +
-                                "Accel Z Filter: " + mAppConf.getParamDouble("imu_conf.accel_lowpass_filter_z").toFixed(1)
+                                "Accel Z Filter: " + mAppConf.getParamDouble("imu_conf.accel_lowpass_filter_z").toFixed(1) + "\n" +
+                                "Gyro Filter: " + mAppConf.getParamDouble("imu_conf.gyro_lowpass_filter").toFixed(1)
                         }
 
                         id: configuratorText5
@@ -922,8 +960,28 @@ Item {
                         dialog.close()
                         openTimer.stop()
                     } else if(stackLayout.currentIndex === pages.configurator){
-                        mCommands.getAppConf()
-                        mCommands.setAppConf()
+                        mAppConf.updateParamEnum("imu_conf.type", configuratorRestore.type)
+                        mAppConf.updateParamInt("imu_conf.sample_rate_hz", configuratorRestore.sample_rate_hz)
+                        mAppConf.updateParamEnum("imu_conf.mode", configuratorRestore.mode)
+                        mAppConf.updateParamDouble("imu_conf.accel_confidence_decay", configuratorRestore.accel_confidence_decay)
+                        mAppConf.updateParamDouble("imu_conf.mahony_kp", configuratorRestore.mahony_kp)
+                        mAppConf.updateParamDouble("imu_conf.accel_lowpass_filter_z", configuratorRestore.accel_lowpass_filter_z)
+                        mAppConf.updateParamDouble("imu_conf.gyro_lowpass_filter", configuratorRestore.gyro_lowpass_filter)
+                        mCommands.setAppConfNoStore()
+                        stackLayout.currentIndex = pages.menu
+                    } else if(stackLayout.currentIndex === pages.orientationRoll ||
+                              stackLayout.currentIndex === pages.orientationPitch ||
+                              stackLayout.currentIndex === pages.orientationYaw){
+                        mAppConf.updateParamDouble("imu_conf.rot_roll", orientationRestore.rot_roll, null)
+                        mAppConf.updateParamDouble("imu_conf.rot_pitch", orientationRestore.rot_pitch, null)
+                        mAppConf.updateParamDouble("imu_conf.rot_yaw", orientationRestore.rot_yaw, null)
+                        mAppConf.updateParamDouble("imu_conf.gyro_offsets__0", orientationRestore.gyro_offsets__0, null)
+                        mAppConf.updateParamDouble("imu_conf.gyro_offsets__1", orientationRestore.gyro_offsets__1, null)
+                        mAppConf.updateParamDouble("imu_conf.gyro_offsets__2", orientationRestore.gyro_offsets__2, null)
+                        mAppConf.updateParamDouble("imu_conf.accel_offsets__0", orientationRestore.accel_offsets__0, null)
+                        mAppConf.updateParamDouble("imu_conf.accel_offsets__1", orientationRestore.accel_offsets__1, null)
+                        mAppConf.updateParamDouble("imu_conf.accel_offsets__2", orientationRestore.accel_offsets__2, null)
+                        mCommands.setAppConfNoStore()
                         stackLayout.currentIndex = pages.menu
                     } else {
                         stackLayout.currentIndex = pages.menu
@@ -989,47 +1047,13 @@ Item {
                         mCommands.setAppConf()
                         stackLayout.currentIndex = pages.menu
                     }else if(stackLayout.currentIndex === pages.orientationRoll){
-                        var roll = -filteredIMUValues.roll
-                        mAppConf.updateParamDouble(
-                        "imu_conf.rot_roll",
-                        (mAppConf.getParamDouble("imu_conf.rot_roll") + (roll * 180.0/pi)),
-                        null
-                        )
-                        var yawRotation = mAppConf.getParamDouble("imu_conf.rot_yaw") * pi/180
-                        var pitchRotation = mAppConf.getParamDouble("imu_conf.rot_pitch") * pi/180
-                        applyRotationToCalibrationConfig(0, 0, -yawRotation)
-                        applyRotationToCalibrationConfig(0, -pitchRotation, 0)
-                        applyRotationToCalibrationConfig(roll, 0, 0)
-                        applyRotationToCalibrationConfig(0, pitchRotation, 0)
-                        applyRotationToCalibrationConfig(0, 0, yawRotation)
-
-                        mCommands.setAppConf()
+                        applyRollOffset(-filteredIMUValues.roll)
                         stackLayout.currentIndex = pages.orientationPitch
                     }else if(stackLayout.currentIndex === pages.orientationPitch){
-                        var pitch = filteredIMUValues.pitch
-                        mAppConf.updateParamDouble(
-                        "imu_conf.rot_pitch",
-                        (mAppConf.getParamDouble("imu_conf.rot_pitch") + (pitch * 180.0/pi)),
-                        null
-                        )
-
-                        var yawRotation = mAppConf.getParamDouble("imu_conf.rot_yaw") * pi/180
-                        applyRotationToCalibrationConfig(0, 0, -yawRotation)
-                        applyRotationToCalibrationConfig(0, pitch, 0)
-                        applyRotationToCalibrationConfig(0, 0, yawRotation)
-
-                        mCommands.setAppConf()
+                        applyPitchOffset(filteredIMUValues.pitch)
                         stackLayout.currentIndex = pages.orientationYaw
                     }else if(stackLayout.currentIndex === pages.orientationYaw){
-                        var yaw = calculatedYawOffset
-                        mAppConf.updateParamDouble(
-                        "imu_conf.rot_yaw",
-                        (mAppConf.getParamDouble("imu_conf.rot_yaw") + (yaw * 180.0/pi)),
-                        null
-                        )
-                        applyRotationToCalibrationConfig(0, 0, yaw)
-
-                        mCommands.setAppConf()
+                        applyYawOffset(-calculatedYawOffset)
                         stackLayout.currentIndex = pages.menu
                     }else if(stackLayout.currentIndex === pages.configurator){
                         mCommands.setAppConf()
@@ -1045,29 +1069,49 @@ Item {
 
     }//Dialog
 
-    function applyRotationToCalibrationConfig(roll, pitch, yaw){
+    function constrainDegrees(degrees){
+        if(degrees > 360){
+            return degrees - 360
+        }else if (degrees < -360){
+            return degrees + 360
+        }else{
+            return degrees
+        }
+    }
+
+    function constrainRadians(radians){
+        if(radians > 360){
+            return radians - 360
+        }else if (radians < -360){
+            return radians + 360
+        }else{
+            return radians
+        }
+    }
+
+    function rotateEulerAngles(angles, rotation){
         // Calculate sin & cos
         var s1, c1, s2, c2, s3, c3
 
-        if (yaw !== 0.0) {
-            s1 = Math.sin(yaw)
-            c1 = Math.cos(yaw)
+        if (rotation.yaw !== 0.0) {
+            s1 = Math.sin(rotation.yaw)
+            c1 = Math.cos(rotation.yaw)
         } else {
             s1 = 0.0
             c1 = 1.0
         }
 
-        if (pitch !== 0.0) {
-            s2 = Math.sin(pitch)
-            c2 = Math.cos(pitch)
+        if (rotation.pitch !== 0.0) {
+            s2 = Math.sin(rotation.pitch)
+            c2 = Math.cos(rotation.pitch)
         } else {
             s2 = 0.0
             c2 = 1.0
         }
 
-        if (roll !== 0.0) {
-            s3 = Math.sin(roll)
-            c3 = Math.cos(roll)
+        if (rotation.roll !== 0.0) {
+            s3 = Math.sin(rotation.roll)
+            c3 = Math.cos(rotation.roll)
         } else {
             s3 = 0.0
             c3 = 1.0
@@ -1086,6 +1130,34 @@ Item {
         var m32 = c2 * s3
         var m33 = c2 * c3
 
+
+        // Calculate and return rotated angles
+        return {
+            "roll": angles.roll * m11 + angles.pitch * m12 + angles.yaw * m13,
+            "pitch": angles.roll * m21 + angles.pitch * m22 + angles.yaw * m23,
+            "yaw": angles.roll * m31 + angles.pitch * m32 + angles.yaw * m33
+        }
+    }
+
+    function applyRollOffset(roll){
+        mAppConf.updateParamDouble("imu_conf.rot_roll", roll * 180.0/pi, null)
+        applyRotationToCalibrationConfig(roll, 0, 0)
+        mCommands.setAppConfNoStore()
+    }
+
+    function applyPitchOffset(pitch){
+        mAppConf.updateParamDouble("imu_conf.rot_pitch", pitch * 180.0/pi, null)
+        applyRotationToCalibrationConfig(0, pitch, 0)
+        mCommands.setAppConfNoStore()
+    }
+
+    function applyYawOffset(yaw){
+        mAppConf.updateParamDouble("imu_conf.rot_yaw", yaw * 180.0/pi, null)
+        applyRotationToCalibrationConfig(0, 0, yaw)
+        mCommands.setAppConf()
+    }
+
+    function applyRotationToCalibrationConfig(roll, pitch, yaw){
         // Read current calibration
         var offsetGyroX = mAppConf.getParamDouble("imu_conf.gyro_offsets__0")
         var offsetGyroY = mAppConf.getParamDouble("imu_conf.gyro_offsets__1")
@@ -1096,74 +1168,32 @@ Item {
         var offsetAccelZ = mAppConf.getParamDouble("imu_conf.accel_offsets__2")
 
         // Calculate rotated calibration
-        var rotatedOffsetGyroX = offsetGyroX * m11 + offsetGyroY * m12 + offsetGyroZ * m13;
-        var rotatedOffsetGyroY = offsetGyroX * m21 + offsetGyroY * m22 + offsetGyroZ * m23;
-        var rotatedOffsetGyroZ = offsetGyroX * m31 + offsetGyroY * m32 + offsetGyroZ * m33;
-
-        var rotatedOffsetAccelX = offsetAccelX * m11 + offsetAccelY * m12 + offsetAccelZ * m13;
-        var rotatedOffsetAccelY = offsetAccelX * m21 + offsetAccelY * m22 + offsetAccelZ * m23;
-        var rotatedOffsetAccelZ = offsetAccelX * m31 + offsetAccelY * m32 + offsetAccelZ * m33;
-
-        // Update settings
-        mAppConf.updateParamDouble("imu_conf.gyro_offsets__0", rotatedOffsetGyroX, null)
-        mAppConf.updateParamDouble("imu_conf.gyro_offsets__1", rotatedOffsetGyroY, null)
-        mAppConf.updateParamDouble("imu_conf.gyro_offsets__2", rotatedOffsetGyroZ, null)
-
-        mAppConf.updateParamDouble("imu_conf.accel_offsets__0", rotatedOffsetAccelX, null)
-        mAppConf.updateParamDouble("imu_conf.accel_offsets__1", rotatedOffsetAccelY, null)
-        mAppConf.updateParamDouble("imu_conf.accel_offsets__2", rotatedOffsetAccelZ, null)
+        var rotatedGyroOffsets = rotateEulerAngles(
+                    {"roll": offsetGyroX, "pitch": offsetGyroY, "yaw": offsetGyroZ},
+                    {"roll": roll, "pitch": pitch, "yaw": yaw}
+        )
+        var rotatedAccelOffsets = rotateEulerAngles(
+                    {"roll": offsetAccelX, "pitch": offsetAccelY, "yaw": offsetAccelZ},
+                    {"roll": roll, "pitch": pitch, "yaw": yaw}
+        )
+
+        // Update settings (roll = x, pitch = y, yaw = z)
+        mAppConf.updateParamDouble("imu_conf.gyro_offsets__0", rotatedGyroOffsets.roll, null)
+        mAppConf.updateParamDouble("imu_conf.gyro_offsets__1", rotatedGyroOffsets.pitch, null)
+        mAppConf.updateParamDouble("imu_conf.gyro_offsets__2", rotatedGyroOffsets.yaw, null)
+
+        mAppConf.updateParamDouble("imu_conf.accel_offsets__0", rotatedAccelOffsets.roll, null)
+        mAppConf.updateParamDouble("imu_conf.accel_offsets__1", rotatedAccelOffsets.pitch, null)
+        mAppConf.updateParamDouble("imu_conf.accel_offsets__2", rotatedAccelOffsets.yaw, null)
     }
 
     function getPitchForYawOffset(yaw){
-        var roll = 0
-        var pitch = 0
-
-        // Calculate sin & cos
-        var s1, c1, s2, c2, s3, c3
-
-        if (yaw !== 0.0) {
-            s1 = Math.sin(yaw)
-            c1 = Math.cos(yaw)
-        } else {
-            s1 = 0.0
-            c1 = 1.0
-        }
-
-        if (pitch !== 0.0) {
-            s2 = Math.sin(pitch)
-            c2 = Math.cos(pitch)
-        } else {
-            s2 = 0.0
-            c2 = 1.0
-        }
-
-        if (roll !== 0.0) {
-            s3 = Math.sin(roll)
-            c3 = Math.cos(roll)
-        } else {
-            s3 = 0.0
-            c3 = 1.0
-        }
-
-        // Create rotation matrix
-        var m11 = c1 * c2
-        var m12 = c1 * s2 * s3 - c3 * s1
-        var m13 = s1 * s3 + c1 * c3 * s2
-
-        var m21 = c2 * s1
-        var m22 = c1 * c3 + s1 * s2 * s3
-        var m23 = c3 * s1 * s2 - c1 * s3
-
-        var m31 = -s2
-        var m32 = c2 * s3
-        var m33 = c2 * c3
-
-        // Apply rotation to calibrations
-        var rotatedRoll  = filteredIMUValues.roll * m11 + filteredIMUValues.pitch * m12 + filteredIMUValues.yaw * m13;
-        var rotatedPitch = filteredIMUValues.roll * m21 + filteredIMUValues.pitch * m22 + filteredIMUValues.yaw * m23;
-        var rotatedYaw   = filteredIMUValues.roll * m31 + filteredIMUValues.pitch * m32 + filteredIMUValues.yaw * m33;
+        var rotated = rotateEulerAngles(
+                    {"roll": filteredIMUValues.roll, "pitch": filteredIMUValues.pitch, "yaw": filteredIMUValues.yaw},
+                    {"roll": 0, "pitch": 0, "yaw": yaw}
+        )
 
-        return rotatedPitch
+        return rotated.pitch
     }
 
     function updateIMUType(){
@@ -1181,6 +1211,9 @@ Item {
                 imuType = 4
             }else if(internalTypeString === "LSM6DS3"){
                 imuType = 5
+            }else if(internalTypeString === "-> imu_type_internal \n"){
+                imuString = "Internal: Read error, redo search."
+                imuType = 1
             }
         }else if(imuType === 2){ //MPU6050
             imuString = "MPU6050"

From ef21b80a87a8daa02a79272b04d3eaa6ee775054 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 7 Feb 2023 21:41:25 +0100
Subject: [PATCH 398/559] Removed stack bar as it was not that useful the way
 it worked

---
 pages/pagelisp.cpp |  1 -
 pages/pagelisp.ui  | 40 +++++++++++++---------------------------
 2 files changed, 13 insertions(+), 28 deletions(-)

diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index 23ca09551..43383af3e 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -242,7 +242,6 @@ void PageLisp::setVesc(VescInterface *vesc)
         ui->cpuBar->setFormat(QString("%1%").arg(stats.cpu_use, 0, 'f', 1));
         ui->heapBar->setValue(stats.heap_use);
         ui->memBar->setValue(stats.mem_use);
-        ui->stackBar->setValue(stats.stack_use);
 
         ui->bindingTable->setColumnCount(2);
         ui->bindingTable->setRowCount(stats.number_bindings.size());
diff --git a/pages/pagelisp.ui b/pages/pagelisp.ui
index 9fea97bb1..d7811fcf7 100644
--- a/pages/pagelisp.ui
+++ b/pages/pagelisp.ui
@@ -203,20 +203,6 @@
         </item>
         <item>
          <layout class="QGridLayout" name="gridLayout">
-          <item row="2" column="1">
-           <widget class="QProgressBar" name="memBar">
-            <property name="value">
-             <number>0</number>
-            </property>
-           </widget>
-          </item>
-          <item row="3" column="0">
-           <widget class="QLabel" name="label_2">
-            <property name="text">
-             <string>Stack</string>
-            </property>
-           </widget>
-          </item>
           <item row="2" column="0">
            <widget class="QLabel" name="label_4">
             <property name="text">
@@ -245,8 +231,8 @@
             </property>
            </widget>
           </item>
-          <item row="3" column="1">
-           <widget class="QProgressBar" name="stackBar">
+          <item row="2" column="1">
+           <widget class="QProgressBar" name="memBar">
             <property name="value">
              <number>0</number>
             </property>
@@ -760,26 +746,26 @@
  </widget>
  <customwidgets>
   <customwidget>
-   <class>QCustomPlot</class>
-   <extends>QWidget</extends>
-   <header>widgets/qcustomplot.h</header>
-   <container>1</container>
+   <class>VTextBrowser</class>
+   <extends>QTextEdit</extends>
+   <header>widgets/vtextbrowser.h</header>
   </customwidget>
   <customwidget>
-   <class>ExperimentPlot</class>
+   <class>ScriptEditor</class>
    <extends>QWidget</extends>
-   <header>widgets/experimentplot.h</header>
+   <header>widgets/scripteditor.h</header>
    <container>1</container>
   </customwidget>
   <customwidget>
-   <class>VTextBrowser</class>
-   <extends>QTextEdit</extends>
-   <header>widgets/vtextbrowser.h</header>
+   <class>QCustomPlot</class>
+   <extends>QWidget</extends>
+   <header>widgets/qcustomplot.h</header>
+   <container>1</container>
   </customwidget>
   <customwidget>
-   <class>ScriptEditor</class>
+   <class>ExperimentPlot</class>
    <extends>QWidget</extends>
-   <header>widgets/scripteditor.h</header>
+   <header>widgets/experimentplot.h</header>
    <container>1</container>
   </customwidget>
   <customwidget>

From b5ea524ad60fc3bd5a545d9b8bb9251310729f97 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 18 Feb 2023 16:25:10 +0100
Subject: [PATCH 399/559] Updated esp firmwares

---
 esp32/esp32flash.cpp                          |  21 +++++++++++++++---
 esp32/esp_loader.c                            |   8 +++----
 mobile/ConnectScreen.qml                      |   2 +-
 pages/pageespprog.cpp                         |   8 +++----
 res/Lisp/Examples/test_extensions.lisp        |   2 --
 res/firmwares_esp/ESP32-C3/DevKitM-1/app.bin  | Bin 0 -> 1233776 bytes
 .../ESP32-C3/DevKitM-1/bootloader.bin         | Bin 0 -> 12512 bytes
 .../ESP32-C3/DevKitM-1/partition-table.bin    | Bin 0 -> 3072 bytes
 .../ESP32-C3/VESC Express/app.bin             | Bin 1235616 -> 1306640 bytes
 .../ESP32-C3/VESC Express/bootloader.bin      | Bin 18720 -> 12512 bytes
 .../ESP32-C3/VESC Express/partition-table.bin | Bin 3072 -> 3072 bytes
 res/firmwares_esp/res_fw_esp.qrc              |   3 +++
 12 files changed, 30 insertions(+), 14 deletions(-)
 create mode 100644 res/firmwares_esp/ESP32-C3/DevKitM-1/app.bin
 create mode 100644 res/firmwares_esp/ESP32-C3/DevKitM-1/bootloader.bin
 create mode 100644 res/firmwares_esp/ESP32-C3/DevKitM-1/partition-table.bin

diff --git a/esp32/esp32flash.cpp b/esp32/esp32flash.cpp
index 5c833c1a0..27b4c9e8e 100644
--- a/esp32/esp32flash.cpp
+++ b/esp32/esp32flash.cpp
@@ -129,13 +129,18 @@ bool Esp32Flash::flashFirmware(QByteArray data, size_t address)
     const uint8_t *bin_addr = (uint8_t*)data.data();
 
     emit stateUpdate("Erasing flash (this may take a while)...");
+    Utility::sleepWithEventLoop(500);
+
     err = esp_loader_flash_start(address, size, sizeof(payload));
     if (err != ESP_LOADER_SUCCESS) {
-        emit stateUpdate(QString("Erasing flash failed with error: %1").arg(err));
+        QString errStr = QString("Erasing flash failed with error: %1").arg(err);
+        emit stateUpdate(errStr);
+        qWarning() << errStr;
         return false;
     }
 
     emit stateUpdate("Programming...");
+    Utility::sleepWithEventLoop(500);
 
     size_t binary_size = size;
     size_t written = 0;
@@ -146,7 +151,9 @@ bool Esp32Flash::flashFirmware(QByteArray data, size_t address)
 
         err = esp_loader_flash_write(payload, to_read);
         if (err != ESP_LOADER_SUCCESS) {
-            emit stateUpdate(QString("Packet could not be written! Error: %1").arg(err));
+            QString errStr = QString("Packet could not be written! Code: %1").arg(err);
+            emit stateUpdate(errStr);
+            qWarning() << errStr;
             return false;
         }
 
@@ -158,10 +165,18 @@ bool Esp32Flash::flashFirmware(QByteArray data, size_t address)
     };
 
     emit stateUpdate("Done, verifying flash...");
+    Utility::sleepWithEventLoop(500);
 
     err = esp_loader_flash_verify();
     if (err != ESP_LOADER_SUCCESS) {
-        emit stateUpdate(QString("MD5 does not match. err: %1").arg(err));
+        QString errStr = QString("MD5 error. Code: %1").arg(err);
+
+        if (err == ESP_LOADER_ERROR_TIMEOUT) {
+            errStr = "MD5 Timeout, but probably OK";
+        }
+
+        emit stateUpdate(errStr);
+        qWarning() << errStr;
         return false;
     }
     emit stateUpdate("Flash verified");
diff --git a/esp32/esp_loader.c b/esp32/esp_loader.c
index 88b6b773f..f257da67c 100644
--- a/esp32/esp_loader.c
+++ b/esp32/esp_loader.c
@@ -30,9 +30,9 @@
 #define MIN(a, b) ((a) < (b)) ? (a) : (b)
 #endif
 
-static const uint32_t DEFAULT_TIMEOUT = 1000;
-static const uint32_t DEFAULT_FLASH_TIMEOUT = 3000;       // timeout for most flash operations
-static const uint32_t ERASE_REGION_TIMEOUT_PER_MB = 10000; // timeout (per megabyte) for erasing a region
+static const uint32_t DEFAULT_TIMEOUT = 3000;
+static const uint32_t DEFAULT_FLASH_TIMEOUT = 4000;       // timeout for most flash operations
+static const uint32_t ERASE_REGION_TIMEOUT_PER_MB = 12000; // timeout (per megabyte) for erasing a region
 static const uint8_t  PADDING_PATTERN = 0xFF;
 
 typedef enum {
@@ -43,7 +43,7 @@ static uint32_t s_flash_write_size = 0;
 static const target_registers_t *s_reg = NULL;
 static target_chip_t s_target = ESP_UNKNOWN_CHIP;
 
-static const uint32_t MD5_TIMEOUT_PER_MB = 800;
+static const uint32_t MD5_TIMEOUT_PER_MB = 1200;
 static struct MD5Context s_md5_context;
 static uint32_t s_start_address;
 static uint32_t s_image_size;
diff --git a/mobile/ConnectScreen.qml b/mobile/ConnectScreen.qml
index e3a498f66..fbd08670e 100644
--- a/mobile/ConnectScreen.qml
+++ b/mobile/ConnectScreen.qml
@@ -471,7 +471,7 @@ Item {
             var removed = false
             for (var i = 0; i < vescsUdp.length;i++) {
                 var age = new Date().getTime() - vescsUdp[i].updateTime
-                if (age > 3000) {
+                if (age > 4000) {
                     vescsUdp.splice(i, 1)
                     removed = true
                     i--;
diff --git a/pages/pageespprog.cpp b/pages/pageespprog.cpp
index 87c6b121c..eca27bdd4 100644
--- a/pages/pageespprog.cpp
+++ b/pages/pageespprog.cpp
@@ -237,14 +237,14 @@ void PageEspProg::on_flashButton_clicked()
     ui->progWidget->setText("Flashing bootloader...");
     mEspFlash.flashFirmware(fBl.readAll(), 0x0);
 
-    ui->progWidget->setText("Flashing firmware...");
-    ui->progWidget->setValue(0.0);
-    mEspFlash.flashFirmware(fApp.readAll(), ui->appOffsetBox->value());
-
     ui->progWidget->setText("Flashing partition table...");
     ui->progWidget->setValue(0.0);
     mEspFlash.flashFirmware(fPart.readAll(), ui->partOffsetBox->value());
 
+    ui->progWidget->setText("Flashing firmware...");
+    ui->progWidget->setValue(0.0);
+    mEspFlash.flashFirmware(fApp.readAll(), ui->appOffsetBox->value());
+
     ui->flashButton->setEnabled(true);
 }
 
diff --git a/res/Lisp/Examples/test_extensions.lisp b/res/Lisp/Examples/test_extensions.lisp
index cb11ec12f..6dbf4c464 100644
--- a/res/Lisp/Examples/test_extensions.lisp
+++ b/res/Lisp/Examples/test_extensions.lisp
@@ -152,8 +152,6 @@
         ((log10 0.1252)                              is-float)
         ((deg2rad 0.1252)                            is-float)
         ((rad2deg 0.1252)                            is-float)
-        ((vec3-rot 1 2 3 4 5 6)                      is-list)
-        ((vec3-rot 1 2 3 4 5 6 1)                    is-list)
         ((abs -0.1252)                               is-float)
         ((abs -3)                                    (eq res 3))
         ((throttle-curve 0.2 0.9 0.6 2)              is-float)
diff --git a/res/firmwares_esp/ESP32-C3/DevKitM-1/app.bin b/res/firmwares_esp/ESP32-C3/DevKitM-1/app.bin
new file mode 100644
index 0000000000000000000000000000000000000000..f8ceb5fbf6050f7dc18eae1ef1f0196e33ffccc6
GIT binary patch
literal 1233776
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diff --git a/res/firmwares_esp/ESP32-C3/DevKitM-1/bootloader.bin b/res/firmwares_esp/ESP32-C3/DevKitM-1/bootloader.bin
new file mode 100644
index 0000000000000000000000000000000000000000..47964f1f8fee2e682137babe7d5bd7f3930b8b9d
GIT binary patch
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diff --git a/res/firmwares_esp/ESP32-C3/DevKitM-1/partition-table.bin b/res/firmwares_esp/ESP32-C3/DevKitM-1/partition-table.bin
new file mode 100644
index 0000000000000000000000000000000000000000..477a8362a26e215b60abe064a462268148b8401c
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/res/firmwares_esp/ESP32-C3/VESC Express/app.bin b/res/firmwares_esp/ESP32-C3/VESC Express/app.bin
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GIT binary patch
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diff --git a/res/firmwares_esp/ESP32-C3/VESC Express/bootloader.bin b/res/firmwares_esp/ESP32-C3/VESC Express/bootloader.bin
index 3c76fd2e15ebd196c289db5efc05229606b1818f..47964f1f8fee2e682137babe7d5bd7f3930b8b9d 100644
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t095xo=c83k;o9#uzE`m`rgQ)CFALsW?zR5th0@&UE~<X}tD&De{y)T~X|VtR

diff --git a/res/firmwares_esp/ESP32-C3/VESC Express/partition-table.bin b/res/firmwares_esp/ESP32-C3/VESC Express/partition-table.bin
index cdb67c9b1039a3d9aadb39d094e87d3695da3131..477a8362a26e215b60abe064a462268148b8401c 100644
GIT binary patch
delta 79
zcmZpWXpoq&z;IOnBNIb`Ap-*g6GKjBaRHEl0wD6nKrtqU!rUANhKUp91@0<8{M=~V
S;Q#pOjid{Qt#}t6<OTqTP!y*C

delta 35
rcmZpWXpoq&VB!M-f$X?bDG#H>L?30|EIitve|<9}<A1Kn0*sCT6_F0o

diff --git a/res/firmwares_esp/res_fw_esp.qrc b/res/firmwares_esp/res_fw_esp.qrc
index ac444db98..25071984a 100644
--- a/res/firmwares_esp/res_fw_esp.qrc
+++ b/res/firmwares_esp/res_fw_esp.qrc
@@ -3,5 +3,8 @@
         <file>ESP32-C3/VESC Express/bootloader.bin</file>
         <file>ESP32-C3/VESC Express/partition-table.bin</file>
         <file>ESP32-C3/VESC Express/app.bin</file>
+        <file>ESP32-C3/DevKitM-1/app.bin</file>
+        <file>ESP32-C3/DevKitM-1/bootloader.bin</file>
+        <file>ESP32-C3/DevKitM-1/partition-table.bin</file>
     </qresource>
 </RCC>

From a539edb4f3b7cfcc30ba914f9458123768db5083 Mon Sep 17 00:00:00 2001
From: Mitch Lustig <Mitchlol@users.noreply.github.com>
Date: Sun, 19 Feb 2023 01:54:33 -0800
Subject: [PATCH 400/559] Imu wizard fixes (#297)

* IMU WIzard: Update recommended config for balance skateboard

* IMU Wizard: Fix roll value display (was negative)

* IMU Wizard: Switch orientation to relative offsets (match accel & gyro)
---
 mobile/SetupWizardIMU.qml | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/mobile/SetupWizardIMU.qml b/mobile/SetupWizardIMU.qml
index 9e83ea79f..0a32da18a 100644
--- a/mobile/SetupWizardIMU.qml
+++ b/mobile/SetupWizardIMU.qml
@@ -588,7 +588,7 @@ Item {
                         font.family: "DejaVu Sans Mono"
                         wrapMode: Text.Wrap
                         Layout.preferredWidth: parent.width
-                        text: "Roll Offset: " + (filteredIMUValues.roll * 180.0/pi).toFixed(2)
+                        text: "Roll Offset: " + ((-filteredIMUValues.roll * 180.0/pi) - orientationRestore.rot_roll).toFixed(2)
                     }// Text
 
                     Button {
@@ -642,7 +642,7 @@ Item {
                         font.family: "DejaVu Sans Mono"
                         wrapMode: Text.Wrap
                         Layout.preferredWidth: parent.width
-                        text: "Pitch Offset: " + (filteredIMUValues.pitch * 180.0/pi).toFixed(2)
+                        text: "Pitch Offset: " + ((filteredIMUValues.pitch * 180.0/pi) - orientationRestore.rot_pitch).toFixed(2)
                     }// Text
                     Button {
                         id: skipPitchButton
@@ -695,7 +695,7 @@ Item {
                         font.family: "DejaVu Sans Mono"
                         wrapMode: Text.Wrap
                         Layout.preferredWidth: parent.width
-                        text: "Yaw Offset: " + (-(calculatedYawOffset * 180.0/pi).toFixed(2))
+                        text: "Yaw Offset: " + ((-calculatedYawOffset * 180.0/pi) - orientationRestore.rot_yaw).toFixed(2)
                     }// Text
                     Button {
                         id: skipYawButton
@@ -898,9 +898,9 @@ Item {
                             text: "Balance Skateboard"
                             onClicked: {
                                 if(imuType == 4){
-                                    mAppConf.updateParamInt("imu_conf.sample_rate_hz", 400)
+                                    mAppConf.updateParamInt("imu_conf.sample_rate_hz", 800)
                                 }else if(imuType == 5){
-                                    mAppConf.updateParamInt("imu_conf.sample_rate_hz", 416)
+                                    mAppConf.updateParamInt("imu_conf.sample_rate_hz", 832)
                                 }else{
                                     mAppConf.updateParamInt("imu_conf.sample_rate_hz", 1000)
                                 }
@@ -908,7 +908,7 @@ Item {
                                 mAppConf.updateParamDouble("imu_conf.accel_confidence_decay", 0.02)
                                 mAppConf.updateParamDouble("imu_conf.mahony_kp", 2.0)
                                 mAppConf.updateParamDouble("imu_conf.accel_lowpass_filter_z", 1.0)
-                                mAppConf.updateParamDouble("imu_conf.gyro_lowpass_filter", 100.0)
+                                mAppConf.updateParamDouble("imu_conf.gyro_lowpass_filter", 0.0)
                                 configuratorText5.text = configuratorText5.getText()
                             }
                         }

From a1268bb36ce5c4b5dc1372d0e65c4c6ee91c35f5 Mon Sep 17 00:00:00 2001
From: "Jeffrey M. Friesen" <jfriesen222@gmail.com>
Date: Sun, 19 Feb 2023 13:06:05 -0800
Subject: [PATCH 401/559] Fix Issue #298 and a few other iOS build fixes (#299)

* increase sw freq limit

* Halfway done with config tool stuff

* added enable boxes

* more work on motor setup and testing

* Cleaned up some stuff

* intermediate changes for apps setup

* Update boardsetupwindow.cpp

* more progress on tool

* beta version of tool

* fixed minor bugs

* Update boardsetupwindow.cpp

* fixed compilation issues for 3.01

* Fixed autodetection of USB on windows

* remove extra file

* fixed a few minor issues

* make ios work again

* fix for package store data on iOS issue #298

* Fixed firmware archive on iOS and patched a few build issues introduced from recent changes

- QProcess is not supported on iOS among a couple other platforms
- Added timer workaround to not freeze UI when archive is downloaded on iOS
- Apparently on iOS a mkpath call is required before writing to appdata. This keeps files hidden nicely and seems to work well. Also prevents need for platform specific #ifdefs which is nice
---
 codeloader.cpp             | 12 ++++++++++--
 ios/Info.plist             | 18 +++++++++---------
 mainwindow.cpp             |  3 +++
 mainwindow.h               |  2 ++
 mobile/FwUpdate.qml        | 11 +++++++++++
 mobile/fwhelper.cpp        |  7 +++++--
 vescinterface.cpp          |  9 ++++++---
 widgets/experimentplot.cpp |  3 ++-
 8 files changed, 48 insertions(+), 17 deletions(-)

diff --git a/codeloader.cpp b/codeloader.cpp
index 60deab4b8..de4140637 100644
--- a/codeloader.cpp
+++ b/codeloader.cpp
@@ -799,7 +799,11 @@ bool CodeLoader::installVescPackageFromPath(QString path)
 QVariantList CodeLoader::reloadPackageArchive()
 {
     QVariantList res;
-    QString path = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation) + "/vesc_pkg_all.rcc";
+    QString appDataLoc = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation);
+    if(!QDir(appDataLoc).exists()) {
+            QDir().mkpath(appDataLoc);
+    }
+    QString path = appDataLoc + "/vesc_pkg_all.rcc";
     QFile file(path);
     if (file.exists()) {
         QResource::unregisterResource(path);
@@ -850,7 +854,11 @@ bool CodeLoader::downloadPackageArchive()
     loop.exec();
 
     if (reply->error() == QNetworkReply::NoError) {
-        QString path = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation) + "/vesc_pkg_all.rcc";
+        QString appDataLoc = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation);
+        if(!QDir(appDataLoc).exists()) {
+                QDir().mkpath(appDataLoc);
+        }
+        QString path = appDataLoc + "/vesc_pkg_all.rcc";
         QResource::unregisterResource(path);
         QFile file(path);
         if (file.open(QIODevice::WriteOnly)) {
diff --git a/ios/Info.plist b/ios/Info.plist
index cc3cf9be6..d4901a447 100644
--- a/ios/Info.plist
+++ b/ios/Info.plist
@@ -3,25 +3,25 @@
 <plist version="1.0">
 <dict>
 	<key>CFBundleDisplayName</key>
-	<string>$(Vesc Tool)</string>
+	<string>Vesc Tool</string>
 	<key>CFBundleExecutable</key>
-	<string>$(EXECUTABLE_NAME)</string>
+	<string>VESC Tool</string>
 	<key>CFBundleGetInfoString</key>
 	<string>Created by Qt/QMake</string>
 	<key>CFBundleIdentifier</key>
-	<string>$(PRODUCT_BUNDLE_IDENTIFIER)</string>
+	<string>com.vesc-project.vesc-tool</string>
 	<key>CFBundleInfoDictionaryVersion</key>
 	<string>6.0</string>
 	<key>CFBundleName</key>
-	<string>$(PRODUCT_NAME)</string>
+	<string>VESC Tool</string>
 	<key>CFBundlePackageType</key>
 	<string>APPL</string>
 	<key>CFBundleShortVersionString</key>
-	<string>$(MARKETING_VERSION)</string>
+	<string>6.0</string>
 	<key>CFBundleSignature</key>
 	<string>????</string>
 	<key>CFBundleVersion</key>
-	<string>$(CURRENT_PROJECT_VERSION)</string>
+	<string>6.0</string>
 	<key>ITSAppUsesNonExemptEncryption</key>
 	<false/>
 	<key>LSApplicationCategoryType</key>
@@ -37,7 +37,7 @@
 	<key>NSBluetoothAlwaysUsageDescription</key>
 	<string>Need access to connect to VESC</string>
 	<key>NSBluetoothPeripheralUsageDescription</key>
-	<string>$(PRODUCT_NAME) searches Bluetooth LE Devices (WaiterLock, Barcode Scanner, eGK)</string>
+	<string>VESC Tool searches Bluetooth LE Devices (WaiterLock, Barcode Scanner, eGK)</string>
 	<key>NSDocumentsFolderUsageDescription</key>
 	<string>Saves log files here</string>
 	<key>NSLocationAlwaysAndWhenInUseUsageDescription</key>
@@ -47,13 +47,13 @@
 	<key>NSLocationWhenInUseUsageDescription</key>
 	<string>Used for Ride Tracking</string>
 	<key>NSPhotoLibraryUsageDescription</key>
-	<string>$(PRODUCT_NAME) uses photos</string>
+	<string>VESC Tool uses photos</string>
 	<key>NSSupportsAutomaticGraphicsSwitching</key>
 	<true/>
 	<key>UIBackgroundModes</key>
 	<array>
-		<string>location</string>
 		<string>bluetooth-central</string>
+		<string>location</string>
 	</array>
 	<key>UIFileSharingEnabled</key>
 	<true/>
diff --git a/mainwindow.cpp b/mainwindow.cpp
index 328aaae02..abaef70fe 100755
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -23,6 +23,7 @@
 #include <QDebug>
 #include <QInputDialog>
 #include <QFileDialog>
+#include <QProcess>
 #include <QListWidgetItem>
 #include <cmath>
 #include <QEventLoop>
@@ -1171,6 +1172,7 @@ void MainWindow::on_actionExit_triggered()
     qApp->exit();
 }
 
+#ifndef Q_OS_IOS
 void MainWindow::on_actionLaunchBoardConfigurator_triggered()
 {
     QString program = qApp->arguments()[0];
@@ -1186,6 +1188,7 @@ void MainWindow::on_actionLaunchMobileTool_triggered()
     qApp->quit();
     QProcess::startDetached(program, params);
 }
+#endif
 
 void MainWindow::on_actionAbout_triggered()
 {
diff --git a/mainwindow.h b/mainwindow.h
index 791d1a491..72b1f729b 100644
--- a/mainwindow.h
+++ b/mainwindow.h
@@ -111,8 +111,10 @@ private slots:
     void on_actionSaveAppconfXml_triggered();
     void on_actionLoadAppconfXml_triggered();
     void on_actionExit_triggered();
+    #ifndef Q_OS_IOS
     void on_actionLaunchBoardConfigurator_triggered();
     void on_actionLaunchMobileTool_triggered();
+    #endif
     void on_actionAbout_triggered();
     void on_actionLibrariesUsed_triggered();
     void on_dutyButton_clicked();
diff --git a/mobile/FwUpdate.qml b/mobile/FwUpdate.qml
index 88039e375..b7f4f8001 100755
--- a/mobile/FwUpdate.qml
+++ b/mobile/FwUpdate.qml
@@ -625,6 +625,17 @@ Item {
 
         onAccepted: {
             archUpdateButton.enabled = false
+            workaroundTimerDl.start()
+        }
+    }
+
+    Timer {
+        id: workaroundTimerDl
+        interval: 0
+        repeat: false
+        running: false
+        onTriggered: {
+            // dlArchive...
             VescIf.downloadFwArchive()
             updateArch(VescIf.getLastFwRxParams())
             archUpdateButton.enabled = true
diff --git a/mobile/fwhelper.cpp b/mobile/fwhelper.cpp
index 116bb1879..8dcc5ba2a 100644
--- a/mobile/fwhelper.cpp
+++ b/mobile/fwhelper.cpp
@@ -212,8 +212,11 @@ bool FwHelper::uploadFirmwareSingleShotTimer(QString filename, VescInterface *ve
 QVariantMap FwHelper::getArchiveDirs()
 {
     QVariantMap fws;
-
-    QString path = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation) + "/res_fw.rcc";
+    QString appDataLoc = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation);
+    if(!QDir(appDataLoc).exists()) {
+        QDir().mkpath(appDataLoc);
+    }
+    QString path = appDataLoc + "/res_fw.rcc";
     QFile file(path);
     if (file.exists()) {
         QResource::unregisterResource(path);
diff --git a/vescinterface.cpp b/vescinterface.cpp
index f2b3f0671..4454bb867 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -1,4 +1,4 @@
-/*
+/*
     Copyright 2016 - 2020 Benjamin Vedder	benjamin@vedder.se
 
     This file is part of VESC Tool.
@@ -3993,8 +3993,11 @@ bool VescInterface::downloadFwArchive()
     QNetworkAccessManager manager;
     QNetworkRequest request(url);
     QNetworkReply *reply = manager.get(request);
-
-    QString path = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation) + "/res_fw.rcc";
+    QString appDataLoc = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation);
+    if(!QDir(appDataLoc).exists()) {
+        QDir().mkpath(appDataLoc);
+    }
+    QString path = appDataLoc + "/res_fw.rcc";
     QFile file(path);
     QResource::unregisterResource(path);
     if (file.open(QIODevice::WriteOnly)) {
diff --git a/widgets/experimentplot.cpp b/widgets/experimentplot.cpp
index 8e9f37f05..e01f19f1b 100644
--- a/widgets/experimentplot.cpp
+++ b/widgets/experimentplot.cpp
@@ -17,7 +17,8 @@
     along with this program.  If not, see <http://www.gnu.org/licenses/>.
     */
 
-
+#include <QFileDialog>
+#include <QMessageBox>
 #include "experimentplot.h"
 #include "ui_experimentplot.h"
 #include "utility.h"

From b3be1f490e150027fd4123e29f41a5d0456b0ed6 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Mon, 20 Feb 2023 02:10:43 +0000
Subject: [PATCH 402/559] @Rampagy has signed the CLA from Pull Request #300

---
 signatures/version1/cla.json | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/signatures/version1/cla.json b/signatures/version1/cla.json
index cb5f227b3..05f10d2d9 100644
--- a/signatures/version1/cla.json
+++ b/signatures/version1/cla.json
@@ -119,6 +119,14 @@
       "created_at": "2022-12-02T10:16:03Z",
       "repoId": 102395117,
       "pullRequestNo": 275
+    },
+    {
+      "name": "Rampagy",
+      "id": 32419459,
+      "comment_id": 1436199665,
+      "created_at": "2023-02-20T02:10:27Z",
+      "repoId": 102395117,
+      "pullRequestNo": 300
     }
   ]
 }
\ No newline at end of file

From 5959fc8f19c0133d255a698bf32e06ef28b16eb1 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 20 Feb 2023 15:00:46 +0100
Subject: [PATCH 403/559] Added another crc-example

---
 res/Lisp/Examples/crc16_v2.lisp | 112 ++++++++++++++++++++++++++++++++
 res_lisp.qrc                    |   1 +
 2 files changed, 113 insertions(+)
 create mode 100644 res/Lisp/Examples/crc16_v2.lisp

diff --git a/res/Lisp/Examples/crc16_v2.lisp b/res/Lisp/Examples/crc16_v2.lisp
new file mode 100644
index 000000000..f3df79dd0
--- /dev/null
+++ b/res/Lisp/Examples/crc16_v2.lisp
@@ -0,0 +1,112 @@
+; Generate entry in CRC-table. Can be used to pre-generate a CRC-table for speed
+; or to generate the index in place.
+(defun crc-gentab (ind poly)
+    (let (
+            (helper (fn (bit crc)
+                    (if (= bit 8)
+                        crc
+                        (helper
+                            (+ bit 1)
+                            (bitwise-and
+                                (if (> (bitwise-and crc 0x8000) 0)
+                                    (bitwise-xor (shl crc 1) poly)
+                                    (shl crc 1)
+                                )
+                                0xFFFF
+                        ))
+            )))
+        ) (helper 0 (shl ind 8))
+))
+
+; This gives the same CRC as crc16 in the VESC code
+(def poly 0x11021)
+
+(defun crc16-lbm (data)
+    (let (
+            (len (buflen data))
+            (helper
+                (fn (crc ind)
+                    (if (= ind len)
+                        crc
+                        (helper
+                            (bitwise-xor
+                                (crc-gentab
+                                    (bitwise-and (bitwise-xor (shr crc 8) (bufget-u8 data ind)) 0xFF)
+                                    poly
+                            ) (bitwise-and (shl crc 8) 0xFFFF))
+                            (+ ind 1)
+            ))))
+        ) (helper 0 0)
+))
+
+(def crc-tab (array-create 512))
+(looprange i 0 256 (bufset-u16 crc-tab (* i 2) (crc-gentab i poly)))
+
+(defun crc16-precalc (data)
+    (let (
+            (len (buflen data))
+            (helper
+                (fn (crc ind)
+                    (if (= ind len)
+                        crc
+                        (helper
+                            (bitwise-xor
+                                (bufget-u16
+                                    crc-tab
+                                    (* 2 (bitwise-and (bitwise-xor (shr crc 8) (bufget-u8 data ind)) 0xFF))
+                            )(bitwise-and (shl crc 8) 0xFFFF))
+                            (+ ind 1)
+            ))))
+        ) (helper 0 0)
+))
+
+; Speed test
+
+(def start (systime))
+(crc16-lbm "Hello World!")
+(print (secs-since start))
+
+(def start (systime))
+(crc16-precalc "Hello World!")
+(print (secs-since start))
+
+; Builtin
+(def start (systime))
+(crc16 "Hello World!")
+(print (secs-since start))
+
+; Add CRC to end of string as hex
+(defun str-crc-add (str)
+    (str-merge str (str-from-n (crc16-precalc str) "%04x"))
+)
+
+; Check CRC at end of string
+(defun str-crc-check (str)
+    (let (
+            (len (str-len str))
+            (strx (str-part str 0 (- len 4)))
+            (crc-rx (str-part str (- len 4)))
+            (crc-calc (str-from-n (crc16-precalc strx) "%04x"))
+        ) (eq crc-rx crc-calc)
+))
+
+; The following code can be used to print the generated CRC table as an array
+; that can be pasted into the code
+
+(defun print-crc-tab ()
+    (progn
+        (print "(def crc-tab [")
+        (let (
+                (rows 32)
+                (cols 16)
+            )
+            (looprange i 0 rows
+                (print (apply str-merge
+                        (map
+                            (fn (x) (str-from-n (bufget-u8 crc-tab (+ x (* i cols))) "0x%02x "))
+                            (range cols)
+                        )
+            )))
+        )
+        (print "])")
+))
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 39a0f8d2b..dcc313f00 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -41,5 +41,6 @@
         <file>res/Lisp/Examples/plot_interpolation.lisp</file>
         <file>res/Lisp/Examples/input_capture.lisp</file>
         <file>res/Lisp/Examples/event_custom_data.lisp</file>
+        <file>res/Lisp/Examples/crc16_v2.lisp</file>
     </qresource>
 </RCC>

From 5e55927fbe0299b2480430110a7933408253f965 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 21 Feb 2023 17:50:13 +0100
Subject: [PATCH 404/559] Added tcp hub connectscreen meny option, tcp hub
 tweaks

---
 mobile/ConnectScreen.qml | 36 ++++++++++++++++++++++++++++++++++++
 mobile/TcpHubBox.qml     | 10 +++++++++-
 utility.cpp              |  1 +
 vescinterface.cpp        |  2 +-
 4 files changed, 47 insertions(+), 2 deletions(-)

diff --git a/mobile/ConnectScreen.qml b/mobile/ConnectScreen.qml
index fbd08670e..96b35ad8d 100644
--- a/mobile/ConnectScreen.qml
+++ b/mobile/ConnectScreen.qml
@@ -183,6 +183,42 @@ Item {
                         }
                     }
 
+                    MenuItem {
+                        text: "Connect TCP Hub..."
+                        onTriggered: {
+                            tcpHubConnDialog.open()
+                        }
+
+                        Dialog {
+                            id: tcpHubConnDialog
+                            standardButtons: Dialog.Ok | Dialog.Cancel
+                            modal: true
+                            focus: true
+                            rightMargin: 10
+                            leftMargin: 10
+                            closePolicy: Popup.CloseOnEscape
+                            y: 10 + parent.height / 2 - height / 2
+                            x: parent.width/2 - width/2
+                            width: parent.width - 20 - notchLeft - notchRight
+                            parent: rootItem.parent
+                            Overlay.modal: Rectangle {
+                                color: "#AA000000"
+                            }
+
+                            onAccepted: {
+                                hubBox.connectToHub()
+                            }
+
+                            title: "Connect TCP Hub"
+
+                            TcpHubBox {
+                                id: hubBox
+                                anchors.fill: parent
+                                showControls: false
+                            }
+                        }
+                    }
+
                     MenuItem {
                         text: "Clear TCP hub devs"
                         onTriggered: {
diff --git a/mobile/TcpHubBox.qml b/mobile/TcpHubBox.qml
index 2b865b0e2..d4a7086d0 100644
--- a/mobile/TcpHubBox.qml
+++ b/mobile/TcpHubBox.qml
@@ -26,6 +26,12 @@ import Vedder.vesc.vescinterface 1.0
 import Vedder.vesc.utility 1.0
 
 Item {
+    property bool showControls: true
+
+    function connectToHub() {
+        VescIf.connectTcpHub(serverText.text, portBox.value, idText.text, passText.text)
+    }
+
     implicitHeight: grid.implicitHeight
 
     GridLayout {
@@ -45,6 +51,7 @@ Item {
             text: "Connect as Server"
             Layout.fillWidth: true
             Layout.columnSpan: 2
+            visible: showControls
 
             onClicked: {
                 if (checked) {
@@ -171,6 +178,7 @@ Item {
         RowLayout {
             Layout.columnSpan: 2
             Layout.fillWidth: true
+            visible: showControls
 
             Button {
                 Layout.topMargin: 5
@@ -192,7 +200,7 @@ Item {
                 enabled: !enableBox.checked
 
                 onClicked: {
-                    VescIf.connectTcpHub(serverText.text, portBox.value, idText.text, passText.text)
+                    connectToHub()
                 }
             }
         }
diff --git a/utility.cpp b/utility.cpp
index 64c2f0847..2f36f24a6 100755
--- a/utility.cpp
+++ b/utility.cpp
@@ -2250,6 +2250,7 @@ QString Utility::waitForLine(QTcpSocket *socket, int timeoutMs)
                 if (rxb[0] != '\n') {
                     rxLine.append(rxb[0]);
                 } else {
+                    rxLine.append('\0');
                     loop.quit();
                 }
             } else {
diff --git a/vescinterface.cpp b/vescinterface.cpp
index 4454bb867..50725ff06 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -2999,7 +2999,7 @@ void VescInterface::tcpInputConnected()
     mTcpSocket->setSocketOption(QAbstractSocket::LowDelayOption, true);
 
     if (!mLastTcpHubVescID.isEmpty()) {
-        QString login = QString("VESCTOOL:%1:%2\n").arg(mLastTcpHubVescID).arg(mLastTcpHubVescPass);
+        QString login = QString("VESCTOOL:%1:%2\n\0").arg(mLastTcpHubVescID).arg(mLastTcpHubVescPass);
         mTcpSocket->write(login.toLocal8Bit());
 
         mSettings.setValue("tcp_hub_server", mLastTcpHubServer);

From 11984cbab9a7a9da5de98cdfae75b4ba290374f2 Mon Sep 17 00:00:00 2001
From: surfdado <74502616+surfdado@users.noreply.github.com>
Date: Tue, 21 Feb 2023 09:25:49 -0800
Subject: [PATCH 405/559] Utility error descriptions, replace "?"s (#302)

Signed-off-by: Dado Mista <dadomista@gmail.com>
---
 utility.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/utility.cpp b/utility.cpp
index 2f36f24a6..cb49a1b3e 100755
--- a/utility.cpp
+++ b/utility.cpp
@@ -567,14 +567,14 @@ QString Utility::detectAllFoc(VescInterface *vesc,
             case -100 + FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_3: reason = "High offset on current sensor 3, check for hardware failure"; break;
             case -100 + FAULT_CODE_UNBALANCED_CURRENTS: reason = "Unbalanced currents, check for hardware failure"; break;
             case -100 + FAULT_CODE_BRK: reason = "BRK, hardware protection triggered, check for shorts or possible hardware failure"; break;
-            case -100 + FAULT_CODE_RESOLVER_LOT: reason = "?"; break;
-            case -100 + FAULT_CODE_RESOLVER_DOS: reason = "?"; break;
-            case -100 + FAULT_CODE_RESOLVER_LOS: reason = "?"; break;
+            case -100 + FAULT_CODE_RESOLVER_LOT: reason = "Encoder/Resolver: Loss of tracking"; break;
+            case -100 + FAULT_CODE_RESOLVER_DOS: reason = "Encoder/Resolver: Degradation of signal"; break;
+            case -100 + FAULT_CODE_RESOLVER_LOS: reason = "Encoder/Resolver: Loss of signal"; break;
             case -100 + FAULT_CODE_FLASH_CORRUPTION_APP_CFG: reason = "Flash corruption, App config corrupt, rewrite app config to restore"; break;
             case -100 + FAULT_CODE_FLASH_CORRUPTION_MC_CFG: reason = "Flash corruption, Motor config corrupt, rewrite motor config to restore"; break;
             case -100 + FAULT_CODE_ENCODER_NO_MAGNET: reason = "Encoder no magnet, magnet is too weak or too far from the encoder"; break;
             case -100 + FAULT_CODE_ENCODER_MAGNET_TOO_STRONG: reason = "Magnet too strong, magnet is too strong or too close to the encoder"; break;
-            case -100 + FAULT_CODE_PHASE_FILTER: reason = "Phase filter fault, ?"; break;
+            case -100 + FAULT_CODE_PHASE_FILTER: reason = "Phase filter fault, invalid phase filter readings"; break;
             case -100 + FAULT_CODE_ENCODER_FAULT: reason = "Encoder fault, check encoder connections and alignment"; break;
 
             default: reason = QString::number(resDetect); break;

From 42eccce86777332e62c6b0a4ca754b6771459c89 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 22 Feb 2023 13:42:41 +0100
Subject: [PATCH 406/559] Added reboot-option to terminal menu

---
 mobile/Terminal.qml | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/mobile/Terminal.qml b/mobile/Terminal.qml
index d491ff824..fc9e210a0 100644
--- a/mobile/Terminal.qml
+++ b/mobile/Terminal.qml
@@ -106,6 +106,12 @@ Item {
                             mCommands.sendTerminalCmd("help")
                         }
                     }
+                    MenuItem {
+                        text: "Reboot"
+                        onTriggered: {
+                            mCommands.reboot()
+                        }
+                    }
                 }
             }
         }

From a03f415a2b4d87cfb7ba439284261319e151d60e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 22 Feb 2023 17:48:03 +0100
Subject: [PATCH 407/559] Attempt to restore selection when opening new logs

---
 pages/pageloganalysis.cpp | 50 ++++++++++++++++++++++++++++++++++-----
 pages/pageloganalysis.h   | 10 ++++++++
 2 files changed, 54 insertions(+), 6 deletions(-)

diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index 66012971a..26d6f61e3 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -259,6 +259,8 @@ void PageLogAnalysis::setVesc(VescInterface *vesc)
 
     if (mVesc) {
         auto updatePlots = [this]() {
+            storeSelection();
+
             resetInds();
 
             mLogHeader = mLogRtHeader;
@@ -267,20 +269,17 @@ void PageLogAnalysis::setVesc(VescInterface *vesc)
             updateInds();
             generateMissingEntries();
 
-            auto sel = ui->dataTable->selectionModel()->selectedIndexes();
             ui->dataTable->setRowCount(0);
 
             if (mLog.size() == 0) {
                 return;
             }
 
-            for (auto e: mLogHeader) {
+            foreach (auto e, mLogHeader) {
                 addDataItem(e.name, !e.isTimeStamp, e.scaleStep, e.scaleMax);
             }
 
-            foreach (QModelIndex ind, sel) {
-                ui->dataTable->selectRow(ind.row());
-            }
+            restoreSelection();
 
             truncateDataAndPlot(ui->autoZoomBox->isChecked());
 
@@ -419,6 +418,8 @@ void PageLogAnalysis::setVesc(VescInterface *vesc)
 
 void PageLogAnalysis::loadVescLog(QVector<LOG_DATA> log)
 {
+    storeSelection();
+
     resetInds();
 
     mLog.clear();
@@ -593,10 +594,12 @@ void PageLogAnalysis::loadVescLog(QVector<LOG_DATA> log)
         return;
     }
 
-    for (auto e: mLogHeader) {
+    foreach (auto e, mLogHeader) {
         addDataItem(e.name, !e.isTimeStamp, e.scaleStep, e.scaleMax);
     }
 
+    restoreSelection();
+
     truncateDataAndPlot();
 }
 
@@ -1113,6 +1116,8 @@ void PageLogAnalysis::addDataItem(QString name, bool hasScale, double scaleStep,
 
 void PageLogAnalysis::openLog(QByteArray data)
 {
+    storeSelection();
+
     QTextStream in(&data);
     auto tokensLine1 = in.readLine().split(";");
     if (tokensLine1.size() < 1) {
@@ -1180,6 +1185,8 @@ void PageLogAnalysis::openLog(QByteArray data)
             addDataItem(e.name, !e.isTimeStamp, e.scaleStep, e.scaleMax);
         }
 
+        restoreSelection();
+
         truncateDataAndPlot();
     }
 }
@@ -1287,6 +1294,37 @@ void PageLogAnalysis::generateMissingEntries()
     updateInds();
 }
 
+void PageLogAnalysis::storeSelection()
+{
+    mSelection.dataLabels.clear();
+    foreach (auto i, ui->dataTable->selectionModel()->selectedRows()) {
+        mSelection.dataLabels.append(ui->dataTable->item(i.row(), 0)->text());
+    }
+    mSelection.scrollPos = ui->dataTable->verticalScrollBar()->value();
+}
+
+void PageLogAnalysis::restoreSelection()
+{
+    ui->dataTable->clearSelection();
+    auto modeOld = ui->dataTable->selectionMode();
+    ui->dataTable->setSelectionMode(QAbstractItemView::MultiSelection);
+    for (int row = 0;row < ui->dataTable->rowCount();row++) {
+        bool selected = false;
+        foreach (auto i, mSelection.dataLabels) {
+            if (ui->dataTable->item(row, 0)->text() == i) {
+                selected = true;
+                break;
+            }
+        }
+
+        if (selected) {
+            ui->dataTable->selectRow(row);
+        }
+    }
+    ui->dataTable->setSelectionMode(modeOld);
+    ui->dataTable->verticalScrollBar()->setValue(mSelection.scrollPos);
+}
+
 void PageLogAnalysis::on_saveMapPdfButton_clicked()
 {
     QString fileName = QFileDialog::getSaveFileName(this,
diff --git a/pages/pageloganalysis.h b/pages/pageloganalysis.h
index 9d58693e9..cd6103a3a 100644
--- a/pages/pageloganalysis.h
+++ b/pages/pageloganalysis.h
@@ -111,6 +111,13 @@ private slots:
     int mInd_yaw;
     int mInd_fault;
 
+    struct SelectoData {
+        QStringList dataLabels;
+        int scrollPos;
+    };
+
+    SelectoData mSelection;
+
     void resetInds() {
         mInd_t_day = -1;
         mInd_t_day_pos = -1;
@@ -168,6 +175,9 @@ private slots:
     void openLog(QByteArray data);
     void generateMissingEntries();
 
+    void storeSelection();
+    void restoreSelection();
+
 };
 
 #endif // PAGELOGANALYSIS_H

From f541b3c90cbb5a7c8dd98c423df424746f5536eb Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 23 Feb 2023 18:14:01 +0100
Subject: [PATCH 408/559] Added another speed test example

---
 res/Lisp/Examples/speed_test_tak_q2.lisp | 45 ++++++++++++++++++++++++
 res_lisp.qrc                             |  1 +
 2 files changed, 46 insertions(+)
 create mode 100644 res/Lisp/Examples/speed_test_tak_q2.lisp

diff --git a/res/Lisp/Examples/speed_test_tak_q2.lisp b/res/Lisp/Examples/speed_test_tak_q2.lisp
new file mode 100644
index 000000000..a31e2a01a
--- /dev/null
+++ b/res/Lisp/Examples/speed_test_tak_q2.lisp
@@ -0,0 +1,45 @@
+; These functions are taken from here
+; http://www.ulisp.com/show?1EO1
+
+(defun tak (x y z)
+    (if (not (< y x))
+        z
+        (tak
+            (tak (- x 1) y z)
+            (tak (- y 1) z x)
+            (tak (- z 1) x y)
+)))
+
+(defun q2 (x y)
+    (if (or (< x 1) (< y 1))
+        1
+        (+ (q2 (- x (q2 (- x 1) y)) y)
+            (q2 x (- y (q2 x (- y 1))))
+)))
+
+(def start (systime))
+(def takres (tak 18 12 6))
+(def time (secs-since start))
+(print (list "Time tak:" time))
+
+; Q2 takes more stack, so use thread with extra stack
+(def q2thd (spawn 1024 (fn ()
+            (progn
+                (def start (systime))
+                (def q2res (q2 7 8))
+                (def time (secs-since start))
+                (print (list "Time q2:" time))
+))))
+
+(wait q2thd)
+
+(def start (systime))
+(gc)(gc)(gc)(gc)(gc)
+(gc)(gc)(gc)(gc)(gc)
+(def time (secs-since start))
+(print (list "Time gc:" (/ time 10.0)))
+
+; Result 2023-02-23 on ESP32-C3
+;("Time tak:" {2.515000})
+;("Time q2:" {6.548000})
+;("Time gc:" {0.000500})
diff --git a/res_lisp.qrc b/res_lisp.qrc
index dcc313f00..3da8ab22d 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -42,5 +42,6 @@
         <file>res/Lisp/Examples/input_capture.lisp</file>
         <file>res/Lisp/Examples/event_custom_data.lisp</file>
         <file>res/Lisp/Examples/crc16_v2.lisp</file>
+        <file>res/Lisp/Examples/speed_test_tak_q2.lisp</file>
     </qresource>
 </RCC>

From 3c32aa6cc9f7d3c77d3a2c9d2e7f632a550a0002 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 25 Feb 2023 00:00:56 +0100
Subject: [PATCH 409/559] Sort files in log browser

---
 commands.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/commands.cpp b/commands.cpp
index 9c2d7463c..dd08c3558 100755
--- a/commands.cpp
+++ b/commands.cpp
@@ -2395,8 +2395,13 @@ QVariantList Commands::fileBlockList(QString path)
         qWarning() << "Could not list files";
     }
 
+    std::sort(files.begin(), files.end(), []
+              (const FILE_LIST_ENTRY & a, const FILE_LIST_ENTRY & b) {
+        return a.name.toLower() < b.name.toLower();
+    });
+
     QVariantList retVal;
-    for (auto f: files) {
+    foreach (auto f, files) {
         retVal.append(QVariant::fromValue(f));
     }
 

From 7655e4ba25cdf2fe01eeeaa726afab398bb02da9 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 28 Feb 2023 10:34:07 +0100
Subject: [PATCH 410/559] Moved tabs to north

---
 pages/pageloganalysis.ui | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/pages/pageloganalysis.ui b/pages/pageloganalysis.ui
index a11ee455e..969eb87df 100644
--- a/pages/pageloganalysis.ui
+++ b/pages/pageloganalysis.ui
@@ -230,7 +230,7 @@
       </widget>
       <widget class="QTabWidget" name="tabWidget">
        <property name="tabPosition">
-        <enum>QTabWidget::East</enum>
+        <enum>QTabWidget::North</enum>
        </property>
        <property name="tabShape">
         <enum>QTabWidget::Triangular</enum>
@@ -264,7 +264,7 @@
          <item>
           <widget class="QTabWidget" name="browseTabWidget">
            <property name="tabPosition">
-            <enum>QTabWidget::East</enum>
+            <enum>QTabWidget::North</enum>
            </property>
            <property name="tabShape">
             <enum>QTabWidget::Triangular</enum>

From 1bd91cf522a51ae800ca37fdb33d25d5ef571cb2 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 28 Feb 2023 16:28:50 +0100
Subject: [PATCH 411/559] LBM updates

---
 QCodeEditor/resources/languages/lisp.xml | 16 +++++++++++++++-
 res/Lisp/Examples/plot_vesc_tool.lisp    |  2 +-
 2 files changed, 16 insertions(+), 2 deletions(-)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index a867a82e9..2213e38b8 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -283,7 +283,6 @@
 <name>round</name>
 <name>deg2rad</name>
 <name>rad2deg</name>
-<name>vec3-rot</name>
 <name>throttle-curve</name>
 <name>bits-enc-int</name>
 <name>bits-dec-int</name>
@@ -384,5 +383,20 @@
 <name>gnss-hdop</name>
 <name>gnss-date-time</name>
 <name>gnss-age</name>
+<name>crc16</name>
+<name>main-init-done</name>
+<name>esp-now-start</name>
+<name>esp-now-add-peer</name>
+<name>esp-now-send</name>
+<name>get-mac-addr</name>
+<name>wifi-get-chan</name>
+<name>wifi-set-chan</name>
+<name>wifi-get-bw</name>
+<name>wifi-set-bw</name>
+<name>rgbled-init</name>
+<name>rgbled-deinit</name>
+<name>rgbled-color</name>
+<name>sleep-deep</name>
+<name>sleep-config-wakeup-pin</name>
 </section>
 </root>
diff --git a/res/Lisp/Examples/plot_vesc_tool.lisp b/res/Lisp/Examples/plot_vesc_tool.lisp
index 64b5d372a..fd2172a04 100644
--- a/res/Lisp/Examples/plot_vesc_tool.lisp
+++ b/res/Lisp/Examples/plot_vesc_tool.lisp
@@ -1,4 +1,4 @@
-; This makes a plot on the Realtime Data -> Experiment page
+; This makes a plot on the experiment plot tab.
 
 (plot-init "x-name" "y-name")
 (plot-add-graph "sin")

From 4f41e391cb4f4f9dff42173320b276066f599fb3 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 28 Feb 2023 18:40:44 +0100
Subject: [PATCH 412/559] Added keyword

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 2213e38b8..d6c36af77 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -262,6 +262,7 @@
 <name>canget-dist</name>
 <name>canget-ppm</name>
 <name>canget-adc</name>
+<name>canget-vin</name>
 <name>can-list-devs</name>
 <name>can-scan</name>
 <name>can-send-sid</name>

From 603034e7e19b186e12090ffddda395c554a5164a Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 2 Mar 2023 01:23:57 +0100
Subject: [PATCH 413/559] First attempt at display tool update and integration

---
 display_tool/dispeditor.cpp      | 458 +++++++++++++++++++++
 display_tool/dispeditor.h        |  61 +++
 display_tool/dispeditor.ui       | 306 ++++++++++++++
 display_tool/display_tool.pri    |  13 +
 display_tool/displayedit.cpp     | 530 ++++++++++++++++++++++++
 display_tool/displayedit.h       |  92 +++++
 display_tool/imagewidgetdisp.cpp |  61 +++
 display_tool/imagewidgetdisp.h   |  46 +++
 mainwindow.cpp                   |  14 +-
 mainwindow.h                     |   2 +
 pages/pagedisplaytool.cpp        | 244 +++++++++++
 pages/pagedisplaytool.h          |  52 +++
 pages/pagedisplaytool.ui         | 684 +++++++++++++++++++++++++++++++
 pages/pages.pri                  |   3 +
 vesc_tool.pro                    |   1 +
 15 files changed, 2562 insertions(+), 5 deletions(-)
 create mode 100644 display_tool/dispeditor.cpp
 create mode 100644 display_tool/dispeditor.h
 create mode 100644 display_tool/dispeditor.ui
 create mode 100644 display_tool/display_tool.pri
 create mode 100644 display_tool/displayedit.cpp
 create mode 100644 display_tool/displayedit.h
 create mode 100644 display_tool/imagewidgetdisp.cpp
 create mode 100644 display_tool/imagewidgetdisp.h
 create mode 100644 pages/pagedisplaytool.cpp
 create mode 100644 pages/pagedisplaytool.h
 create mode 100644 pages/pagedisplaytool.ui

diff --git a/display_tool/dispeditor.cpp b/display_tool/dispeditor.cpp
new file mode 100644
index 000000000..5018cd047
--- /dev/null
+++ b/display_tool/dispeditor.cpp
@@ -0,0 +1,458 @@
+/*
+    Copyright 2019 - 2023 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#include "dispeditor.h"
+#include "ui_dispeditor.h"
+#include "utility.h"
+
+#include <QPushButton>
+#include <QFileDialog>
+#include <QDebug>
+#include <QColor>
+#include <QImage>
+#include <QColorDialog>
+
+DispEditor::DispEditor(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::DispEditor)
+{
+    ui->setupUi(this);
+    ui->helpButton->setIcon(Utility::getIcon("icons/Help-96.png"));
+
+    updateSize(128, 128);
+
+    ui->imageWidget->setPixmap(QPixmap::fromImage(ui->displayEdit->getImageNow()));
+
+    connect(ui->displayEdit, &DisplayEdit::imageUpdated, [this](QImage image) {
+        ui->imageWidget->setPixmap(QPixmap::fromImage(image));
+        ui->imageWidget->update();
+    });
+
+    connect(ui->displayEdit, &DisplayEdit::editColorChanged, [this](QColor c) {
+        QPixmap px(50, 50);
+        QPainter painter(&px);
+        painter.fillRect(0, 0, px.width(), px.height(), c);
+        ui->ColorNowLabel->setPixmap(px);
+    });
+
+    updatePalette();
+    on_imgScaleBox_valueChanged(ui->imgScaleBox->value());
+}
+
+void DispEditor::updateSize(int width, int height)
+{
+    ui->displayEdit->setImageSize(width, height);
+    ui->imageWidget->setMinimumWidth(width * ui->imgScaleBox->value());
+    ui->imageWidget->setMaximumWidth(width * ui->imgScaleBox->value());
+    ui->imageWidget->setMinimumHeight(height * ui->imgScaleBox->value());
+    ui->imageWidget->setMaximumHeight(height * ui->imgScaleBox->value());
+    update();
+}
+
+DisplayEdit *DispEditor::getEdit()
+{
+    return ui->displayEdit;
+}
+
+QColor DispEditor::paletteColor(int ind)
+{
+    if (ind >= 0 && ind < mPalette.size()) {
+        return mPalette.at(ind);
+    } else {
+        return Qt::white;
+    }
+}
+
+DispEditor::~DispEditor()
+{
+    delete ui;
+}
+
+void DispEditor::on_saveCButton_clicked()
+{
+    QString filename = QFileDialog::getSaveFileName(this,
+                                                    tr("Save Binary Image"), "",
+                                                    tr("Bin files (*.bin *.BIN *.Bin)"));
+
+    if (!filename.isEmpty()) {
+        if (!filename.endsWith(".bin", Qt::CaseInsensitive)) {
+            filename.append(".bin");
+        }
+
+        QFile f(filename);
+        if (!f.open(QIODevice::WriteOnly)) {
+            return;
+        }
+
+        QImage img = ui->displayEdit->getImageNow();
+        int w = img.width();
+        int h = img.height();
+
+        VByteArray imgArr;
+        int colors = mPalette.size();
+        int bits = 0;
+        while (colors >>= 1) {
+            bits++;
+        }
+
+        for (auto &c: imgArr) {
+            c = 0;
+        }
+
+        imgArr.vbAppendInt16(w);
+        imgArr.vbAppendInt16(h);
+        imgArr.vbAppendInt8(bits);
+
+        int arrOfs = 0;
+        int bitCnt = 0;
+        uint8_t pixNow = 0;
+        for (int j = 0;j < img.height();j++) {
+            for (int i = 0;i < img.width();i++) {
+                auto pix = mPalette.indexOf(img.pixelColor(i, j));
+                pixNow >>= bits;
+                pixNow |= pix << (8 - bits);
+                bitCnt += bits;
+
+                if (bitCnt >= 8) {
+                    imgArr.vbAppendUint8(pixNow);
+                    pixNow = 0;
+                    bitCnt = 0;
+                }
+            }
+        }
+
+        f.write(imgArr);
+        f.close();
+    }
+}
+
+void DispEditor::on_loadCButton_clicked()
+{
+    QString filename = QFileDialog::getOpenFileName(this,
+                                                    tr("Load Binary Image"), "",
+                                                    tr("Bin files (*.bin *.BIN *.Bin)"));
+
+    if (!filename.isEmpty()) {
+        QFile f(filename);
+        if (!f.open(QIODevice::ReadOnly)) {
+            return;
+        }
+        VByteArray data = f.readAll();
+        f.close();
+
+        int w = data.vbPopFrontInt16();
+        int h = data.vbPopFrontInt16();
+        int bits = data.vbPopFrontUint8();
+
+        if (((w * h * bits) / 8) != data.size()) {
+            qWarning() << "Invalid binary image file";
+            return;
+        }
+
+        updateSize(w, h);
+        QImage img(w, h, QImage::Format_ARGB32);
+        img.fill(Qt::black);
+        uint8_t pixNow = data.vbPopFrontUint8();
+        int bitCnt = 0;
+
+        for (int j = 0;j < h;j++) {
+            for (int i = 0;i < w;i++) {
+                int pix = pixNow & ~(0xff << bits);
+                pixNow >>= bits;
+                bitCnt += bits;
+                if (bitCnt >= 8) {
+                    pixNow = data.vbPopFrontUint8();
+                    bitCnt = 0;
+                }
+
+                if (pix < mPalette.size()) {
+                    img.setPixelColor(i, j, mPalette.at(pix));
+                }
+            }
+        }
+
+        ui->displayEdit->loadFromImage(img);
+    }
+}
+
+void DispEditor::on_savePngButton_clicked()
+{
+    QString filename = QFileDialog::getSaveFileName(this,
+                                                    tr("Save PNG File"), "",
+                                                    tr("PNG files (*.png *.Png *.PNG)"));
+
+    if (!filename.isEmpty()) {
+        if (!filename.toLower().endsWith(".png")) {
+            filename.append(".png");
+        }
+
+        ui->displayEdit->getImageNow().save(filename, "PNG");
+    }
+}
+
+void DispEditor::on_loadPngButton_clicked()
+{
+    QString filename = QFileDialog::getOpenFileName(this,
+                                                    tr("Load Image File"), "",
+                                                    tr("JPG and PNG files (*.png *.Png *.PNG *.jpg *.Jpg *.JPG *.jpeg *.Jpeg *.JPEG)"));
+
+    if (!filename.isEmpty()) {
+        QImage img;
+        img.load(filename);
+        QImage img2(img.size(), QImage::Format_ARGB32);
+
+        QPainter p(&img2);
+        p.drawImage(0, 0, img);
+
+        img = img2.scaled(ui->displayEdit->getImageSize(),
+                         Qt::KeepAspectRatioByExpanding,
+                         ui->antialiasBox->isChecked() ?
+                             Qt::SmoothTransformation :
+                             Qt::FastTransformation);
+
+        bool validPalette = true;
+        for (int i = 0;i < img.width();i++) {
+            for (int j = 0;j < img.height();j++) {
+                if (!mPalette.contains(img.pixelColor(i, j))) {
+                    validPalette = false;
+                    break;
+                }
+            }
+        }
+
+        if (!validPalette) {
+            if (ui->ditherBox->isChecked()) {
+                int imgW = img.width();
+                int imgH = img.height();
+
+                int bits = 4;
+                if (mPalette.size() == 2) {
+                    bits = 1;
+                } else if (mPalette.size() == 4) {
+                    bits = 2;
+                }
+
+                int **img_buffer = new int*[imgW];
+                for(int i = 0; i < imgW; i++) {
+                    img_buffer[i] = new int[imgH];
+                }
+
+                int mask = (0xFF << (8 - bits)) & 0xFF;
+
+                for (int y = 0;y < imgH;y++) {
+                    for (int x = 0;x < imgW;x++) {
+                        QRgb col = img.pixel(x, y);
+                        img_buffer[x][y] = qGray(col);
+                    }
+                }
+
+                for (int y = 0;y < imgH;y++) {
+                    for (int x = 0;x < imgW;x++) {
+                        int pix = img_buffer[x][y];
+
+                        if (pix > 255) {
+                            pix = 255;
+                        }
+
+                        if (pix < 0) {
+                            pix = 0;
+                        }
+
+                        int pix_n = pix & mask;
+                        int quant_error = pix - pix_n;
+                        img_buffer[x][y]= pix_n;
+
+                        if (x < (imgW - 1)) {
+                            img_buffer[x + 1][y] += ((quant_error << 12) * 7) >> 16;
+                        }
+
+                        if (y < (imgH - 1)) {
+                            img_buffer[x][y + 1] += ((quant_error << 12) * 5) >> 16;
+                        }
+
+                        if (x > 0 && y < (imgH - 1)) {
+                            img_buffer[x - 1][y + 1] += ((quant_error << 12) * 3) >> 16;
+                        }
+
+                        if (x < (imgW - 1) && y < (imgH - 1)) {
+                            img_buffer[x + 1][y + 1] += ((quant_error << 12) * 1) >> 16;
+                        }
+                    }
+                }
+
+                for (int y = 0;y < imgH;y++) {
+                    for (int x = 0;x < imgW;x++) {
+                        img.setPixelColor(x, y, mPalette.at(img_buffer[x][y] / (256 / mPalette.size())));
+                    }
+                }
+
+                for(int i = 0; i < imgW; i++) {
+                    delete[] img_buffer[i];
+                }
+                delete[] img_buffer;
+            } else {
+                for (int i = 0;i < img.width();i++) {
+                    for (int j = 0;j < img.height();j++) {
+                        QColor c = img.pixelColor(i, j);
+                        int gray = qGray(c.rgb());
+                        gray /= (256 / mPalette.size());
+
+                        if (256 % mPalette.size() != 0) {
+                            gray += 1;
+                        }
+
+                        img.setPixelColor(i, j, mPalette.at(gray));
+                    }
+                }
+            }
+        }
+
+        ui->displayEdit->loadFromImage(img);
+    }
+}
+
+void DispEditor::on_showLayer2Box_toggled(bool checked)
+{
+    ui->displayEdit->setDrawLayer2(checked);
+}
+
+void DispEditor::on_clearLayer2Button_clicked()
+{
+    ui->displayEdit->clearLayer2();
+}
+
+void DispEditor::on_clearButton_clicked()
+{
+    ui->displayEdit->clearImage();
+}
+
+void DispEditor::on_imgScaleBox_valueChanged(int arg1)
+{
+    int width = ui->displayEdit->getImageSize().width();
+    int height = ui->displayEdit->getImageSize().height();
+    ui->imageWidget->setMinimumWidth(width * arg1);
+    ui->imageWidget->setMaximumWidth(width * arg1);
+    ui->imageWidget->setMinimumHeight(height * arg1);
+    ui->imageWidget->setMaximumHeight(height * arg1);
+}
+
+void DispEditor::updatePalette()
+{
+    QGridLayout *l = new QGridLayout;
+    l->setVerticalSpacing(1);
+    l->setHorizontalSpacing(1);
+    l->setMargin(1);
+
+    int colors = 16;
+    if (ui->formatBox->currentIndex() == 0) {
+        colors = 2;
+    } else if (ui->formatBox->currentIndex() == 1) {
+        colors = 4;
+    }
+
+    mPalette.clear();
+
+    for (int i = 0;i < colors;i++) {
+        QColor c = QColor::fromRgbF((double)i / ((double)colors - 1.0),
+                                    (double)i / ((double)colors - 1.0),
+                                    (double)i / ((double)colors - 1.0));
+
+        QPushButton *b = new QPushButton();
+        auto updateColor = [b, this, i] (QColor col) {
+            QPixmap px(50, 50);
+            QPainter painter(&px);
+            painter.fillRect(0, 0, px.width(), px.height(), col);
+            b->setIcon(px);
+            mPalette[i] = col;
+            ui->ColorNowLabel->setPixmap(px);
+            ui->displayEdit->setEditColor(col);
+        };
+
+        const int cols = 6;
+        l->addWidget(b, i / cols, i - cols * (i / cols));
+        mPalette.append(c);
+        updateColor(c);
+
+        if (i == 15) {
+            ui->displayEdit->setEditColor(c);
+        }
+
+        connect(b, &QPushButton::clicked, [updateColor,b,i,this](bool) {
+            auto mod = QGuiApplication::keyboardModifiers();
+            if (mod == Qt::ControlModifier) {
+                auto color = QColorDialog::getColor(mPalette.at(i), b, "Choose Color", QColorDialog::DontUseNativeDialog);
+                updateColor(color);
+            } else {
+                updateColor(mPalette.at(i));
+            }
+        });
+    }
+
+    auto layoutOld = ui->colorWidget->layout();
+    if (layoutOld != nullptr) {
+        QLayoutItem *child;
+        while ((child = layoutOld->takeAt(0)) != nullptr) {
+            delete child->widget();
+            delete child;
+        }
+        delete layoutOld;
+    }
+
+    ui->colorWidget->setLayout(l);
+}
+
+void DispEditor::on_formatBox_currentIndexChanged(int index)
+{
+    (void)index;
+    updatePalette();
+}
+
+void DispEditor::on_helpButton_clicked()
+{
+    QMessageBox::information(this, "Usage Instructions",
+                             "<b>Navigate in editor</b><br>"
+                             "Left-click and drag to move. Scroll to zoom.<br>"
+                             "<br>"
+                             "<b>Draw pixels</b><br>"
+                             "Shift + Left-click (and drag)<br>"
+                             "<br>"
+                             "<b>Change color</b><br>"
+                             "Click on color buttons, or shift + right-click on pixel with desired color.<br>"
+                             "<br>"
+                             "<b>Update Palette Color</b><br>"
+                             "Ctrl + left-click on the palette buttons.<br>"
+                             "<br>"
+                             "<b>Overlay</b><br>"
+                             "Overlay is an important function of this editor, which overlays an image "
+                             "from the custom tab to the Full Frame tab with a transform. The interesting aspect "
+                             "is that the same transforms are available on the controller, meaning that all transform "
+                             "parameters can be animated. For example, if a rotating needle should show speed, "
+                             "the needle can be drawn pointing to the right in the Custom tab and the rotation "
+                             "can be tested here. The same rotation can be achieved on the remote. One can also "
+                             "become creative with animating other properties of the overlay. To get information "
+                             "about what the transform parameters do, the mouse can be hovered above the text to "
+                             "the left of them.<br>"
+                             "<br>"
+                             "The custom tab supports images of any size, as long as the width and height is an "
+                             "even number. The size is limited by the memory on the microcontroller."
+                             "<br>"
+                             "<b>Layer 2</b><br>"
+                             "The second layer can be used to draw overlays on, without messing with the main image. "
+                             "This way the background image can be kept clean for when it is saved.");
+}
diff --git a/display_tool/dispeditor.h b/display_tool/dispeditor.h
new file mode 100644
index 000000000..346467ab0
--- /dev/null
+++ b/display_tool/dispeditor.h
@@ -0,0 +1,61 @@
+/*
+    Copyright 2019 - 2023 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#ifndef DISPEDITOR_H
+#define DISPEDITOR_H
+
+#include <QWidget>
+#include "displayedit.h"
+
+namespace Ui {
+class DispEditor;
+}
+
+class DispEditor : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit DispEditor(QWidget *parent = 0);
+    ~DispEditor();
+
+    void updateSize(int width, int height);
+    DisplayEdit *getEdit();
+    QColor paletteColor(int ind);
+
+private slots:
+    void on_saveCButton_clicked();
+    void on_loadCButton_clicked();
+    void on_savePngButton_clicked();
+    void on_loadPngButton_clicked();
+    void on_showLayer2Box_toggled(bool checked);
+    void on_clearLayer2Button_clicked();
+    void on_clearButton_clicked();
+    void on_imgScaleBox_valueChanged(int arg1);
+    void on_formatBox_currentIndexChanged(int index);
+    void on_helpButton_clicked();
+
+private:
+    Ui::DispEditor *ui;
+    QVector<QColor> mPalette;
+    void updatePalette();
+
+};
+
+#endif // DISPEDITOR_H
diff --git a/display_tool/dispeditor.ui b/display_tool/dispeditor.ui
new file mode 100644
index 000000000..fb672804e
--- /dev/null
+++ b/display_tool/dispeditor.ui
@@ -0,0 +1,306 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>DispEditor</class>
+ <widget class="QWidget" name="DispEditor">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>1061</width>
+    <height>478</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QHBoxLayout" name="horizontalLayout">
+   <item>
+    <layout class="QVBoxLayout" name="verticalLayout_2">
+     <item>
+      <widget class="DisplayEdit" name="displayEdit" native="true">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+         <horstretch>1</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QWidget" name="colorWidget" native="true"/>
+     </item>
+    </layout>
+   </item>
+   <item>
+    <layout class="QGridLayout" name="gridLayout">
+     <item row="4" column="1">
+      <widget class="QPushButton" name="loadCButton">
+       <property name="text">
+        <string>Import Bin</string>
+       </property>
+      </widget>
+     </item>
+     <item row="7" column="0" colspan="2">
+      <widget class="QCheckBox" name="antialiasBox">
+       <property name="text">
+        <string>Antialias when loading</string>
+       </property>
+       <property name="checked">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item row="9" column="0">
+      <widget class="QPushButton" name="clearButton">
+       <property name="text">
+        <string>Clear Screen</string>
+       </property>
+      </widget>
+     </item>
+     <item row="5" column="0">
+      <widget class="QPushButton" name="savePngButton">
+       <property name="toolTip">
+        <string>Save image, as seen above, to PNG file.</string>
+       </property>
+       <property name="text">
+        <string>Save PNG</string>
+       </property>
+      </widget>
+     </item>
+     <item row="8" column="0" colspan="2">
+      <widget class="QCheckBox" name="showLayer2Box">
+       <property name="toolTip">
+        <string/>
+       </property>
+       <property name="text">
+        <string>Show Layer 2</string>
+       </property>
+       <property name="checked">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item row="4" column="0">
+      <widget class="QPushButton" name="saveCButton">
+       <property name="text">
+        <string>Export Bin</string>
+       </property>
+      </widget>
+     </item>
+     <item row="6" column="0" colspan="2">
+      <widget class="QCheckBox" name="ditherBox">
+       <property name="text">
+        <string>Dither when loading</string>
+       </property>
+       <property name="checked">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="0" colspan="2">
+      <widget class="QSpinBox" name="imgScaleBox">
+       <property name="prefix">
+        <string>Preview Scale: </string>
+       </property>
+       <property name="minimum">
+        <number>1</number>
+       </property>
+       <property name="maximum">
+        <number>10</number>
+       </property>
+       <property name="value">
+        <number>2</number>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="1">
+      <widget class="QComboBox" name="formatBox">
+       <item>
+        <property name="text">
+         <string>Indexed 2</string>
+        </property>
+       </item>
+       <item>
+        <property name="text">
+         <string>Indexed 4</string>
+        </property>
+       </item>
+       <item>
+        <property name="text">
+         <string>Indexed 16</string>
+        </property>
+       </item>
+       <item>
+        <property name="text">
+         <string>RGB332 (TODO)</string>
+        </property>
+       </item>
+       <item>
+        <property name="text">
+         <string>RGB565 (TODO)</string>
+        </property>
+       </item>
+       <item>
+        <property name="text">
+         <string>RGB888 (TODO)</string>
+        </property>
+       </item>
+      </widget>
+     </item>
+     <item row="5" column="1">
+      <widget class="QPushButton" name="loadPngButton">
+       <property name="toolTip">
+        <string/>
+       </property>
+       <property name="text">
+        <string>Load Image</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="0" colspan="2">
+      <widget class="QScrollArea" name="scrollArea">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="widgetResizable">
+        <bool>true</bool>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+       <widget class="QWidget" name="scrollAreaWidgetContents">
+        <property name="geometry">
+         <rect>
+          <x>0</x>
+          <y>0</y>
+          <width>262</width>
+          <height>256</height>
+         </rect>
+        </property>
+        <layout class="QHBoxLayout" name="horizontalLayout_2">
+         <property name="spacing">
+          <number>0</number>
+         </property>
+         <property name="leftMargin">
+          <number>0</number>
+         </property>
+         <property name="topMargin">
+          <number>0</number>
+         </property>
+         <property name="rightMargin">
+          <number>0</number>
+         </property>
+         <property name="bottomMargin">
+          <number>0</number>
+         </property>
+         <item>
+          <widget class="ImageWidgetDisp" name="imageWidget" native="true">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="minimumSize">
+            <size>
+             <width>256</width>
+             <height>256</height>
+            </size>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>256</width>
+             <height>256</height>
+            </size>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+      </widget>
+     </item>
+     <item row="3" column="0" colspan="2">
+      <widget class="QPushButton" name="helpButton">
+       <property name="toolTip">
+        <string>Show Instructions</string>
+       </property>
+       <property name="text">
+        <string>Help</string>
+       </property>
+      </widget>
+     </item>
+     <item row="9" column="1">
+      <widget class="QPushButton" name="clearLayer2Button">
+       <property name="text">
+        <string>Clear Layer 2</string>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="0">
+      <widget class="QLabel" name="label">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>Format</string>
+       </property>
+      </widget>
+     </item>
+     <item row="10" column="0" colspan="2">
+      <widget class="QLabel" name="ColorNowLabel">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>256</width>
+         <height>40</height>
+        </size>
+       </property>
+       <property name="frameShape">
+        <enum>QFrame::Box</enum>
+       </property>
+       <property name="frameShadow">
+        <enum>QFrame::Plain</enum>
+       </property>
+       <property name="lineWidth">
+        <number>2</number>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+       <property name="scaledContents">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>DisplayEdit</class>
+   <extends>QWidget</extends>
+   <header>display_tool/displayedit.h</header>
+   <container>1</container>
+  </customwidget>
+  <customwidget>
+   <class>ImageWidgetDisp</class>
+   <extends>QWidget</extends>
+   <header>display_tool/imagewidgetdisp.h</header>
+   <container>1</container>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/display_tool/display_tool.pri b/display_tool/display_tool.pri
new file mode 100644
index 000000000..cf19b537a
--- /dev/null
+++ b/display_tool/display_tool.pri
@@ -0,0 +1,13 @@
+HEADERS += \
+    $$PWD/dispeditor.h \
+    $$PWD/displayedit.h \
+    $$PWD/imagewidgetdisp.h
+
+SOURCES += \
+    $$PWD/dispeditor.cpp \
+    $$PWD/displayedit.cpp \
+    $$PWD/imagewidgetdisp.cpp
+    
+FORMS += \
+    $$PWD/dispeditor.ui
+
diff --git a/display_tool/displayedit.cpp b/display_tool/displayedit.cpp
new file mode 100644
index 000000000..8202e6539
--- /dev/null
+++ b/display_tool/displayedit.cpp
@@ -0,0 +1,530 @@
+/*
+    Copyright 2019 Benjamin Vedder	benjamin@vedder.se
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "displayedit.h"
+#include <QDebug>
+#include <cmath>
+
+DisplayEdit::DisplayEdit(QWidget *parent) : QWidget(parent)
+{
+    mMouseLastX = 1000000;
+    mMouseLastY = 1000000;
+    mEditColor = Qt::white;
+    mDrawLayer2 = true;
+
+    setImageSize(128, 128);
+
+    setMouseTracking(true);
+}
+
+QPoint DisplayEdit::getPixelUnderCursor()
+{
+    QPoint p = this->mapFromGlobal(QCursor::pos());
+    int x = floor(((double)p.x() - mXOffset - (double)width() / 2.0) / mScaleFactor);
+    int y = floor(((double)p.y() - mYOffset - (double)height() / 2.0) / mScaleFactor);
+    return QPoint(x, y);
+}
+
+QImage DisplayEdit::getImageNow()
+{
+    QImage res(mPixelsX, mPixelsY, QImage::Format_RGB32);
+
+    for (int i = 0;i < mPixelsX;i++) {
+        for (int j = 0;j < mPixelsY;j++) {
+            res.setPixelColor(i, j, pixel(i, j, false));
+        }
+    }
+
+    return res;
+}
+
+void DisplayEdit::loadFromImage(QImage img)
+{
+    for (int i = 0;i < mPixelsX;i++) {
+        for (int j = 0;j < mPixelsY;j++) {
+            QColor c = img.pixelColor(i, j);
+            QColor cM = mMaskImage.at(i).at(j);
+
+            if (cM == Qt::black && c.isValid() && c.alpha() > 0.0) {
+                mImage[i][j] = c;
+            }
+        }
+    }
+
+    if (checkChanged()) {
+        update();
+    }
+}
+
+void DisplayEdit::loadMaskImage(QImage img)
+{
+    for (int i = 0;i < mPixelsX;i++) {
+        for (int j = 0;j < mPixelsY;j++) {
+            QColor c = img.pixelColor(i, j);
+
+            if (c.isValid() && c.alpha() > 0.0 && c != Qt::black) {
+                mImage[i][j] = Qt::black;
+                mMaskImage[i][j] = c;
+            }
+        }
+    }
+}
+
+void DisplayEdit::setImageSize(int width, int height)
+{
+    mPixelsX = width;
+    mPixelsY = height;
+    mScaleFactor = 8.0;
+    mXOffset = -mPixelsX * 4;
+    mYOffset = -mPixelsY * 4;
+
+    mImage.resize(mPixelsX);
+
+    for (auto &v: mImage) {
+        v.resize(mPixelsY);
+        for (auto &p: v) {
+            p = Qt::black;
+        }
+    }
+
+    mLastImage = mImage;
+    mMaskImage = mImage;
+    mOverlayImage = mImage;
+    mLayer2Image = mImage;
+
+    for (auto &v: mLayer2Image) {
+        for (auto &p: v) {
+            p.setAlpha(0);
+        }
+    }
+
+    for (auto &v: mOverlayImage) {
+        for (auto &p: v) {
+            p.setAlpha(0);
+        }
+    }
+}
+
+QSize DisplayEdit::getImageSize()
+{
+    return QSize(mPixelsX, mPixelsY);
+}
+
+QColor DisplayEdit::getEditColor() const
+{
+    return mEditColor;
+}
+
+void DisplayEdit::setEditColor(const QColor &editColor)
+{
+    mEditColor = editColor;
+    emit editColorChanged(mEditColor);
+}
+
+void DisplayEdit::setOverlayImage(
+        int x, int y, // Where on display
+        int x_start, int x_width, int y_start, int y_width, // Window to draw in (crop)
+        int cx, int cy, // Center pixel of image
+        float xr, float yr, // Pixel to rotate around
+        float rot, // Rotation angle in degrees
+        float scale, // Scale factor
+        QColor transparent_color, // Color to be drawn as transparent
+        QImage image)
+{
+    float sr = sinf(-rot * M_PI / 180.0);
+    float cr = cosf(-rot * M_PI / 180.0);
+
+    x -= cx * scale;
+    y -= cy * scale;
+
+    xr *= scale;
+    yr *= scale;
+
+    int x_end = (x_start + x_width);
+    int y_end = (y_start + y_width);
+
+    if (x_start < 0) {
+        x_start = 0;
+    }
+
+    if (x_end > mPixelsX) {
+        x_end = mPixelsX;
+    }
+
+    if (y_start < 0) {
+        y_start = 0;
+    }
+
+    if (y_end > mPixelsY) {
+        y_end = mPixelsY;
+    }
+
+    for (int j = y_start;j < y_end;j++) {
+        for (int i = x_start;i < x_end;i++) {
+            int px = (float)(i - x - xr) * cr + (float)(j - y - yr) * sr;
+            int py = -(float)(i - x - xr) * sr + (float)(j - y - yr) * cr;
+
+            px += xr;
+            py += yr;
+
+            px /= scale;
+            py /= scale;
+
+            if (px >= 0 && px < image.width() && py >= 0 && py < image.height()) {
+                QColor pix = image.pixelColor(px, py);
+                if (pix != transparent_color) {
+                    mOverlayImage[i][j] = image.pixelColor(px, py);
+                }
+            }
+        }
+    }
+
+    update();
+    emit imageUpdated(getImageNow());
+}
+
+void DisplayEdit::clearOverlayImage()
+{
+    for (auto &v: mOverlayImage) {
+        for (auto &p: v) {
+            p = Qt::black;
+            p.setAlpha(0);
+        }
+    }
+
+    update();
+    emit imageUpdated(getImageNow());
+}
+
+void DisplayEdit::saveOverlayToLayer2()
+{
+    for (int i = 0;i < mPixelsX;i++) {
+        for (int j = 0;j < mPixelsY;j++) {
+            QColor cO = mOverlayImage.at(i).at(j);
+
+            if (cO.alpha() != 0) {
+                mLayer2Image[i][j] = cO;
+            }
+        }
+    }
+}
+
+void DisplayEdit::clearImage()
+{
+    for (auto &v: mImage) {
+        for (auto &p: v) {
+            p = Qt::black;
+        }
+    }
+
+    update();
+    checkChanged();
+}
+
+void DisplayEdit::clearLayer2()
+{
+    for (auto &v: mLayer2Image) {
+        for (auto &p: v) {
+            p.setAlpha(0);
+        }
+    }
+
+    update();
+    emit imageUpdated(getImageNow());
+}
+
+bool DisplayEdit::getDrawLayer2() const
+{
+    return mDrawLayer2;
+}
+
+void DisplayEdit::setDrawLayer2(bool drawLayer2)
+{
+    mDrawLayer2 = drawLayer2;
+    update();
+    emit imageUpdated(getImageNow());
+}
+
+void DisplayEdit::paintEvent(QPaintEvent *event)
+{
+    QPainter painter(this);
+
+    int width = event->rect().width();
+    int height = event->rect().height();
+
+    bool antialiasDrawings = false;
+
+    painter.setRenderHint(QPainter::Antialiasing, antialiasDrawings);
+    painter.setRenderHint(QPainter::TextAntialiasing, antialiasDrawings);
+    painter.setRenderHint(QPainter::SmoothPixmapTransform, antialiasDrawings);
+
+    const double scaleMax = 40;
+    const double scaleMin = 0.5;
+
+    // Make sure scale and offset is reasonable
+    if (mScaleFactor < scaleMin) {
+        double scaleDiff = scaleMin / mScaleFactor;
+        mScaleFactor = scaleMin;
+        mXOffset *= scaleDiff;
+        mYOffset *= scaleDiff;
+    } else if (mScaleFactor > scaleMax) {
+        double scaleDiff = scaleMax / mScaleFactor;
+        mScaleFactor = scaleMax;
+        mXOffset *= scaleDiff;
+        mYOffset *= scaleDiff;
+    }
+
+    // Limit the offset to avoid overflow at 2^31 mm
+    double lim = 2000000000.0 * mScaleFactor;
+    if (mXOffset > lim) {
+        mXOffset = lim;
+    } else if (mXOffset < -lim) {
+        mXOffset = -lim;
+    }
+
+    if (mYOffset > lim) {
+        mYOffset = lim;
+    } else if (mYOffset < -lim) {
+        mYOffset = -lim;
+    }
+
+    painter.fillRect(0, 0, width, height, QBrush(Qt::black));
+
+    QFont font = this->font();
+
+    // Map coordinate transforms
+    QTransform drawTrans;
+    drawTrans.translate(width / 2 + mXOffset, height / 2 + mYOffset);
+    drawTrans.scale(mScaleFactor, mScaleFactor);
+
+    // Text coordinates
+    QTransform txtTrans;
+    txtTrans.translate(0, 0);
+    txtTrans.scale(1, 1);
+    txtTrans.rotate(0);
+
+    font.setPointSize(10);
+    font.setFamily("Monospace");
+    painter.setFont(font);
+
+    painter.setTransform(drawTrans);
+
+    QPoint px = getPixelUnderCursor();
+
+    for (int i = 0;i < mPixelsX;i++) {
+        for (int j = 0;j < mPixelsY;j++) {
+            QColor cM = mMaskImage.at(i).at(j);
+            QColor cPix = pixel(i, j, true);
+
+            if (cM == Qt::black && i == px.x() && j == px.y()) {
+                if (cPix.greenF() < 0.5) {
+                    cPix.setGreenF(cPix.greenF() + 0.2);
+                } else {
+                    cPix.setRedF(cPix.redF() - 0.2);
+                    cPix.setBlueF(cPix.blueF() - 0.2);
+                }
+            }
+
+            painter.fillRect(i, j, 1.0, 1.0, cPix);
+        }
+    }
+
+    painter.setTransform(txtTrans);
+
+    QPen pen;
+    pen.setColor(Qt::darkGray);
+    pen.setWidthF(0.5);
+    painter.setPen(pen);
+
+    for (int i = 0;i <= mPixelsY;i++) {
+        QPointF p1(0, i), p2(mPixelsX, i);
+        QPointF p1_2 = drawTrans.map(p1);
+        QPointF p2_2 = drawTrans.map(p2);
+        painter.drawLine(p1_2, p2_2);
+    }
+
+    for (int i = 0;i <= mPixelsX;i++) {
+        QPointF p1(i, 0), p2(i, mPixelsY);
+        QPointF p1_2 = drawTrans.map(p1);
+        QPointF p2_2 = drawTrans.map(p2);
+        painter.drawLine(p1_2, p2_2);
+    }
+
+    painter.setTransform(txtTrans);
+    painter.setOpacity(0.5);
+    painter.fillRect(width - 100, height - 50, 100, 50, Qt::black);
+    painter.setOpacity(1.0);
+    painter.setPen(Qt::white);
+    painter.drawText(width - 90, height - 50, 90, 50, Qt::AlignVCenter | Qt::AlignLeft,
+                     QString("X: %1\nY: %2").arg(px.x()).arg(px.y()));
+}
+
+void DisplayEdit::mouseMoveEvent(QMouseEvent *e)
+{
+    bool ctrl = e->modifiers() == Qt::ControlModifier;
+    bool shift = e->modifiers() == Qt::ShiftModifier;
+    bool ctrl_shift = e->modifiers() == (Qt::ControlModifier | Qt::ShiftModifier);
+
+    bool isLb = e->buttons() & Qt::LeftButton;
+
+    if (e->buttons() & Qt::LeftButton && !ctrl && !shift && !ctrl_shift) {
+        int x = e->pos().x();
+        int y = e->pos().y();
+
+        if (mMouseLastX < 100000) {
+            int diffx = x - mMouseLastX;
+            mXOffset += diffx;
+        }
+
+        if (mMouseLastY < 100000) {
+            int diffy = y - mMouseLastY;
+            mYOffset += diffy;
+        }
+
+        mMouseLastX = x;
+        mMouseLastY = y;
+    } else if (isLb && !ctrl && shift && !ctrl_shift) {
+        QPoint px = getPixelUnderCursor();
+        int x = px.x();
+        int y = px.y();
+        if (x >= 0 && x < mPixelsX && y >= 0 && y < mPixelsY) {
+            if (mMaskImage.at(x).at(y) == Qt::black) {
+                mImage[x][y] = mEditColor;
+                checkChanged();
+            }
+        }
+    }
+
+    update();
+}
+
+void DisplayEdit::mousePressEvent(QMouseEvent *e)
+{
+    setFocus();
+
+    bool ctrl = e->modifiers() == Qt::ControlModifier;
+    bool shift = e->modifiers() == Qt::ShiftModifier;
+    bool ctrl_shift = e->modifiers() == (Qt::ControlModifier | Qt::ShiftModifier);
+
+    bool isLb = e->buttons() & Qt::LeftButton;
+    bool isRb = e->buttons() & Qt::RightButton;
+
+    if (ctrl) {
+        if (e->buttons() & Qt::LeftButton) {
+
+        } else if (e->buttons() & Qt::RightButton) {
+
+        }
+    } else if (shift) {
+        QPoint px = getPixelUnderCursor();
+        int x = px.x();
+        int y = px.y();
+        if (x >= 0 && x < mPixelsX && y >= 0 && y < mPixelsY) {
+            if (mMaskImage.at(x).at(y) == Qt::black) {
+                if (isLb) {
+                    mImage[x][y] = mEditColor;
+                    if (checkChanged()) {
+                        update();
+                    }
+                } else if (isRb) {
+                    mEditColor = mImage[x][y];
+                    emit editColorChanged(mEditColor);
+                }
+            }
+        }
+    } else if (ctrl_shift) {
+        if (e->buttons() & Qt::LeftButton) {
+
+        } else if (e->buttons() & Qt::RightButton) {
+
+        }
+    }
+}
+
+void DisplayEdit::mouseReleaseEvent(QMouseEvent *e)
+{
+    if (!(e->buttons() & Qt::LeftButton)) {
+        mMouseLastX = 1000000;
+        mMouseLastY = 1000000;
+    }
+}
+
+void DisplayEdit::wheelEvent(QWheelEvent *e)
+{
+    bool ctrl = e->modifiers() == Qt::ControlModifier;
+    bool shift = e->modifiers() == Qt::ShiftModifier;
+    bool ctrl_shift = e->modifiers() == (Qt::ControlModifier | Qt::ShiftModifier);
+
+    if (ctrl || shift || ctrl_shift) {
+
+    } else {
+        double scaleDiff = ((double)e->angleDelta().y() / 600.0);
+        if (scaleDiff > 0.8) {
+            scaleDiff = 0.8;
+        }
+
+        if (scaleDiff < -0.8) {
+            scaleDiff = -0.8;
+        }
+
+        mScaleFactor += mScaleFactor * scaleDiff;
+        mXOffset += mXOffset * scaleDiff;
+        mYOffset += mYOffset * scaleDiff;
+        update();
+    }
+}
+
+bool DisplayEdit::checkChanged()
+{
+    bool changed = false;
+
+    if (mImage != mLastImage) {
+        mLastImage = mImage;
+        changed = true;
+    }
+
+    if (changed) {
+        emit imageUpdated(getImageNow());
+    }
+
+    return changed;
+}
+
+QColor DisplayEdit::pixel(int x, int y, bool withMask)
+{
+    QColor c = mImage.at(x).at(y);
+    QColor cM = mMaskImage.at(x).at(y);
+    QColor cO = mOverlayImage.at(x).at(y);
+    QColor cL2 = mLayer2Image.at(x).at(y);
+
+    QColor cPix = Qt::black;
+    if (cM == Qt::black) {
+        if (cO.alpha() == 0) {
+            if (!mDrawLayer2 || cL2.alpha() == 0) {
+                cPix = c;
+            } else {
+                cPix = cL2;
+            }
+        } else {
+            cPix = cO;
+        }
+    } else {
+        cPix = withMask ? cM : Qt::black;
+    }
+
+    return cPix;
+}
diff --git a/display_tool/displayedit.h b/display_tool/displayedit.h
new file mode 100644
index 000000000..4a2814ea8
--- /dev/null
+++ b/display_tool/displayedit.h
@@ -0,0 +1,92 @@
+/*
+    Copyright 2019 Benjamin Vedder	benjamin@vedder.se
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef DISPLAYEDIT_H
+#define DISPLAYEDIT_H
+
+#include <QWidget>
+#include <QPainter>
+#include <QPaintEvent>
+
+class DisplayEdit : public QWidget
+{
+    Q_OBJECT
+public:
+    explicit DisplayEdit(QWidget *parent = nullptr);
+    QPoint getPixelUnderCursor();
+    QImage getImageNow();
+    void loadFromImage(QImage img);
+    void loadMaskImage(QImage img);
+    void setImageSize(int width, int height);
+    QSize getImageSize();
+
+    QColor getEditColor() const;
+    void setEditColor(const QColor &editColor);
+
+    void setOverlayImage(
+            int x, int y, // Where on display
+            int x_start, int x_width, int y_start, int y_width, // Window to draw in (crop)
+            int cx, int cy, // Center pixel of image
+            float xr, float yr, // Pixel to rotate around
+            float rot, // Rotation angle in degrees
+            float scale, // Scale factor
+            QColor transparent_color, // Color to be drawn as transparane
+            QImage image);
+    void clearOverlayImage();
+    void saveOverlayToLayer2();
+
+    void clearImage();
+    void clearLayer2();
+
+    bool getDrawLayer2() const;
+    void setDrawLayer2(bool drawLayer2);
+
+signals:
+    void imageUpdated(QImage img);
+    void editColorChanged(QColor c);
+
+public slots:
+
+protected:
+    void paintEvent(QPaintEvent *event) override;
+    void mouseMoveEvent (QMouseEvent *e) override;
+    void mousePressEvent(QMouseEvent *e) override;
+    void mouseReleaseEvent(QMouseEvent *e) override;
+    void wheelEvent(QWheelEvent *e) override;
+
+private:
+    double mScaleFactor;
+    double mXOffset;
+    double mYOffset;
+    int mMouseLastX;
+    int mMouseLastY;
+    int mPixelsX;
+    int mPixelsY;
+    QVector<QVector<QColor> > mMaskImage;
+    QVector<QVector<QColor> > mOverlayImage;
+    QVector<QVector<QColor> > mImage;
+    QVector<QVector<QColor> > mLastImage;
+    QVector<QVector<QColor> > mLayer2Image;
+    QColor mEditColor;
+    bool mDrawLayer2;
+
+    bool checkChanged();
+    QColor pixel(int x, int y, bool withMask);
+
+};
+
+#endif // DISPLAYEDIT_H
diff --git a/display_tool/imagewidgetdisp.cpp b/display_tool/imagewidgetdisp.cpp
new file mode 100644
index 000000000..0dd79108c
--- /dev/null
+++ b/display_tool/imagewidgetdisp.cpp
@@ -0,0 +1,61 @@
+/*
+    Copyright 2019 - 2023 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#include "imagewidgetdisp.h"
+#include <QPainter>
+#include <QPaintEvent>
+#include <QDebug>
+
+ImageWidgetDisp::ImageWidgetDisp(QWidget *parent) : QWidget(parent)
+{
+
+}
+
+void ImageWidgetDisp::paintEvent(QPaintEvent *event)
+{
+    (void)event;
+
+    if (!mPixmap.isNull()) {
+        QPainter painter(this);
+        painter.setRenderHints(QPainter::Antialiasing, false);
+        painter.fillRect(rect(), Qt::black);
+
+        int pw = mPixmap.width();
+        int ph = mPixmap.height();
+        int w = width();
+        int h = height();
+
+        if (((double)pw / (double)ph) > ((double)w / (double)h)) {
+            painter.drawPixmap(0, (h - (ph * w) / pw) / 2, w, (ph * w) / pw, mPixmap);
+        } else {
+            painter.drawPixmap((w - (pw * h) / ph) / 2, 0, (pw * h) / ph, h, mPixmap);
+        }
+    }
+}
+
+QPixmap ImageWidgetDisp::pixmap() const
+{
+    return mPixmap;
+}
+
+void ImageWidgetDisp::setPixmap(const QPixmap &pixmap)
+{
+    mPixmap = pixmap;
+    update();
+}
diff --git a/display_tool/imagewidgetdisp.h b/display_tool/imagewidgetdisp.h
new file mode 100644
index 000000000..7fc72aa0a
--- /dev/null
+++ b/display_tool/imagewidgetdisp.h
@@ -0,0 +1,46 @@
+/*
+    Copyright 2019 - 2023 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#ifndef IMAGEWIDGETDISP_H
+#define IMAGEWIDGETDISP_H
+
+#include <QWidget>
+
+class ImageWidgetDisp : public QWidget
+{
+    Q_OBJECT
+public:
+    explicit ImageWidgetDisp(QWidget *parent = 0);
+
+    QPixmap pixmap() const;
+    void setPixmap(const QPixmap &pixmap);
+
+signals:
+
+public slots:
+
+protected:
+    void paintEvent(QPaintEvent *event);
+
+private:
+    QPixmap mPixmap;
+
+};
+
+#endif // IMAGEWIDGETDISP_H
diff --git a/mainwindow.cpp b/mainwindow.cpp
index abaef70fe..f7c349707 100755
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -1553,26 +1553,30 @@ void MainWindow::reloadPages()
     mPageTerminal = new PageTerminal(this);
     mPageTerminal->setVesc(mVesc);
     ui->pageWidget->addWidget(mPageTerminal);
-    mPageVESCDev->addTab(mPageTerminal,QIcon(theme + "icons/Console-96.png"), tr("VESC Terminal"));
+    mPageVESCDev->addTab(mPageTerminal, Utility::getIcon("icons/Console-96.png"), tr("VESC Terminal"));
 
     mPageScripting = new PageScripting(this);
     mPageScripting->setVesc(mVesc);
     ui->pageWidget->addWidget(mPageScripting);
-    mPageVESCDev->addTab(mPageScripting, QIcon(theme + "icons_textedit/Outdent-96.png"), tr("QML"));
+    mPageVESCDev->addTab(mPageScripting, Utility::getIcon("icons_textedit/Outdent-96.png"), tr("QML"));
 
     mPageLisp = new PageLisp(this);
     mPageLisp->setVesc(mVesc);
     ui->pageWidget->addWidget(mPageLisp);
-    mPageVESCDev->addTab(mPageLisp, QIcon(theme + "icons_textedit/Outdent-96.png"), tr("Lisp"));
+    mPageVESCDev->addTab(mPageLisp, Utility::getIcon("icons_textedit/Outdent-96.png"), tr("Lisp"));
 
     mPageCanAnalyzer = new PageCanAnalyzer(this);
     mPageCanAnalyzer->setVesc(mVesc);
     ui->pageWidget->addWidget(mPageCanAnalyzer);
-    mPageVESCDev->addTab(mPageCanAnalyzer,QIcon(theme + "icons/can_off.png"), tr("CAN Analyzer"));
+    mPageVESCDev->addTab(mPageCanAnalyzer, Utility::getIcon("icons/can_off.png"), tr("CAN Analyzer"));
+
+    mPageDisplayTool = new PageDisplayTool(this);
+    ui->pageWidget->addWidget(mPageDisplayTool);
+    mPageVESCDev->addTab(mPageDisplayTool, Utility::getIcon("icons/Calculator-96.png"), tr("Display Tool"));
 
     mPageDebugPrint = new PageDebugPrint(this);
     ui->pageWidget->addWidget(mPageDebugPrint);
-    mPageVESCDev->addTab(mPageDebugPrint,QIcon(theme + "icons/Bug-96.png"), tr("Debug Console"));
+    mPageVESCDev->addTab(mPageDebugPrint, Utility::getIcon("icons/Bug-96.png"), tr("Debug Console"));
 
     ui->pageWidget->addWidget(mPageVESCDev);
     addPageItem(tr("VESC Dev Tools"),  theme + "icons/Console-96.png", "", true);
diff --git a/mainwindow.h b/mainwindow.h
index 72b1f729b..ad3d6156e 100644
--- a/mainwindow.h
+++ b/mainwindow.h
@@ -70,6 +70,7 @@
 #include "pages/pagelisp.h"
 #include "pages/pageespprog.h"
 #include "pages/pagevescpackage.h"
+#include "pages/pagedisplaytool.h"
 
 namespace Ui {
 class MainWindow;
@@ -224,6 +225,7 @@ private slots:
     PageLisp *mPageLisp;
     PageEspProg *mPageEspProg;
     QTabWidget *mPageVESCDev;
+    PageDisplayTool *mPageDisplayTool;
     Preferences *mPreferences;
 
     void addPageItem(QString name,
diff --git a/pages/pagedisplaytool.cpp b/pages/pagedisplaytool.cpp
new file mode 100644
index 000000000..0fbbe12f7
--- /dev/null
+++ b/pages/pagedisplaytool.cpp
@@ -0,0 +1,244 @@
+/*
+    Copyright 2019 - 2023 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#include "pagedisplaytool.h"
+#include "ui_pagedisplaytool.h"
+#include "utility.h"
+
+#include <QLayout>
+#include <QFileDialog>
+
+PageDisplayTool::PageDisplayTool(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::PageDisplayTool)
+{
+    ui->setupUi(this);
+    layout()->setContentsMargins(0, 0, 0, 0);
+
+    mOverlayUpdating = false;
+    on_updateSizeButton_clicked();
+
+    connect(ui->ovCrHBox, SIGNAL(valueChanged(int)), this, SLOT(updateOverlay()));
+    connect(ui->ovCrWBox, SIGNAL(valueChanged(int)), this, SLOT(updateOverlay()));
+    connect(ui->ovCrXPosBox, SIGNAL(valueChanged(int)), this, SLOT(updateOverlay()));
+    connect(ui->ovCrYPosBox, SIGNAL(valueChanged(int)), this, SLOT(updateOverlay()));
+    connect(ui->overlayBox, SIGNAL(toggled(bool)), this, SLOT(updateOverlay()));
+    connect(ui->ovImCXPosBox, SIGNAL(valueChanged(int)), this, SLOT(updateOverlay()));
+    connect(ui->ovImCYPosBox, SIGNAL(valueChanged(int)), this, SLOT(updateOverlay()));
+    connect(ui->ovRotBox, SIGNAL(valueChanged(double)), this, SLOT(updateOverlay()));
+    connect(ui->ovScaleBox, SIGNAL(valueChanged(double)), this, SLOT(updateOverlay()));
+    connect(ui->ovRXPosBox, SIGNAL(valueChanged(int)), this, SLOT(updateOverlay()));
+    connect(ui->ovRYPosBox, SIGNAL(valueChanged(int)), this, SLOT(updateOverlay()));
+    connect(ui->ovXPosBox, SIGNAL(valueChanged(int)), this, SLOT(updateOverlay()));
+    connect(ui->ovYPosBox, SIGNAL(valueChanged(int)), this, SLOT(updateOverlay()));
+    connect(ui->ovTrBox, SIGNAL(valueChanged(int)), this, SLOT(updateOverlay()));
+
+    connect(ui->fontOverlayBox, SIGNAL(toggled(bool)), this, SLOT(updateOverlay()));
+    connect(ui->fontBoldBox, SIGNAL(toggled(bool)), this, SLOT(updateOverlay()));
+    connect(ui->fontBorderBox, SIGNAL(toggled(bool)), this, SLOT(updateOverlay()));
+    connect(ui->fontAABox, SIGNAL(toggled(bool)), this, SLOT(updateOverlay()));
+    connect(ui->fontXPosBox, SIGNAL(valueChanged(int)), this, SLOT(updateOverlay()));
+    connect(ui->fontYPosBox, SIGNAL(valueChanged(int)), this, SLOT(updateOverlay()));
+    connect(ui->fontWBox, SIGNAL(valueChanged(int)), this, SLOT(updateOverlay()));
+    connect(ui->fontHBox, SIGNAL(valueChanged(int)), this, SLOT(updateOverlay()));
+    connect(ui->fontBox, SIGNAL(currentFontChanged(QFont)), this, SLOT(updateOverlay()));
+    connect(ui->fontSampleEdit, SIGNAL(textChanged(QString)), this, SLOT(updateOverlay()));
+    connect(ui->fontScaleBox, SIGNAL(valueChanged(double)), this, SLOT(updateOverlay()));
+
+    updateOverlay();
+
+    connect(ui->fullEditor->getEdit(), &DisplayEdit::imageUpdated, [this](QImage image) {
+        (void)image;
+
+        if (!mOverlayUpdating) {
+            updateOverlay();
+        }
+    });
+}
+
+PageDisplayTool::~PageDisplayTool()
+{
+    delete ui;
+}
+
+void PageDisplayTool::updateOverlay()
+{
+    mOverlayUpdating = true;
+
+    ui->fullEditor->getEdit()->clearOverlayImage();
+
+    if (ui->overlayBox->isChecked()) {
+        QColor transparent = ui->fullEditor->paletteColor(ui->ovTrBox->value());
+
+        if (ui->ovTrBox->value() < 0) {
+            transparent = Qt::red;
+        }
+
+        ui->fullEditor->getEdit()->setOverlayImage(
+                    ui->ovXPosBox->value(), ui->ovYPosBox->value(),
+                    ui->ovCrXPosBox->value(), ui->ovCrWBox->value(),
+                    ui->ovCrYPosBox->value(), ui->ovCrHBox->value(),
+                    ui->ovImCXPosBox->value(), ui->ovImCYPosBox->value(),
+                    ui->ovRXPosBox->value(), ui->ovRYPosBox->value(),
+                    ui->ovRotBox->value(),
+                    ui->ovScaleBox->value(),
+                    transparent,
+                    ui->customEditor->getEdit()->getImageNow());
+    }
+
+    QString str = ui->fontSampleEdit->text();
+    if (ui->fontOverlayBox->isChecked() && str.size() > 0) {
+        int w = ui->fontWBox->value();
+        int h = ui->fontHBox->value();
+        int xPos = ui->fontXPosBox->value();
+        int yPos = ui->fontYPosBox->value();
+        QImage img(w * str.size(), h, QImage::Format_ARGB32);
+        QPainter p(&img);
+
+        p.drawImage(img.rect(), ui->fullEditor->getEdit()->getImageNow(),
+                    QRect(xPos, yPos, w * str.size(), h));
+
+        p.setFont(getSelectedFont(ui->fontAABox->isChecked()));
+
+        for (int i = 0;i < str.size();i++) {
+            if (ui->fontBorderBox->isChecked()) {
+                p.setPen(Qt::darkRed);
+                p.drawRect(i * w, 0, w - 1, h - 1);
+            }
+            p.setPen(Qt::white);
+            p.drawText(QRect(i * w, 0, w, h), Qt::AlignCenter, str.at(i));
+        }
+
+        for (int i = 0;i < img.width();i++) {
+            for (int j = 0;j < img.height();j++) {
+                QColor c = img.pixelColor(i, j);
+                if (c != Qt::darkRed) {
+                    int gray = qGray(c.rgb());
+                    gray /= 16;
+                    img.setPixelColor(i, j, ui->fullEditor->paletteColor(gray));
+                }
+            }
+        }
+
+        ui->fullEditor->getEdit()->setOverlayImage(
+                    xPos, yPos,
+                    0, 128, 0, 128, 0, 0, 0, 0, 0, 1.0, Qt::black,
+                    img);
+    }
+
+    mOverlayUpdating = false;
+}
+
+void PageDisplayTool::on_exportFontButton_clicked()
+{
+    QString filename = QFileDialog::getSaveFileName(this,
+                                                    tr("Save Binary File"), "",
+                                                    tr("Bin files (*.bin *.BIN *.Bin)"));
+
+    if (filename.isEmpty()) {
+        return;
+    }
+
+    if (!filename.endsWith(".bin", Qt::CaseInsensitive)) {
+        filename.append(".bin");
+    }
+
+    QFile f(filename);
+
+    if (!f.open(QIODevice::WriteOnly)) {
+        return;
+    }
+
+    int w = ui->fontWBox->value();
+    int h = ui->fontHBox->value();
+    int bytesPerChar = (w * h) / 8;
+    int charNum = ui->exportCustomNumOnlyBox->isChecked() ? 10 : 95;
+
+    if ((w * h) % 8 != 0) {
+        bytesPerChar++;
+    }
+
+    QByteArray fontArr;
+    fontArr.resize(bytesPerChar * charNum + 4);
+
+    for (auto &c: fontArr) {
+        c = 0;
+    }
+
+    fontArr[0] = w;
+    fontArr[1] = h;
+    fontArr[2] = charNum;
+    fontArr[3] = 1; // 1 bit per char
+
+    for (int ch = 0;ch < charNum;ch++) {
+        QImage img(w, h, QImage::Format_ARGB32);
+        QPainter p(&img);
+
+        p.fillRect(img.rect(), Qt::black);
+        p.setPen(Qt::white);
+
+        p.setFont(getSelectedFont(false));
+        p.drawText(QRect(0, 0, w, h), Qt::AlignCenter, QChar(ch + (charNum == 10 ? '0' : ' ')));
+
+        for (int i = 0;i < w * h;i++) {
+            QColor px = img.pixel(i % w, i / w);
+            char c = fontArr[4 + bytesPerChar * ch + i / 8];
+            c |= (px != Qt::black) << (i % 8);
+            fontArr[4 + bytesPerChar * ch + (i / 8)] = c;
+        }
+    }
+
+    f.write(fontArr);
+    f.close();
+}
+
+
+void PageDisplayTool::on_ovSaveButton_clicked()
+{
+    ui->fullEditor->getEdit()->saveOverlayToLayer2();
+}
+
+
+void PageDisplayTool::on_updateSizeButton_clicked()
+{
+    ui->customEditor->updateSize(ui->wBox->value(), ui->hBox->value());
+}
+
+QFont PageDisplayTool::getSelectedFont(bool antialias)
+{
+    QFont f = ui->fontBox->currentFont();
+    f.setPointSizeF(500.0);
+    f.setBold(ui->fontBoldBox->isChecked());
+
+    if (!antialias) {
+        f.setStyleStrategy(QFont::NoAntialias);
+    }
+
+    QFontMetrics fm(f);
+    double fh = (500.0 * (double)ui->fontHBox->value()) / (double)fm.ascent();
+    f.setPointSizeF(fh * ui->fontScaleBox->value());
+    return f;
+}
+
+
+void PageDisplayTool::on_updateSizeButtonDisp_clicked()
+{
+    ui->fullEditor->updateSize(ui->wBoxDisp->value(), ui->hBoxDisp->value());
+}
+
diff --git a/pages/pagedisplaytool.h b/pages/pagedisplaytool.h
new file mode 100644
index 000000000..3cd2300d7
--- /dev/null
+++ b/pages/pagedisplaytool.h
@@ -0,0 +1,52 @@
+/*
+    Copyright 2023 Benjamin Vedder	benjamin@vedder.se
+
+    This file is part of VESC Tool.
+
+    VESC Tool is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    VESC Tool is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#ifndef PAGEDISPLAYTOOL_H
+#define PAGEDISPLAYTOOL_H
+
+#include <QWidget>
+
+namespace Ui {
+class PageDisplayTool;
+}
+
+class PageDisplayTool : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit PageDisplayTool(QWidget *parent = nullptr);
+    ~PageDisplayTool();
+
+private slots:
+    void updateOverlay();
+    void on_exportFontButton_clicked();
+    void on_ovSaveButton_clicked();
+    void on_updateSizeButton_clicked();
+    void on_updateSizeButtonDisp_clicked();
+
+private:
+    QFont getSelectedFont(bool antialias);
+
+    Ui::PageDisplayTool *ui;
+    bool mOverlayUpdating;
+
+};
+
+#endif // PAGEDISPLAYTOOL_H
diff --git a/pages/pagedisplaytool.ui b/pages/pagedisplaytool.ui
new file mode 100644
index 000000000..edeed69ec
--- /dev/null
+++ b/pages/pagedisplaytool.ui
@@ -0,0 +1,684 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>PageDisplayTool</class>
+ <widget class="QWidget" name="PageDisplayTool">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>1399</width>
+    <height>564</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout_3">
+   <item>
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="tabShape">
+      <enum>QTabWidget::Triangular</enum>
+     </property>
+     <property name="currentIndex">
+      <number>0</number>
+     </property>
+     <widget class="QWidget" name="tab">
+      <attribute name="title">
+       <string>Display</string>
+      </attribute>
+      <layout class="QHBoxLayout" name="horizontalLayout">
+       <item>
+        <layout class="QVBoxLayout" name="verticalLayout_5">
+         <item>
+          <layout class="QHBoxLayout" name="horizontalLayout_3">
+           <item>
+            <widget class="QSpinBox" name="wBoxDisp">
+             <property name="prefix">
+              <string>W: </string>
+             </property>
+             <property name="maximum">
+              <number>1024</number>
+             </property>
+             <property name="value">
+              <number>128</number>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QSpinBox" name="hBoxDisp">
+             <property name="prefix">
+              <string>H: </string>
+             </property>
+             <property name="maximum">
+              <number>1024</number>
+             </property>
+             <property name="value">
+              <number>128</number>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QPushButton" name="updateSizeButtonDisp">
+             <property name="text">
+              <string>Update</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <spacer name="horizontalSpacer_2">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>40</width>
+               <height>20</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </item>
+         <item>
+          <widget class="DispEditor" name="fullEditor" native="true">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item>
+        <widget class="QTabWidget" name="tabWidget_2">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="currentIndex">
+          <number>0</number>
+         </property>
+         <widget class="QWidget" name="tab_3">
+          <attribute name="title">
+           <string>Font</string>
+          </attribute>
+          <layout class="QVBoxLayout" name="verticalLayout_2">
+           <item>
+            <widget class="QGroupBox" name="fontOverlayBox">
+             <property name="title">
+              <string>Draw Font</string>
+             </property>
+             <property name="checkable">
+              <bool>true</bool>
+             </property>
+             <property name="checked">
+              <bool>false</bool>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_2">
+              <property name="leftMargin">
+               <number>6</number>
+              </property>
+              <property name="topMargin">
+               <number>6</number>
+              </property>
+              <property name="rightMargin">
+               <number>6</number>
+              </property>
+              <property name="bottomMargin">
+               <number>6</number>
+              </property>
+              <property name="spacing">
+               <number>3</number>
+              </property>
+              <item row="5" column="0" colspan="2">
+               <widget class="QLineEdit" name="fontSampleEdit">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="text">
+                 <string>ABC 00</string>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="0">
+               <widget class="QSpinBox" name="fontWBox">
+                <property name="prefix">
+                 <string>W: </string>
+                </property>
+                <property name="maximum">
+                 <number>128</number>
+                </property>
+                <property name="value">
+                 <number>10</number>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="0" colspan="2">
+               <widget class="QFontComboBox" name="fontBox">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+               </widget>
+              </item>
+              <item row="8" column="0" colspan="2">
+               <widget class="QPushButton" name="exportFontButton">
+                <property name="text">
+                 <string>Export Font</string>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="1">
+               <widget class="QCheckBox" name="fontBorderBox">
+                <property name="toolTip">
+                 <string>Draw border around characters to see their bounding box</string>
+                </property>
+                <property name="text">
+                 <string>Border</string>
+                </property>
+                <property name="checked">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0">
+               <widget class="QCheckBox" name="fontBoldBox">
+                <property name="text">
+                 <string>Bold</string>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="0">
+               <widget class="QCheckBox" name="fontAABox">
+                <property name="text">
+                 <string>Antialias</string>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="0" colspan="2">
+               <widget class="QDoubleSpinBox" name="fontScaleBox">
+                <property name="prefix">
+                 <string>Scale: </string>
+                </property>
+                <property name="decimals">
+                 <number>2</number>
+                </property>
+                <property name="maximum">
+                 <double>10.000000000000000</double>
+                </property>
+                <property name="singleStep">
+                 <double>0.010000000000000</double>
+                </property>
+                <property name="value">
+                 <double>1.000000000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="0">
+               <widget class="QSpinBox" name="fontXPosBox">
+                <property name="prefix">
+                 <string>X: </string>
+                </property>
+                <property name="maximum">
+                 <number>128</number>
+                </property>
+                <property name="value">
+                 <number>34</number>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="1">
+               <widget class="QSpinBox" name="fontYPosBox">
+                <property name="prefix">
+                 <string>Y: </string>
+                </property>
+                <property name="maximum">
+                 <number>128</number>
+                </property>
+                <property name="value">
+                 <number>46</number>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="1">
+               <widget class="QSpinBox" name="fontHBox">
+                <property name="prefix">
+                 <string>H: </string>
+                </property>
+                <property name="maximum">
+                 <number>128</number>
+                </property>
+                <property name="value">
+                 <number>16</number>
+                </property>
+               </widget>
+              </item>
+              <item row="7" column="0" colspan="2">
+               <widget class="QCheckBox" name="exportCustomNumOnlyBox">
+                <property name="toolTip">
+                 <string>Export only numbers to save space</string>
+                </property>
+                <property name="text">
+                 <string>NumOnly</string>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </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>
+         <widget class="QWidget" name="tab_4">
+          <attribute name="title">
+           <string>Overlay</string>
+          </attribute>
+          <layout class="QVBoxLayout" name="verticalLayout_4">
+           <item>
+            <widget class="QGroupBox" name="overlayBox">
+             <property name="title">
+              <string>Draw Overlay</string>
+             </property>
+             <property name="checkable">
+              <bool>true</bool>
+             </property>
+             <property name="checked">
+              <bool>false</bool>
+             </property>
+             <layout class="QGridLayout" name="gridLayout">
+              <property name="leftMargin">
+               <number>6</number>
+              </property>
+              <property name="topMargin">
+               <number>6</number>
+              </property>
+              <property name="rightMargin">
+               <number>6</number>
+              </property>
+              <property name="bottomMargin">
+               <number>6</number>
+              </property>
+              <property name="spacing">
+               <number>3</number>
+              </property>
+              <item row="5" column="0">
+               <widget class="QLabel" name="label_6">
+                <property name="toolTip">
+                 <string>Image rotation in degrees</string>
+                </property>
+                <property name="text">
+                 <string>Rotation</string>
+                </property>
+               </widget>
+              </item>
+              <item row="8" column="0" colspan="3">
+               <widget class="QPushButton" name="ovSaveButton">
+                <property name="toolTip">
+                 <string>Save overlay to layer 2 on image. Layer 2 can be enabled and disabled independently.</string>
+                </property>
+                <property name="text">
+                 <string>Save to Layer 2</string>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0">
+               <widget class="QLabel" name="label_2">
+                <property name="toolTip">
+                 <string>Corner to start crop. The image will not be drawn outside of the crop area. Cropping the drawing greatly improves performance.</string>
+                </property>
+                <property name="text">
+                 <string>Crop Start</string>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="1" colspan="2">
+               <widget class="QDoubleSpinBox" name="ovScaleBox">
+                <property name="decimals">
+                 <number>3</number>
+                </property>
+                <property name="maximum">
+                 <double>100.000000000000000</double>
+                </property>
+                <property name="singleStep">
+                 <double>0.010000000000000</double>
+                </property>
+                <property name="value">
+                 <double>1.000000000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="0">
+               <widget class="QLabel" name="label">
+                <property name="toolTip">
+                 <string>Position to draw image</string>
+                </property>
+                <property name="text">
+                 <string>Position</string>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="1">
+               <widget class="QSpinBox" name="ovImCXPosBox">
+                <property name="prefix">
+                 <string>X: </string>
+                </property>
+                <property name="minimum">
+                 <number>-1024</number>
+                </property>
+                <property name="maximum">
+                 <number>1024</number>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="0">
+               <widget class="QLabel" name="label_5">
+                <property name="toolTip">
+                 <string>Rotation will be done around this pixel on the image</string>
+                </property>
+                <property name="text">
+                 <string>Rot Center</string>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="1">
+               <widget class="QSpinBox" name="ovRXPosBox">
+                <property name="prefix">
+                 <string>X: </string>
+                </property>
+                <property name="minimum">
+                 <number>-1024</number>
+                </property>
+                <property name="maximum">
+                 <number>1024</number>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="1">
+               <widget class="QSpinBox" name="ovCrXPosBox">
+                <property name="prefix">
+                 <string>X: </string>
+                </property>
+                <property name="maximum">
+                 <number>128</number>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="2">
+               <widget class="QSpinBox" name="ovImCYPosBox">
+                <property name="prefix">
+                 <string>Y: </string>
+                </property>
+                <property name="minimum">
+                 <number>-1024</number>
+                </property>
+                <property name="maximum">
+                 <number>1024</number>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="1">
+               <widget class="QSpinBox" name="ovXPosBox">
+                <property name="prefix">
+                 <string>X: </string>
+                </property>
+                <property name="minimum">
+                 <number>-255</number>
+                </property>
+                <property name="maximum">
+                 <number>255</number>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="0">
+               <widget class="QLabel" name="label_3">
+                <property name="toolTip">
+                 <string>Size of cropped area</string>
+                </property>
+                <property name="text">
+                 <string>Crop Size</string>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="1" colspan="2">
+               <widget class="QDoubleSpinBox" name="ovRotBox">
+                <property name="suffix">
+                 <string> Deg</string>
+                </property>
+                <property name="minimum">
+                 <double>-360.000000000000000</double>
+                </property>
+                <property name="maximum">
+                 <double>360.000000000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="0">
+               <widget class="QLabel" name="label_7">
+                <property name="toolTip">
+                 <string>Image scale</string>
+                </property>
+                <property name="text">
+                 <string>Scale</string>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="2">
+               <widget class="QSpinBox" name="ovCrHBox">
+                <property name="prefix">
+                 <string>H: </string>
+                </property>
+                <property name="maximum">
+                 <number>128</number>
+                </property>
+                <property name="value">
+                 <number>128</number>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="0">
+               <widget class="QLabel" name="label_4">
+                <property name="toolTip">
+                 <string>This pixel on the image will correspond to the position above</string>
+                </property>
+                <property name="text">
+                 <string>Img Center</string>
+                </property>
+               </widget>
+              </item>
+              <item row="7" column="0">
+               <widget class="QLabel" name="label_8">
+                <property name="text">
+                 <string>Transparent</string>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="2">
+               <widget class="QSpinBox" name="ovCrYPosBox">
+                <property name="prefix">
+                 <string>Y: </string>
+                </property>
+                <property name="maximum">
+                 <number>128</number>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="1">
+               <widget class="QSpinBox" name="ovCrWBox">
+                <property name="prefix">
+                 <string>W: </string>
+                </property>
+                <property name="maximum">
+                 <number>128</number>
+                </property>
+                <property name="value">
+                 <number>128</number>
+                </property>
+               </widget>
+              </item>
+              <item row="7" column="1" colspan="2">
+               <widget class="QSpinBox" name="ovTrBox">
+                <property name="toolTip">
+                 <string>Color index on image to count as transparent.</string>
+                </property>
+                <property name="minimum">
+                 <number>-1</number>
+                </property>
+                <property name="maximum">
+                 <number>15</number>
+                </property>
+                <property name="value">
+                 <number>0</number>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="2">
+               <widget class="QSpinBox" name="ovRYPosBox">
+                <property name="prefix">
+                 <string>Y: </string>
+                </property>
+                <property name="minimum">
+                 <number>-1024</number>
+                </property>
+                <property name="maximum">
+                 <number>1024</number>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="2">
+               <widget class="QSpinBox" name="ovYPosBox">
+                <property name="prefix">
+                 <string>Y: </string>
+                </property>
+                <property name="minimum">
+                 <number>-255</number>
+                </property>
+                <property name="maximum">
+                 <number>255</number>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <spacer name="verticalSpacer_2">
+             <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>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="tab_2">
+      <attribute name="title">
+       <string>Overlay Editor</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout">
+       <item>
+        <layout class="QHBoxLayout" name="horizontalLayout_2">
+         <item>
+          <widget class="QSpinBox" name="wBox">
+           <property name="prefix">
+            <string>W: </string>
+           </property>
+           <property name="maximum">
+            <number>1024</number>
+           </property>
+           <property name="value">
+            <number>128</number>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QSpinBox" name="hBox">
+           <property name="prefix">
+            <string>H: </string>
+           </property>
+           <property name="maximum">
+            <number>1024</number>
+           </property>
+           <property name="value">
+            <number>64</number>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QPushButton" name="updateSizeButton">
+           <property name="text">
+            <string>Update</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <spacer name="horizontalSpacer">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>40</width>
+             <height>20</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+        </layout>
+       </item>
+       <item>
+        <widget class="DispEditor" name="customEditor" native="true">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>DispEditor</class>
+   <extends>QWidget</extends>
+   <header>display_tool/dispeditor.h</header>
+   <container>1</container>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/pages/pages.pri b/pages/pages.pri
index 69ea0280f..c8007e034 100644
--- a/pages/pages.pri
+++ b/pages/pages.pri
@@ -5,6 +5,7 @@ FORMS += \
     $$PWD/pagecananalyzer.ui \
     $$PWD/pageconnection.ui \
     $$PWD/pagecustomconfig.ui \
+    $$PWD/pagedisplaytool.ui \
     $$PWD/pageespprog.ui \
     $$PWD/pagelisp.ui \
     $$PWD/pagemotor.ui \
@@ -46,6 +47,7 @@ HEADERS += \
     $$PWD/pagecananalyzer.h \
     $$PWD/pageconnection.h \
     $$PWD/pagecustomconfig.h \
+    $$PWD/pagedisplaytool.h \
     $$PWD/pageespprog.h \
     $$PWD/pagelisp.h \
     $$PWD/pagemotor.h \
@@ -87,6 +89,7 @@ SOURCES += \
     $$PWD/pagecananalyzer.cpp \
     $$PWD/pageconnection.cpp \
     $$PWD/pagecustomconfig.cpp \
+    $$PWD/pagedisplaytool.cpp \
     $$PWD/pageespprog.cpp \
     $$PWD/pagelisp.cpp \
     $$PWD/pagemotor.cpp \
diff --git a/vesc_tool.pro b/vesc_tool.pro
index f2e0a301a..dc233e88e 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -265,6 +265,7 @@ include(lzokay/lzokay.pri)
 include(heatshrink/heatshrink.pri)
 include(QCodeEditor/qcodeeditor.pri)
 include(esp32/esp32.pri)
+include(display_tool/display_tool.pri)
 
 RESOURCES += res.qrc \
     res_lisp.qrc \

From 3e52e5f28aca8392f909517d5256f5ffb35af61e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 2 Mar 2023 14:48:27 +0100
Subject: [PATCH 414/559] Added support for RGB332, RGB565 and RBG888 in
 display tool

---
 display_tool/dispeditor.cpp | 287 ++++++++++++++++++++++++++----------
 display_tool/dispeditor.h   |   1 +
 display_tool/dispeditor.ui  |   8 +-
 3 files changed, 214 insertions(+), 82 deletions(-)

diff --git a/display_tool/dispeditor.cpp b/display_tool/dispeditor.cpp
index 5018cd047..05803063e 100644
--- a/display_tool/dispeditor.cpp
+++ b/display_tool/dispeditor.cpp
@@ -105,11 +105,7 @@ void DispEditor::on_saveCButton_clicked()
         int h = img.height();
 
         VByteArray imgArr;
-        int colors = mPalette.size();
-        int bits = 0;
-        while (colors >>= 1) {
-            bits++;
-        }
+        int bits = imgBits();
 
         for (auto &c: imgArr) {
             c = 0;
@@ -119,20 +115,51 @@ void DispEditor::on_saveCButton_clicked()
         imgArr.vbAppendInt16(h);
         imgArr.vbAppendInt8(bits);
 
-        int arrOfs = 0;
-        int bitCnt = 0;
-        uint8_t pixNow = 0;
-        for (int j = 0;j < img.height();j++) {
-            for (int i = 0;i < img.width();i++) {
-                auto pix = mPalette.indexOf(img.pixelColor(i, j));
-                pixNow >>= bits;
-                pixNow |= pix << (8 - bits);
-                bitCnt += bits;
-
-                if (bitCnt >= 8) {
-                    imgArr.vbAppendUint8(pixNow);
-                    pixNow = 0;
-                    bitCnt = 0;
+        if (bits <= 4) {
+            int arrOfs = 0;
+            int bitCnt = 0;
+            uint8_t pixNow = 0;
+            for (int j = 0;j < img.height();j++) {
+                for (int i = 0;i < img.width();i++) {
+                    auto pix = mPalette.indexOf(img.pixelColor(i, j));
+                    pixNow >>= bits;
+                    pixNow |= pix << (8 - bits);
+                    bitCnt += bits;
+
+                    if (bitCnt >= 8) {
+                        imgArr.vbAppendUint8(pixNow);
+                        pixNow = 0;
+                        bitCnt = 0;
+                    }
+                }
+            }
+        } else {
+            for (int j = 0;j < img.height();j++) {
+                for (int i = 0;i < img.width();i++) {
+                    auto pix = img.pixelColor(i, j).rgb();
+                    uint8_t r = qRed(pix);
+                    uint8_t g = qGreen(pix);
+                    uint8_t b = qBlue(pix);
+
+                    if (bits == 8) {
+                        r >>= 5;
+                        g >>= 5;
+                        b >>= 6;
+                        uint8_t pix1 = (r << 5) | (g << 2) | b;
+                        imgArr.vbAppendUint8(pix1);
+                    } else  if (bits == 16) {
+                        r >>= 3;
+                        g >>= 2;
+                        b >>= 3;
+                        uint8_t pix1 = (r << 3) | (g >> 3);
+                        uint8_t pix2 = (g << 5) | b;
+                        imgArr.vbAppendUint8(pix1);
+                        imgArr.vbAppendUint8(pix2);
+                    } else {
+                        imgArr.vbAppendUint8(r);
+                        imgArr.vbAppendUint8(g);
+                        imgArr.vbAppendUint8(b);
+                    }
                 }
             }
         }
@@ -168,21 +195,54 @@ void DispEditor::on_loadCButton_clicked()
         updateSize(w, h);
         QImage img(w, h, QImage::Format_ARGB32);
         img.fill(Qt::black);
-        uint8_t pixNow = data.vbPopFrontUint8();
-        int bitCnt = 0;
-
-        for (int j = 0;j < h;j++) {
-            for (int i = 0;i < w;i++) {
-                int pix = pixNow & ~(0xff << bits);
-                pixNow >>= bits;
-                bitCnt += bits;
-                if (bitCnt >= 8) {
-                    pixNow = data.vbPopFrontUint8();
-                    bitCnt = 0;
+
+        if (bits <= 4) {
+            int bitCnt = 0;
+            uint8_t pixNow = data.vbPopFrontUint8();
+            for (int j = 0;j < h;j++) {
+                for (int i = 0;i < w;i++) {
+                    int pix = pixNow & ~(0xff << bits);
+                    pixNow >>= bits;
+                    bitCnt += bits;
+                    if (bitCnt >= 8) {
+                        pixNow = data.vbPopFrontUint8();
+                        bitCnt = 0;
+                    }
+
+                    if (pix < mPalette.size()) {
+                        img.setPixelColor(i, j, mPalette.at(pix));
+                    }
                 }
+            }
+        } else {
+            for (int j = 0;j < h;j++) {
+                for (int i = 0;i < w;i++) {
+                    QColor pix;
+
+                    if (bits == 8) {
+                        uint8_t pix1 = data.vbPopFrontUint8();
+                        uint8_t r = pix1 & 0b11100000;
+                        uint8_t g = (pix1 << 3) & 0b11100000;
+                        uint8_t b = (pix1 << 6) & 0b11000000;
+                        pix.setRed(r);
+                        pix.setGreen(g);
+                        pix.setBlue(b);
+                    } else if (bits == 16) {
+                        uint8_t pix1 = data.vbPopFrontUint8();
+                        uint8_t pix2 = data.vbPopFrontUint8();
+                        uint8_t r = pix1 & 0b11111000;
+                        uint8_t g = ((pix1 << 5) & 0b11100000) | ((pix2 >> 3) & 0b00011100);
+                        uint8_t b = (pix2 << 3) & 0b11111000;
+                        pix.setRed(r);
+                        pix.setGreen(g);
+                        pix.setBlue(b);
+                    } else {
+                        pix.setRed(data.vbPopFrontUint8());
+                        pix.setGreen(data.vbPopFrontUint8());
+                        pix.setBlue(data.vbPopFrontUint8());
+                    }
 
-                if (pix < mPalette.size()) {
-                    img.setPixelColor(i, j, mPalette.at(pix));
+                    img.setPixelColor(i, j, pix);
                 }
             }
         }
@@ -237,75 +297,124 @@ void DispEditor::on_loadPngButton_clicked()
         }
 
         if (!validPalette) {
-            if (ui->ditherBox->isChecked()) {
+            int bits = imgBits();
+
+            if (ui->ditherBox->isChecked() || bits > 4) {
                 int imgW = img.width();
                 int imgH = img.height();
 
-                int bits = 4;
-                if (mPalette.size() == 2) {
-                    bits = 1;
-                } else if (mPalette.size() == 4) {
-                    bits = 2;
-                }
+                auto ditherChannel = [](int bits, int **img_buffer, int w, int h, bool dither = true) {
+                    for (int y = 0; y < h;y++) {
+                        for (int x = 0;x < w;x++) {
+                            int pix = img_buffer[x][y];
 
-                int **img_buffer = new int*[imgW];
-                for(int i = 0; i < imgW; i++) {
-                    img_buffer[i] = new int[imgH];
-                }
+                            if (pix > 255) pix = 255;
+                            if (pix < 0) pix = 0;
 
-                int mask = (0xFF << (8 - bits)) & 0xFF;
+                            int mask = (0xFF << (8 - bits)) & 0xFF;
+                            int pix_n = pix & mask;
+                            int quant_error = pix - pix_n;
+                            img_buffer[x][y]= pix_n;
 
-                for (int y = 0;y < imgH;y++) {
-                    for (int x = 0;x < imgW;x++) {
-                        QRgb col = img.pixel(x, y);
-                        img_buffer[x][y] = qGray(col);
-                    }
-                }
+                            if (dither) {
+                                if (x < (w - 1)) {
+                                    img_buffer[x + 1][y] += ((quant_error << 12) * 7) >> 16;
+                                }
 
-                for (int y = 0;y < imgH;y++) {
-                    for (int x = 0;x < imgW;x++) {
-                        int pix = img_buffer[x][y];
+                                if (y < (h - 1)) {
+                                    img_buffer[x][y + 1] += ((quant_error << 12) * 5) >> 16;
+                                }
 
-                        if (pix > 255) {
-                            pix = 255;
-                        }
+                                if (x > 0 && y < (h - 1)) {
+                                    img_buffer[x - 1][y + 1] += ((quant_error << 12) * 3) >> 16;
+                                }
 
-                        if (pix < 0) {
-                            pix = 0;
+                                if (x < (w - 1) && y < (h - 1)) {
+                                    img_buffer[x + 1][y + 1] += ((quant_error << 12) * 1) >> 16;
+                                }
+                            }
                         }
+                    }
+                };
 
-                        int pix_n = pix & mask;
-                        int quant_error = pix - pix_n;
-                        img_buffer[x][y]= pix_n;
+                if (bits <= 4) {
+                    int **img_buffer = new int*[imgW];
+                    for(int i = 0; i < imgW; i++) {
+                        img_buffer[i] = new int[imgH];
+                    }
 
-                        if (x < (imgW - 1)) {
-                            img_buffer[x + 1][y] += ((quant_error << 12) * 7) >> 16;
+                    for (int y = 0;y < imgH;y++) {
+                        for (int x = 0;x < imgW;x++) {
+                            QRgb col = img.pixel(x, y);
+                            img_buffer[x][y] = qGray(col);
                         }
+                    }
+
+                    ditherChannel(bits, img_buffer, imgW, imgH);
 
-                        if (y < (imgH - 1)) {
-                            img_buffer[x][y + 1] += ((quant_error << 12) * 5) >> 16;
+                    for (int y = 0;y < imgH;y++) {
+                        for (int x = 0;x < imgW;x++) {
+                            img.setPixelColor(x, y, mPalette.at(img_buffer[x][y] / (256 / mPalette.size())));
                         }
+                    }
 
-                        if (x > 0 && y < (imgH - 1)) {
-                            img_buffer[x - 1][y + 1] += ((quant_error << 12) * 3) >> 16;
+                    for(int i = 0; i < imgW; i++) {
+                        delete[] img_buffer[i];
+                    }
+                    delete[] img_buffer;
+                } else {
+                    int **buf_r = new int*[imgW];
+                    int **buf_g = new int*[imgW];
+                    int **buf_b = new int*[imgW];
+                    for(int i = 0; i < imgW; i++) {
+                        buf_r[i] = new int[imgH];
+                        buf_g[i] = new int[imgH];
+                        buf_b[i] = new int[imgH];
+                    }
+
+                    for (int y = 0;y < imgH;y++) {
+                        for (int x = 0;x < imgW;x++) {
+                            QRgb col = img.pixel(x, y);
+                            buf_r[x][y] = qRed(col);
+                            buf_g[x][y] = qGreen(col);
+                            buf_b[x][y] = qBlue(col);
                         }
+                    }
+
+                    if (bits < 24) {
+                        int bits_r = 3;
+                        int bits_g = 3;
+                        int bits_b = 2;
 
-                        if (x < (imgW - 1) && y < (imgH - 1)) {
-                            img_buffer[x + 1][y + 1] += ((quant_error << 12) * 1) >> 16;
+                        if (bits == 16) {
+                            bits_r = 5;
+                            bits_g = 6;
+                            bits_b = 5;
                         }
+
+                        ditherChannel(bits_r, buf_r, imgW, imgH, ui->ditherBox->isChecked());
+                        ditherChannel(bits_g, buf_g, imgW, imgH, ui->ditherBox->isChecked());
+                        ditherChannel(bits_b, buf_b, imgW, imgH, ui->ditherBox->isChecked());
                     }
-                }
 
-                for (int y = 0;y < imgH;y++) {
-                    for (int x = 0;x < imgW;x++) {
-                        img.setPixelColor(x, y, mPalette.at(img_buffer[x][y] / (256 / mPalette.size())));
+                    for (int y = 0;y < imgH;y++) {
+                        for (int x = 0;x < imgW;x++) {
+                            img.setPixelColor(x, y,
+                                              QColor(buf_r[x][y],
+                                                     buf_g[x][y],
+                                                     buf_b[x][y]));
+                        }
                     }
-                }
 
-                for(int i = 0; i < imgW; i++) {
-                    delete[] img_buffer[i];
+                    for(int i = 0; i < imgW; i++) {
+                        delete[] buf_r[i];
+                        delete[] buf_g[i];
+                        delete[] buf_b[i];
+                    }
+                    delete[] buf_r;
+                    delete[] buf_g;
+                    delete[] buf_b;
                 }
-                delete[] img_buffer;
             } else {
                 for (int i = 0;i < img.width();i++) {
                     for (int j = 0;j < img.height();j++) {
@@ -359,11 +468,13 @@ void DispEditor::updatePalette()
     l->setHorizontalSpacing(1);
     l->setMargin(1);
 
-    int colors = 16;
+    int colors = 0;
     if (ui->formatBox->currentIndex() == 0) {
         colors = 2;
     } else if (ui->formatBox->currentIndex() == 1) {
         colors = 4;
+    } else if (ui->formatBox->currentIndex() == 2) {
+        colors = 16;
     }
 
     mPalette.clear();
@@ -417,6 +528,26 @@ void DispEditor::updatePalette()
     ui->colorWidget->setLayout(l);
 }
 
+int DispEditor::imgBits()
+{
+    int bits = 4;
+    if (ui->formatBox->currentIndex() == 0) {
+        bits = 1;
+    } else if (ui->formatBox->currentIndex() == 1) {
+        bits = 2;
+    } else if (ui->formatBox->currentIndex() == 2) {
+        bits = 4;
+    } else if (ui->formatBox->currentIndex() == 3) {
+        bits = 8;
+    } else if (ui->formatBox->currentIndex() == 4) {
+        bits = 16;
+    } else if (ui->formatBox->currentIndex() == 5) {
+        bits = 24;
+    }
+
+    return bits;
+}
+
 void DispEditor::on_formatBox_currentIndexChanged(int index)
 {
     (void)index;
diff --git a/display_tool/dispeditor.h b/display_tool/dispeditor.h
index 346467ab0..6b6c05d6d 100644
--- a/display_tool/dispeditor.h
+++ b/display_tool/dispeditor.h
@@ -55,6 +55,7 @@ private slots:
     Ui::DispEditor *ui;
     QVector<QColor> mPalette;
     void updatePalette();
+    int imgBits();
 
 };
 
diff --git a/display_tool/dispeditor.ui b/display_tool/dispeditor.ui
index fb672804e..0e63caaac 100644
--- a/display_tool/dispeditor.ui
+++ b/display_tool/dispeditor.ui
@@ -132,17 +132,17 @@
        </item>
        <item>
         <property name="text">
-         <string>RGB332 (TODO)</string>
+         <string>RGB332</string>
         </property>
        </item>
        <item>
         <property name="text">
-         <string>RGB565 (TODO)</string>
+         <string>RGB565</string>
         </property>
        </item>
        <item>
         <property name="text">
-         <string>RGB888 (TODO)</string>
+         <string>RGB888</string>
         </property>
        </item>
       </widget>
@@ -176,7 +176,7 @@
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>262</width>
+          <width>256</width>
           <height>256</height>
          </rect>
         </property>

From 9af774a5e75a7b678e75f743628a23ca6d922b07 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 2 Mar 2023 15:27:18 +0100
Subject: [PATCH 415/559] Changed pixel order to start with MSB

---
 display_tool/dispeditor.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/display_tool/dispeditor.cpp b/display_tool/dispeditor.cpp
index 05803063e..4c132c0a9 100644
--- a/display_tool/dispeditor.cpp
+++ b/display_tool/dispeditor.cpp
@@ -122,8 +122,8 @@ void DispEditor::on_saveCButton_clicked()
             for (int j = 0;j < img.height();j++) {
                 for (int i = 0;i < img.width();i++) {
                     auto pix = mPalette.indexOf(img.pixelColor(i, j));
-                    pixNow >>= bits;
-                    pixNow |= pix << (8 - bits);
+                    pixNow <<= bits;
+                    pixNow |= pix;
                     bitCnt += bits;
 
                     if (bitCnt >= 8) {
@@ -201,8 +201,8 @@ void DispEditor::on_loadCButton_clicked()
             uint8_t pixNow = data.vbPopFrontUint8();
             for (int j = 0;j < h;j++) {
                 for (int i = 0;i < w;i++) {
-                    int pix = pixNow & ~(0xff << bits);
-                    pixNow >>= bits;
+                    int pix = pixNow >> (8 - bits);
+                    pixNow <<= bits;
                     bitCnt += bits;
                     if (bitCnt >= 8) {
                         pixNow = data.vbPopFrontUint8();

From 666b07650da47cf67f08c26a87849a67fd46f8cc Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 3 Mar 2023 12:41:28 +0100
Subject: [PATCH 416/559] Image loading tweaks

---
 display_tool/dispeditor.cpp |  25 +++-
 display_tool/dispeditor.ui  | 268 +++++++++++++++++++-----------------
 2 files changed, 164 insertions(+), 129 deletions(-)

diff --git a/display_tool/dispeditor.cpp b/display_tool/dispeditor.cpp
index 4c132c0a9..17078502d 100644
--- a/display_tool/dispeditor.cpp
+++ b/display_tool/dispeditor.cpp
@@ -345,8 +345,17 @@ void DispEditor::on_loadPngButton_clicked()
 
                     for (int y = 0;y < imgH;y++) {
                         for (int x = 0;x < imgW;x++) {
-                            QRgb col = img.pixel(x, y);
-                            img_buffer[x][y] = qGray(col);
+                            QColor c = img.pixelColor(x, y);
+                            int gray = qGray(c.rgb());
+                            if (c.alpha() == 0) {
+                                gray = 0;
+                            }
+                            gray = (int)((double)gray * ui->loadScaleSpinBox->value());
+                            if (gray > 255) {
+                                gray = 255;
+                            }
+
+                            img_buffer[x][y] = gray;
                         }
                     }
 
@@ -420,6 +429,14 @@ void DispEditor::on_loadPngButton_clicked()
                     for (int j = 0;j < img.height();j++) {
                         QColor c = img.pixelColor(i, j);
                         int gray = qGray(c.rgb());
+                        if (c.alpha() == 0) {
+                            gray = 0;
+                        }
+                        gray = (int)((double)gray * ui->loadScaleSpinBox->value());
+                        if (gray > 255) {
+                            gray = 255;
+                        }
+
                         gray /= (256 / mPalette.size());
 
                         if (256 % mPalette.size() != 0) {
@@ -508,7 +525,9 @@ void DispEditor::updatePalette()
             auto mod = QGuiApplication::keyboardModifiers();
             if (mod == Qt::ControlModifier) {
                 auto color = QColorDialog::getColor(mPalette.at(i), b, "Choose Color", QColorDialog::DontUseNativeDialog);
-                updateColor(color);
+                if (color.isValid()) {
+                    updateColor(color);
+                }
             } else {
                 updateColor(mPalette.at(i));
             }
diff --git a/display_tool/dispeditor.ui b/display_tool/dispeditor.ui
index 0e63caaac..dc580c22a 100644
--- a/display_tool/dispeditor.ui
+++ b/display_tool/dispeditor.ui
@@ -33,67 +33,102 @@
    </item>
    <item>
     <layout class="QGridLayout" name="gridLayout">
-     <item row="4" column="1">
-      <widget class="QPushButton" name="loadCButton">
+     <item row="4" column="0">
+      <widget class="QPushButton" name="saveCButton">
        <property name="text">
-        <string>Import Bin</string>
+        <string>Export Bin</string>
        </property>
       </widget>
      </item>
-     <item row="7" column="0" colspan="2">
-      <widget class="QCheckBox" name="antialiasBox">
-       <property name="text">
-        <string>Antialias when loading</string>
+     <item row="0" column="0" colspan="2">
+      <widget class="QScrollArea" name="scrollArea">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
        </property>
-       <property name="checked">
+       <property name="widgetResizable">
         <bool>true</bool>
        </property>
-      </widget>
-     </item>
-     <item row="9" column="0">
-      <widget class="QPushButton" name="clearButton">
-       <property name="text">
-        <string>Clear Screen</string>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
        </property>
+       <widget class="QWidget" name="scrollAreaWidgetContents">
+        <property name="geometry">
+         <rect>
+          <x>0</x>
+          <y>0</y>
+          <width>256</width>
+          <height>256</height>
+         </rect>
+        </property>
+        <layout class="QHBoxLayout" name="horizontalLayout_2">
+         <property name="spacing">
+          <number>0</number>
+         </property>
+         <property name="leftMargin">
+          <number>0</number>
+         </property>
+         <property name="topMargin">
+          <number>0</number>
+         </property>
+         <property name="rightMargin">
+          <number>0</number>
+         </property>
+         <property name="bottomMargin">
+          <number>0</number>
+         </property>
+         <item>
+          <widget class="ImageWidgetDisp" name="imageWidget" native="true">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="minimumSize">
+            <size>
+             <width>256</width>
+             <height>256</height>
+            </size>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>256</width>
+             <height>256</height>
+            </size>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </widget>
       </widget>
      </item>
-     <item row="5" column="0">
-      <widget class="QPushButton" name="savePngButton">
+     <item row="3" column="0" colspan="2">
+      <widget class="QPushButton" name="helpButton">
        <property name="toolTip">
-        <string>Save image, as seen above, to PNG file.</string>
+        <string>Show Instructions</string>
        </property>
        <property name="text">
-        <string>Save PNG</string>
+        <string>Help</string>
        </property>
       </widget>
      </item>
-     <item row="8" column="0" colspan="2">
-      <widget class="QCheckBox" name="showLayer2Box">
-       <property name="toolTip">
-        <string/>
-       </property>
+     <item row="10" column="1">
+      <widget class="QPushButton" name="clearLayer2Button">
        <property name="text">
-        <string>Show Layer 2</string>
-       </property>
-       <property name="checked">
-        <bool>true</bool>
+        <string>Clear Layer 2</string>
        </property>
       </widget>
      </item>
-     <item row="4" column="0">
-      <widget class="QPushButton" name="saveCButton">
-       <property name="text">
-        <string>Export Bin</string>
+     <item row="5" column="1">
+      <widget class="QPushButton" name="loadPngButton">
+       <property name="toolTip">
+        <string/>
        </property>
-      </widget>
-     </item>
-     <item row="6" column="0" colspan="2">
-      <widget class="QCheckBox" name="ditherBox">
        <property name="text">
-        <string>Dither when loading</string>
-       </property>
-       <property name="checked">
-        <bool>true</bool>
+        <string>Load Image</string>
        </property>
       </widget>
      </item>
@@ -113,6 +148,23 @@
        </property>
       </widget>
      </item>
+     <item row="4" column="1">
+      <widget class="QPushButton" name="loadCButton">
+       <property name="text">
+        <string>Import Bin</string>
+       </property>
+      </widget>
+     </item>
+     <item row="8" column="0" colspan="2">
+      <widget class="QCheckBox" name="antialiasBox">
+       <property name="text">
+        <string>Antialias when loading</string>
+       </property>
+       <property name="checked">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
      <item row="2" column="1">
       <widget class="QComboBox" name="formatBox">
        <item>
@@ -147,112 +199,47 @@
        </item>
       </widget>
      </item>
-     <item row="5" column="1">
-      <widget class="QPushButton" name="loadPngButton">
-       <property name="toolTip">
-        <string/>
-       </property>
+     <item row="10" column="0">
+      <widget class="QPushButton" name="clearButton">
        <property name="text">
-        <string>Load Image</string>
+        <string>Clear Screen</string>
        </property>
       </widget>
      </item>
-     <item row="0" column="0" colspan="2">
-      <widget class="QScrollArea" name="scrollArea">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="widgetResizable">
-        <bool>true</bool>
+     <item row="5" column="0">
+      <widget class="QPushButton" name="savePngButton">
+       <property name="toolTip">
+        <string>Save image, as seen above, to PNG file.</string>
        </property>
-       <property name="alignment">
-        <set>Qt::AlignCenter</set>
+       <property name="text">
+        <string>Save PNG</string>
        </property>
-       <widget class="QWidget" name="scrollAreaWidgetContents">
-        <property name="geometry">
-         <rect>
-          <x>0</x>
-          <y>0</y>
-          <width>256</width>
-          <height>256</height>
-         </rect>
-        </property>
-        <layout class="QHBoxLayout" name="horizontalLayout_2">
-         <property name="spacing">
-          <number>0</number>
-         </property>
-         <property name="leftMargin">
-          <number>0</number>
-         </property>
-         <property name="topMargin">
-          <number>0</number>
-         </property>
-         <property name="rightMargin">
-          <number>0</number>
-         </property>
-         <property name="bottomMargin">
-          <number>0</number>
-         </property>
-         <item>
-          <widget class="ImageWidgetDisp" name="imageWidget" native="true">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="minimumSize">
-            <size>
-             <width>256</width>
-             <height>256</height>
-            </size>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>256</width>
-             <height>256</height>
-            </size>
-           </property>
-          </widget>
-         </item>
-        </layout>
-       </widget>
       </widget>
      </item>
-     <item row="3" column="0" colspan="2">
-      <widget class="QPushButton" name="helpButton">
+     <item row="9" column="0" colspan="2">
+      <widget class="QCheckBox" name="showLayer2Box">
        <property name="toolTip">
-        <string>Show Instructions</string>
+        <string/>
        </property>
        <property name="text">
-        <string>Help</string>
+        <string>Show Layer 2</string>
        </property>
-      </widget>
-     </item>
-     <item row="9" column="1">
-      <widget class="QPushButton" name="clearLayer2Button">
-       <property name="text">
-        <string>Clear Layer 2</string>
+       <property name="checked">
+        <bool>true</bool>
        </property>
       </widget>
      </item>
-     <item row="2" column="0">
-      <widget class="QLabel" name="label">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
+     <item row="7" column="0" colspan="2">
+      <widget class="QCheckBox" name="ditherBox">
        <property name="text">
-        <string>Format</string>
+        <string>Dither when loading</string>
+       </property>
+       <property name="checked">
+        <bool>true</bool>
        </property>
       </widget>
      </item>
-     <item row="10" column="0" colspan="2">
+     <item row="11" column="0" colspan="2">
       <widget class="QLabel" name="ColorNowLabel">
        <property name="sizePolicy">
         <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
@@ -283,6 +270,35 @@
        </property>
       </widget>
      </item>
+     <item row="2" column="0">
+      <widget class="QLabel" name="label">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>Format</string>
+       </property>
+      </widget>
+     </item>
+     <item row="6" column="0" colspan="2">
+      <widget class="QDoubleSpinBox" name="loadScaleSpinBox">
+       <property name="toolTip">
+        <string>Scale colors when loading image. Useful if the loaded image becomes too dark or too bright.</string>
+       </property>
+       <property name="prefix">
+        <string>Load Color Scale: </string>
+       </property>
+       <property name="singleStep">
+        <double>0.010000000000000</double>
+       </property>
+       <property name="value">
+        <double>1.000000000000000</double>
+       </property>
+      </widget>
+     </item>
     </layout>
    </item>
   </layout>

From ab55420bcd8c1ad58d5b5f7a140faade0f4a66a5 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 3 Mar 2023 22:56:56 +0100
Subject: [PATCH 417/559] Updated overlay limits

---
 pages/pagedisplaytool.ui | 24 ++++++++++++------------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/pages/pagedisplaytool.ui b/pages/pagedisplaytool.ui
index edeed69ec..02e1c5ef9 100644
--- a/pages/pagedisplaytool.ui
+++ b/pages/pagedisplaytool.ui
@@ -229,7 +229,7 @@
                  <string>X: </string>
                 </property>
                 <property name="maximum">
-                 <number>128</number>
+                 <number>512</number>
                 </property>
                 <property name="value">
                  <number>34</number>
@@ -242,7 +242,7 @@
                  <string>Y: </string>
                 </property>
                 <property name="maximum">
-                 <number>128</number>
+                 <number>512</number>
                 </property>
                 <property name="value">
                  <number>46</number>
@@ -420,7 +420,7 @@
                  <string>X: </string>
                 </property>
                 <property name="maximum">
-                 <number>128</number>
+                 <number>512</number>
                 </property>
                </widget>
               </item>
@@ -443,10 +443,10 @@
                  <string>X: </string>
                 </property>
                 <property name="minimum">
-                 <number>-255</number>
+                 <number>-512</number>
                 </property>
                 <property name="maximum">
-                 <number>255</number>
+                 <number>512</number>
                 </property>
                </widget>
               </item>
@@ -489,10 +489,10 @@
                  <string>H: </string>
                 </property>
                 <property name="maximum">
-                 <number>128</number>
+                 <number>512</number>
                 </property>
                 <property name="value">
-                 <number>128</number>
+                 <number>512</number>
                 </property>
                </widget>
               </item>
@@ -519,7 +519,7 @@
                  <string>Y: </string>
                 </property>
                 <property name="maximum">
-                 <number>128</number>
+                 <number>512</number>
                 </property>
                </widget>
               </item>
@@ -529,10 +529,10 @@
                  <string>W: </string>
                 </property>
                 <property name="maximum">
-                 <number>128</number>
+                 <number>512</number>
                 </property>
                 <property name="value">
-                 <number>128</number>
+                 <number>512</number>
                 </property>
                </widget>
               </item>
@@ -571,10 +571,10 @@
                  <string>Y: </string>
                 </property>
                 <property name="minimum">
-                 <number>-255</number>
+                 <number>-512</number>
                 </property>
                 <property name="maximum">
-                 <number>255</number>
+                 <number>512</number>
                 </property>
                </widget>
               </item>

From 2ba1a9d1e4fe463015918a0e909f2a47d20e5c1a Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 3 Mar 2023 23:08:39 +0100
Subject: [PATCH 418/559] More display tool tweaks

---
 pages/pagedisplaytool.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pages/pagedisplaytool.cpp b/pages/pagedisplaytool.cpp
index 0fbbe12f7..73e4f36be 100644
--- a/pages/pagedisplaytool.cpp
+++ b/pages/pagedisplaytool.cpp
@@ -138,7 +138,7 @@ void PageDisplayTool::updateOverlay()
 
         ui->fullEditor->getEdit()->setOverlayImage(
                     xPos, yPos,
-                    0, 128, 0, 128, 0, 0, 0, 0, 0, 1.0, Qt::black,
+                    0, 512, 0, 512, 0, 0, 0, 0, 0, 1.0, Qt::black,
                     img);
     }
 

From 910af310ba3350f96f85cffe0e85865609e8934f Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 10 Mar 2023 21:41:52 +0100
Subject: [PATCH 419/559] Made can auto scan less buggy

---
 mobile/main.qml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/mobile/main.qml b/mobile/main.qml
index 6457e6327..ae7fb44b7 100644
--- a/mobile/main.qml
+++ b/mobile/main.qml
@@ -114,7 +114,7 @@ ApplicationWindow {
         sourceComponent: Drawer {
             id: canDrawer
             edge: Qt.RightEdge
-            width: Math.min(0.6 *appWindow.width, 0.8 *appWindow.height)
+            width: Math.min(0.6 * appWindow.width, 0.8 * appWindow.height)
             height: appWindow.height > appWindow.width ?  appWindow.height - footer.height - headerBar.height : appWindow.height
             y: appWindow.height > appWindow.width ?  headerBar.height : 0
             dragMargin: 20
@@ -129,7 +129,7 @@ ApplicationWindow {
                 anchors.fill: parent
             }
 
-            onVisibleChanged: {
+            onOpened: {
                 if (visible) {
                     canScreen.scanIfEmpty()
                 }

From 564b2712877ad18e23f2290926e68dacf200cc79 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 11 Mar 2023 21:40:54 +0100
Subject: [PATCH 420/559] Allow more lisp space on express

---
 codeloader.cpp | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/codeloader.cpp b/codeloader.cpp
index de4140637..aa4af35c9 100644
--- a/codeloader.cpp
+++ b/codeloader.cpp
@@ -313,7 +313,15 @@ bool CodeLoader::lispUpload(VByteArray vb)
     data.vbAppendUint16(crc);
     data.append(vb);
 
-    if (data.size() > (1024 * 120)) {
+    // The ESP32 partition table has 512k space for lisp scripts. The STM32
+    // has one 128k flash page.
+    auto fwParams = mVesc->getLastFwRxParams();
+    int max_size = 1024 * 500;
+    if (fwParams.hwType == HW_TYPE_VESC) {
+        max_size = 1024 * 120;
+    }
+
+    if (data.size() > max_size) {
         mVesc->emitMessageDialog(tr("Upload Code"), tr("Not enough space"), false);
         return false;
     }

From a85df875d2d208b1b0cd566826665d30ebf5bc27 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 11 Mar 2023 22:35:15 +0100
Subject: [PATCH 421/559] Only erase as much lisp-code as needed before upload

---
 codeloader.cpp            | 12 ++++++------
 codeloader.h              |  2 +-
 commands.cpp              |  6 ++++--
 commands.h                |  4 ++--
 mobile/Packages.qml       |  2 +-
 pages/pagelisp.cpp        | 19 ++++++++++++-------
 pages/pagelisp.h          |  2 +-
 pages/pagevescpackage.cpp |  2 +-
 8 files changed, 28 insertions(+), 21 deletions(-)

diff --git a/codeloader.cpp b/codeloader.cpp
index aa4af35c9..b895e159a 100644
--- a/codeloader.cpp
+++ b/codeloader.cpp
@@ -43,7 +43,7 @@ void CodeLoader::setVesc(VescInterface *vesc)
     mVesc = vesc;
 }
 
-bool CodeLoader::lispErase()
+bool CodeLoader::lispErase(int size)
 {
     if (!mVesc) {
         return false;
@@ -60,7 +60,7 @@ bool CodeLoader::lispErase()
         QEventLoop loop;
         QTimer timeoutTimer;
         timeoutTimer.setSingleShot(true);
-        timeoutTimer.start(6000);
+        timeoutTimer.start(8000);
         auto conn = connect(mVesc->commands(), &Commands::lispEraseCodeRx,
                             [&res,&loop](bool erRes) {
             res = erRes ? 1 : -1;
@@ -74,7 +74,7 @@ bool CodeLoader::lispErase()
         return res;
     };
 
-    mVesc->commands()->lispEraseCode();
+    mVesc->commands()->lispEraseCode(size);
 
     int erRes = waitEraseRes();
     if (erRes != 1) {
@@ -495,7 +495,7 @@ QString CodeLoader::lispRead(QWidget *parent)
 
                 QString lastDir = "";
                 if (reply == QMessageBox::Yes) {
-                    for (auto i: unpacked.second) {
+                    foreach (auto i, unpacked.second) {
                         QString fileName = QFileDialog::getSaveFileName(parent,
                                                                         tr("Save Import %1").arg(i.first),
                                                                         lastDir + "/" + i.first + ".bin");
@@ -562,7 +562,7 @@ bool CodeLoader::qmlErase()
         return res;
     };
 
-    mVesc->commands()->qmlUiErase();
+    mVesc->commands()->qmlUiErase(-1);
 
     int erRes = waitEraseRes();
     if (erRes != 1) {
@@ -765,7 +765,7 @@ bool CodeLoader::installVescPackage(VescPackage pkg)
     }
 
     if (res && !pkg.lispData.isEmpty()) {
-        res = lispErase();
+        res = lispErase(pkg.lispData.size() + 100);
     }
 
     if (res && !pkg.lispData.isEmpty()) {
diff --git a/codeloader.h b/codeloader.h
index d06f1b231..35048efdd 100644
--- a/codeloader.h
+++ b/codeloader.h
@@ -34,7 +34,7 @@ class CodeLoader : public QObject
     VescInterface *vesc() const;
     Q_INVOKABLE void setVesc(VescInterface *vesc);
 
-    Q_INVOKABLE bool lispErase();
+    Q_INVOKABLE bool lispErase(int size);
     QByteArray lispPackImports(QString codeStr, QString editorPath = QDir::currentPath());
     QPair<QString, QList<QPair<QString, QByteArray> > > lispUnpackImports(QByteArray data);
     bool lispUpload(VByteArray vb);
diff --git a/commands.cpp b/commands.cpp
index dd08c3558..16ef3c34e 100755
--- a/commands.cpp
+++ b/commands.cpp
@@ -2067,10 +2067,11 @@ void Commands::qmlUiAppGet(int len, int offset)
     emitData(vb);
 }
 
-void Commands::qmlUiErase()
+void Commands::qmlUiErase(int size)
 {
     VByteArray vb;
     vb.vbAppendUint8(COMM_QMLUI_ERASE);
+    vb.vbAppendInt32(size);
     emitData(vb);
 }
 
@@ -2170,10 +2171,11 @@ void Commands::lispStreamCode(QByteArray data, quint32 offset, quint32 totLen, q
     emitData(vb);
 }
 
-void Commands::lispEraseCode()
+void Commands::lispEraseCode(int size)
 {
     VByteArray vb;
     vb.vbAppendUint8(COMM_LISP_ERASE_CODE);
+    vb.vbAppendInt32(size);
     emitData(vb);
 }
 
diff --git a/commands.h b/commands.h
index c4f54574f..0be4107bc 100644
--- a/commands.h
+++ b/commands.h
@@ -256,7 +256,7 @@ public slots:
 
     void qmlUiHwGet(int len, int offset);
     void qmlUiAppGet(int len, int offset);
-    void qmlUiErase();
+    void qmlUiErase(int size);
     void qmlUiWrite(QByteArray data, quint32 offset);
 
     void ioBoardGetAll(int id);
@@ -271,7 +271,7 @@ public slots:
     void lispReadCode(int len, int offset);
     void lispWriteCode(QByteArray data, quint32 offset);
     void lispStreamCode(QByteArray data, quint32 offset, quint32 totLen, qint8 mode);
-    void lispEraseCode();
+    void lispEraseCode(int size);
     void lispSetRunning(bool running);
     void lispGetStats();
     void lispSendReplCmd(QString str);
diff --git a/mobile/Packages.qml b/mobile/Packages.qml
index 04985b68e..218bd3b6f 100644
--- a/mobile/Packages.qml
+++ b/mobile/Packages.qml
@@ -227,7 +227,7 @@ Item {
                     repeat: false
                     running: false
                     onTriggered: {
-                        mLoader.lispErase()
+                        mLoader.lispErase(-1)
                         mLoader.qmlErase()
                         Utility.sleepWithEventLoop(500)
                         VescIf.reloadFirmware()
diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index 43383af3e..e78c60e42 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -531,12 +531,12 @@ void PageLisp::openRecentList()
     }
 }
 
-bool PageLisp::eraseCode()
+bool PageLisp::eraseCode(int size)
 {
     QProgressDialog dialog("Erasing old script...", QString(), 0, 0, this);
     dialog.setWindowModality(Qt::WindowModal);
     dialog.show();
-    auto res = mLoader.lispErase();
+    auto res = mLoader.lispErase(size);
     dialog.close();
     return res;
 }
@@ -595,10 +595,6 @@ void PageLisp::on_stopButton_clicked()
 
 void PageLisp::on_uploadButton_clicked()
 {
-    if (!eraseCode()) {
-        return;
-    }
-
     QProgressDialog dialog(tr("Uploading..."), QString(), 0, 0, this);
     dialog.setWindowModality(Qt::WindowModal);
     dialog.show();
@@ -622,7 +618,16 @@ void PageLisp::on_uploadButton_clicked()
         }
     }
 
-    bool ok = mLoader.lispUpload(codeStr, editorPath);
+    VByteArray vb = mLoader.lispPackImports(codeStr, editorPath);
+    if (vb.isEmpty()) {
+        return;
+    }
+
+    if (!eraseCode(vb.size() + 100)) {
+        return;
+    }
+
+    bool ok = mLoader.lispUpload(vb);
 
     if (ok && ui->autoRunBox->isChecked()) {
         on_runButton_clicked();
diff --git a/pages/pagelisp.h b/pages/pagelisp.h
index 5fa2e8664..f4994cf3e 100644
--- a/pages/pagelisp.h
+++ b/pages/pagelisp.h
@@ -76,7 +76,7 @@ private slots:
     void setEditorClean(ScriptEditor * editor);
     void openExample();
     void openRecentList();
-    bool eraseCode();
+    bool eraseCode(int size = -1);
 
 };
 
diff --git a/pages/pagevescpackage.cpp b/pages/pagevescpackage.cpp
index c730d298e..9d15bf566 100644
--- a/pages/pagevescpackage.cpp
+++ b/pages/pagevescpackage.cpp
@@ -276,7 +276,7 @@ void PageVescPackage::on_uninstallButton_clicked()
     dialog.show();
 
     mLoader.qmlErase();
-    mLoader.lispErase();
+    mLoader.lispErase(-1);
 
     Utility::sleepWithEventLoop(500);
     mVesc->reloadFirmware();

From 88e9343ef35f9fc611a183d73ba4258449e3f33f Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 11 Mar 2023 22:41:14 +0100
Subject: [PATCH 422/559] APK build changed to 64-bit

---
 build_android       | 4 ++--
 build_test_versions | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/build_android b/build_android
index ff58525bb..c69a702d5 100755
--- a/build_android
+++ b/build_android
@@ -17,7 +17,7 @@ rm -rf build/android/*
 export PATH=/opt/Qt5/5.15.2/android/bin/:$PATH
 
 # Mobile
-qmake -config release "CONFIG += release_android build_mobile" ANDROID_ABIS="armeabi-v7a" -spec android-clang
+qmake -config release "CONFIG += release_android build_mobile" ANDROID_ABIS="arm64-v8a" -spec android-clang
 make clean
 make -j8
 make install INSTALL_ROOT=build/android/build
@@ -28,7 +28,7 @@ rm -rf build/android/obj
 rm -f build/android/libvesc_tool*
 
 # Full
-qmake -config release "CONFIG += release_android" ANDROID_ABIS="armeabi-v7a" -spec android-clang
+qmake -config release "CONFIG += release_android" ANDROID_ABIS="arm64-v8a" -spec android-clang
 make clean
 make -j8
 make install INSTALL_ROOT=build/android/build
diff --git a/build_test_versions b/build_test_versions
index e3271dcc0..61a6f3614 100755
--- a/build_test_versions
+++ b/build_test_versions
@@ -40,8 +40,8 @@ rm -rf build/android/*
 export PATH=/opt/Qt5/5.15.2/android/bin/:$PATH
 
 # Mobile
-qmake -config release "CONFIG += release_android build_mobile vt_test_version" ANDROID_ABIS="armeabi-v7a" -spec android-clang
-#qmake -config release "CONFIG += release_android build_mobile vt_test_version" ANDROID_ABIS="arm64-v8a" -spec android-clang
+#qmake -config release "CONFIG += release_android build_mobile vt_test_version" ANDROID_ABIS="armeabi-v7a" -spec android-clang
+qmake -config release "CONFIG += release_android build_mobile vt_test_version" ANDROID_ABIS="arm64-v8a" -spec android-clang
 make clean
 make -j8
 make install INSTALL_ROOT=build/android/build

From e51dee70d66a144ae5c5a7eceb7c7a14ea5fe39e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 12 Mar 2023 13:51:10 +0100
Subject: [PATCH 423/559] Qml upload improvements and only erase as much as
 needed on supported hardware

---
 codeloader.cpp            | 18 ++++++++++++------
 codeloader.h              |  5 +++--
 mobile/Packages.qml       |  4 ++--
 pages/pagelisp.cpp        |  2 +-
 pages/pagelisp.h          |  2 +-
 pages/pagescripting.cpp   | 32 +++++++++++++++++++++++---------
 pages/pagescripting.h     |  4 ++--
 pages/pagevescpackage.cpp |  4 ++--
 8 files changed, 46 insertions(+), 25 deletions(-)

diff --git a/codeloader.cpp b/codeloader.cpp
index b895e159a..b731d719b 100644
--- a/codeloader.cpp
+++ b/codeloader.cpp
@@ -531,7 +531,7 @@ QString CodeLoader::lispRead(QWidget *parent)
     return "";
 }
 
-bool CodeLoader::qmlErase()
+bool CodeLoader::qmlErase(int size)
 {
     if (!mVesc) {
         return false;
@@ -562,7 +562,7 @@ bool CodeLoader::qmlErase()
         return res;
     };
 
-    mVesc->commands()->qmlUiErase(-1);
+    mVesc->commands()->qmlUiErase(size);
 
     int erRes = waitEraseRes();
     if (erRes != 1) {
@@ -581,11 +581,15 @@ bool CodeLoader::qmlErase()
     return true;
 }
 
-bool CodeLoader::qmlUpload(QString script, bool isFullscreen)
+QByteArray CodeLoader::qmlCompress(QString script)
 {
     script.prepend("import \"qrc:/mobile\";");
     script.prepend("import Vedder.vesc.vescinterface 1.0;");
+    return qCompress(script.toUtf8(), 9);
+}
 
+bool CodeLoader::qmlUpload(QByteArray script, bool isFullscreen)
+{
     auto waitWriteRes = [this]() {
         int res = -10;
 
@@ -623,7 +627,7 @@ bool CodeLoader::qmlUpload(QString script, bool isFullscreen)
 
     VByteArray vb;
     vb.vbAppendUint16(isFullscreen ? 2 : 1);
-    vb.append(qCompress(script.toUtf8(), 9));
+    vb.append(script);
     quint16 crc = Packet::crc16((const unsigned char*)vb.constData(),
                                 uint32_t(vb.size()));
     VByteArray data;
@@ -755,13 +759,15 @@ VescPackage CodeLoader::unpackVescPackage(QByteArray data)
 bool CodeLoader::installVescPackage(VescPackage pkg)
 {
     bool res = true;
+    QByteArray qml;
 
     if (res && !pkg.qmlFile.isEmpty()) {
-        res = qmlErase();
+        qml = qmlCompress(pkg.qmlFile);
+        res = qmlErase(qml.size() + 100);
     }
 
     if (res && !pkg.qmlFile.isEmpty()) {
-        res = qmlUpload(pkg.qmlFile, pkg.qmlIsFullscreen);
+        res = qmlUpload(qml, pkg.qmlIsFullscreen);
     }
 
     if (res && !pkg.lispData.isEmpty()) {
diff --git a/codeloader.h b/codeloader.h
index 35048efdd..552b8affb 100644
--- a/codeloader.h
+++ b/codeloader.h
@@ -42,8 +42,9 @@ class CodeLoader : public QObject
     bool lispStream(VByteArray vb, qint8 mode);
     QString lispRead(QWidget *parent = nullptr);
 
-    Q_INVOKABLE bool qmlErase();
-    bool qmlUpload(QString script, bool isFullscreen);
+    Q_INVOKABLE bool qmlErase(int size);
+    QByteArray qmlCompress(QString script);
+    bool qmlUpload(QByteArray scripr, bool isFullscreen);
 
     QByteArray packVescPackage(VescPackage pkg);
     VescPackage unpackVescPackage(QByteArray data);
diff --git a/mobile/Packages.qml b/mobile/Packages.qml
index 218bd3b6f..ae8e9ad75 100644
--- a/mobile/Packages.qml
+++ b/mobile/Packages.qml
@@ -227,8 +227,8 @@ Item {
                     repeat: false
                     running: false
                     onTriggered: {
-                        mLoader.lispErase(-1)
-                        mLoader.qmlErase()
+                        mLoader.lispErase(16)
+                        mLoader.qmlErase(16)
                         Utility.sleepWithEventLoop(500)
                         VescIf.reloadFirmware()
                         enableDialog()
diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index e78c60e42..31ceddc40 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -650,7 +650,7 @@ void PageLisp::on_readExistingButton_clicked()
 
 void PageLisp::on_eraseButton_clicked()
 {
-    eraseCode();
+    eraseCode(16);
 }
 
 void PageLisp::on_rescaleButton_clicked()
diff --git a/pages/pagelisp.h b/pages/pagelisp.h
index f4994cf3e..039e72536 100644
--- a/pages/pagelisp.h
+++ b/pages/pagelisp.h
@@ -76,7 +76,7 @@ private slots:
     void setEditorClean(ScriptEditor * editor);
     void openExample();
     void openRecentList();
-    bool eraseCode(int size = -1);
+    bool eraseCode(int size);
 
 };
 
diff --git a/pages/pagescripting.cpp b/pages/pagescripting.cpp
index cb43c880c..ef60181db 100755
--- a/pages/pagescripting.cpp
+++ b/pages/pagescripting.cpp
@@ -20,7 +20,6 @@
 #include "pagescripting.h"
 #include "ui_pagescripting.h"
 #include "widgets/helpdialog.h"
-#include "packet.h"
 
 #include <QQmlEngine>
 #include <QQmlContext>
@@ -144,6 +143,11 @@ PageScripting::PageScripting(QWidget *parent) :
     });
 
     ui->splitter_2->setSizes(QList<int>({1000, 600}));
+
+    // Clear debug edit from messages that appeared from loading other qml-components
+    QTimer::singleShot(2000, [this]() {
+        ui->debugEdit->clear();
+    });
 }
 
 PageScripting::~PageScripting()
@@ -526,11 +530,14 @@ void PageScripting::setEditorClean(ScriptEditor *editor)
 }
 
 
-QString PageScripting::qmlToRun(bool importDir)
+QString PageScripting::qmlToRun(bool importDir, bool prependImports)
 {
     QString res = ui->mainEdit->codeEditor()->toPlainText();
-    res.prepend("import \"qrc:/mobile\";");
-    res.prepend("import Vedder.vesc.vescinterface 1.0;");
+
+    if (prependImports) {
+        res.prepend("import \"qrc:/mobile\";");
+        res.prepend("import Vedder.vesc.vescinterface 1.0;");
+    }
 
     if (importDir) {
         QFileInfo f(mDirNow);
@@ -633,7 +640,7 @@ bool PageScripting::exportCArray(QString name)
     return true;
 }
 
-bool PageScripting::eraseQml()
+bool PageScripting::eraseQml(int size, bool reload)
 {
     if (!mVesc) {
         return false;
@@ -645,9 +652,12 @@ bool PageScripting::eraseQml()
     }
 
     ui->uploadTextEdit->appendPlainText("Erasing QMLUI...");
-    bool res = mLoader.qmlErase();
+    bool res = mLoader.qmlErase(size);
 
     if (res) {
+        if (reload) {
+            mVesc->reloadFirmware();
+        }
         ui->uploadTextEdit->appendPlainText("Erase OK!");
     } else {
         ui->uploadTextEdit->appendPlainText("Erasing QMLUI failed");
@@ -719,14 +729,16 @@ void PageScripting::on_uploadButton_clicked()
     ui->uploadButton->setEnabled(false);
     ui->eraseOnlyButton->setEnabled(false);
 
-    if (!eraseQml()) {
+    auto script = mLoader.qmlCompress(qmlToRun(false, false));
+
+    if (!eraseQml(script.size() + 100, false)) {
         ui->uploadButton->setEnabled(true);
         ui->eraseOnlyButton->setEnabled(true);
         return;
     }
 
     ui->uploadTextEdit->appendPlainText("Writing data...");
-    bool res = mLoader.qmlUpload(qmlToRun(false), ui->uploadFullscreenBox->isChecked());
+    bool res = mLoader.qmlUpload(script, ui->uploadFullscreenBox->isChecked());
 
     if (res) {
         ui->uploadTextEdit->appendPlainText("Write OK!");
@@ -734,6 +746,8 @@ void PageScripting::on_uploadButton_clicked()
         ui->uploadTextEdit->appendPlainText("Write failed");
     }
 
+    mVesc->reloadFirmware();
+
     ui->uploadButton->setEnabled(true);
     ui->eraseOnlyButton->setEnabled(true);
 }
@@ -741,7 +755,7 @@ void PageScripting::on_uploadButton_clicked()
 void PageScripting::on_eraseOnlyButton_clicked()
 {
     ui->eraseOnlyButton->setEnabled(false);
-    eraseQml();
+    eraseQml(16);
     ui->eraseOnlyButton->setEnabled(true);
 }
 
diff --git a/pages/pagescripting.h b/pages/pagescripting.h
index c425a566d..1a7a9d93c 100644
--- a/pages/pagescripting.h
+++ b/pages/pagescripting.h
@@ -86,9 +86,9 @@ private slots:
     void removeEditor(ScriptEditor *editor);
     void setEditorDirty(ScriptEditor *editor);
     void setEditorClean(ScriptEditor *editor);
-    QString qmlToRun(bool importDir = true);
+    QString qmlToRun(bool importDir = true, bool prependImports = true);
     bool exportCArray(QString name);
-    bool eraseQml();
+    bool eraseQml(int size, bool reload = true);
     void openExample();
     void openRecentList();
 
diff --git a/pages/pagevescpackage.cpp b/pages/pagevescpackage.cpp
index 9d15bf566..c96984eca 100644
--- a/pages/pagevescpackage.cpp
+++ b/pages/pagevescpackage.cpp
@@ -275,8 +275,8 @@ void PageVescPackage::on_uninstallButton_clicked()
     dialog.setWindowModality(Qt::WindowModal);
     dialog.show();
 
-    mLoader.qmlErase();
-    mLoader.lispErase(-1);
+    mLoader.qmlErase(16);
+    mLoader.lispErase(16);
 
     Utility::sleepWithEventLoop(500);
     mVesc->reloadFirmware();

From e96f1c88e2a342ddb805c00e4ad12b7199b6cc93 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 12 Mar 2023 13:59:52 +0100
Subject: [PATCH 424/559] Can scan fixes

---
 mainwindow.cpp    | 4 +++-
 vescinterface.cpp | 6 +++---
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/mainwindow.cpp b/mainwindow.cpp
index f7c349707..dc46f1326 100755
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -2017,7 +2017,9 @@ void MainWindow::on_scanCanButton_clicked()
         ui->canList->clear();
     } else {
         ui->canList->clear();
-        showStatusInfo("Connect to VESC before scanning", false);
+        mVesc->emitMessageDialog(
+                    "Scan CAN",
+                    "Please connect before scanning", false);
     }
 }
 
diff --git a/vescinterface.cpp b/vescinterface.cpp
index 50725ff06..ce6d63abf 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -3786,9 +3786,6 @@ void VescInterface::fwVersionReceived(FW_RX_PARAMS params)
         mCustomConfigsLoaded = readConfigsOk;
     }
 
-    mCustomConfigRxDone = true;
-    emit customConfigLoadDone();
-
     // Read qmlui
     if (mLoadQmlUiOnConnect && params.hasQmlHw) {
         QByteArray qmlData;
@@ -3893,6 +3890,9 @@ void VescInterface::fwVersionReceived(FW_RX_PARAMS params)
     for (int i = 0;i < mCustomConfigs.size();i++) {
         commands()->customConfigGet(i, false);
     }
+
+    mCustomConfigRxDone = true;
+    emit customConfigLoadDone();
 }
 
 void VescInterface::appconfUpdated()

From 587d838386703ddb19e2cf2eafb68e80db777c34 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 12 Mar 2023 16:42:17 +0100
Subject: [PATCH 425/559] Changed to release version

---
 res/CHANGELOG.md                              |   4 +++-
 res/firmwares/CHANGELOG.md                    |  12 +++++++++++-
 res/firmwares_esp/ESP32-C3/DevKitM-1/app.bin  | Bin 1233776 -> 1243264 bytes
 .../ESP32-C3/DevKitM-1/bootloader.bin         | Bin 12512 -> 13360 bytes
 .../ESP32-C3/DevKitM-1/partition-table.bin    | Bin 3072 -> 3072 bytes
 .../ESP32-C3/VESC Express/app.bin             | Bin 1306640 -> 1308512 bytes
 .../ESP32-C3/VESC Express/bootloader.bin      | Bin 12512 -> 13360 bytes
 .../ESP32-C3/VESC Express/partition-table.bin | Bin 3072 -> 3072 bytes
 vesc_tool.pro                                 |   2 +-
 9 files changed, 15 insertions(+), 3 deletions(-)

diff --git a/res/CHANGELOG.md b/res/CHANGELOG.md
index bb440b34e..e4b0f25e0 100644
--- a/res/CHANGELOG.md
+++ b/res/CHANGELOG.md
@@ -1,5 +1,5 @@
 ### 6.02
-#### Released TBD
+#### Released 2023-03-12
 * Improved experiment plot.
 * Updated PPM and ADC mapping widgets.
 * Better compatibility with old firmwares.
@@ -15,6 +15,8 @@
 * Changelogs updated and changed to markdown.
 * Pixmap caching for faster start and config reload.
 * Firmware archive added in mobile VESC Tool.
+* Added display tool.
+* QML upload bug fixes.
 
 ---
 
diff --git a/res/firmwares/CHANGELOG.md b/res/firmwares/CHANGELOG.md
index b15d7e59b..ceb19bebf 100644
--- a/res/firmwares/CHANGELOG.md
+++ b/res/firmwares/CHANGELOG.md
@@ -1,5 +1,5 @@
 ### 6.02
-#### Released TBD
+#### 2023-03-12
 * LispBM:
 	* Bug fixes.
 	* Added floor, ceil, round.
@@ -7,6 +7,16 @@
 	* Added adc_ctrl_type setting.
 	* Added app_is_disabled.
 	* Added ICU-driver.
+	* Inductance measurement support.
+	* Rewrite of the event system.
+	* Added canget-vin
+	* Added hw-type sysinfo.
+	* Added crc16-extension.
+* IMU filtering changes and new defaults.
+* Increased hall sensor switch hysteresis.
+* Added and updated hardware configs.
+* Systime overflow fix.
+* Some can-command fixes.
 
 ---
 
diff --git a/res/firmwares_esp/ESP32-C3/DevKitM-1/app.bin b/res/firmwares_esp/ESP32-C3/DevKitM-1/app.bin
index f8ceb5fbf6050f7dc18eae1ef1f0196e33ffccc6..a8fe3c93b466373612e9046738c3c3255236ef93 100644
GIT binary patch
delta 572609
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diff --git a/res/firmwares_esp/ESP32-C3/DevKitM-1/bootloader.bin b/res/firmwares_esp/ESP32-C3/DevKitM-1/bootloader.bin
index 47964f1f8fee2e682137babe7d5bd7f3930b8b9d..e49f314e57106711def06f343468b6307bee45da 100644
GIT binary patch
delta 3819
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zq!@%f_!|=#u3~R$6fz2yO!bkqT$!c_FZt<zu8eaLk_t-^)C)_b9<S`3Chu~uY}`pC
zQ>hA@$$U)n75vK50*&rM+@<ub_}(m#ihI-@4I^hOzN@G7;w&SjKhslZjuT99(nq*c
z_lKGDG<r*)1aG4zed+j?ktLol#H^U;7B_NyOcsdFeJLi(c-)|6FuD%i_8ZfmqhYE4
zNai#+s^%cMsSJoV2k^~5z2V4)0nrn6SsBA-{fnUVq3VHjaD9ZfWtsC2e2iG2BnB3+
zv9?s}4|`FU7NoX4eX{@R)1C18A6rONq3uI-H){zsu@04uJ4^ZIqZC6vm0pVG8}gM0
z=JcNnjs6wY8J1;*&Di@<SUJ8CPk%DN04`4GteO5F?T@E%O475U!j4{l>O*G8hdx0{
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zc96Q-h=LPOP?5Kg+nAGca_`XV4tO{CX2#|X!v1Lo?_OpfdeXIJThk`pJ!K8dT~Sj1
JdFpD-{{i&r)|vnS

delta 2979
zcmZ8jdvsGp8lOAK&Fl1WL(-PM;5G@R4WYz70kOS-+{7ZwmQn;CNN8Y%bM&-DRusYB
zw7H1^k;j1D#iNb2h$o)a(kv%>Tx`^eP-!jf>K-|GjAXT|>+yD3vK1AxGfld?m_NSE
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zW<atYYBum|rdy2TT2pJwrIr$$0jZ{@#UB3R5Uxj_$oBt#%)~P8sq*l0H6@dQfzFp4
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zwVL<?(+`E%=Qq&hg{{!I0o7L&X;$2wLL2@W-cn(wwy~Fx2Fy`UpR_K;m@g&Y==g{)
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zozMRQjeUTct(%n7+XTGm4eK7r?m@M;Jp_e8)PGwL&J80+<yqMKGRms@6C65@E>u;T
rJA2ai^ruH;mbTjmqpGD#E>`?Y|Fj=w=T?8e@vT@44h-DocuxEe921YN

diff --git a/res/firmwares_esp/ESP32-C3/DevKitM-1/partition-table.bin b/res/firmwares_esp/ESP32-C3/DevKitM-1/partition-table.bin
index 477a8362a26e215b60abe064a462268148b8401c..290463bd7086a01c8acd1f2755dcb80b007675be 100644
GIT binary patch
delta 46
zcmV+}0MY+|7=Rd%ss{)FY-w|F0FjXu0XdP!DG>LiJ!!t`cGT}_L>%;#Z~n6Z0sjgC
E|DgdB(*OVf

delta 46
zcmV+}0MY+|7=Rd%ss{o9Y-w|F0FjXu0W*=uDG=Qw;q!qrfKTJa*kaJbIt{Y{0sjgC
E|Cb{Y`2YX_

diff --git a/res/firmwares_esp/ESP32-C3/VESC Express/app.bin b/res/firmwares_esp/ESP32-C3/VESC Express/app.bin
index 8b9610906982b61f05008e53710978f72f290808..3f66c40a2a4733d2f460d4d9994f54d088a3eb1c 100644
GIT binary patch
delta 598580
zcmce<4O|q}|35mj3%e^%0wN$Ht_X?>1c<mI!8#(MBBG&@l05AKtILD1AR4x4R%B%A
znoCNGW=2MeLV{+7W`;_NhDJt4MoNZCMn*pV-)Cmlo&5T}_kZv2fA9Eu^ZuOo`JBf&
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F{{o@(?uY;Y

diff --git a/res/firmwares_esp/ESP32-C3/VESC Express/bootloader.bin b/res/firmwares_esp/ESP32-C3/VESC Express/bootloader.bin
index 47964f1f8fee2e682137babe7d5bd7f3930b8b9d..e49f314e57106711def06f343468b6307bee45da 100644
GIT binary patch
delta 3819
zcmZ8k3sh4_8lJf~xtHYdNQ@9cqL+Y(sbT~Ht)e%Wn+Udo)>oefBR<Y?t<PFp-2{>w
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JdFpD-{{i&r)|vnS

delta 2979
zcmZ8jdvsGp8lOAK&Fl1WL(-PM;5G@R4WYz70kOS-+{7ZwmQn;CNN8Y%bM&-DRusYB
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z{N|gv-}jsEH!}m<Vw;P<mcd2L2g|tc001<Q0gz1M7NFP-qYZZ+F1|}a2H#Mi0;>2v
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zreZp$I^<o5UNseT>XqLmP9vp~dgnQK4vxSJaI9+o1Q&;zZ&V!0peWICukR~y=`krb
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zi%vBk2U9=)&&Nh3-X@oH_eo{4ro%8=`r&G{wzR?Gs#@v$L@ZOK=0+<msxpvjbCouS
z1>Z_?D%BV0@Y|)2%BZ$*jrn$J&g=c;&Q8029KkO!W8cXgY1hA?XBL=d#V-<AcEZ0S
zB?RL|RH}8L;RSXWA43|;oZOF&k_<_9X75aX!4FZrWdoEBpx;@}!Pr*Ry08|yThZ}_
zwVL<?(+`E%=Qq&hg{{!I0o7L&X;$2wLL2@W-cn(wwy~Fx2Fy`UpR_K;m@g&Y==g{)
zGmWK?;75Ia3Lm>Ux1hpUpI_^o!G7;Zi+}WzFaH+5=!b~0>MMdH0sJC6=D2l`J1;u(
zozMRQjeUTct(%n7+XTGm4eK7r?m@M;Jp_e8)PGwL&J80+<yqMKGRms@6C65@E>u;T
rJA2ai^ruH;mbTjmqpGD#E>`?Y|Fj=w=T?8e@vT@44h-DocuxEe921YN

diff --git a/res/firmwares_esp/ESP32-C3/VESC Express/partition-table.bin b/res/firmwares_esp/ESP32-C3/VESC Express/partition-table.bin
index 477a8362a26e215b60abe064a462268148b8401c..290463bd7086a01c8acd1f2755dcb80b007675be 100644
GIT binary patch
delta 46
zcmV+}0MY+|7=Rd%ss{)FY-w|F0FjXu0XdP!DG>LiJ!!t`cGT}_L>%;#Z~n6Z0sjgC
E|DgdB(*OVf

delta 46
zcmV+}0MY+|7=Rd%ss{o9Y-w|F0FjXu0W*=uDG=Qw;q!qrfKTJa*kaJbIt{Y{0sjgC
E|Cb{Y`2YX_

diff --git a/vesc_tool.pro b/vesc_tool.pro
index dc233e88e..65b8ec6d4 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -10,7 +10,7 @@ VT_INTRO_VERSION = 1
 VT_CONFIG_VERSION = 2
 
 # Set to 0 for stable versions and to test version number for development versions.
-VT_IS_TEST_VERSION = 3
+VT_IS_TEST_VERSION = 0
 
 VT_ANDROID_VERSION_ARMV7 = 126
 VT_ANDROID_VERSION_ARM64 = 127

From f3c6fe5f5dcf0cb2fba7676204ea3db1dc8ff4ee Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 12 Mar 2023 17:20:44 +0100
Subject: [PATCH 426/559] Updated andround version numbers

---
 vesc_tool.pro | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/vesc_tool.pro b/vesc_tool.pro
index 65b8ec6d4..53ff3b0b5 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -12,9 +12,9 @@ VT_CONFIG_VERSION = 2
 # Set to 0 for stable versions and to test version number for development versions.
 VT_IS_TEST_VERSION = 0
 
-VT_ANDROID_VERSION_ARMV7 = 126
-VT_ANDROID_VERSION_ARM64 = 127
-VT_ANDROID_VERSION_X86 = 128
+VT_ANDROID_VERSION_ARMV7 = 134
+VT_ANDROID_VERSION_ARM64 = 135
+VT_ANDROID_VERSION_X86 = 136
 
 VT_ANDROID_VERSION = $$VT_ANDROID_VERSION_X86
 

From 6983cf6d50198423475a33d1fdc50957464b01eb Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 16 Mar 2023 18:07:05 +0100
Subject: [PATCH 427/559] Config backup restore fixes

---
 vescinterface.cpp | 31 +++++++++++++++++++++++--------
 1 file changed, 23 insertions(+), 8 deletions(-)

diff --git a/vescinterface.cpp b/vescinterface.cpp
index ce6d63abf..47fbfaa71 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -4086,7 +4086,6 @@ bool VescInterface::confStoreBackup(bool can, QString name)
         if (pCustom != nullptr) {
             commands()->customConfigGet(0, false);
             rxCustom = Utility::waitSignal(pCustom, SIGNAL(updated()), 1500);
-            qDebug() << rxCustom;
         }
 
         if (rxMc && rxApp) {
@@ -4114,7 +4113,10 @@ bool VescInterface::confStoreBackup(bool can, QString name)
     int canLastId = commands()->getCanSendId();
     auto fwLast = getFirmwareNowPair();
 
+    QVector<int> canDevs;
+
     if (can) {
+        canDevs = scanCan();
         ignoreCanChange(true);
         commands()->setSendCan(false);
     }
@@ -4127,7 +4129,7 @@ bool VescInterface::confStoreBackup(bool can, QString name)
     }
 
     if (res && can) {
-        for (int d: scanCan()) {
+        foreach (int d, canDevs) {
             commands()->setSendCan(true, d);
 
             Utility::getFwVersionBlocking(this, &fwp);
@@ -4152,8 +4154,15 @@ bool VescInterface::confStoreBackup(bool can, QString name)
         storeSettings();
         emit configurationBackupsChanged();
 
+        // Refresh configs
+        commands()->getMcconf();
+        commands()->getAppConf();
+        if (customConfig(0) != nullptr) {
+            commands()->customConfigGet(0, false);
+        }
+
         QString uuidsStr;
-        for (auto s: uuidsOk) {
+        foreach (auto s, uuidsOk) {
             uuidsStr += s + "\n";
         }
 
@@ -4261,8 +4270,10 @@ bool VescInterface::confRestoreBackup(bool can)
     bool canLastFwd = commands()->getSendCan();
     int canLastId = commands()->getCanSendId();
     auto fwLast = getFirmwareNowPair();
+    QVector<int> canDevs;
 
     if (can) {
+        canDevs = scanCan();
         ignoreCanChange(true);
         commands()->setSendCan(false);
     }
@@ -4275,7 +4286,7 @@ bool VescInterface::confRestoreBackup(bool can)
     }
 
     if (res && can) {
-        for (int d: scanCan()) {
+        foreach (int d, canDevs) {
             commands()->setSendCan(true, d);
 
             Utility::getFwVersionBlocking(this, &fwp);
@@ -4300,12 +4311,16 @@ bool VescInterface::confRestoreBackup(bool can)
         storeSettings();
         emit configurationBackupsChanged();
 
-        commands()->getMcconf(); //Refresh Motor conf.
-        commands()->getAppConf(); //Refresh App conf.
+        // Refresh configs
+        commands()->getMcconf();
+        commands()->getAppConf();
+        if (customConfig(0) != nullptr) {
+            commands()->customConfigGet(0, false);
+        }
 
         if (!uuidsOk.isEmpty()) {
             QString uuidsStr;
-            for (auto s: uuidsOk) {
+            foreach (auto s, uuidsOk) {
                 uuidsStr += s + "\n";
             }
 
@@ -4316,7 +4331,7 @@ bool VescInterface::confRestoreBackup(bool can)
 
         if (!missingConfigs.empty()) {
             QString missing;
-            for (auto s: missingConfigs) {
+            foreach (auto s, missingConfigs) {
                 missing += s + "\n";
             }
 

From e75e9f5fcbd4c1848c779771ca620fb3c914e163 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 17 Mar 2023 09:23:49 +0100
Subject: [PATCH 428/559] Updated autocompleter

---
 QCodeEditor/src/internal/QVescCompleter.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/QCodeEditor/src/internal/QVescCompleter.cpp b/QCodeEditor/src/internal/QVescCompleter.cpp
index cfac6f2cd..a392b0c5a 100644
--- a/QCodeEditor/src/internal/QVescCompleter.cpp
+++ b/QCodeEditor/src/internal/QVescCompleter.cpp
@@ -106,6 +106,7 @@ QVescCompleter::QVescCompleter(QObject *parent) :
         addItem("fileBlockMkdir(path)");
         addItem("fileBlockRemove(path)");
         addItem("getGnss(mask)");
+        addItem("lispSendReplCmd(str)");
         level--;
     };
 

From fe330cb987dfd2e6adcd3b516858699de05b84ce Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 20 Mar 2023 22:11:15 +0100
Subject: [PATCH 429/559] Moved to 6.05 beta, added var keyword

---
 QCodeEditor/resources/languages/lisp.xml |    1 +
 mobile/fwhelper.cpp                      |    2 +
 pages/pagefirmware.cpp                   |    2 +
 res/config/6.05/info.xml                 | 1169 +++++
 res/config/6.05/parameters_appconf.xml   | 4679 ++++++++++++++++++++
 res/config/6.05/parameters_mcconf.xml    | 4932 ++++++++++++++++++++++
 res_config.qrc                           |    3 +
 utility.cpp                              |    2 +-
 vesc_tool.pro                            |    4 +-
 9 files changed, 10791 insertions(+), 3 deletions(-)
 create mode 100644 res/config/6.05/info.xml
 create mode 100644 res/config/6.05/parameters_appconf.xml
 create mode 100644 res/config/6.05/parameters_mcconf.xml

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index d6c36af77..d31d57ebd 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -27,6 +27,7 @@
 <name>call-cc</name>
 <name>quote</name>
 <name>closure</name>
+<name>var</name>
 </section>
 
 <section name="Label">
diff --git a/mobile/fwhelper.cpp b/mobile/fwhelper.cpp
index 8dcc5ba2a..e62b55c0f 100644
--- a/mobile/fwhelper.cpp
+++ b/mobile/fwhelper.cpp
@@ -57,6 +57,8 @@ QVariantMap FwHelper::getHardwares(FW_RX_PARAMS params, QString hw)
     // Manually added entries. TODO: Come up with a system for them
     if (params.hw == "VESC Express T") {
         hws.insert(params.hw, "://res/firmwares_esp/ESP32-C3/VESC Express");
+    } else if (params.hw == "Devkit C3") {
+        hws.insert(params.hw, "://res/firmwares_esp/ESP32-C3/DevKitM-1");
     }
 
     return hws;
diff --git a/pages/pagefirmware.cpp b/pages/pagefirmware.cpp
index bd3fd9859..28b23ea77 100755
--- a/pages/pagefirmware.cpp
+++ b/pages/pagefirmware.cpp
@@ -244,6 +244,8 @@ void PageFirmware::updateHwList(FW_RX_PARAMS params)
     QString extraPath;
     if (params.hw == "VESC Express T") {
         extraPath = "://res/firmwares_esp/ESP32-C3/VESC Express";
+    } else if (params.hw == "Devkit C3") {
+        extraPath = "://res/firmwares_esp/ESP32-C3/DevKitM-1";
     }
 
     if (!extraPath.isEmpty()) {
diff --git a/res/config/6.05/info.xml b/res/config/6.05/info.xml
new file mode 100644
index 000000000..e7fc57281
--- /dev/null
+++ b/res/config/6.05/info.xml
@@ -0,0 +1,1169 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ConfigParams>
+    <Params>
+        <fw_version>
+            <longName>Firmware Version</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The firmware version(s) that this version of VESC Tool supports.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <valInt>0</valInt>
+            <enumNames>6.05</enumNames>
+        </fw_version>
+        <help_battery_cutoff>
+            <longName>Soft Battery Cutoff Calculator</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Parameters for a soft battery cutoff can be calculated here. To do that, select the battery type and amount of cells. When the battery voltage is at the start value, the battery current will start to get reduced. At the end value battery current draw (and thus motor current) is disabled completely. In between the current is limited proportionally to where between the start and end values the input voltage is.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Notice that braking always is possible, even when the battery current is limited. That is because braking does not draw any current from the battery, it only charges the battery.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </help_battery_cutoff>
+        <help_bldc_detect>
+            <longName>Detect BLDC Parameters</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Spin up the motor in delay commutation mode and try to measure the following parameters:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Cycle Integrator Limit&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;BEMF Coupling&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall Sensor Table&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The settings mean the following:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Current (I)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The current to use for spinning up the motor.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;ERPM (ω)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The minimum speed for the delay commutation mode to start the motor.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Duty (D)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The duty cycle to measure the BEMF coupling at. This value should be as low as possible, but not so low that the motor cannot spin at the end of the detection sequence.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;If the motor is not able to spin up properly these settings can be tweaked. Symptoms:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-style:italic;&quot;&gt;The motor starts to spin, but is too weak to reach enough speed.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto'; font-style:italic;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Increase the current setting.&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-style:italic;&quot;&gt;The motor cogs and is unable to spin up.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto'; font-style:italic;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Roboto'; font-style:italic;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-style:normal;&quot;&gt;Increase or decrease the current.&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If the motor has high inertia decrease ERPM. E-bike hub motors tend to have high inertia.&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If the motor has low inertia increase ERPM.&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-style:italic;&quot;&gt;The motor spins up properly, but does not spin at the end of the detection.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto'; font-style:italic;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Increase the duty and try again. This is usually needed for low KV motor when using low voltage, such as ebike motors.&lt;/li&gt;&lt;/ul&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </help_bldc_detect>
+        <help_foc_detect>
+            <longName>Detect FOC Parameters</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/25639.PNG;base64,i
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+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Detect and calculate the necessary FOC motor and control parameters. The procedure is the following:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ol style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Measure &lt;span style=&quot; font-weight:600;&quot;&gt;R&lt;/span&gt; and &lt;span style=&quot; font-weight:600;&quot;&gt;L&lt;/span&gt; and wait for the detection result. When the detection result arrives, &lt;span style=&quot; font-weight:600;&quot;&gt;KP&lt;/span&gt;, &lt;span style=&quot; font-weight:600;&quot;&gt;KI&lt;/span&gt; and &lt;span style=&quot; font-weight:600;&quot;&gt;Observer Gain&lt;/span&gt; will be calculated.&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Measure &lt;span style=&quot; font-weight:600;&quot;&gt;λ&lt;/span&gt; and wait for the detection result. If the detections fails, tweak &lt;span style=&quot; font-weight:600;&quot;&gt;I&lt;/span&gt;, &lt;span style=&quot; font-weight:600;&quot;&gt;D&lt;/span&gt; and &lt;span style=&quot; font-weight:600;&quot;&gt;ω &lt;/span&gt;as described below and try again until it works.&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use the &lt;span style=&quot; font-weight:600;&quot;&gt;Apply&lt;/span&gt; button to apply the measured and calculated parameters.&lt;/li&gt;&lt;/ol&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The following parameters are measured:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Resistance (R)&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Inductance (L)&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Flux Linkage (λ)&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The following parameter are calculated from &lt;span style=&quot; font-weight:600;&quot;&gt;R&lt;/span&gt; and &lt;span style=&quot; font-weight:600;&quot;&gt;L&lt;/span&gt;:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Proportional gain for the current controller (KP)&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Integral gain for the current controller (KI)&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Gain for the observer&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;For measuring resistance and inductance, signals are injected into the motor. Nothing requires configuration for doing that and the motor does not need to spin up.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;For measuring the flux linkage the motor needs to spin up, which is controlled by the &lt;span style=&quot; font-weight:600;&quot;&gt;I&lt;/span&gt;, &lt;span style=&quot; font-weight:600;&quot;&gt;D&lt;/span&gt; and &lt;span style=&quot; font-weight:600;&quot;&gt;ω&lt;/span&gt; startup settings. Notice that the resistance has to be measured first. The startup settings mean the following:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current (I)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The current to use for spinning up the motor.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Duty (D)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The duty cycle where to measure the flux linkage.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ERPM (ω)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The minimum speed for the delay commutation mode to start the motor.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If the motor is not able to spin up properly these settings can be tweaked. Symptoms:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-style:italic;&quot;&gt;The motor starts to spin, but is too weak to reach enough speed.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-style:italic;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Increase the current setting.&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If the load increases with speed (e.g. a propeller) you can decrease the duty cycle. This makes the detection slightly less accurate, but that does not matter in general.&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-style:italic;&quot;&gt;The motor cogs and is unable to spin up.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-style:italic;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-style:italic;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-style:normal;&quot;&gt;Increase or decrease the current.&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If the motor has high inertia decrease ERPM. E-bike hub motors tend to have high inertia.&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If the motor has low inertia increase ERPM.&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;After measuring the motor parameters, gain factors for the current PI control loop and the observer gain should be calculated. KP and KI are calculated based on a desired time constant of the current controller and the motor parameters R and L, which have to be measured first. The observer gain is calculated based on the motor inductance, which also has to be measured first.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </help_foc_detect>
+        <help_foc_encoder_detect>
+            <longName>Detect FOC Encoder Parameters</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Detect the following encoder parameters:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Offset&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Ratio&lt;/li&gt;
+&lt;li style=&quot; font-family:'Roboto';&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Inverted&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;To do that, the motor is turned slowly in open loop while the encoder output is sampled, once for the ratio and once for the offset. This is done in both directions for one full mechanical revolution to get rid off possible offsets and nonlinearities.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </help_foc_encoder_detect>
+        <help_foc_hall_detect>
+            <longName>Detect FOC Hall Sensor Parameters</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Detect the hall sensor table. To do that, the motor is turned slowly in open loop while the hall sensor outputs are sampled. This is done in both directions to get rid of offsets.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </help_foc_hall_detect>
+        <help_nrf_pair>
+            <longName>NRF Pairing</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Set the VESC in NRF pairing mode for the amount of time specified in the Time box (default 10 seconds). Afer that, you should put the device to pair in pairing mode before the time runs out. A popup should appear and show that pairing was successful, or that it timed out. After a sucessful pairing, the NRF settings will be updated according to the unique ID of the paired NRF device and stored to the VESC.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;NRF Nunchuk&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;For pairing the NRF nunchuk, set the VESC in pairing mode and switch on a nunchuk (that was switched off previously) before the pairing time runs out.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Notice that the unique ID of the NRF nunchuk is based on a hashed version of its microcontroller UUID, so the pairing should still be valid even after updating firmware. The chance of collisions between NRF nunchuks is practically non-existent.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </help_nrf_pair>
+        <help_can_forward>
+            <longName>CAN Forwarding</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;When CAN forwarding is enabled, all communication will be forwarded over CAN bus to the VESC with the ID selected in the ID box in the connection page.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </help_can_forward>
+        <help_rt_logging>
+            <longName>RT data logging</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;VESC Tool (mobile and desktop) can log realtime data to CSV files. The output directory has to be chosen, which is where the log files are stored. Each time the logging checkbox is checked, a new CSV file with the current date and time is created in the output directory. This means that toggling the box will store the current file create a new one, which can be convenient to split the logs.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The output format is as follows:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;ms_today;v_in;temp_mos;temp_mos_1;temp_mos_2;temp_mos_3;&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;temp_motor;current_motor;current_in;id;iq;rpm;duty_now;amp_hours;&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;amp_hours_charged;watt_hours;watt_hours_charged;tachometer;&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;tachometer_abs;position;fault_code;vesc_id&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The values mean the following:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;ms_today&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Time today in milliseconds. This time is sampled in VESC Tool, so it can contain jitter compared to the data values depending in transmission latency.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;temp_mos&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;MOSFET temperature in °C.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;temp_mos_1, temp_mos_2, temp_mos_3&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Individual MOSFET temperatures for the legs in the power stage in &lt;/span&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;°C. Only available on hardware with individual temperature sensors, such as the VESC 75/300.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;temp_motor&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Motor temperature in °C.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;current_motor&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Motor current in A. The sign is the same as the input current, thus positive when the motor is driving and negative when the motor is generating.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;current_in&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Input current in A.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;id, iq&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;D-axis and Q-axis current of the motor. Only available in FOC mode.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;rpm&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Motor speed in electrical rouds per minute. Has to be divided by the number of pole pairs to get the mechanical speed.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;duty_now&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Modulation, range -1.0 to 1.0&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;amp_hours&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Ampere hours consumed from the input.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;amp_hours_charged&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Ampere hours fed back to the input.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;watt_hours&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Watt hours consumed from the input.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;watt_hours_charged&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Watt hours fed back to the input.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;tachometer&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;1/6 electrical revolution counter. Will count 6 steps for every electrical revolution of the motor. Has to be multiplied by the number of pole pairs to get 6 times the counts per mechanical revolution. Will count backwards when the motor is turning backwards.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;tachometer_abs&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Same as &lt;/span&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;tachometer&lt;/span&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;, but couts the absolute value&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;position&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Motor position in degrees. It is the mechanical position when using an encoder, the electrical position otherwise. In sensorless mode the position is not valid when the motor is not turning.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;fault_code&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current fault code.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;vesc_id&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;CAN ID of this VESC.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </help_rt_logging>
+        <motor_setting_description>
+            <longName>Motor Setting Description</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Motor Settings&lt;/span&gt;&lt;/p&gt;
+&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This is where you can edit your motor settings. It is &lt;span style=&quot; color:#00A1E4;&quot;&gt;very important&lt;/span&gt; to setup your VESC every time you connect a different motor, otherwise the VESC and/or the motor are likely to get damaged. The easiest way to set up your VESC for your motor is to use the &lt;span style=&quot; font-weight:600;&quot;&gt;Motor Setup Wizard&lt;/span&gt;. This wizard can be accessed from the welcome page, from the help menu or using the button at the bottom of this page.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The motor settings are stored in their own configuration structure. Every time you make changes to the motor configuration you have to write the configuration to the VESC in order to apply the new settings. Reading/writing the motor configuration can be done using the buttons on the toolbar to the right. The functions of these toolbar buttons are the following:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/18336.PNG;base64,i
+VBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAA4WlDQ1BzUkdCAAAYlWNgYDzNAARMDgwMu
+XklRUHuTgoRkVEKDEggMbm4gAE3YGRg+HYNRDIwXNYNLGHlx6MWG+AsAloIpD8AsUg6mM3IAmInQdgSI
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+M3FERXU9jim3nimQ31Uu9XdaiMaBa6Bs7j/AwRg4E0QQjgH9oDJSP0E/gJHn1af6qQnVt+a4PJqIa5H4
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+vpgCKEALFSrIt3BCDAYk6wB84BAHjgEbqr4HfD66uqo4xvxDxCS2gMcR6zcAAAAAElFTkSuQmCC&quot; width=&quot;24&quot; height=&quot;24&quot; /&gt;&lt;br /&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Read Motor Configuration&lt;/span&gt;. This button will read the current motor configuration from the VESC to VESC Tool.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; color:#00A1E4;&quot;&gt;Warning&lt;/span&gt;: All of the motor settings currently in VESC Tool will be overwritten by pressing this button.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/15613.PNG;base64,i
+VBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAA4WlDQ1BzUkdCAAAYlWNgYDzNAARMDgwMu
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+QYX2nV3TP2uXi8LUcfVdfVGdk2nMn1CPZV9n/ztP0jkbAp5op5XR9VJ9Z76Q51Tu8sCShr6MyAJo+qiu
+paKbqgv1HPFydQB9aZ66C8Bw8kzWDpztRcYoHmzVtsV6qADAH4B7oGeIcdpjWQAAAAASUVORK5CYII=&quot; width=&quot;24&quot; height=&quot;24&quot; /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Read Default Motor Configuration&lt;/span&gt;. This button will read the default motor configuration from the VESC to VESC Tool. The default configuration is hard-coded in firmware, and is how the VESC is configured right after uploading new firmware.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; color:#00A1E4;&quot;&gt;Warning&lt;/span&gt;: All of the motor settings currently in VESC Tool will be overwritten by pressing this button.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/2057.PNG;base64,i
+VBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAA4WlDQ1BzUkdCAAAYlWNgYDzNAARMDgwMu
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+mye3xJypFIwh222AAAAAElFTkSuQmCC&quot; width=&quot;24&quot; height=&quot;24&quot; /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Write Motor Configuration&lt;/span&gt;. This button will write the motor configuration that currently is in VESC Tool to the VESC. Every time you make a change to the motor configuration in VESC Tool you must use this button to apply the new settings. The new settings will be used as soon as you write them to the VESC, and they will be stored in the flash memory of the VESC persistently.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Every motor setting has three small buttons to the right of its value. They have the following functions:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/29987.PNG;base64,i
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+OWFigAAAABJRU5ErkJggg==&quot; width=&quot;20&quot; height=&quot;20&quot; /&gt;&lt;br /&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Read Current Value&lt;/span&gt;. This button will read the current value for this setting from the VESC.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/2982.PNG;base64,i
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Read Default Value&lt;/span&gt;. This button will read the default value for this setting from the VESC.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/3626.PNG;base64,i
+VBORw0KGgoAAAANSUhEUgAAABQAAAAUCAYAAACNiR0NAAAA4WlDQ1BzUkdCAAAYlWNgYDzNAARMDgwMu
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+X+zYP8lfgOHlZEKN7DBYwAAAABJRU5ErkJggg==&quot; width=&quot;20&quot; height=&quot;20&quot; /&gt;&lt;br /&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Show Help&lt;/span&gt;. This button will show a help dialog describing what this setting does. If you are not sure about a setting the help dialog can be very useful.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The full motor configuration, including the notes you make on the &lt;span style=&quot; font-weight:600;&quot;&gt;Description&lt;/span&gt; page, can also be written to and read from XML files using the &lt;span style=&quot; font-weight:600;&quot;&gt;File&lt;/span&gt; menu. This is a good way to keep your settings when going between different VESC Tool versions, to share your settings and to store your configuration in general.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Notice that uploading new firmware to the VESC will reset all its settings to their default values for that firmware. This means that after uploading firmware to the VESC you have to perform the motor configuration again.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </motor_setting_description>
+        <app_setting_description>
+            <longName>App Setting Description</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;App Settings&lt;/span&gt;&lt;/p&gt;
+&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This is where you can edit your app settings. The VESC can run one or more apps, and the apps are used to enable different functions on the communication interfaces of the VESC. If you are going to use your VESC with USB or CAN-bus you don't have to change the app configuration since these interfaces always are active. If you want to use conventional input devices such as nunchuks, ebike throttles or RC remote controllers you have to configure the apps accordingly.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The easiest way to configure your VESC for conventional input devices is to use the &lt;span style=&quot; font-weight:600;&quot;&gt;Input Setup Wizard&lt;/span&gt;. This wizard can be accessed from the welcome page, from the help menu or using the button at the bottom of this page.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The app settings are stored in their own configuration structure. Every time you make changes to the app configuration you have to write the configuration to the VESC in order to apply the new settings. Reading/writing the app configuration can be done using the buttons on the toolbar to the right. The functions of these toolbar buttons are the following:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/7220.PNG;base64,i
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+wrxK88BKyGE/TRPhQrl8QHWazO2mBBwJwAAAABJRU5ErkJggg==&quot; width=&quot;24&quot; height=&quot;24&quot; /&gt;&lt;br /&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Read App Configuration&lt;/span&gt;. This button will read the current app configuration from the VESC to VESC Tool.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; color:#00A1E4;&quot;&gt;Warning&lt;/span&gt;: All of the app settings currently in VESC Tool will be overwritten by pressing this button.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/863.PNG;base64,i
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+90UppBfSZTT+9DAGgIAAAAASUVORK5CYII=&quot; width=&quot;24&quot; height=&quot;24&quot; /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Read Default App Configuration&lt;/span&gt;. This button will read the default app configuration from the VESC to VESC Tool. The default configuration is hard-coded in firmware, and is how the VESC is configured right after uploading new firmware.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; color:#00A1E4;&quot;&gt;Warning&lt;/span&gt;: All of the app settings currently in VESC Tool will be overwritten by pressing this button.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/17702.PNG;base64,i
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Write App Configuration&lt;/span&gt;. This button will write the app configuration that currently is in VESC Tool to the VESC. Every time you make a change to the app configuration in VESC Tool you must use this button to apply the new settings. The new settings will be used as soon as you write them to the VESC, and they will be stored in the flash memory of the VESC persistently.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Every app setting has three small buttons to the right of its value. They have the following functions:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/19309.PNG;base64,i
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+OWFigAAAABJRU5ErkJggg==&quot; width=&quot;20&quot; height=&quot;20&quot; /&gt;&lt;br /&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Read Current Value&lt;/span&gt;. This button will read the current value for this setting from the VESC.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Read Default Value&lt;/span&gt;. This button will read the default value for this setting from the VESC.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/29590.PNG;base64,i
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+X+zYP8lfgOHlZEKN7DBYwAAAABJRU5ErkJggg==&quot; width=&quot;20&quot; height=&quot;20&quot; /&gt;&lt;br /&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Show Help&lt;/span&gt;. This button will show a help dialog describing what this setting does. If you are not sure about a setting the help dialog can be very useful.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The full app configuration can also be written to and read from XML files using the &lt;span style=&quot; font-weight:600;&quot;&gt;File&lt;/span&gt; menu. This is a good way to keep your settings when going between different VESC Tool versions, to share your settings and to store your configuration in general.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Notice that uploading new firmware to the VESC will reset all its settings to their default values for that firmware. This means that after uploading firmware to the VESC you have to perform the app configuration again.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </app_setting_description>
+        <data_analysis_description>
+            <longName>Data Analysis Description</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Data Analysis&lt;/span&gt;&lt;/p&gt;
+&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Here you can stream and plot data from the VESC to analyze what is going on. Next to all plots the following buttons are available:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If this button is toggled active (blue), scolling with the mouse on the graph will zoom the graph horizontally.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If this button is toggled active (blue), scolling with the mouse on the graph will zoom the graph vertically. Often it is useful to deactivate this button and only zoom in the horizontal direction because the sampled data can be squeezed together horizontally for long sampling sequences.&lt;/p&gt;
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This is the auto fit button. If the toggle verion of the button is active (blue), new realtime data that drops in will cause a rezoom in the graph to fit all data. Deactivating this button can be useful of you want to zoom in on the realtime data manually while samples are dropping in.&lt;/p&gt;
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This is the non-toggle version of the auto fit button. Pressing it will zoom the plots so that all data fits in them.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Realtime Data&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The realtime data page can be used to stream and plot filtered data continuously, which can be useful for visualizing things in real time while they are happening. For example, if you run a motor and put some load on it, you can see that reflected right away in the current and RPM graphs. Tuning the position and speed PID control parameters is also a lot easier when looking at the step response in a graph.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;In ordet to stream realtime data, the &lt;span style=&quot; font-style:italic;&quot;&gt;Stream realtime data&lt;/span&gt; button in the main toolbar to the right has to be activated:&lt;/p&gt;
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+II=&quot; width=&quot;32&quot; height=&quot;32&quot; /&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Sampled Data&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The sampled data page can be used to sample data at high rate internally on the VESC and send it back for plotting after that. This page can be used to visualize all samples taken by the ADCs to analyze the current and voltage waveforms in detail. Since this data is sampled at such a high rate it cannot be streamed in real time, which is why sampling and plotting has to be toggled manually. There are two buttons for starting the sampling in the lower toolbar in this page:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;img src=&quot;data:image/3365.PNG;base64,i
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sample data now and send it when this is done.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
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+Z6fygf3f6rVX1TOmrF1AAAAAElFTkSuQmCC&quot; width=&quot;32&quot; height=&quot;32&quot; /&gt; &lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sample data the next time the motor starts moving. This can be useful to analyze the startup behaviour in real time.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;There are also options to apply filters to the sampled data and/or to plot a FFT of all samples if desired.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </data_analysis_description>
+        <app_adc.info>
+            <longName>App ADC Information</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The cruise control button will maintain the current speed while pressed when current control is used and no throttle is given. The reverse button is used to reverse the throttle when one of the corresponding control modes is used.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;When only the ADC app is used, the TX pin is used for the cruise control button and the RX pin is used for the reverse button. When the ADC and UART apps are used at the same time, the servo input will be used as the button. In this case it will be used for the reverse button when a control mode with button is selected, otherwise it will be used for the cruise control button.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </app_adc.info>
+        <app_chuk.info>
+            <longName>Chuk Info</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This app has been tested with the wireless Nyko Kama nunchuk. The receiver can be connected directly to the I2C port on the ESC. The y-axis on the joystick is used for acceleration/braking. The buttons have the following functions:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;C-Button:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Cruise control. If the C-button is pressed, the ESC will maintail the current speed with a PID control loop. The joystick can still be used to accelerate and brake, but as soon as it is returned to the center position the new speed will be maintained, as long as the C-button remains pressed.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Z-Button:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The Z-button is used to change the direction of the motor if reverse is activated. Without reverse, Z has no effect.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;There is also a safety function. If nothing received from the nunchuk (including the accelerometers) changes for longer than the timeout value in the &lt;span style=&quot; font-style:italic;&quot;&gt;APP General&lt;/span&gt; page, the timeout function will be activated and either release the motor or brake with the current specified next to the timeout value.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </app_chuk.info>
+        <app_ppm_mapping_help>
+            <longName>PPM Pulselength Mapping</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PPM pulselength mapping is used to map the minimum and maximum throttle values from the PPM remote to the minimum and maximum throttle values of the motor controller. The following procedure can be used:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ol style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Activate the PPM app and write the configuration.&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Set the PPM control mode to disabled to avoid motor movement and write the configuration.&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Connect the remote.&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Activate app realtime data streaming in the main toolbar. The input display should show the decoded input value and pulse length if the remote is connected and on.&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Move the throttle between the minimum and maximum values to get them sampled.&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Apply the result.&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Write the configuration.&lt;/li&gt;&lt;/ol&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Input mapping should also be usable for those oneshot pulselengths that are popular for some multirotor flight controllers that don't have support for proper ESC communication such as CAN-bus or UART.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </app_ppm_mapping_help>
+        <app_adc_mapping_help>
+            <longName>ADC Voltage Mapping</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ADC voltage mapping is used to map the minimum and maximum throttle values from the analog throttle to the minimum and maximum throttle values of the motor controller. The following procedure can be used:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ol style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Activate the ADC app and write the app configuration.&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Set the ADC control mode to disabled to avoid motor movement and write the configuration.&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Connect the throttle(s).&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Activate realtime &lt;span style=&quot; font-weight:600;&quot;&gt;app&lt;/span&gt; data streaming in the main toolbar. The input displays should show the decoded input value and voltage if the throttle is connected.&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Move the throttle between the minimum and maximum values to get them sampled.&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Apply the result.&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Activate the desired control mode.&lt;/li&gt;
+&lt;li style=&quot;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Write the app configuration.&lt;/li&gt;&lt;/ol&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </app_adc_mapping_help>
+        <wizard_startup_intro>
+            <longName>Welcome to VESC® Tool</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Welcome to &lt;span style=&quot; font-weight:600;&quot;&gt;VESC&lt;/span&gt; &lt;span style=&quot; font-weight:600;&quot;&gt;Tool&lt;/span&gt;. Since this is the first time you start this version of VESC Tool, the introduction is shown. Please read all instructions carefully for your own safety.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </wizard_startup_intro>
+        <wizard_startup_usage>
+            <longName>Usage</longName>
+            <type>3</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif'; font-weight:600;&quot;&gt;VESC® Tool&lt;/span&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt; and the &lt;/span&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif'; font-weight:600;&quot;&gt;VESC® firmware&lt;/span&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt; are experimental software designed to develop and test electrical systems incorporating electric motors or actuators. Electrical systems can cause danger to humans, property and nature; therefore precautions shall be taken to avoid any risk. Under no circumstances shall the software be used where humans or property are put to risk without &lt;/span&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;thoroughly&lt;/span&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt; validating and testing the whole system. Software and hardware interact in various ways, and software developers cannot foresee all possible combinations of hardware used together with their software, nor problems that can occur in these different combinations.&lt;/span&gt; &lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;Things that can happen, even when using the correct settings, are&lt;/span&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'arial,helvetica,sans-serif';&quot; style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;electrical failure&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;fire&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; font-family:'arial,helvetica,sans-serif';&quot; style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;electric shock&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;hazardous smoke&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;overheating motors and actuators&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;overstrained power sources, causing fire or explosions (e.g. Lithium Ion Batteries)&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;motors or actuators stopping from spinning/moving&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;motors or actuators locking in, acting like a brake (full stop)&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; font-family:'arial,helvetica,sans-serif';&quot; style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;motors or actuators losing control over torque production (uncontrolled acceleration or braking)&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;interferences with other systems&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;other non-intended or unforeseeable behavior of the system&lt;/span&gt;&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;VESC Tool and the VESC firmware are developer tools that for safety reasons may only be used&lt;/span&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'arial,helvetica,sans-serif';&quot; style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;by experts and experienced users, knowing exactly what they do.&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;following safety standards applicable in the area of usage.&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;under safe conditions where software or hardware malfunction will not lead to death, injuries or severe property damage.&lt;/span&gt;&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'arial,helvetica,sans-serif';&quot;&gt;keeping in mind that software and hardware failures can happen. Although we design our products to minimize such issues, you should always operate with the understanding that a failure can occur at any point of time and without warning. As such, you shall take the appropriate precautions to minimize danger in case of failure.&lt;/span&gt; &lt;/li&gt;&lt;/ul&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <valString>Important usage information</valString>
+            <maxLen>0</maxLen>
+        </wizard_startup_usage>
+        <wizard_startup_warranty>
+            <longName>Warranty</longName>
+            <type>3</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;LIMITED WARRANTY STATEMENT &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;1. Warranty&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;1.1 THERE IS NO WARRANTY FOR THE VESC® SOFTWARE (VESC TOOL AND THE VESC FIRMWARE - PROGRAM FOR SHORT) TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM AS IS WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;1.2 Benjamin Vedder and contributors (the publisher(s) for short) shall not be liable for any defects that are caused by neglect, misuse or mistreatment by the Customer, including improper installation or testing, or for any products that have been altered or modified in any way by the Customer. Moreover, the publisher(s) shall not be liable for any defects that result from the Customers design, specifications or instructions for such products. Testing and other quality control techniques are used to the extent the publisher(s) deems necessary. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;1.3 The Customer agrees that prior to using any systems that include Open Source VESC® Software, the Customer will test such systems and the functionality of the products as used in such systems. The publisher(s) may provide technical, applications or design advice, quality characterization, reliability data or other services. The Customer acknowledges and agrees that providing these services shall not expand or otherwise alter the publisher(s) warranties, as set forth above, and that no additional obligations or liabilities shall arise from the publisher(s) providing such services. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;1.4 VESC® software products are not authorized for use in safety-critical applications where a failure of the Open Source VESC® software would reasonably be expected to cause severe personal injury or death. Safety-critical applications include, without limitation, life support devices and systems, equipment or systems for the operation of nuclear facilities and weapons systems. Open Source VESC® software is neither designed nor intended for use in military or aerospace applications or environments, nor for automotive applications or the automotive environment. The Customer acknowledges and agrees that any such use of VESC® software is solely at the Customer's risk, and that the Customer is solely responsible for compliance with all legal and regulatory requirements in connection with such use. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;1.5 The Customer acknowledges and agrees that the Customer is solely responsible for compliance with all legal, regulatory and safety-related requirements concerning the products and any use of the publisher(s) softwrae  products in the Customer's applications, not withstanding any applications-related information or support that may be provided by the publisher(s). &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;2. Limitation of Liability &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS THE PROGRAM AS PERMITTED THROUGH THE GNU GENERAL PUBLIC LICENSE (GNU GPL), BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;This section will survive the termination of the warranty period. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;3. Consequential Damages Waiver.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;In no event shall the publisher(s) be liable to the Customer or any third parties for any special, collateral, indirect, punitive, incidental, consequential or exemplary damages in connection with or arising out of the products provided hereunder, regardless of whether the publisher(s) has been advised of the possibility of such damages. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;This section will survive the termination of the warranty period. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;4. Changes to Specifications.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;The publisher(s) may make changes to specifications and product descriptions at any time, without notice. The Customer must not rely on the absence or characteristics of any features or instructions marked, reserved or undefined. The publisher(s) reserves these for future definition and shall have no responsibility whatsoever for conflicts or incompatibilities arising from future changes to them. The product information on the Web Site or Materials is subject to change without notice. Do not finalize a design with this information. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;5. Statutory laws. *&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;(i) some countries, regions, states or provinces do not allow the exclusion or limitation of remedies or of incidental, punitive, or consequential damages, or the applicable time periods, so the above limitations or exclusions may not apply.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;(ii) except to the extent lawfully permitted, this limited warranty does not exclude, restrict or modify statutory rights applicable to where the product is sold but, rather, is in addition to these rights.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;(*) European Consumer Centres provide information on EU-wide consumer laws as well as consumer laws for specific countries: http://ec.europa.eu/consumers/ecc/contact_en.htm &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Times New Roman,serif';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;The LIMITED WARRANTY STATEMENT is released as Creative Commons Attribution ShareAlike 3.0. &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;This means you can use it on your own derived works, in part or completely, as long as you also adopt the same license. You find the complete text of the license at https://creativecommons.org/licenses/by-sa/3.0/legalcode&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <valString>LIMITED WARRANTY STATEMENT</valString>
+            <maxLen>0</maxLen>
+        </wizard_startup_warranty>
+        <wizard_startup_conclusion>
+            <longName>Conclusion</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;You are now ready to start using VESC Tool. If you have any questions, visit &lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;a href=&quot;http://vesc-project.com/forum&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; text-decoration: underline; color:#5555ff;&quot;&gt;http://vesc-project.com/forum&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </wizard_startup_conclusion>
+        <gpl_text>
+            <longName>License</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;GNU GENERAL PUBLIC LICENSE&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Version 3, 29 June 2007&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Copyright © 2007 Free Software Foundation, Inc. &amp;lt;&lt;/span&gt;&lt;a href=&quot;https://fsf.org/&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; text-decoration: underline; color:#0000ff;&quot;&gt;https://fsf.org/&lt;/span&gt;&lt;/a&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;&amp;gt;&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;Preamble&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The GNU General Public License is a free, copyleft license for software and other kinds of works.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The licenses for most software and other practical works are designed to take away your freedom to share and change the works. By contrast, the GNU General Public License is intended to guarantee your freedom to share and change all versions of a program--to make sure it remains free software for all its users. We, the Free Software Foundation, use the GNU General Public License for most of our software; it applies also to any other work released this way by its authors. You can apply it to your programs, too.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;When we speak of free software, we are referring to freedom, not price. Our General Public Licenses are designed to make sure that you have the freedom to distribute copies of free software (and charge for them if you wish), that you receive source code or can get it if you want it, that you can change the software or use pieces of it in new free programs, and that you know you can do these things.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;To protect your rights, we need to prevent others from denying you these rights or asking you to surrender the rights. Therefore, you have certain responsibilities if you distribute copies of the software, or if you modify it: responsibilities to respect the freedom of others.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;For example, if you distribute copies of such a program, whether gratis or for a fee, you must pass on to the recipients the same freedoms that you received. You must make sure that they, too, receive or can get the source code. And you must show them these terms so they know their rights.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Developers that use the GNU GPL protect your rights with two steps: (1) assert copyright on the software, and (2) offer you this License giving you legal permission to copy, distribute and/or modify it.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;For the developers' and authors' protection, the GPL clearly explains that there is no warranty for this free software. For both users' and authors' sake, the GPL requires that modified versions be marked as changed, so that their problems will not be attributed erroneously to authors of previous versions.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Some devices are designed to deny users access to install or run modified versions of the software inside them, although the manufacturer can do so. This is fundamentally incompatible with the aim of protecting users' freedom to change the software. The systematic pattern of such abuse occurs in the area of products for individuals to use, which is precisely where it is most unacceptable. Therefore, we have designed this version of the GPL to prohibit the practice for those products. If such problems arise substantially in other domains, we stand ready to extend this provision to those domains in future versions of the GPL, as needed to protect the freedom of users.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Finally, every program is threatened constantly by software patents. States should not allow patents to restrict development and use of software on general-purpose computers, but in those that do, we wish to avoid the special danger that patents applied to a free program could make it effectively proprietary. To prevent this, the GPL assures that patents cannot be used to render the program non-free.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The precise terms and conditions for copying, distribution and modification follow.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;TERMS AND CONDITIONS&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;0. Definitions.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;“&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;This License” refers to version 3 of the GNU General Public License.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;“&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Copyright” also means copyright-like laws that apply to other kinds of works, such as semiconductor masks.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;“&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The Program” refers to any copyrightable work licensed under this License. Each licensee is addressed as “you”. “Licensees” and “recipients” may be individuals or organizations.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;To “modify” a work means to copy from or adapt all or part of the work in a fashion requiring copyright permission, other than the making of an exact copy. The resulting work is called a “modified version” of the earlier work or a work “based on” the earlier work.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;A “covered work” means either the unmodified Program or a work based on the Program.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;To “propagate” a work means to do anything with it that, without permission, would make you directly or secondarily liable for infringement under applicable copyright law, except executing it on a computer or modifying a private copy. Propagation includes copying, distribution (with or without modification), making available to the public, and in some countries other activities as well.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;To “convey” a work means any kind of propagation that enables other parties to make or receive copies. Mere interaction with a user through a computer network, with no transfer of a copy, is not conveying.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;An interactive user interface displays “Appropriate Legal Notices” to the extent that it includes a convenient and prominently visible feature that (1) displays an appropriate copyright notice, and (2) tells the user that there is no warranty for the work (except to the extent that warranties are provided), that licensees may convey the work under this License, and how to view a copy of this License. If the interface presents a list of user commands or options, such as a menu, a prominent item in the list meets this criterion.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;1. Source Code.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The “source code” for a work means the preferred form of the work for making modifications to it. “Object code” means any non-source form of a work.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;A “Standard Interface” means an interface that either is an official standard defined by a recognized standards body, or, in the case of interfaces specified for a particular programming language, one that is widely used among developers working in that language.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The “System Libraries” of an executable work include anything, other than the work as a whole, that (a) is included in the normal form of packaging a Major Component, but which is not part of that Major Component, and (b) serves only to enable use of the work with that Major Component, or to implement a Standard Interface for which an implementation is available to the public in source code form. A “Major Component”, in this context, means a major essential component (kernel, window system, and so on) of the specific operating system (if any) on which the executable work runs, or a compiler used to produce the work, or an object code interpreter used to run it.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The “Corresponding Source” for a work in object code form means all the source code needed to generate, install, and (for an executable work) run the object code and to modify the work, including scripts to control those activities. However, it does not include the work's System Libraries, or general-purpose tools or generally available free programs which are used unmodified in performing those activities but which are not part of the work. For example, Corresponding Source includes interface definition files associated with source files for the work, and the source code for shared libraries and dynamically linked subprograms that the work is specifically designed to require, such as by intimate data communication or control flow between those subprograms and other parts of the work.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The Corresponding Source need not include anything that users can regenerate automatically from other parts of the Corresponding Source.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The Corresponding Source for a work in source code form is that same work.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;2. Basic Permissions.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;All rights granted under this License are granted for the term of copyright on the Program, and are irrevocable provided the stated conditions are met. This License explicitly affirms your unlimited permission to run the unmodified Program. The output from running a covered work is covered by this License only if the output, given its content, constitutes a covered work. This License acknowledges your rights of fair use or other equivalent, as provided by copyright law.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You may make, run and propagate covered works that you do not convey, without conditions so long as your license otherwise remains in force. You may convey covered works to others for the sole purpose of having them make modifications exclusively for you, or provide you with facilities for running those works, provided that you comply with the terms of this License in conveying all material for which you do not control copyright. Those thus making or running the covered works for you must do so exclusively on your behalf, under your direction and control, on terms that prohibit them from making any copies of your copyrighted material outside their relationship with you.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Conveying under any other circumstances is permitted solely under the conditions stated below. Sublicensing is not allowed; section 10 makes it unnecessary.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;3. Protecting Users' Legal Rights From Anti-Circumvention Law.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;No covered work shall be deemed part of an effective technological measure under any applicable law fulfilling obligations under article 11 of the WIPO copyright treaty adopted on 20 December 1996, or similar laws prohibiting or restricting circumvention of such measures.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;When you convey a covered work, you waive any legal power to forbid circumvention of technological measures to the extent such circumvention is effected by exercising rights under this License with respect to the covered work, and you disclaim any intention to limit operation or modification of the work as a means of enforcing, against the work's users, your or third parties' legal rights to forbid circumvention of technological measures.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;4. Conveying Verbatim Copies.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You may convey verbatim copies of the Program's source code as you receive it, in any medium, provided that you conspicuously and appropriately publish on each copy an appropriate copyright notice; keep intact all notices stating that this License and any non-permissive terms added in accord with section 7 apply to the code; keep intact all notices of the absence of any warranty; and give all recipients a copy of this License along with the Program.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You may charge any price or no price for each copy that you convey, and you may offer support or warranty protection for a fee.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;5. Conveying Modified Source Versions.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You may convey a work based on the Program, or the modifications to produce it from the Program, in the form of source code under the terms of section 4, provided that you also meet all of these conditions:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; a) The work must carry prominent notices stating that you modified it, and giving a relevant date.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; b) The work must carry prominent notices stating that it is released under this License and any conditions added under section 7. This requirement modifies the requirement in section 4 to “keep intact all notices”.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; c) You must license the entire work, as a whole, under this License to anyone who comes into possession of a copy. This License will therefore apply, along with any applicable section 7 additional terms, to the whole of the work, and all its parts, regardless of how they are packaged. This License gives no permission to license the work in any other way, but it does not invalidate such permission if you have separately received it.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; d) If the work has interactive user interfaces, each must display Appropriate Legal Notices; however, if the Program has interactive interfaces that do not display Appropriate Legal Notices, your work need not make them do so.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;A compilation of a covered work with other separate and independent works, which are not by their nature extensions of the covered work, and which are not combined with it such as to form a larger program, in or on a volume of a storage or distribution medium, is called an “aggregate” if the compilation and its resulting copyright are not used to limit the access or legal rights of the compilation's users beyond what the individual works permit. Inclusion of a covered work in an aggregate does not cause this License to apply to the other parts of the aggregate.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;6. Conveying Non-Source Forms.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You may convey a covered work in object code form under the terms of sections 4 and 5, provided that you also convey the machine-readable Corresponding Source under the terms of this License, in one of these ways:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; a) Convey the object code in, or embodied in, a physical product (including a physical distribution medium), accompanied by the Corresponding Source fixed on a durable physical medium customarily used for software interchange.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; b) Convey the object code in, or embodied in, a physical product (including a physical distribution medium), accompanied by a written offer, valid for at least three years and valid for as long as you offer spare parts or customer support for that product model, to give anyone who possesses the object code either (1) a copy of the Corresponding Source for all the software in the product that is covered by this License, on a durable physical medium customarily used for software interchange, for a price no more than your reasonable cost of physically performing this conveying of source, or (2) access to copy the Corresponding Source from a network server at no charge.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; c) Convey individual copies of the object code with a copy of the written offer to provide the Corresponding Source. This alternative is allowed only occasionally and noncommercially, and only if you received the object code with such an offer, in accord with subsection 6b.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; d) Convey the object code by offering access from a designated place (gratis or for a charge), and offer equivalent access to the Corresponding Source in the same way through the same place at no further charge. You need not require recipients to copy the Corresponding Source along with the object code. If the place to copy the object code is a network server, the Corresponding Source may be on a different server (operated by you or a third party) that supports equivalent copying facilities, provided you maintain clear directions next to the object code saying where to find the Corresponding Source. Regardless of what server hosts the Corresponding Source, you remain obligated to ensure that it is available for as long as needed to satisfy these requirements.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; e) Convey the object code using peer-to-peer transmission, provided you inform other peers where the object code and Corresponding Source of the work are being offered to the general public at no charge under subsection 6d.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;A separable portion of the object code, whose source code is excluded from the Corresponding Source as a System Library, need not be included in conveying the object code work.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;A “User Product” is either (1) a “consumer product”, which means any tangible personal property which is normally used for personal, family, or household purposes, or (2) anything designed or sold for incorporation into a dwelling. In determining whether a product is a consumer product, doubtful cases shall be resolved in favor of coverage. For a particular product received by a particular user, “normally used” refers to a typical or common use of that class of product, regardless of the status of the particular user or of the way in which the particular user actually uses, or expects or is expected to use, the product. A product is a consumer product regardless of whether the product has substantial commercial, industrial or non-consumer uses, unless such uses represent the only significant mode of use of the product.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;“&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Installation Information” for a User Product means any methods, procedures, authorization keys, or other information required to install and execute modified versions of a covered work in that User Product from a modified version of its Corresponding Source. The information must suffice to ensure that the continued functioning of the modified object code is in no case prevented or interfered with solely because modification has been made.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If you convey an object code work under this section in, or with, or specifically for use in, a User Product, and the conveying occurs as part of a transaction in which the right of possession and use of the User Product is transferred to the recipient in perpetuity or for a fixed term (regardless of how the transaction is characterized), the Corresponding Source conveyed under this section must be accompanied by the Installation Information. But this requirement does not apply if neither you nor any third party retains the ability to install modified object code on the User Product (for example, the work has been installed in ROM).&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The requirement to provide Installation Information does not include a requirement to continue to provide support service, warranty, or updates for a work that has been modified or installed by the recipient, or for the User Product in which it has been modified or installed. Access to a network may be denied when the modification itself materially and adversely affects the operation of the network or violates the rules and protocols for communication across the network.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Corresponding Source conveyed, and Installation Information provided, in accord with this section must be in a format that is publicly documented (and with an implementation available to the public in source code form), and must require no special password or key for unpacking, reading or copying.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;7. Additional Terms.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;“&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Additional permissions” are terms that supplement the terms of this License by making exceptions from one or more of its conditions. Additional permissions that are applicable to the entire Program shall be treated as though they were included in this License, to the extent that they are valid under applicable law. If additional permissions apply only to part of the Program, that part may be used separately under those permissions, but the entire Program remains governed by this License without regard to the additional permissions.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;When you convey a copy of a covered work, you may at your option remove any additional permissions from that copy, or from any part of it. (Additional permissions may be written to require their own removal in certain cases when you modify the work.) You may place additional permissions on material, added by you to a covered work, for which you have or can give appropriate copyright permission.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Notwithstanding any other provision of this License, for material you add to a covered work, you may (if authorized by the copyright holders of that material) supplement the terms of this License with terms:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; a) Disclaiming warranty or limiting liability differently from the terms of sections 15 and 16 of this License; or&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; b) Requiring preservation of specified reasonable legal notices or author attributions in that material or in the Appropriate Legal Notices displayed by works containing it; or&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; c) Prohibiting misrepresentation of the origin of that material, or requiring that modified versions of such material be marked in reasonable ways as different from the original version; or&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; d) Limiting the use for publicity purposes of names of licensors or authors of the material; or&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; e) Declining to grant rights under trademark law for use of some trade names, trademarks, or service marks; or&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;•&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt; f) Requiring indemnification of licensors and authors of that material by anyone who conveys the material (or modified versions of it) with contractual assumptions of liability to the recipient, for any liability that these contractual assumptions directly impose on those licensors and authors.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;All other non-permissive additional terms are considered “further restrictions” within the meaning of section 10. If the Program as you received it, or any part of it, contains a notice stating that it is governed by this License along with a term that is a further restriction, you may remove that term. If a license document contains a further restriction but permits relicensing or conveying under this License, you may add to a covered work material governed by the terms of that license document, provided that the further restriction does not survive such relicensing or conveying.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If you add terms to a covered work in accord with this section, you must place, in the relevant source files, a statement of the additional terms that apply to those files, or a notice indicating where to find the applicable terms.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Additional terms, permissive or non-permissive, may be stated in the form of a separately written license, or stated as exceptions; the above requirements apply either way.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;8. Termination.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You may not propagate or modify a covered work except as expressly provided under this License. Any attempt otherwise to propagate or modify it is void, and will automatically terminate your rights under this License (including any patent licenses granted under the third paragraph of section 11).&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;However, if you cease all violation of this License, then your license from a particular copyright holder is reinstated (a) provisionally, unless and until the copyright holder explicitly and finally terminates your license, and (b) permanently, if the copyright holder fails to notify you of the violation by some reasonable means prior to 60 days after the cessation.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Moreover, your license from a particular copyright holder is reinstated permanently if the copyright holder notifies you of the violation by some reasonable means, this is the first time you have received notice of violation of this License (for any work) from that copyright holder, and you cure the violation prior to 30 days after your receipt of the notice.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Termination of your rights under this section does not terminate the licenses of parties who have received copies or rights from you under this License. If your rights have been terminated and not permanently reinstated, you do not qualify to receive new licenses for the same material under section 10.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;9. Acceptance Not Required for Having Copies.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You are not required to accept this License in order to receive or run a copy of the Program. Ancillary propagation of a covered work occurring solely as a consequence of using peer-to-peer transmission to receive a copy likewise does not require acceptance. However, nothing other than this License grants you permission to propagate or modify any covered work. These actions infringe copyright if you do not accept this License. Therefore, by modifying or propagating a covered work, you indicate your acceptance of this License to do so.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;10. Automatic Licensing of Downstream Recipients.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Each time you convey a covered work, the recipient automatically receives a license from the original licensors, to run, modify and propagate that work, subject to this License. You are not responsible for enforcing compliance by third parties with this License.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;An “entity transaction” is a transaction transferring control of an organization, or substantially all assets of one, or subdividing an organization, or merging organizations. If propagation of a covered work results from an entity transaction, each party to that transaction who receives a copy of the work also receives whatever licenses to the work the party's predecessor in interest had or could give under the previous paragraph, plus a right to possession of the Corresponding Source of the work from the predecessor in interest, if the predecessor has it or can get it with reasonable efforts.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You may not impose any further restrictions on the exercise of the rights granted or affirmed under this License. For example, you may not impose a license fee, royalty, or other charge for exercise of rights granted under this License, and you may not initiate litigation (including a cross-claim or counterclaim in a lawsuit) alleging that any patent claim is infringed by making, using, selling, offering for sale, or importing the Program or any portion of it.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;11. Patents.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;A “contributor” is a copyright holder who authorizes use under this License of the Program or a work on which the Program is based. The work thus licensed is called the contributor's “contributor version”.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;A contributor's “essential patent claims” are all patent claims owned or controlled by the contributor, whether already acquired or hereafter acquired, that would be infringed by some manner, permitted by this License, of making, using, or selling its contributor version, but do not include claims that would be infringed only as a consequence of further modification of the contributor version. For purposes of this definition, “control” includes the right to grant patent sublicenses in a manner consistent with the requirements of this License.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Each contributor grants you a non-exclusive, worldwide, royalty-free patent license under the contributor's essential patent claims, to make, use, sell, offer for sale, import and otherwise run, modify and propagate the contents of its contributor version.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;In the following three paragraphs, a “patent license” is any express agreement or commitment, however denominated, not to enforce a patent (such as an express permission to practice a patent or covenant not to sue for patent infringement). To “grant” such a patent license to a party means to make such an agreement or commitment not to enforce a patent against the party.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If you convey a covered work, knowingly relying on a patent license, and the Corresponding Source of the work is not available for anyone to copy, free of charge and under the terms of this License, through a publicly available network server or other readily accessible means, then you must either (1) cause the Corresponding Source to be so available, or (2) arrange to deprive yourself of the benefit of the patent license for this particular work, or (3) arrange, in a manner consistent with the requirements of this License, to extend the patent license to downstream recipients. “Knowingly relying” means you have actual knowledge that, but for the patent license, your conveying the covered work in a country, or your recipient's use of the covered work in a country, would infringe one or more identifiable patents in that country that you have reason to believe are valid.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If, pursuant to or in connection with a single transaction or arrangement, you convey, or propagate by procuring conveyance of, a covered work, and grant a patent license to some of the parties receiving the covered work authorizing them to use, propagate, modify or convey a specific copy of the covered work, then the patent license you grant is automatically extended to all recipients of the covered work and works based on it.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;A patent license is “discriminatory” if it does not include within the scope of its coverage, prohibits the exercise of, or is conditioned on the non-exercise of one or more of the rights that are specifically granted under this License. You may not convey a covered work if you are a party to an arrangement with a third party that is in the business of distributing software, under which you make payment to the third party based on the extent of your activity of conveying the work, and under which the third party grants, to any of the parties who would receive the covered work from you, a discriminatory patent license (a) in connection with copies of the covered work conveyed by you (or copies made from those copies), or (b) primarily for and in connection with specific products or compilations that contain the covered work, unless you entered into that arrangement, or that patent license was granted, prior to 28 March 2007.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Nothing in this License shall be construed as excluding or limiting any implied license or other defenses to infringement that may otherwise be available to you under applicable patent law.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;12. No Surrender of Others' Freedom.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If conditions are imposed on you (whether by court order, agreement or otherwise) that contradict the conditions of this License, they do not excuse you from the conditions of this License. If you cannot convey a covered work so as to satisfy simultaneously your obligations under this License and any other pertinent obligations, then as a consequence you may not convey it at all. For example, if you agree to terms that obligate you to collect a royalty for further conveying from those to whom you convey the Program, the only way you could satisfy both those terms and this License would be to refrain entirely from conveying the Program.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;13. Use with the GNU Affero General Public License.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Notwithstanding any other provision of this License, you have permission to link or combine any covered work with a work licensed under version 3 of the GNU Affero General Public License into a single combined work, and to convey the resulting work. The terms of this License will continue to apply to the part which is the covered work, but the special requirements of the GNU Affero General Public License, section 13, concerning interaction through a network will apply to the combination as such.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;14. Revised Versions of this License.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The Free Software Foundation may publish revised and/or new versions of the GNU General Public License from time to time. Such new versions will be similar in spirit to the present version, but may differ in detail to address new problems or concerns.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Each version is given a distinguishing version number. If the Program specifies that a certain numbered version of the GNU General Public License “or any later version” applies to it, you have the option of following the terms and conditions either of that numbered version or of any later version published by the Free Software Foundation. If the Program does not specify a version number of the GNU General Public License, you may choose any version ever published by the Free Software Foundation.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If the Program specifies that a proxy can decide which future versions of the GNU General Public License can be used, that proxy's public statement of acceptance of a version permanently authorizes you to choose that version for the Program.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Later license versions may give you additional or different permissions. However, no additional obligations are imposed on any author or copyright holder as a result of your choosing to follow a later version.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;15. Disclaimer of Warranty.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM “AS IS” WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;16. Limitation of Liability.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;17. Interpretation of Sections 15 and 16.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If the disclaimer of warranty and limitation of liability provided above cannot be given local legal effect according to their terms, reviewing courts shall apply local law that most closely approximates an absolute waiver of all civil liability in connection with the Program, unless a warranty or assumption of liability accompanies a copy of the Program in return for a fee.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;END OF TERMS AND CONDITIONS&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; font-weight:600;&quot;&gt;How to Apply These Terms to Your New Programs&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If you develop a new program, and you want it to be of the greatest possible use to the public, the best way to achieve this is to make it free software which everyone can redistribute and change under these terms.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;To do so, attach the following notices to the program. It is safest to attach them to the start of each source file to most effectively state the exclusion of warranty; and each file should have at least the “copyright” line and a pointer to where the full notice is found.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;&amp;lt;one line to give the program's name and a brief idea of what it does.&amp;gt;&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;Copyright (C) &amp;lt;year&amp;gt; &amp;lt;name of author&amp;gt;&lt;/span&gt;&lt;br /&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;This program is free software: you can redistribute it and/or modify&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;it under the terms of the GNU General Public License as published by&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;the Free Software Foundation, either version 3 of the License, or&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;(at your option) any later version.&lt;/span&gt;&lt;br /&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;This program is distributed in the hope that it will be useful,&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;but WITHOUT ANY WARRANTY; without even the implied warranty of&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;GNU General Public License for more details.&lt;/span&gt;&lt;br /&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;You should have received a copy of the GNU General Public License&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;along with this program. If not, see &amp;lt;https://www.gnu.org/licenses/&amp;gt;.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;Also add information on how to contact you by electronic and paper mail.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;If the program does terminal interaction, make it output a short notice like this when it starts in an interactive mode:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;&amp;lt;program&amp;gt; Copyright (C) &amp;lt;year&amp;gt; &amp;lt;name of author&amp;gt;&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;This is free software, and you are welcome to redistribute it&lt;/span&gt;&lt;br /&gt;&lt;span style=&quot; font-family:'Courier, serif';&quot;&gt;under certain conditions; type `show c' for details.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The hypothetical commands `show w' and `show c' should show the appropriate parts of the General Public License. Of course, your program's commands might be different; for a GUI interface, you would use an “about box”.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;You should also get your employer (if you work as a programmer) or school, if any, to sign a “copyright disclaimer” for the program, if necessary. For more information on this, and how to apply and follow the GNU GPL, see &amp;lt;&lt;/span&gt;&lt;a href=&quot;https://www.gnu.org/licenses/&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; text-decoration: underline; color:#0000ff;&quot;&gt;https://www.gnu.org/licenses/&lt;/span&gt;&lt;/a&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;&amp;gt;.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;The GNU General Public License does not permit incorporating your program into proprietary programs. If your program is a subroutine library, you may consider it more useful to permit linking proprietary applications with the library. If this is what you want to do, use the GNU Lesser General Public License instead of this License. But first, please read &amp;lt;&lt;/span&gt;&lt;a href=&quot;https://www.gnu.org/licenses/why-not-lgpl.html&quot;&gt;&lt;span style=&quot; font-family:'Helvetica, serif'; text-decoration: underline; color:#0000ff;&quot;&gt;https://www.gnu.org/licenses/why-not-lgpl.html&lt;/span&gt;&lt;/a&gt;&lt;span style=&quot; font-family:'Helvetica, serif';&quot;&gt;&amp;gt;.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </gpl_text>
+        <ios_license_text>
+            <longName>License</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This app is distributed under the Apple EULA for this platform. This license is issued by Benjamin Vedder, Benjamin@vedder.se. Distribution and maintenance of the application is managed by Jeffrey Friesen and questions and correspondence should be directed to Jfriesen222@gmail.com.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;All source code for this application is also available open-source under the GPLv3 license and is available for  compilation across many platforms here: &lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;a href=&quot;https://github.com/vedderb/vesc_tool&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#419cff;&quot;&gt;https://github.com/vedderb/vesc_tool&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; text-decoration: underline; color:#419cff;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;All libraries and appropriate licensing information can be found within this repository as well. &lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; text-decoration: underline; color:#419cff;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;More informati&lt;span style=&quot; color:#dcdcdc;&quot;&gt;on regarding the VESC®&lt;/span&gt; Project can be found here:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;a href=&quot;https://vesc-project.com/&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#419cff;&quot;&gt;https://vesc-project.com/&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; text-decoration: underline; color:#419cff;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#dcdcdc;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#dcdcdc;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </ios_license_text>
+    </Params>
+    <SerOrder/>
+    <Grouping/>
+</ConfigParams>
diff --git a/res/config/6.05/parameters_appconf.xml b/res/config/6.05/parameters_appconf.xml
new file mode 100644
index 000000000..efbd428f0
--- /dev/null
+++ b/res/config/6.05/parameters_appconf.xml
@@ -0,0 +1,4679 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ConfigParams>
+    <Params>
+        <controller_id>
+            <longName>VESC ID</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;VESC ID. Used to identify this VESC on the CAN-bus.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CONTROLLER_ID</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>74</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </controller_id>
+        <timeout_msec>
+            <longName>Timeout</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Switch off the motor when no input has beed received for this amount of time. Notice that VESC Tool will send alive packets while connected, so the timeout won't occur before you disconnect VESC Tool even if the input gets disconnected.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_TIMEOUT_MSEC</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>30000000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>1000</valInt>
+            <suffix> ms</suffix>
+            <vTx>5</vTx>
+        </timeout_msec>
+        <timeout_brake_current>
+            <longName>Timeout Brake Current</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Apply brake with this amount of current after a timeout.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_TIMEOUT_BRAKE_CURRENT</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </timeout_brake_current>
+        <can_status_rate_1>
+            <longName>Can Status Rate 1</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Rate 1 at which CAN status messages are sent on the CAN-bus.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CAN_STATUS_RATE_1</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>50</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </can_status_rate_1>
+        <can_status_rate_2>
+            <longName>Can Status Rate 2</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Rate 2 at which CAN status messages are sent on the CAN-bus.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CAN_STATUS_RATE_2</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>5</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </can_status_rate_2>
+        <can_status_msgs_r1>
+            <longName>Can Messages Rate 1</longName>
+            <type>6</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Select which CAN status messages are sent are status rate 1. The messages contain:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 1:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;RPM&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty Cucle&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 2:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Ah Used&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Ah Charged&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 3:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Wh Used&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Wh Charged&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 4:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Temp FET&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Temp Motor&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current In&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PID-position Now&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 5:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage In&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Tachometer&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 6:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ADC1&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ADC2&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ADC3&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PPM&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CAN_STATUS_MSGS_R1</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Status 1</enumNames>
+            <enumNames>Status 2</enumNames>
+            <enumNames>Status 3</enumNames>
+            <enumNames>Status 4</enumNames>
+            <enumNames>Status 5</enumNames>
+            <enumNames>Status 6</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+        </can_status_msgs_r1>
+        <can_status_msgs_r2>
+            <longName>Can Messages Rate 2</longName>
+            <type>6</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Select which CAN status messages are sent are status rate 2. The messages contain:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 1:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;RPM&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty Cucle&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 2:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Ah Used&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Ah Charged&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 3:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Wh Used&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Wh Charged&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 4:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Temp FET&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Temp Motor&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current In&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PID-position Now&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 5:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage In&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Tachometer&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Status 6:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ADC1&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ADC2&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ADC3&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PPM&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CAN_STATUS_MSGS_R2</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Status 1</enumNames>
+            <enumNames>Status 2</enumNames>
+            <enumNames>Status 3</enumNames>
+            <enumNames>Status 4</enumNames>
+            <enumNames>Status 5</enumNames>
+            <enumNames>Status 6</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+        </can_status_msgs_r2>
+        <can_baud_rate>
+            <longName>CAN Baud Rate</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The baud rate of the CAN-Bus. Note that all devices on the bus must have the same baud rate.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CAN_BAUD_RATE</cDefine>
+            <valInt>2</valInt>
+            <enumNames>CAN_BAUD_125K</enumNames>
+            <enumNames>CAN_BAUD_250K</enumNames>
+            <enumNames>CAN_BAUD_500K</enumNames>
+            <enumNames>CAN_BAUD_1M</enumNames>
+            <enumNames>CAN_BAUD_10K</enumNames>
+            <enumNames>CAN_BAUD_20K</enumNames>
+            <enumNames>CAN_BAUD_50K</enumNames>
+            <enumNames>CAN_BAUD_75K</enumNames>
+            <enumNames>CAN_BAUD_100K</enumNames>
+        </can_baud_rate>
+        <pairing_done>
+            <longName>Pairing Done</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Pairing done flag. If this flag is set, a bluetooth connection can only be made if the VESC Tool instance making the connection has been paired to this VESC. The pairing is done by storing the UUID of the VESC in the pairing list.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAIRING_DONE</cDefine>
+            <valInt>0</valInt>
+        </pairing_done>
+        <permanent_uart_enabled>
+            <longName>Enable Permanent UART</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Enable the permanent UART port (if the hardware has one). This port can be connected to e.g. the NRF51 for providing a BLE link. You may want to disable this to prevent access to your VESC over BLE.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PERMANENT_UART_ENABLED</cDefine>
+            <valInt>1</valInt>
+        </permanent_uart_enabled>
+        <shutdown_mode>
+            <longName>Shutdown Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Shutdown mode for hardware that supports it (such as the VESC HD). Determines how the VESC shuts itself off, which eliminates the need for an external switch.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;NOTE:&lt;/span&gt; Most VESCs with this feature also support push to start, which means that the VESC will switch on as soon as the motor is turned at a minimum speed.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The available modes are:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ALWAYS_OFF&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC power is only determined by the inverted state of the shutdown input.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ALWAYS_ON&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on ofter being powered.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TOGGLE_BUTTON_ONLY&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutfown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;OFF_AFTER_x&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware suports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_SHUTDOWN_MODE</cDefine>
+            <valInt>7</valInt>
+            <enumNames>ALWAYS_OFF</enumNames>
+            <enumNames>ALWAYS_ON</enumNames>
+            <enumNames>TOGGLE_BUTTON_ONLY</enumNames>
+            <enumNames>OFF_AFTER_10S</enumNames>
+            <enumNames>OFF_AFTER_1M</enumNames>
+            <enumNames>OFF_AFTER_5M</enumNames>
+            <enumNames>OFF_AFTER_10M</enumNames>
+            <enumNames>OFF_AFTER_30M</enumNames>
+            <enumNames>OFF_AFTER_1H</enumNames>
+            <enumNames>OFF_AFTER_5H</enumNames>
+        </shutdown_mode>
+        <can_mode>
+            <longName>CAN Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;CAN-bus mode.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;VESC&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Default VESC CAN-bus. Required for CAN forwarding and configuring multiple VESCs using VESC Tool.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;UAVCAN&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Basic implementation of UAVCAN. Currently needs some work.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Comm Brigde&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Bridge CAN-bus to commands. Useful for using the VESC and VESC Tool as a generic CAN interface and debugger.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Unused&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;CAN-frames are not processed at all and just ignored. Custom applications and scripts can still process CAN-frames. This is very similar to &lt;span style=&quot; font-weight:600;&quot;&gt;Comm Bridge&lt;/span&gt;, but the received frames are not forwarded using commands.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CAN_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>VESC</enumNames>
+            <enumNames>UAVCAN</enumNames>
+            <enumNames>Comm Bridge</enumNames>
+            <enumNames>Unused</enumNames>
+        </can_mode>
+        <uavcan_esc_index>
+            <longName>UAVCAN ESC Index</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;ESC index in UAVCAN messages.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_UAVCAN_ESC_INDEX</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>0</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </uavcan_esc_index>
+        <uavcan_raw_mode>
+            <longName>UAVCAN Raw Throttle Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Drive mode for the raw throttle command in UAVCAN.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current Control&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The raw command corresponds to a fraction of the configured current limit. 1.0 is maximum current forwards and -1.0 is maximum current reverse.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current No Reverse Brake&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as current control, but negative values only give braking and don't start the motor in the other direction.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Duty Cycle Control&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty cycle control.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;RPM Control&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;RPM control. Use the raw command times the maximum configured ERPM value. Negative values will run the motor in reverse. Note that this will set the value in ERPM, so the RPM will be scaled by the number of pole pairs.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_UAVCAN_RAW_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Current Control</enumNames>
+            <enumNames>Current No Reverse Brake</enumNames>
+            <enumNames>Duty Cycle Control</enumNames>
+            <enumNames>RPM Control</enumNames>
+        </uavcan_raw_mode>
+        <uavcan_raw_rpm_max>
+            <longName>UAVCAN Raw RPM Max</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum ERPM for the RPM mode of the raw command.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_UAVCAN_RAW_RPM_MAX</cDefine>
+            <editorDecimalsDouble>0</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>400000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>50000</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </uavcan_raw_rpm_max>
+        <uavcan_status_current_mode>
+            <longName>UAVCAN Status Current Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current to send in status message.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_UAVCAN_STATUS_CURRENT_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Motor Current</enumNames>
+            <enumNames>Input Current</enumNames>
+        </uavcan_status_current_mode>
+        <servo_out_enable>
+            <longName>Enable Servo Output</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Enable servo output on PPM-port when PPM-app is disabled.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_SERVO_OUT_ENABLE</cDefine>
+            <valInt>0</valInt>
+        </servo_out_enable>
+        <kill_sw_mode>
+            <longName>Kill Switch Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Kill switch input. When this input is active the motor is disabled and optionally braking if timeout_brake_current is greater than 0. The kill switch overrides all other inputs and can be used as an emergency stop.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The following modes can be used:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Disabled&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;No kill switch is used.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PPM Low&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The kill switch is active when the PPM input goes low.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PPM High&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The kill switch is active when the PPM input goes high.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ADC2 Low&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The kill switch is active when the ADC2 input goes low.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ADC2 High&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The kill switch is active when the ADC2 input goes high.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_KILL_SW_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Disabled</enumNames>
+            <enumNames>PPM Low</enumNames>
+            <enumNames>PPM High</enumNames>
+            <enumNames>ADC2 Low</enumNames>
+            <enumNames>ADC2 High</enumNames>
+        </kill_sw_mode>
+        <app_to_use>
+            <longName>APP to Use</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The APP to use. With multiple VESC connected over CAN only the master needs to have an app to use set up. Notice that using the NRF nunchuk needs the NRF app.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_APP_TO_USE</cDefine>
+            <valInt>3</valInt>
+            <enumNames>No App</enumNames>
+            <enumNames>PPM</enumNames>
+            <enumNames>ADC</enumNames>
+            <enumNames>UART</enumNames>
+            <enumNames>PPM and UART</enumNames>
+            <enumNames>ADC and UART</enumNames>
+            <enumNames>Nunchuk (I2C, Nyko Kama)</enumNames>
+            <enumNames>NRF</enumNames>
+            <enumNames>Custom User App</enumNames>
+            <enumNames>Balance</enumNames>
+            <enumNames>PAS</enumNames>
+            <enumNames>ADC and PAS</enumNames>
+        </app_to_use>
+        <app_ppm_conf.ctrl_type>
+            <longName>Control Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Off&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The output is switched off regardless of the input.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it starts in the reverse direction.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current No Reverse&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is at minimum.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current No Reverse With Brake&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is centered.  Input less than center brakes until the motor stops, but not further.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Duty Cycle&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is centered. Input less than center gives negative duty cycle.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Duty Cycle No Reverse&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty cycle control. The output is off when the input is at minimum.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PID Speed Control&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PID speed control.  The output is off when the input is centered. Input less than center gives negative set speed.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PID Speed Control No Reverse&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty cycle control. The output is off when the input is at minimum.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current Hyst Reverse With Brake&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current Hyst Reverse With Brake. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it starts in the reverse direction, but if Max dir switch ERPM is enabled it will stop the reverse when it reaches the Max ERPM for direction switch.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current Smart Reverse&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Similar to the &lt;span style=&quot; font-weight:600;&quot;&gt;Current No Reverse With Brake &lt;/span&gt;mode, but holding full brake will switch to duty cycle mode in the reverse direction when the speed is so low that not enough brake torque can be produced. This is useful when trying to stop downhill where you normally would roll forwards slowly even at full brake. Instead, the board will start to go reverse slowly in duty cycle mode if this mode is activated.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PID Position Control: 180°&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; background-color:transparent;&quot;&gt;Maps servo input to (-180° &amp;lt;&amp;gt; +180°) rotation. Remote should center at “Pulselegth Center” value.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; background-color:transparent;&quot;&gt;Motor will rotate ±180° from the starting position.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%; background-color:transparent;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PID Position Control: 360°&lt;br /&gt;&lt;/span&gt;&lt;span style=&quot; background-color:transparent;&quot;&gt;Maps servo input to (+0 &amp;lt;&amp;gt; +360°) rotation. Remote should center at “Pulselegth Start” value.&lt;br /&gt;Motor will rotate up to +360° from the starting position. It will only rotate in the &amp;quot;positive&amp;quot; direction from the starting position.&lt;/span&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%; background-color:transparent;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PID Position Control notes:&lt;br /&gt;&lt;/span&gt;&lt;span style=&quot; background-color:transparent;&quot;&gt;Servo like position control of motor. Works best with an encoder, but can work with HFI.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%; background-color:transparent;&quot;&gt;&lt;span style=&quot; font-style:italic; background-color:transparent;&quot;&gt;Angle division:&lt;/span&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt; To get multiple turns of the motor for full stick movement, adjust: “Motor Settings” -&amp;gt; “PID Controllers” -&amp;gt; “Position Angle Division” to greater than 1.&lt;/li&gt;
+&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;For setups with angle division &amp;gt; 1, you will need to “home” your motor manually to the right “zero” rotation before power on.&lt;/li&gt;
+&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;To get less than 1 full turn, set “Position Angle Division” to less than 1.&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%; background-color:transparent;&quot;&gt;&lt;span style=&quot; font-style:italic; background-color:transparent;&quot;&gt;Starting position:&lt;/span&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;To adjust the starting position of the motor, adjust: “Motor Settings” -&amp;gt; “PID Controllers” -&amp;gt; “Position PID Offset Angle”. &lt;/li&gt;
+&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;This will change the zero angle AFTER the angle division has been applied. To change the angle by 90° with an angle division of 2, this should be 45°.&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%; background-color:transparent;&quot;&gt;&lt;span style=&quot; font-style:italic; background-color:transparent;&quot;&gt;Safe Start:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%; background-color:transparent;&quot;&gt;&lt;span style=&quot; background-color:transparent;&quot;&gt;Safe start still works with PID Position Control, with an additional safety step.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%; background-color:transparent;&quot;&gt;&lt;span style=&quot; background-color:transparent;&quot;&gt;To start the motor with Safe Start, you must:&lt;/span&gt;&lt;/p&gt;
+&lt;ol style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;Set ppm to your “center” value:&lt;/li&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px; line-height:100%;&quot;&gt;“Pulselegth Center” for 180 mode.&lt;/li&gt;
+&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px; line-height:100%;&quot;&gt;“Pulselegth Start” for 360 mode.&lt;/li&gt;
+&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px; line-height:100%;&quot;&gt; Note: disabling &amp;quot;Safe Start&amp;quot; will eliminate this step but not the second step.&lt;/li&gt;&lt;/ul&gt;
+&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;&quot;&gt;Bring your commanded angle close to the actual motor angle.&lt;/li&gt;&lt;/ol&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; background-color:transparent;&quot; style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px; line-height:100%;&quot;&gt;This can be done by sweeping the stick the full range until the motor starts tracking.&lt;/li&gt;
+&lt;li style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px; line-height:100%; background-color:transparent;&quot;&gt;This is done to prevent a rapid movement at start to a far off commanded pid angle.&lt;/li&gt;&lt;/ul&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_CTRL_TYPE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Off</enumNames>
+            <enumNames>Current</enumNames>
+            <enumNames>Current No Reverse</enumNames>
+            <enumNames>Current No Reverse With Brake</enumNames>
+            <enumNames>Duty Cycle</enumNames>
+            <enumNames>Duty Cycle No Reverse</enumNames>
+            <enumNames>PID Speed Control</enumNames>
+            <enumNames>PID Speed Control No Reverse</enumNames>
+            <enumNames>Current Hyst Reverse With Brake</enumNames>
+            <enumNames>Current Smart Reverse</enumNames>
+            <enumNames>PID Position Control: 180°</enumNames>
+            <enumNames>PID Position Control: 360°</enumNames>
+        </app_ppm_conf.ctrl_type>
+        <app_ppm_conf.pid_max_erpm>
+            <longName>PID Max ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The ERPM setpoint corresponding to max input when using PID Speed Control.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_PID_MAX_ERPM</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>15000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.pid_max_erpm>
+        <app_ppm_conf.hyst>
+            <longName>Input Deadband</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; ;&quot;&gt;Deadband region for the input.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_HYST</cDefine>
+            <editorDecimalsDouble>0</editorDecimalsDouble>
+            <editorScale>100</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0.15</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> %</suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.hyst>
+        <app_ppm_conf.pulse_start>
+            <longName>Pulselength Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The shortest pulse length for the PPM input &lt;/span&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;in milliseconds&lt;/span&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;. Can be checked by enabling display and giving the minimum input.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_PULSE_START</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> ms</suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.pulse_start>
+        <app_ppm_conf.pulse_end>
+            <longName>Pulselength End</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The longest pulse length for the PPM input &lt;/span&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;in milliseconds&lt;/span&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;. Can be checked by enabling display and giving the maximum input.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_PULSE_END</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>2</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> ms</suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.pulse_end>
+        <app_ppm_conf.pulse_center>
+            <longName>Pulselength Center</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The PPM input in milliseconds at which the throttle is centered. Can be checked by enabling display and leaving the throttle centered. This setting has no effect in control modes where the output is not off when the stick is centered.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_PULSE_CENTER</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>1.5</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> ms</suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.pulse_center>
+        <app_ppm_conf.median_filter>
+            <longName>Median Filter</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use a median filter on the decoded pulses. Will delay the signal slightly, but rejects outliers caused by noise.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_MEDIAN_FILTER</cDefine>
+            <valInt>1</valInt>
+        </app_ppm_conf.median_filter>
+        <app_ppm_conf.safe_start>
+            <longName>Safe Start</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Prevent motor from starting in some unsafe conditions. Modes:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Disabled&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Motor can always start.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Regular&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Only allow starting the motor when the input has beed zero for long enough after boot, after configuration updates and after faults.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;No Faults&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as regular, but the motor can start directly after fault codes are cleared.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_SAFE_START</cDefine>
+            <valInt>1</valInt>
+            <enumNames>Disabled</enumNames>
+            <enumNames>Regular</enumNames>
+            <enumNames>No Fault</enumNames>
+        </app_ppm_conf.safe_start>
+        <app_ppm_conf.throttle_exp>
+            <longName>Throttle Expo</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Exponential gain for the throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Zero (0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Linear throttle&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Negative (&amp;lt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle is softer close to 0 and increases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Positive (&amp;gt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle reacts fast around 0 and decreases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_THROTTLE_EXP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>-5</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.throttle_exp>
+        <app_ppm_conf.throttle_exp_brake>
+            <longName>Throttle Expo Brake</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Exponential gain for the throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Zero (0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Linear throttle&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Negative (&amp;lt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle is softer close to 0 and increases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Positive (&amp;gt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle reacts fast around 0 and decreases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_THROTTLE_EXP_BRAKE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>-5</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.throttle_exp_brake>
+        <app_ppm_conf.throttle_exp_mode>
+            <longName>Throttle Expo Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The throttle curve mode.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Exponential&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = x^(1 + c)&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Natural&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = (e^(cx) - 1) / (e^c - 1)&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Polynomial&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = x / (1 + c(1 - x))&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;where&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;y:&lt;/span&gt; output&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;x:&lt;/span&gt; input&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;c:&lt;/span&gt; curve&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The curve parameter, offsets and signs are mapped accordingly for each mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_THROTTLE_EXP_MODE</cDefine>
+            <valInt>2</valInt>
+            <enumNames>Exponential</enumNames>
+            <enumNames>Natural</enumNames>
+            <enumNames>Polynomial</enumNames>
+        </app_ppm_conf.throttle_exp_mode>
+        <app_ppm_conf.ramp_time_pos>
+            <longName>Positive Ramping Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Positive ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from zero to full output.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_RAMP_TIME_POS</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0.4</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.ramp_time_pos>
+        <app_ppm_conf.ramp_time_neg>
+            <longName>Negative Ramping Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Negative ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from full output (acceleration or braking) back to zero.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_RAMP_TIME_NEG</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0.2</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.ramp_time_neg>
+        <app_ppm_conf.multi_esc>
+            <longName>Multiple VESCs Over CAN</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_MULTI_ESC</cDefine>
+            <valInt>1</valInt>
+        </app_ppm_conf.multi_esc>
+        <app_ppm_conf.tc>
+            <longName>Traction Control</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Enable traction control between multiple VESCs connected over CAN-bus. This is only used for current control modes.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_TC</cDefine>
+            <valInt>0</valInt>
+        </app_ppm_conf.tc>
+        <app_ppm_conf.tc_max_diff>
+            <longName>TC Max ERPM Difference</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The ERPM difference at which the fastest motor gets swtiched off completely. If the difference in ERPM is lower than that the current to faster motors is scaled down proportionally to the difference.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_TC_MAX_DIFF</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>3000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.tc_max_diff>
+        <app_ppm_conf.max_erpm_for_dir>
+            <longName>Max ERPM for direction switch</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The Max ERPM where the direction can be switched to reverse by braking 2 times.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_MAX_ERPM_FOR_DIR</cDefine>
+            <editorDecimalsDouble>0</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>30000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>10</stepDouble>
+            <valDouble>4000</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </app_ppm_conf.max_erpm_for_dir>
+        <app_ppm_conf.smart_rev_max_duty>
+            <longName>Smart Reverse Max Duty Cycle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Maximum duty cycle to use in smart reverse mode.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_SMART_REV_MAX_DUTY</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.07</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.smart_rev_max_duty>
+        <app_ppm_conf.smart_rev_ramp_time>
+            <longName>Smart Reverse Ramp Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Time to ramp to maximum duty cycle in smart reverse mode.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PPM_SMART_REV_RAMP_TIME</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>3</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>9</vTx>
+        </app_ppm_conf.smart_rev_ramp_time>
+        <app_adc_conf.ctrl_type>
+            <longName>Control Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Off&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The output is switched off regardless of the input.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is at minimum.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current Reverse Center&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it it starts in the reverse direction.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current Reverse Button&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control with a button for reversing the throttle. The output is off when the input is at minimum.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current Reverse ADC2 Brake Button&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control with a button for reversing the throttle. The output is off when the input is at minimum. The second ADC channel acs as a brake.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ADC_CTRL_TYPE_CURRENT_REV_BUTTON_BRAKE_CENTER&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control with a button for reversing throttle. The output is off when the input is centered.  Input less than center brakes until the motor stops, but not further.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current No Reverse Brake Center&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is centered.  Input less than center brakes until the motor stops, but not further.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current No Reverse Brake Button&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control with a button for turning the throttle into a brake. The output is off when the input is at minimum.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Current No Reverse Brake ADC2&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control with one separate throttle connected to ADC2 for braking.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Duty Cycle&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty cycle control. The output is off when the input is at minimum.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Duty Cycle Reverse Center&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current control. The output is off when the input is centered. Input less than center gives negative duty cycle.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Duty Cycle Reverse Button&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty cycle control with a button on UART RX for inverting the throttle. The output is off when the input is at minimum.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PID Speed&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PID speed control. The speed setpoint is mapped between 0 and the configured maximum motor speed limit.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PID Speed Reverse Center&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PID speed control. The output is mapped between the minimum and maximum motor speed limits. Throttle center corresponds to 0 speed.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PID Speed Reverse Button&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PID speed control with a button for reversing the throttle. The speed setpoint is mapped between 0 and the configured maximum motor speed limit, or between 0 and the minimum motor speed limit when the UART RX input is high.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_CTRL_TYPE</cDefine>
+            <valInt>8</valInt>
+            <enumNames>Off</enumNames>
+            <enumNames>Current</enumNames>
+            <enumNames>Current Reverse Center</enumNames>
+            <enumNames>Current Reverse Button</enumNames>
+            <enumNames>Current Reverse ADC2 Brake Button</enumNames>
+            <enumNames>Current Reverse Button Brake Center</enumNames>
+            <enumNames>Current No Reverse Brake Center</enumNames>
+            <enumNames>Current No Reverse Brake Button</enumNames>
+            <enumNames>Current No Reverse Brake ADC2</enumNames>
+            <enumNames>Duty Cycle</enumNames>
+            <enumNames>Duty Cycle Reverse Center</enumNames>
+            <enumNames>Duty Cycle Reverse Button</enumNames>
+            <enumNames>PID Speed</enumNames>
+            <enumNames>PID Speed Reverse Center</enumNames>
+            <enumNames>PID Speed Reverse Button</enumNames>
+        </app_adc_conf.ctrl_type>
+        <app_adc_conf.hyst>
+            <longName>Input Deadband</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Deadband region for the input.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_HYST</cDefine>
+            <editorDecimalsDouble>0</editorDecimalsDouble>
+            <editorScale>100</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0.05</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> %</suffix>
+            <vTx>9</vTx>
+        </app_adc_conf.hyst>
+        <app_adc_conf.voltage_start>
+            <longName>ADC1 Start Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Input voltage at the start of the throttle range for ADC1. Can be checked by enabling display and giving the minimum input. If &lt;span style=&quot; font-weight:600;&quot;&gt;Control Type&lt;/span&gt; is set to off while doing that the motor won't turn.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE_START</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.6</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </app_adc_conf.voltage_start>
+        <app_adc_conf.voltage_end>
+            <longName>ADC1 End Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Input voltage at the end of the throttle range for ADC1. Can be checked by enabling display and giving the maximum input. If &lt;span style=&quot; font-weight:600;&quot;&gt;Control Type&lt;/span&gt; is set to off while doing that the motor won't turn.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE_END</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>2.54</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </app_adc_conf.voltage_end>
+        <app_adc_conf.voltage_min>
+            <longName>ADC1 Abs Min Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum valid voltage on ADC1. If the voltage is below this value the motor will be stopped and if safe start is activated the throttle must be returned to 0 before the motor is allowed to run again.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE_MIN</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </app_adc_conf.voltage_min>
+        <app_adc_conf.voltage_max>
+            <longName>ADC1 Abs Max Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum valid voltage on ADC1. If the voltage is above this value the motor will be stopped and if safe start is activated the throttle must be returned to 0 before the motor is allowed to run again.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE_MAX</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.6</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>3.6</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </app_adc_conf.voltage_max>
+        <app_adc_conf.voltage_center>
+            <longName>ADC1 Center Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Input voltage at the center of the throttle range for ADC1. Can be checked by enabling display and centering the input. If &lt;span style=&quot; font-weight:600;&quot;&gt;Control Type&lt;/span&gt; is set to off while doing that the motor won't turn.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Notice that this parameter only is used for the contered control types. For the other types the voltage will always be mapped linearly between start and end.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE_CENTER</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.6</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </app_adc_conf.voltage_center>
+        <app_adc_conf.voltage2_start>
+            <longName>ADC2 Start Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Input voltage at the start of the throttle range for ADC2. Can be checked by enabling display and giving the minimum input. If &lt;span style=&quot; font-weight:600;&quot;&gt;Control Type&lt;/span&gt; is set to off while doing that the motor won't turn.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE2_START</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </app_adc_conf.voltage2_start>
+        <app_adc_conf.voltage2_end>
+            <longName>ADC2 End Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Input voltage at the end of the throttle range for ADC2. Can be checked by enabling display and giving the maximum input. If &lt;span style=&quot; font-weight:600;&quot;&gt;Control Type&lt;/span&gt; is set to off while doing that the motor won't turn.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE2_END</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>2</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </app_adc_conf.voltage2_end>
+        <app_adc_conf.use_filter>
+            <longName>Use Filter</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use a low-pass filter to reject noise. This will introduce a slight delay.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_USE_FILTER</cDefine>
+            <valInt>1</valInt>
+        </app_adc_conf.use_filter>
+        <app_adc_conf.safe_start>
+            <longName>Safe Start</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Prevent motor from starting in some unsafe conditions. Modes:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Disabled&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Motor can always start.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Regular&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Only allow starting the motor when the input has beed zero for long enough after boot, after configuration updates and after faults.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;No Faults&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as regular, but the motor can start directly after fault codes are cleared.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_SAFE_START</cDefine>
+            <valInt>1</valInt>
+            <enumNames>Disabled</enumNames>
+            <enumNames>Regular</enumNames>
+            <enumNames>No Fault</enumNames>
+        </app_adc_conf.safe_start>
+        <app_adc_conf.buttons>
+            <longName>Button Inputs</longName>
+            <type>6</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A cruise control and a reverse button can be used with the ADC app. The reverse button is only used on the control modes that have button in their name, but cruise control can be used on all control modes when enabled. The buttons can be connected as follows:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Comm TX: Cruise Control&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Comm RX: Reverse&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If the UART app is active the PPM-input is used for the button instead. That means you only have one button, which will be the reverse button for the button-modes (not cruise control available) or cruise control for non-button control modes.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;By default the button inputs have a pull-up resistor and are active low.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Enable Cruise Control&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Enable cruise control button input.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Invert CC Button&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Invert the polarity of the cruise control button.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Invert Reverse Button&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Invert the polarity of the reverse button.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_BUTTONS</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Enable Cruise Control</enumNames>
+            <enumNames>Invert CC Button</enumNames>
+            <enumNames>Invert Reverse Button</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+        </app_adc_conf.buttons>
+        <app_adc_conf.voltage_inverted>
+            <longName>Invert ADC1 Voltage</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Invert the voltage from ADC1.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE_INVERTED</cDefine>
+            <valInt>0</valInt>
+        </app_adc_conf.voltage_inverted>
+        <app_adc_conf.voltage2_inverted>
+            <longName>Invert ADC2 Voltage</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Invert the voltage from ADC2.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_VOLTAGE2_INVERTED</cDefine>
+            <valInt>1</valInt>
+        </app_adc_conf.voltage2_inverted>
+        <app_adc_conf.throttle_exp>
+            <longName>Throttle Expo</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Exponential gain for the throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Zero (0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Linear throttle&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Negative (&amp;lt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle is softer close to 0 and increases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Positive (&amp;gt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle reacts fast around 0 and decreases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_THROTTLE_EXP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>-5</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>-0.5</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_adc_conf.throttle_exp>
+        <app_adc_conf.throttle_exp_brake>
+            <longName>Throttle Expo Brake</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Exponential gain for the throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Zero (0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Linear throttle&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Negative (&amp;lt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle is softer close to 0 and increases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Positive (&amp;gt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle reacts fast around 0 and decreases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_THROTTLE_EXP_BRAKE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>-5</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_adc_conf.throttle_exp_brake>
+        <app_adc_conf.throttle_exp_mode>
+            <longName>Throttle Expo Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The throttle curve mode.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Exponential&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = x^(1 + c)&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Natural&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = (e^(cx) - 1) / (e^c - 1)&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Polynomial&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = x / (1 + c(1 - x))&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;where&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;y:&lt;/span&gt; output&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;x:&lt;/span&gt; input&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;c:&lt;/span&gt; curve&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The curve parameter, offsets and signs are mapped accordingly for each mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_THROTTLE_EXP_MODE</cDefine>
+            <valInt>2</valInt>
+            <enumNames>Exponential</enumNames>
+            <enumNames>Natural</enumNames>
+            <enumNames>Polynomial</enumNames>
+        </app_adc_conf.throttle_exp_mode>
+        <app_adc_conf.ramp_time_pos>
+            <longName>Positive Ramping Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Positive ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from zero to full output.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_RAMP_TIME_POS</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0.3</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>9</vTx>
+        </app_adc_conf.ramp_time_pos>
+        <app_adc_conf.ramp_time_neg>
+            <longName>Negative Ramping Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Negative ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from full output (acceleration or braking) back to zero.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_RAMP_TIME_NEG</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0.1</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>9</vTx>
+        </app_adc_conf.ramp_time_neg>
+        <app_adc_conf.multi_esc>
+            <longName>Multiple VESCs Over CAN</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_MULTI_ESC</cDefine>
+            <valInt>1</valInt>
+        </app_adc_conf.multi_esc>
+        <app_adc_conf.tc>
+            <longName>Traction Control</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Enable traction control between multiple VESCs connected over CAN-bus. This is only is only used for current control modes.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_TC</cDefine>
+            <valInt>0</valInt>
+        </app_adc_conf.tc>
+        <app_adc_conf.tc_max_diff>
+            <longName>TC Max ERPM Difference</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The ERPM difference at which the fastest motor gets swtiched off completely. If the difference in ERPM is lower than that the current to faster motors is scaled down proportionally to the difference.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_TC_MAX_DIFF</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>3000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_adc_conf.tc_max_diff>
+        <app_adc_conf.update_rate_hz>
+            <longName>Update Rate</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Rate at which the input is sampled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_ADC_UPDATE_RATE_HZ</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>100000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>500</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </app_adc_conf.update_rate_hz>
+        <app_uart_baudrate>
+            <longName>Baudrate</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;UART Baudrate.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_UART_BAUDRATE</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>20000000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>115200</valInt>
+            <suffix> bps</suffix>
+            <vTx>5</vTx>
+        </app_uart_baudrate>
+        <app_chuk_conf.ctrl_type>
+            <longName>Control Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Off&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The output is switched off regardless of the input.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Current&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current control. The output is off when the joystick is centered. Positive input gives acceleration and negative input braking. To go reverse the Z button can be used to toggle direction.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Current No Reverse&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current control. The output is off when the joystick is centered. Positive input gives acceleration and negative input braking. The reverse function of the Z button is disabled.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Current Bidirectional&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current control. The output is off when the joystick is centered. Positive input always gives forward current and negative current always gives reverse current. This means that when current is applied through 0 speed, the motor will accelerate in the other direction.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_CTRL_TYPE</cDefine>
+            <valInt>1</valInt>
+            <enumNames>Off</enumNames>
+            <enumNames>Current</enumNames>
+            <enumNames>Current No Reverse</enumNames>
+            <enumNames>Current Bidirectional</enumNames>
+        </app_chuk_conf.ctrl_type>
+        <app_chuk_conf.hyst>
+            <longName>Input Deadband</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Deadband region for the input.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_HYST</cDefine>
+            <editorDecimalsDouble>0</editorDecimalsDouble>
+            <editorScale>100</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0.15</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> %</suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.hyst>
+        <app_chuk_conf.ramp_time_pos>
+            <longName>Positive Ramping Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Positive ramping time constant. This filters the joystick input with ramping. This constant represents the amount of secods it takes to ramp from zero to full output.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_RAMP_TIME_POS</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0.4</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.ramp_time_pos>
+        <app_chuk_conf.ramp_time_neg>
+            <longName>Negative Ramping Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Negative ramping time constant. This filters the joystick input with ramping. This constant represents the amount of secods it takes to ramp from full output (acceleration or braking) back to zero.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_RAMP_TIME_NEG</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0.2</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.ramp_time_neg>
+        <app_chuk_conf.stick_erpm_per_s_in_cc>
+            <longName>ERPM Per Second Cruise Control</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The amount of ERPM per second the setpoint changes when giving full joystick input with criuse control activated.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_STICK_ERPM_PER_S_IN_CC</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>500</stepDouble>
+            <valDouble>3000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.stick_erpm_per_s_in_cc>
+        <app_chuk_conf.throttle_exp>
+            <longName>Throttle Expo</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Exponential gain for the throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Zero (0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Linear throttle&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Negative (&amp;lt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle is softer close to 0 and increases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Positive (&amp;gt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle reacts fast around 0 and decreases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_THROTTLE_EXP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>-5</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.throttle_exp>
+        <app_chuk_conf.throttle_exp_brake>
+            <longName>Throttle Expo Brake</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Exponential gain for the throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Zero (0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Linear throttle&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Negative (&amp;lt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle is softer close to 0 and increases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Positive (&amp;gt;0)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The throttle reacts fast around 0 and decreases exponentially towards full throttle.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_THROTTLE_EXP_BRAKE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>-5</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.throttle_exp_brake>
+        <app_chuk_conf.throttle_exp_mode>
+            <longName>Throttle Expo Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The throttle curve mode.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Exponential&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = x^(1 + c)&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Natural&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = (e^(cx) - 1) / (e^c - 1)&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Polynomial&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;y = x / (1 + c(1 - x))&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;where&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;y:&lt;/span&gt; output&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;x:&lt;/span&gt; input&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;c:&lt;/span&gt; curve&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The curve parameter, offsets and signs are mapped accordingly for each mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_THROTTLE_EXP_MODE</cDefine>
+            <valInt>2</valInt>
+            <enumNames>Exponential</enumNames>
+            <enumNames>Natural</enumNames>
+            <enumNames>Polynomial</enumNames>
+        </app_chuk_conf.throttle_exp_mode>
+        <app_chuk_conf.multi_esc>
+            <longName>Multiple VESCs Over CAN</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_MULTI_ESC</cDefine>
+            <valInt>1</valInt>
+        </app_chuk_conf.multi_esc>
+        <app_chuk_conf.tc>
+            <longName>Traction Control</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Enable traction control between multiple VESCs connected over CAN-bus. This is only is only used for current control modes.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_TC</cDefine>
+            <valInt>0</valInt>
+        </app_chuk_conf.tc>
+        <app_chuk_conf.tc_max_diff>
+            <longName>TC Max ERPM Difference</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The ERPM difference at which the fastest motor gets swtiched off completely. If the difference in ERPM is lower than that the current to faster motors is scaled down proportionally to the difference.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_TC_MAX_DIFF</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>3000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.tc_max_diff>
+        <app_chuk_conf.use_smart_rev>
+            <longName>Use Smart Reverse</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Use smart reverse function. If enabled, holding full brake will switch to duty cycle mode in the reverse direction when the speed is so low that not enough brake torque can be produced.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;This is useful when trying to stop downhill where you normally would roll forwards slowly even at full brake. Instead, the board will start to go reverse slowly in duty cycle mode if this mode is activated.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_USE_SMART_REV</cDefine>
+            <valInt>1</valInt>
+        </app_chuk_conf.use_smart_rev>
+        <app_chuk_conf.smart_rev_max_duty>
+            <longName>Smart Reverse Max Duty Cycle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Maximum duty cycle to use in smart reverse mode.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_SMART_REV_MAX_DUTY</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.07</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.smart_rev_max_duty>
+        <app_chuk_conf.smart_rev_ramp_time>
+            <longName>Smart Reverse Ramp Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Time to ramp to maximum duty cycle in smart reverse mode.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_CHUK_SMART_REV_RAMP_TIME</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>3</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>9</vTx>
+        </app_chuk_conf.smart_rev_ramp_time>
+        <app_nrf_conf.speed>
+            <longName>Speed</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The air bit rate.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_SPEED</cDefine>
+            <valInt>1</valInt>
+            <enumNames>250 Kbit/s</enumNames>
+            <enumNames>1 MBit/s</enumNames>
+            <enumNames>2 MBit/s</enumNames>
+        </app_nrf_conf.speed>
+        <app_nrf_conf.power>
+            <longName>TX Power</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Transmit power or power off setting.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_POWER</cDefine>
+            <valInt>3</valInt>
+            <enumNames>-18 dBm</enumNames>
+            <enumNames>-12 dBm</enumNames>
+            <enumNames>-6 dBm</enumNames>
+            <enumNames>0 dBm</enumNames>
+            <enumNames>OFF</enumNames>
+        </app_nrf_conf.power>
+        <app_nrf_conf.crc_type>
+            <longName>CRC</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;CRC checksum type.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_CRC</cDefine>
+            <valInt>1</valInt>
+            <enumNames>Disabled</enumNames>
+            <enumNames>1 Byte</enumNames>
+            <enumNames>2 Byte</enumNames>
+        </app_nrf_conf.crc_type>
+        <app_nrf_conf.retry_delay>
+            <longName>Retry Delay</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Delay between retries when no ack is received. If the speed is lower than 2MBit, at least 500 µS should be used.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_RETR_DELAY</cDefine>
+            <valInt>0</valInt>
+            <enumNames>250 µS</enumNames>
+            <enumNames>500 µS</enumNames>
+            <enumNames>750 µS</enumNames>
+            <enumNames>1000 µS</enumNames>
+            <enumNames>1250 µS</enumNames>
+            <enumNames>1500 µS</enumNames>
+            <enumNames>1750 µS</enumNames>
+            <enumNames>2000 µS</enumNames>
+            <enumNames>2250 µS</enumNames>
+            <enumNames>2500 µS</enumNames>
+            <enumNames>2750 µS</enumNames>
+            <enumNames>3000 µS</enumNames>
+            <enumNames>3250 µS</enumNames>
+            <enumNames>3500 µS</enumNames>
+            <enumNames>3750 µS</enumNames>
+            <enumNames>4000 µS</enumNames>
+        </app_nrf_conf.retry_delay>
+        <app_nrf_conf.retries>
+            <longName>Retries</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum number of retries when no ack is received before giving up on the current packet.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_RETRIES</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>15</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>3</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </app_nrf_conf.retries>
+        <app_nrf_conf.channel>
+            <longName>Radio Channel</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Radio channel.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_CHANNEL</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>125</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>76</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </app_nrf_conf.channel>
+        <app_nrf_conf.address__0>
+            <longName>Address 0</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Address byte 0.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_ADDR_B0</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>198</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </app_nrf_conf.address__0>
+        <app_nrf_conf.address__1>
+            <longName>Address 1</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Address byte 1.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_ADDR_B1</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>199</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </app_nrf_conf.address__1>
+        <app_nrf_conf.address__2>
+            <longName>Address 2</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Address byte 2.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_ADDR_B2</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>0</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </app_nrf_conf.address__2>
+        <app_nrf_conf.send_crc_ack>
+            <longName>Send ACK</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Send ACK when valid packets are received.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_NRF_SEND_CRC_ACK</cDefine>
+            <valInt>1</valInt>
+        </app_nrf_conf.send_crc_ack>
+        <app_balance_conf.pid_mode>
+            <longName>PID Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PID loop mode, Angle or Cascadeing Angle Rate.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_PID_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>BALANCE_PID_MODE_ANGLE</enumNames>
+            <enumNames>BALANCE_PID_MODE_ANGLE_RATE_CASCADE</enumNames>
+        </app_balance_conf.pid_mode>
+        <app_balance_conf.kp>
+            <longName>Angle P</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;P value for the PID balance loop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KP</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.kp>
+        <app_balance_conf.ki>
+            <longName>Angle I</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;I value for the PID balance loop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KI</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.ki>
+        <app_balance_conf.kd>
+            <longName>Angle D</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D value for the PID balance loop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KD</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.kd>
+        <app_balance_conf.kp2>
+            <longName>Rate P</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;P value for the PID balance loop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KP2</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.kp2>
+        <app_balance_conf.ki2>
+            <longName>Rate I</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;I value for the PID balance loop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KI2</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.ki2>
+        <app_balance_conf.kd2>
+            <longName>Rate D</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D value for the PID balance loop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KD2</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.kd2>
+        <app_balance_conf.hertz>
+            <longName>Loop Hertz</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Loop Hertz.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_HERTZ</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>4000</maxInt>
+            <minInt>50</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>100</stepInt>
+            <valInt>1000</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.hertz>
+        <app_balance_conf.loop_time_filter>
+            <longName>Loop Time Correction Filter</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Filter overshoot and correct for it.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_LOOP_TIME_FILTER</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>1000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>0</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.loop_time_filter>
+        <app_balance_conf.fault_pitch>
+            <longName>Pitch Axis Fault Cutoff</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Angle to turn off driving (on the pitch axis).&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_PITCH</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>180</maxDouble>
+            <minDouble>-180</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>20</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.fault_pitch>
+        <app_balance_conf.fault_roll>
+            <longName>Roll Axis Fault Cutoff</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Angle to turn off driving (on the roll axis).&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_ROLL</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>180</maxDouble>
+            <minDouble>-180</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>45</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.fault_roll>
+        <app_balance_conf.fault_duty>
+            <longName>Duty Cycle Fault Cutoff</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Duty cycle value to trigger a safety cutoff 0-1% (This cutoff will lock the app untill another fault occurs).&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_DUTY</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.9</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.fault_duty>
+        <app_balance_conf.fault_adc1>
+            <longName>ADC1 Switch Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Voltage below this value will trigger a fault. To disable this switch set this value to 0. Hint: consider a pulldown resisitor!&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_ADC1</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.fault_adc1>
+        <app_balance_conf.fault_adc2>
+            <longName>ADC2 Switch Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Voltage below this value will trigger a fault. To disable this switch set this value to 0. Hint: consider a pulldown resisitor!&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_ADC2</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.fault_adc2>
+        <app_balance_conf.fault_delay_pitch>
+            <longName>Pitch Fault Delay</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Pitch fault cutoff time delay in ms.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_DELAY_PITCH</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>0</valInt>
+            <suffix> ms</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.fault_delay_pitch>
+        <app_balance_conf.fault_delay_roll>
+            <longName>Roll Fault Delay</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Roll fault cutoff time delay in ms.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_DELAY_ROLL</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>0</valInt>
+            <suffix> ms</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.fault_delay_roll>
+        <app_balance_conf.fault_delay_duty>
+            <longName>Duty Fault Delay</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty cycle cutoff time delay in ms.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_DELAY_DUTY</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>0</valInt>
+            <suffix> ms</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.fault_delay_duty>
+        <app_balance_conf.fault_delay_switch_half>
+            <longName>Half Switch Fault Delay</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Half switch cutoff time delay in ms.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_DELAY_SWITCH_HALF</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>0</valInt>
+            <suffix> ms</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.fault_delay_switch_half>
+        <app_balance_conf.fault_delay_switch_full>
+            <longName>Full Switch Fault Delay</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Full switch cutoff time delay in ms.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_DELAY_SWITCH_FULL</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>0</valInt>
+            <suffix> ms</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.fault_delay_switch_full>
+        <app_balance_conf.fault_adc_half_erpm>
+            <longName>ADC Half State Fault ERPM</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM (absoulte value) below which a half state on the ADC switches will be considered a fault.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_ADC_HALF_ERPM</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>100000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>1000</valInt>
+            <suffix> ERPM</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.fault_adc_half_erpm>
+        <app_balance_conf.fault_is_dual_switch>
+            <longName>Treat both sensors as one</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Treat both sensors as a single one, i.e. startup only requires one of the sensors, and heel lifts aren't possible (for advanced riders only!).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_FAULT_IS_DUAL_SWITCH</cDefine>
+            <valInt>0</valInt>
+        </app_balance_conf.fault_is_dual_switch>
+        <app_balance_conf.tiltback_duty_angle>
+            <longName>Angle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Angle of rise for duty cycle tiltback.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_DUTY_ANGLE</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>45</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>10</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.tiltback_duty_angle>
+        <app_balance_conf.tiltback_duty_speed>
+            <longName>Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed at which vehicle is being tilted back when exceeding duty cycle limit (fast tiltback can be dangerous!).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_DUTY_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>3</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.tiltback_duty_speed>
+        <app_balance_conf.tiltback_duty>
+            <longName>Duty Cycle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty cycle threshold to trigger a safety tiltback (Tiltback raises the nose of the vehicle informing you to slow down).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_DUTY</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.75</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.tiltback_duty>
+        <app_balance_conf.tiltback_hv_angle>
+            <longName>Angle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Angle of rise for high voltage tiltback.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_HV_ANGLE</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>45</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>10</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.tiltback_hv_angle>
+        <app_balance_conf.tiltback_hv_speed>
+            <longName>Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed at which vehicle is being tilted back when exceeding high voltage limit (fast tiltback can be dangerous!).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_HV_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>3</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.tiltback_hv_speed>
+        <app_balance_conf.tiltback_hv>
+            <longName>High Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;High voltage threshold to trigger a safety tiltback (Tiltback raises the nose of the vehicle to alert you). High voltage tiltback is most likely to be triggered when braking or going downhill on a full battery, sometimes resulting in a tail drag on board shaped vehicles. &lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_HV</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>100</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.tiltback_hv>
+        <app_balance_conf.tiltback_lv_angle>
+            <longName>Angle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Angle of rise for low voltage tiltback.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_LV_ANGLE</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>45</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>10</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.tiltback_lv_angle>
+        <app_balance_conf.tiltback_lv_speed>
+            <longName>Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed at which vehicle is being tilted back when below low voltage threshold (fast tiltback can be dangerous and further contribute to voltage sag!).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_LV_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>3</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.tiltback_lv_speed>
+        <app_balance_conf.tiltback_lv>
+            <longName>Low Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Low voltage threshold to trigger a safety tiltback (Tiltback raises the nose of the vehicle informing you to slow down). &lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_LV</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.tiltback_lv>
+        <app_balance_conf.tiltback_return_speed>
+            <longName>Return To Level Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed at which vehicle is being returned back to normal after a tiltback condition has been cleared (should be equal to or slower than slowest tiltback speed).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_RETURN_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.tiltback_return_speed>
+        <app_balance_conf.tiltback_constant>
+            <longName>Constant Tiltback</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Tiltback that will be applied above a configurable minimum ERPM. AKA nose angle adjustment, can be downwards too.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_CONSTANT</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>80</maxDouble>
+            <minDouble>-80</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.tiltback_constant>
+        <app_balance_conf.tiltback_constant_erpm>
+            <longName>Constant Tiltback ERPM</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; APPCONF_BALANCE_FAULT_ADC_HALF_ERPMmargin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM (absolute value) above which constant tiltback will be applied.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_CONSTANT_ERPM</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>100000</maxInt>
+            <minInt>200</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>100</stepInt>
+            <valInt>500</valInt>
+            <suffix> ERPM</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.tiltback_constant_erpm>
+        <app_balance_conf.tiltback_variable>
+            <longName>Variable Tiltback</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Nose angle adjustment that will be applied depending on speed, specified in degrees per 1000 erpm, applied linearly up to a maximum set in Variable Tiltback Maximum. Can be downwards (negative) too. Applies in addition to constant tiltback.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_VARIABLE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>-1</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °/1000 ERPM</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.tiltback_variable>
+        <app_balance_conf.tiltback_variable_max>
+            <longName>Variable Tiltback Maximum</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum angle which variable tiltback is permitted to add (in addition to constant tiltback). Does not affect or prevent alert tiltbacks.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TILTBACK_VARIABLE_MAX</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>80</maxDouble>
+            <minDouble>-80</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.tiltback_variable_max>
+        <app_balance_conf.noseangling_speed>
+            <longName>Nose Angling Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed at which vehicle will tilt to the desired angle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_NOSEANGLING_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>5</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>7</vTx>
+        </app_balance_conf.noseangling_speed>
+        <app_balance_conf.startup_pitch_tolerance>
+            <longName>Startup Pitch Axis Angle Tolerance</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Angle at which balancing will start (on the main axis). Measured in degrees from upright (0).&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_STARTUP_PITCH_TOLERANCE</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>80</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>20</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.startup_pitch_tolerance>
+        <app_balance_conf.startup_roll_tolerance>
+            <longName>Startup Roll Axis Angle Tolerance</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Angle at which balancing will start (on the cross axis). Measured in degrees from upright (0).&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_STARTUP_ROLL_TOLERANCE</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>80</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>8</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.startup_roll_tolerance>
+        <app_balance_conf.startup_speed>
+            <longName>Startup Centering Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed at which wheel will center itself on startup.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_STARTUP_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>30</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.startup_speed>
+        <app_balance_conf.deadzone>
+            <longName>Deadzone</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Deadzone disables balancing at center.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_DEADZONE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.deadzone>
+        <app_balance_conf.multi_esc>
+            <longName>Multiple VESCs Over CAN</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_MULTI_ESC</cDefine>
+            <valInt>0</valInt>
+        </app_balance_conf.multi_esc>
+        <app_balance_conf.yaw_kp>
+            <longName>Yaw P</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;P value for yaw PID stabilization.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_YAW_KP</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>-10000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.yaw_kp>
+        <app_balance_conf.yaw_ki>
+            <longName>Yaw I</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;I value for yaw PID stabilization.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_YAW_KI</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>-10000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.yaw_ki>
+        <app_balance_conf.yaw_kd>
+            <longName>Yaw D</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D value for yaw PID stabilization.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_YAW_KD</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>-10000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.yaw_kd>
+        <app_balance_conf.roll_steer_kp>
+            <longName>Roll Steer KP</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Roll angle to yaw setpoint adjustment proportion. This is a constant turning speed regardless of forward travel speed. It will turn tighter at low speeds&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_ROLL_STEER_KP</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>-10000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.roll_steer_kp>
+        <app_balance_conf.roll_steer_erpm_kp>
+            <longName>Roll Steer ERPM KP</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Roll angle multiplied by ERPM to yaw setpoint adjustment proportion. Scaling turn speed by erpm will give a constant turning radius at all speeds, like a normal vehicle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_ROLL_STEER_ERPM_KP</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>-10000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0001</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.roll_steer_erpm_kp>
+        <app_balance_conf.brake_current>
+            <longName>Brake Current</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Breaking current to be applied when balance app is not actively balancing.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_BRAKE_CURRENT</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>2</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.brake_current>
+        <app_balance_conf.brake_timeout>
+            <longName>Brake Timeout</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Turn off the brake after this many seconds. It will automatically reactivate if the motor moves. 0 = Disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_BRAKE_TIMEOUT</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>5</stepInt>
+            <valInt>10</valInt>
+            <suffix> s</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.brake_timeout>
+        <app_balance_conf.yaw_current_clamp>
+            <longName>Yaw Current Clamp</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum current to be applied to yaw motions. This lets you overpower the pid traction.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_YAW_CURRENT_CLAMP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.yaw_current_clamp>
+        <app_balance_conf.ki_limit>
+            <longName>I term limit</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;I term limiter, used to prevent windup. 0 = disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KI_LIMIT</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>2</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.ki_limit>
+        <app_balance_conf.kd_pt1_lowpass_frequency>
+            <longName>D term PT1 Low Pass Filter</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D term filter above this frequency. 0 = Disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KD_PT1_LOWPASS_FREQUENCY</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>4000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>0</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.kd_pt1_lowpass_frequency>
+        <app_balance_conf.kd_pt1_highpass_frequency>
+            <longName>D term PT1 High Pass Filter</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D term filter below this frequency. 0 = Disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_KD_PT1_HIGHPASS_FREQUENCY</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>4000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>0</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.kd_pt1_highpass_frequency>
+        <app_balance_conf.booster_angle>
+            <longName>Start Angle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Angle at which booster is applied (actually measued as absolute deviation from setpoint).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_BOOSTER_ANGLE</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>80</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>8</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.booster_angle>
+        <app_balance_conf.booster_ramp>
+            <longName>Ramp Up</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Degrees over which booster will ramp from 0A to the Configured Current, starting at start Angle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_BOOSTER_RAMP</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>80</maxDouble>
+            <minDouble>1</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.booster_ramp>
+        <app_balance_conf.booster_current>
+            <longName>Current Boost</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Extra current to be applied when booster angle is reached.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_BOOSTER_CURRENT</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.booster_current>
+        <app_balance_conf.torquetilt_start_current>
+            <longName>Start Current Threshold</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum output current threshold for torque tiltback to start applying.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TORQUETILT_START_CURRENT</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>2</stepDouble>
+            <valDouble>10</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.torquetilt_start_current>
+        <app_balance_conf.torquetilt_angle_limit>
+            <longName>Tilitback Angle Limit</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Max angle to which torque tiltback will tilt.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TORQUETILT_ANGLE_LIMIT</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>80</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>5</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.torquetilt_angle_limit>
+        <app_balance_conf.torquetilt_on_speed>
+            <longName>Max Tiltback Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Max speed at which torque tiltback will tilt to the desired angle (tilt will be slower if current increases slowly).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TORQUETILT_ON_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>5</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.torquetilt_on_speed>
+        <app_balance_conf.torquetilt_off_speed>
+            <longName>Max Tiltback Release Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Max speed at which torque tiltback will release to the desired angle back to 0 (tilt will be slower if current decreases slowly).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TORQUETILT_OFF_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>3</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.torquetilt_off_speed>
+        <app_balance_conf.torquetilt_strength>
+            <longName>Strength</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;How much tiltback should be applied based on output current.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TORQUETILT_STRENGTH</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °/A</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.torquetilt_strength>
+        <app_balance_conf.torquetilt_filter>
+            <longName>Current Filter</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Biquad Low pass filter on the current used for calculating the torquetilt. This smooths out spikes in the current, and prevents torquetilt from being twitchy.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TORQUETILT_FILTER</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>2</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> Hz</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.torquetilt_filter>
+        <app_balance_conf.turntilt_strength>
+            <longName>Strength</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;How much tiltback should be applied based on the sine of the roll angle. A strength value of N will give N degrees of tiltback when the vehicle is rolled to 90 degrees.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TURNTILT_STRENGTH</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>90</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> </suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.turntilt_strength>
+        <app_balance_conf.turntilt_angle_limit>
+            <longName>Tilitback Angle Limit</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Max angle to which turn tiltback will tilt. This wont change the power curve, only stop it at the limit.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TURNTILT_ANGLE_LIMIT</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>30</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>5</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.turntilt_angle_limit>
+        <app_balance_conf.turntilt_start_angle>
+            <longName>Roll Angle Threshold</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Min angle threshold to apply turntilt. Similar to a deadzone, except after reaching the angle, it will apply as if it started from 0.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TURNTILT_START_ANGLE</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>45</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.turntilt_start_angle>
+        <app_balance_conf.turntilt_start_erpm>
+            <longName>ERPM Threshold</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM threshold to apply turntilt.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TURNTILT_START_ERPM</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>100000</maxInt>
+            <minInt>100</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>100</stepInt>
+            <valInt>100</valInt>
+            <suffix> ERPM</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.turntilt_start_erpm>
+        <app_balance_conf.turntilt_speed>
+            <longName>Max Tiltback Speed</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Max speed at which turntilt will tilt to the desired angle (tilt will be slower if roll angle increases slowly).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TURNTILT_SPEED</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>5</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>9</vTx>
+        </app_balance_conf.turntilt_speed>
+        <app_balance_conf.turntilt_erpm_boost>
+            <longName>Speed Boost %</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Increase the strength based on ERPM. Boost percent is added linearly from 0 erpm (0% boost) to max erpm (Full configured boost % is applied).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TURNTILT_ERPM_BOOST</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>5</stepInt>
+            <valInt>20</valInt>
+            <suffix> %</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.turntilt_erpm_boost>
+        <app_balance_conf.turntilt_erpm_boost_end>
+            <longName>Speed Boost Max ERPM</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM (absolute value) to end boosting the turn tilt effect, above this erpm there will be constant boost % (at your configured boost %).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_BALANCE_TURNTILT_ERPM_BOOST_END</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>100000</maxInt>
+            <minInt>100</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>100</stepInt>
+            <valInt>20000</valInt>
+            <suffix> ERPM</suffix>
+            <vTx>3</vTx>
+        </app_balance_conf.turntilt_erpm_boost_end>
+        <app_pas_conf.ctrl_type>
+            <longName>Control Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Off&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The output is switched off regardless of the input.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Cadence&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Cadence control. The output is proportional to the pedalling speed, off when there is no pedalling.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Constant Torque&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Constant Torque control. Pedalling provides constant output, off when no pedalling. Suited for gearless setup.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_CTRL_TYPE</cDefine>
+            <valInt>1</valInt>
+            <enumNames>Off</enumNames>
+            <enumNames>Cadence</enumNames>
+            <enumNames>Constant Torque</enumNames>
+        </app_pas_conf.ctrl_type>
+        <app_pas_conf.sensor_type>
+            <longName>Sensor Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Quadrature&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This interface provides 2 signals that can be decoded to know the pedalling direction (forward of backwards).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_SENSOR_TYPE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Quadrature</enumNames>
+        </app_pas_conf.sensor_type>
+        <app_pas_conf.pedal_rpm_start>
+            <longName>Pedal RPM Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Pedal RPM at which the assist starts. Below this value the output current is zero.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_PEDAL_RPM_START</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>200</maxDouble>
+            <minDouble>1</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>10</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </app_pas_conf.pedal_rpm_start>
+        <app_pas_conf.pedal_rpm_end>
+            <longName>Pedal RPM End</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Pedal RPM at which the assist stops increasing. Above this pedal speed the assist output will stay at its maximum.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_PEDAL_RPM_END</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>300</maxDouble>
+            <minDouble>1</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>120</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </app_pas_conf.pedal_rpm_end>
+        <app_pas_conf.invert_pedal_direction>
+            <longName>Invert Pedal Direction</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Inverts pedal direction&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_INVERT_PEDAL_DIRECTION</cDefine>
+            <valInt>0</valInt>
+        </app_pas_conf.invert_pedal_direction>
+        <app_pas_conf.magnets>
+            <longName>Sensor Magnets</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;How many magnets the PAS sensor assembly has. 24 magnets would provide 24 pulses per pedal revolution.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;12 and 24 magnet setups are typical.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_MAGNETS</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>128</maxInt>
+            <minInt>6</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>6</stepInt>
+            <valInt>24</valInt>
+            <suffix></suffix>
+            <vTx>3</vTx>
+        </app_pas_conf.magnets>
+        <app_pas_conf.use_filter>
+            <longName>Use Filter</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use a low pass filter in the PAS input signal&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_USE_FILTER</cDefine>
+            <valInt>1</valInt>
+        </app_pas_conf.use_filter>
+        <app_pas_conf.current_scaling>
+            <longName>PAS Max Current</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum PAS output current will be limited to this percentage of the global output current.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_CURRENT_SCALING</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>0.08</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </app_pas_conf.current_scaling>
+        <app_pas_conf.ramp_time_pos>
+            <longName>Positive Ramping Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Positive ramping time constant. This filters the PAS input with ramping and represents the amount of secods it takes to ramp from zero to full output.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_RAMP_TIME_POS</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>0.2</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>0.3</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>7</vTx>
+        </app_pas_conf.ramp_time_pos>
+        <app_pas_conf.ramp_time_neg>
+            <longName>Negative Ramping Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Negative ramping time constant. This filters the PAS input with ramping and represents the amount of secods it takes to ramp from full to zero output.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_RAMP_TIME_NEG</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>0.2</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>0.2</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> s</suffix>
+            <vTx>7</vTx>
+        </app_pas_conf.ramp_time_neg>
+        <app_pas_conf.update_rate_hz>
+            <longName>Update Rate</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Frequency at which the PAS control loop is executed&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_PAS_UPDATE_RATE_HZ</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>1000</maxInt>
+            <minInt>10</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>500</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </app_pas_conf.update_rate_hz>
+        <imu_conf.type>
+            <longName>IMU Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;IMU type. The internal IMU is only available if the hardware supports it. External IMUs can be connected to the SDA and SCL pins. If using an external IMU, make sure that no app that uses the same pins is selected.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_TYPE</cDefine>
+            <valInt>1</valInt>
+            <enumNames>IMU_TYPE_OFF</enumNames>
+            <enumNames>IMU_TYPE_INTERNAL</enumNames>
+            <enumNames>IMU_TYPE_EXTERNAL_MPU9X50</enumNames>
+            <enumNames>IMU_TYPE_EXTERNAL_ICM20948</enumNames>
+            <enumNames>IMU_TYPE_EXTERNAL_BMI160</enumNames>
+            <enumNames>IMU_TYPE_EXTERNAL_LSM6DS3</enumNames>
+        </imu_conf.type>
+        <imu_conf.mode>
+            <longName>IMU AHRS Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use the Madgwick or Mahony AHRS filter.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_AHRS_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>AHRS_MODE_MADGWICK</enumNames>
+            <enumNames>AHRS_MODE_MAHONY</enumNames>
+            <enumNames>AHRS_MODE_MADGWICK_FUSION</enumNames>
+        </imu_conf.mode>
+        <imu_conf.filter>
+            <longName>Accel/Gyro Filter</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Set the onboard accel/gyro filters.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_FILTER</cDefine>
+            <valInt>0</valInt>
+            <enumNames>IMU_FILTER_LOW</enumNames>
+            <enumNames>IMU_FILTER_MEDIUM</enumNames>
+            <enumNames>IMU_FILTER_HIGH</enumNames>
+        </imu_conf.filter>
+        <imu_conf.accel_lowpass_filter_x>
+            <longName>Accel lowpass filter X</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Accelerometer lowpass filter&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Biquad lowpass filter applied to X axis. This is run on the ESC and will be applied regardless of IMU model.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Setting the filter to 0Hz will disable it.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_ACCEL_LOWPASS_FILTER_X</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> Hz</suffix>
+            <vTx>7</vTx>
+        </imu_conf.accel_lowpass_filter_x>
+        <imu_conf.accel_lowpass_filter_y>
+            <longName>Accel lowpass filter Y</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Accelerometer lowpass filter&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Biquad lowpass filter applied to Y axis. This is run on the ESC and will be applied regardless of IMU model.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Setting the filter to 0Hz will disable it.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_ACCEL_LOWPASS_FILTER_Y</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> Hz</suffix>
+            <vTx>7</vTx>
+        </imu_conf.accel_lowpass_filter_y>
+        <imu_conf.accel_lowpass_filter_z>
+            <longName>Accel lowpass filter Z</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Accelerometer lowpass filter&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Biquad lowpass filter applied to Z axis. This is run on the ESC and will be applied regardless of IMU model.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Setting the filter to 0Hz will disable it.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_ACCEL_LOWPASS_FILTER_Z</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> Hz</suffix>
+            <vTx>7</vTx>
+        </imu_conf.accel_lowpass_filter_z>
+        <imu_conf.gyro_lowpass_filter>
+            <longName>Gyro lowpass filter</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Gyrosocpe lowpass filter&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Biquad lowpass filter applied to all 3 axes of the gyroscope. This is run on the ESC and will be applied regardless of IMU model.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Setting the filter to 0Hz will disable it.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_GYRO_LOWPASS_FILTER</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> Hz</suffix>
+            <vTx>7</vTx>
+        </imu_conf.gyro_lowpass_filter>
+        <imu_conf.sample_rate_hz>
+            <longName>Sample Rate</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;IMU sample rate. Higher sample rates use more CPU cycles, but perform better.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_SAMPLE_RATE_HZ</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>10000</maxInt>
+            <minInt>1</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>200</valInt>
+            <suffix> Hz</suffix>
+            <vTx>3</vTx>
+        </imu_conf.sample_rate_hz>
+        <imu_conf.use_magnetometer>
+            <longName>Use magnetometer</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use magnetometer.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_USE_MAGNETOMETER</cDefine>
+            <valInt>1</valInt>
+        </imu_conf.use_magnetometer>
+        <imu_conf.accel_confidence_decay>
+            <longName>Accelerometer Confidence Decay</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This factor sets how fast the accelerometer confidence will be decreased if the acceleration vector differs from 1.0.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_ACCEL_CONFIDENCE_DECAY</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>999</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </imu_conf.accel_confidence_decay>
+        <imu_conf.mahony_kp>
+            <longName>Mahony KP</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;KP for Mahony filter. Decides how much the accelerometer is used for attitude estimation. Increasing this value helps against gyro offsets, but makes the output noisier.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_MAHONY_KP</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>999</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0.3</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </imu_conf.mahony_kp>
+        <imu_conf.mahony_ki>
+            <longName>Mahony KI</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;KI for Mahony filter. Integrates gyro offsets over time.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_MAHONY_KI</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>999</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </imu_conf.mahony_ki>
+        <imu_conf.madgwick_beta>
+            <longName>Madgwick Beta</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Beta for Madgwick filter. Decides how much the accelerometer is used for attitude estimation. Increasing this value helps against gyro offsets, but makes the output noisier.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_MADGWICK_BETA</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>999</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.1</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </imu_conf.madgwick_beta>
+        <imu_conf.rot_roll>
+            <longName>Imu Rotation Roll</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Roll rotation of IMU. Can be adjusted if the IMU is not aligned with the vehicle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_ROT_ROLL</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>360</maxDouble>
+            <minDouble>-360</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </imu_conf.rot_roll>
+        <imu_conf.rot_pitch>
+            <longName>Imu Rotation Pitch</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Pitch rotation of IMU. Can be adjusted if the IMU is not aligned with the vehicle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_ROT_PITCH</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>360</maxDouble>
+            <minDouble>-360</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </imu_conf.rot_pitch>
+        <imu_conf.rot_yaw>
+            <longName>Imu Rotation Yaw</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Yaw rotation of IMU. Can be adjusted if the IMU is not aligned with the vehicle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_ROT_YAW</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>360</maxDouble>
+            <minDouble>-360</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </imu_conf.rot_yaw>
+        <imu_conf.accel_offsets__0>
+            <longName>Accel Offset X</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Accelerometer offset X.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_A_OFFSET_0</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>16</maxDouble>
+            <minDouble>-16</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> G</suffix>
+            <vTx>9</vTx>
+        </imu_conf.accel_offsets__0>
+        <imu_conf.accel_offsets__1>
+            <longName>Accel Offset Y</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Accelerometer offset Y.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_A_OFFSET_1</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>16</maxDouble>
+            <minDouble>-16</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> G</suffix>
+            <vTx>9</vTx>
+        </imu_conf.accel_offsets__1>
+        <imu_conf.accel_offsets__2>
+            <longName>Accel Offset Z</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Accelerometer offset Z.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_A_OFFSET_2</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>16</maxDouble>
+            <minDouble>-16</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> G</suffix>
+            <vTx>9</vTx>
+        </imu_conf.accel_offsets__2>
+        <imu_conf.gyro_offsets__0>
+            <longName>Gyro Offset X</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Gyro offset (drift) X.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_G_OFFSET_0</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>-1000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>9</vTx>
+        </imu_conf.gyro_offsets__0>
+        <imu_conf.gyro_offsets__1>
+            <longName>Gyro Offset Y</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Gyro offset (drift) Y.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_G_OFFSET_1</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>-1000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>9</vTx>
+        </imu_conf.gyro_offsets__1>
+        <imu_conf.gyro_offsets__2>
+            <longName>Gyro Offset Z</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Gyro offset (drift) Z.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>APPCONF_IMU_G_OFFSET_2</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>-1000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> °/s</suffix>
+            <vTx>9</vTx>
+        </imu_conf.gyro_offsets__2>
+    </Params>
+    <SerOrder>
+        <ser>controller_id</ser>
+        <ser>timeout_msec</ser>
+        <ser>timeout_brake_current</ser>
+        <ser>can_status_rate_1</ser>
+        <ser>can_status_rate_2</ser>
+        <ser>can_status_msgs_r1</ser>
+        <ser>can_status_msgs_r2</ser>
+        <ser>can_baud_rate</ser>
+        <ser>pairing_done</ser>
+        <ser>permanent_uart_enabled</ser>
+        <ser>shutdown_mode</ser>
+        <ser>can_mode</ser>
+        <ser>uavcan_esc_index</ser>
+        <ser>uavcan_raw_mode</ser>
+        <ser>uavcan_raw_rpm_max</ser>
+        <ser>uavcan_status_current_mode</ser>
+        <ser>servo_out_enable</ser>
+        <ser>kill_sw_mode</ser>
+        <ser>app_to_use</ser>
+        <ser>app_ppm_conf.ctrl_type</ser>
+        <ser>app_ppm_conf.pid_max_erpm</ser>
+        <ser>app_ppm_conf.hyst</ser>
+        <ser>app_ppm_conf.pulse_start</ser>
+        <ser>app_ppm_conf.pulse_end</ser>
+        <ser>app_ppm_conf.pulse_center</ser>
+        <ser>app_ppm_conf.median_filter</ser>
+        <ser>app_ppm_conf.safe_start</ser>
+        <ser>app_ppm_conf.throttle_exp</ser>
+        <ser>app_ppm_conf.throttle_exp_brake</ser>
+        <ser>app_ppm_conf.throttle_exp_mode</ser>
+        <ser>app_ppm_conf.ramp_time_pos</ser>
+        <ser>app_ppm_conf.ramp_time_neg</ser>
+        <ser>app_ppm_conf.multi_esc</ser>
+        <ser>app_ppm_conf.tc</ser>
+        <ser>app_ppm_conf.tc_max_diff</ser>
+        <ser>app_ppm_conf.max_erpm_for_dir</ser>
+        <ser>app_ppm_conf.smart_rev_max_duty</ser>
+        <ser>app_ppm_conf.smart_rev_ramp_time</ser>
+        <ser>app_adc_conf.ctrl_type</ser>
+        <ser>app_adc_conf.hyst</ser>
+        <ser>app_adc_conf.voltage_start</ser>
+        <ser>app_adc_conf.voltage_end</ser>
+        <ser>app_adc_conf.voltage_min</ser>
+        <ser>app_adc_conf.voltage_max</ser>
+        <ser>app_adc_conf.voltage_center</ser>
+        <ser>app_adc_conf.voltage2_start</ser>
+        <ser>app_adc_conf.voltage2_end</ser>
+        <ser>app_adc_conf.use_filter</ser>
+        <ser>app_adc_conf.safe_start</ser>
+        <ser>app_adc_conf.buttons</ser>
+        <ser>app_adc_conf.voltage_inverted</ser>
+        <ser>app_adc_conf.voltage2_inverted</ser>
+        <ser>app_adc_conf.throttle_exp</ser>
+        <ser>app_adc_conf.throttle_exp_brake</ser>
+        <ser>app_adc_conf.throttle_exp_mode</ser>
+        <ser>app_adc_conf.ramp_time_pos</ser>
+        <ser>app_adc_conf.ramp_time_neg</ser>
+        <ser>app_adc_conf.multi_esc</ser>
+        <ser>app_adc_conf.tc</ser>
+        <ser>app_adc_conf.tc_max_diff</ser>
+        <ser>app_adc_conf.update_rate_hz</ser>
+        <ser>app_uart_baudrate</ser>
+        <ser>app_chuk_conf.ctrl_type</ser>
+        <ser>app_chuk_conf.hyst</ser>
+        <ser>app_chuk_conf.ramp_time_pos</ser>
+        <ser>app_chuk_conf.ramp_time_neg</ser>
+        <ser>app_chuk_conf.stick_erpm_per_s_in_cc</ser>
+        <ser>app_chuk_conf.throttle_exp</ser>
+        <ser>app_chuk_conf.throttle_exp_brake</ser>
+        <ser>app_chuk_conf.throttle_exp_mode</ser>
+        <ser>app_chuk_conf.multi_esc</ser>
+        <ser>app_chuk_conf.tc</ser>
+        <ser>app_chuk_conf.tc_max_diff</ser>
+        <ser>app_chuk_conf.use_smart_rev</ser>
+        <ser>app_chuk_conf.smart_rev_max_duty</ser>
+        <ser>app_chuk_conf.smart_rev_ramp_time</ser>
+        <ser>app_nrf_conf.speed</ser>
+        <ser>app_nrf_conf.power</ser>
+        <ser>app_nrf_conf.crc_type</ser>
+        <ser>app_nrf_conf.retry_delay</ser>
+        <ser>app_nrf_conf.retries</ser>
+        <ser>app_nrf_conf.channel</ser>
+        <ser>app_nrf_conf.address__0</ser>
+        <ser>app_nrf_conf.address__1</ser>
+        <ser>app_nrf_conf.address__2</ser>
+        <ser>app_nrf_conf.send_crc_ack</ser>
+        <ser>app_balance_conf.pid_mode</ser>
+        <ser>app_balance_conf.kp</ser>
+        <ser>app_balance_conf.ki</ser>
+        <ser>app_balance_conf.kd</ser>
+        <ser>app_balance_conf.kp2</ser>
+        <ser>app_balance_conf.ki2</ser>
+        <ser>app_balance_conf.kd2</ser>
+        <ser>app_balance_conf.hertz</ser>
+        <ser>app_balance_conf.loop_time_filter</ser>
+        <ser>app_balance_conf.fault_pitch</ser>
+        <ser>app_balance_conf.fault_roll</ser>
+        <ser>app_balance_conf.fault_duty</ser>
+        <ser>app_balance_conf.fault_adc1</ser>
+        <ser>app_balance_conf.fault_adc2</ser>
+        <ser>app_balance_conf.fault_delay_pitch</ser>
+        <ser>app_balance_conf.fault_delay_roll</ser>
+        <ser>app_balance_conf.fault_delay_duty</ser>
+        <ser>app_balance_conf.fault_delay_switch_half</ser>
+        <ser>app_balance_conf.fault_delay_switch_full</ser>
+        <ser>app_balance_conf.fault_adc_half_erpm</ser>
+        <ser>app_balance_conf.fault_is_dual_switch</ser>
+        <ser>app_balance_conf.tiltback_duty_angle</ser>
+        <ser>app_balance_conf.tiltback_duty_speed</ser>
+        <ser>app_balance_conf.tiltback_duty</ser>
+        <ser>app_balance_conf.tiltback_hv_angle</ser>
+        <ser>app_balance_conf.tiltback_hv_speed</ser>
+        <ser>app_balance_conf.tiltback_hv</ser>
+        <ser>app_balance_conf.tiltback_lv_angle</ser>
+        <ser>app_balance_conf.tiltback_lv_speed</ser>
+        <ser>app_balance_conf.tiltback_lv</ser>
+        <ser>app_balance_conf.tiltback_return_speed</ser>
+        <ser>app_balance_conf.tiltback_constant</ser>
+        <ser>app_balance_conf.tiltback_constant_erpm</ser>
+        <ser>app_balance_conf.tiltback_variable</ser>
+        <ser>app_balance_conf.tiltback_variable_max</ser>
+        <ser>app_balance_conf.noseangling_speed</ser>
+        <ser>app_balance_conf.startup_pitch_tolerance</ser>
+        <ser>app_balance_conf.startup_roll_tolerance</ser>
+        <ser>app_balance_conf.startup_speed</ser>
+        <ser>app_balance_conf.deadzone</ser>
+        <ser>app_balance_conf.multi_esc</ser>
+        <ser>app_balance_conf.yaw_kp</ser>
+        <ser>app_balance_conf.yaw_ki</ser>
+        <ser>app_balance_conf.yaw_kd</ser>
+        <ser>app_balance_conf.roll_steer_kp</ser>
+        <ser>app_balance_conf.roll_steer_erpm_kp</ser>
+        <ser>app_balance_conf.brake_current</ser>
+        <ser>app_balance_conf.brake_timeout</ser>
+        <ser>app_balance_conf.yaw_current_clamp</ser>
+        <ser>app_balance_conf.ki_limit</ser>
+        <ser>app_balance_conf.kd_pt1_lowpass_frequency</ser>
+        <ser>app_balance_conf.kd_pt1_highpass_frequency</ser>
+        <ser>app_balance_conf.booster_angle</ser>
+        <ser>app_balance_conf.booster_ramp</ser>
+        <ser>app_balance_conf.booster_current</ser>
+        <ser>app_balance_conf.torquetilt_start_current</ser>
+        <ser>app_balance_conf.torquetilt_angle_limit</ser>
+        <ser>app_balance_conf.torquetilt_on_speed</ser>
+        <ser>app_balance_conf.torquetilt_off_speed</ser>
+        <ser>app_balance_conf.torquetilt_strength</ser>
+        <ser>app_balance_conf.torquetilt_filter</ser>
+        <ser>app_balance_conf.turntilt_strength</ser>
+        <ser>app_balance_conf.turntilt_angle_limit</ser>
+        <ser>app_balance_conf.turntilt_start_angle</ser>
+        <ser>app_balance_conf.turntilt_start_erpm</ser>
+        <ser>app_balance_conf.turntilt_speed</ser>
+        <ser>app_balance_conf.turntilt_erpm_boost</ser>
+        <ser>app_balance_conf.turntilt_erpm_boost_end</ser>
+        <ser>app_pas_conf.ctrl_type</ser>
+        <ser>app_pas_conf.sensor_type</ser>
+        <ser>app_pas_conf.current_scaling</ser>
+        <ser>app_pas_conf.pedal_rpm_start</ser>
+        <ser>app_pas_conf.pedal_rpm_end</ser>
+        <ser>app_pas_conf.invert_pedal_direction</ser>
+        <ser>app_pas_conf.magnets</ser>
+        <ser>app_pas_conf.use_filter</ser>
+        <ser>app_pas_conf.ramp_time_pos</ser>
+        <ser>app_pas_conf.ramp_time_neg</ser>
+        <ser>app_pas_conf.update_rate_hz</ser>
+        <ser>imu_conf.type</ser>
+        <ser>imu_conf.mode</ser>
+        <ser>imu_conf.filter</ser>
+        <ser>imu_conf.accel_lowpass_filter_x</ser>
+        <ser>imu_conf.accel_lowpass_filter_y</ser>
+        <ser>imu_conf.accel_lowpass_filter_z</ser>
+        <ser>imu_conf.gyro_lowpass_filter</ser>
+        <ser>imu_conf.sample_rate_hz</ser>
+        <ser>imu_conf.use_magnetometer</ser>
+        <ser>imu_conf.accel_confidence_decay</ser>
+        <ser>imu_conf.mahony_kp</ser>
+        <ser>imu_conf.mahony_ki</ser>
+        <ser>imu_conf.madgwick_beta</ser>
+        <ser>imu_conf.rot_roll</ser>
+        <ser>imu_conf.rot_pitch</ser>
+        <ser>imu_conf.rot_yaw</ser>
+        <ser>imu_conf.accel_offsets__0</ser>
+        <ser>imu_conf.accel_offsets__1</ser>
+        <ser>imu_conf.accel_offsets__2</ser>
+        <ser>imu_conf.gyro_offsets__0</ser>
+        <ser>imu_conf.gyro_offsets__1</ser>
+        <ser>imu_conf.gyro_offsets__2</ser>
+    </SerOrder>
+    <Grouping>
+        <group>
+            <groupName>General</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>app_to_use</param>
+                    <param>controller_id</param>
+                    <param>timeout_msec</param>
+                    <param>timeout_brake_current</param>
+                    <param>can_baud_rate</param>
+                    <param>pairing_done</param>
+                    <param>permanent_uart_enabled</param>
+                    <param>shutdown_mode</param>
+                    <param>can_mode</param>
+                    <param>uavcan_esc_index</param>
+                    <param>uavcan_raw_mode</param>
+                    <param>uavcan_raw_rpm_max</param>
+                    <param>uavcan_status_current_mode</param>
+                    <param>servo_out_enable</param>
+                    <param>kill_sw_mode</param>
+                    <param>::sep::CAN Messages Rate 1</param>
+                    <param>can_status_rate_1</param>
+                    <param>can_status_msgs_r1</param>
+                    <param>::sep::CAN Messages Rate 2</param>
+                    <param>can_status_rate_2</param>
+                    <param>can_status_msgs_r2</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>PPM</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>app_ppm_conf.ctrl_type</param>
+                    <param>app_ppm_conf.median_filter</param>
+                    <param>app_ppm_conf.safe_start</param>
+                    <param>app_ppm_conf.pid_max_erpm</param>
+                    <param>app_ppm_conf.ramp_time_pos</param>
+                    <param>app_ppm_conf.ramp_time_neg</param>
+                    <param>app_ppm_conf.max_erpm_for_dir</param>
+                    <param>app_ppm_conf.smart_rev_max_duty</param>
+                    <param>app_ppm_conf.smart_rev_ramp_time</param>
+                    <param>::sep::Multiple VESCs over CAN</param>
+                    <param>app_ppm_conf.multi_esc</param>
+                    <param>app_ppm_conf.tc</param>
+                    <param>app_ppm_conf.tc_max_diff</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Mapping</subgroupName>
+                <subgroupParams>
+                    <param>app_ppm_conf.pulse_start</param>
+                    <param>app_ppm_conf.pulse_end</param>
+                    <param>app_ppm_conf.pulse_center</param>
+                    <param>app_ppm_conf.hyst</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Throttle Curve</subgroupName>
+                <subgroupParams>
+                    <param>app_ppm_conf.throttle_exp</param>
+                    <param>app_ppm_conf.throttle_exp_brake</param>
+                    <param>app_ppm_conf.throttle_exp_mode</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>ADC</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>app_adc_conf.ctrl_type</param>
+                    <param>app_adc_conf.use_filter</param>
+                    <param>app_adc_conf.safe_start</param>
+                    <param>app_adc_conf.update_rate_hz</param>
+                    <param>app_adc_conf.ramp_time_pos</param>
+                    <param>app_adc_conf.ramp_time_neg</param>
+                    <param>app_adc_conf.buttons</param>
+                    <param>::sep::Multiple VESCs over CAN-bus</param>
+                    <param>app_adc_conf.multi_esc</param>
+                    <param>app_adc_conf.tc</param>
+                    <param>app_adc_conf.tc_max_diff</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Mapping</subgroupName>
+                <subgroupParams>
+                    <param>app_adc_conf.hyst</param>
+                    <param>::sep::ADC 1</param>
+                    <param>app_adc_conf.voltage_start</param>
+                    <param>app_adc_conf.voltage_end</param>
+                    <param>app_adc_conf.voltage_center</param>
+                    <param>app_adc_conf.voltage_inverted</param>
+                    <param>app_adc_conf.voltage_min</param>
+                    <param>app_adc_conf.voltage_max</param>
+                    <param>::sep::ADC 2</param>
+                    <param>app_adc_conf.voltage2_start</param>
+                    <param>app_adc_conf.voltage2_end</param>
+                    <param>app_adc_conf.voltage2_inverted</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Throttle Curve</subgroupName>
+                <subgroupParams>
+                    <param>app_adc_conf.throttle_exp</param>
+                    <param>app_adc_conf.throttle_exp_brake</param>
+                    <param>app_adc_conf.throttle_exp_mode</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>UART</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>app_uart_baudrate</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>VESC Remote</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>app_chuk_conf.ctrl_type</param>
+                    <param>app_chuk_conf.ramp_time_pos</param>
+                    <param>app_chuk_conf.ramp_time_neg</param>
+                    <param>app_chuk_conf.stick_erpm_per_s_in_cc</param>
+                    <param>app_chuk_conf.hyst</param>
+                    <param>app_chuk_conf.use_smart_rev</param>
+                    <param>app_chuk_conf.smart_rev_max_duty</param>
+                    <param>app_chuk_conf.smart_rev_ramp_time</param>
+                    <param>::sep::Multiple VESCs over CAN-bus</param>
+                    <param>app_chuk_conf.multi_esc</param>
+                    <param>app_chuk_conf.tc</param>
+                    <param>app_chuk_conf.tc_max_diff</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Throttle Curve</subgroupName>
+                <subgroupParams>
+                    <param>app_chuk_conf.throttle_exp</param>
+                    <param>app_chuk_conf.throttle_exp_brake</param>
+                    <param>app_chuk_conf.throttle_exp_mode</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>NRF</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>::sep::Radio</param>
+                    <param>app_nrf_conf.power</param>
+                    <param>app_nrf_conf.speed</param>
+                    <param>app_nrf_conf.channel</param>
+                    <param>::sep::Integrity</param>
+                    <param>app_nrf_conf.crc_type</param>
+                    <param>app_nrf_conf.send_crc_ack</param>
+                    <param>app_nrf_conf.retry_delay</param>
+                    <param>app_nrf_conf.retries</param>
+                    <param>::sep::Address</param>
+                    <param>app_nrf_conf.address__0</param>
+                    <param>app_nrf_conf.address__1</param>
+                    <param>app_nrf_conf.address__2</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>Balance</groupName>
+            <subgroup>
+                <subgroupName>Tune</subgroupName>
+                <subgroupParams>
+                    <param>::sep::PID</param>
+                    <param>app_balance_conf.pid_mode</param>
+                    <param>app_balance_conf.kp</param>
+                    <param>app_balance_conf.ki</param>
+                    <param>app_balance_conf.kd</param>
+                    <param>app_balance_conf.kp2</param>
+                    <param>app_balance_conf.ki2</param>
+                    <param>app_balance_conf.kd2</param>
+                    <param>::sep::Main Loop</param>
+                    <param>app_balance_conf.hertz</param>
+                    <param>app_balance_conf.loop_time_filter</param>
+                    <param>::sep::Filters</param>
+                    <param>app_balance_conf.ki_limit</param>
+                    <param>app_balance_conf.kd_pt1_lowpass_frequency</param>
+                    <param>app_balance_conf.kd_pt1_highpass_frequency</param>
+                    <param>::sep::Experimental</param>
+                    <param>app_balance_conf.deadzone</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Tune Modifiers</subgroupName>
+                <subgroupParams>
+                    <param>::sep::Nose Angling</param>
+                    <param>app_balance_conf.tiltback_constant</param>
+                    <param>app_balance_conf.tiltback_constant_erpm</param>
+                    <param>app_balance_conf.tiltback_variable</param>
+                    <param>app_balance_conf.tiltback_variable_max</param>
+                    <param>app_balance_conf.noseangling_speed</param>
+                    <param>::sep::Booster</param>
+                    <param>app_balance_conf.booster_angle</param>
+                    <param>app_balance_conf.booster_ramp</param>
+                    <param>app_balance_conf.booster_current</param>
+                    <param>::sep::Torque Tiltback</param>
+                    <param>app_balance_conf.torquetilt_strength</param>
+                    <param>app_balance_conf.torquetilt_start_current</param>
+                    <param>app_balance_conf.torquetilt_angle_limit</param>
+                    <param>app_balance_conf.torquetilt_on_speed</param>
+                    <param>app_balance_conf.torquetilt_off_speed</param>
+                    <param>app_balance_conf.torquetilt_filter</param>
+                    <param>::sep::Turn/Roll Tiltback</param>
+                    <param>app_balance_conf.turntilt_strength</param>
+                    <param>app_balance_conf.turntilt_angle_limit</param>
+                    <param>app_balance_conf.turntilt_start_angle</param>
+                    <param>app_balance_conf.turntilt_start_erpm</param>
+                    <param>app_balance_conf.turntilt_speed</param>
+                    <param>app_balance_conf.turntilt_erpm_boost</param>
+                    <param>app_balance_conf.turntilt_erpm_boost_end</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Startup</subgroupName>
+                <subgroupParams>
+                    <param>::sep::Tolerances</param>
+                    <param>app_balance_conf.startup_pitch_tolerance</param>
+                    <param>app_balance_conf.startup_roll_tolerance</param>
+                    <param>::sep::Centering</param>
+                    <param>app_balance_conf.startup_speed</param>
+                    <param>::sep::Holding</param>
+                    <param>app_balance_conf.brake_current</param>
+                    <param>app_balance_conf.brake_timeout</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Tiltback</subgroupName>
+                <subgroupParams>
+                    <param>::sep::General Config</param>
+                    <param>app_balance_conf.tiltback_return_speed</param>
+                    <param>::sep::Duty Cycle Tiltback</param>
+                    <param>app_balance_conf.tiltback_duty</param>
+                    <param>app_balance_conf.tiltback_duty_angle</param>
+                    <param>app_balance_conf.tiltback_duty_speed</param>
+                    <param>::sep::High Voltage Tiltback</param>
+                    <param>app_balance_conf.tiltback_hv</param>
+                    <param>app_balance_conf.tiltback_hv_angle</param>
+                    <param>app_balance_conf.tiltback_hv_speed</param>
+                    <param>::sep::Low Voltage Tiltback</param>
+                    <param>app_balance_conf.tiltback_lv</param>
+                    <param>app_balance_conf.tiltback_lv_angle</param>
+                    <param>app_balance_conf.tiltback_lv_speed</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Fault</subgroupName>
+                <subgroupParams>
+                    <param>::sep::Angle Faults</param>
+                    <param>app_balance_conf.fault_pitch</param>
+                    <param>app_balance_conf.fault_delay_pitch</param>
+                    <param>app_balance_conf.fault_roll</param>
+                    <param>app_balance_conf.fault_delay_roll</param>
+                    <param>::sep::Speed Faults</param>
+                    <param>app_balance_conf.fault_duty</param>
+                    <param>app_balance_conf.fault_delay_duty</param>
+                    <param>::sep::Switches</param>
+                    <param>app_balance_conf.fault_adc1</param>
+                    <param>app_balance_conf.fault_adc2</param>
+                    <param>app_balance_conf.fault_delay_switch_half</param>
+                    <param>app_balance_conf.fault_delay_switch_full</param>
+                    <param>app_balance_conf.fault_adc_half_erpm</param>
+                    <param>app_balance_conf.fault_is_dual_switch</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Multi ESC</subgroupName>
+                <subgroupParams>
+                    <param>::sep::Multi ESC</param>
+                    <param>app_balance_conf.multi_esc</param>
+                    <param>::sep::Stabilization PID</param>
+                    <param>app_balance_conf.yaw_kp</param>
+                    <param>app_balance_conf.yaw_ki</param>
+                    <param>app_balance_conf.yaw_kd</param>
+                    <param>::sep::Steering</param>
+                    <param>app_balance_conf.roll_steer_kp</param>
+                    <param>app_balance_conf.roll_steer_erpm_kp</param>
+                    <param>app_balance_conf.yaw_current_clamp</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>IMU</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>imu_conf.type</param>
+                    <param>imu_conf.use_magnetometer</param>
+                    <param>imu_conf.sample_rate_hz</param>
+                    <param>imu_conf.filter</param>
+                    <param>imu_conf.accel_lowpass_filter_x</param>
+                    <param>imu_conf.accel_lowpass_filter_y</param>
+                    <param>imu_conf.accel_lowpass_filter_z</param>
+                    <param>imu_conf.gyro_lowpass_filter</param>
+                    <param>::sep::AHRS</param>
+                    <param>imu_conf.mode</param>
+                    <param>imu_conf.accel_confidence_decay</param>
+                    <param>imu_conf.mahony_kp</param>
+                    <param>imu_conf.mahony_ki</param>
+                    <param>imu_conf.madgwick_beta</param>
+                    <param>::sep::Rotation</param>
+                    <param>imu_conf.rot_roll</param>
+                    <param>imu_conf.rot_pitch</param>
+                    <param>imu_conf.rot_yaw</param>
+                    <param>::sep::Offsets</param>
+                    <param>imu_conf.accel_offsets__0</param>
+                    <param>imu_conf.accel_offsets__1</param>
+                    <param>imu_conf.accel_offsets__2</param>
+                    <param>imu_conf.gyro_offsets__0</param>
+                    <param>imu_conf.gyro_offsets__1</param>
+                    <param>imu_conf.gyro_offsets__2</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>PAS</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>app_pas_conf.ctrl_type</param>
+                    <param>app_pas_conf.sensor_type</param>
+                    <param>app_pas_conf.pedal_rpm_start</param>
+                    <param>app_pas_conf.pedal_rpm_end</param>
+                    <param>app_pas_conf.invert_pedal_direction</param>
+                    <param>app_pas_conf.magnets</param>
+                    <param>app_pas_conf.use_filter</param>
+                    <param>app_pas_conf.current_scaling</param>
+                    <param>app_pas_conf.ramp_time_pos</param>
+                    <param>app_pas_conf.ramp_time_neg</param>
+                    <param>app_pas_conf.update_rate_hz</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+    </Grouping>
+</ConfigParams>
diff --git a/res/config/6.05/parameters_mcconf.xml b/res/config/6.05/parameters_mcconf.xml
new file mode 100644
index 000000000..d0a6ac510
--- /dev/null
+++ b/res/config/6.05/parameters_mcconf.xml
@@ -0,0 +1,4932 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ConfigParams>
+    <Params>
+        <pwm_mode>
+            <longName>PWM Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The PWM mode to use for BLDC motors. Synchronous is the most tested and recommended mode. The others are likely to cause problems.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_PWM_MODE</cDefine>
+            <valInt>1</valInt>
+            <enumNames>Nonsynchronous HISW</enumNames>
+            <enumNames>Synchronous</enumNames>
+            <enumNames>Bipolar</enumNames>
+        </pwm_mode>
+        <comm_mode>
+            <longName>Commutation Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Delay&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This is what most cheap hobby ESCs use, which is detecting a BEMF zero crossing and adding a delay&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Integrate&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The back-EMF is sampled continuously after a zero crossing and the area under it is integrated. This is more robust and works better at low speed. For this mode the BEMF coupling and integration limit has to be know. The detect function can be used to measure these parameters.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_COMM_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Integrate</enumNames>
+            <enumNames>Delay</enumNames>
+        </comm_mode>
+        <motor_type>
+            <longName>Motor Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;BLDC&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Trapezoidal commutation mode for PMSM motors.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;DC&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;DC motor. A DC motor is connected to phase 1 and phase 3.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;FOC&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Field Oriented Control (FOC) for PMSM (or BLDC) motors. The motor is commutated with sine waves instead of a trapezoidal waveform as is the case for BLDC commutation. FOC runs the motors more quietly (especially at low speed and high load), is slightly more efficient and provides automatic optimal timing.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;GPD&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;General Purpose Drive between phase 1 and 3. Should be used with a custom application on the VESC, or on the computer with the VESC Tool backend providing samples.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_DEFAULT_MOTOR_TYPE</cDefine>
+            <valInt>2</valInt>
+            <enumNames>BLDC</enumNames>
+            <enumNames>DC</enumNames>
+            <enumNames>FOC</enumNames>
+            <enumNames>GPD</enumNames>
+        </motor_type>
+        <sensor_mode>
+            <longName>Sensor Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sensor mode for BLDC commutation. Hybrid means that sensors will be used at low speed and sensorless at high speed.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SENSOR_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Sensorless</enumNames>
+            <enumNames>Sensored</enumNames>
+            <enumNames>Hybrid</enumNames>
+        </sensor_mode>
+        <l_current_max>
+            <longName>Motor Current Max</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum motor current.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_CURRENT_MAX</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>60</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </l_current_max>
+        <l_current_min>
+            <longName>Motor Current Max Brake</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Maximum (braking) motor current. The is the maximum current that will be fed back to the VESC and when braking, thus negative. The energy from the braking current will be fed back to the battery.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_CURRENT_MIN</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>0</maxDouble>
+            <minDouble>-1000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>-60</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </l_current_min>
+        <l_in_current_max>
+            <longName>Battery Current Max</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The maximum current that can be drawn from the battery. The battery current is always lower than or equal to the motor current.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_IN_CURRENT_MAX</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>99</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </l_in_current_max>
+        <l_in_current_min>
+            <longName>Battery Current Max Regen</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The maximum regenerative current that can be fed to the battery (thus negative). The battery current is always lower than or equal to the motor current.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_IN_CURRENT_MIN</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>0</maxDouble>
+            <minDouble>-1000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>-60</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </l_in_current_min>
+        <l_abs_current_max>
+            <longName>Absolute Maximum Current</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The current magnitude above which all output will be switched off and a fault code thrown. Usually the current control loops take care of limiting the current, but in some conditions short current spikes can appear very quickly. The system can handle them quite well in most cased, so this value can be set relatively high compared to the other current values to avoid cutouts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_MAX_ABS_CURRENT</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>150</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </l_abs_current_max>
+        <l_min_erpm>
+            <longName>Max ERPM Reverse</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The maximum reverse electrical RPM.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_RPM_MIN</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>0</maxDouble>
+            <minDouble>-1e+06</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>-100000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </l_min_erpm>
+        <l_max_erpm>
+            <longName>Max ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The maximum electrical RPM.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_RPM_MAX</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>100000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </l_max_erpm>
+        <l_erpm_start>
+            <longName>ERPM Limit Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Start to reduce the current at this fraction of the ERPM limit. Lowering this number will make the ERPM limit softer.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_RPM_START</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.8</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </l_erpm_start>
+        <l_max_erpm_fbrake>
+            <longName>Max ERPM Full Brake</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The maximum ERPM at which a full brake is allowed (BLDC Only).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_CURR_MAX_RPM_FBRAKE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>300</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </l_max_erpm_fbrake>
+        <l_max_erpm_fbrake_cc>
+            <longName>Max ERPM Full Brake Current Control</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The ERPM below which a direction change is allowed in current control (BLDC Only).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_CURR_MAX_RPM_FBRAKE_CC</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>1500</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </l_max_erpm_fbrake_cc>
+        <l_min_vin>
+            <longName>Minimum Input Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The input voltage below which a fault code is thrown.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_MIN_VOLTAGE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>8</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </l_min_vin>
+        <l_max_vin>
+            <longName>Maximum Input Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The input voltage above which a fault code is thrown.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_MAX_VOLTAGE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>57</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </l_max_vin>
+        <l_battery_cut_start>
+            <longName>Battery Voltage Cutoff Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The input voltage where current starts to get reduced. There is still full braking current available as braking only charges the battery.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_BATTERY_CUT_START</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>10</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </l_battery_cut_start>
+        <l_battery_cut_end>
+            <longName>Battery Voltage Cutoff End</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The input voltage below which current draw is not allowed anymore. There is still full braking current available as braking only charges the battery.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_BATTERY_CUT_END</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>8</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </l_battery_cut_end>
+        <l_slow_abs_current>
+            <longName>Slow ABS Current Limit</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use the filtered current for the ABS max fault code. Will not trigger as easily on very short spikes.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_SLOW_ABS_OVERCURRENT</cDefine>
+            <valInt>1</valInt>
+        </l_slow_abs_current>
+        <l_temp_fet_start>
+            <longName>MOSFET Temp Cutoff Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The MOSFET temperature at which motor current starts to get reduced.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_LIM_TEMP_FET_START</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>190</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>85</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix> °C</suffix>
+            <vTx>7</vTx>
+        </l_temp_fet_start>
+        <l_temp_fet_end>
+            <longName>MOSFET Temp Cutoff End</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The MOSFET temperature above which motor current is not allowed and a fault is thrown.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_LIM_TEMP_FET_END</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>190</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>100</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix> °C</suffix>
+            <vTx>7</vTx>
+        </l_temp_fet_end>
+        <l_temp_motor_start>
+            <longName>Motor Temp Cutoff Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The motor temperature at which motor current starts to get reduced.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_LIM_TEMP_MOTOR_START</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>190</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>85</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix> °C</suffix>
+            <vTx>7</vTx>
+        </l_temp_motor_start>
+        <l_temp_motor_end>
+            <longName>Motor Temp Cutoff End</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The motor temperature above which motor current is not allowed and a fault is thrown.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_LIM_TEMP_MOTOR_END</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>190</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>100</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix> °C</suffix>
+            <vTx>7</vTx>
+        </l_temp_motor_end>
+        <l_temp_accel_dec>
+            <longName>Acceleration Temperature Decrease</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Decrease the motor and MOSFET temperature limits by this amount during acceleration. This is useful to still have braking torque left when the components get warm. A decrease of 0 % means that the acceleration temperature limits are the same as the braking temperature limits, and a decrease of 100 % meanse that the acceleration temperature limits are at 25 °C.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_LIM_TEMP_ACCEL_DEC</cDefine>
+            <editorDecimalsDouble>0</editorDecimalsDouble>
+            <editorScale>100</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0.15</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> %</suffix>
+            <vTx>7</vTx>
+        </l_temp_accel_dec>
+        <l_min_duty>
+            <longName>Minimum Duty Cycle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Minimum allowed duty cycle.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_MIN_DUTY</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>100</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0.005</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> %</suffix>
+            <vTx>7</vTx>
+        </l_min_duty>
+        <l_max_duty>
+            <longName>Maximum Duty Cycle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Maximum allowed duty cycle.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_MAX_DUTY</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>100</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0.95</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> %</suffix>
+            <vTx>7</vTx>
+        </l_max_duty>
+        <l_watt_max>
+            <longName>Maximum Wattage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum allowed wattage output. If your region has laws that only allow a limited wattage, this parameter can be useful. However, keep in mind that limiting the wattage does not make much sense in practice since torque, heat losses, mechanical wear and component load are all current dependent.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Notice that setting this parameter to a very high value essentially disables it, which is why the default value is high. The other limits will still apply.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_WATT_MAX</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>1.5e+06</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> W</suffix>
+            <vTx>9</vTx>
+        </l_watt_max>
+        <l_watt_min>
+            <longName>Maximum Braking Wattage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum allowed braking wattage (thus negative). There usually aren't any laws limiting how much braking is allowed, and limiting the wattage does not make much sense in general, so this parameter is present mostly for the sake of completeness. There might be some applications where limiting the braking wattage is useful though.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Notice that setting this parameter to a very high value essentially disables it, which is why the default value is high. The other limits will still apply.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_WATT_MIN</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>0</maxDouble>
+            <minDouble>-2e+06</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>-1.5e+06</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> W</suffix>
+            <vTx>9</vTx>
+        </l_watt_min>
+        <l_current_max_scale>
+            <longName>Max Current Scale</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Maximum current scale. This value is multiplied with the maximum current. It is a convenient method to scale the current limits without forgetting the actual maximum value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_CURRENT_MAX_SCALE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </l_current_max_scale>
+        <l_current_min_scale>
+            <longName>Min Current Scale</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Minimum current scale. This value is multiplied with the minimum current. It is a convenient method to scale the current limits without forgetting the actual maximum value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_CURRENT_MIN_SCALE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </l_current_min_scale>
+        <l_duty_start>
+            <longName>Duty Cycle Current Limit Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Start to reduce the current at this duty cycle. Lowering this number will make the motor limit the torque softly when reaching max speed, however, it will also decrease the top speed a bit.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_DUTY_START</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </l_duty_start>
+        <sl_min_erpm>
+            <longName>Minimum ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum sensorless ERPM (BLDC Only). Run the motor in open loop when the estimated ERPM is below this value.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SL_MIN_RPM</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>150</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </sl_min_erpm>
+        <sl_min_erpm_cycle_int_limit>
+            <longName>Minimum ERPM Integrator</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The minimum ERPM for which the integrator limit is calculated. Setting this too low will make the coupling compensation too large at low speed resulting in bad startup.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SL_MIN_ERPM_CYCLE_INT_LIMIT</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>1100</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </sl_min_erpm_cycle_int_limit>
+        <sl_max_fullbreak_current_dir_change>
+            <longName>Max Brake Current at Direction Change</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Only allow motor direction change below this current.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SL_MAX_FB_CURR_DIR_CHANGE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>10</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </sl_max_fullbreak_current_dir_change>
+        <sl_cycle_int_limit>
+            <longName>Cycle Integrator Limit</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Cycle integrator limit. This is how much area will be integrated under the back EMF after a zero crossing before doing a commutation. A too low value will cause a too early commutation, and a too high value will cause a too late commutation. A too late commutation will cause more problems than too early commutations.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SL_CYCLE_INT_LIMIT</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>62</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </sl_cycle_int_limit>
+        <sl_phase_advance_at_br>
+            <longName>Phase Advance at BR ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Phase (timing) advance at the BR ERPM value. Below that value the advance will be less proportional to the current ERPM.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SL_PHASE_ADVANCE_AT_BR</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>0.8</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </sl_phase_advance_at_br>
+        <sl_cycle_int_rpm_br>
+            <longName>BR ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The ERPM at which phase advance (timing) is the maximum.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SL_CYCLE_INT_BR</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>80000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </sl_cycle_int_rpm_br>
+        <sl_bemf_coupling_k>
+            <longName>BEMF Coupling</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;BEMF coupling. Roughly describes how much of the input voltage is seen on the BEMF at low modulation. Compensating for that at low speed helps the startup a lot.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SL_BEMF_COUPLING_K</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>5000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>600</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </sl_bemf_coupling_k>
+        <hall_table__0>
+            <longName>Hall Table [0]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 0.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_HALL_TAB_0</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>6</maxInt>
+            <minInt>-1</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>-1</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </hall_table__0>
+        <hall_table__1>
+            <longName>Hall Table [1]</longName>
+            <type>2</type>
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 3.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 4.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <transmittable>1</transmittable>
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+            <editorScale>1</editorScale>
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+            <vTx>2</vTx>
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+        <hall_sl_erpm>
+            <longName>Sensorless ERPM Hybrid</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM above which sensorless commutation is used in hybrid mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
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+            <longName>Current KP</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
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+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current controller proportional gain.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <vTx>9</vTx>
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+            <longName>Current KI</longName>
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+            <transmittable>1</transmittable>
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+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current controller integral gain.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <vTx>9</vTx>
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+            <longName>Zero Vector Frequency</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The frequency at which the output toggles between the zero vectors (V0 and V7) in the space vector modulation.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The controllers and estimators run at half of this frequency. If the option &lt;span style=&quot; font-weight:600;&quot;&gt;Sample in V0 and V7&lt;/span&gt; is active the controllers and estimators run at the full zero vector frequency, but this option is only available on hardware with phase shunts.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;NOTE&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;There has been some confusion on what the zero vector frequency is referring to. It is the rate between the zero vectors V0 (when all low-side switches are on) and V7 (when all high-side switches are on).&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If you scope one of the phases you will see a signal at half the set frequency, which is what the timer runs at. That is because the motor phases will be shorted both when the signal is low and when it is high. This is one of the core concepts of space-vector modulation and how you can effectively double the switching frequency with the same amount of switching.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;There is also some frequency content at half of this frequency depending on the modulated vector, but it is mainly at the set switching frequency and this is also what matters when e.g. calculating ripple current due to motor inductance.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Some links to discussions about this:&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;https://vesc-project.com/node/3278&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;https://github.com/vedderb/bldc/pull/397&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <valDouble>25000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> kHz</suffix>
+            <vTx>9</vTx>
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+            <longName>Dead Time Compensation</longName>
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+            <transmittable>1</transmittable>
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+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Compensation for dead time distortion. Makes some difference at low speed.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <valDouble>0.12</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix> µS</suffix>
+            <vTx>9</vTx>
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+            <longName>Encoder Inverted</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
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+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The encoder is inverted if it counts backwards while the motor is turning forwards.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <valInt>0</valInt>
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+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
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+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Offset between the encoder zero and motor zero points.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
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+            <valDouble>180</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
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+        <foc_encoder_ratio>
+            <longName>Encoder Ratio</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Ratio between encoder and motor. E.g. a 14 pole motor with a directly attached encoder has ratio 7.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_ENCODER_RATIO</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>7</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_encoder_ratio>
+        <foc_sensor_mode>
+            <longName>Sensor Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sensor mode for the motor.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Sensorless&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Don't use any position sensor on the motor and only rely on the observer and starting algorithm. Works well for most applications (not position control), but the start can be a bit delayed.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use an encoder on the motor shaft. Works well for position control applications such as CNC mills.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Hall Sensors&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use hall sensors with 60 or 120 degree spacing in the motor. Gives starts without any delay at all, but does not work that well for most position control applications.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;HFI&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;High Frequency Injection. Track the position down to 0 speed by injecting voltage pulses and analyzing the response of the motor. Works on most motors that have enough difference in D-axis and Q-axis inductance.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;VSS&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Vedder Sensorless Start. Use HFI just after starting the motor to resolve the initial position and set the observer state to that position. This can help the observer track the motor correctly from 0 speed. As this also is based on saturation it can help start some motors with low saliency.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;45 Deg V0V7 HFI (Silent)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A different approach to HFI that is completely silent if the zero vector frequency is high enough (maximum around 32 kHz). It is also more stable under high load when configured properly. This implementation relies on a good inductance measurement (in addition to some difference in Lq and Ld), so if it does not work well you can try adjusting the inductance 1-5 % up and down. Note that phase shunts are required to make this mode silent, otherwise the sampling has to be done at half the frequency in V0 only.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;45 Deg V0 HFI&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as above, but will only sample in V0.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Coupled V0V7 HFI (Silent)&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Inject a voltage in the D axis and measure the response in the Q axis. It is much less sensitive to getting the average inductance correct as the coupling between the axes shows up without an offset in the response. It does not work as well as the 45 degree HFI under high load though. &lt;span style=&quot; font-weight:600;&quot;&gt;Credit:&lt;/span&gt; Elwin and David (mxlemming) on the VESC Discord channel.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Coupled V0 HFI&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as above, but will only sample in V0.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;NOTE:&lt;/span&gt; HFI and VSS only work when the FOC switching frequency is at or below 30 KHz.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;NOTE2:&lt;/span&gt; Some of the HFI-methods will get a division by 0 if Ld - Lq is set to 0, which can make the CPU reboot.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SENSOR_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Sensorless</enumNames>
+            <enumNames>Encoder</enumNames>
+            <enumNames>Hall Sensors</enumNames>
+            <enumNames>HFI</enumNames>
+            <enumNames>VSS</enumNames>
+            <enumNames>45 Deg V0V7 HFI (Silent)</enumNames>
+            <enumNames>45 Deg V0 HFI</enumNames>
+            <enumNames>Coupled V0V7 HFI (Silent)</enumNames>
+            <enumNames>Coupled V0 HFI</enumNames>
+        </foc_sensor_mode>
+        <foc_pll_kp>
+            <longName>Speed Tracker Kp</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed tracker proportional gain. The speed tracker estimates the motor speed by tracking the phase angle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_PLL_KP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>2000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_pll_kp>
+        <foc_pll_ki>
+            <longName>Speed Tracker Ki</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed tracker integral gain. The speed tracker estimates the motor speed by tracking the phase angle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_PLL_KI</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>30000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_pll_ki>
+        <foc_motor_l>
+            <longName>Motor Inductance (L)</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The average of LD and LQ inductance.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_MOTOR_L</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1e+06</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>7e-06</valDouble>
+            <vTxDoubleScale>1e+08</vTxDoubleScale>
+            <suffix> µH</suffix>
+            <vTx>9</vTx>
+        </foc_motor_l>
+        <foc_motor_ld_lq_diff>
+            <longName>Motor Inductance Difference (Ld - Lq)</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The difference between Ld and Lq inductance. It represents the motor saliency. This can be measured using the &lt;span style=&quot; font-style:italic;&quot;&gt;measure_ind&lt;/span&gt; terminal command, but the regular detection interface does not print it yet.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_MOTOR_LD_LQ_DIFF</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1e+06</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10</maxDouble>
+            <minDouble>-10</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1e+08</vTxDoubleScale>
+            <suffix> µH</suffix>
+            <vTx>9</vTx>
+        </foc_motor_ld_lq_diff>
+        <foc_motor_r>
+            <longName>Motor Resistance (R)</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The motor winding resistance. Should be half of what is measured between two motor wires.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_MOTOR_R</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1000</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>0.015</valDouble>
+            <vTxDoubleScale>100000</vTxDoubleScale>
+            <suffix> mΩ</suffix>
+            <vTx>9</vTx>
+        </foc_motor_r>
+        <foc_motor_flux_linkage>
+            <longName>Motor Flux Linkage (λ)</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The flux linkage of the motor (λ) [mWb]&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_MOTOR_FLUX_LINKAGE</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1000</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.00245</valDouble>
+            <vTxDoubleScale>100000</vTxDoubleScale>
+            <suffix> mWb</suffix>
+            <vTx>9</vTx>
+        </foc_motor_flux_linkage>
+        <foc_observer_gain>
+            <longName>Observer Gain (x1M)</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The observer gain. If the motor does not run smoothly with the calculated value, this value can be tweaked. Try with doubling or halving it in that case.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OBSERVER_GAIN</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1e-06</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2e+10</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>9e+07</valDouble>
+            <vTxDoubleScale>0.01</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_observer_gain>
+        <foc_observer_gain_slow>
+            <longName>Observer Gain At Minimum Duty</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The observer gain scaled at minimum duty cycle. Decreasing this parameter will make observer gain lower at lower modulation, which can help tracking the motor. Setting this parameter to 1 will make the observer gain constant at all modulations.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OBSERVER_GAIN_SLOW</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.05</valDouble>
+            <vTxDoubleScale>0.01</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_observer_gain_slow>
+        <foc_observer_offset>
+            <longName>Observer Offset</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Observer offset in switching cycles.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;There is some delay between when the current ant voltage measurements are taken and when the output is applied. This will cause the observer phase to lag behind the motor phase at high speed when the zero vector frequency is low in comparison.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This parameter adds an offset to the observer phase in multiples of the zero vector frequency to compensate for that delay. The default value should be good for most hardware, but if needed this value can be fine-tuned using and encoder and/or a power analyzer.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Important Note&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Before changing this value, make sure that any phase delay is not caused by incorrect motor parameters or incorrect measurements. Only change this value if you have excluded other possible causes and you know what you are doing.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OBSERVER_OFFSET</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>-5</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>-1</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </foc_observer_offset>
+        <foc_duty_dowmramp_kp>
+            <longName>Duty Downramp Kp</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The proportional gain for the duty downramp controller. This controller is used in duty cycle mode when the duty cycle is decreased. Since this is done by limiting the modulation, very large current spikes can be caused. By using a controller these current spikes can be limited.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_DUTY_DOWNRAMP_KP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>10</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_duty_dowmramp_kp>
+        <foc_duty_dowmramp_ki>
+            <longName>Duty Downramp Ki</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The integral gain for the duty downramp controller. This controller is used in duty cycle mode when the duty cycle is decreased. Since this is done by limiting the modulation, very large current spikes can be caused. By using a controller these current spikes can be limited.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_DUTY_DOWNRAMP_KI</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>200</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_duty_dowmramp_ki>
+        <foc_start_curr_dec>
+            <longName>Start Current Decrease</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Decrease the current limit to this percentage at start. This helps starting the motor as the observer can track it easier when the current is low.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This setting will not give the full starting torque, but for some applications, such as propellers and pumps, that does not matter.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_START_CURR_DEC</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </foc_start_curr_dec>
+        <foc_start_curr_dec_rpm>
+            <longName>Start Current Decrease ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Above this ERPM the full current is available.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_START_CURR_DEC_RPM</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>400</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_start_curr_dec_rpm>
+        <foc_openloop_rpm>
+            <longName>Openloop ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM below which openloop commutation is used when running sensorless. Can be tweaked for the best startup depending on e.g. the load inertia.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OPENLOOP_RPM</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>400</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_openloop_rpm>
+        <foc_openloop_rpm_low>
+            <longName>Openloop ERPM at Min Current</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; ; font-weight:600;&quot;&gt;Rationale&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;With low current, the observer has an easier time locking onto the motor, as the `resistance_error * current` has to be low compared to the back-emf for the observer to work.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; ; font-weight:600;&quot;&gt;Functional description&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The openloop ERPM is scaled with the motor current setpoint. This is the fraction of Openloop ERPM at 0A (i.e. minimum current).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OPENLOOP_RPM_LOW</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.1</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </foc_openloop_rpm_low>
+        <foc_d_gain_scale_start>
+            <longName>D Axis Gain Scaling Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Start decreasing the D axis current controller gain at this modulation.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_D_GAIN_SCALE_START</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.9</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </foc_d_gain_scale_start>
+        <foc_d_gain_scale_max_mod>
+            <longName>D Axis Gain Scaling at Max Mod</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D axis current controller gain at maximum modulation.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_D_GAIN_SCALE_MAX_MOD</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.2</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </foc_d_gain_scale_max_mod>
+        <foc_sl_openloop_hyst>
+            <longName>Openloop Hysteresis</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Go to openloop mode if the ERPM has been below the openloop RPM for this amount of time.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SL_OPENLOOP_HYST</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>0.1</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> S</suffix>
+            <vTx>7</vTx>
+        </foc_sl_openloop_hyst>
+        <foc_sl_openloop_time_lock>
+            <longName>Openloop Lock Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Lock motor for this amount of time in the beginning of the open loop sequence.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SL_OPENLOOP_T_LOCK</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> S</suffix>
+            <vTx>7</vTx>
+        </foc_sl_openloop_time_lock>
+        <foc_sl_openloop_time_ramp>
+            <longName>Openloop Ramp Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Ramp up the openloop speed in the openloop sequence for this amount of time.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SL_OPENLOOP_T_RAMP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> S</suffix>
+            <vTx>7</vTx>
+        </foc_sl_openloop_time_ramp>
+        <foc_sl_openloop_time>
+            <longName>Openloop Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Stay in openloop for this amount of time after finishing the ramp.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SL_OPENLOOP_TIME</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.05</stepDouble>
+            <valDouble>0.1</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> S</suffix>
+            <vTx>7</vTx>
+        </foc_sl_openloop_time>
+        <foc_sl_openloop_boost_q>
+            <longName>Openloop Current Boost</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Rationale&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-style:italic;&quot;&gt;Current boost&lt;/span&gt; can help the motor get over its initial cogging torque more easily, but it also potentially makes the start more jittery.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Functional description&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current boost in the Q-axis during the open loop procedure. &lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;For instance, if the commanded value is 1A and the boost is 10A, then it will run at `1A + 10A` for `Openloop lock time + Openloop ramp time + Openloop time` seconds. Then it will continue at 1A in closed-loop.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SL_OPENLOOP_BOOST_Q</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>300</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>7</vTx>
+        </foc_sl_openloop_boost_q>
+        <foc_sl_openloop_max_q>
+            <longName>Openloop Current Max</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Limit the current during the openloop sequence to this value. Setting the boost current higher than this value means that the openloop current is a constant value (this one).&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A negative value means that this limit is disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SL_OPENLOOP_MAX_Q</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>300</maxDouble>
+            <minDouble>-1</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>-1</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>7</vTx>
+        </foc_sl_openloop_max_q>
+        <foc_hall_table__0>
+            <longName>Hall Table [0]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 0.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HALL_TAB_0</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>255</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </foc_hall_table__0>
+        <foc_hall_table__1>
+            <longName>Hall Table [1]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 1.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HALL_TAB_1</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>255</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </foc_hall_table__1>
+        <foc_hall_table__2>
+            <longName>Hall Table [2]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 2.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HALL_TAB_2</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>255</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </foc_hall_table__2>
+        <foc_hall_table__3>
+            <longName>Hall Table [3]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 3.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HALL_TAB_3</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>255</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </foc_hall_table__3>
+        <foc_hall_table__4>
+            <longName>Hall Table [4]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 4.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HALL_TAB_4</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>255</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </foc_hall_table__4>
+        <foc_hall_table__5>
+            <longName>Hall Table [5]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 5.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HALL_TAB_5</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>255</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </foc_hall_table__5>
+        <foc_hall_table__6>
+            <longName>Hall Table [6]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 6.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HALL_TAB_6</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>255</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </foc_hall_table__6>
+        <foc_hall_table__7>
+            <longName>Hall Table [7]</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Hall sensor table entry for sensor output 7.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HALL_TAB_7</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>255</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </foc_hall_table__7>
+        <foc_hall_interp_erpm>
+            <longName>Hall Interpolation ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM above which hall sensors are interpolated.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HALL_INTERP_ERPM</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>10</stepDouble>
+            <valDouble>500</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_hall_interp_erpm>
+        <foc_sl_erpm_start>
+            <longName>Sensored ERPM Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM below which only sensored commutation is used. Above this ERPM the observer will start to have impact on the position.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SL_ERPM_START</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>1000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_sl_erpm_start>
+        <foc_sl_erpm>
+            <longName>Sensorless ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM above which sensorless commutation is used in sensored modes.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SL_ERPM</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>3500</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_sl_erpm>
+        <foc_sample_v0_v7>
+            <longName>Sample in V0 and V7</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Sample currents and voltages in both V0 and V7 of the space vector modulation, and run the control loop at twice the rate. Can be useful for high speed motors at limited switching frequency, or in order to decrease the modulation noise. Notice that this option will require twice the amount of computational power for a given switching frequency.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Note&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;This option is only valid for hardware with phase shunts, such as the VESC Six. For other shunt configurations it is ignored.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SAMPLE_V0_V7</cDefine>
+            <valInt>0</valInt>
+        </foc_sample_v0_v7>
+        <foc_sample_high_current>
+            <longName>High Current Sampling Mode</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Choose the lowest currents during sampling to derive the highest current. Since the motor currents are balanced and sum to 0, two of the phase currents can be used to derive the third one. Enabling this option will make the current measurement compare all motor currents and derive the highest one from the two lower currents. This way higher currents can be measured than the ADC gain allows by a factor of 2 / sqrt(3), or roughly 1.15. For example, for the VESC6 this increases the current measurement capability from 165A to roughly 190A.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Note&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;This option is only valid for hardware with three shunts, such as the VESC Six. For other shunt configurations it is ignored.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SAMPLE_HIGH_CURRENT</cDefine>
+            <valInt>0</valInt>
+        </foc_sample_high_current>
+        <foc_sat_comp_mode>
+            <longName>Saturation Compensation Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Stator Saturation Compensation Mode:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Disabled&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;No saturation compensation is done.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Factor&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The &lt;span style=&quot; font-style:italic;&quot;&gt;Saturation Compensation Factor&lt;/span&gt; is used to determine how much to decrease the inductance and flux linkage based on the current.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Lambda&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The decrease in flux linkage is used to make a proportional decrease in inductance. This requires that one of the observers with Lambda Compensation is used.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Lambda and Factor&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;First the lambda compensation and then the factor is used. Also requires that one of the observers with Lambda Compensation is used.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SAT_COMP_MODE</cDefine>
+            <valInt>2</valInt>
+            <enumNames>Disabled</enumNames>
+            <enumNames>Factor</enumNames>
+            <enumNames>Lambda</enumNames>
+            <enumNames>Lambda and Factor</enumNames>
+        </foc_sat_comp_mode>
+        <foc_sat_comp>
+            <longName>Saturation Compensation Factor</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Stator saturation compensation.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;When using high currents the stator of the motor can get saturated. This will change the motor parameters, making it difficult for the sensorless observer to track the rotor position. The effect is most noticeable when running the motor with high current at low speed - it will get stuck and then &amp;quot;cog&amp;quot; when open loop operation tries to restart the motor. If you observe this behavior you can try to increase this parameter. This parameter attempts to compensate for effects of stator saturation, making it possible to run motors sensorlessly even at high current and low speed.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Reasonable values for this parameters are 15 % or less. If going higher than that gives good results something else is most likely wrong in your configuration.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Consider the following:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Motors that run at low speed and high torque tend to get saturated, such as e-bike direct drive hub motors.&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Coreless motors should in theory never get saturated.&lt;/li&gt;
+&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The effect of this parameter is proportional to the maximum motor current limit, meaning that this parameter has no effect at zero current and full effect at full current. If you change the maximum motor current limit you have to adapt this parameter accordingly.&lt;/li&gt;&lt;/ul&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SAT_COMP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </foc_sat_comp>
+        <foc_temp_comp>
+            <longName>Temp Comp</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use temperature compensation for the motor resistance used by the observer. Should help at low speed when the motor temperature is far away from the temperature at which the resistance was measured.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_TEMP_COMP</cDefine>
+            <valInt>0</valInt>
+        </foc_temp_comp>
+        <foc_temp_comp_base_temp>
+            <longName>Temp Comp Base Temp</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Motor temperature at which the motor resistance was measured.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_TEMP_COMP_BASE_TEMP</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>120</maxDouble>
+            <minDouble>-120</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>25</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °C</suffix>
+            <vTx>7</vTx>
+        </foc_temp_comp_base_temp>
+        <foc_current_filter_const>
+            <longName>Current Filter Constant</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Constant for the filtered current in the FOC implementation. Will affect how fast the slow abs max current fault triggers. Range 0 to 1, where 0 is the slowest and 1 is no filtering.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_CURRENT_FILTER_CONST</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.1</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </foc_current_filter_const>
+        <foc_cc_decoupling>
+            <longName>Current Controller Decoupling</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;FOC current controller decoupling using feed forward. This will make the current controller perform better during transient conditions; it may also introduce some noise. The available modes are:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_CC_DECOUPLING_DISABLED&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Decoupling is disabled&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_CC_DECOUPLING_CROSS&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Cross decoupling between the D and Q axes is enabled.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_CC_DECOUPLING_BEMF&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Back EMF decoupling on the Q axis is enabled. This improves performance significantly if the motor speed changes rapidly, but makes the current controller depend on the speed tracker.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_CC_DECOUPLING_CROSS_BEMF&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Both options above are enabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_CC_DECOUPLING</cDefine>
+            <valInt>2</valInt>
+            <enumNames>FOC_CC_DECOUPLING_DISABLED</enumNames>
+            <enumNames>FOC_CC_DECOUPLING_CROSS</enumNames>
+            <enumNames>FOC_CC_DECOUPLING_BEMF</enumNames>
+            <enumNames>FOC_CC_DECOUPLING_CROSS_BEMF</enumNames>
+        </foc_cc_decoupling>
+        <foc_observer_type>
+            <longName>Observer Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Type of rotor position observer for field oriented control (FOC). The options are:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_OBSERVER_ORTEGA_ORIGINAL&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The observer described here:&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;a href=&quot;http://cas.ensmp.fr/~praly/Telechargement/Journaux/2010-IEEE_TPEL-Lee-Hong-Nam-Ortega-Praly-Astolfi.pdf&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;http://cas.ensmp.fr/~praly/Telechargement/Journaux/2010-IEEE_TPEL-Lee-Hong-Nam-Ortega-Praly-Astolfi.pdf&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; text-decoration: underline; color:#0000ff;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_OBSERVER_MXLEMMING&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Observer by David Molony, also known as mxlemming. This observer does not rely on the observer gain parameter, which is a significant advantage.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_OBSERVER_ORTEGA_LAMBDA_COMP&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FOC_OBSERVER_MXLEMMING_LAMBDA_COMP&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the others, but with flux linkage tracking. The flux linkage tracker uses the observer gain for both observers, but it is less critical to get it right here as the flux linkage is mostly DC (unless the current is high and the motor starts to saturate).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OBSERVER_TYPE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>FOC_OBSERVER_ORTEGA_ORIGINAL</enumNames>
+            <enumNames>FOC_OBSERVER_MXLEMMING</enumNames>
+            <enumNames>FOC_OBSERVER_ORTEGA_LAMBDA_COMP</enumNames>
+            <enumNames>FOC_OBSERVER_MXLEMMING_LAMBDA_COMP</enumNames>
+        </foc_observer_type>
+        <foc_hfi_voltage_start>
+            <longName>HFI Start Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;HFI voltage at start to resolve ambiguity. This voltage has to cause a current that is high enough to see signs of saturation in the motor.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HFI_VOLTAGE_START</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>20</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </foc_hfi_voltage_start>
+        <foc_hfi_voltage_run>
+            <longName>HFI Run Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;HFI voltage during operation, after ambiguity has been resolved.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HFI_VOLTAGE_RUN</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>4</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </foc_hfi_voltage_run>
+        <foc_hfi_voltage_max>
+            <longName>HFI Max Voltage</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;HFI voltage during operation, at maximum current. Increasing the voltage at higher currents helps with tracking. A higher voltage makes HFI noisier and wastes more power, which is why this option allows increasing it at high motor currents when it is needed.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The HFI voltage is mapped between voltage_run and voltage_max, relative to the motor current.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HFI_VOLTAGE_MAX</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>700</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>5</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </foc_hfi_voltage_max>
+        <foc_hfi_gain>
+            <longName>HFI Gain</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Correction gain for the silent HFI mode. Higher values are better at handling sudden changes in speed, but also make the position tracking noisier.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HFI_GAIN</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>99</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.4</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </foc_hfi_gain>
+        <foc_hfi_hyst>
+            <longName>HFI Current Hysteresis</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current hysteresis for the silent HFI mode. This sets above which current magnitude the injected voltage vector changes phase. Always setting the phase opposite of the set current is best for tracking, but every phase change causes a small click that can be heard. This hysteresis reduces how often the phase is changed around 0 current at the cost of some performance.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HFI_HYST</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>2</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>7</vTx>
+        </foc_hfi_hyst>
+        <foc_sl_erpm_hfi>
+            <longName>Sensorless ERPM HFI</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;ERPM below which HFI is used.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SL_ERPM_HFI</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>2000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_sl_erpm_hfi>
+        <foc_hfi_start_samples>
+            <longName>HFI Start Samples</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Number of HFI samples to resolve ambiguity at start. Every sample takes a bit more than 0.5 ms, and no throttle can be applied during this time. The default value is barely noticeable.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HFI_START_SAMPLES</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>60000</maxInt>
+            <minInt>2</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>65</valInt>
+            <suffix></suffix>
+            <vTx>3</vTx>
+        </foc_hfi_start_samples>
+        <foc_hfi_obs_ovr_sec>
+            <longName>HFI Observer Override Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Override HFI position with observer position for this amount of time after dropping below the HFI ERPM threshold. This can prevent oscillating between the two at a transition. Setting this value too high can make HFI catch the motor 180 electrical degrees off, as the observer position might degrade too much.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HFI_OBS_OVR_SEC</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1000</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>5000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0.001</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> ms</suffix>
+            <vTx>9</vTx>
+        </foc_hfi_obs_ovr_sec>
+        <foc_hfi_samples>
+            <longName>HFI Samples</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Number of HFI samples for each motor revolution. This can't be an arbitrary number as the size of Fourier transforms and sine tables depends on it.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Fewer samples will give noisier measurements, but allows estimating the position at a higher rate. The noise can be reduced by increasing the HFI voltage.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_HFI_SAMPLES</cDefine>
+            <valInt>1</valInt>
+            <enumNames>8</enumNames>
+            <enumNames>16</enumNames>
+            <enumNames>32</enumNames>
+        </foc_hfi_samples>
+        <foc_offsets_cal_on_boot>
+            <longName>Run calibration at boot</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Run calibration every boot.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_CAL_ON_BOOT</cDefine>
+            <valInt>1</valInt>
+        </foc_offsets_cal_on_boot>
+        <foc_offsets_current__0>
+            <longName>Current Offset 0</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current channel 0 offset in ADC counts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_CURRENT_0</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>8192</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>2048</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_offsets_current__0>
+        <foc_offsets_current__1>
+            <longName>Current Offset 1</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current channel 1 offset in ADC counts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_CURRENT_1</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>8192</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>2048</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_offsets_current__1>
+        <foc_offsets_current__2>
+            <longName>Current Offset 2</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Current channel 2 offset in ADC counts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_CURRENT_2</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>8192</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>2048</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </foc_offsets_current__2>
+        <foc_offsets_voltage__0>
+            <longName>Voltage Offset 0</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage channel 0 offset. This is at the ADC input, so it is not scaled with the voltage dividers.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_VOLTAGE_0</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2</maxDouble>
+            <minDouble>-2</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0005</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </foc_offsets_voltage__0>
+        <foc_offsets_voltage__1>
+            <longName>Voltage Offset 1</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage channel 1 offset. This is at the ADC input, so it is not scaled with the voltage dividers.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_VOLTAGE_1</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2</maxDouble>
+            <minDouble>-2</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0005</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </foc_offsets_voltage__1>
+        <foc_offsets_voltage__2>
+            <longName>Voltage Offset 2</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage channel 2 offset. This is at the ADC input, so it is not scaled with the voltage dividers.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_VOLTAGE_2</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2</maxDouble>
+            <minDouble>-2</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0005</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </foc_offsets_voltage__2>
+        <foc_offsets_voltage_undriven__0>
+            <longName>Voltage Offset Undriven 0</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage channel 0 offset when the motor is undriven. This is at the ADC input, so it is not scaled with the voltage dividers.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_VOLTAGE_UNDRIVEN_0</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2</maxDouble>
+            <minDouble>-2</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0005</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </foc_offsets_voltage_undriven__0>
+        <foc_offsets_voltage_undriven__1>
+            <longName>Voltage Offset Undriven 1</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage channel 1 offset when the motor is undriven. This is at the ADC input, so it is not scaled with the voltage dividers.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_VOLTAGE_UNDRIVEN_1</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2</maxDouble>
+            <minDouble>-2</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0005</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </foc_offsets_voltage_undriven__1>
+        <foc_offsets_voltage_undriven__2>
+            <longName>Voltage Offset Undriven 2</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Voltage channel 2 offset when the motor is undriven. This is at the ADC input, so it is not scaled with the voltage dividers.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_OFFSETS_VOLTAGE_UNDRIVEN_2</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2</maxDouble>
+            <minDouble>-2</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0005</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </foc_offsets_voltage_undriven__2>
+        <foc_phase_filter_enable>
+            <longName>Enable Phase Filters</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This enables the use of phase voltage filters on hardware that supports it. Instead of calculating the phase voltage from the input voltage and modulation, it is measured directly by low-pass filtering the power stage output. The advantage of doing so is that it eliminates dead-time distortion, which helps track the motor at very low speeds. It should also be very useful on hardware with an IGBT output stage, as it compensated for the effect of IGBT voltage drop too.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_PHASE_FILTER_ENABLE</cDefine>
+            <valInt>1</valInt>
+        </foc_phase_filter_enable>
+        <foc_phase_filter_disable_fault>
+            <longName>Disable Phase Filter Fault Code</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Disable the phase filter fault code. This can be useful if the phase filter fault seems to trigger for no reason on some difficult motors.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_PHASE_FILTER_DISABLE_FAULT</cDefine>
+            <valInt>0</valInt>
+        </foc_phase_filter_disable_fault>
+        <foc_phase_filter_max_erpm>
+            <longName>Maximum ERPM for phase filters</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use the filtered phase voltage up until this ERPM, then use the value derived from the input voltage and the modulation. The delay and attenuation from the phase filters increases with the motor speed, while the dead-time distortion becomes less significant. The delay and attenuation is partly compensated for, but at some point it is still better to derive the phase voltages from the input voltage and modulation. This parameter sets that point.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_PHASE_FILTER_MAX_ERPM</cDefine>
+            <editorDecimalsDouble>0</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>10</stepDouble>
+            <valDouble>10000</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> ERPM</suffix>
+            <vTx>9</vTx>
+        </foc_phase_filter_max_erpm>
+        <foc_mtpa_mode>
+            <longName>MTPA Algorithm Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This parameter will enable the Maximum Torque Per Amp (MTPA) algorithm that injects a negative d axis current to follow the optimum torque trajectory. This is specially valuable on Interior Permanent Magnet (IPM) motors because they have large saliency and can yield a substantial torque increase.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The available modes are:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Disabled&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This disables the MTPA algorithm.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;IQ Target&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The D-axis current is based on the set Q-axis current. This makes the target value less noisy, but relies on the current controller keeping keeping the Q-axis current close to the set value. This mode does not work well with duty cycle control.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;IQ Measured&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The D-axis current is based on the measured Q-axis current. The commanded D-axis current will be more affected by noise, but it does not rely on the Q-axis current controller to keep the current at the set value.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Note:&lt;/span&gt; Only enable this feature if you know very well what you are doing. IPM motors are not popular and injecting negative id current can increase the motor speed. If id current suddenly collapses (under a fault condition for example) the DC Bus voltage can increase well beyond the powerstage rating causing a fire and maximum braking power at the motor shaft.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_MTPA_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Disabled</enumNames>
+            <enumNames>IQ Target</enumNames>
+            <enumNames>IQ Measured</enumNames>
+        </foc_mtpa_mode>
+        <foc_fw_current_max>
+            <longName>Field Weakening Current Max</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Maximum field weakening (FW) current.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_FW_CURRENT_MAX</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </foc_fw_current_max>
+        <foc_fw_duty_start>
+            <longName>Field Weakening Duty Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Start field weakening at this fraction of maximum duty cycle. &lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_FW_DUTY_START</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>100</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0.9</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> %</suffix>
+            <vTx>7</vTx>
+        </foc_fw_duty_start>
+        <foc_fw_q_current_factor>
+            <longName>Q Axis Current Factor</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Give the q axis current this much of the field weakening current as braking current (opposite to the current direction). This helps slow the motor down when commanding 0 current in case the position has an offset and the field weakening current contributes with torque.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_FW_Q_CURRENT_FACTOR</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>100</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.5</stepDouble>
+            <valDouble>0.02</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix> %</suffix>
+            <vTx>7</vTx>
+        </foc_fw_q_current_factor>
+        <foc_fw_ramp_time>
+            <longName>Field Weakening Ramp Time</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum time to ramp the field weakening current. Setting this to 0 will make the field weakening respond instantly (limited by the D axis current controller).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_FW_RAMP_TIME</cDefine>
+            <editorDecimalsDouble>0</editorDecimalsDouble>
+            <editorScale>1000</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>30</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>10</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> ms</suffix>
+            <vTx>7</vTx>
+        </foc_fw_ramp_time>
+        <foc_speed_soure>
+            <longName>Speed Tracker Position Source</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Position source for the speed trackers.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Corrected Position&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use the derived motor control position from sensors, HFI and observer.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Observer&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use the observer position. This is usually less noisy than hall sensors or hfi, but it can drift slowly at 0 speed.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_SPEED_SOURCE</cDefine>
+            <valInt>1</valInt>
+            <enumNames>Corrected Position</enumNames>
+            <enumNames>Observer</enumNames>
+        </foc_speed_soure>
+        <gpd_buffer_notify_left>
+            <longName>Buffer Notification Length</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Send notification when the sample fifo buffer has less than this amount of samples left.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_GPD_BUFFER_NOTIFY_LEFT</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>2048</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>10</stepInt>
+            <valInt>200</valInt>
+            <suffix></suffix>
+            <vTx>4</vTx>
+        </gpd_buffer_notify_left>
+        <gpd_buffer_interpol>
+            <longName>Buffer Sampling Interpolation</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Interpolate buffer samples, meaning that they are used for several pwm cycles. This number defines for how many samples a sample is reused. 0 means that a new sample is picked every cycle, 1 means that one sample is used twice etc.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_GPD_BUFFER_INTERPOL</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>2048</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>0</valInt>
+            <suffix></suffix>
+            <vTx>4</vTx>
+        </gpd_buffer_interpol>
+        <gpd_current_filter_const>
+            <longName>Current Filter Constant</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Constant for the filtered current in the GPD implementation. Will affect how fast the slow abs max current fault triggers. Range 0 to 1, where 0 is the slowest and 1 is no filtering.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_GPD_CURRENT_FILTER_CONST</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.1</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </gpd_current_filter_const>
+        <gpd_current_kp>
+            <longName>Current KP</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current controller proportional gain.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_GPD_CURRENT_KP</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.03</valDouble>
+            <vTxDoubleScale>100000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </gpd_current_kp>
+        <gpd_current_ki>
+            <longName>Current KI</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Current controller integral gain.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_GPD_CURRENT_KI</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>50</valDouble>
+            <vTxDoubleScale>100000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </gpd_current_ki>
+        <sp_pid_loop_rate>
+            <longName>PID Loop Rate</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Rate at which the position and speed controllers run.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SP_PID_LOOP_RATE</cDefine>
+            <valInt>5</valInt>
+            <enumNames>25 Hz</enumNames>
+            <enumNames>50 Hz</enumNames>
+            <enumNames>100 Hz</enumNames>
+            <enumNames>250 Hz</enumNames>
+            <enumNames>500 Hz</enumNames>
+            <enumNames>1000 Hz</enumNames>
+            <enumNames>2500 Hz</enumNames>
+            <enumNames>5000 Hz</enumNames>
+            <enumNames>10000 Hz</enumNames>
+        </sp_pid_loop_rate>
+        <s_pid_kp>
+            <longName>Speed PID Kp</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Proportional gain for the speed controller. FOC and BLDC need different parameters because their speed controllers differ.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_S_PID_KP</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0001</stepDouble>
+            <valDouble>0.004</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </s_pid_kp>
+        <s_pid_ki>
+            <longName>Speed PID Ki</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Integral gain for the speed controller. FOC and BLDC need different parameters because their speed controllers differ.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_S_PID_KI</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0001</stepDouble>
+            <valDouble>0.004</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </s_pid_ki>
+        <s_pid_kd>
+            <longName>Speed PID Kd</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Derivative gain for the speed controller. FOC and BLDC need different parameters because their speed controllers differ.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_S_PID_KD</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0001</stepDouble>
+            <valDouble>0.0001</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </s_pid_kd>
+        <s_pid_kd_filter>
+            <longName>Speed PID Kd Filter</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Filter on derivative term for speed controller. The range is 0 to 1, where 0 is the maximum amount of filtering (infinite) and 1 is no filtering.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_S_PID_KD_FILTER</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.2</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </s_pid_kd_filter>
+        <s_pid_min_erpm>
+            <longName>Minimum ERPM</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM below which the speed controller is disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_S_PID_MIN_RPM</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1e+06</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>100</stepDouble>
+            <valDouble>900</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </s_pid_min_erpm>
+        <s_pid_allow_braking>
+            <longName>Allow Braking</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Allow the speed controller to apply braking current. In general this option should be enabled, but for some applications it might make sense to disable braking during speed control.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_S_PID_ALLOW_BRAKING</cDefine>
+            <valInt>1</valInt>
+        </s_pid_allow_braking>
+        <s_pid_ramp_erpms_s>
+            <longName>Ramp eRPMs per second</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;This allows to control how fast the input of the speed command is allowed to increase each second. If user does not want to use this ramp, just apply a negative value such as -1.0. Only positive values are considered.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_S_PID_RAMP_ERPMS_S</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>-1</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>25000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </s_pid_ramp_erpms_s>
+        <p_pid_kp>
+            <longName>Position PID Kp</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Proportional gain for the position controller.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_P_PID_KP</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.001</stepDouble>
+            <valDouble>0.03</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </p_pid_kp>
+        <p_pid_ki>
+            <longName>Position PID Ki</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Integral gain for the position controller.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_P_PID_KI</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.001</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </p_pid_ki>
+        <p_pid_kd>
+            <longName>Position PID Kd</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Derivative gain for the position controller.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_P_PID_KD</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0001</stepDouble>
+            <valDouble>0.0004</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </p_pid_kd>
+        <p_pid_offset>
+            <longName>Position PID Offset Angle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Angle offset for the position controller.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_P_PID_OFFSET</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>360</maxDouble>
+            <minDouble>-360</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>9</vTx>
+        </p_pid_offset>
+        <p_pid_kd_proc>
+            <longName>Position PID Kd Process</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Derivative gain for the position controller. This derivative term is applied on the process variable (position_now) only and not on the error term (position_set - position_now). This way oscillations can be dampened without amplifying control signal input.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_P_PID_KD_PROC</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0001</stepDouble>
+            <valDouble>0.0004</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </p_pid_kd_proc>
+        <p_pid_kd_filter>
+            <longName>Position PID Kd Filter</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Filter on derivative term for position controller. The range is 0 to 1, where 0 is the maximum amount of filtering (infinite) and 1 is no filtering.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_P_PID_KD_FILTER</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.2</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </p_pid_kd_filter>
+        <p_pid_ang_div>
+            <longName>Position Angle Division</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Angle division for the position controller. Can be used to map one control rotation to several motor rotations.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_P_PID_ANG_DIV</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>100000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </p_pid_ang_div>
+        <p_pid_gain_dec_angle>
+            <longName>Gain Decrease Angle</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Decrease position PID-gains when the errors is below this angle in electrical degrees. Helps at low speed when using low resolution encoders, such as hall sensors. A value of around 300 seems to work ok with hall sensors.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_P_PID_GAIN_DEC_ANGLE</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>7</vTx>
+        </p_pid_gain_dec_angle>
+        <cc_startup_boost_duty>
+            <longName>Startup boost</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Startup boost in current control. Essentially defines the lowest duty cycle to be used in current control mode, to give a bit more punch when starting.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_CC_STARTUP_BOOST_DUTY</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.005</stepDouble>
+            <valDouble>0.01</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </cc_startup_boost_duty>
+        <cc_min_current>
+            <longName>Minimum Current</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum current used by the current controller. Commanded currents below this value will release the motor.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_CC_MIN_CURRENT</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0.05</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </cc_min_current>
+        <cc_gain>
+            <longName>Current Controller Gain</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Gain for the BLDC and DC current controller. Should be lower for low inductance motors.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_CC_GAIN</cDefine>
+            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>5</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.0005</stepDouble>
+            <valDouble>0.0046</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </cc_gain>
+        <cc_ramp_step_max>
+            <longName>Current Control Ramp Step Max</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum duty cycle ramp step in current control mode for DC and BLDC motors.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_CC_RAMP_STEP</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.005</stepDouble>
+            <valDouble>0.04</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </cc_ramp_step_max>
+        <m_fault_stop_time_ms>
+            <longName>Fault Stop Time</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Amount of time to leave the motor disabled after a fault code.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_FAULT_STOP_TIME</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>30000000</maxInt>
+            <minInt>-1</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>500</stepInt>
+            <valInt>500</valInt>
+            <suffix> ms</suffix>
+            <vTx>6</vTx>
+        </m_fault_stop_time_ms>
+        <m_duty_ramp_step>
+            <longName>Duty Ramp Step Max</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum duty cycle ramp step for DC and BLDC motors.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_RAMP_STEP</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.005</stepDouble>
+            <valDouble>0.02</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </m_duty_ramp_step>
+        <m_current_backoff_gain>
+            <longName>Current Backoff Gain</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Gain for the BLDC and DC current backoff. Used to limit the current in duty cycle mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_CURRENT_BACKOFF_GAIN</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>50</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.5</valDouble>
+            <vTxDoubleScale>1e+06</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </m_current_backoff_gain>
+        <m_encoder_counts>
+            <longName>Encoder counts</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600; font-style:italic;&quot;&gt;ABI Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Number of counts for the A-B-Index encoder. This usually is the encoder resolution times 4, since every edge in the quadrature signal is counted. This setting only matters when using an ABI encoder.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600; font-style:italic;&quot;&gt;BISSC Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Number of bit for the BISSC encoder. This is the encoder resolution bit number for monoturn encoder.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_ENCODER_COUNTS</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>30000000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>8192</valInt>
+            <suffix></suffix>
+            <vTx>5</vTx>
+        </m_encoder_counts>
+        <m_encoder_sin_amp>
+            <longName>Sine Amplitude</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Amplitude of the sine-input in volts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_ENCODER_SIN_AMP</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2</maxDouble>
+            <minDouble>0.01</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </m_encoder_sin_amp>
+        <m_encoder_cos_amp>
+            <longName>Cosine Amplitude</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Amplitude of the cosine-input in volts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_ENCODER_COS_AMP</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>2</maxDouble>
+            <minDouble>0.01</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </m_encoder_cos_amp>
+        <m_encoder_sin_offset>
+            <longName>Sine Offset</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sine offset in volts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_ENCODER_SIN_OFFSET</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>1.65</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </m_encoder_sin_offset>
+        <m_encoder_cos_offset>
+            <longName>Cosine Offset</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Cosine offset in volts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_ENCODER_COS_OFFSET</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>3.3</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>1.65</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>7</vTx>
+        </m_encoder_cos_offset>
+        <m_encoder_sincos_filter_constant>
+            <longName>Sin/Cos Filter Constant</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sin/Cos Encoder low pass filter constant. Will affect the ratio between lag and noise on the encoder position feedback. Range 0 to 1, where 0 has the lowest noise and most phase lag, and 1 has no lag and unfiltered noise.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_ENCODER_SINCOS_FILTER</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.5</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </m_encoder_sincos_filter_constant>
+        <m_encoder_sincos_phase_correction>
+            <longName>Sin/Cos Phase Correction</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sin/Cos Phase error compensation in deg. Some sin/cos encoders do not output perfect 90° phase between sin and cos signals. This parameter allows for compensating a phase error between sin and cos signals.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_ENCODER_SINCOS_PHASE</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>45</maxDouble>
+            <minDouble>-45</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> °</suffix>
+            <vTx>7</vTx>
+        </m_encoder_sincos_phase_correction>
+        <m_sensor_port_mode>
+            <longName>Sensor Port Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Mode for the sensor port. Can be changed for compatibility with different rotor position sensors. Notice that this setting does not have any impact when running sensorless. &lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The modes are:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Hall Sensors&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The motor has hall sensors built in which give a position resolution of 120 degrees.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ABI Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A rotary encoder with A-B-Index output. Notice that this encoder does not help until the index pulse is found, so when running FOC open loop mode will be used for up to one mechanical revolution to find the index position when trying to run a motor for the first time after a power cycle.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Notice that you also have to set the number of encoder counts in order to use this type of encoder. This usually is the number of pulses per revolution times 4, since every edge of both pulse trains is counted.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;AS5047 Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;An AS5047 magnetic encoder connected over SPI. This one provides absolute positions from start, but tends to have a bit of nonlinearity.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;AS5X47U Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;An AS5147U or AS5247U magnetic encoder connected over SPI. It is similar to the AS5047 but with additional safety features making it capable of automotive safety levels. It must be connected to SPI in the COMM port. To use this encoder, you have to make sure that no app uses UART, I2C, ADC2, or ADC3.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;SIN/COS Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A Sin/Cos encoder is a position feedback device similar to a quadrature encoder, except instead of outputting digital pulses, it outputs analog voltages with sinusoidal shapes offset by 90°. Provides absolute positions from the start, but its sensitive to EMI and requires special filtering,  transient protections and shielded wiring.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TS5700N8501 Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This encoder uses RS485, so it has to be connected to the COMM port. A RS485-transceiver such as the &lt;span style=&quot; font-family:'sans-serif';&quot;&gt;ADM485 is required, where RX and TX are used as the data lines. ADC1 is used to trigger between RX and TX, which is needed as the communication is half duplex. To use this encoder, you have to make sure that no app uses UART or ADC1.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'sans-serif';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TS5700N8501 Encoder Multiturn&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as above, but uses the multiturn function. The angle is divided by 10000, thus can be used for up to 10000 revolutions. The position PID parameters need to be increased by a factor of around 10000 for this to work similarly to the single turn mode. Note that this is not a good implementation and needs improvement in the future. 180 degrees PID setpoint corresponds to multiturn position 0.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'sans-serif';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;MT6816 Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A magnetic encoder using a high speed SPI communication. Provides absolute position from start. It has to be connected to a hardware-based SPI peripheral.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;BISSC Encoder&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This encoder uses  RS422, so it has to be connected to the COMM port for high speed communication. A RS422-transceiver such as the MAX490 is required, where CLK and MISO are used as clock and data input lines. To use this encoder, you have to make sure that no app uses UART or ADC1. The ABI resolution field is used to set the BISSC encoder accuracy: 2^(BissC Resolution)&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TLE5102 Encoder&lt;/span&gt; &lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A magnetic encoder using the bidirectional SSC protocol. Provides absolute position from start and error protected communication. Currently both “SSC SW” and “SSC HW” use software bitbanging. “SSC SW” uses the hall connector pins which must not have filters. “SSC HW” uses the 7-8 pin adc/uart connector. Recommend 5v sensor power.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Wires must be shielded and/or run together or you will get communication errors.&lt;br /&gt;&lt;br /&gt;“SSC SW” Connections: H1 = SCK, H2 = DATA , H3 = CS &lt;br /&gt;“SSC HW” Connections: ADC1 = SCK, TX = DATA , NSS = CS&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Custom Encoder&lt;/span&gt; &lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This means that a native library is loaded that handles reading of the encoder and provides the decoded angle.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_SENSOR_PORT_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Hall Sensors</enumNames>
+            <enumNames>ABI Encoder</enumNames>
+            <enumNames>AS5047 Encoder</enumNames>
+            <enumNames>AD2S1205 Resolver</enumNames>
+            <enumNames>Sin/Cos Encoder</enumNames>
+            <enumNames>TS5700N8501 Encoder</enumNames>
+            <enumNames>TS5700N8501 Encoder (Multiturn)</enumNames>
+            <enumNames>MT6816 Encoder (SPI)</enumNames>
+            <enumNames>AS5X47U Encoder (SPI)</enumNames>
+            <enumNames>BISSC Encoder (SPI)</enumNames>
+            <enumNames>TLE5012 Encoder (SSC SW)</enumNames>
+            <enumNames>TLE5012 Encoder (SSC HW)</enumNames>
+            <enumNames>Custom Encoder</enumNames>
+        </m_sensor_port_mode>
+        <m_invert_direction>
+            <longName>Invert Motor Direction</longName>
+            <type>5</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Invert the motor direction. This option can be used to make the motor turn in the opposite direction. All state and control commands in &lt;span style=&quot; font-weight:600;&quot;&gt;mc_interface&lt;/span&gt; will respect this setting, so it should work as well as swithcing two motor cables for all applications.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_INVERT_DIRECTION</cDefine>
+            <valInt>0</valInt>
+        </m_invert_direction>
+        <m_drv8301_oc_mode>
+            <longName>DRV8301 OC Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The mode for the over current protection feature of the DRV8301. The over current protection in the DRV8301 works by measuring the voltage drop across the MOSFETs and shuts them off of it exceeds a configurable limit.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Notice&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This setting only has impact on hardware with the DRV8301&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_DRV8301_OC_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Current Limit</enumNames>
+            <enumNames>OC Latch Shutdown</enumNames>
+            <enumNames>Report Only</enumNames>
+            <enumNames>Disabled</enumNames>
+        </m_drv8301_oc_mode>
+        <m_drv8301_oc_adj>
+            <longName>DRV8301 OC Adjustment</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The threshold for the over current protection feature of the DRV8301. Lower values correspond to lower currents. See the datasheet for more information about this setting.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Notice&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This setting only has impact on hardware with the DRV8301&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_DRV8301_OC_ADJ</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>31</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>16</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </m_drv8301_oc_adj>
+        <m_bldc_f_sw_min>
+            <longName>Minimum Switching Frequency</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The minimum switching frequency in BLDC mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_BLDC_F_SW_MIN</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>0.001</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>40000</maxDouble>
+            <minDouble>3000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>3000</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> kHz</suffix>
+            <vTx>9</vTx>
+        </m_bldc_f_sw_min>
+        <m_bldc_f_sw_max>
+            <longName>Maximum Switching Frequency</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The maximum switching frequency in BLDC mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_BLDC_F_SW_MAX</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>0.001</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>40000</maxDouble>
+            <minDouble>3000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>35000</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> kHz</suffix>
+            <vTx>9</vTx>
+        </m_bldc_f_sw_max>
+        <m_dc_f_sw>
+            <longName>Switching Frequency</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The switching frequency in DC mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_DC_F_SW</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>0.001</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>25000</maxDouble>
+            <minDouble>3000</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>25000</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> kHz</suffix>
+            <vTx>9</vTx>
+        </m_dc_f_sw>
+        <m_ntc_motor_beta>
+            <longName>Beta Value for Motor Thermistor</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Beta Value for Motor Thermistor.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_NTC_MOTOR_BETA</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100000</maxDouble>
+            <minDouble>100</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>3380</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> K</suffix>
+            <vTx>9</vTx>
+        </m_ntc_motor_beta>
+        <m_out_aux_mode>
+            <longName>Auxiliary Output Mode</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Auxiliary output mode. Can be used to e.g. activate a relay after a certain delay for bus capacitor precharging.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_OUT_AUX_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Off</enumNames>
+            <enumNames>On after 2 seconds</enumNames>
+            <enumNames>On after 5 seconds</enumNames>
+            <enumNames>On after 10 seconds</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>On when running</enumNames>
+            <enumNames>On when not running</enumNames>
+            <enumNames>Temp motor &gt; 50 C</enumNames>
+            <enumNames>Temp mosfet &gt; 50 C</enumNames>
+            <enumNames>Temp motor &gt; 70 C</enumNames>
+            <enumNames>Temp mosfet &gt; 70 C</enumNames>
+            <enumNames>Temp motor or mosfet &gt; 50 C</enumNames>
+            <enumNames>Temp motor or mosfet &gt; 70 C</enumNames>
+        </m_out_aux_mode>
+        <m_motor_temp_sens_type>
+            <longName>Motor Temperature Sensor Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Motor temperature sensor type. Most small hobby motors have a 10K NTC thermistor, whereas some larger motors have 1K PTC thermistors (such as the KTY84).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_MOTOR_TEMP_SENS_TYPE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>NTC 10K at 25°C</enumNames>
+            <enumNames>PTC 1K at 100 °C</enumNames>
+            <enumNames>KTY83/122</enumNames>
+            <enumNames>NTC 100K at 25°C</enumNames>
+            <enumNames>KTY84/130</enumNames>
+            <enumNames>NTC Custom</enumNames>
+            <enumNames>PTC Custom</enumNames>
+            <enumNames>PT1000</enumNames>
+            <enumNames>Disabled</enumNames>
+        </m_motor_temp_sens_type>
+        <m_ptc_motor_coeff>
+            <longName>Coefficient for PTC Motor Thermistor</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Coefficient for PTC Motor Thermistor. Unit: %/K&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_PTC_MOTOR_COEFF</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>100</maxDouble>
+            <minDouble>0.05</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.61</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> %/K</suffix>
+            <vTx>9</vTx>
+        </m_ptc_motor_coeff>
+        <m_ntcx_ptcx_res>
+            <longName>Custom NTC/PTC Resistance</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Resistance of custom NTC/PTC resistor.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_NTCX_PTCX_RES</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>0.001</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>200000</maxDouble>
+            <minDouble>100</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>10000</valDouble>
+            <vTxDoubleScale>0.1</vTxDoubleScale>
+            <suffix> kΩ</suffix>
+            <vTx>7</vTx>
+        </m_ntcx_ptcx_res>
+        <m_ntcx_ptcx_temp_base>
+            <longName>Custom NTC/PTC Base Temperature</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Base temperature of custom NTC/PTC resistor.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_NTCX_PTCX_BASE_TEMP</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500</maxDouble>
+            <minDouble>-274</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>25</valDouble>
+            <vTxDoubleScale>10</vTxDoubleScale>
+            <suffix> °C</suffix>
+            <vTx>7</vTx>
+        </m_ntcx_ptcx_temp_base>
+        <m_hall_extra_samples>
+            <longName>Hall Sensor Extra Samples</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Read the hall sensor port this many extra samples and use a median filter. Increasing this number will reduce noise on the hall sensor readings, but makes the motor control interrupt take longer and thus limits the maximum switching frequency.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_HALL_EXTRA_SAMPLES</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>99</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>1</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </m_hall_extra_samples>
+        <m_batt_filter_const>
+            <longName>Battery Filter Constant</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Battery Level Filtering. The higher this number is the more the battery level is filtered. Too little filtering will make the battery level affected by the power draw and too much filtering will prevent the battery level to keep up with changes.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_M_BATT_FILTER_CONST</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>99</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>1</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>1</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </m_batt_filter_const>
+        <si_motor_poles>
+            <longName>Motor Poles</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Motor pole count. Most outrunners have 14 poles. Inrunners usually have 2 or 4 poles. The motor pole count is required for speed and travel distance calculation.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SI_MOTOR_POLES</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>254</maxInt>
+            <minInt>2</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>2</stepInt>
+            <valInt>14</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </si_motor_poles>
+        <si_gear_ratio>
+            <longName>Gear Ratio</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Gear ratio. For example, if the motor has a 12 tooth pulley and the wheel has a 36 tooth pulley, the gear ratio is:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;36 / 12 = &lt;span style=&quot; font-weight:600;&quot;&gt;3.0&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SI_GEAR_RATIO</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>9999</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>3</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </si_gear_ratio>
+        <si_wheel_diameter>
+            <longName>Wheel Diameter</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Wheel diameter, in mm.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SI_WHEEL_DIAMETER</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1000</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>9999</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0.083</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> mm</suffix>
+            <vTx>9</vTx>
+        </si_wheel_diameter>
+        <si_battery_type>
+            <longName>Battery Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Battery Type&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;BATTERY_TYPE_LIION_3_0__4_2&lt;/span&gt;,&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Lithoium ion, voltage range: 3.0 to 4.2&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;BATTERY_TYPE_LIIRON_2_6__3_6&lt;/span&gt;,&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Lithoium iron phosphate, voltage range: 2.6 to 3.6&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;BATTERY_TYPE_LEAD_ACID&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Lead Acid, voltage range: 2.1 to 2.36&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SI_BATTERY_TYPE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>BATTERY_TYPE_LIION_3_0__4_2</enumNames>
+            <enumNames>BATTERY_TYPE_LIIRON_2_6__3_6</enumNames>
+            <enumNames>BATTERY_TYPE_LEAD_ACID</enumNames>
+        </si_battery_type>
+        <si_battery_cells>
+            <longName>Battery Cells Series</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Battery cells in series.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SI_BATTERY_CELLS</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>255</maxInt>
+            <minInt>1</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>3</valInt>
+            <suffix></suffix>
+            <vTx>1</vTx>
+        </si_battery_cells>
+        <si_battery_ah>
+            <longName>Battery Capacity</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Battery capacity in ampere hours.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SI_BATTERY_AH</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>6</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> Ah</suffix>
+            <vTx>9</vTx>
+        </si_battery_ah>
+        <si_motor_nl_current>
+            <longName>Motor No Load Current</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;No load current for the motor. Can be measured by running the motor at around 50% duty cycle without load and noting the motor current draw.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The no load current can be used in the motor comparison tool for calculating efficiencies and comparing different motors, gear ratios etc.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_SI_MOTOR_NL_CURRENT</cDefine>
+            <editorDecimalsDouble>4</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>999</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>0.1</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> A</suffix>
+            <vTx>9</vTx>
+        </si_motor_nl_current>
+        <motor_brand>
+            <longName>Motor Brand</longName>
+            <type>3</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The motor brand, e.g. Turnigy.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <valString>Unnamed</valString>
+            <maxLen>0</maxLen>
+        </motor_brand>
+        <motor_model>
+            <longName>Motor Model</longName>
+            <type>3</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The motor model, e.g. 6374 168KV.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <valString>Not Specified</valString>
+            <maxLen>0</maxLen>
+        </motor_model>
+        <motor_weight>
+            <longName>Motor Weight</longName>
+            <type>1</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The weight of the motor in grams.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>500000</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix> g</suffix>
+            <vTx>9</vTx>
+        </motor_weight>
+        <motor_sensor_type>
+            <longName>Position Sensor</longName>
+            <type>4</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Does this motor come with some kind of position sensor?&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <valInt>0</valInt>
+            <enumNames>No sensor</enumNames>
+            <enumNames>Hall Sensors</enumNames>
+            <enumNames>ABI Encoder</enumNames>
+            <enumNames>AS5047 Encoder</enumNames>
+            <enumNames>AS5X47U Encoder</enumNames>
+            <enumNames>Other Sensor</enumNames>
+        </motor_sensor_type>
+        <motor_description>
+            <longName>Motor Description</longName>
+            <type>3</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;This is an editor where a description can be stored for your motor configuration. Images can also be inserted. Notice that this information is not written to the VESC, so it has to be stored in an XML file.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <valString>A motor description can be edited here.</valString>
+            <maxLen>0</maxLen>
+        </motor_description>
+        <motor_quality_bearings>
+            <longName>Bearing Quality</longName>
+            <type>2</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Motor bearing quality. 0 is neutral/unknown, negative is bad and positive is good.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>5</maxInt>
+            <minInt>-5</minInt>
+            <showDisplay>1</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>0</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </motor_quality_bearings>
+        <motor_quality_magnets>
+            <longName>Magnet Quality</longName>
+            <type>2</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Motor magnet quality. 0 is neutral/unknown, negative is bad and positive is good.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>5</maxInt>
+            <minInt>-5</minInt>
+            <showDisplay>1</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>0</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </motor_quality_magnets>
+        <motor_quality_construction>
+            <longName>Construction Quality</longName>
+            <type>2</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Motor construction quality. 0 is neutral/unknown, negative is bad and positive is good.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>5</maxInt>
+            <minInt>-5</minInt>
+            <showDisplay>1</showDisplay>
+            <stepInt>1</stepInt>
+            <valInt>0</valInt>
+            <suffix></suffix>
+            <vTx>2</vTx>
+        </motor_quality_construction>
+        <motor_quality_description>
+            <longName>Quality Description</longName>
+            <type>3</type>
+            <transmittable>0</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A text summary of the motor quality.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+            <valString>Some comments about the motor quality. Images can be added as well.</valString>
+            <maxLen>0</maxLen>
+        </motor_quality_description>
+        <bms.type>
+            <longName>BMS Type</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Type of BMS. This determines how BMS-related messages on the CAN-bus are interpreted. Options are:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;None&lt;/span&gt;:&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;No BMS is used. All messages on the CAN-bus are ignored by the BMS module.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;VESC BMS:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC BMS is used.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_BMS_TYPE</cDefine>
+            <valInt>1</valInt>
+            <enumNames>None</enumNames>
+            <enumNames>VESC BMS</enumNames>
+        </bms.type>
+        <bms.limit_mode>
+            <longName>BMS Limit Mode</longName>
+            <type>6</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Choose how to limit the motor current based on data from the BMS.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Overtemp&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Decrease the input and regen current as the battery gets to hot.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;SOC&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Decrease the input current as the state of charge (SOC) gets too low.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_BMS_LIMIT_MODE</cDefine>
+            <valInt>3</valInt>
+            <enumNames>Overtemp</enumNames>
+            <enumNames>SOC</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+            <enumNames>Unused</enumNames>
+        </bms.limit_mode>
+        <bms.t_limit_start>
+            <longName>Temperature Limit Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The battery temperature above which battery current starts to get reduced.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;If there is more than one BMS on the CAN-bus, the one with the highest value will be used.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_BMS_T_LIMIT_START</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>99</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>45</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °C</suffix>
+            <vTx>7</vTx>
+        </bms.t_limit_start>
+        <bms.t_limit_end>
+            <longName>Temperature Limit End</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The battery temperature above which battery current is not allowed and a fault is thrown.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;If there is more than one BMS on the CAN-bus, the one with the highest value will be ued.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_BMS_T_LIMIT_END</cDefine>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>99</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>65</valDouble>
+            <vTxDoubleScale>100</vTxDoubleScale>
+            <suffix> °C</suffix>
+            <vTx>7</vTx>
+        </bms.t_limit_end>
+        <bms.soc_limit_start>
+            <longName>SOC Limit Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The battery state of charge (SOC) below which battery current starts to get reduced.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;If there is more than one BMS on the CAN-bus, the one with the lowest value will be ued.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_BMS_SOC_LIMIT_START</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0.05</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </bms.soc_limit_start>
+        <bms.soc_limit_end>
+            <longName>SOC Limit End</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The battery state of charge (SOC) below which battery current is not allowed anymore.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If there is more than one BMS on the CAN-bus, the one with the lowest value will be ued.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_BMS_SOC_LIMIT_END</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>0</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </bms.soc_limit_end>
+        <bms.fwd_can_mode>
+            <longName>Forward CAN to Local</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Forward CAN-frames to local device as they are received. This is useful when many BMSes are connected on a CAN-bus to avoid polling the state from each one of them.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This can cause a lot of data if there are many BMSes on the CAN-bus, so it is recommended to only do it over the USB-connection.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Options:&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Disabled&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This function is disabled.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;USB Only&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Only forward frames to device connected over USB.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Any Interface&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Forward frames to device connected using any interface.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_BMS_FWD_CAN_MODE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>Disabled</enumNames>
+            <enumNames>USB Only</enumNames>
+            <enumNames>Any Interface</enumNames>
+        </bms.fwd_can_mode>
+    </Params>
+    <SerOrder>
+        <ser>pwm_mode</ser>
+        <ser>comm_mode</ser>
+        <ser>motor_type</ser>
+        <ser>sensor_mode</ser>
+        <ser>l_current_max</ser>
+        <ser>l_current_min</ser>
+        <ser>l_in_current_max</ser>
+        <ser>l_in_current_min</ser>
+        <ser>l_abs_current_max</ser>
+        <ser>l_min_erpm</ser>
+        <ser>l_max_erpm</ser>
+        <ser>l_erpm_start</ser>
+        <ser>l_max_erpm_fbrake</ser>
+        <ser>l_max_erpm_fbrake_cc</ser>
+        <ser>l_min_vin</ser>
+        <ser>l_max_vin</ser>
+        <ser>l_battery_cut_start</ser>
+        <ser>l_battery_cut_end</ser>
+        <ser>l_slow_abs_current</ser>
+        <ser>l_temp_fet_start</ser>
+        <ser>l_temp_fet_end</ser>
+        <ser>l_temp_motor_start</ser>
+        <ser>l_temp_motor_end</ser>
+        <ser>l_temp_accel_dec</ser>
+        <ser>l_min_duty</ser>
+        <ser>l_max_duty</ser>
+        <ser>l_watt_max</ser>
+        <ser>l_watt_min</ser>
+        <ser>l_current_max_scale</ser>
+        <ser>l_current_min_scale</ser>
+        <ser>l_duty_start</ser>
+        <ser>sl_min_erpm</ser>
+        <ser>sl_min_erpm_cycle_int_limit</ser>
+        <ser>sl_max_fullbreak_current_dir_change</ser>
+        <ser>sl_cycle_int_limit</ser>
+        <ser>sl_phase_advance_at_br</ser>
+        <ser>sl_cycle_int_rpm_br</ser>
+        <ser>sl_bemf_coupling_k</ser>
+        <ser>hall_table__0</ser>
+        <ser>hall_table__1</ser>
+        <ser>hall_table__2</ser>
+        <ser>hall_table__3</ser>
+        <ser>hall_table__4</ser>
+        <ser>hall_table__5</ser>
+        <ser>hall_table__6</ser>
+        <ser>hall_table__7</ser>
+        <ser>hall_sl_erpm</ser>
+        <ser>foc_current_kp</ser>
+        <ser>foc_current_ki</ser>
+        <ser>foc_f_zv</ser>
+        <ser>foc_dt_us</ser>
+        <ser>foc_encoder_inverted</ser>
+        <ser>foc_encoder_offset</ser>
+        <ser>foc_encoder_ratio</ser>
+        <ser>foc_sensor_mode</ser>
+        <ser>foc_pll_kp</ser>
+        <ser>foc_pll_ki</ser>
+        <ser>foc_motor_l</ser>
+        <ser>foc_motor_ld_lq_diff</ser>
+        <ser>foc_motor_r</ser>
+        <ser>foc_motor_flux_linkage</ser>
+        <ser>foc_observer_gain</ser>
+        <ser>foc_observer_gain_slow</ser>
+        <ser>foc_observer_offset</ser>
+        <ser>foc_duty_dowmramp_kp</ser>
+        <ser>foc_duty_dowmramp_ki</ser>
+        <ser>foc_start_curr_dec</ser>
+        <ser>foc_start_curr_dec_rpm</ser>
+        <ser>foc_openloop_rpm</ser>
+        <ser>foc_openloop_rpm_low</ser>
+        <ser>foc_d_gain_scale_start</ser>
+        <ser>foc_d_gain_scale_max_mod</ser>
+        <ser>foc_sl_openloop_hyst</ser>
+        <ser>foc_sl_openloop_time_lock</ser>
+        <ser>foc_sl_openloop_time_ramp</ser>
+        <ser>foc_sl_openloop_time</ser>
+        <ser>foc_sl_openloop_boost_q</ser>
+        <ser>foc_sl_openloop_max_q</ser>
+        <ser>foc_hall_table__0</ser>
+        <ser>foc_hall_table__1</ser>
+        <ser>foc_hall_table__2</ser>
+        <ser>foc_hall_table__3</ser>
+        <ser>foc_hall_table__4</ser>
+        <ser>foc_hall_table__5</ser>
+        <ser>foc_hall_table__6</ser>
+        <ser>foc_hall_table__7</ser>
+        <ser>foc_hall_interp_erpm</ser>
+        <ser>foc_sl_erpm_start</ser>
+        <ser>foc_sl_erpm</ser>
+        <ser>foc_sample_v0_v7</ser>
+        <ser>foc_sample_high_current</ser>
+        <ser>foc_sat_comp_mode</ser>
+        <ser>foc_sat_comp</ser>
+        <ser>foc_temp_comp</ser>
+        <ser>foc_temp_comp_base_temp</ser>
+        <ser>foc_current_filter_const</ser>
+        <ser>foc_cc_decoupling</ser>
+        <ser>foc_observer_type</ser>
+        <ser>foc_hfi_voltage_start</ser>
+        <ser>foc_hfi_voltage_run</ser>
+        <ser>foc_hfi_voltage_max</ser>
+        <ser>foc_hfi_gain</ser>
+        <ser>foc_hfi_hyst</ser>
+        <ser>foc_sl_erpm_hfi</ser>
+        <ser>foc_hfi_start_samples</ser>
+        <ser>foc_hfi_obs_ovr_sec</ser>
+        <ser>foc_hfi_samples</ser>
+        <ser>foc_offsets_cal_on_boot</ser>
+        <ser>foc_offsets_current__0</ser>
+        <ser>foc_offsets_current__1</ser>
+        <ser>foc_offsets_current__2</ser>
+        <ser>foc_offsets_voltage__0</ser>
+        <ser>foc_offsets_voltage__1</ser>
+        <ser>foc_offsets_voltage__2</ser>
+        <ser>foc_offsets_voltage_undriven__0</ser>
+        <ser>foc_offsets_voltage_undriven__1</ser>
+        <ser>foc_offsets_voltage_undriven__2</ser>
+        <ser>foc_phase_filter_enable</ser>
+        <ser>foc_phase_filter_disable_fault</ser>
+        <ser>foc_phase_filter_max_erpm</ser>
+        <ser>foc_mtpa_mode</ser>
+        <ser>foc_fw_current_max</ser>
+        <ser>foc_fw_duty_start</ser>
+        <ser>foc_fw_ramp_time</ser>
+        <ser>foc_fw_q_current_factor</ser>
+        <ser>foc_speed_soure</ser>
+        <ser>gpd_buffer_notify_left</ser>
+        <ser>gpd_buffer_interpol</ser>
+        <ser>gpd_current_filter_const</ser>
+        <ser>gpd_current_kp</ser>
+        <ser>gpd_current_ki</ser>
+        <ser>sp_pid_loop_rate</ser>
+        <ser>s_pid_kp</ser>
+        <ser>s_pid_ki</ser>
+        <ser>s_pid_kd</ser>
+        <ser>s_pid_kd_filter</ser>
+        <ser>s_pid_min_erpm</ser>
+        <ser>s_pid_allow_braking</ser>
+        <ser>s_pid_ramp_erpms_s</ser>
+        <ser>p_pid_kp</ser>
+        <ser>p_pid_ki</ser>
+        <ser>p_pid_kd</ser>
+        <ser>p_pid_kd_proc</ser>
+        <ser>p_pid_kd_filter</ser>
+        <ser>p_pid_ang_div</ser>
+        <ser>p_pid_gain_dec_angle</ser>
+        <ser>p_pid_offset</ser>
+        <ser>cc_startup_boost_duty</ser>
+        <ser>cc_min_current</ser>
+        <ser>cc_gain</ser>
+        <ser>cc_ramp_step_max</ser>
+        <ser>m_fault_stop_time_ms</ser>
+        <ser>m_duty_ramp_step</ser>
+        <ser>m_current_backoff_gain</ser>
+        <ser>m_encoder_counts</ser>
+        <ser>m_encoder_sin_amp</ser>
+        <ser>m_encoder_cos_amp</ser>
+        <ser>m_encoder_sin_offset</ser>
+        <ser>m_encoder_cos_offset</ser>
+        <ser>m_encoder_sincos_filter_constant</ser>
+        <ser>m_encoder_sincos_phase_correction</ser>
+        <ser>m_sensor_port_mode</ser>
+        <ser>m_invert_direction</ser>
+        <ser>m_drv8301_oc_mode</ser>
+        <ser>m_drv8301_oc_adj</ser>
+        <ser>m_bldc_f_sw_min</ser>
+        <ser>m_bldc_f_sw_max</ser>
+        <ser>m_dc_f_sw</ser>
+        <ser>m_ntc_motor_beta</ser>
+        <ser>m_out_aux_mode</ser>
+        <ser>m_motor_temp_sens_type</ser>
+        <ser>m_ptc_motor_coeff</ser>
+        <ser>m_ntcx_ptcx_res</ser>
+        <ser>m_ntcx_ptcx_temp_base</ser>
+        <ser>m_hall_extra_samples</ser>
+        <ser>m_batt_filter_const</ser>
+        <ser>si_motor_poles</ser>
+        <ser>si_gear_ratio</ser>
+        <ser>si_wheel_diameter</ser>
+        <ser>si_battery_type</ser>
+        <ser>si_battery_cells</ser>
+        <ser>si_battery_ah</ser>
+        <ser>si_motor_nl_current</ser>
+        <ser>bms.type</ser>
+        <ser>bms.limit_mode</ser>
+        <ser>bms.t_limit_start</ser>
+        <ser>bms.t_limit_end</ser>
+        <ser>bms.soc_limit_start</ser>
+        <ser>bms.soc_limit_end</ser>
+        <ser>bms.fwd_can_mode</ser>
+    </SerOrder>
+    <Grouping>
+        <group>
+            <groupName>General</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>motor_type</param>
+                    <param>m_invert_direction</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Sensors</subgroupName>
+                <subgroupParams>
+                    <param>m_sensor_port_mode</param>
+                    <param>::sep::ABI Encoder</param>
+                    <param>m_encoder_counts</param>
+                    <param>::sep::Sin/Cos Encoder</param>
+                    <param>m_encoder_sin_amp</param>
+                    <param>m_encoder_cos_amp</param>
+                    <param>m_encoder_sin_offset</param>
+                    <param>m_encoder_cos_offset</param>
+                    <param>m_encoder_sincos_filter_constant</param>
+                    <param>m_encoder_sincos_phase_correction</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Current</subgroupName>
+                <subgroupParams>
+                    <param>::sep::Motor</param>
+                    <param>l_current_max</param>
+                    <param>l_current_min</param>
+                    <param>l_abs_current_max</param>
+                    <param>l_slow_abs_current</param>
+                    <param>l_current_max_scale</param>
+                    <param>l_current_min_scale</param>
+                    <param>::sep::Battery</param>
+                    <param>l_in_current_max</param>
+                    <param>l_in_current_min</param>
+                    <param>::sep::DRV8301</param>
+                    <param>m_drv8301_oc_mode</param>
+                    <param>m_drv8301_oc_adj</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Voltage</subgroupName>
+                <subgroupParams>
+                    <param>l_battery_cut_start</param>
+                    <param>l_battery_cut_end</param>
+                    <param>m_batt_filter_const</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>RPM</subgroupName>
+                <subgroupParams>
+                    <param>l_max_erpm</param>
+                    <param>l_min_erpm</param>
+                    <param>l_erpm_start</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Wattage</subgroupName>
+                <subgroupParams>
+                    <param>l_watt_max</param>
+                    <param>l_watt_min</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Temperature</subgroupName>
+                <subgroupParams>
+                    <param>::sep::Motor Temperature Sensor Type</param>
+                    <param>m_motor_temp_sens_type</param>
+                    <param>m_ntc_motor_beta</param>
+                    <param>m_ptc_motor_coeff</param>
+                    <param>m_ntcx_ptcx_res</param>
+                    <param>m_ntcx_ptcx_temp_base</param>
+                    <param>::sep::General</param>
+                    <param>l_temp_accel_dec</param>
+                    <param>::sep::MOSFET</param>
+                    <param>l_temp_fet_start</param>
+                    <param>l_temp_fet_end</param>
+                    <param>::sep::Motor</param>
+                    <param>l_temp_motor_start</param>
+                    <param>l_temp_motor_end</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>BMS</subgroupName>
+                <subgroupParams>
+                    <param>bms.type</param>
+                    <param>bms.limit_mode</param>
+                    <param>bms.t_limit_start</param>
+                    <param>bms.t_limit_end</param>
+                    <param>bms.soc_limit_start</param>
+                    <param>bms.soc_limit_end</param>
+                    <param>bms.fwd_can_mode</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Advanced</subgroupName>
+                <subgroupParams>
+                    <param>l_min_vin</param>
+                    <param>l_max_vin</param>
+                    <param>l_min_duty</param>
+                    <param>l_max_duty</param>
+                    <param>cc_min_current</param>
+                    <param>m_fault_stop_time_ms</param>
+                    <param>m_out_aux_mode</param>
+                    <param>l_duty_start</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>BLDC</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>sensor_mode</param>
+                    <param>comm_mode</param>
+                    <param>cc_startup_boost_duty</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Sensorless</subgroupName>
+                <subgroupParams>
+                    <param>sl_cycle_int_limit</param>
+                    <param>sl_min_erpm</param>
+                    <param>sl_min_erpm_cycle_int_limit</param>
+                    <param>sl_bemf_coupling_k</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Sensors</subgroupName>
+                <subgroupParams>
+                    <param>hall_sl_erpm</param>
+                    <param>hall_table__0</param>
+                    <param>hall_table__1</param>
+                    <param>hall_table__2</param>
+                    <param>hall_table__3</param>
+                    <param>hall_table__4</param>
+                    <param>hall_table__5</param>
+                    <param>hall_table__6</param>
+                    <param>hall_table__7</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Advanced</subgroupName>
+                <subgroupParams>
+                    <param>sl_phase_advance_at_br</param>
+                    <param>sl_cycle_int_rpm_br</param>
+                    <param>l_max_erpm_fbrake</param>
+                    <param>pwm_mode</param>
+                    <param>cc_gain</param>
+                    <param>cc_ramp_step_max</param>
+                    <param>m_duty_ramp_step</param>
+                    <param>m_current_backoff_gain</param>
+                    <param>m_bldc_f_sw_min</param>
+                    <param>m_bldc_f_sw_max</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>DC</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>cc_gain</param>
+                    <param>cc_ramp_step_max</param>
+                    <param>m_duty_ramp_step</param>
+                    <param>m_current_backoff_gain</param>
+                    <param>m_dc_f_sw</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>FOC</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>foc_sensor_mode</param>
+                    <param>foc_motor_r</param>
+                    <param>foc_motor_l</param>
+                    <param>foc_motor_ld_lq_diff</param>
+                    <param>foc_motor_flux_linkage</param>
+                    <param>foc_current_kp</param>
+                    <param>foc_current_ki</param>
+                    <param>foc_observer_gain</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Sensorless</subgroupName>
+                <subgroupParams>
+                    <param>foc_openloop_rpm</param>
+                    <param>foc_openloop_rpm_low</param>
+                    <param>foc_sl_openloop_hyst</param>
+                    <param>foc_sl_openloop_time_lock</param>
+                    <param>foc_sl_openloop_time_ramp</param>
+                    <param>foc_sl_openloop_time</param>
+                    <param>foc_sl_openloop_boost_q</param>
+                    <param>foc_sl_openloop_max_q</param>
+                    <param>foc_start_curr_dec</param>
+                    <param>foc_start_curr_dec_rpm</param>
+                    <param>foc_sat_comp_mode</param>
+                    <param>foc_sat_comp</param>
+                    <param>foc_temp_comp</param>
+                    <param>foc_temp_comp_base_temp</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Hall Sensors</subgroupName>
+                <subgroupParams>
+                    <param>foc_sl_erpm_start</param>
+                    <param>foc_sl_erpm</param>
+                    <param>foc_hall_interp_erpm</param>
+                    <param>foc_hall_table__0</param>
+                    <param>foc_hall_table__1</param>
+                    <param>foc_hall_table__2</param>
+                    <param>foc_hall_table__3</param>
+                    <param>foc_hall_table__4</param>
+                    <param>foc_hall_table__5</param>
+                    <param>foc_hall_table__6</param>
+                    <param>foc_hall_table__7</param>
+                    <param>m_hall_extra_samples</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Encoder</subgroupName>
+                <subgroupParams>
+                    <param>foc_sl_erpm</param>
+                    <param>foc_encoder_offset</param>
+                    <param>foc_encoder_ratio</param>
+                    <param>foc_encoder_inverted</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>HFI</subgroupName>
+                <subgroupParams>
+                    <param>foc_hfi_samples</param>
+                    <param>foc_hfi_voltage_start</param>
+                    <param>foc_hfi_voltage_run</param>
+                    <param>foc_hfi_voltage_max</param>
+                    <param>foc_hfi_gain</param>
+                    <param>foc_hfi_hyst</param>
+                    <param>foc_sl_erpm_hfi</param>
+                    <param>foc_hfi_start_samples</param>
+                    <param>foc_hfi_obs_ovr_sec</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>VSS</subgroupName>
+                <subgroupParams>
+                    <param>foc_hfi_samples</param>
+                    <param>foc_hfi_voltage_start</param>
+                    <param>foc_hfi_start_samples</param>
+                    <param>foc_openloop_rpm</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Filters</subgroupName>
+                <subgroupParams>
+                    <param>foc_phase_filter_enable</param>
+                    <param>foc_phase_filter_max_erpm</param>
+                    <param>foc_phase_filter_disable_fault</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Offsets</subgroupName>
+                <subgroupParams>
+                    <param>foc_offsets_cal_on_boot</param>
+                    <param>::sep::Current</param>
+                    <param>foc_offsets_current__0</param>
+                    <param>foc_offsets_current__1</param>
+                    <param>foc_offsets_current__2</param>
+                    <param>::sep::Voltage</param>
+                    <param>foc_offsets_voltage__0</param>
+                    <param>foc_offsets_voltage__1</param>
+                    <param>foc_offsets_voltage__2</param>
+                    <param>::sep::Voltage Undriven</param>
+                    <param>foc_offsets_voltage_undriven__0</param>
+                    <param>foc_offsets_voltage_undriven__1</param>
+                    <param>foc_offsets_voltage_undriven__2</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Field Weakening</subgroupName>
+                <subgroupParams>
+                    <param>foc_fw_current_max</param>
+                    <param>foc_fw_duty_start</param>
+                    <param>foc_fw_ramp_time</param>
+                    <param>foc_fw_q_current_factor</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Advanced</subgroupName>
+                <subgroupParams>
+                    <param>foc_f_zv</param>
+                    <param>foc_dt_us</param>
+                    <param>foc_pll_kp</param>
+                    <param>foc_pll_ki</param>
+                    <param>foc_duty_dowmramp_kp</param>
+                    <param>foc_duty_dowmramp_ki</param>
+                    <param>foc_sample_v0_v7</param>
+                    <param>foc_sample_high_current</param>
+                    <param>foc_observer_gain_slow</param>
+                    <param>foc_current_filter_const</param>
+                    <param>foc_cc_decoupling</param>
+                    <param>foc_observer_type</param>
+                    <param>foc_d_gain_scale_start</param>
+                    <param>foc_d_gain_scale_max_mod</param>
+                    <param>foc_mtpa_mode</param>
+                    <param>foc_observer_offset</param>
+                    <param>foc_speed_soure</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>GPD</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>pwm_mode</param>
+                    <param>gpd_buffer_notify_left</param>
+                    <param>gpd_buffer_interpol</param>
+                    <param>gpd_current_filter_const</param>
+                    <param>gpd_current_kp</param>
+                    <param>gpd_current_ki</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>PID Controllers</groupName>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>::sep::Common</param>
+                    <param>sp_pid_loop_rate</param>
+                    <param>::sep::Speed Controller</param>
+                    <param>s_pid_kp</param>
+                    <param>s_pid_ki</param>
+                    <param>s_pid_kd</param>
+                    <param>s_pid_kd_filter</param>
+                    <param>s_pid_min_erpm</param>
+                    <param>s_pid_allow_braking</param>
+                    <param>s_pid_ramp_erpms_s</param>
+                    <param>foc_speed_soure</param>
+                    <param>::sep::Position Controller</param>
+                    <param>p_pid_kp</param>
+                    <param>p_pid_ki</param>
+                    <param>p_pid_kd</param>
+                    <param>p_pid_kd_proc</param>
+                    <param>p_pid_kd_filter</param>
+                    <param>p_pid_ang_div</param>
+                    <param>p_pid_gain_dec_angle</param>
+                    <param>p_pid_offset</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+        <group>
+            <groupName>Additional Info</groupName>
+            <subgroup>
+                <subgroupName>Setup</subgroupName>
+                <subgroupParams>
+                    <param>si_motor_poles</param>
+                    <param>si_gear_ratio</param>
+                    <param>si_wheel_diameter</param>
+                    <param>si_battery_type</param>
+                    <param>si_battery_cells</param>
+                    <param>si_battery_ah</param>
+                    <param>si_motor_nl_current</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>General</subgroupName>
+                <subgroupParams>
+                    <param>motor_brand</param>
+                    <param>motor_model</param>
+                    <param>motor_weight</param>
+                    <param>motor_sensor_type</param>
+                </subgroupParams>
+            </subgroup>
+            <subgroup>
+                <subgroupName>Quality</subgroupName>
+                <subgroupParams>
+                    <param>motor_quality_bearings</param>
+                    <param>motor_quality_magnets</param>
+                    <param>motor_quality_construction</param>
+                </subgroupParams>
+            </subgroup>
+        </group>
+    </Grouping>
+</ConfigParams>
diff --git a/res_config.qrc b/res_config.qrc
index eb70bf6ef..bd13b3bdd 100755
--- a/res_config.qrc
+++ b/res_config.qrc
@@ -64,5 +64,8 @@
         <file>res/config/6.02/info.xml</file>
         <file>res/config/6.02/parameters_appconf.xml</file>
         <file>res/config/6.02/parameters_mcconf.xml</file>
+        <file>res/config/6.05/info.xml</file>
+        <file>res/config/6.05/parameters_mcconf.xml</file>
+        <file>res/config/6.05/parameters_appconf.xml</file>
     </qresource>
 </RCC>
diff --git a/utility.cpp b/utility.cpp
index cb49a1b3e..c9acaa6fd 100755
--- a/utility.cpp
+++ b/utility.cpp
@@ -1784,7 +1784,7 @@ QPair<int, int> Utility::configLatestSupported()
         QStringList names = fi.fileName().split("_o_");
 
         if (fi.isDir()) {
-            for(auto name: names) {
+            foreach (auto name, names) {
                 auto parts = name.split(".");
                 if (parts.size() == 2) {
                     QPair<int, int> ver = qMakePair(parts.at(0).toInt(), parts.at(1).toInt());
diff --git a/vesc_tool.pro b/vesc_tool.pro
index 53ff3b0b5..c8a61809c 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -5,12 +5,12 @@
 #-------------------------------------------------
 
 # Version
-VT_VERSION = 6.02
+VT_VERSION = 6.05
 VT_INTRO_VERSION = 1
 VT_CONFIG_VERSION = 2
 
 # Set to 0 for stable versions and to test version number for development versions.
-VT_IS_TEST_VERSION = 0
+VT_IS_TEST_VERSION = 1
 
 VT_ANDROID_VERSION_ARMV7 = 134
 VT_ANDROID_VERSION_ARM64 = 135

From b20baeb23d971724167ce58212205745a4c0cf14 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 21 Mar 2023 14:55:09 +0100
Subject: [PATCH 430/559] Updated threads-example

---
 res/Lisp/Examples/threads.lisp | 6 +++---
 res/firmwares/CHANGELOG.md     | 6 ++++++
 2 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/res/Lisp/Examples/threads.lisp b/res/Lisp/Examples/threads.lisp
index 58e013ea6..751e43a80 100644
--- a/res/Lisp/Examples/threads.lisp
+++ b/res/Lisp/Examples/threads.lisp
@@ -1,8 +1,8 @@
-(defun counter (var rate start)
+(defun counter (v rate start)
     (progn
-        (setvar var start)
+        (setvar v start)
         (yield (/ 1000000 rate))
-        (counter var rate (+ start 1))
+        (counter v rate (+ start 1))
 ))
 
 ; Start lots of threads where each thread has
diff --git a/res/firmwares/CHANGELOG.md b/res/firmwares/CHANGELOG.md
index ceb19bebf..61e149bc7 100644
--- a/res/firmwares/CHANGELOG.md
+++ b/res/firmwares/CHANGELOG.md
@@ -1,3 +1,9 @@
+### 6.05
+#### TBD
+* LispBM:
+	* Support for var in progn.
+* Hall sensors: smooth transition to sensorless.
+
 ### 6.02
 #### 2023-03-12
 * LispBM:

From 6ec61c314bbdf27d9a745266be71e8594f5e1a88 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 21 Mar 2023 17:10:30 +0100
Subject: [PATCH 431/559] Added new keywords, updated autocompletion

---
 QCodeEditor/resources/languages/lisp.xml |  4 ++
 QCodeEditor/src/internal/QCodeEditor.cpp | 65 +++++++++---------------
 widgets/scripteditor.cpp                 |  4 +-
 3 files changed, 30 insertions(+), 43 deletions(-)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index d31d57ebd..655ada6c9 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -5,6 +5,7 @@
 <name>undefine</name>
 <name>def</name>
 <name>defun</name>
+<name>defunret</name>
 <name>macro</name>
 <name>lambda</name>
 <name>fn</name>
@@ -22,12 +23,14 @@
 <name>looprange</name>
 <name>loopforeach</name>
 <name>break</name>
+<name>return</name>
 <name>import</name>
 <name>atomic</name>
 <name>call-cc</name>
 <name>quote</name>
 <name>closure</name>
 <name>var</name>
+<name>setq</name>
 </section>
 
 <section name="Label">
@@ -140,6 +143,7 @@
 <name>cdr</name>
 <name>setcar</name>
 <name>setcdr</name>
+<name>set</name>
 <name>setvar</name>
 <name>setix</name>
 <name>systime</name>
diff --git a/QCodeEditor/src/internal/QCodeEditor.cpp b/QCodeEditor/src/internal/QCodeEditor.cpp
index e320c44fb..a7493b932 100755
--- a/QCodeEditor/src/internal/QCodeEditor.cpp
+++ b/QCodeEditor/src/internal/QCodeEditor.cpp
@@ -583,14 +583,34 @@ void QCodeEditor::keyPressEvent(QKeyEvent* e) {
             return;
         }
 
+        // Have Qt Edior like behaviour, if {|} and enter is pressed indent the two
+        // parenthesis
+        bool indentNext = false;
+        auto charBefore = charUnderCursor(-1);
+        auto charAfter = charUnderCursor();
+        if (m_autoIndentation && (e->key() == Qt::Key_Return || e->key() == Qt::Key_Enter) &&
+                m_indentStartStr.contains(charBefore) && m_indentEndStr.contains(charAfter)) {
+            insertPlainText("\n\n");
+            moveCursor(QTextCursor::MoveOperation::Left);
+            indentNext = true;
+
+            auto tcStart = textCursor();
+            auto tcEnd = textCursor();
+            tcStart.setPosition(textCursor().selectionStart());
+            tcEnd.setPosition(textCursor().selectionEnd());
+            lineStart = tcStart.blockNumber();
+            lineEnd = tcEnd.blockNumber() + 1;
+        }
+
         // Auto-indent selected line or block
-        if (e->key() == Qt::Key_I && e->modifiers() == Qt::ControlModifier) {
+        if (indentNext || (e->key() == Qt::Key_I && e->modifiers() == Qt::ControlModifier)) {
             auto txtOld = toPlainText();
+            qDebug() << txtOld;
             int indentNow = 0;
             bool isComment = false;
 
             int lineNum = -1;
-            for (auto line: txtOld.split("\n")) {
+            foreach (auto line, txtOld.split("\n")) {
                 lineNum++;
 
                 bool indent = true;
@@ -632,14 +652,14 @@ void QCodeEditor::keyPressEvent(QKeyEvent* e) {
 
                 int indentLine = 0;
                 for (auto c: line) {
-                    if (c == m_indentStartStr) {
+                    if (m_indentStartStr.contains(c)) {
                         indentNow++;
                         indentLine++;
                     }
                 }
 
                 for (auto c: line) {
-                    if (c == m_indentEndStr) {
+                    if (m_indentEndStr.contains(c)) {
                         indentNow--;
                         indentLine--;
                     }
@@ -719,43 +739,6 @@ void QCodeEditor::keyPressEvent(QKeyEvent* e) {
                 indentationLevel * fontMetrics().averageCharWidth() / tabStopWidth();
 #endif
 
-        // Have Qt Edior like behaviour, if {|} and enter is pressed indent the two
-        // parenthesis
-        auto charAfter = charUnderCursor();
-
-        if (m_autoIndentation &&
-                (e->key() == Qt::Key_Return || e->key() == Qt::Key_Enter) &&
-                charUnderCursor(-1) == '{')
-        {
-            int charsBack = 0;
-            insertPlainText("\n");
-
-            if (m_replaceTab)
-                insertPlainText(QString(indentationLevel + defaultIndent, ' '));
-            else
-                insertPlainText(QString(tabCounts + 1, '\t'));
-
-            if (charAfter == '}') {
-                insertPlainText("\n");
-                charsBack++;
-
-                if (m_replaceTab)
-                {
-                    insertPlainText(QString(indentationLevel, ' '));
-                    charsBack += indentationLevel;
-                }
-                else
-                {
-                    insertPlainText(QString(tabCounts, '\t'));
-                    charsBack += tabCounts;
-                }
-            }
-
-            while (charsBack--)
-                moveCursor(QTextCursor::MoveOperation::Left);
-            return;
-        }
-
         // Shortcut for moving line to left
         if (m_replaceTab && e->key() == Qt::Key_Backtab) {
             indentationLevel = std::min(indentationLevel, m_tabReplace.size());
diff --git a/widgets/scripteditor.cpp b/widgets/scripteditor.cpp
index ad7cc561b..6c766a1be 100644
--- a/widgets/scripteditor.cpp
+++ b/widgets/scripteditor.cpp
@@ -89,8 +89,8 @@ void ScriptEditor::setModeLisp()
     ui->codeEdit->setHighlighter(new LispHighlighter);
     ui->codeEdit->setCompleter(new QLispCompleter);
     ui->codeEdit->setCommentStr(";");
-    ui->codeEdit->setIndentStrs("(", ")");
-    ui->codeEdit->setAutoParentheses(false);
+    ui->codeEdit->setIndentStrs("{(", "})");
+    ui->codeEdit->setAutoParentheses(true);
     ui->codeEdit->setSeparateMinus(false);
     mIsModeLisp = true;
 }

From e5bae2064eebbb7877bdabe29647fa1e9b2c458c Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 22 Mar 2023 17:51:40 +0100
Subject: [PATCH 432/559] Removed debug print

---
 QCodeEditor/src/internal/QCodeEditor.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/QCodeEditor/src/internal/QCodeEditor.cpp b/QCodeEditor/src/internal/QCodeEditor.cpp
index a7493b932..4e96b9dda 100755
--- a/QCodeEditor/src/internal/QCodeEditor.cpp
+++ b/QCodeEditor/src/internal/QCodeEditor.cpp
@@ -605,7 +605,6 @@ void QCodeEditor::keyPressEvent(QKeyEvent* e) {
         // Auto-indent selected line or block
         if (indentNext || (e->key() == Qt::Key_I && e->modifiers() == Qt::ControlModifier)) {
             auto txtOld = toPlainText();
-            qDebug() << txtOld;
             int indentNow = 0;
             bool isComment = false;
 

From 0423c60442e8d38f1f2e083af2babe414ffed729 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 23 Mar 2023 20:19:41 +0100
Subject: [PATCH 433/559] Remove quotes from autocompletion

---
 QCodeEditor/src/internal/QCodeEditor.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/QCodeEditor/src/internal/QCodeEditor.cpp b/QCodeEditor/src/internal/QCodeEditor.cpp
index 4e96b9dda..be7d431e0 100755
--- a/QCodeEditor/src/internal/QCodeEditor.cpp
+++ b/QCodeEditor/src/internal/QCodeEditor.cpp
@@ -25,8 +25,6 @@ static QVector<QPair<QString, QString>> parentheses = {
     {"(", ")"},
     {"{", "}"},
     {"[", "]"},
-    {"\"", "\""},
-    {"'", "'"}
 };
 
 QCodeEditor::QCodeEditor(QWidget* widget) :

From 55d70549d4b24688e24411475e16a2274b585d18 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 24 Mar 2023 12:16:45 +0100
Subject: [PATCH 434/559] Added script upload/stream/run behavior setting and
 script refresh button

---
 pages/pagelisp.cpp       |  8 +++---
 pages/pagescripting.cpp  |  2 +-
 preferences.cpp          | 39 ++++++++++++++++-------------
 preferences.ui           | 54 +++++++++++++++++++++++++++++++++++++++-
 res/CHANGELOG.md         |  5 ++++
 widgets/scripteditor.cpp | 51 +++++++++++++++++++++++++++++++++++++
 widgets/scripteditor.h   |  2 ++
 widgets/scripteditor.ui  | 25 ++++++++++++++++---
 8 files changed, 160 insertions(+), 26 deletions(-)

diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index 31ceddc40..bbf7c97a1 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -605,13 +605,13 @@ void PageLisp::on_uploadButton_clicked()
     QString editorPath = QDir::currentPath();
 
     if (e != nullptr) {
-        codeStr = e->codeEditor()->toPlainText();
+        codeStr = e->contentAsText();
         QFileInfo fi(e->fileNow());
         if (fi.exists()) {
             editorPath = fi.canonicalPath();
         }
     } else {
-        ui->mainEdit->codeEditor()->toPlainText();
+        codeStr = ui->mainEdit->contentAsText();
         QFileInfo fi(ui->mainEdit->fileNow());
         if (fi.exists()) {
             editorPath = fi.canonicalPath();
@@ -707,9 +707,9 @@ void PageLisp::on_streamButton_clicked()
     QString codeStr = "";
 
     if (e != nullptr) {
-        codeStr = e->codeEditor()->toPlainText();
+        codeStr = e->contentAsText();
     } else {
-        ui->mainEdit->codeEditor()->toPlainText();
+        ui->mainEdit->contentAsText();
     }
 
     mLoader.lispStream(codeStr.toLocal8Bit(), ui->streamModeBox->currentIndex());
diff --git a/pages/pagescripting.cpp b/pages/pagescripting.cpp
index ef60181db..606e945eb 100755
--- a/pages/pagescripting.cpp
+++ b/pages/pagescripting.cpp
@@ -532,7 +532,7 @@ void PageScripting::setEditorClean(ScriptEditor *editor)
 
 QString PageScripting::qmlToRun(bool importDir, bool prependImports)
 {
-    QString res = ui->mainEdit->codeEditor()->toPlainText();
+    QString res = ui->mainEdit->contentAsText();
 
     if (prependImports) {
         res.prepend("import \"qrc:/mobile\";");
diff --git a/preferences.cpp b/preferences.cpp
index e106c9b49..857bbc708 100755
--- a/preferences.cpp
+++ b/preferences.cpp
@@ -131,28 +131,15 @@ Preferences::Preferences(QWidget *parent) :
     }
 #endif
 
+    ui->uploadContentEditorButton->setChecked(mSettings.value("scripting/uploadContentEditor", true).toBool());
+    ui->uploadContentFileButton->setChecked(!mSettings.value("scripting/uploadContentEditor", true).toBool());
+
     saveSettingsChanged();
 }
 
 Preferences::~Preferences()
 {
-#ifdef HAS_GAMEPAD
-    mSettings.setValue("js_is_configured", ui->jsConfigOkBox->isChecked());
-    mSettings.setValue("js_is_inverted", ui->jsInvertedBox->isChecked());
-    mSettings.setValue("js_is_bidirectional", ui->jsBidirectionalBox->isChecked());
-    mSettings.setValue("js_axis", ui->jseAxisBox->currentIndex());
-    mSettings.setValue("js_control_type", ui->jsControlTypeBox->currentIndex());
-    mSettings.setValue("js_current_min", ui->jsCurrentMinBox->value());
-    mSettings.setValue("js_current_max", ui->jsCurrentMaxBox->value());
-    mSettings.setValue("js_erpm_min", ui->jsErpmMinBox->value());
-    mSettings.setValue("js_erpm_max", ui->jsErpmMaxBox->value());
-    mSettings.setValue("js_range_min", ui->jsMinBox->value());
-    mSettings.setValue("js_range_max", ui->jsMaxBox->value());
-    if (mGamepad) {
-        mSettings.setValue("js_name", mGamepad->name());
-    }
-#endif
-
+    saveSettingsChanged();
     delete ui;
 }
 
@@ -450,6 +437,24 @@ void Preferences::on_okButton_clicked(){
 
 void Preferences::saveSettingsChanged()
 {
+#ifdef HAS_GAMEPAD
+    mSettings.setValue("js_is_configured", ui->jsConfigOkBox->isChecked());
+    mSettings.setValue("js_is_inverted", ui->jsInvertedBox->isChecked());
+    mSettings.setValue("js_is_bidirectional", ui->jsBidirectionalBox->isChecked());
+    mSettings.setValue("js_axis", ui->jseAxisBox->currentIndex());
+    mSettings.setValue("js_control_type", ui->jsControlTypeBox->currentIndex());
+    mSettings.setValue("js_current_min", ui->jsCurrentMinBox->value());
+    mSettings.setValue("js_current_max", ui->jsCurrentMaxBox->value());
+    mSettings.setValue("js_erpm_min", ui->jsErpmMinBox->value());
+    mSettings.setValue("js_erpm_max", ui->jsErpmMaxBox->value());
+    mSettings.setValue("js_range_min", ui->jsMinBox->value());
+    mSettings.setValue("js_range_max", ui->jsMaxBox->value());
+    if (mGamepad) {
+        mSettings.setValue("js_name", mGamepad->name());
+    }
+#endif
+
     mLastScaling = mSettings.value("app_scale_factor", 1.0).toDouble();
     mLastIsDark = Utility::isDarkMode();
+    mSettings.setValue("scripting/uploadContentEditor", ui->uploadContentEditorButton->isChecked());
 }
diff --git a/preferences.ui b/preferences.ui
index acd1e7cb9..28ea2601b 100644
--- a/preferences.ui
+++ b/preferences.ui
@@ -20,7 +20,7 @@
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="tabPosition">
-      <enum>QTabWidget::West</enum>
+      <enum>QTabWidget::North</enum>
      </property>
      <property name="tabShape">
       <enum>QTabWidget::Rounded</enum>
@@ -849,6 +849,58 @@
        </item>
       </layout>
      </widget>
+     <widget class="QWidget" name="tab_5">
+      <attribute name="title">
+       <string>Scripting</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_6">
+       <item>
+        <widget class="QGroupBox" name="groupBox_3">
+         <property name="title">
+          <string>Upload/Stream/Run</string>
+         </property>
+         <layout class="QVBoxLayout" name="verticalLayout_5">
+          <item>
+           <widget class="QRadioButton" name="uploadContentEditorButton">
+            <property name="toolTip">
+             <string>Use editor content when uploading/streaming/running code.</string>
+            </property>
+            <property name="text">
+             <string>Use Editor Content</string>
+            </property>
+            <property name="checked">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QRadioButton" name="uploadContentFileButton">
+            <property name="toolTip">
+             <string>Use file content when uploading/streaming/running code. If the content is not saved and a file path does not exist the editor content will be used instead.</string>
+            </property>
+            <property name="text">
+             <string>Use File Content</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <spacer name="verticalSpacer_6">
+         <property name="orientation">
+          <enum>Qt::Vertical</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>342</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+      </layout>
+     </widget>
     </widget>
    </item>
    <item>
diff --git a/res/CHANGELOG.md b/res/CHANGELOG.md
index e4b0f25e0..281638d6c 100644
--- a/res/CHANGELOG.md
+++ b/res/CHANGELOG.md
@@ -1,3 +1,8 @@
+### 6.05
+#### Released TBD
+* Scripting-setting to select whether to upload the editor content or file content.
+* Autocompletion and bracket matching completion improvements.
+
 ### 6.02
 #### Released 2023-03-12
 * Improved experiment plot.
diff --git a/widgets/scripteditor.cpp b/widgets/scripteditor.cpp
index 6c766a1be..0358204ff 100644
--- a/widgets/scripteditor.cpp
+++ b/widgets/scripteditor.cpp
@@ -26,6 +26,7 @@
 #include <QLispCompleter>
 #include <QMessageBox>
 #include <QFileDialog>
+#include <QSettings>
 #include "utility.h"
 
 ScriptEditor::ScriptEditor(QWidget *parent) :
@@ -39,6 +40,7 @@ ScriptEditor::ScriptEditor(QWidget *parent) :
     ui->openFileButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
     ui->saveButton->setIcon(Utility::getIcon("icons/Save-96.png"));
     ui->saveAsButton->setIcon(Utility::getIcon("icons/Save as-96.png"));
+    ui->refreshButton->setIcon(Utility::getIcon("icons/Refresh-96.png"));
     ui->searchWidget->setVisible(false);
     ui->codeEdit->setTabReplaceSize(4);
 
@@ -95,6 +97,31 @@ void ScriptEditor::setModeLisp()
     mIsModeLisp = true;
 }
 
+QString ScriptEditor::contentAsText()
+{
+    QString res = ui->codeEdit->toPlainText();
+
+    if (!QSettings().value("scripting/uploadContentEditor", true).toBool()) {
+        QString fileName = ui->fileNowLabel->text();
+
+        QFileInfo fi(fileName);
+        if (!fi.exists()) {
+            return res;
+        }
+
+        QFile file(fileName);
+        if (!file.open(QIODevice::ReadOnly)) {
+            return res;
+        }
+
+        res = file.readAll();
+
+        file.close();
+    }
+
+    return res;
+}
+
 void ScriptEditor::keyPressEvent(QKeyEvent *event)
 {
     if (event->key() == Qt::Key_Escape) {
@@ -226,3 +253,27 @@ void ScriptEditor::on_searchCaseSensitiveBox_toggled(bool checked)
 {
     ui->codeEdit->searchSetCaseSensitive(checked);
 }
+
+void ScriptEditor::on_refreshButton_clicked()
+{
+    QString fileName = ui->fileNowLabel->text();
+
+    QFileInfo fi(fileName);
+    if (!fi.exists()) {
+        QMessageBox::warning(this, tr("Refresh File"), tr("No file is open."));
+        return;
+    }
+
+    QFile file(fileName);
+    if (!file.open(QIODevice::ReadOnly)) {
+        QMessageBox::critical(this, tr("Refresh File"),
+                              "Could not open\n" + fileName + "\nfor reading.");
+        return;
+    }
+
+    ui->codeEdit->setPlainText(file.readAll());
+    ui->fileNowLabel->setText(fileName);
+    emit fileOpened(fileName);
+
+    file.close();
+}
diff --git a/widgets/scripteditor.h b/widgets/scripteditor.h
index 4e57cf0e4..c734740ab 100644
--- a/widgets/scripteditor.h
+++ b/widgets/scripteditor.h
@@ -40,6 +40,7 @@ class ScriptEditor : public QWidget
     void setFileNow(QString fileName);
     void setModeQml();
     void setModeLisp();
+    QString contentAsText();
 
     bool isDirty = false;
 
@@ -62,6 +63,7 @@ private slots:
     void on_replaceAllButton_clicked();
     void on_searchHideButton_clicked();
     void on_searchCaseSensitiveBox_toggled(bool checked);
+    void on_refreshButton_clicked();
 
 private:
     Ui::ScriptEditor *ui;
diff --git a/widgets/scripteditor.ui b/widgets/scripteditor.ui
index 1c0d0275b..f840d6da3 100644
--- a/widgets/scripteditor.ui
+++ b/widgets/scripteditor.ui
@@ -134,8 +134,11 @@
      </item>
      <item>
       <widget class="QPushButton" name="openFileButton">
+       <property name="toolTip">
+        <string>Open file...</string>
+       </property>
        <property name="text">
-        <string>Open</string>
+        <string/>
        </property>
        <property name="flat">
         <bool>false</bool>
@@ -144,8 +147,11 @@
      </item>
      <item>
       <widget class="QPushButton" name="saveButton">
+       <property name="toolTip">
+        <string>Save file</string>
+       </property>
        <property name="text">
-        <string>Save</string>
+        <string/>
        </property>
        <property name="flat">
         <bool>false</bool>
@@ -154,14 +160,27 @@
      </item>
      <item>
       <widget class="QPushButton" name="saveAsButton">
+       <property name="toolTip">
+        <string>Save file as...</string>
+       </property>
        <property name="text">
-        <string>Save As</string>
+        <string/>
        </property>
        <property name="flat">
         <bool>false</bool>
        </property>
       </widget>
      </item>
+     <item>
+      <widget class="QPushButton" name="refreshButton">
+       <property name="toolTip">
+        <string>Refresh editor with file content. Warning: This will replace unsaved changes in the editor.</string>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+      </widget>
+     </item>
     </layout>
    </item>
   </layout>

From b8ea2c94b0433cb1fe93c8a6f3219d2a8530a7a4 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 29 Mar 2023 12:36:42 +0200
Subject: [PATCH 435/559] Added keyword

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 655ada6c9..10e0fbb29 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -166,6 +166,7 @@
 <name>get-ppm</name>
 <name>get-ppm-age</name>
 <name>get-encoder</name>
+<name>set-encoder</name>
 <name>get-encoder-error-rate</name>
 <name>set-servo</name>
 <name>get-vin</name>

From 7f14550653239afe8b1fad5dc973d145fe05c56a Mon Sep 17 00:00:00 2001
From: Marcos Ariel Chaparro <mchaparro@powerdesigns.ca>
Date: Sat, 1 Apr 2023 06:50:07 -0300
Subject: [PATCH 436/559] Limit regen when battery is full to avoid
 overcharging (#310)

* Limit regen when battery is full to avoid overcharging

Signed-off-by: Marcos Chaparro <marcos@lunacycle.com>

* Disable regen cutoff by default and improve the help text

Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>

---------

Signed-off-by: Marcos Chaparro <marcos@lunacycle.com>
Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>
---
 res/config/6.05/parameters_mcconf.xml | 68 +++++++++++++++++++++++++--
 1 file changed, 65 insertions(+), 3 deletions(-)

diff --git a/res/config/6.05/parameters_mcconf.xml b/res/config/6.05/parameters_mcconf.xml
index d0a6ac510..4a83ab34b 100644
--- a/res/config/6.05/parameters_mcconf.xml
+++ b/res/config/6.05/parameters_mcconf.xml
@@ -383,6 +383,64 @@ p, li { white-space: pre-wrap; }
             <suffix> V</suffix>
             <vTx>9</vTx>
         </l_battery_cut_end>
+        <l_battery_regen_cut_start>
+            <longName>Battery Voltage Regen Cutoff Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The input voltage where regen braking current starts to get reduced.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;When regenerative braking is used, the controller can dump a large amount of energy into the battery, charging it at higher currents than the actual battery charger.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This setting can be used to avoid overcharging the battery in long downhills or hard regen braking.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Note that beyond this value, regen braking will start to become weaker.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_BATTERY_REGEN_CUT_START</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>1000</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </l_battery_regen_cut_start>
+        <l_battery_regen_cut_end>
+            <longName>Battery Voltage Regen Cutoff End</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The input voltage above which regen braking current is not allowed anymore.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;When regenerative braking is used, the controller can dump a large amount of energy into the battery, charging it at higher currents than the actual battery charger.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This setting can be used to avoid overcharging the battery in long downhills or hard regen braking.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Note that beyond this value, regen braking will be completely disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_BATTERY_REGEN_CUT_END</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1100</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>1100</valDouble>
+            <vTxDoubleScale>1000</vTxDoubleScale>
+            <suffix> V</suffix>
+            <vTx>9</vTx>
+        </l_battery_regen_cut_end>
         <l_slow_abs_current>
             <longName>Slow ABS Current Limit</longName>
             <type>5</type>
@@ -3942,10 +4000,10 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Battery Type&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;BATTERY_TYPE_LIION_3_0__4_2&lt;/span&gt;,&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Lithoium ion, voltage range: 3.0 to 4.2&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Lithium ion, voltage range: 3.0 to 4.2&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;BATTERY_TYPE_LIIRON_2_6__3_6&lt;/span&gt;,&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Lithoium iron phosphate, voltage range: 2.6 to 3.6&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Lithium iron phosphate, voltage range: 2.6 to 3.6&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;BATTERY_TYPE_LEAD_ACID&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Lead Acid, voltage range: 2.1 to 2.36&lt;/p&gt;
@@ -4207,7 +4265,7 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Choose how to limit the motor current based on data from the BMS.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Overtemp&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Decrease the input and regen current as the battery gets to hot.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Decrease the input and regen current as the battery gets too hot.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;SOC&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Decrease the input current as the state of charge (SOC) gets too low.&lt;/p&gt;
@@ -4367,6 +4425,8 @@ p, li { white-space: pre-wrap; }
         <ser>l_max_vin</ser>
         <ser>l_battery_cut_start</ser>
         <ser>l_battery_cut_end</ser>
+        <ser>l_battery_regen_cut_start</ser>
+        <ser>l_battery_regen_cut_end</ser>
         <ser>l_slow_abs_current</ser>
         <ser>l_temp_fet_start</ser>
         <ser>l_temp_fet_end</ser>
@@ -4588,6 +4648,8 @@ p, li { white-space: pre-wrap; }
                 <subgroupParams>
                     <param>l_battery_cut_start</param>
                     <param>l_battery_cut_end</param>
+                    <param>l_battery_regen_cut_start</param>
+                    <param>l_battery_regen_cut_end</param>
                     <param>m_batt_filter_const</param>
                 </subgroupParams>
             </subgroup>

From de0c4dd33e1c045594ef4186a9b4484318173c93 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 1 Apr 2023 12:00:36 +0200
Subject: [PATCH 437/559] Reduced config size

---
 res/config/6.05/parameters_mcconf.xml | 52 +++++++++++++--------------
 1 file changed, 26 insertions(+), 26 deletions(-)

diff --git a/res/config/6.05/parameters_mcconf.xml b/res/config/6.05/parameters_mcconf.xml
index 4a83ab34b..11449cd75 100644
--- a/res/config/6.05/parameters_mcconf.xml
+++ b/res/config/6.05/parameters_mcconf.xml
@@ -302,20 +302,20 @@ p, li { white-space: pre-wrap; }
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The input voltage below which a fault code is thrown.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_L_MIN_VOLTAGE</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
-            <maxDouble>700</maxDouble>
+            <maxDouble>1100</maxDouble>
             <minDouble>0</minDouble>
             <showDisplay>0</showDisplay>
             <stepDouble>1</stepDouble>
             <valDouble>8</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
+            <vTxDoubleScale>10</vTxDoubleScale>
             <suffix> V</suffix>
-            <vTx>9</vTx>
+            <vTx>7</vTx>
         </l_min_vin>
         <l_max_vin>
             <longName>Maximum Input Voltage</longName>
@@ -324,20 +324,20 @@ p, li { white-space: pre-wrap; }
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The input voltage above which a fault code is thrown.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_L_MAX_VOLTAGE</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
-            <maxDouble>700</maxDouble>
+            <maxDouble>1100</maxDouble>
             <minDouble>0</minDouble>
             <showDisplay>0</showDisplay>
             <stepDouble>1</stepDouble>
             <valDouble>57</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
+            <vTxDoubleScale>10</vTxDoubleScale>
             <suffix> V</suffix>
-            <vTx>9</vTx>
+            <vTx>7</vTx>
         </l_max_vin>
         <l_battery_cut_start>
             <longName>Battery Voltage Cutoff Start</longName>
@@ -346,20 +346,20 @@ p, li { white-space: pre-wrap; }
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The input voltage where current starts to get reduced. There is still full braking current available as braking only charges the battery.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_L_BATTERY_CUT_START</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
-            <maxDouble>700</maxDouble>
+            <maxDouble>1100</maxDouble>
             <minDouble>0</minDouble>
             <showDisplay>0</showDisplay>
             <stepDouble>1</stepDouble>
             <valDouble>10</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
+            <vTxDoubleScale>10</vTxDoubleScale>
             <suffix> V</suffix>
-            <vTx>9</vTx>
+            <vTx>7</vTx>
         </l_battery_cut_start>
         <l_battery_cut_end>
             <longName>Battery Voltage Cutoff End</longName>
@@ -368,20 +368,20 @@ p, li { white-space: pre-wrap; }
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The input voltage below which current draw is not allowed anymore. There is still full braking current available as braking only charges the battery.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_L_BATTERY_CUT_END</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
-            <maxDouble>700</maxDouble>
+            <maxDouble>1100</maxDouble>
             <minDouble>0</minDouble>
             <showDisplay>0</showDisplay>
             <stepDouble>1</stepDouble>
             <valDouble>8</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
+            <vTxDoubleScale>10</vTxDoubleScale>
             <suffix> V</suffix>
-            <vTx>9</vTx>
+            <vTx>7</vTx>
         </l_battery_cut_end>
         <l_battery_regen_cut_start>
             <longName>Battery Voltage Regen Cutoff Start</longName>
@@ -401,7 +401,7 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_L_BATTERY_REGEN_CUT_START</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
             <maxDouble>1100</maxDouble>
@@ -409,9 +409,9 @@ p, li { white-space: pre-wrap; }
             <showDisplay>0</showDisplay>
             <stepDouble>1</stepDouble>
             <valDouble>1000</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
+            <vTxDoubleScale>10</vTxDoubleScale>
             <suffix> V</suffix>
-            <vTx>9</vTx>
+            <vTx>7</vTx>
         </l_battery_regen_cut_start>
         <l_battery_regen_cut_end>
             <longName>Battery Voltage Regen Cutoff End</longName>
@@ -429,7 +429,7 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Note that beyond this value, regen braking will be completely disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_L_BATTERY_REGEN_CUT_END</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorDecimalsDouble>1</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
             <maxDouble>1100</maxDouble>
@@ -437,9 +437,9 @@ p, li { white-space: pre-wrap; }
             <showDisplay>0</showDisplay>
             <stepDouble>1</stepDouble>
             <valDouble>1100</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
+            <vTxDoubleScale>10</vTxDoubleScale>
             <suffix> V</suffix>
-            <vTx>9</vTx>
+            <vTx>7</vTx>
         </l_battery_regen_cut_end>
         <l_slow_abs_current>
             <longName>Slow ABS Current Limit</longName>

From 3dd6e297f09358837ae169a96216909ba09bc0f1 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 2 Apr 2023 19:08:07 +0200
Subject: [PATCH 438/559] Added move-to-flash keyword

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 10e0fbb29..d4e18ce47 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -31,6 +31,7 @@
 <name>closure</name>
 <name>var</name>
 <name>setq</name>
+<name>move-to-flash</name>
 </section>
 
 <section name="Label">

From 0f36cff0eeb96b696cfaac35af94d70718689bec Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 4 Apr 2023 17:41:15 +0200
Subject: [PATCH 439/559] Updated array-create in examples

---
 QCodeEditor/resources/languages/lisp.xml      | 7 ++-----
 res/Lisp/Examples/i2c_mpu9250.lisp            | 2 +-
 res/Lisp/Examples/m365_dash.lisp              | 2 +-
 res/Lisp/Examples/ssd1306_oled.lisp           | 2 +-
 res/Lisp/Examples/ssd1306_oled_cube.lisp      | 2 +-
 res/Lisp/Examples/ssd1306_oled_largefont.lisp | 2 +-
 res/Lisp/Examples/ssd1306_oled_rt_data.lisp   | 2 +-
 res/Lisp/Examples/uart.lisp                   | 2 +-
 8 files changed, 9 insertions(+), 12 deletions(-)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index d4e18ce47..47c1a00f8 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -157,11 +157,6 @@
 <name>assoc</name>
 <name>cossa</name>
 <name>setassoc</name>
-<name>array-create</name>
-<name>array-size</name>
-<name>array-read</name>
-<name>array-write</name>
-<name>array-clear</name>
 <name>type-of</name>
 <name>timeout-reset</name>
 <name>get-ppm</name>
@@ -327,6 +322,8 @@
 <name>conf-set-pid-offset</name>
 <name>conf-measure-res</name>
 <name>free</name>
+<name>bufcreate</name>
+<name>array-create</name>
 <name>bufset-i8</name>
 <name>bufset-i16</name>
 <name>bufset-i24</name>
diff --git a/res/Lisp/Examples/i2c_mpu9250.lisp b/res/Lisp/Examples/i2c_mpu9250.lisp
index 27a90e0d3..975781564 100644
--- a/res/Lisp/Examples/i2c_mpu9250.lisp
+++ b/res/Lisp/Examples/i2c_mpu9250.lisp
@@ -19,7 +19,7 @@
 (i2c-tx-rx mpu-addr (list reg-gyro-config (shl 0x03 3)))
 
 ; Receive buffer for accel and gyro
-(define rx-buf (array-create type-byte 14))
+(define rx-buf (array-create 14))
 
 (loopwhile t
     (progn
diff --git a/res/Lisp/Examples/m365_dash.lisp b/res/Lisp/Examples/m365_dash.lisp
index 3b2066a37..8efeca654 100644
--- a/res/Lisp/Examples/m365_dash.lisp
+++ b/res/Lisp/Examples/m365_dash.lisp
@@ -22,7 +22,7 @@
 (bufset-u16 tx-frame 2 0x0821)
 (bufset-u16 tx-frame 4 0x6400)
 
-(define uart-buf (array-create type-byte 64))
+(define uart-buf (array-create 64))
 (define throttle 0)
 (define brake 0)
 (define buttonold 0)
diff --git a/res/Lisp/Examples/ssd1306_oled.lisp b/res/Lisp/Examples/ssd1306_oled.lisp
index 85c287899..c61ce54d7 100644
--- a/res/Lisp/Examples/ssd1306_oled.lisp
+++ b/res/Lisp/Examples/ssd1306_oled.lisp
@@ -63,7 +63,7 @@
     (i2c-tx-rx #SSD-ADDRESS `(0x00 ,@c))
 )
 
-(def pixbuf (array-create type-byte 1025))
+(def pixbuf (array-create 1025))
 (bufset-u8 pixbuf 0 0x40) ; First byte tells the SSD1306 that this is data
 (bufclear pixbuf 0 1)
 
diff --git a/res/Lisp/Examples/ssd1306_oled_cube.lisp b/res/Lisp/Examples/ssd1306_oled_cube.lisp
index 79b1aeb5a..e33f77c9a 100644
--- a/res/Lisp/Examples/ssd1306_oled_cube.lisp
+++ b/res/Lisp/Examples/ssd1306_oled_cube.lisp
@@ -63,7 +63,7 @@
     (i2c-tx-rx #SSD-ADDRESS `(0x00 ,@c))
 )
 
-(def pixbuf (array-create type-byte 1025))
+(def pixbuf (array-create 1025))
 (bufset-u8 pixbuf 0 0x40) ; First byte tells the SSD1306 that this is data
 (bufclear pixbuf 0 1)
 
diff --git a/res/Lisp/Examples/ssd1306_oled_largefont.lisp b/res/Lisp/Examples/ssd1306_oled_largefont.lisp
index 430b81ca2..209007ecd 100644
--- a/res/Lisp/Examples/ssd1306_oled_largefont.lisp
+++ b/res/Lisp/Examples/ssd1306_oled_largefont.lisp
@@ -137,7 +137,7 @@
     (i2c-tx-rx #SSD-ADDRESS `(0x00 ,@c))
 )
 
-(def pixbuf (array-create type-byte 1025))
+(def pixbuf (array-create 1025))
 (bufset-u8 pixbuf 0 0x40) ; First byte tells the SSD1306 that this is data
 (bufclear pixbuf 0 1)
 
diff --git a/res/Lisp/Examples/ssd1306_oled_rt_data.lisp b/res/Lisp/Examples/ssd1306_oled_rt_data.lisp
index f3e1fd843..30eff5801 100644
--- a/res/Lisp/Examples/ssd1306_oled_rt_data.lisp
+++ b/res/Lisp/Examples/ssd1306_oled_rt_data.lisp
@@ -94,7 +94,7 @@
 )
 
 ; display buffer
-(def pixbuf (array-create type-byte 1025))
+(def pixbuf (array-create 1025))
 (bufset-u8 pixbuf 0 0x40) ; First byte tells the SSD1306 that this is data
 (bufclear pixbuf 0 1)
 
diff --git a/res/Lisp/Examples/uart.lisp b/res/Lisp/Examples/uart.lisp
index f33066523..29d05b168 100644
--- a/res/Lisp/Examples/uart.lisp
+++ b/res/Lisp/Examples/uart.lisp
@@ -1,6 +1,6 @@
 (uart-start 115200)
 
-(define uart-buf (array-create type-byte 100))
+(define uart-buf (array-create 100))
 
 (defun read-thd ()
     (loopwhile t

From 1cb7ffef48cef6a4c3830aac7ef2a318b6820f1e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 5 Apr 2023 15:35:38 +0200
Subject: [PATCH 440/559] Added new keywords

---
 QCodeEditor/resources/languages/lisp.xml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 47c1a00f8..72b8f8788 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -13,6 +13,7 @@
 <name>read-program</name>
 <name>eval</name>
 <name>eval-program</name>
+<name>read-eval-program</name>
 <name>let</name>
 <name>progn</name>
 <name>if</name>
@@ -32,6 +33,8 @@
 <name>var</name>
 <name>setq</name>
 <name>move-to-flash</name>
+<name>@const-start</name>
+<name>@const-end</name>
 </section>
 
 <section name="Label">

From 46b5bf64168336f0f35bf979a2145c9aae0a6c9d Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 7 Apr 2023 14:35:28 +0200
Subject: [PATCH 441/559] Example script tweaks

---
 res/Lisp/Examples/encoder_sincos_cal.lisp | 2 +-
 res/Lisp/Examples/raw_current.lisp        | 8 ++++----
 res/Lisp/Examples/raw_voltage.lisp        | 4 ++--
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/res/Lisp/Examples/encoder_sincos_cal.lisp b/res/Lisp/Examples/encoder_sincos_cal.lisp
index f24346f74..9797d0785 100644
--- a/res/Lisp/Examples/encoder_sincos_cal.lisp
+++ b/res/Lisp/Examples/encoder_sincos_cal.lisp
@@ -40,7 +40,7 @@
                 (print (str-merge (str-from-n c-amp "Cos Amp: %.3f ") (str-from-n c-ofs "Cos Offset: %.3f ")))
 ))))
 
-(def filter-const 0.1)
+(def filter-const 0.8)
 (defun lpf (val sample)
     (- val (* filter-const (- val sample)))
 )
diff --git a/res/Lisp/Examples/raw_current.lisp b/res/Lisp/Examples/raw_current.lisp
index 89b477817..afb8dc54c 100644
--- a/res/Lisp/Examples/raw_current.lisp
+++ b/res/Lisp/Examples/raw_current.lisp
@@ -1,7 +1,7 @@
 (define rate 500) ; Update rate in hz
 (define filter-const 0.1)
 
-(define filter (lambda (val sample)
+(define lpf (lambda (val sample)
     (- val (* filter-const (- val sample)))
 ))
 
@@ -17,9 +17,9 @@
         (define i3 (raw-adc-current 1 3))
        
         ; Filtered
-        (define i1-f (filter i1-f (raw-adc-current 1 1)))
-        (define i2-f (filter i2-f (raw-adc-current 1 2)))
-        (define i3-f (filter i3-f (raw-adc-current 1 3)))
+        (define i1-f (lpf i1-f (raw-adc-current 1 1)))
+        (define i2-f (lpf i2-f (raw-adc-current 1 2)))
+        (define i3-f (lpf i3-f (raw-adc-current 1 3)))
         
         (define i-tot (+ i1-f i2-f i3-f)) ; Should sum to 0
         
diff --git a/res/Lisp/Examples/raw_voltage.lisp b/res/Lisp/Examples/raw_voltage.lisp
index 9a034038e..b6116d792 100644
--- a/res/Lisp/Examples/raw_voltage.lisp
+++ b/res/Lisp/Examples/raw_voltage.lisp
@@ -1,7 +1,7 @@
 (define rate 500) ; Update rate in hz
 (define filter-const 0.2)
 
-(defun filter (val sample)
+(defun lpf (val sample)
     (- val (* filter-const (- val sample)))
 )
 
@@ -20,7 +20,7 @@
         (define vb-z (- vb vz))
         (define vc-z (- vc vz))
         
-        (define va-f (filter va-f va-z))
+        (define va-f (lpf va-f va-z))
 
         (sleep (/ 1.0 rate))
 ))

From 8948a4fc18cc8ea42ff7b863c34ae16cf7d558cf Mon Sep 17 00:00:00 2001
From: Mitch Lustig <Mitchlol@users.noreply.github.com>
Date: Wed, 12 Apr 2023 07:59:22 -0700
Subject: [PATCH 442/559] IMU Wizard Bugfix (#309)

I derped on these values.
---
 mobile/SetupWizardIMU.qml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/mobile/SetupWizardIMU.qml b/mobile/SetupWizardIMU.qml
index 0a32da18a..9a657a9e7 100644
--- a/mobile/SetupWizardIMU.qml
+++ b/mobile/SetupWizardIMU.qml
@@ -855,7 +855,7 @@ Item {
                                 mAppConf.updateParamInt("imu_conf.sample_rate_hz", 200)
                                 mAppConf.updateParamEnum("imu_conf.mode", 0)
                                 mAppConf.updateParamDouble("imu_conf.accel_confidence_decay", 1.0)
-                                mAppConf.updateParamDouble("imu_conf.mahony_kp", 0.03)
+                                mAppConf.updateParamDouble("imu_conf.mahony_kp", 0.3)
                                 mAppConf.updateParamDouble("imu_conf.accel_lowpass_filter_z", 0.0)
                                 mAppConf.updateParamDouble("imu_conf.gyro_lowpass_filter", 0.0)
                                 configuratorText5.text = configuratorText5.getText()
@@ -868,7 +868,7 @@ Item {
                                 mAppConf.updateParamInt("imu_conf.sample_rate_hz", 200)
                                 mAppConf.updateParamEnum("imu_conf.mode", 1)
                                 mAppConf.updateParamDouble("imu_conf.accel_confidence_decay", 1.0)
-                                mAppConf.updateParamDouble("imu_conf.mahony_kp", 0.03)
+                                mAppConf.updateParamDouble("imu_conf.mahony_kp", 0.3)
                                 mAppConf.updateParamDouble("imu_conf.accel_lowpass_filter_z", 0.0)
                                 mAppConf.updateParamDouble("imu_conf.gyro_lowpass_filter", 0.0)
                                 configuratorText5.text = configuratorText5.getText()
@@ -887,7 +887,7 @@ Item {
                                 }
                                 mAppConf.updateParamEnum("imu_conf.mode", 1)
                                 mAppConf.updateParamDouble("imu_conf.accel_confidence_decay", 1.0)
-                                mAppConf.updateParamDouble("imu_conf.mahony_kp", 0.02)
+                                mAppConf.updateParamDouble("imu_conf.mahony_kp", 0.2)
                                 mAppConf.updateParamDouble("imu_conf.accel_lowpass_filter_z", 0.0)
                                 mAppConf.updateParamDouble("imu_conf.gyro_lowpass_filter", 0.0)
                                 configuratorText5.text = configuratorText5.getText()

From e682565cfd031ca176087d0ec04a0c84f7ab55d6 Mon Sep 17 00:00:00 2001
From: surfdado <74502616+surfdado@users.noreply.github.com>
Date: Wed, 12 Apr 2023 08:00:25 -0700
Subject: [PATCH 443/559] IMU Wizard: "Close" instead of "Cancel" (#303)

To exit the wizard there's only one button available.
Nothing is cancelled/aborted when the button is pressed
so "Close" is the more appropriate label.

Because the same button is used in different contexts, the label
text is now conditional.

Signed-off-by: Dado Mista <dadomista@gmail.com>
---
 mobile/SetupWizardIMU.qml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mobile/SetupWizardIMU.qml b/mobile/SetupWizardIMU.qml
index 9a657a9e7..adc1572be 100644
--- a/mobile/SetupWizardIMU.qml
+++ b/mobile/SetupWizardIMU.qml
@@ -952,7 +952,7 @@ Item {
                 id: prevButton
                 Layout.fillWidth: true
                 Layout.preferredWidth: 500
-                text: "Cancel"
+                text: (stackLayout.currentIndex != 0) ? "Cancel" : "Close"
                 flat: true
 
                 onClicked: {

From 4bf009922cb28b1c53b660c3e9ca62e72c846c2c Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 12 Apr 2023 17:45:05 +0200
Subject: [PATCH 444/559] Update firmware version text when component is
 completed

---
 mobile/FwUpdate.qml | 47 ++++++++++++++++++++++++---------------------
 1 file changed, 25 insertions(+), 22 deletions(-)

diff --git a/mobile/FwUpdate.qml b/mobile/FwUpdate.qml
index b7f4f8001..18b34ad38 100755
--- a/mobile/FwUpdate.qml
+++ b/mobile/FwUpdate.qml
@@ -148,6 +148,7 @@ Item {
                                 var params = VescIf.getLastFwRxParams()
                                 updateHw(params)
                                 updateBl(params)
+                                updateFwText()
                             }
 
                             onCurrentIndexChanged: {
@@ -867,36 +868,38 @@ Item {
         target: VescIf
 
         function onFwRxChanged(rx, limited) {
-            if (!rx) {
-                return;
+            if (rx) {
+                updateFwText()
             }
+        }
 
-            var params = VescIf.getLastFwRxParams()
-
-            updateHw(params)
-            updateBl(params)
-            updateArch()
+        function onFwArchiveDlProgress(msg, prog) {
+            dlProg.value = prog
+            dlText.text = msg
+        }
+    }
 
-            var testFwStr = "";
-            var fwNameStr = "";
+    function updateFwText() {
+        var params = VescIf.getLastFwRxParams()
 
-            if (params.isTestFw > 0) {
-                testFwStr = " BETA " +  params.isTestFw
-            }
+        updateHw(params)
+        updateBl(params)
+        updateArch()
 
-            if (params.fwName !== "") {
-                fwNameStr = " (" + params.fwName + ")"
-            }
+        var testFwStr = "";
+        var fwNameStr = "";
 
-            versionText.text =
-                    "FW   : v" + params.major + "." + params.minor + fwNameStr + testFwStr + "\n" +
-                    "HW   : " + params.hw + "\n" +
-                    "UUID : " + Utility.uuid2Str(params.uuid, false)
+        if (params.isTestFw > 0) {
+            testFwStr = " BETA " +  params.isTestFw
         }
 
-        function onFwArchiveDlProgress(msg, prog) {
-            dlProg.value = prog
-            dlText.text = msg
+        if (params.fwName !== "") {
+            fwNameStr = " (" + params.fwName + ")"
         }
+
+        versionText.text =
+                "FW   : v" + params.major + "." + params.minor + fwNameStr + testFwStr + "\n" +
+                "HW   : " + params.hw + "\n" +
+                "UUID : " + Utility.uuid2Str(params.uuid, false)
     }
 }

From bab1b92574c2b131bd24f135fafdcc5e3853597a Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 14 Apr 2023 15:41:32 +0200
Subject: [PATCH 445/559] QmlUI fullscreen fix

---
 mobile/main.qml | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/mobile/main.qml b/mobile/main.qml
index ae7fb44b7..c8a4b3c34 100644
--- a/mobile/main.qml
+++ b/mobile/main.qml
@@ -971,6 +971,11 @@ ApplicationWindow {
             swipeView.insertItem(1, uiHwPage)
             tabBar.insertItem(1, uiHwButton)
             uiHwPage.visible = true
+
+            if (VescIf.getLastFwRxParams().qmlHwFullscreen) {
+                swipeView.setCurrentIndex(0)
+                swipeView.setCurrentIndex(1)
+            }
         } else {
             uiHwPage.visible = false
             uiHwPage.parent = null
@@ -1001,6 +1006,11 @@ ApplicationWindow {
             swipeView.insertItem(1, uiAppPage)
             tabBar.insertItem(1, uiAppButton)
             uiAppPage.visible = true
+
+            if (VescIf.getLastFwRxParams().qmlAppFullscreen) {
+                swipeView.setCurrentIndex(0)
+                swipeView.setCurrentIndex(1)
+            }
         } else {
             uiAppPage.visible = false
             uiAppPage.parent = null

From 6599da165e49cd2c9b8c6a9c0ff4876944fae1d7 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 14 Apr 2023 15:53:48 +0200
Subject: [PATCH 446/559] Added swipeViewItem property that can be accessed
 from loaded qml code

---
 mobile/main.qml             |  2 ++
 res/qml/DynamicLoader.qml   | 10 ++++++++++
 res/qml/WelcomeQmlPanel.qml |  2 ++
 3 files changed, 14 insertions(+)

diff --git a/mobile/main.qml b/mobile/main.qml
index c8a4b3c34..3ea2ab299 100644
--- a/mobile/main.qml
+++ b/mobile/main.qml
@@ -577,6 +577,7 @@ ApplicationWindow {
             id: uiHw
             anchors.fill: parent
             property var tabBarItem: tabBar
+            property var swipeViewItem: swipeView
         }
     }
 
@@ -595,6 +596,7 @@ ApplicationWindow {
             id: uiApp
             anchors.fill: parent
             property var tabBarItem: tabBar
+            property var swipeViewItem: swipeView
         }
     }
 
diff --git a/res/qml/DynamicLoader.qml b/res/qml/DynamicLoader.qml
index 6f8aa4756..6b5a1ef0f 100644
--- a/res/qml/DynamicLoader.qml
+++ b/res/qml/DynamicLoader.qml
@@ -55,11 +55,21 @@ Item {
             }
         }
 
+        SwipeView {
+            id: swipeView
+            currentIndex: tabBar.currentIndex
+            Layout.fillWidth: true
+            Layout.fillHeight: true
+            clip: true
+            visible: false
+        }
+
         Item {
             Layout.fillWidth: true
             Layout.fillHeight: true
             id: container
             property var tabBarItem: tabBar
+            property var swipeViewItem: swipeView
         }
     }
 
diff --git a/res/qml/WelcomeQmlPanel.qml b/res/qml/WelcomeQmlPanel.qml
index 2e9a578ed..01c9c3117 100644
--- a/res/qml/WelcomeQmlPanel.qml
+++ b/res/qml/WelcomeQmlPanel.qml
@@ -193,6 +193,7 @@ Item {
                 id: uiHw
                 anchors.fill: parent
                 property var tabBarItem: tabBar
+                property var swipeViewItem: swipeView
             }
         }
 
@@ -211,6 +212,7 @@ Item {
                 id: uiApp
                 anchors.fill: parent
                 property var tabBarItem: tabBar
+                property var swipeViewItem: swipeView
             }
         }
 

From adf72f14910fe0844e96520975f553648f923a59 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 14 Apr 2023 17:01:26 +0200
Subject: [PATCH 447/559] Support for selecting multiple files in log browser

---
 commands.cpp              |   5 ++
 commands.h                |   1 +
 pages/pageloganalysis.cpp | 133 +++++++++++++++++++++++++++-----------
 pages/pageloganalysis.h   |   1 +
 pages/pageloganalysis.ui  |   2 +-
 res/CHANGELOG.md          |   1 +
 6 files changed, 105 insertions(+), 38 deletions(-)

diff --git a/commands.cpp b/commands.cpp
index 16ef3c34e..c43ac5ed8 100755
--- a/commands.cpp
+++ b/commands.cpp
@@ -2632,6 +2632,11 @@ void Commands::fileBlockCancel()
     emit fileProgress(0, 0, mFilePercentage, mFileSpeed);
 }
 
+bool Commands::fileBlockDidCancel()
+{
+    return mFileShouldCancel;
+}
+
 bool Commands::getLimitedSupportsFwdAllCan() const
 {
     return mLimitedSupportsFwdAllCan;
diff --git a/commands.h b/commands.h
index 0be4107bc..bc43030ad 100644
--- a/commands.h
+++ b/commands.h
@@ -81,6 +81,7 @@ class Commands : public QObject
     Q_INVOKABLE bool fileBlockMkdir(QString path);
     Q_INVOKABLE bool fileBlockRemove(QString path);
     Q_INVOKABLE void fileBlockCancel();
+    Q_INVOKABLE bool fileBlockDidCancel();
 
     Q_INVOKABLE double getFilePercentage() const;
     Q_INVOKABLE double getFileSpeed() const;
diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index 26d6f61e3..09ec835c8 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -1325,6 +1325,15 @@ void PageLogAnalysis::restoreSelection()
     ui->dataTable->verticalScrollBar()->setValue(mSelection.scrollPos);
 }
 
+void PageLogAnalysis::setFileButtonsEnabled(bool en)
+{
+    ui->vescLogListOpenButton->setEnabled(en);
+    ui->vescSaveAsButton->setEnabled(en);
+    ui->vescLogListRefreshButton->setEnabled(en);
+    ui->vescLogDeleteButton->setEnabled(en);
+    ui->vescUpButton->setEnabled(en);
+}
+
 void PageLogAnalysis::on_saveMapPdfButton_clicked()
 {
     QString fileName = QFileDialog::getSaveFileName(this,
@@ -1445,6 +1454,8 @@ void PageLogAnalysis::on_vescLogListRefreshButton_clicked()
     }
 }
 
+
+
 void PageLogAnalysis::on_vescLogListOpenButton_clicked()
 {
     if (!ui->vescLogListOpenButton->isEnabled()) {
@@ -1470,11 +1481,9 @@ void PageLogAnalysis::on_vescLogListOpenButton_clicked()
             mVescLastPath.replace("//", "/");
             on_vescLogListRefreshButton_clicked();
         } else {
-            ui->vescLogListOpenButton->setEnabled(false);
-            ui->vescSaveAsButton->setEnabled(false);
+            setFileButtonsEnabled(false);
             auto data = mVesc->commands()->fileBlockRead(mVescLastPath + "/" + fe.name);
-            ui->vescLogListOpenButton->setEnabled(true);
-            ui->vescSaveAsButton->setEnabled(true);
+            setFileButtonsEnabled(true);
             if (!data.isEmpty()) {
                 openLog(data);
             }
@@ -1524,30 +1533,63 @@ void PageLogAnalysis::on_vescSaveAsButton_clicked()
     if (fe.isDir) {
         mVesc->emitMessageDialog("Save File", "Cannot save directory, only files", false);
     } else {
-        QString fileName = QFileDialog::getSaveFileName(this,
-                                                        tr("Save Log File"), "",
-                                                        tr("CSV files (*.csv)"));
+        qDebug() << items.size();
 
-        if (!fileName.isEmpty()) {
-            if (!fileName.toLower().endsWith(".csv")) {
-                fileName += ".csv";
-            }
+        if (items.size() == 2) {
+            QString fileName = QFileDialog::getSaveFileName(this,
+                                                            tr("Save Log File"), "",
+                                                            tr("CSV files (*.csv)"));
 
-            QFile file(fileName);
+            if (!fileName.isEmpty()) {
+                if (!fileName.endsWith(".csv", Qt::CaseInsensitive)) {
+                    fileName += ".csv";
+                }
 
-            if (!file.open(QIODevice::WriteOnly)) {
-                mVesc->emitMessageDialog("Save File", "Cannot open destination", false);
-                return;
+                QFile file(fileName);
+
+                if (!file.open(QIODevice::WriteOnly)) {
+                    mVesc->emitMessageDialog("Save File", "Cannot open destination", false);
+                    return;
+                }
+
+                setFileButtonsEnabled(false);
+                auto data = mVesc->commands()->fileBlockRead(mVescLastPath + "/" + fe.name);
+                setFileButtonsEnabled(true);
+
+                file.write(data);
+                file.close();
             }
+        } else {
+            QString path = QFileDialog::getExistingDirectory(this,
+                                                             tr("Choose Destination"),
+                                                             "",
+                                                             QFileDialog::ShowDirsOnly |
+                                                             QFileDialog::DontResolveSymlinks);
+            if (!path.isEmpty()) {
+                setFileButtonsEnabled(false);
+
+                bool didCancel = false;
+                foreach (auto it, items) {
+                    if (didCancel) {
+                        break;
+                    }
 
-            ui->vescLogListOpenButton->setEnabled(false);
-            ui->vescSaveAsButton->setEnabled(false);
-            auto data = mVesc->commands()->fileBlockRead(mVescLastPath + "/" + fe.name);
-            ui->vescLogListOpenButton->setEnabled(true);
-            ui->vescSaveAsButton->setEnabled(true);
+                    if (it->data(Qt::UserRole).canConvert<FILE_LIST_ENTRY>()) {
+                        fe = it->data(Qt::UserRole).value<FILE_LIST_ENTRY>();
+                        if (!fe.isDir) {
+                            QFile file(path + "/" + fe.name);
+                            if (file.open(QIODevice::WriteOnly)) {
+                                auto data = mVesc->commands()->fileBlockRead(mVescLastPath + "/" + fe.name);
+                                didCancel = mVesc->commands()->fileBlockDidCancel();
+                                file.write(data);
+                                file.close();
+                            }
+                        }
+                    }
+                }
 
-            file.write(data);
-            file.close();
+                setFileButtonsEnabled(true);
+            }
         }
     }
 }
@@ -1561,31 +1603,48 @@ void PageLogAnalysis::on_vescLogDeleteButton_clicked()
         return;
     }
 
-    FILE_LIST_ENTRY fe;
-    if (items.first()->data(Qt::UserRole).canConvert<FILE_LIST_ENTRY>()) {
-        fe = items.first()->data(Qt::UserRole).value<FILE_LIST_ENTRY>();
-    }
-
     int ret = QMessageBox::Cancel;
-    if (fe.isDir) {
-        ret = QMessageBox::warning(this,
-                                   tr("Delete Directory"),
-                                   tr("This is going to delete %1 and its content permanently. Are you sure?").arg(fe.name),
-                                   QMessageBox::Yes | QMessageBox::Cancel);
+    if (items.size() == 2) {
+        FILE_LIST_ENTRY fe;
+        if (items.first()->data(Qt::UserRole).canConvert<FILE_LIST_ENTRY>()) {
+            fe = items.first()->data(Qt::UserRole).value<FILE_LIST_ENTRY>();
+        }
+
+        if (fe.isDir) {
+            ret = QMessageBox::warning(this,
+                                       tr("Delete Directory"),
+                                       tr("This is going to delete %1 and its content permanently. Are you sure?").arg(fe.name),
+                                       QMessageBox::Yes | QMessageBox::Cancel);
+        } else {
+            ret = QMessageBox::warning(this,
+                                       tr("Delete File"),
+                                       tr("This is going to delete %1 permanently. Are you sure?").arg(fe.name),
+                                       QMessageBox::Yes | QMessageBox::Cancel);
+        }
     } else {
         ret = QMessageBox::warning(this,
-                                   tr("Delete File"),
-                                   tr("This is going to delete %1 permanently. Are you sure?").arg(fe.name),
+                                   tr("Delete"),
+                                   tr("This is going to delete the selected files and directories. Are you sure?"),
                                    QMessageBox::Yes | QMessageBox::Cancel);
     }
 
     if (ret == QMessageBox::Yes) {
         ui->vescLogTab->setEnabled(false);
-        bool ok = mVesc->commands()->fileBlockRemove(mVescLastPath + "/" + fe.name);
+        int cnt = 0;
+        foreach (auto it, items) {
+            if (it->data(Qt::UserRole).canConvert<FILE_LIST_ENTRY>()) {
+                auto fe = it->data(Qt::UserRole).value<FILE_LIST_ENTRY>();
+                bool ok = mVesc->commands()->fileBlockRemove(mVescLastPath + "/" + fe.name);
+                if (ok) {
+                    cnt++;
+                    mVesc->emitStatusMessage("File deleted", true);
+                }
+            }
+        }
         ui->vescLogTab->setEnabled(true);
-        if (ok) {
+
+        if (cnt > 0) {
             on_vescLogListRefreshButton_clicked();
-            mVesc->emitStatusMessage("File deleted", true);
         }
     }
 }
diff --git a/pages/pageloganalysis.h b/pages/pageloganalysis.h
index cd6103a3a..6a1c56ca0 100644
--- a/pages/pageloganalysis.h
+++ b/pages/pageloganalysis.h
@@ -177,6 +177,7 @@ private slots:
 
     void storeSelection();
     void restoreSelection();
+    void setFileButtonsEnabled(bool en);
 
 };
 
diff --git a/pages/pageloganalysis.ui b/pages/pageloganalysis.ui
index 969eb87df..3b4970901 100644
--- a/pages/pageloganalysis.ui
+++ b/pages/pageloganalysis.ui
@@ -298,7 +298,7 @@
                 <set>QAbstractItemView::NoEditTriggers</set>
                </property>
                <property name="selectionMode">
-                <enum>QAbstractItemView::SingleSelection</enum>
+                <enum>QAbstractItemView::ExtendedSelection</enum>
                </property>
                <property name="selectionBehavior">
                 <enum>QAbstractItemView::SelectRows</enum>
diff --git a/res/CHANGELOG.md b/res/CHANGELOG.md
index 281638d6c..f14e6c711 100644
--- a/res/CHANGELOG.md
+++ b/res/CHANGELOG.md
@@ -2,6 +2,7 @@
 #### Released TBD
 * Scripting-setting to select whether to upload the editor content or file content.
 * Autocompletion and bracket matching completion improvements.
+* Support for selecting multiple files when saving and deleting files from the log browser.
 
 ### 6.02
 #### Released 2023-03-12

From e3d2acfa2a1338d7bc2558b8dc268bdee9478d73 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 15 Apr 2023 22:16:58 +0200
Subject: [PATCH 448/559] Fixed several custom ui bugs

---
 mobile/main.qml             | 31 +++++++++++--------------------
 res/qml/WelcomeQmlPanel.qml | 31 +++++++++++--------------------
 2 files changed, 22 insertions(+), 40 deletions(-)

diff --git a/mobile/main.qml b/mobile/main.qml
index 3ea2ab299..6d347cd31 100644
--- a/mobile/main.qml
+++ b/mobile/main.qml
@@ -951,13 +951,19 @@ ApplicationWindow {
     }
 
     property var hwUiObj: 0
+    property var appUiObj: 0
 
-    function updateHwUi () {
+    function updateHwAppUi () {
         if (hwUiObj != 0) {
             hwUiObj.destroy()
             hwUiObj = 0
         }
 
+        if (appUiObj != 0) {
+            appUiObj.destroy()
+            appUiObj = 0
+        }
+
         swipeView.interactive = true
         headerBar.visible = true
         tabBar.enabled = true
@@ -983,19 +989,6 @@ ApplicationWindow {
             uiHwPage.parent = null
             uiHwButton.parent = null
         }
-    }
-
-    property var appUiObj: 0
-
-    function updateAppUi () {
-        if (appUiObj != 0) {
-            appUiObj.destroy()
-            appUiObj = 0
-        }
-
-        swipeView.interactive = true
-        headerBar.visible = true
-        tabBar.enabled = true
 
         if (VescIf.isPortConnected() && VescIf.qmlAppLoaded()) {
             if (VescIf.getLastFwRxParams().qmlAppFullscreen) {
@@ -1108,16 +1101,14 @@ ApplicationWindow {
                 updateConfCustom()
             }
 
-            updateHwUi()
-            updateAppUi()
+            updateHwAppUi()
         }
 
         function onQmlLoadDone() {
             if (VescIf.askQmlLoad()) {
                 qmlLoadDialog.open()
             } else {
-                updateHwUi()
-                updateAppUi()
+                updateHwAppUi()
             }
         }
 
@@ -1179,6 +1170,7 @@ ApplicationWindow {
 
         parent: ApplicationWindow.overlay
         y: parent.y + parent.height / 2 - height / 2
+        width: parent.width - 20
 
         ColumnLayout {
             anchors.fill: parent
@@ -1205,8 +1197,7 @@ ApplicationWindow {
 
         onAccepted: {
             VescIf.setAskQmlLoad(!qmlDoNotAskAgainBox.checked)
-            updateHwUi()
-            updateAppUi()
+            updateHwAppUi()
         }
 
         onRejected: {
diff --git a/res/qml/WelcomeQmlPanel.qml b/res/qml/WelcomeQmlPanel.qml
index 01c9c3117..a7c3d9007 100644
--- a/res/qml/WelcomeQmlPanel.qml
+++ b/res/qml/WelcomeQmlPanel.qml
@@ -308,13 +308,19 @@ Item {
     }
 
     property var hwUiObj: 0
+    property var appUiObj: 0
 
-    function updateHwUi () {
+    function updateHwAppUi () {
         if (hwUiObj != 0) {
             hwUiObj.destroy()
             hwUiObj = 0
         }
 
+        if (appUiObj != 0) {
+            appUiObj.destroy()
+            appUiObj = 0
+        }
+
         swipeView.interactive = true
         tabBar.visible = true
         tabBar.enabled = true
@@ -338,19 +344,6 @@ Item {
             uiHwPage.parent = null
             uiHwButton.parent = null
         }
-    }
-
-    property var appUiObj: 0
-
-    function updateAppUi () {
-        if (appUiObj != 0) {
-            appUiObj.destroy()
-            appUiObj = 0
-        }
-
-        swipeView.interactive = true
-        tabBar.visible = true
-        tabBar.enabled = true
 
         if (VescIf.isPortConnected() && VescIf.qmlAppLoaded()) {
             if (VescIf.getLastFwRxParams().qmlAppFullscreen) {
@@ -377,16 +370,14 @@ Item {
         target: VescIf
 
         function onFwRxChanged(rx, limited) {
-            updateHwUi()
-            updateAppUi()
+            updateHwAppUi()
         }
 
         function onQmlLoadDone() {
             if (VescIf.askQmlLoad()) {
                 qmlLoadDialog.open()
             } else {
-                updateHwUi()
-                updateAppUi()
+                updateHwAppUi()
             }
         }
     }
@@ -440,6 +431,7 @@ Item {
 
         parent: container
         y: parent.y + parent.height / 2 - height / 2
+        width: parent.width - 20
 
         ColumnLayout {
             anchors.fill: parent
@@ -466,8 +458,7 @@ Item {
 
         onAccepted: {
             VescIf.setAskQmlLoad(!qmlDoNotAskAgainBox.checked)
-            updateHwUi()
-            updateAppUi()
+            updateHwAppUi()
         }
 
         onRejected: {

From 5637f114a94a880fb0789fa009962785709876cc Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 18 Apr 2023 13:34:22 +0200
Subject: [PATCH 449/559] Layout tweaks

---
 display_tool/dispeditor.cpp |   2 +-
 display_tool/dispeditor.ui  | 480 ++++++++++++++++++++----------------
 pages/pagedisplaytool.cpp   |   1 -
 pages/pagedisplaytool.ui    |  36 ++-
 pages/pageimu.ui            |   7 +-
 pages/pagevescpackage.cpp   |   2 -
 pages/pagevescpackage.ui    | 359 ++++++++++++++-------------
 7 files changed, 498 insertions(+), 389 deletions(-)

diff --git a/display_tool/dispeditor.cpp b/display_tool/dispeditor.cpp
index 17078502d..e443256d9 100644
--- a/display_tool/dispeditor.cpp
+++ b/display_tool/dispeditor.cpp
@@ -35,7 +35,7 @@ DispEditor::DispEditor(QWidget *parent) :
     ui->setupUi(this);
     ui->helpButton->setIcon(Utility::getIcon("icons/Help-96.png"));
 
-    updateSize(128, 128);
+    updateSize(128, 64);
 
     ui->imageWidget->setPixmap(QPixmap::fromImage(ui->displayEdit->getImageNow()));
 
diff --git a/display_tool/dispeditor.ui b/display_tool/dispeditor.ui
index dc580c22a..9ab979ca9 100644
--- a/display_tool/dispeditor.ui
+++ b/display_tool/dispeditor.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1061</width>
-    <height>478</height>
+    <width>879</width>
+    <height>392</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -32,15 +32,8 @@
     </layout>
    </item>
    <item>
-    <layout class="QGridLayout" name="gridLayout">
-     <item row="4" column="0">
-      <widget class="QPushButton" name="saveCButton">
-       <property name="text">
-        <string>Export Bin</string>
-       </property>
-      </widget>
-     </item>
-     <item row="0" column="0" colspan="2">
+    <layout class="QVBoxLayout" name="verticalLayout_3">
+     <item>
       <widget class="QScrollArea" name="scrollArea">
        <property name="sizePolicy">
         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
@@ -59,8 +52,8 @@
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>256</width>
-          <height>256</height>
+          <width>264</width>
+          <height>101</height>
          </rect>
         </property>
         <layout class="QHBoxLayout" name="horizontalLayout_2">
@@ -81,18 +74,6 @@
          </property>
          <item>
           <widget class="ImageWidgetDisp" name="imageWidget" native="true">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="minimumSize">
-            <size>
-             <width>256</width>
-             <height>256</height>
-            </size>
-           </property>
            <property name="maximumSize">
             <size>
              <width>256</width>
@@ -105,198 +86,275 @@
        </widget>
       </widget>
      </item>
-     <item row="3" column="0" colspan="2">
-      <widget class="QPushButton" name="helpButton">
-       <property name="toolTip">
-        <string>Show Instructions</string>
-       </property>
-       <property name="text">
-        <string>Help</string>
-       </property>
-      </widget>
-     </item>
-     <item row="10" column="1">
-      <widget class="QPushButton" name="clearLayer2Button">
-       <property name="text">
-        <string>Clear Layer 2</string>
-       </property>
-      </widget>
-     </item>
-     <item row="5" column="1">
-      <widget class="QPushButton" name="loadPngButton">
-       <property name="toolTip">
-        <string/>
-       </property>
-       <property name="text">
-        <string>Load Image</string>
-       </property>
-      </widget>
-     </item>
-     <item row="1" column="0" colspan="2">
-      <widget class="QSpinBox" name="imgScaleBox">
-       <property name="prefix">
-        <string>Preview Scale: </string>
-       </property>
-       <property name="minimum">
-        <number>1</number>
-       </property>
-       <property name="maximum">
-        <number>10</number>
-       </property>
-       <property name="value">
-        <number>2</number>
-       </property>
-      </widget>
-     </item>
-     <item row="4" column="1">
-      <widget class="QPushButton" name="loadCButton">
-       <property name="text">
-        <string>Import Bin</string>
-       </property>
-      </widget>
-     </item>
-     <item row="8" column="0" colspan="2">
-      <widget class="QCheckBox" name="antialiasBox">
-       <property name="text">
-        <string>Antialias when loading</string>
-       </property>
-       <property name="checked">
-        <bool>true</bool>
-       </property>
-      </widget>
-     </item>
-     <item row="2" column="1">
-      <widget class="QComboBox" name="formatBox">
-       <item>
-        <property name="text">
-         <string>Indexed 2</string>
-        </property>
-       </item>
-       <item>
-        <property name="text">
-         <string>Indexed 4</string>
-        </property>
-       </item>
-       <item>
-        <property name="text">
-         <string>Indexed 16</string>
-        </property>
-       </item>
-       <item>
-        <property name="text">
-         <string>RGB332</string>
-        </property>
-       </item>
-       <item>
-        <property name="text">
-         <string>RGB565</string>
-        </property>
-       </item>
-       <item>
-        <property name="text">
-         <string>RGB888</string>
-        </property>
-       </item>
-      </widget>
-     </item>
-     <item row="10" column="0">
-      <widget class="QPushButton" name="clearButton">
-       <property name="text">
-        <string>Clear Screen</string>
-       </property>
-      </widget>
-     </item>
-     <item row="5" column="0">
-      <widget class="QPushButton" name="savePngButton">
-       <property name="toolTip">
-        <string>Save image, as seen above, to PNG file.</string>
-       </property>
-       <property name="text">
-        <string>Save PNG</string>
-       </property>
-      </widget>
-     </item>
-     <item row="9" column="0" colspan="2">
-      <widget class="QCheckBox" name="showLayer2Box">
-       <property name="toolTip">
-        <string/>
-       </property>
-       <property name="text">
-        <string>Show Layer 2</string>
-       </property>
-       <property name="checked">
-        <bool>true</bool>
-       </property>
-      </widget>
-     </item>
-     <item row="7" column="0" colspan="2">
-      <widget class="QCheckBox" name="ditherBox">
-       <property name="text">
-        <string>Dither when loading</string>
-       </property>
-       <property name="checked">
-        <bool>true</bool>
-       </property>
-      </widget>
-     </item>
-     <item row="11" column="0" colspan="2">
-      <widget class="QLabel" name="ColorNowLabel">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="minimumSize">
-        <size>
-         <width>256</width>
-         <height>40</height>
-        </size>
-       </property>
-       <property name="frameShape">
-        <enum>QFrame::Box</enum>
-       </property>
-       <property name="frameShadow">
-        <enum>QFrame::Plain</enum>
-       </property>
-       <property name="lineWidth">
-        <number>2</number>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-       <property name="scaledContents">
-        <bool>true</bool>
-       </property>
-      </widget>
-     </item>
-     <item row="2" column="0">
-      <widget class="QLabel" name="label">
+     <item>
+      <widget class="QTabWidget" name="tabWidget">
        <property name="sizePolicy">
-        <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+        <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
          <horstretch>0</horstretch>
          <verstretch>0</verstretch>
         </sizepolicy>
        </property>
-       <property name="text">
-        <string>Format</string>
-       </property>
-      </widget>
-     </item>
-     <item row="6" column="0" colspan="2">
-      <widget class="QDoubleSpinBox" name="loadScaleSpinBox">
-       <property name="toolTip">
-        <string>Scale colors when loading image. Useful if the loaded image becomes too dark or too bright.</string>
-       </property>
-       <property name="prefix">
-        <string>Load Color Scale: </string>
-       </property>
-       <property name="singleStep">
-        <double>0.010000000000000</double>
-       </property>
-       <property name="value">
-        <double>1.000000000000000</double>
+       <property name="currentIndex">
+        <number>0</number>
        </property>
+       <widget class="QWidget" name="tab">
+        <attribute name="title">
+         <string>Controls</string>
+        </attribute>
+        <layout class="QVBoxLayout" name="verticalLayout">
+         <property name="spacing">
+          <number>2</number>
+         </property>
+         <property name="leftMargin">
+          <number>3</number>
+         </property>
+         <property name="topMargin">
+          <number>3</number>
+         </property>
+         <property name="rightMargin">
+          <number>3</number>
+         </property>
+         <property name="bottomMargin">
+          <number>3</number>
+         </property>
+         <item>
+          <widget class="QSpinBox" name="imgScaleBox">
+           <property name="prefix">
+            <string>Preview Scale: </string>
+           </property>
+           <property name="minimum">
+            <number>1</number>
+           </property>
+           <property name="maximum">
+            <number>10</number>
+           </property>
+           <property name="value">
+            <number>2</number>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QPushButton" name="helpButton">
+           <property name="toolTip">
+            <string>Show Instructions</string>
+           </property>
+           <property name="text">
+            <string>Help</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QPushButton" name="clearButton">
+           <property name="text">
+            <string>Clear Screen</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QPushButton" name="clearLayer2Button">
+           <property name="text">
+            <string>Clear Layer 2</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="ColorNowLabel">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Minimum" vsizetype="MinimumExpanding">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="minimumSize">
+            <size>
+             <width>256</width>
+             <height>20</height>
+            </size>
+           </property>
+           <property name="frameShape">
+            <enum>QFrame::Box</enum>
+           </property>
+           <property name="frameShadow">
+            <enum>QFrame::Plain</enum>
+           </property>
+           <property name="lineWidth">
+            <number>2</number>
+           </property>
+           <property name="text">
+            <string/>
+           </property>
+           <property name="scaledContents">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+       <widget class="QWidget" name="tab_2">
+        <attribute name="title">
+         <string>Load/Save</string>
+        </attribute>
+        <layout class="QGridLayout" name="gridLayout">
+         <property name="leftMargin">
+          <number>3</number>
+         </property>
+         <property name="topMargin">
+          <number>3</number>
+         </property>
+         <property name="rightMargin">
+          <number>3</number>
+         </property>
+         <property name="bottomMargin">
+          <number>3</number>
+         </property>
+         <property name="spacing">
+          <number>2</number>
+         </property>
+         <item row="1" column="0">
+          <widget class="QPushButton" name="saveCButton">
+           <property name="text">
+            <string>Export Bin</string>
+           </property>
+          </widget>
+         </item>
+         <item row="3" column="0" colspan="2">
+          <widget class="QDoubleSpinBox" name="loadScaleSpinBox">
+           <property name="toolTip">
+            <string>Scale colors when loading image. Useful if the loaded image becomes too dark or too bright.</string>
+           </property>
+           <property name="prefix">
+            <string>Load Color Scale: </string>
+           </property>
+           <property name="singleStep">
+            <double>0.010000000000000</double>
+           </property>
+           <property name="value">
+            <double>1.000000000000000</double>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="1">
+          <widget class="QPushButton" name="loadPngButton">
+           <property name="toolTip">
+            <string/>
+           </property>
+           <property name="text">
+            <string>Load Image</string>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="0">
+          <widget class="QPushButton" name="savePngButton">
+           <property name="toolTip">
+            <string>Save image, as seen above, to PNG file.</string>
+           </property>
+           <property name="text">
+            <string>Save PNG</string>
+           </property>
+          </widget>
+         </item>
+         <item row="5" column="0" colspan="2">
+          <widget class="QCheckBox" name="antialiasBox">
+           <property name="text">
+            <string>Antialias when loading</string>
+           </property>
+           <property name="checked">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+         <item row="6" column="0" colspan="2">
+          <widget class="QCheckBox" name="showLayer2Box">
+           <property name="toolTip">
+            <string/>
+           </property>
+           <property name="text">
+            <string>Show Layer 2</string>
+           </property>
+           <property name="checked">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="1">
+          <widget class="QComboBox" name="formatBox">
+           <item>
+            <property name="text">
+             <string>Indexed 2</string>
+            </property>
+           </item>
+           <item>
+            <property name="text">
+             <string>Indexed 4</string>
+            </property>
+           </item>
+           <item>
+            <property name="text">
+             <string>Indexed 16</string>
+            </property>
+           </item>
+           <item>
+            <property name="text">
+             <string>RGB332</string>
+            </property>
+           </item>
+           <item>
+            <property name="text">
+             <string>RGB565</string>
+            </property>
+           </item>
+           <item>
+            <property name="text">
+             <string>RGB888</string>
+            </property>
+           </item>
+          </widget>
+         </item>
+         <item row="1" column="1">
+          <widget class="QPushButton" name="loadCButton">
+           <property name="text">
+            <string>Import Bin</string>
+           </property>
+          </widget>
+         </item>
+         <item row="4" column="0" colspan="2">
+          <widget class="QCheckBox" name="ditherBox">
+           <property name="text">
+            <string>Dither when loading</string>
+           </property>
+           <property name="checked">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="0">
+          <widget class="QLabel" name="label">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="text">
+            <string>Format</string>
+           </property>
+          </widget>
+         </item>
+         <item row="7" column="0">
+          <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>
       </widget>
      </item>
     </layout>
diff --git a/pages/pagedisplaytool.cpp b/pages/pagedisplaytool.cpp
index 73e4f36be..a067e44f4 100644
--- a/pages/pagedisplaytool.cpp
+++ b/pages/pagedisplaytool.cpp
@@ -19,7 +19,6 @@
 
 #include "pagedisplaytool.h"
 #include "ui_pagedisplaytool.h"
-#include "utility.h"
 
 #include <QLayout>
 #include <QFileDialog>
diff --git a/pages/pagedisplaytool.ui b/pages/pagedisplaytool.ui
index 02e1c5ef9..111f1e473 100644
--- a/pages/pagedisplaytool.ui
+++ b/pages/pagedisplaytool.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1399</width>
-    <height>564</height>
+    <width>1235</width>
+    <height>421</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -27,6 +27,21 @@
        <string>Display</string>
       </attribute>
       <layout class="QHBoxLayout" name="horizontalLayout">
+       <property name="spacing">
+        <number>2</number>
+       </property>
+       <property name="leftMargin">
+        <number>3</number>
+       </property>
+       <property name="topMargin">
+        <number>3</number>
+       </property>
+       <property name="rightMargin">
+        <number>3</number>
+       </property>
+       <property name="bottomMargin">
+        <number>3</number>
+       </property>
        <item>
         <layout class="QVBoxLayout" name="verticalLayout_5">
          <item>
@@ -53,7 +68,7 @@
               <number>1024</number>
              </property>
              <property name="value">
-              <number>128</number>
+              <number>64</number>
              </property>
             </widget>
            </item>
@@ -605,6 +620,21 @@
        <string>Overlay Editor</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout">
+       <property name="spacing">
+        <number>2</number>
+       </property>
+       <property name="leftMargin">
+        <number>3</number>
+       </property>
+       <property name="topMargin">
+        <number>3</number>
+       </property>
+       <property name="rightMargin">
+        <number>3</number>
+       </property>
+       <property name="bottomMargin">
+        <number>3</number>
+       </property>
        <item>
         <layout class="QHBoxLayout" name="horizontalLayout_2">
          <item>
diff --git a/pages/pageimu.ui b/pages/pageimu.ui
index eb59cb804..c9819bb0a 100644
--- a/pages/pageimu.ui
+++ b/pages/pageimu.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>964</width>
-    <height>658</height>
+    <width>904</width>
+    <height>578</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -16,6 +16,9 @@
   <layout class="QVBoxLayout" name="verticalLayout">
    <item>
     <widget class="QTabWidget" name="tabWidget">
+     <property name="tabShape">
+      <enum>QTabWidget::Triangular</enum>
+     </property>
      <property name="currentIndex">
       <number>0</number>
      </property>
diff --git a/pages/pagevescpackage.cpp b/pages/pagevescpackage.cpp
index c96984eca..aadd255d3 100644
--- a/pages/pagevescpackage.cpp
+++ b/pages/pagevescpackage.cpp
@@ -56,8 +56,6 @@ PageVescPackage::PageVescPackage(QWidget *parent) :
     on_loadRefreshButton_clicked();
     on_outputRefreshButton_clicked();
 
-    ui->splitter->setSizes(QList<int>({500, 1000}));
-
     reloadArchive();
 }
 
diff --git a/pages/pagevescpackage.ui b/pages/pagevescpackage.ui
index ba8e3f1d1..b61530a4b 100644
--- a/pages/pagevescpackage.ui
+++ b/pages/pagevescpackage.ui
@@ -6,16 +6,28 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1035</width>
-    <height>615</height>
+    <width>1408</width>
+    <height>532</height>
    </rect>
   </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout">
+   <property name="spacing">
+    <number>2</number>
+   </property>
    <item>
     <widget class="QTabWidget" name="tabWidget">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
      <property name="tabShape">
       <enum>QTabWidget::Triangular</enum>
      </property>
@@ -26,41 +38,17 @@
       <attribute name="title">
        <string>Package Store</string>
       </attribute>
-      <layout class="QVBoxLayout" name="verticalLayout_6">
-       <item>
-        <layout class="QHBoxLayout" name="horizontalLayout_6">
-         <item>
-          <widget class="DisplayPercentage" name="displayDl" native="true">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <widget class="QPushButton" name="dlArchiveButton">
-           <property name="text">
-            <string>Update Archive</string>
-           </property>
-          </widget>
-         </item>
-        </layout>
-       </item>
+      <layout class="QHBoxLayout" name="horizontalLayout_6">
        <item>
         <widget class="QSplitter" name="splitter">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Expanding" vsizetype="MinimumExpanding">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
          <property name="orientation">
-          <enum>Qt::Horizontal</enum>
+          <enum>Qt::Vertical</enum>
          </property>
-         <widget class="QWidget" name="layoutWidget">
+         <widget class="QWidget" name="">
           <layout class="QVBoxLayout" name="verticalLayout_5">
+           <property name="spacing">
+            <number>2</number>
+           </property>
            <item>
             <widget class="QLabel" name="label_2">
              <property name="font">
@@ -75,11 +63,24 @@
            </item>
            <item>
             <widget class="QListWidget" name="applicationList">
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
              <property name="editTriggers">
               <set>QAbstractItemView::NoEditTriggers</set>
              </property>
             </widget>
            </item>
+          </layout>
+         </widget>
+         <widget class="QWidget" name="">
+          <layout class="QVBoxLayout" name="verticalLayout_6">
+           <property name="spacing">
+            <number>2</number>
+           </property>
            <item>
             <widget class="QLabel" name="label_3">
              <property name="font">
@@ -101,29 +102,32 @@
            </item>
           </layout>
          </widget>
-         <widget class="QWidget" name="layoutWidget1">
-          <layout class="QVBoxLayout" name="verticalLayout_4">
-           <item>
-            <widget class="VTextBrowser" name="storeBrowser">
-             <property name="readOnly">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="installButton">
-             <property name="toolTip">
-              <string>Uninstall current package and install the selected package to the connected VESC</string>
-             </property>
-             <property name="text">
-              <string>Install</string>
-             </property>
-            </widget>
-           </item>
-          </layout>
-         </widget>
         </widget>
        </item>
+       <item>
+        <layout class="QVBoxLayout" name="verticalLayout_4">
+         <property name="spacing">
+          <number>2</number>
+         </property>
+         <item>
+          <widget class="VTextBrowser" name="storeBrowser">
+           <property name="readOnly">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QPushButton" name="installButton">
+           <property name="toolTip">
+            <string>Uninstall current package and install the selected package to the connected VESC</string>
+           </property>
+           <property name="text">
+            <string>Install</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
       </layout>
      </widget>
      <widget class="QWidget" name="tab">
@@ -214,111 +218,115 @@
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_2">
        <item>
-        <widget class="QGroupBox" name="lispBox">
-         <property name="title">
-          <string>Lisp</string>
-         </property>
-         <property name="checkable">
-          <bool>true</bool>
-         </property>
-         <layout class="QHBoxLayout" name="horizontalLayout">
-          <property name="spacing">
-           <number>2</number>
-          </property>
-          <property name="leftMargin">
-           <number>6</number>
-          </property>
-          <property name="topMargin">
-           <number>6</number>
-          </property>
-          <property name="rightMargin">
-           <number>6</number>
-          </property>
-          <property name="bottomMargin">
-           <number>6</number>
-          </property>
-          <item>
-           <widget class="QLineEdit" name="lispEdit"/>
-          </item>
-          <item>
-           <widget class="QPushButton" name="chooseLispButton">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
+        <layout class="QHBoxLayout" name="horizontalLayout_7">
+         <item>
+          <widget class="QGroupBox" name="lispBox">
+           <property name="title">
+            <string>Lisp</string>
+           </property>
+           <property name="checkable">
+            <bool>true</bool>
+           </property>
+           <layout class="QHBoxLayout" name="horizontalLayout">
+            <property name="spacing">
+             <number>2</number>
             </property>
-            <property name="toolTip">
-             <string>Choose file...</string>
+            <property name="leftMargin">
+             <number>6</number>
             </property>
-            <property name="text">
-             <string/>
+            <property name="topMargin">
+             <number>6</number>
             </property>
-            <property name="icon">
-             <iconset resource="../res.qrc">
-              <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
+            <property name="rightMargin">
+             <number>6</number>
             </property>
-           </widget>
-          </item>
-         </layout>
-        </widget>
-       </item>
-       <item>
-        <widget class="QGroupBox" name="qmlBox">
-         <property name="title">
-          <string>Qml</string>
-         </property>
-         <property name="checkable">
-          <bool>true</bool>
-         </property>
-         <layout class="QGridLayout" name="gridLayout">
-          <property name="leftMargin">
-           <number>6</number>
-          </property>
-          <property name="topMargin">
-           <number>6</number>
-          </property>
-          <property name="rightMargin">
-           <number>6</number>
-          </property>
-          <property name="bottomMargin">
-           <number>6</number>
-          </property>
-          <property name="spacing">
-           <number>2</number>
-          </property>
-          <item row="0" column="1">
-           <widget class="QPushButton" name="chooseQmlButton">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
+            <property name="bottomMargin">
+             <number>6</number>
             </property>
-            <property name="toolTip">
-             <string>Choose file...</string>
+            <item>
+             <widget class="QLineEdit" name="lispEdit"/>
+            </item>
+            <item>
+             <widget class="QPushButton" name="chooseLispButton">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="toolTip">
+               <string>Choose file...</string>
+              </property>
+              <property name="text">
+               <string/>
+              </property>
+              <property name="icon">
+               <iconset resource="../res.qrc">
+                <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </widget>
+         </item>
+         <item>
+          <widget class="QGroupBox" name="qmlBox">
+           <property name="title">
+            <string>Qml</string>
+           </property>
+           <property name="checkable">
+            <bool>true</bool>
+           </property>
+           <layout class="QGridLayout" name="gridLayout">
+            <property name="leftMargin">
+             <number>6</number>
             </property>
-            <property name="text">
-             <string/>
+            <property name="topMargin">
+             <number>6</number>
             </property>
-            <property name="icon">
-             <iconset resource="../res.qrc">
-              <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
+            <property name="rightMargin">
+             <number>6</number>
             </property>
-           </widget>
-          </item>
-          <item row="0" column="0">
-           <widget class="QLineEdit" name="qmlEdit"/>
-          </item>
-          <item row="1" column="0">
-           <widget class="QCheckBox" name="qmlFullscreenBox">
-            <property name="text">
-             <string>Fullscreen</string>
+            <property name="bottomMargin">
+             <number>6</number>
             </property>
-           </widget>
-          </item>
-         </layout>
-        </widget>
+            <property name="spacing">
+             <number>2</number>
+            </property>
+            <item row="0" column="1">
+             <widget class="QPushButton" name="chooseQmlButton">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="toolTip">
+               <string>Choose file...</string>
+              </property>
+              <property name="text">
+               <string/>
+              </property>
+              <property name="icon">
+               <iconset resource="../res.qrc">
+                <normaloff>:/res/icons/Open Folder-96.png</normaloff>:/res/icons/Open Folder-96.png</iconset>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="0">
+             <widget class="QLineEdit" name="qmlEdit"/>
+            </item>
+            <item row="1" column="0">
+             <widget class="QCheckBox" name="qmlFullscreenBox">
+              <property name="text">
+               <string>Fullscreen</string>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </widget>
+         </item>
+        </layout>
        </item>
        <item>
         <layout class="QHBoxLayout" name="horizontalLayout_3">
@@ -418,30 +426,43 @@
     </widget>
    </item>
    <item>
-    <widget class="QGroupBox" name="groupBox">
-     <property name="title">
-      <string>Tools</string>
-     </property>
+    <widget class="QWidget" name="widget" native="true">
      <layout class="QHBoxLayout" name="horizontalLayout_5">
+      <property name="leftMargin">
+       <number>3</number>
+      </property>
+      <property name="topMargin">
+       <number>3</number>
+      </property>
+      <property name="rightMargin">
+       <number>3</number>
+      </property>
+      <property name="bottomMargin">
+       <number>3</number>
+      </property>
       <item>
-       <widget class="QPushButton" name="uninstallButton">
-        <property name="text">
-         <string>Uninstall Current</string>
+       <widget class="DisplayPercentage" name="displayDl" native="true">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
         </property>
        </widget>
       </item>
       <item>
-       <spacer name="horizontalSpacer">
-        <property name="orientation">
-         <enum>Qt::Horizontal</enum>
+       <widget class="QPushButton" name="dlArchiveButton">
+        <property name="text">
+         <string>Update Archive</string>
         </property>
-        <property name="sizeHint" stdset="0">
-         <size>
-          <width>40</width>
-          <height>20</height>
-         </size>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="uninstallButton">
+        <property name="text">
+         <string>Uninstall Current</string>
         </property>
-       </spacer>
+       </widget>
       </item>
      </layout>
     </widget>
@@ -450,15 +471,15 @@
  </widget>
  <customwidgets>
   <customwidget>
-   <class>MRichTextEdit</class>
+   <class>DisplayPercentage</class>
    <extends>QWidget</extends>
-   <header>widgets/mrichtextedit.h</header>
+   <header>widgets/displaypercentage.h</header>
    <container>1</container>
   </customwidget>
   <customwidget>
-   <class>DisplayPercentage</class>
+   <class>MRichTextEdit</class>
    <extends>QWidget</extends>
-   <header>widgets/displaypercentage.h</header>
+   <header>widgets/mrichtextedit.h</header>
    <container>1</container>
   </customwidget>
   <customwidget>

From 74826901e245c0cf3c62b818ad6ce8ffd6b2b336 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 1 May 2023 15:25:20 +0200
Subject: [PATCH 450/559] Added more cli-arguments

---
 main.cpp                              | 150 ++++++++++++++++++++++++--
 pages/pagevescpackage.ui              |   2 +-
 res/config/6.02/parameters_mcconf.xml |   2 +-
 res/config/6.05/parameters_mcconf.xml |   2 +-
 utility.cpp                           |   2 +-
 5 files changed, 148 insertions(+), 10 deletions(-)

diff --git a/main.cpp b/main.cpp
index cc358a960..a1fd75d22 100755
--- a/main.cpp
+++ b/main.cpp
@@ -74,10 +74,10 @@ static void showHelp()
 {
     qDebug() << "Arguments";
     qDebug() << "-h, --help : Show help text";
-    qDebug() << "--tcpServer [port] : Autoconnect to VESC and start TCP server on [port]";
+    qDebug() << "--tcpServer [port] : Connect to VESC and start TCP server on [port]";
     qDebug() << "--loadQml [file] : Load QML UI from file instead of the regular VESC Tool UI";
     qDebug() << "--loadQmlVesc : Load QML UI from the connected VESC instead of the regular VESC Tool UI";
-    qDebug() << "--qmlAutoConn : Autoconnect over USB before loading the QML UI";
+    qDebug() << "--qmlAutoConn : Connect over USB before loading the QML UI";
     qDebug() << "--qmlFullscreen : Run QML UI in fullscreen mode";
     qDebug() << "--qmlOtherScreen : Run QML UI on other screen";
     qDebug() << "--qmlRotation [deg] : Rotate screen by deg degrees";
@@ -87,6 +87,10 @@ static void showHelp()
     qDebug() << "--buildPkg [pkgPath:lispPath:qmlPath:isFullscreen:optMd:optName] : Build VESC Package";
     qDebug() << "--useBoardSetupWindow : Start board setup window instead of the main UI";
     qDebug() << "--xmlConfToCode [xml-file] : Generate C code from XML configuration file (the files are saved in the same directory as the XML)";
+    qDebug() << "--vescPort [port] : VESC Port for commands that connect, e.g. /dev/ttyACM0. If this command is left out autoconnect will be used.";
+    qDebug() << "--canFwd [canId] : Can ID for CAN forwarding";
+    qDebug() << "--getMcConf [confPath] : Connect and read motor configuration and store the XML to confPath.";
+    qDebug() << "--setMcConf [confPath] : Connect and write motor configuration XML from confPath.";
 }
 
 #ifdef Q_OS_LINUX
@@ -255,6 +259,10 @@ int main(int argc, char *argv[])
     bool isTcpHub = false;
     QStringList pkgArgs;
     QString xmlCodePath = "";
+    QString vescPort = "";
+    int canFwd = -1;
+    QString getMcConfPath = "";
+    QString setMcConfPath = "";
 
     for (int i = 0;i < args.size();i++) {
         // Skip the program argument
@@ -378,6 +386,54 @@ int main(int argc, char *argv[])
             }
         }
 
+        if (str == "--vescPort") {
+            if ((i + 1) < args.size()) {
+                i++;
+                vescPort = args.at(i);
+                found = true;
+            } else {
+                i++;
+                qCritical() << "No port specified";
+                return 1;
+            }
+        }
+
+        if (str == "--canFwd") {
+            if ((i + 1) < args.size()) {
+                i++;
+                canFwd = args.at(i).toInt(),
+                found = true;
+            } else {
+                i++;
+                qCritical() << "No can id specified";
+                return 1;
+            }
+        }
+
+        if (str == "--getMcConf") {
+            if ((i + 1) < args.size()) {
+                i++;
+                getMcConfPath = args.at(i);
+                found = true;
+            } else {
+                i++;
+                qCritical() << "No path specified";
+                return 1;
+            }
+        }
+
+        if (str == "--setMcConf") {
+            if ((i + 1) < args.size()) {
+                i++;
+                setMcConfPath = args.at(i);
+                found = true;
+            } else {
+                i++;
+                qCritical() << "No path specified";
+                return 1;
+            }
+        }
+
         if (!found) {
             if (dash) {
                 qCritical() << "At least one of the flags is invalid:" << str;
@@ -551,12 +607,17 @@ int main(int argc, char *argv[])
     connTimer.setInterval(1000);
     QObject::connect(&connTimer, &QTimer::timeout, [&]() {
         if (!vesc->isPortConnected()) {
-            bool ok = vesc->autoconnect();
+            bool ok = false;
+            if (vescPort.isEmpty()) {
+                ok = vesc->autoconnect();
+            } else {
+                ok = vesc->connectSerial(vescPort);
+            }
 
             if (ok) {
                 qDebug() << "Connected";
             } else {
-                qDebug() << "Could not autoconnect";
+                qDebug() << "Could not connect";
 
                 if (!retryConn) {
                     qApp->quit();
@@ -565,11 +626,88 @@ int main(int argc, char *argv[])
         }
     });
 
-    if (useTcp) {
+    if (!getMcConfPath.isEmpty() || !setMcConfPath.isEmpty()) {
         qputenv("QT_QPA_PLATFORM", "offscreen");
-
         app = new QCoreApplication(argc, argv);
+        vesc = new VescInterface;
+        vesc->fwConfig()->loadParamsXml("://res/config/fw.xml");
+        Utility::configLoadLatest(vesc);
+
+        QTimer::singleShot(10, [&]() {
+            bool ok = false;
+            if (vescPort.isEmpty()) {
+                ok = vesc->autoconnect();
+            } else {
+                ok = vesc->connectSerial(vescPort);
+            }
+
+            if (ok) {
+                qDebug() << "Connected";
+
+                if (canFwd >= 0) {
+                    vesc->commands()->setSendCan(true, canFwd);
+                }
+
+                auto res = Utility::waitSignal(vesc, SIGNAL(customConfigLoadDone()), 4000);
+                if (res) {
+                    ConfigParams *p = vesc->mcConfig();
+                    vesc->commands()->getMcconf();
+                    res = Utility::waitSignal(p, SIGNAL(updated()), 4000);
+                    if (res) {
+                        if (!setMcConfPath.isEmpty()) {
+                            res = p->loadXml(setMcConfPath, "MCConfiguration");
+
+                            if (res) {
+                                vesc->commands()->setMcconf(false);
+                                res = Utility::waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 4000);
+
+                                if (res) {
+                                    qDebug() << "Wrote XML from" << setMcConfPath;
+                                    qApp->exit();
+                                } else {
+                                    qWarning() << "Could not write config";
+                                    qApp->exit(-4);
+                                }
+
+                            } else {
+                                qWarning() << "Could not load XML from" << setMcConfPath;
+                                qApp->exit(-3);
+                            }
+                        } else {
+                            res = p->saveXml(getMcConfPath, "MCConfiguration");
+
+                            if (res) {
+                                qDebug() << "Saved XML to" << getMcConfPath;
+                                qApp->exit();
+                            } else {
+                                qWarning() << "Could not save XML";
+                                qApp->exit(-3);
+                            }
+                        }
+                    } else {
+                        qWarning() << "Could not load config";
+                        qApp->exit(-2);
+                    }
+                } else {
+                    qWarning() << "Could not load config";
+                    qApp->exit(-1);
+                }
+            } else {
+                qWarning() << "Could not connect";
+                qApp->exit(-1);
+            }
+        });
 
+        QObject::connect(vesc, &VescInterface::statusMessage, [&](QString msg, bool isGood) {
+            if (isGood) {
+                qDebug() << msg;
+            } else  {
+                qWarning() << msg;
+            }
+        });
+    } else if (useTcp) {
+        qputenv("QT_QPA_PLATFORM", "offscreen");
+        app = new QCoreApplication(argc, argv);
         vesc = new VescInterface;
         vesc->fwConfig()->loadParamsXml("://res/config/fw.xml");
         Utility::configLoadLatest(vesc);
diff --git a/pages/pagevescpackage.ui b/pages/pagevescpackage.ui
index b61530a4b..04c0c31b0 100644
--- a/pages/pagevescpackage.ui
+++ b/pages/pagevescpackage.ui
@@ -426,7 +426,7 @@
     </widget>
    </item>
    <item>
-    <widget class="QWidget" name="widget" native="true">
+    <widget class="QWidget" name="widget3" native="true">
      <layout class="QHBoxLayout" name="horizontalLayout_5">
       <property name="leftMargin">
        <number>3</number>
diff --git a/res/config/6.02/parameters_mcconf.xml b/res/config/6.02/parameters_mcconf.xml
index 6ef7031cf..da12d2d77 100644
--- a/res/config/6.02/parameters_mcconf.xml
+++ b/res/config/6.02/parameters_mcconf.xml
@@ -2911,7 +2911,7 @@ p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Derivative gain for the speed controller. FOC and BLDC need different parameters because their speed controllers differ.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_S_PID_KD</cDefine>
-            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorDecimalsDouble>6</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
             <maxDouble>10000</maxDouble>
diff --git a/res/config/6.05/parameters_mcconf.xml b/res/config/6.05/parameters_mcconf.xml
index 11449cd75..363ecdedb 100644
--- a/res/config/6.05/parameters_mcconf.xml
+++ b/res/config/6.05/parameters_mcconf.xml
@@ -2991,7 +2991,7 @@ p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Derivative gain for the speed controller. FOC and BLDC need different parameters because their speed controllers differ.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_S_PID_KD</cDefine>
-            <editorDecimalsDouble>5</editorDecimalsDouble>
+            <editorDecimalsDouble>6</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
             <maxDouble>10000</maxDouble>
diff --git a/utility.cpp b/utility.cpp
index c9acaa6fd..51057a55f 100755
--- a/utility.cpp
+++ b/utility.cpp
@@ -243,7 +243,7 @@ QString Utility::aboutText()
           #elif defined(VER_FREE)
               "Free of Charge Version<br>"
           #endif
-              "&copy; Benjamin Vedder 2016 - 2022<br>"
+              "&copy; Benjamin Vedder 2016 - 2023<br>"
               "<a href=\"mailto:benjamin@vedder.se\">benjamin@vedder.se</a><br>"
               "<a href=\"https://vesc-project.com/\">https://vesc-project.com/</a>").
             arg(QString::number(VT_VERSION, 'f', 2))

From 501087c816af6161bec330c9249e1ec028f53d23 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 2 May 2023 16:55:47 +0200
Subject: [PATCH 451/559] Added more cli-arguments

---
 main.cpp         | 65 +++++++++++++++++++++++++++++++++++++++++++++++-
 mobile/qmlui.cpp | 13 +++++++++-
 mobile/qmlui.h   |  3 ++-
 3 files changed, 78 insertions(+), 3 deletions(-)

diff --git a/main.cpp b/main.cpp
index a1fd75d22..04e32bbff 100755
--- a/main.cpp
+++ b/main.cpp
@@ -81,6 +81,7 @@ static void showHelp()
     qDebug() << "--qmlFullscreen : Run QML UI in fullscreen mode";
     qDebug() << "--qmlOtherScreen : Run QML UI on other screen";
     qDebug() << "--qmlRotation [deg] : Rotate screen by deg degrees";
+    qDebug() << "--qmlWindowSize [width:height] : Specify qml window size";
     qDebug() << "--retryConn : Keep trying to reconnect to the VESC when the connection fails";
     qDebug() << "--useMobileUi : Start the mobile UI instead of the full desktop UI";
     qDebug() << "--tcpHub [port] : Start a TCP hub for remote access to connected VESCs";
@@ -91,6 +92,7 @@ static void showHelp()
     qDebug() << "--canFwd [canId] : Can ID for CAN forwarding";
     qDebug() << "--getMcConf [confPath] : Connect and read motor configuration and store the XML to confPath.";
     qDebug() << "--setMcConf [confPath] : Connect and write motor configuration XML from confPath.";
+    qDebug() << "--debugOutFile [path] : Print debug output to file with path.";
 }
 
 #ifdef Q_OS_LINUX
@@ -102,6 +104,16 @@ static void m_cleanup(int sig)
 #endif
 #endif
 
+QFile m_debug_msg_file;
+
+void myMessageOutput(QtMsgType type, const QMessageLogContext &context, const QString &msg) {
+    if (m_debug_msg_file.isOpen()) {
+        m_debug_msg_file.write(msg.toUtf8());
+        m_debug_msg_file.write("\n");
+        m_debug_msg_file.flush();
+    }
+}
+
 static void addFonts() {
     QFontDatabase::addApplicationFont("://res/fonts/DejaVuSans.ttf");
     QFontDatabase::addApplicationFont("://res/fonts/DejaVuSans-Bold.ttf");
@@ -263,6 +275,7 @@ int main(int argc, char *argv[])
     int canFwd = -1;
     QString getMcConfPath = "";
     QString setMcConfPath = "";
+    QSize qmlWindowSize = QSize(-1, -1);
 
     for (int i = 0;i < args.size();i++) {
         // Skip the program argument
@@ -357,6 +370,26 @@ int main(int argc, char *argv[])
             }
         }
 
+        if (str == "--qmlWindowSize") {
+            if ((i + 1) < args.size()) {
+                i++;
+                auto p = args.at(i).split(":");
+                if (p.size() == 2) {
+                    qmlWindowSize.setWidth(p.at(0).toInt());
+                    qmlWindowSize.setHeight(p.at(1).toInt());
+                } else {
+                    qCritical() << "Invalid size specified";
+                    return 1;
+                }
+
+                found = true;
+            } else {
+                i++;
+                qCritical() << "No size specified";
+                return 1;
+            }
+        }
+
         if (str == "--tcpHub") {
             if ((i + 1) < args.size()) {
                 i++;
@@ -434,6 +467,23 @@ int main(int argc, char *argv[])
             }
         }
 
+        if (str == "--debugOutFile") {
+            if ((i + 1) < args.size()) {
+                i++;
+                if (!m_debug_msg_file.isOpen()) {
+                    m_debug_msg_file.setFileName(args.at(i));
+                    if (m_debug_msg_file.open(QIODevice::WriteOnly | QIODevice::Text)) {
+                        qInstallMessageHandler(myMessageOutput);
+                    }
+                }
+                found = true;
+            } else {
+                i++;
+                qCritical() << "No path specified";
+                return 1;
+            }
+        }
+
         if (!found) {
             if (dash) {
                 qCritical() << "At least one of the flags is invalid:" << str;
@@ -607,6 +657,14 @@ int main(int argc, char *argv[])
     connTimer.setInterval(1000);
     QObject::connect(&connTimer, &QTimer::timeout, [&]() {
         if (!vesc->isPortConnected()) {
+            if (qmlUi != nullptr) {
+                qmlUi->clearQmlCache();
+
+                QTimer::singleShot(10, [&]() {
+                    qmlUi->emitReloadCustomGui("qrc:/res/qml/DynamicLoader.qml");
+                });
+            }
+
             bool ok = false;
             if (vescPort.isEmpty()) {
                 ok = vesc->autoconnect();
@@ -848,7 +906,8 @@ int main(int argc, char *argv[])
             }
 
             qmlUi = new QmlUi;
-            qmlUi->startCustomGui(vesc);
+            qmlUi->startCustomGui(vesc, "qrc:/res/qml/MainLoader.qml",
+                                  qmlWindowSize.width(), qmlWindowSize.height());
 
             if (qmlFullscreen) {
                 qmlUi->emitToggleFullscreen();
@@ -908,5 +967,9 @@ int main(int argc, char *argv[])
 
     delete app;
 
+    if (m_debug_msg_file.isOpen()) {
+        m_debug_msg_file.close();
+    }
+
     return res;
 }
diff --git a/mobile/qmlui.cpp b/mobile/qmlui.cpp
index 298cd8234..0bd60e81e 100644
--- a/mobile/qmlui.cpp
+++ b/mobile/qmlui.cpp
@@ -84,7 +84,7 @@ void QmlUi::setVisible(bool visible)
     }
 }
 
-void QmlUi::startCustomGui(VescInterface *vesc, QString qmlFile)
+void QmlUi::startCustomGui(VescInterface *vesc, QString qmlFile, int width, int height)
 {
     if (mEngine) {
         mEngine->deleteLater();
@@ -97,6 +97,17 @@ void QmlUi::startCustomGui(VescInterface *vesc, QString qmlFile)
     mEngine->rootContext()->setContextProperty("Utility", &mUtil);
     mEngine->load(QUrl(qmlFile));
 
+    auto objs = mEngine->rootObjects();
+    if (!objs.isEmpty()) {
+        if (width > 0) {
+            objs.first()->setProperty("width", width);
+        }
+
+        if (height > 0) {
+            objs.first()->setProperty("height", height);
+        }
+    }
+
     if (!mImportPathList.isEmpty()) {
         mEngine->setImportPathList(mImportPathList);
     }
diff --git a/mobile/qmlui.h b/mobile/qmlui.h
index c2192502b..889bf5b1c 100644
--- a/mobile/qmlui.h
+++ b/mobile/qmlui.h
@@ -35,7 +35,8 @@ class QmlUi : public QObject
     bool eventFilter(QObject *object, QEvent *e);
     void setVisible(bool visible);
 
-    void startCustomGui(VescInterface *vesc, QString qmlFile = "qrc:/res/qml/MainLoader.qml");
+    void startCustomGui(VescInterface *vesc, QString qmlFile = "qrc:/res/qml/MainLoader.qml",
+                        int width = -1, int height = -1);
     void stopCustomGui();
     bool isCustomGuiRunning();
     void emitReloadCustomGui(QString fileName);

From d46949664faf3e5c89433d172018c5cd1d199806 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 2 May 2023 17:09:06 +0200
Subject: [PATCH 452/559] Added comment about arguments

---
 main.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/main.cpp b/main.cpp
index 04e32bbff..1195728c5 100755
--- a/main.cpp
+++ b/main.cpp
@@ -277,6 +277,11 @@ int main(int argc, char *argv[])
     QString setMcConfPath = "";
     QSize qmlWindowSize = QSize(-1, -1);
 
+    // Arguments can be hard-coded in a build like this:
+//    qmlWindowSize = QSize(400, 800);
+//    loadQmlVesc = true;
+//    retryConn = true;
+
     for (int i = 0;i < args.size();i++) {
         // Skip the program argument
         if (i == 0) {

From 263cbc491e268f7e19d4c5e18e402235e736c217 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 3 May 2023 09:54:05 +0200
Subject: [PATCH 453/559] Removed firmware and package tabs and replaced them
 with buttons

---
 main.cpp             |   3 ++
 mobile/Controls.qml  |   2 +-
 mobile/FwUpdate.qml  |   4 ++
 mobile/Packages.qml  |  13 +++--
 mobile/StartPage.qml | 117 +++++++++++++++++++++++++++++++++++++++++--
 mobile/main.qml      |  32 +-----------
 res/CHANGELOG.md     |   1 +
 7 files changed, 133 insertions(+), 39 deletions(-)

diff --git a/main.cpp b/main.cpp
index 1195728c5..b7d13dddf 100755
--- a/main.cpp
+++ b/main.cpp
@@ -107,6 +107,9 @@ static void m_cleanup(int sig)
 QFile m_debug_msg_file;
 
 void myMessageOutput(QtMsgType type, const QMessageLogContext &context, const QString &msg) {
+    (void)type;
+    (void)context;
+
     if (m_debug_msg_file.isOpen()) {
         m_debug_msg_file.write(msg.toUtf8());
         m_debug_msg_file.write("\n");
diff --git a/mobile/Controls.qml b/mobile/Controls.qml
index 1f5eb9dfc..d05c04145 100644
--- a/mobile/Controls.qml
+++ b/mobile/Controls.qml
@@ -408,7 +408,7 @@ Item {
 
         header: Rectangle {
             color: Utility.getAppHexColor("lightText")
-            height: tabBar.height
+            height: tabBar.implicitHeight
             opacity: opacitySlider.value
 
             TabBar {
diff --git a/mobile/FwUpdate.qml b/mobile/FwUpdate.qml
index 18b34ad38..a6ccaf5ad 100755
--- a/mobile/FwUpdate.qml
+++ b/mobile/FwUpdate.qml
@@ -29,6 +29,10 @@ import Vedder.vesc.fwhelper 1.0
 import Vedder.vesc.utility 1.0
 
 Item {
+    property alias currentPage: swipeView.currentIndex
+    property alias swipeOrientation: swipeView.orientation
+    property alias pageIndicatorVisible: indicator.visible
+
     property Commands mCommands: VescIf.commands()
     property ConfigParams mInfoConf: VescIf.infoConfig()
     property bool isHorizontal: width > height
diff --git a/mobile/Packages.qml b/mobile/Packages.qml
index ae8e9ad75..c90db47cd 100644
--- a/mobile/Packages.qml
+++ b/mobile/Packages.qml
@@ -160,12 +160,15 @@ Item {
                                     repeat: false
                                     running: false
                                     onTriggered: {
-                                        mLoader.installVescPackage(pkg.compressedData)
+                                        var res = mLoader.installVescPackage(pkg.compressedData)
                                         enableDialog()
-                                        VescIf.emitMessageDialog("Install Package",
-                                                                 "Install Done! Please disconnect and reconnect to " +
-                                                                 "apply possible VESC Tool GUI updates from this package.",
-                                                                 true, false)
+
+                                        if (res) {
+                                            VescIf.emitMessageDialog("Install Package",
+                                                                     "Install Done! Please disconnect and reconnect to " +
+                                                                     "apply possible VESC Tool GUI updates from this package.",
+                                                                     true, false)
+                                        }
                                     }
                                 }
                             }
diff --git a/mobile/StartPage.qml b/mobile/StartPage.qml
index 6fa6bfd00..abe317a73 100644
--- a/mobile/StartPage.qml
+++ b/mobile/StartPage.qml
@@ -17,8 +17,8 @@
     along with this program.  If not, see <http://www.gnu.org/licenses/>.
     */
 
-import QtQuick 2.7
-import QtQuick.Controls 2.10
+import QtQuick 2.15
+import QtQuick.Controls 2.15
 import QtQuick.Layouts 1.3
 
 import Vedder.vesc.vescinterface 1.0
@@ -201,7 +201,7 @@ Item {
 
             GroupBox {
                 id: toolsBox
-                title: qsTr("Tools")
+                title: qsTr("Tools and Operations")
                 Layout.fillWidth: true
                 Layout.fillHeight: true
                 Layout.rowSpan: isHorizontal ? 2 : 1
@@ -311,6 +311,34 @@ Item {
                             requestOpenMultiSettings()
                         }
                     }
+
+                    ImageButton {
+                        Layout.fillWidth: true
+                        Layout.fillHeight: true
+                        Layout.preferredWidth: 500
+                        Layout.preferredHeight: 80
+
+                        buttonText: "Update\nFirmware"
+                        imageSrc: "qrc" + Utility.getThemePath() + "icons/Electronics-96.png"
+
+                        onClicked: {
+                            firmwareDialog.open()
+                        }
+                    }
+
+                    ImageButton {
+                        Layout.fillWidth: true
+                        Layout.fillHeight: true
+                        Layout.preferredWidth: 500
+                        Layout.preferredHeight: 80
+
+                        buttonText: "Package\nStore"
+                        imageSrc: "qrc" + Utility.getThemePath() + "icons/Package-96.png"
+
+                        onClicked: {
+                            packageDialog.open()
+                        }
+                    }
                 }
             }
 
@@ -544,4 +572,87 @@ Item {
             indeterminate: visible
         }
     }
+
+    Dialog {
+        id: firmwareDialog
+        standardButtons: Dialog.Close
+        closePolicy: Popup.CloseOnEscape
+        modal: true
+        focus: true
+
+        width: parent.width - 20 - notchLeft - notchRight
+        height: parent.height - 20 - notchBot - notchTop
+        x: parent.width/2 - width/2
+        y: parent.height / 2 - height / 2 + notchTop
+        parent: ApplicationWindow.overlay
+
+        Overlay.modal: Rectangle {
+            color: "#AA000000"
+        }
+
+        contentItem: FwUpdate {
+            id: fwUpdate
+            anchors.fill: parent
+            anchors.bottomMargin: 50
+            anchors.topMargin: tabBar.implicitHeight
+            pageIndicatorVisible: false
+            swipeOrientation: Qt.Horizontal
+            currentPage: tabBar.currentIndex
+        }
+
+        header: Rectangle {
+            color: Utility.getAppHexColor("lightText")
+            height: tabBar.implicitHeight
+
+            TabBar {
+                id: tabBar
+                currentIndex: fwUpdate.currentPage
+                anchors.fill: parent
+                clip: true
+
+                background: Rectangle {
+                    opacity: 1
+                    color: Utility.getAppHexColor("lightestBackground")
+                }
+
+                property int buttonWidth: Math.max(120, tabBar.width / (rep.model.length))
+
+                Repeater {
+                    id: rep
+                    model: ["Included", "Custom", "Bootloader", "Archive"]
+
+                    TabButton {
+                        text: modelData
+                        width: tabBar.buttonWidth
+                    }
+                }
+
+                Component.onCompleted: {
+                    tabBar.setCurrentIndex(0)
+                }
+            }
+        }
+    }
+
+    Dialog {
+        id: packageDialog
+        standardButtons: Dialog.Close
+        closePolicy: Popup.CloseOnEscape
+        modal: true
+        focus: true
+
+        width: parent.width - 20 - notchLeft - notchRight
+        height: parent.height - 20 - notchBot - notchTop
+        x: parent.width/2 - width/2
+        y: parent.height / 2 - height / 2 + notchTop
+        parent: ApplicationWindow.overlay
+
+        Overlay.modal: Rectangle {
+            color: "#AA000000"
+        }
+
+        contentItem: Packages {
+            dialogParent: parent
+        }
+    }
 }
diff --git a/mobile/main.qml b/mobile/main.qml
index 6d347cd31..ff2259546 100644
--- a/mobile/main.qml
+++ b/mobile/main.qml
@@ -448,17 +448,6 @@ ApplicationWindow {
             }
         }
 
-        Page {
-            Loader {
-                anchors.fill: parent
-                asynchronous: true
-                visible: status == Loader.Ready
-                sourceComponent: FwUpdate {
-                    anchors.fill: parent
-                }
-            }
-        }
-
         Page {
             Loader {
                 id: confPageMotor
@@ -466,7 +455,6 @@ ApplicationWindow {
                 asynchronous: true
                 visible: status == Loader.Ready
                 sourceComponent: ConfigPageMotor {
-                    //id: confPageMotor
                     anchors.fill: parent
                     anchors.leftMargin: 10
                     anchors.rightMargin: 10
@@ -502,20 +490,6 @@ ApplicationWindow {
                 }
             }
         }
-
-        Page {
-            Loader {
-                anchors.fill: parent
-                asynchronous: true
-                visible: status == Loader.Ready
-                sourceComponent: Packages {
-                    anchors.fill: parent
-                    anchors.leftMargin: 10
-                    anchors.rightMargin: 10
-                    anchors.topMargin: 10
-                }
-            }
-        }
     }
 
     header: Rectangle {
@@ -549,13 +523,12 @@ ApplicationWindow {
 
                 Repeater {
                     id: rep
-                    model: ["Start", "RT Data", "Profiles", "BMS", "Firmware", "Motor Cfg",
-                        "App Cfg", "Terminal", "Packages"]
+                    model: ["Start", "RT Data", "Profiles", "BMS", "Motor Cfg",
+                        "App Cfg", "Terminal"]
 
                     TabButton {
                         text: modelData
                         width: tabBar.buttonWidth
-
                     }
                 }
             }
@@ -1088,7 +1061,6 @@ ApplicationWindow {
                 if (limited && !VescIf.getFwSupportsConfiguration()) {
                     confPageMotor.enabled = false
                     confPageApp.enabled = false
-                    swipeView.setCurrentIndex(4 + indexOffset() + (confCustomPage.visible ? 1 : 0))
                 } else {
                     confPageMotor.enabled = true
                     confPageApp.enabled = true
diff --git a/res/CHANGELOG.md b/res/CHANGELOG.md
index f14e6c711..a35bf674a 100644
--- a/res/CHANGELOG.md
+++ b/res/CHANGELOG.md
@@ -3,6 +3,7 @@
 * Scripting-setting to select whether to upload the editor content or file content.
 * Autocompletion and bracket matching completion improvements.
 * Support for selecting multiple files when saving and deleting files from the log browser.
+* Removed firmware and package tabs and replaced them with buttons.
 
 ### 6.02
 #### Released 2023-03-12

From 1609006c9ddc020f855b1a161b8906b36eda0993 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 3 May 2023 11:08:00 +0200
Subject: [PATCH 454/559] Hide conf pages when they cannot be used, support for
 custom hw and app ui tab titles

---
 mobile/main.qml             | 127 ++++++++++++++++++++++++------------
 res/qml/WelcomeQmlPanel.qml |  12 ++++
 vescinterface.cpp           |   3 +-
 3 files changed, 99 insertions(+), 43 deletions(-)

diff --git a/mobile/main.qml b/mobile/main.qml
index ff2259546..59c906f59 100644
--- a/mobile/main.qml
+++ b/mobile/main.qml
@@ -229,12 +229,12 @@ ApplicationWindow {
                 flat: true
 
                 onClicked: {
-                    if(Qt.platform.os == "ios"){
+                    if (Qt.platform.os == "ios"){
                         VescIf.emitMessageDialog(
                                     mInfoConf.getLongName("ios_license_text"),
                                     mInfoConf.getDescription("ios_license_text"),
                                     true, true)
-                    }else{
+                    } else {
                         VescIf.emitMessageDialog(
                                     mInfoConf.getLongName("gpl_text"),
                                     mInfoConf.getDescription("gpl_text"),
@@ -247,6 +247,7 @@ ApplicationWindow {
                 Layout.fillWidth: true
                 text: "Privacy Policy"
                 flat: true
+
                 onClicked: {
                     Qt.openUrlExternally("https://vesc-project.com/privacy_policies")
                 }
@@ -448,35 +449,6 @@ ApplicationWindow {
             }
         }
 
-        Page {
-            Loader {
-                id: confPageMotor
-                anchors.fill: parent
-                asynchronous: true
-                visible: status == Loader.Ready
-                sourceComponent: ConfigPageMotor {
-                    anchors.fill: parent
-                    anchors.leftMargin: 10
-                    anchors.rightMargin: 10
-                }
-            }
-        }
-
-        Page {
-            Loader {
-                id: confPageApp
-                anchors.fill: parent
-                asynchronous: true
-                visible: status == Loader.Ready
-                sourceComponent: ConfigPageApp {
-                    //id: confPageApp
-                    anchors.fill: parent
-                    anchors.leftMargin: 10
-                    anchors.rightMargin: 10
-                }
-            }
-        }
-
         Page {
             Loader {
                 anchors.fill: parent
@@ -519,12 +491,14 @@ ApplicationWindow {
                                                    tabBar.width /
                                                    (rep.model.length +
                                                     (uiHwPage.visible ? 1 : 0) +
-                                                    (uiAppPage.visible ? 1 : 0)))
+                                                    (uiAppPage.visible ? 1 : 0) +
+                                                    (confCustomButton.visible ? 1 : 0) +
+                                                    (confPageMotor.visible ? 1 : 0) +
+                                                    (confPageApp.visible ? 1 : 0)))
 
                 Repeater {
                     id: rep
-                    model: ["Start", "RT Data", "Profiles", "BMS", "Motor Cfg",
-                        "App Cfg", "Terminal"]
+                    model: ["Start", "RT Data", "Profiles", "BMS", "Terminal"]
 
                     TabButton {
                         text: modelData
@@ -573,13 +547,59 @@ ApplicationWindow {
         }
     }
 
+    TabButton {
+        id: confMotorButton
+        visible: confPageMotor.visible
+        text: "Motor Cfg"
+        width: tabBar.buttonWidth
+    }
+
+    TabButton {
+        id: confAppButton
+        visible: confPageApp.visible
+        text: "App Cfg"
+        width: tabBar.buttonWidth
+    }
+
     TabButton {
         id: confCustomButton
         visible: confCustomPage.visible
-        text: "ConfCustom"
+        text: "Custom Cfg"
         width: tabBar.buttonWidth
     }
 
+    Page {
+        id: confPageMotor
+        visible: false
+
+        Loader {
+            id: confMotorLoader
+            anchors.fill: parent
+            asynchronous: true
+            sourceComponent: ConfigPageMotor {
+                anchors.fill: parent
+                anchors.leftMargin: 10
+                anchors.rightMargin: 10
+            }
+        }
+    }
+
+    Page {
+        id: confPageApp
+        visible: false
+
+        Loader {
+            id: confAppLoader
+            anchors.fill: parent
+            asynchronous: true
+            sourceComponent: ConfigPageApp {
+                anchors.fill: parent
+                anchors.leftMargin: 10
+                anchors.rightMargin: 10
+            }
+        }
+    }
+
     Page {
         id: confCustomPage
         visible: false
@@ -953,6 +973,11 @@ ApplicationWindow {
             tabBar.insertItem(1, uiHwButton)
             uiHwPage.visible = true
 
+            uiHwButton.text = "HwUi"
+            if (hwUiObj.tabTitle) {
+                uiHwButton.text = hwUiObj.tabTitle
+            }
+
             if (VescIf.getLastFwRxParams().qmlHwFullscreen) {
                 swipeView.setCurrentIndex(0)
                 swipeView.setCurrentIndex(1)
@@ -975,6 +1000,11 @@ ApplicationWindow {
             tabBar.insertItem(1, uiAppButton)
             uiAppPage.visible = true
 
+            uiAppButton.text = "AppUi"
+            if (appUiObj.tabTitle) {
+                uiAppButton.text = appUiObj.tabTitle
+            }
+
             if (VescIf.getLastFwRxParams().qmlAppFullscreen) {
                 swipeView.setCurrentIndex(0)
                 swipeView.setCurrentIndex(1)
@@ -988,8 +1018,8 @@ ApplicationWindow {
 
     function updateConfCustom () {
         if (VescIf.isPortConnected() && VescIf.customConfig(0) !== null) {
-            swipeView.insertItem(5, confCustomPage)
-            tabBar.insertItem(5, confCustomButton)
+            swipeView.insertItem(4, confCustomPage)
+            tabBar.insertItem(4, confCustomButton)
             confCustomPage.visible = true
             confCustomLoader.item.reloadConfig()
             confCustomButton.text = VescIf.customConfig(0).getLongName("hw_name")
@@ -1058,15 +1088,28 @@ ApplicationWindow {
 
         function onFwRxChanged(rx, limited) {
             if (rx) {
-                if (limited && !VescIf.getFwSupportsConfiguration()) {
-                    confPageMotor.enabled = false
-                    confPageApp.enabled = false
+                if (VescIf.getFwSupportsConfiguration()) {
+                    confPageMotor.visible = true
+                    confPageApp.visible = true
+
+                    swipeView.insertItem(4, confPageApp)
+                    tabBar.insertItem(4, confAppButton)
+                    swipeView.insertItem(4, confPageMotor)
+                    tabBar.insertItem(4, confMotorButton)
                 } else {
-                    confPageMotor.enabled = true
-                    confPageApp.enabled = true
+                    confPageMotor.visible = false
+                    confPageApp.visible = false
+                    confPageMotor.parent = null
+                    confPageApp.parent = null
+                    confMotorButton.parent = null
+                    confAppButton.parent = null
+                }
+
+                if (!limited && VescIf.getFwSupportsConfiguration()) {
                     mCommands.getMcconf()
                     mCommands.getAppConf()
                 }
+
                 fwReadCorrectly = true
                 bleDisconnectTimer.stop()
             } else {
diff --git a/res/qml/WelcomeQmlPanel.qml b/res/qml/WelcomeQmlPanel.qml
index a7c3d9007..41564aee9 100644
--- a/res/qml/WelcomeQmlPanel.qml
+++ b/res/qml/WelcomeQmlPanel.qml
@@ -333,6 +333,12 @@ Item {
             }
 
             hwUiObj = Qt.createQmlObject(VescIf.qmlHw(), uiHw, "HwUi")
+
+            uiHwButton.text = "HwUi"
+            if (hwUiObj.tabTitle) {
+                uiHwButton.text = hwUiObj.tabTitle
+            }
+
             uiHwButton.visible = true
             swipeView.insertItem(0, uiHwPage)
             tabBar.insertItem(0, uiHwButton)
@@ -353,6 +359,12 @@ Item {
             }
 
             appUiObj = Qt.createQmlObject(VescIf.qmlApp(), uiApp, "AppUi")
+
+            uiAppButton.text = "AppUi"
+            if (appUiObj.tabTitle) {
+                uiAppButton.text = appUiObj.tabTitle
+            }
+
             uiAppButton.visible = true
             swipeView.insertItem(0, uiAppPage)
             tabBar.insertItem(0, uiAppButton)
diff --git a/vescinterface.cpp b/vescinterface.cpp
index 47fbfaa71..7046c72b0 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -3585,7 +3585,8 @@ void VescInterface::fwVersionReceived(FW_RX_PARAMS params)
         compCommands.append(int(COMM_LOG_DATA_F64));
     }
 
-    if (fwPairs.contains(fw_connected) || Utility::configSupportedFws().contains(fw_connected)) {
+    if (params.hwType == HW_TYPE_VESC &&
+            (fwPairs.contains(fw_connected) || Utility::configSupportedFws().contains(fw_connected))) {
         compCommands.append(int(COMM_SET_MCCONF));
         compCommands.append(int(COMM_GET_MCCONF));
         compCommands.append(int(COMM_GET_MCCONF_DEFAULT));

From 924e7aa676c8e04ba042632b202474def7c7e4c6 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 3 May 2023 20:00:57 +0200
Subject: [PATCH 455/559] Shorter fault stop time for esk8 and balance

---
 mobile/Packages.qml       | 19 +++++++++++++------
 mobile/SetupWizardFoc.qml | 14 ++++++++++----
 mobile/StartPage.qml      |  3 +++
 res/CHANGELOG.md          |  1 +
 4 files changed, 27 insertions(+), 10 deletions(-)

diff --git a/mobile/Packages.qml b/mobile/Packages.qml
index c90db47cd..124e9191f 100644
--- a/mobile/Packages.qml
+++ b/mobile/Packages.qml
@@ -230,14 +230,21 @@ Item {
                     repeat: false
                     running: false
                     onTriggered: {
-                        mLoader.lispErase(16)
-                        mLoader.qmlErase(16)
+                        var resLisp = mLoader.lispErase(16)
+                        var resQml = mLoader.qmlErase(16)
                         Utility.sleepWithEventLoop(500)
-                        VescIf.reloadFirmware()
+
+                        if (resLisp || resQml) {
+                            VescIf.reloadFirmware()
+                        }
+
                         enableDialog()
-                        VescIf.emitMessageDialog("Uninstall Package",
-                                                 "Uninstallation Done!",
-                                                 true, false)
+
+                        if (resLisp && resQml) {
+                            VescIf.emitMessageDialog("Uninstall Package",
+                                                     "Uninstallation Done!",
+                                                     true, false)
+                        }
                     }
                 }
             }
diff --git a/mobile/SetupWizardFoc.qml b/mobile/SetupWizardFoc.qml
index 446ea911c..769bf2d18 100755
--- a/mobile/SetupWizardFoc.qml
+++ b/mobile/SetupWizardFoc.qml
@@ -69,10 +69,12 @@ Item {
 
     function updateUsageListParams() {
         mMcConf.updateParamDouble("l_duty_start", usageList.currentItem.modelData.duty_start, null)
+        mMcConf.updateParamInt("m_fault_stop_time_ms", usageList.currentItem.modelData.fault_stop_ms, null)
     }
 
     Component.onCompleted: {
         paramListUsage.addEditorMc("l_duty_start")
+        paramListUsage.addEditorMc("m_fault_stop_time_ms")
 
         paramListBatt.addEditorMc("si_battery_type")
         paramListBatt.addEditorMc("si_battery_cells")
@@ -111,10 +113,14 @@ Item {
                     id: usageModel
                     property string iconPath: {iconPath = "qrc" + Utility.getThemePath() + "icons/"}
                     Component.onCompleted: {
-                        append({name: "Generic", usageImg:iconPath + "motor.png", duty_start: 1.0, hfi_start: false})
-                        append({name: "E-Skate", usageImg:"qrc:/res/images/esk8.jpg", duty_start: 0.85, hfi_start: true})
-                        append({name: "EUC", usageImg:iconPath + "EUC-96.png", duty_start: 1.0, hfi_start: false})
-                        append({name: "Propeller", usageImg:"qrc:/res/images/propeller.jpg", duty_start: 1.0, hfi_start: false})
+                        append({name: "Generic", usageImg:iconPath + "motor.png",
+                                   duty_start: 1.0, hfi_start: false, fault_stop_ms: 500})
+                        append({name: "E-Skate", usageImg:"qrc:/res/images/esk8.jpg",
+                                   duty_start: 0.85, hfi_start: true, fault_stop_ms: 50})
+                        append({name: "EUC", usageImg:iconPath + "EUC-96.png",
+                                   duty_start: 1.0, hfi_start: false, fault_stop_ms: 50})
+                        append({name: "Propeller", usageImg:"qrc:/res/images/propeller.jpg",
+                                   duty_start: 1.0, hfi_start: false, fault_stop_ms: 500})
                     }
                 }
 
diff --git a/mobile/StartPage.qml b/mobile/StartPage.qml
index abe317a73..926fbebf9 100644
--- a/mobile/StartPage.qml
+++ b/mobile/StartPage.qml
@@ -652,6 +652,9 @@ Item {
         }
 
         contentItem: Packages {
+            anchors.fill: parent
+            anchors.margins: 5
+            anchors.bottomMargin: 50
             dialogParent: parent
         }
     }
diff --git a/res/CHANGELOG.md b/res/CHANGELOG.md
index a35bf674a..b2d26b1f5 100644
--- a/res/CHANGELOG.md
+++ b/res/CHANGELOG.md
@@ -4,6 +4,7 @@
 * Autocompletion and bracket matching completion improvements.
 * Support for selecting multiple files when saving and deleting files from the log browser.
 * Removed firmware and package tabs and replaced them with buttons.
+* Shorter fault stop time for esk8 and balance in FOC wizard.
 
 ### 6.02
 #### Released 2023-03-12

From 083c6a2247678a53c425bb56a57ff9de97f170d3 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 3 May 2023 20:50:37 +0200
Subject: [PATCH 456/559] Sanity-check motor parameters on write

---
 commands.cpp      |  2 ++
 commands.h        |  1 +
 res/CHANGELOG.md  |  1 +
 vescinterface.cpp | 33 +++++++++++++++++++++++++++++++++
 4 files changed, 37 insertions(+)

diff --git a/commands.cpp b/commands.cpp
index c43ac5ed8..0102fbe83 100755
--- a/commands.cpp
+++ b/commands.cpp
@@ -1382,6 +1382,8 @@ void Commands::setMcconf(bool check)
         if (check) {
             checkMcConfig();
         }
+
+        emit mcConfigWriteSent(check);
     }
 }
 
diff --git a/commands.h b/commands.h
index bc43030ad..7f7bfefc4 100644
--- a/commands.h
+++ b/commands.h
@@ -112,6 +112,7 @@ class Commands : public QObject
     void focHallTableReceived(QVector<int> hall_table, int res);
     void nrfPairingRes(int res);
     void mcConfigCheckResult(QStringList paramsNotSet);
+    void mcConfigWriteSent(bool checkSet);
     void gpdBufferNotifyReceived();
     void gpdBufferSizeLeftReceived(int sizeLeft);
     void valuesSetupReceived(SETUP_VALUES values, unsigned int mask);
diff --git a/res/CHANGELOG.md b/res/CHANGELOG.md
index b2d26b1f5..b9d4bc9c1 100644
--- a/res/CHANGELOG.md
+++ b/res/CHANGELOG.md
@@ -5,6 +5,7 @@
 * Support for selecting multiple files when saving and deleting files from the log browser.
 * Removed firmware and package tabs and replaced them with buttons.
 * Shorter fault stop time for esk8 and balance in FOC wizard.
+* Sanity-check motor parameters on write.
 
 ### 6.02
 #### Released 2023-03-12
diff --git a/vescinterface.cpp b/vescinterface.cpp
index 7046c72b0..a67119a1f 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -328,6 +328,39 @@ VescInterface::VescInterface(QObject *parent) : QObject(parent)
     connect(mMcConfig, SIGNAL(updated()), this, SLOT(mcconfUpdated()));
     connect(mAppConfig, SIGNAL(updated()), this, SLOT(appconfUpdated()));
 
+    // Sanity-check motor parameters
+    connect(mCommands, &Commands::mcConfigWriteSent, [this](bool checkSet) {
+        if (!checkSet) {
+            return;
+        }
+
+        QString notes = "";
+
+        if ((mMcConfig->getParamDouble("l_current_max") * 1.3) > mMcConfig->getParamDouble("l_abs_current_max") ||
+                (fabs(mMcConfig->getParamDouble("l_current_min")) * 1.3) > mMcConfig->getParamDouble("l_abs_current_max")) {
+            notes += tr("<b>Current Checks</b><br>"
+                        "The absolute maximum current is set close to the maximum motor current. This can cause "
+                        "overcurrent faults and stop the motor when requesting high currents. Please check your configuration "
+                        "and make sure that it is correct.");
+        }
+
+        if (mMcConfig->getParamBool("l_slow_abs_current")) {
+            if (!notes.isEmpty()) {
+                notes.append("<br><br>");
+            }
+
+            notes += tr("<b>Limit Checks</b><br>"
+                        "Slow ABS Current Limit is set. This should generally not be done as it greatly increases the "
+                        "chance of permanently damaging the motor controller. Only change this setting if you know "
+                        "exactly what you are doing! In general ABS overcurrent faults indicate that something is "
+                        "wrong with the configuration or that the setup is pushed beyond reasonable limits.");
+        }
+
+        if (!notes.isEmpty()) {
+            emitMessageDialog(tr("Potential Configuration Issues"), notes, false, true);
+        }
+    });
+
     connect(mCommands, &Commands::valuesSetupReceived, [this](SETUP_VALUES v) {
         mLastSetupValues = v;
         mLastSetupTime = QDateTime::currentDateTimeUtc();

From ead9969c79ec3f27514eb503f82c8f45ce6dc383 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 3 May 2023 21:06:29 +0200
Subject: [PATCH 457/559] Updated current check text

---
 vescinterface.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/vescinterface.cpp b/vescinterface.cpp
index a67119a1f..c63ee0ed8 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -341,7 +341,8 @@ VescInterface::VescInterface(QObject *parent) : QObject(parent)
             notes += tr("<b>Current Checks</b><br>"
                         "The absolute maximum current is set close to the maximum motor current. This can cause "
                         "overcurrent faults and stop the motor when requesting high currents. Please check your configuration "
-                        "and make sure that it is correct.");
+                        "and make sure that it is correct. It is recommended to set the absolute maximum current to around 1.5 "
+                        "times the motor current (or braking current if it is higher).");
         }
 
         if (mMcConfig->getParamBool("l_slow_abs_current")) {

From 4910b551dddca4acaddf7e55b7398ee41e039c92 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 4 May 2023 16:23:51 +0200
Subject: [PATCH 458/559] Prefix fw minor with zero

---
 mobile/FwUpdate.qml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mobile/FwUpdate.qml b/mobile/FwUpdate.qml
index a6ccaf5ad..e98fbd3d7 100755
--- a/mobile/FwUpdate.qml
+++ b/mobile/FwUpdate.qml
@@ -902,7 +902,7 @@ Item {
         }
 
         versionText.text =
-                "FW   : v" + params.major + "." + params.minor + fwNameStr + testFwStr + "\n" +
+                "FW   : v" + params.major + "." + (1e5 + params.minor + '').slice(-2) + fwNameStr + testFwStr + "\n" +
                 "HW   : " + params.hw + "\n" +
                 "UUID : " + Utility.uuid2Str(params.uuid, false)
     }

From 9d2a982decb690ed6e495f724aaf7a5b4a24ff7a Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 4 May 2023 17:10:48 +0200
Subject: [PATCH 459/559] Log analysis table graph alignment fix

---
 pages/pageloganalysis.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index 09ec835c8..48da4a3a7 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -1032,7 +1032,7 @@ QVector<double> PageLogAnalysis::getLogSample(double time)
         d = mLogTruncated.first();
 
         if (mInd_t_day >= 0) {
-            int startTime = d[mInd_t_day];
+            double startTime = d[mInd_t_day];
 
             for (auto dn: mLogTruncated) {
                 double timeNow = dn[mInd_t_day] - startTime;

From 739b2a4068fdd1bc3ed78985ae4de023cc8591c5 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 4 May 2023 17:18:04 +0200
Subject: [PATCH 460/559] Updated changelog

---
 res/CHANGELOG.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/res/CHANGELOG.md b/res/CHANGELOG.md
index b9d4bc9c1..d73edaee8 100644
--- a/res/CHANGELOG.md
+++ b/res/CHANGELOG.md
@@ -6,6 +6,7 @@
 * Removed firmware and package tabs and replaced them with buttons.
 * Shorter fault stop time for esk8 and balance in FOC wizard.
 * Sanity-check motor parameters on write.
+* Log analysis graph and table alignment fix.
 
 ### 6.02
 #### Released 2023-03-12

From c2489e93f7434c433d354eb105b8a3ca7e1bbfa8 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 5 May 2023 18:30:10 +0200
Subject: [PATCH 461/559] Disable BMS limits on balance vehicles in wizard

---
 mobile/SetupWizardFoc.qml | 15 +++++++++------
 res/CHANGELOG.md          |  1 +
 2 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/mobile/SetupWizardFoc.qml b/mobile/SetupWizardFoc.qml
index 769bf2d18..0c4ae4ebd 100755
--- a/mobile/SetupWizardFoc.qml
+++ b/mobile/SetupWizardFoc.qml
@@ -70,9 +70,11 @@ Item {
     function updateUsageListParams() {
         mMcConf.updateParamDouble("l_duty_start", usageList.currentItem.modelData.duty_start, null)
         mMcConf.updateParamInt("m_fault_stop_time_ms", usageList.currentItem.modelData.fault_stop_ms, null)
+        mMcConf.updateParamInt("bms.limit_mode", usageList.currentItem.modelData.bms_limit_mode, null)
     }
 
     Component.onCompleted: {
+        paramListUsage.addEditorMc("bms.limit_mode")
         paramListUsage.addEditorMc("l_duty_start")
         paramListUsage.addEditorMc("m_fault_stop_time_ms")
 
@@ -114,13 +116,13 @@ Item {
                     property string iconPath: {iconPath = "qrc" + Utility.getThemePath() + "icons/"}
                     Component.onCompleted: {
                         append({name: "Generic", usageImg:iconPath + "motor.png",
-                                   duty_start: 1.0, hfi_start: false, fault_stop_ms: 500})
+                                   duty_start: 1.0, hfi_start: false, fault_stop_ms: 500, bms_limit_mode: 3})
                         append({name: "E-Skate", usageImg:"qrc:/res/images/esk8.jpg",
-                                   duty_start: 0.85, hfi_start: true, fault_stop_ms: 50})
-                        append({name: "EUC", usageImg:iconPath + "EUC-96.png",
-                                   duty_start: 1.0, hfi_start: false, fault_stop_ms: 50})
+                                   duty_start: 0.85, hfi_start: true, fault_stop_ms: 50, bms_limit_mode: 3})
+                        append({name: "Balance", usageImg:iconPath + "EUC-96.png",
+                                   duty_start: 1.0, hfi_start: false, fault_stop_ms: 50, bms_limit_mode: 0})
                         append({name: "Propeller", usageImg:"qrc:/res/images/propeller.jpg",
-                                   duty_start: 1.0, hfi_start: false, fault_stop_ms: 500})
+                                   duty_start: 1.0, hfi_start: false, fault_stop_ms: 500, bms_limit_mode: 3})
                     }
                 }
 
@@ -213,10 +215,11 @@ Item {
                     }
 
                     GroupBox {
-                        Layout.preferredHeight: implicitHeight
+                        Layout.preferredHeight: dialog.isHorizontal ? implicitHeight : parent.height * 0.5
                         Layout.fillWidth: true
                         Layout.column: 0
                         Layout.row: dialog.isHorizontal ? 0 : 1
+                        Layout.alignment: Qt.AlignTop
                         contentWidth: dialog.isHorizontal ? parent.width/2 : parent.width
 
                         label: CheckBox {
diff --git a/res/CHANGELOG.md b/res/CHANGELOG.md
index d73edaee8..663736b3f 100644
--- a/res/CHANGELOG.md
+++ b/res/CHANGELOG.md
@@ -7,6 +7,7 @@
 * Shorter fault stop time for esk8 and balance in FOC wizard.
 * Sanity-check motor parameters on write.
 * Log analysis graph and table alignment fix.
+* Disable BMS limits on balance vehicles in wizard.
 
 ### 6.02
 #### Released 2023-03-12

From 18501ca5e415e219b20cc984be3e9e9a6ae70669 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 5 May 2023 19:04:00 +0200
Subject: [PATCH 462/559] Disable input voltage limits on balance vehicles in
 wizard

---
 mobile/SetupWizardFoc.qml | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/mobile/SetupWizardFoc.qml b/mobile/SetupWizardFoc.qml
index 0c4ae4ebd..86e96d728 100755
--- a/mobile/SetupWizardFoc.qml
+++ b/mobile/SetupWizardFoc.qml
@@ -116,13 +116,17 @@ Item {
                     property string iconPath: {iconPath = "qrc" + Utility.getThemePath() + "icons/"}
                     Component.onCompleted: {
                         append({name: "Generic", usageImg:iconPath + "motor.png",
-                                   duty_start: 1.0, hfi_start: false, fault_stop_ms: 500, bms_limit_mode: 3})
+                                   duty_start: 1.0, hfi_start: false, fault_stop_ms: 500,
+                                   bms_limit_mode: 3, use_vin_min_limit: true})
                         append({name: "E-Skate", usageImg:"qrc:/res/images/esk8.jpg",
-                                   duty_start: 0.85, hfi_start: true, fault_stop_ms: 50, bms_limit_mode: 3})
+                                   duty_start: 0.85, hfi_start: true, fault_stop_ms: 50,
+                                   bms_limit_mode: 3, use_vin_min_limit: true})
                         append({name: "Balance", usageImg:iconPath + "EUC-96.png",
-                                   duty_start: 1.0, hfi_start: false, fault_stop_ms: 50, bms_limit_mode: 0})
+                                   duty_start: 1.0, hfi_start: false, fault_stop_ms: 50,
+                                   bms_limit_mode: 0, use_vin_min_limit: false})
                         append({name: "Propeller", usageImg:"qrc:/res/images/propeller.jpg",
-                                   duty_start: 1.0, hfi_start: false, fault_stop_ms: 500, bms_limit_mode: 3})
+                                   duty_start: 1.0, hfi_start: false, fault_stop_ms: 500,
+                                   bms_limit_mode: 3, use_vin_min_limit: true})
                     }
                 }
 
@@ -922,7 +926,9 @@ Item {
                 if (res.startsWith("Success!")) {
                     resDetect = true
 
-                    Utility.setBatteryCutCanFromCurrentConfig(VescIf, canDevs)
+                    if (usageList.currentItem.modelData.use_vin_min_limit) {
+                        Utility.setBatteryCutCanFromCurrentConfig(VescIf, canDevs)
+                    }
 
                     var updateAllParams = ["l_duty_start"]
 

From 160bb358590dde020325c1f2abade8ecbde6829c Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 5 May 2023 19:33:04 +0200
Subject: [PATCH 463/559] Lower input voltage cut on balance vehicles in wizard

---
 mobile/SetupWizardFoc.qml      | 12 +++++-------
 utility.cpp                    | 28 ++++++++++++++++++++--------
 utility.h                      |  2 +-
 widgets/detectallfocdialog.cpp |  2 +-
 4 files changed, 27 insertions(+), 17 deletions(-)

diff --git a/mobile/SetupWizardFoc.qml b/mobile/SetupWizardFoc.qml
index 86e96d728..47ed38ba4 100755
--- a/mobile/SetupWizardFoc.qml
+++ b/mobile/SetupWizardFoc.qml
@@ -117,16 +117,16 @@ Item {
                     Component.onCompleted: {
                         append({name: "Generic", usageImg:iconPath + "motor.png",
                                    duty_start: 1.0, hfi_start: false, fault_stop_ms: 500,
-                                   bms_limit_mode: 3, use_vin_min_limit: true})
+                                   bms_limit_mode: 3, batt_cut_cautious: true})
                         append({name: "E-Skate", usageImg:"qrc:/res/images/esk8.jpg",
                                    duty_start: 0.85, hfi_start: true, fault_stop_ms: 50,
-                                   bms_limit_mode: 3, use_vin_min_limit: true})
+                                   bms_limit_mode: 3, batt_cut_cautious: true})
                         append({name: "Balance", usageImg:iconPath + "EUC-96.png",
                                    duty_start: 1.0, hfi_start: false, fault_stop_ms: 50,
-                                   bms_limit_mode: 0, use_vin_min_limit: false})
+                                   bms_limit_mode: 0, batt_cut_cautious: false})
                         append({name: "Propeller", usageImg:"qrc:/res/images/propeller.jpg",
                                    duty_start: 1.0, hfi_start: false, fault_stop_ms: 500,
-                                   bms_limit_mode: 3, use_vin_min_limit: true})
+                                   bms_limit_mode: 3, batt_cut_cautious: true})
                     }
                 }
 
@@ -926,9 +926,7 @@ Item {
                 if (res.startsWith("Success!")) {
                     resDetect = true
 
-                    if (usageList.currentItem.modelData.use_vin_min_limit) {
-                        Utility.setBatteryCutCanFromCurrentConfig(VescIf, canDevs)
-                    }
+                    Utility.setBatteryCutCanFromCurrentConfig(VescIf, canDevs, usageList.currentItem.modelData.batt_cut_cautious)
 
                     var updateAllParams = ["l_duty_start"]
 
diff --git a/utility.cpp b/utility.cpp
index 51057a55f..e926a97ae 100755
--- a/utility.cpp
+++ b/utility.cpp
@@ -798,7 +798,7 @@ bool Utility::setBatteryCutCan(VescInterface *vesc, QVector<int> canIds, double
     return setMcParamsFromCurrentConfigAllCan(vesc, canIds, {"l_battery_cut_start", "l_battery_cut_end"});
 }
 
-bool Utility::setBatteryCutCanFromCurrentConfig(VescInterface *vesc, QVector<int> canIds)
+bool Utility::setBatteryCutCanFromCurrentConfig(VescInterface *vesc, QVector<int> canIds, bool cautious)
 {
     ConfigParams *p = vesc->mcConfig();
 
@@ -807,14 +807,26 @@ bool Utility::setBatteryCutCanFromCurrentConfig(VescInterface *vesc, QVector<int
     double start = -1.0;
     double end = -1.0;
 
-    if (battType == 0) {
-        start = 3.4;
-        end = 3.0;
-    } else if (battType == 1) {
-        start = 2.9;
-        end = 2.6;
+    if (cautious) {
+        if (battType == 0) {
+            start = 3.4;
+            end = 3.0;
+        } else if (battType == 1) {
+            start = 2.9;
+            end = 2.6;
+        } else {
+            return false;
+        }
     } else {
-        return false;
+        if (battType == 0) {
+            start = 2.7;
+            end = 2.5;
+        } else if (battType == 1) {
+            start = 2.5;
+            end = 2.2;
+        } else {
+            return false;
+        }
     }
 
     start *= (double)cells;
diff --git a/utility.h b/utility.h
index ef12d43e3..6863ab8b9 100644
--- a/utility.h
+++ b/utility.h
@@ -69,7 +69,7 @@ class Utility : public QObject
     Q_INVOKABLE static bool waitMotorStop(VescInterface *vesc, double erpmTres, int timeoutMs);
     Q_INVOKABLE static bool resetInputCan(VescInterface *vesc, QVector<int> canIds);
     Q_INVOKABLE static bool setBatteryCutCan(VescInterface *vesc, QVector<int> canIds, double cutStart, double cutEnd);
-    Q_INVOKABLE static bool setBatteryCutCanFromCurrentConfig(VescInterface *vesc, QVector<int> canIds);
+    Q_INVOKABLE static bool setBatteryCutCanFromCurrentConfig(VescInterface *vesc, QVector<int> canIds, bool cautious);
     Q_INVOKABLE static bool setMcParamsFromCurrentConfigAllCan(VescInterface *vesc, QVector<int> canIds, QStringList params);
     Q_INVOKABLE static bool setInvertDirection(VescInterface *vesc, int canId, bool inverted);
     Q_INVOKABLE static bool getInvertDirection(VescInterface *vesc, int canId);
diff --git a/widgets/detectallfocdialog.cpp b/widgets/detectallfocdialog.cpp
index 156a00a07..87a7f0acf 100644
--- a/widgets/detectallfocdialog.cpp
+++ b/widgets/detectallfocdialog.cpp
@@ -303,7 +303,7 @@ void DetectAllFocDialog::runDetect(bool can)
                                         ui->sensorlessErpmBox->value());
 
     if (res.startsWith("Success!")) {
-        Utility::setBatteryCutCanFromCurrentConfig(mVesc, canDevs);
+        Utility::setBatteryCutCanFromCurrentConfig(mVesc, canDevs, true);
     }
 
     ui->progressBar->setRange(0, 100);

From 93556002470ffa07b993604d2613b0366209bd7e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 11 May 2023 16:40:04 +0200
Subject: [PATCH 464/559] Custom module stm32g4 bootloader support and mobile
 firmare bugfix

---
 mobile/FwUpdate.qml                         |   5 ++
 mobile/fwhelper.cpp                         |  41 +++++++++++++---
 pages/pagefirmware.cpp                      |  50 ++++++++++++++++----
 res/bootloaders_custom_module/stm32g431.bin | Bin 0 -> 6560 bytes
 res_custom_module.qrc                       |   5 ++
 vesc_tool.pro                               |   1 +
 vescinterface.cpp                           |  14 ++++--
 7 files changed, 96 insertions(+), 20 deletions(-)
 create mode 100755 res/bootloaders_custom_module/stm32g431.bin
 create mode 100644 res_custom_module.qrc

diff --git a/mobile/FwUpdate.qml b/mobile/FwUpdate.qml
index e98fbd3d7..42904d373 100755
--- a/mobile/FwUpdate.qml
+++ b/mobile/FwUpdate.qml
@@ -156,6 +156,10 @@ Item {
                             }
 
                             onCurrentIndexChanged: {
+                                updateFws()
+                            }
+
+                            function updateFws() {
                                 if (hwItems.rowCount() === 0) {
                                     return
                                 }
@@ -658,6 +662,7 @@ Item {
         }
 
         hwBox.currentIndex = 0
+        hwBox.updateFws()
     }
 
     function updateBl(params) {
diff --git a/mobile/fwhelper.cpp b/mobile/fwhelper.cpp
index e62b55c0f..1133830ef 100644
--- a/mobile/fwhelper.cpp
+++ b/mobile/fwhelper.cpp
@@ -84,12 +84,30 @@ QVariantMap FwHelper::getBootloaders(FW_RX_PARAMS params, QString hw)
 {
     QVariantMap bls;
 
-    QString blDir;
-    if (params.hwType == HW_TYPE_VESC) {
+    QString blDir = "";
+    switch (params.hwType) {
+    case HW_TYPE_VESC:
         blDir = "://res/bootloaders";
-    } else if (params.hwType == HW_TYPE_VESC_BMS) {
+        break;
+
+    case HW_TYPE_VESC_BMS:
         blDir = "://res/bootloaders_bms";
-    } else {
+        break;
+
+    case HW_TYPE_CUSTOM_MODULE:
+        QByteArray endEsp;
+        endEsp.append('\0');
+        endEsp.append('\0');
+        endEsp.append('\0');
+        endEsp.append('\0');
+
+        if (!params.uuid.endsWith(endEsp)) {
+            blDir = "://res/bootloaders_custom_module";
+        }
+        break;
+    }
+
+    if (blDir.isEmpty()) {
         return bls;
     }
 
@@ -109,9 +127,18 @@ QVariantMap FwHelper::getBootloaders(FW_RX_PARAMS params, QString hw)
     }
 
     if (bls.isEmpty()) {
-        QFileInfo generic(blDir + "/generic.bin");
-        if (generic.exists()) {
-            bls.insert("generic", generic.absoluteFilePath());
+        {
+            QFileInfo generic(blDir + "/generic.bin");
+            if (generic.exists()) {
+                bls.insert("generic", generic.absoluteFilePath());
+            }
+        }
+
+        {
+            QFileInfo stm32g431(blDir + "/stm32g431.bin");
+            if (stm32g431.exists()) {
+                bls.insert("stm32g431", stm32g431.absoluteFilePath());
+            }
         }
     }
 
diff --git a/pages/pagefirmware.cpp b/pages/pagefirmware.cpp
index 28b23ea77..8ed822f19 100755
--- a/pages/pagefirmware.cpp
+++ b/pages/pagefirmware.cpp
@@ -335,12 +335,30 @@ void PageFirmware::updateBlList(FW_RX_PARAMS params)
 {
     ui->blList->clear();
 
-    QString blDir;
-    if (params.hwType == HW_TYPE_VESC) {
+    QString blDir = "";
+    switch (params.hwType) {
+    case HW_TYPE_VESC:
         blDir = "://res/bootloaders";
-    } else if (params.hwType == HW_TYPE_VESC_BMS) {
+        break;
+
+    case HW_TYPE_VESC_BMS:
         blDir = "://res/bootloaders_bms";
-    } else {
+        break;
+
+    case HW_TYPE_CUSTOM_MODULE:
+        QByteArray endEsp;
+        endEsp.append('\0');
+        endEsp.append('\0');
+        endEsp.append('\0');
+        endEsp.append('\0');
+
+        if (!params.uuid.endsWith(endEsp)) {
+            blDir = "://res/bootloaders_custom_module";
+        }
+        break;
+    }
+
+    if (blDir.isEmpty()) {
         return;
     }
 
@@ -364,12 +382,24 @@ void PageFirmware::updateBlList(FW_RX_PARAMS params)
     }
 
     if (ui->blList->count() == 0) {
-        QFileInfo generic(blDir + "/generic.bin");
-        if (generic.exists()) {
-            QListWidgetItem *item = new QListWidgetItem;
-            item->setText("generic");
-            item->setData(Qt::UserRole, generic.absoluteFilePath());
-            ui->blList->insertItem(ui->blList->count(), item);
+        {
+            QFileInfo generic(blDir + "/generic.bin");
+            if (generic.exists()) {
+                QListWidgetItem *item = new QListWidgetItem;
+                item->setText("generic");
+                item->setData(Qt::UserRole, generic.absoluteFilePath());
+                ui->blList->insertItem(ui->blList->count(), item);
+            }
+        }
+
+        {
+            QFileInfo stm32g431(blDir + "/stm32g431.bin");
+            if (stm32g431.exists()) {
+                QListWidgetItem *item = new QListWidgetItem;
+                item->setText("stm32g431");
+                item->setData(Qt::UserRole, stm32g431.absoluteFilePath());
+                ui->blList->insertItem(ui->blList->count(), item);
+            }
         }
     }
 
diff --git a/res/bootloaders_custom_module/stm32g431.bin b/res/bootloaders_custom_module/stm32g431.bin
new file mode 100755
index 0000000000000000000000000000000000000000..661c702d07bfaf88eb28ba2e24c13492a0eda01a
GIT binary patch
literal 6560
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zR?!z54x6?Y6u)gbmAYNN`^WG8+I{r1S1;wyUN<pzv@YtKjdxb=e*7e}{Nv}|O?)lm
z#p^wNo`c_<{^C#B-z|NCd$&waS`#Fx+KjKi`l0Q2-Vg6)zhvL1ct5Sad)Y<v$ItC4
zepbCmkv?bSlzUgdbvJ}w@A%FBrIm9(RUdh0^^2STnfuw3nyL6aRy9BQ4?pa<_x*(n
z*QR`+Jj1=3bMUq2KU#C?>A=FcM`li2Jhn9YjsE}m>Du+)za}-z`S6K1%63##zwi8W
zUB{cM<_FF#^sl|)px#91bvJ2Z(F8qHx{9qY-|Gt1UODm0#^ly5H=pjRlT?lD(zMKc
z&=9|5lkM?!zEkeE-`oAt_BGvk-%Y(V;<JCuY8-zk-bt+7kX1CkKx(@BZt&xMFMjgc
zzj>bT`NbFWzG<D<IlDUQ*yvxa+_-TRGwbo(wr9SIzB}Ff<v#CAFV`P=-?Vf^c2wCU
z?rg#ha%)Cy>c6|6y!vRz*wEd|%lkh)QuFDr%>~OIDjxluU(uvKF=gkRY4>7&Sbc55
zh2Nj4{NVP%uU?(FS+=_9$;{lh=9N!vPd=v__tPW&PyKcC_5C0Iv7v2;@Wz-mv!8!#
z;fAMO(~dvV9L<ll7p-0)t_N|w4X!=0jjTT!L}B_bc|FJ?6qYXqK0*;Z1^Qu%@W2jS
VKj#Z|u&=!RTd+aEkoM<&{{p?>TG0Ri

literal 0
HcmV?d00001

diff --git a/res_custom_module.qrc b/res_custom_module.qrc
new file mode 100644
index 000000000..65fb24c0f
--- /dev/null
+++ b/res_custom_module.qrc
@@ -0,0 +1,5 @@
+<RCC>
+    <qresource prefix="/">
+        <file>res/bootloaders_custom_module/stm32g431.bin</file>
+    </qresource>
+</RCC>
diff --git a/vesc_tool.pro b/vesc_tool.pro
index c8a61809c..6f6050501 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -268,6 +268,7 @@ include(esp32/esp32.pri)
 include(display_tool/display_tool.pri)
 
 RESOURCES += res.qrc \
+    res_custom_module.qrc \
     res_lisp.qrc \
     res_qml.qrc
 RESOURCES += res_config.qrc
diff --git a/vescinterface.cpp b/vescinterface.cpp
index c63ee0ed8..961af82b4 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -1462,10 +1462,18 @@ bool VescInterface::fwUpload(QByteArray &newFirmware, bool isBootloader, bool fw
     int addr = 0;
 
     if (isBootloader) {
-        if (mLastFwParams.hwType != HW_TYPE_VESC) {
-            addr += 0x0803E000 - 0x08020000;
-        } else {
+        switch (mLastFwParams.hwType) {
+        case HW_TYPE_VESC:
             addr += (1024 * 128 * 3);
+            break;
+
+        case HW_TYPE_VESC_BMS:
+            addr += 0x0803E000 - 0x08020000;
+            break;
+
+        case HW_TYPE_CUSTOM_MODULE:
+            addr += 0x0801E000 - 0x08010000;
+            break;
         }
     }
 

From caaeecdfcc93d5a27845c09dce731d4138472240 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 12 May 2023 16:16:11 +0200
Subject: [PATCH 465/559] Added DCDC qml example

---
 res/qml/Examples/DCDC.qml | 121 ++++++++++++++++++++++++++++++++++++++
 res_qml.qrc               |   1 +
 2 files changed, 122 insertions(+)
 create mode 100644 res/qml/Examples/DCDC.qml

diff --git a/res/qml/Examples/DCDC.qml b/res/qml/Examples/DCDC.qml
new file mode 100644
index 000000000..d5c81b527
--- /dev/null
+++ b/res/qml/Examples/DCDC.qml
@@ -0,0 +1,121 @@
+import QtQuick 2.12
+import QtQuick.Controls 2.0
+import QtQuick.Layouts 1.3
+import QtQuick.Controls.Material 2.2
+import Vedder.vesc.utility 1.0
+
+import Vedder.vesc.commands 1.0
+import Vedder.vesc.configparams 1.0
+
+Item {
+    id: mainItem
+    anchors.fill: parent
+    anchors.margins: 5
+    
+    property Commands mCommands: VescIf.commands()
+    property ConfigParams mMcConf: VescIf.mcConfig()
+    
+    ColumnLayout {
+        id: gaugeColumn
+        anchors.fill: parent
+        GridLayout {
+            Layout.fillHeight: true
+            Layout.fillWidth: true
+            
+            columns: 2
+            
+            CustomGauge {
+                id: adc1Gauge
+                Layout.fillWidth: true
+                Layout.preferredWidth: gaugeColumn.width * 0.45
+                Layout.preferredHeight: gaugeColumn.height * 0.45
+                maximumValue: 120
+                minimumValue: 0
+                tickmarkScale: 1
+                labelStep: 10
+                precision: 1
+                value: 0
+                unitText: "V"
+                typeText: "V In"
+            }
+            
+            CustomGauge {
+                id: adc2Gauge
+                Layout.fillWidth: true
+                Layout.preferredWidth: gaugeColumn.width * 0.45
+                Layout.preferredHeight: gaugeColumn.height * 0.45
+                maximumValue: 30
+                minimumValue: 0
+                tickmarkScale: 1
+                labelStep: 5
+                precision: 1
+                value: 0
+                unitText: "V"
+                typeText: "V Out"
+            }
+            
+            CustomGauge {
+                id: adc3Gauge
+                Layout.fillWidth: true
+                Layout.preferredWidth: gaugeColumn.width * 0.45
+                Layout.preferredHeight: gaugeColumn.height * 0.45
+                maximumValue: 120
+                minimumValue: -20
+                tickmarkScale: 1
+                labelStep: 10
+                precision: 1
+                value: 0
+                unitText: "degC"
+                typeText: "Temp"
+            }
+            
+            CustomGauge {
+                id: adc4Gauge
+                Layout.fillWidth: true
+                Layout.preferredWidth: gaugeColumn.width * 0.45
+                Layout.preferredHeight: gaugeColumn.height * 0.45
+                maximumValue: 20
+                minimumValue: 0
+                tickmarkScale: 1
+                labelStep: 10
+                precision: 1
+                value: 0
+                unitText: "A"
+                typeText: "Current"
+            }
+        }
+        
+        Slider {
+            Layout.fillWidth: true
+            
+            from: 0
+            to: 150
+            value: 0
+            
+            onValueChanged: {
+                mCommands.ioBoardSetPwm(255, 0, value / 1000)
+            }
+        }
+    }
+    
+    Timer {
+        running: true
+        repeat: true
+        interval: 100
+        
+        onTriggered: {
+            mCommands.ioBoardGetAll(104)
+        }
+    }
+    
+    Connections {
+        target: mCommands
+        
+        function onIoBoardValRx(val) {
+            adc1Gauge.value = val.adc_1_4[0]
+            adc2Gauge.value = val.adc_1_4[1]
+            adc3Gauge.value = val.adc_1_4[2]
+            adc4Gauge.value = val.adc_1_4[3]
+        }
+    }
+}
diff --git a/res_qml.qrc b/res_qml.qrc
index 1c52dda4e..6692d33b0 100644
--- a/res_qml.qrc
+++ b/res_qml.qrc
@@ -30,5 +30,6 @@
         <file>res/qml/Examples/TcpHub.qml</file>
         <file>res/qml/Examples/ParamTableAndPlot.qml</file>
         <file>res/qml/Examples/SendToLbm.qml</file>
+        <file>res/qml/Examples/DCDC.qml</file>
     </qresource>
 </RCC>

From 7fbe5d469608418d5836dbec6f5e76f9e3616c86 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 12 May 2023 21:54:35 +0200
Subject: [PATCH 466/559] UI tweak

---
 res/qml/Examples/DCDC.qml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/res/qml/Examples/DCDC.qml b/res/qml/Examples/DCDC.qml
index d5c81b527..71a5febe2 100644
--- a/res/qml/Examples/DCDC.qml
+++ b/res/qml/Examples/DCDC.qml
@@ -28,7 +28,7 @@ Item {
                 id: adc1Gauge
                 Layout.fillWidth: true
                 Layout.preferredWidth: gaugeColumn.width * 0.45
-                Layout.preferredHeight: gaugeColumn.height * 0.45
+                Layout.preferredHeight: gaugeColumn.width * 0.45
                 maximumValue: 120
                 minimumValue: 0
                 tickmarkScale: 1
@@ -43,7 +43,7 @@ Item {
                 id: adc2Gauge
                 Layout.fillWidth: true
                 Layout.preferredWidth: gaugeColumn.width * 0.45
-                Layout.preferredHeight: gaugeColumn.height * 0.45
+                Layout.preferredHeight: gaugeColumn.width * 0.45
                 maximumValue: 30
                 minimumValue: 0
                 tickmarkScale: 1
@@ -58,7 +58,7 @@ Item {
                 id: adc3Gauge
                 Layout.fillWidth: true
                 Layout.preferredWidth: gaugeColumn.width * 0.45
-                Layout.preferredHeight: gaugeColumn.height * 0.45
+                Layout.preferredHeight: gaugeColumn.width * 0.45
                 maximumValue: 120
                 minimumValue: -20
                 tickmarkScale: 1
@@ -73,7 +73,7 @@ Item {
                 id: adc4Gauge
                 Layout.fillWidth: true
                 Layout.preferredWidth: gaugeColumn.width * 0.45
-                Layout.preferredHeight: gaugeColumn.height * 0.45
+                Layout.preferredHeight: gaugeColumn.width * 0.45
                 maximumValue: 20
                 minimumValue: 0
                 tickmarkScale: 1

From 5f4dfbd4c55bcfe14b584b08433abd882d7822eb Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 22 May 2023 08:40:53 +0200
Subject: [PATCH 467/559] Added keywords

---
 QCodeEditor/resources/languages/lisp.xml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 72b8f8788..3630487de 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -124,6 +124,8 @@
 <name>set-mailbox-size</name>
 <name>yield</name>
 <name>ix</name>
+<name>take</name>
+<name>drop</name>
 <name>list</name>
 <name>append</name>
 <name>mod</name>

From 36c5cf7f5d9789625530e479ec0e42b134420238 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 8 Jun 2023 04:35:50 +0200
Subject: [PATCH 468/559] Added new option, parameter editor file export
 improvement

---
 parametereditor.cpp                   | 19 +++++++++++++++----
 res/config/6.05/parameters_mcconf.xml | 26 ++++++++++++++++++++++++++
 2 files changed, 41 insertions(+), 4 deletions(-)

diff --git a/parametereditor.cpp b/parametereditor.cpp
index d71544e49..a3936fa52 100644
--- a/parametereditor.cpp
+++ b/parametereditor.cpp
@@ -1128,12 +1128,23 @@ void ParameterEditor::on_actionSave_XML_and_export_config_parser_and_compressed_
         }
     }
 
+    QString filenamePrefix = "";
+    {
+        bool ok;
+        QString text = QInputDialog::getText(this, "Optional Filename Prefix",
+                                             "Prefix:", QLineEdit::Normal,
+                                             filenamePrefix, &ok);
+        if (ok) {
+            filenamePrefix = text.replace(" ", "_");
+        }
+    }
+
     QFileInfo fi(path);
     path.chop(fi.fileName().length());
-    QString pathXml = path + "settings.xml";
-    QString pathDefines = path + "conf_default.h";
-    QString pathParser = path + "confparser.c";
-    QString pathCompressed = path + "confxml.c";
+    QString pathXml = path + filenamePrefix + "settings.xml";
+    QString pathDefines = path + filenamePrefix + "conf_default.h";
+    QString pathParser = path + filenamePrefix + "confparser.c";
+    QString pathCompressed = path + filenamePrefix + "confxml.c";
 
     Utility::createCompressedConfigC(&mParams, nameConfig, pathCompressed);
     Utility::createParamParserC(&mParams, nameConfig, pathParser);
diff --git a/res/config/6.05/parameters_mcconf.xml b/res/config/6.05/parameters_mcconf.xml
index 363ecdedb..561402acb 100644
--- a/res/config/6.05/parameters_mcconf.xml
+++ b/res/config/6.05/parameters_mcconf.xml
@@ -163,6 +163,30 @@ p, li { white-space: pre-wrap; }
             <suffix> A</suffix>
             <vTx>9</vTx>
         </l_in_current_min>
+        <l_in_current_map_start>
+            <longName>Input Current Limit Map Start</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Start limiting the Q axis current when the input current reaches this fraction of the maximum input current. The default value of 100% disables this function. This is useful for limiting the input current when using field weakening and MTPA.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Setting this value too low will limit the current more than needed and setting it too high can lead to oscillation close to the maximum current. A value of 80-90% is a good starting point.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_IN_CURRENT_MAP_START</cDefine>
+            <editorDecimalsDouble>2</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>1</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>1</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </l_in_current_map_start>
         <l_abs_current_max>
             <longName>Absolute Maximum Current</longName>
             <type>1</type>
@@ -4415,6 +4439,7 @@ p, li { white-space: pre-wrap; }
         <ser>l_current_min</ser>
         <ser>l_in_current_max</ser>
         <ser>l_in_current_min</ser>
+        <ser>l_in_current_map_start</ser>
         <ser>l_abs_current_max</ser>
         <ser>l_min_erpm</ser>
         <ser>l_max_erpm</ser>
@@ -4638,6 +4663,7 @@ p, li { white-space: pre-wrap; }
                     <param>::sep::Battery</param>
                     <param>l_in_current_max</param>
                     <param>l_in_current_min</param>
+                    <param>l_in_current_map_start</param>
                     <param>::sep::DRV8301</param>
                     <param>m_drv8301_oc_mode</param>
                     <param>m_drv8301_oc_adj</param>

From c50da679fa32504ffe75a8e66f3258b7d580028f Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 11 Jun 2023 12:58:01 +0200
Subject: [PATCH 469/559] Tweaked old firmware message

---
 vescinterface.cpp | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/vescinterface.cpp b/vescinterface.cpp
index 961af82b4..df992e562 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -3690,10 +3690,12 @@ void VescInterface::fwVersionReceived(FW_RX_PARAMS params)
                                            false, false);
                     }
                 } else {
-                    emit messageDialog(tr("Warning"), tr("The connected VESC has too old firmware. Since the"
-                                                         " connected VESC has firmware with bootloader support, it can be"
-                                                         " updated from the Firmware page."
-                                                         " Until then, limited communication mode will be used."), false, false);
+                    if (params.hwType == HW_TYPE_VESC) {
+                        emit messageDialog(tr("Warning"), tr("The connected VESC has too old firmware. Since the"
+                                                             " connected VESC has firmware with bootloader support, it can be"
+                                                             " updated from the Firmware page."
+                                                             " Until then, limited communication mode will be used."), false, false);
+                    }
                 }
             }
         } else {

From 218e8f685f575bb8e97f80240a6204b51ae2c474 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 19 Jun 2023 13:57:31 +0200
Subject: [PATCH 470/559] Removed app_balance in favor of the balance package

---
 boardsetupwindow.cpp                   |    1 -
 commands.cpp                           |   34 -
 commands.h                             |    3 -
 datatypes.h                            |   45 -
 mainwindow.cpp                         |   16 +-
 mainwindow.h                           |    2 -
 mobile/RtDataBalance.qml               |  288 -----
 mobile/main.qml                        |   28 -
 mobile/qml.qrc                         |    1 -
 pages/pageappbalance.cpp               |  267 ----
 pages/pageappbalance.h                 |   79 --
 pages/pageappbalance.ui                |  156 ---
 pages/pages.pri                        |    3 -
 res/config/6.05/parameters_appconf.xml | 1631 +-----------------------
 14 files changed, 3 insertions(+), 2551 deletions(-)
 delete mode 100644 mobile/RtDataBalance.qml
 delete mode 100644 pages/pageappbalance.cpp
 delete mode 100644 pages/pageappbalance.h
 delete mode 100644 pages/pageappbalance.ui

diff --git a/boardsetupwindow.cpp b/boardsetupwindow.cpp
index fc9dc0d90..2577cf953 100644
--- a/boardsetupwindow.cpp
+++ b/boardsetupwindow.cpp
@@ -140,7 +140,6 @@ void BoardSetupWindow::timerSlot()
         mVesc->commands()->getDecodedAdc();
         mVesc->commands()->getDecodedChuk();
         mVesc->commands()->getDecodedPpm();
-        mVesc->commands()->getDecodedBalance();
     }
 
     // IMU Data
diff --git a/commands.cpp b/commands.cpp
index 0102fbe83..d1c188d43 100755
--- a/commands.cpp
+++ b/commands.cpp
@@ -49,7 +49,6 @@ Commands::Commands(QObject *parent) : QObject(parent)
     mTimeoutDecPpm = 0;
     mTimeoutDecAdc = 0;
     mTimeoutDecChuk = 0;
-    mTimeoutDecBalance = 0;
     mTimeoutPingCan = 0;
     mTimeoutCustomConf = 0;
     mTimeoutBmsVal = 0;
@@ -399,25 +398,6 @@ void Commands::processPacket(QByteArray data)
         emit decodedChukReceived(vb.vbPopFrontDouble32(1000000.0));
         break;
 
-    case COMM_GET_DECODED_BALANCE: {
-        mTimeoutDecBalance = 0;
-
-        BALANCE_VALUES values;
-
-        values.pid_output = vb.vbPopFrontDouble32(1e6);
-        values.pitch_angle = vb.vbPopFrontDouble32(1e6);
-        values.roll_angle = vb.vbPopFrontDouble32(1e6);
-        values.diff_time = vb.vbPopFrontUint32();
-        values.motor_current = vb.vbPopFrontDouble32(1e6);
-        values.debug1 = vb.vbPopFrontDouble32(1e6);
-        values.state = vb.vbPopFrontUint16();
-        values.switch_value = vb.vbPopFrontUint16();
-        values.adc1 = vb.vbPopFrontDouble32(1e6);
-        values.adc2 = vb.vbPopFrontDouble32(1e6);
-        values.debug2 = vb.vbPopFrontDouble32(1e6);
-        emit decodedBalanceReceived(values);
-    } break;
-
     case COMM_SET_MCCONF:
         emit ackReceived("MCCONF Write OK");
         break;
@@ -1496,19 +1476,6 @@ void Commands::getDecodedChuk()
     emitData(vb);
 }
 
-void Commands::getDecodedBalance()
-{
-    if (mTimeoutDecBalance > 0) {
-        return;
-    }
-
-    mTimeoutDecBalance = mTimeoutCount;
-
-    VByteArray vb;
-    vb.vbAppendInt8(COMM_GET_DECODED_BALANCE);
-    emitData(vb);
-}
-
 void Commands::setServoPos(double pos)
 {
     VByteArray vb;
@@ -2281,7 +2248,6 @@ void Commands::timerSlot()
     if (mTimeoutDecPpm > 0) mTimeoutDecPpm--;
     if (mTimeoutDecAdc > 0) mTimeoutDecAdc--;
     if (mTimeoutDecChuk > 0) mTimeoutDecChuk--;
-    if (mTimeoutDecBalance > 0) mTimeoutDecBalance--;
     if (mTimeoutPingCan > 0) {
         mTimeoutPingCan--;
         if (mTimeoutPingCan == 0) {
diff --git a/commands.h b/commands.h
index 7f7bfefc4..e60ec7933 100644
--- a/commands.h
+++ b/commands.h
@@ -103,7 +103,6 @@ class Commands : public QObject
     void decodedPpmReceived(double value, double last_len);
     void decodedAdcReceived(double value, double voltage, double value2, double voltage2);
     void decodedChukReceived(double value);
-    void decodedBalanceReceived(BALANCE_VALUES values);
     void motorRLReceived(double r, double l, double ld_lq_diff);
     void motorLinkageReceived(double flux_linkage);
     void encoderParamReceived(ENCODER_DETECT_RES res);
@@ -197,7 +196,6 @@ public slots:
     void getDecodedPpm();
     void getDecodedAdc();
     void getDecodedChuk();
-    void getDecodedBalance();
     void setServoPos(double pos);
     void measureRL();
     void measureLinkage(double current, double min_rpm, double low_duty, double resistance);
@@ -318,7 +316,6 @@ private slots:
     int mTimeoutDecPpm;
     int mTimeoutDecAdc;
     int mTimeoutDecChuk;
-    int mTimeoutDecBalance;
     int mTimeoutPingCan;
     int mTimeoutCustomConf;
     int mTimeoutBmsVal;
diff --git a/datatypes.h b/datatypes.h
index 6112558ce..f61b06ddf 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -1155,51 +1155,6 @@ typedef enum {
     NRF_PAIR_FAIL
 } NRF_PAIR_RES;
 
-struct BALANCE_VALUES {
-    Q_GADGET
-
-    Q_PROPERTY(double pid_output MEMBER pid_output)
-    Q_PROPERTY(double pitch_angle MEMBER pitch_angle)
-    Q_PROPERTY(double roll_angle MEMBER roll_angle)
-    Q_PROPERTY(int diff_time MEMBER diff_time)
-    Q_PROPERTY(double motor_current MEMBER motor_current)
-    Q_PROPERTY(int state MEMBER state)
-    Q_PROPERTY(int switch_value MEMBER switch_value)
-    Q_PROPERTY(double adc1 MEMBER adc1)
-    Q_PROPERTY(double adc2 MEMBER adc2)
-    Q_PROPERTY(double debug1 MEMBER debug1)
-    Q_PROPERTY(double debug2 MEMBER debug2)
-
-public:
-    BALANCE_VALUES() {
-        pid_output = 0;
-        pitch_angle = 0;
-        roll_angle = 0;
-        diff_time = 0;
-        motor_current = 0;
-        state = 0;
-        switch_value = 0;
-        adc1 = 0;
-        adc2 = 0;
-        debug1 = 0;
-        debug2 = 0;
-    }
-
-    double pid_output;
-    double pitch_angle;
-    double roll_angle;
-    int diff_time;
-    double motor_current;
-    int state;
-    int switch_value;
-    double adc1;
-    double adc2;
-    double debug1;
-    double debug2;
-};
-
-Q_DECLARE_METATYPE(BALANCE_VALUES)
-
 struct LISP_STATS {
     Q_GADGET
 
diff --git a/mainwindow.cpp b/mainwindow.cpp
index dc46f1326..a52584611 100755
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -321,15 +321,13 @@ MainWindow::MainWindow(QWidget *parent) :
             ui->pageList->item(mPageNameIdList.value("app_ppm"))->setHidden
                     (!(type == 1 || type == 4 || type == 8));
             ui->pageList->item(mPageNameIdList.value("app_adc"))->setHidden
-                    (!(type == 2 || type == 5 || type == 8 || type == 11));
+                    (!(type == 2 || type == 5 || type == 8 || type == 10));
             ui->pageList->item(mPageNameIdList.value("app_uart"))->setHidden
                     (!(type == 3 || type == 4 || type == 5 || type == 8));
             ui->pageList->item(mPageNameIdList.value("app_vescremote"))->setHidden
                     (!(type == 0 || type == 3 || type == 6 || type == 7 || type == 8));
-            ui->pageList->item(mPageNameIdList.value("app_balance"))->setHidden
-                    (!(type == 8 || type == 9));
             ui->pageList->item(mPageNameIdList.value("app_pas"))->setHidden
-                    (!(type == 10 || type == 11));
+                    (!(type == 9 || type == 10));
         }
     };
 
@@ -418,7 +416,6 @@ MainWindow::MainWindow(QWidget *parent) :
         mPageAppUart->reloadParams();
         mPageAppNunchuk->reloadParams();
         mPageAppNrf->reloadParams();
-        mPageAppBalance->reloadParams();
         mPageAppPas->reloadParams();
         mPageAppImu->reloadParams();
         mPageFirmware->reloadParams();
@@ -498,7 +495,6 @@ MainWindow::MainWindow(QWidget *parent) :
             mVesc->commands()->getDecodedAdc();
             mVesc->commands()->getDecodedChuk();
             mVesc->commands()->getDecodedPpm();
-            mVesc->commands()->getDecodedBalance();
             mPollAppTimer.setInterval(int(1000.0 / mSettings.value("poll_rate_app_data", 50).toDouble()));
         }
     });
@@ -1468,13 +1464,6 @@ void MainWindow::reloadPages()
                 theme + "icons/appconf.png", false, true);
     mPageNameIdList.insert("app_nrf", ui->pageList->count() - 1);
 
-    mPageAppBalance = new PageAppBalance(this);
-    mPageAppBalance->setVesc(mVesc);
-    ui->pageWidget->addWidget(mPageAppBalance);
-    addPageItem(tr("Balance"),  theme + "icons/EUC-96.png",
-                theme + "icons/appconf.png", false, true);
-    mPageNameIdList.insert("app_balance", ui->pageList->count() - 1);
-
     mPageAppPas = new PageAppPas(this);
     mPageAppPas->setVesc(mVesc);
     ui->pageWidget->addWidget(mPageAppPas);
@@ -1611,7 +1600,6 @@ void MainWindow::reloadPages()
      * app_uart
      * app_vescremote
      * app_nrf
-     * app_balance
      * app_imu
      * app_custom_config_0
      * app_custom_config_1
diff --git a/mainwindow.h b/mainwindow.h
index ad3d6156e..f925812ca 100644
--- a/mainwindow.h
+++ b/mainwindow.h
@@ -54,7 +54,6 @@
 #include "pages/pageappuart.h"
 #include "pages/pageappnunchuk.h"
 #include "pages/pageappnrf.h"
-#include "pages/pageappbalance.h"
 #include "pages/pageapppas.h"
 #include "pages/pagegpd.h"
 #include "pages/pageexperiments.h"
@@ -210,7 +209,6 @@ private slots:
     PageAppUart *mPageAppUart;
     PageAppNunchuk *mPageAppNunchuk;
     PageAppNrf *mPageAppNrf;
-    PageAppBalance *mPageAppBalance;
     PageCanAnalyzer *mPageCanAnalyzer;
     PageTerminal *mPageTerminal;
     PageAppPas *mPageAppPas;
diff --git a/mobile/RtDataBalance.qml b/mobile/RtDataBalance.qml
deleted file mode 100644
index e4725b326..000000000
--- a/mobile/RtDataBalance.qml
+++ /dev/null
@@ -1,288 +0,0 @@
-
-import QtQuick 2.5
-import QtQuick.Controls 2.2
-import QtQuick.Layouts 1.3
-
-import Vedder.vesc.vescinterface 1.0
-import Vedder.vesc.commands 1.0
-import Vedder.vesc.configparams 1.0
-import Vedder.vesc.utility 1.0
-
-Item {
-    id: rtData
-    property Commands mCommands: VescIf.commands()
-    property ConfigParams mAppConf: VescIf.appConfig()
-    property ConfigParams mMcConf: VescIf.mcConfig()
-    property bool isHorizontal: rtData.width > rtData.height
-
-    property int largeGaugeSize: isHorizontal ? Math.min((root.width - 25) / 4, ((root.height - 5) - (textRect.height))) :
-                                           Math.min((root.width-5) / 2, ((root.height - 15) - (textRect.height)) * (3/7))
-
-
-    property int smallGaugeSize: isHorizontal ? Math.min((root.width - 25) / 6, ((root.height - 10) - (textRect.height)) / 2) :
-                                            Math.min((root.width - 10) / 3, ((root.height - 15) - (textRect.height)) * (2/7))
-
-    GridLayout {
-        id: root
-        anchors.fill: parent
-        anchors.margins: 5
-        columns: isHorizontal ? 2 : 1
-
-        GridLayout {
-            Layout.fillWidth: true
-            Layout.fillHeight: true
-            Layout.alignment: Qt.AlignHCenter
-            columns: 3
-            columnSpacing: 5
-            rowSpacing: 5
-
-            CustomGauge {
-                id: pitchGauge
-                Layout.preferredWidth: smallGaugeSize
-                Layout.preferredHeight: smallGaugeSize
-                maximumValue: 75
-                minimumValue: -75
-                minAngle: -150
-                maxAngle: 150
-                tickmarkSuffix: "°"
-                labelStep: 15
-                value: 0
-                unitText: "Degrees"
-                typeText: "Pitch"
-                precision: 1
-            }
-            CustomGauge {
-                id: rollGauge
-                Layout.preferredWidth: smallGaugeSize
-                Layout.preferredHeight: smallGaugeSize
-                maximumValue: 75
-                minimumValue: -75
-                minAngle: -150
-                maxAngle: 150
-                tickmarkSuffix: "°"
-                labelStep: 15
-                value: 0
-                unitText: "Degrees"
-                typeText: "Roll"
-                precision: 1
-            }
-            CustomGauge {
-                id: erpmGauge
-                Layout.preferredWidth: smallGaugeSize
-                Layout.preferredHeight: smallGaugeSize
-                maximumValue: 100
-                minimumValue: -100
-                labelStep: 20
-                value: 0
-                unitText: "x100"
-                typeText: "ERPM"
-            }
-            CustomGauge {
-                id: motorCurrentGauge
-                Layout.preferredWidth: smallGaugeSize
-                Layout.preferredHeight: smallGaugeSize
-                maximumValue: 100
-                minimumValue: -100
-                labelStep: maximumValue > 60 ? 20 : 10
-                value: 0
-                unitText: "A"
-                typeText: "Current"
-            }
-            CustomGauge {
-                id: batteryCurrentGauge
-                Layout.preferredWidth: smallGaugeSize
-                Layout.preferredHeight: smallGaugeSize
-                maximumValue: 100
-                minimumValue: -100
-                labelStep: maximumValue > 60 ? 20 : 10
-                value: 0
-                unitText: "A"
-                typeText: "In Current"
-            }
-            CustomGauge {
-                id: voltageGauge
-                Layout.preferredWidth: smallGaugeSize
-                Layout.preferredHeight: smallGaugeSize
-                maximumValue: 200
-                minimumValue: 0
-                precision: 1
-                labelStep: Math.round((maximumValue - minimumValue) / 10)
-                value: 0
-                unitText: "V"
-                typeText: "Voltage"
-            }
-
-        }
-        RowLayout {
-            Layout.alignment: Qt.AlignHCenter
-            spacing: 5
-            CustomGauge {
-                id: speedGauge
-                Layout.alignment: Qt.AlignHCenter
-                Layout.preferredWidth: largeGaugeSize
-                Layout.preferredHeight: largeGaugeSize
-                minimumValue: 0
-                maximumValue: 60
-                minAngle: -250
-                maxAngle: 70
-                labelStep: maximumValue > 60 ? 20 : 10
-                value: 20
-                unitText: VescIf.useImperialUnits() ? "mph" : "km/h"
-                typeText: "Speed"
-                precision: 1
-            }
-            CustomGauge {
-                id: dutyGauge
-                Layout.preferredWidth: largeGaugeSize
-                Layout.preferredHeight: largeGaugeSize
-                maximumValue: 100
-                minimumValue: -100
-                labelStep: 20
-                value: 0
-                unitText: "%"
-                typeText: "Duty"
-            }
-        }
-        Rectangle {
-            id: textRect
-            color: Utility.getAppHexColor("darkBackground")
-            Layout.columnSpan: isHorizontal? 2 : 1
-            Layout.fillWidth: true
-            Layout.minimumHeight: valMetrics.height * 6 + 12
-            Layout.preferredHeight: valMetrics.height * 6 + 12
-            Layout.alignment: Qt.AlignBottom
-
-            Rectangle {
-                width: parent.width
-                height: 2
-                color: Utility.getAppHexColor("lightAccent")
-            }
-
-            Column{
-                anchors.fill: parent
-                anchors.topMargin: 7
-                Layout.alignment: Qt.AlignVCenter
-                spacing: 0
-
-                Text {
-                    id: valText
-                    color: Utility.getAppHexColor("lightText")
-                    text: VescIf.getConnectedPortName()
-                    font.family: "DejaVu Sans Mono"
-                    Layout.margins: 0
-                    anchors.margins: 0
-                }
-
-                Text {
-                    id: valText2
-                    color: Utility.getAppHexColor("lightText")
-                    text: ""
-                    font.family: "DejaVu Sans Mono"
-                    Layout.margins: 0
-                    anchors.margins: 0
-                }
-            }
-
-            TextMetrics {
-                id: valMetrics
-                font: valText.font
-                text: valText.text
-            }
-        }
-    }
-
-    Connections {
-        target: mCommands
-
-        function onDecodedBalanceReceived(values) {
-            pitchGauge.value = values.pitch_angle
-            rollGauge.value = values.roll_angle
-
-            var appState
-            if(values.state === 0){
-                appState = "Calibrating";
-            }else if(values.state === 1){
-                appState = "Running";
-            }else if(values.state === 2){
-                appState = "Running (Tiltback Duty)";
-            }else if(values.state === 3){
-                appState = "Running (Tiltback High Voltage)";
-            }else if(values.state === 4){
-                appState = "Running (Tiltback Low Voltage)";
-            }else if(values.state === 5){
-                appState = "Running (Tiltback Constant)";
-            }else if(values.state === 6){
-                appState = "Fault (Pitch Angle)";
-            }else if(values.state === 7){
-                appState = "Fault (Roll Angle)";
-            }else if(values.state === 8){
-                appState = "Fault (Switch Half)";
-            }else if(values.state === 9){
-                appState = "Fault (Switch FULL)";
-            }else if(values.state === 10){
-                appState = "Fault (Duty)";
-            }else if(values.state === 11){
-                appState = "Initial";
-            }else{
-                appState = "Unknown";
-            }
-
-            var switchState
-            if(values.switch_value === 0){
-                switchState = "Off";
-            }else if(values.switch_value === 1){
-                switchState = "Half";
-            }else if(values.switch_value === 2){
-                switchState = "On";
-            }else{
-                switchState = "Unknown";
-            }
-
-            valText.text =
-                    "Balance State: " + appState + "\n" +
-                    "ADC1         : " + values.adc1.toFixed(2) + " V\n" +
-                    "ADC2         : " + values.adc2.toFixed(2) + " V\n" +
-                    "Switch State : " + switchState + "\n" +
-                    "Loop Time    : " + values.diff_time + " uS"
-        }
-
-        onValuesSetupReceived: {
-            motorCurrentGauge.maximumValue = Math.ceil(mMcConf.getParamDouble("l_current_max") / 5) * 5 * values.num_vescs
-            motorCurrentGauge.minimumValue = -motorCurrentGauge.maximumValue
-            motorCurrentGauge.value = values.current_motor
-
-            batteryCurrentGauge.maximumValue = Math.ceil(mMcConf.getParamDouble("l_in_current_max") / 5) * 5 * values.num_vescs
-            batteryCurrentGauge.minimumValue = -batteryCurrentGauge.maximumValue
-            batteryCurrentGauge.value = values.current_in
-
-            dutyGauge.value = values.duty_now * 100.0
-
-            erpmGauge.value = values.rpm / 100
-
-            voltageGauge.maximumValue = Math.ceil(mAppConf.getParamDouble("app_balance_conf.tiltback_hv"))
-            voltageGauge.minimumValue = Math.floor(mAppConf.getParamDouble("app_balance_conf.tiltback_lv"))
-            voltageGauge.value = values.v_in
-
-            var useImperial = VescIf.useImperialUnits()
-            var fl = mMcConf.getParamDouble("foc_motor_flux_linkage")
-            var rpmMax = (values.v_in * 60.0) / (Math.sqrt(3.0) * 2.0 * Math.PI * fl)
-            var speedFact = ((mMcConf.getParamInt("si_motor_poles") / 2.0) * 60.0 *
-                    mMcConf.getParamDouble("si_gear_ratio")) /
-                    (mMcConf.getParamDouble("si_wheel_diameter") * Math.PI)
-            var speedMax = 3.6 * rpmMax / speedFact
-            var impFact = useImperial ? 0.621371192 : 1.0
-            var speedMaxRound = (Math.ceil((speedMax * impFact) / 10.0) * 10.0)
-
-            if (Math.abs(speedGauge.maximumValue - speedMaxRound) > 6.0) {
-                speedGauge.maximumValue = speedMaxRound
-                speedGauge.minimumValue = -speedMaxRound
-            }
-
-            speedGauge.value = values.speed * 3.6 * impFact
-            speedGauge.unitText = useImperial ? "mph" : "km/h"
-
-            valText2.text =
-                    "Fault        : " + values.fault_str
-        }
-    }
-}
diff --git a/mobile/main.qml b/mobile/main.qml
index 59c906f59..ea6c1847d 100644
--- a/mobile/main.qml
+++ b/mobile/main.qml
@@ -616,20 +616,6 @@ ApplicationWindow {
         }
     }
 
-    Page {
-        id: rtDataBalance
-        visible: false
-        Loader {
-            anchors.fill: parent
-            asynchronous: true
-            active: parent.visible
-            visible: status == Loader.Ready
-            sourceComponent: RtDataBalance {
-                anchors.fill: parent
-            }
-        }
-    }
-
     footer: Rectangle {
         id: connectedRect
         clip: true
@@ -827,14 +813,6 @@ ApplicationWindow {
         repeat: true
 
         onTriggered: {
-            if(mAppConf.getParamEnum("app_to_use") === 9 && rtSwipeView.count == 4) {
-                rtSwipeView.addItem(rtDataBalance)
-                rtDataBalance.visible = true
-            } else if(mAppConf.getParamEnum("app_to_use") !== 9 && rtSwipeView.count == 5) {
-                rtSwipeView.removeItem(4)
-                rtDataBalance.visible = false
-            }
-
             if (VescIf.isPortConnected()) {
                 // Sample RT data when the corresponding page is selected, or when
                 // RT logging is active.
@@ -871,12 +849,6 @@ ApplicationWindow {
                         mCommands.getStats(0xFFFFFFFF)
                     }
 
-                    if (tabBar.currentIndex == (1 + indexOffset()) && rtSwipeView.currentIndex == 4) {
-                        interval = 50
-                        mCommands.getValuesSetup()
-                        mCommands.getDecodedBalance()
-                    }
-
                     if (tabBar.currentIndex == (3 + indexOffset())) {
                         interval = 100
                         mCommands.bmsGetValues()
diff --git a/mobile/qml.qrc b/mobile/qml.qrc
index 99943bc71..25658de49 100644
--- a/mobile/qml.qrc
+++ b/mobile/qml.qrc
@@ -43,7 +43,6 @@
         <file>Vesc3DView.qml</file>
         <file>DirectoryPicker.qml</file>
         <file>Settings.qml</file>
-        <file>RtDataBalance.qml</file>
         <file>RtDataIMU.qml</file>
         <file>BMS.qml</file>
         <file>CustomGaugeV2.qml</file>
diff --git a/pages/pageappbalance.cpp b/pages/pageappbalance.cpp
deleted file mode 100644
index d497b9074..000000000
--- a/pages/pageappbalance.cpp
+++ /dev/null
@@ -1,267 +0,0 @@
-/*
-    Copyright 2016 - 2017 Benjamin Vedder	benjamin@vedder.se
-
-    This file is part of VESC Tool.
-
-    VESC Tool is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    VESC Tool is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with this program.  If not, see <http://www.gnu.org/licenses/>.
-    */
-
-#include "pageappbalance.h"
-#include "ui_pageappbalance.h"
-#include "utility.h"
-
-PageAppBalance::PageAppBalance(QWidget *parent) :
-    QWidget(parent),
-    ui(new Ui::PageAppBalance)
-{
-    ui->setupUi(this);
-    layout()->setContentsMargins(0, 0, 0, 0);
-    mVesc = nullptr;
-
-    mTimer = new QTimer(this);
-    mTimer->start(20);
-    mUpdatePlots = false;
-    mSecondCounter = 0.0;
-    mLastUpdateTime = 0;
-    mAppADC1 = 0.0;
-    mAppADC2 = 0.0;
-
-    connect(mTimer, SIGNAL(timeout()),
-            this, SLOT(timerSlot()));
-
-    ui->balancePlot->setInteractions(QCP::iRangeDrag | QCP::iRangeZoom);
-
-    int graphIndex = 0;
-
-    Utility::setPlotColors(ui->balancePlot);
-    ui->balancePlot->addGraph();
-    ui->balancePlot->graph(graphIndex)->setPen(QPen(Utility::getAppQColor("plot_graph1")));
-    ui->balancePlot->graph(graphIndex)->setName("PID Output");
-    graphIndex++;
-
-    ui->balancePlot->addGraph();
-    ui->balancePlot->graph(graphIndex)->setPen(QPen(Utility::getAppQColor("plot_graph2")));
-    ui->balancePlot->graph(graphIndex)->setName("Pitch Angle");
-    graphIndex++;
-
-    ui->balancePlot->addGraph();
-    ui->balancePlot->graph(graphIndex)->setPen(QPen(Qt::cyan));
-    ui->balancePlot->graph(graphIndex)->setName("Roll Angle");
-    graphIndex++;
-
-    ui->balancePlot->addGraph();
-    ui->balancePlot->graph(graphIndex)->setPen(QPen(Utility::getAppQColor("plot_graph3")));
-    ui->balancePlot->graph(graphIndex)->setName("Current");
-    graphIndex++;
-
-    ui->balancePlot->addGraph();
-    ui->balancePlot->graph(graphIndex)->setPen(QPen(Utility::getAppQColor("plot_graph4")));
-    ui->balancePlot->graph(graphIndex)->setName("Debug 1");
-    ui->balancePlot->graph(graphIndex)->removeFromLegend();
-    graphIndex++;
-
-    ui->balancePlot->addGraph();
-    ui->balancePlot->graph(graphIndex)->setPen(QPen(Utility::getAppQColor("plot_graph5")));
-    ui->balancePlot->graph(graphIndex)->setName("Debug 2");
-    ui->balancePlot->graph(graphIndex)->removeFromLegend();
-    graphIndex++;
-
-    QFont legendFont = font();
-    legendFont.setPointSize(9);
-
-    ui->balancePlot->legend->setVisible(true);
-    ui->balancePlot->legend->setFont(legendFont);
-    ui->balancePlot->axisRect()->insetLayout()->setInsetAlignment(0, Qt::AlignRight|Qt::AlignBottom);
-    ui->balancePlot->xAxis->setLabel("Seconds (s)");
-
-}
-
-PageAppBalance::~PageAppBalance()
-{
-    delete ui;
-}
-
-VescInterface *PageAppBalance::vesc() const
-{
-    return mVesc;
-}
-
-void PageAppBalance::setVesc(VescInterface *vesc)
-{
-    mVesc = vesc;
-
-    if (mVesc) {
-        reloadParams();
-
-        updateTextOutput();
-
-        connect(mVesc->commands(), SIGNAL(decodedBalanceReceived(BALANCE_VALUES)),
-                this, SLOT(appValuesReceived(BALANCE_VALUES)));
-    }
-}
-
-void PageAppBalance::reloadParams()
-{
-    if (mVesc) {
-        ui->tunePane->clearParams();
-        ui->modifiersPane->clearParams();
-        ui->startupPane->clearParams();
-        ui->tiltbackPane->clearParams();
-        ui->faultPane->clearParams();
-        ui->multiescPane->clearParams();
-
-        ui->tunePane->addParamSubgroup(mVesc->appConfig(), "balance", "tune");
-        ui->modifiersPane->addParamSubgroup(mVesc->appConfig(), "balance", "tune modifiers");
-        ui->startupPane->addParamSubgroup(mVesc->appConfig(), "balance", "startup");
-        ui->tiltbackPane->addParamSubgroup(mVesc->appConfig(), "balance", "tiltback");
-        ui->faultPane->addParamSubgroup(mVesc->appConfig(), "balance", "fault");
-        ui->multiescPane->addParamSubgroup(mVesc->appConfig(), "balance", "multi esc");
-    }
-}
-
-void PageAppBalance::timerSlot()
-{
-    if (mUpdatePlots) {
-
-        mUpdatePlots = false;
-
-        int dataSize = mAppPidOutputVec.size();
-
-        QVector<double> xAxis(dataSize);
-        for (int i = 0;i < mSeconds.size();i++) {
-            xAxis[i] = mSeconds[i];
-        }
-
-        int graphIndex = 0;
-        ui->balancePlot->graph(graphIndex++)->setData(xAxis, mAppPidOutputVec);
-        ui->balancePlot->graph(graphIndex++)->setData(xAxis, mAppMAngleVec);
-        ui->balancePlot->graph(graphIndex++)->setData(xAxis, mAppCAngleVec);
-        ui->balancePlot->graph(graphIndex++)->setData(xAxis, mAppMotorCurrentVec);
-        if(mAppDebug2.size() < 2 || (mAppDebug1.rbegin()[0] == 0 && mAppDebug1.rbegin()[1] == 0)){
-            ui->balancePlot->graph(graphIndex)->setVisible(false);
-            ui->balancePlot->graph(graphIndex)->removeFromLegend();
-        }else{
-            ui->balancePlot->graph(graphIndex)->setVisible(true);
-            ui->balancePlot->graph(graphIndex)->addToLegend();
-        }
-        ui->balancePlot->graph(graphIndex++)->setData(xAxis, mAppDebug1);
-        if(mAppDebug2.size() < 2 || (mAppDebug2.rbegin()[0] == 0 && mAppDebug2.rbegin()[1] == 0)){
-            ui->balancePlot->graph(graphIndex)->setVisible(false);
-            ui->balancePlot->graph(graphIndex)->removeFromLegend();
-        }else{
-            ui->balancePlot->graph(graphIndex)->setVisible(true);
-            ui->balancePlot->graph(graphIndex)->addToLegend();
-        }
-        ui->balancePlot->graph(graphIndex++)->setData(xAxis, mAppDebug2);
-
-        ui->balancePlot->rescaleAxes();
-
-        ui->balancePlot->replotWhenVisible();
-
-        updateTextOutput();
-    }
-}
-
-void PageAppBalance::appValuesReceived(BALANCE_VALUES values) {
-
-    const int maxS = 250;
-
-    appendDoubleAndTrunc(&mAppPidOutputVec, values.pid_output, maxS);
-    appendDoubleAndTrunc(&mAppMAngleVec, values.pitch_angle, maxS);
-    appendDoubleAndTrunc(&mAppCAngleVec, values.roll_angle, maxS);
-    mAppDiffTime = values.diff_time;
-    appendDoubleAndTrunc(&mAppMotorCurrentVec, values.motor_current, maxS);
-    mAppState = values.state;
-    mAppSwitchValue = values.switch_value;
-    mAppADC1 = values.adc1;
-    mAppADC2 = values.adc2;
-    appendDoubleAndTrunc(&mAppDebug1, values.debug1, maxS);
-    appendDoubleAndTrunc(&mAppDebug2, values.debug2, maxS);
-
-
-    qint64 tNow = QDateTime::currentMSecsSinceEpoch();
-
-    double elapsed = (double)(tNow - mLastUpdateTime) / 1000.0;
-    if (elapsed > 1.0) {
-        elapsed = 1.0;
-    }
-
-    mSecondCounter += elapsed;
-
-    appendDoubleAndTrunc(&mSeconds, mSecondCounter, maxS);
-
-    mLastUpdateTime = tNow;
-
-    mUpdatePlots = true;
-}
-
-void PageAppBalance::appendDoubleAndTrunc(QVector<double> *vec, double num, int maxSize)
-{
-    vec->append(num);
-
-    if(vec->size() > maxSize) {
-        vec->remove(0, vec->size() - maxSize);
-    }
-}
-
-void PageAppBalance::updateTextOutput(){
-    QString output = "Loop Time: ";
-    output = output + QString::number(mAppDiffTime);
-
-    output = output + "\tState: ";
-    if(mAppState == 0){
-        output = output + "Calibrating";
-    }else if(mAppState == 1){
-        output = output + "Running";
-    }else if(mAppState == 2){
-        output = output + "Running (Tiltback Duty)";
-    }else if(mAppState == 3){
-        output = output + "Running (Tiltback High Voltage)";
-    }else if(mAppState == 4){
-        output = output + "Running (Tiltback Low Voltage)";
-    }else if(mAppState == 5){
-        output = output + "Unknown"; // Formerly Constant Tiltback, currently unused
-    }else if(mAppState == 6){
-        output = output + "Fault (Pitch Angle)";
-    }else if(mAppState == 7){
-        output = output + "Fault (Roll Angle)";
-    }else if(mAppState == 8){
-        output = output + "Fault (Switch Half)";
-    }else if(mAppState == 9){
-        output = output + "Fault (Switch FULL)";
-    }else if(mAppState == 10){
-        output = output + "Fault (Duty)";
-    }else if(mAppState == 11){
-        output = output + "Initial";
-    }else{
-        output = output + "Unknown";
-    }
-
-    output = output + "\tADC1: ";
-    output = output + QString::number(mAppADC1, 'f', 2);
-    output = output + " ADC2: ";
-    output = output + QString::number(mAppADC2, 'f', 2);
-    output = output + " Switch Value: ";
-    if(mAppSwitchValue == 0){
-        output = output + "Off";
-    }else if(mAppSwitchValue == 1){
-        output = output + "Half";
-    }else if(mAppSwitchValue == 2){
-        output = output + "On";
-    }else{
-        output = output + "Unknown";
-    }
-
-    ui->textOutput->setText(output);
-}
diff --git a/pages/pageappbalance.h b/pages/pageappbalance.h
deleted file mode 100644
index 7540bf764..000000000
--- a/pages/pageappbalance.h
+++ /dev/null
@@ -1,79 +0,0 @@
-/*
-    Copyright 2016 - 2017 Benjamin Vedder	benjamin@vedder.se
-
-    This file is part of VESC Tool.
-
-    VESC Tool is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    VESC Tool is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with this program.  If not, see <http://www.gnu.org/licenses/>.
-    */
-
-#ifndef PAGEAPPBALANCE_H
-#define PAGEAPPBALANCE_H
-
-#include <QWidget>
-#include <QVector>
-#include <QTimer>
-#include "vescinterface.h"
-
-namespace Ui {
-class PageAppBalance;
-}
-
-class PageAppBalance : public QWidget
-{
-    Q_OBJECT
-
-public:
-    explicit PageAppBalance(QWidget *parent = nullptr);
-    ~PageAppBalance();
-
-    VescInterface *vesc() const;
-    void setVesc(VescInterface *vesc);
-    void reloadParams();
-
-private slots:
-    void timerSlot();
-    void appValuesReceived(BALANCE_VALUES values);
-
-private:
-    Ui::PageAppBalance *ui;
-    VescInterface *mVesc;
-
-    QTimer *mTimer;
-
-    bool mUpdatePlots;
-
-    QVector<double> mAppPidOutputVec;
-    QVector<double> mAppMAngleVec;
-    QVector<double> mAppCAngleVec;
-    uint32_t mAppDiffTime = 0;
-    QVector<double> mAppMotorCurrentVec;
-    QVector<double> mAppMotorPositionVec;
-    uint16_t mAppState;
-    uint16_t mAppSwitchValue;
-    double mAppADC1;
-    double mAppADC2;
-    QVector<double> mAppDebug1;
-    QVector<double> mAppDebug2;
-
-    QVector<double> mSeconds;
-
-    double mSecondCounter;
-    qint64 mLastUpdateTime;
-
-    void appendDoubleAndTrunc(QVector<double> *vec, double num, int maxSize);
-    void updateTextOutput();
-
-};
-
-#endif // PAGEAPPBALANCE_H
diff --git a/pages/pageappbalance.ui b/pages/pageappbalance.ui
deleted file mode 100644
index 4192a1e3c..000000000
--- a/pages/pageappbalance.ui
+++ /dev/null
@@ -1,156 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>PageAppBalance</class>
- <widget class="QWidget" name="PageAppBalance">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>563</width>
-    <height>332</height>
-   </rect>
-  </property>
-  <property name="sizePolicy">
-   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-    <horstretch>0</horstretch>
-    <verstretch>0</verstretch>
-   </sizepolicy>
-  </property>
-  <property name="font">
-   <font>
-    <family>Roboto</family>
-   </font>
-  </property>
-  <property name="windowTitle">
-   <string>Form</string>
-  </property>
-  <layout class="QVBoxLayout" name="verticalLayout">
-   <item>
-    <widget class="QSplitter" name="splitter">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="orientation">
-      <enum>Qt::Vertical</enum>
-     </property>
-     <widget class="QTabWidget" name="tabWidget_2">
-      <property name="sizePolicy">
-       <sizepolicy hsizetype="Ignored" vsizetype="Ignored">
-        <horstretch>0</horstretch>
-        <verstretch>0</verstretch>
-       </sizepolicy>
-      </property>
-      <property name="currentIndex">
-       <number>0</number>
-      </property>
-      <widget class="QWidget" name="tab_1">
-       <attribute name="title">
-        <string>Tune</string>
-       </attribute>
-       <layout class="QVBoxLayout" name="verticalLayout_2">
-        <item>
-         <widget class="ParamTable" name="tunePane"/>
-        </item>
-       </layout>
-      </widget>
-      <widget class="QWidget" name="tab_2">
-       <attribute name="title">
-        <string>Tune Modifiers</string>
-       </attribute>
-       <layout class="QVBoxLayout" name="verticalLayout_3">
-         <item>
-          <widget class="ParamTable" name="modifiersPane"/>
-         </item>
-        </layout>
-      </widget>
-      <widget class="QWidget" name="tab_3">
-       <attribute name="title">
-        <string>Startup</string>
-       </attribute>
-       <layout class="QVBoxLayout" name="verticalLayout_4">
-        <item>
-         <widget class="ParamTable" name="startupPane"/>
-        </item>
-       </layout>
-      </widget>
-      <widget class="QWidget" name="tab_4">
-       <attribute name="title">
-        <string>Tiltback</string>
-       </attribute>
-       <layout class="QVBoxLayout" name="verticalLayout_5">
-        <item>
-         <widget class="ParamTable" name="tiltbackPane"/>
-        </item>
-       </layout>
-      </widget>
-      <widget class="QWidget" name="tab_5">
-       <attribute name="title">
-        <string>Fault</string>
-       </attribute>
-       <layout class="QVBoxLayout" name="verticalLayout_6">
-        <item>
-         <widget class="ParamTable" name="faultPane"/>
-        </item>
-       </layout>
-      </widget>
-      <widget class="QWidget" name="tab_6">
-       <attribute name="title">
-        <string>Multi ESC</string>
-       </attribute>
-       <layout class="QVBoxLayout" name="verticalLayout_7">
-        <item>
-         <widget class="ParamTable" name="multiescPane"/>
-        </item>
-       </layout>
-      </widget>
-     </widget>
-     <widget class="QWidget" name="widget" native="true">
-      <property name="sizePolicy">
-       <sizepolicy hsizetype="Ignored" vsizetype="Ignored">
-        <horstretch>0</horstretch>
-        <verstretch>0</verstretch>
-       </sizepolicy>
-      </property>
-      <layout class="QVBoxLayout" name="verticalLayout_8">
-       <item>
-        <widget class="QCustomPlot" name="balancePlot" native="true">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-        </widget>
-       </item>
-      </layout>
-     </widget>
-    </widget>
-   </item>
-   <item>
-    <widget class="QLabel" name="textOutput">
-     <property name="text">
-      <string>TextLabel</string>
-     </property>
-    </widget>
-   </item>
-  </layout>
- </widget>
- <customwidgets>
-  <customwidget>
-   <class>ParamTable</class>
-   <extends>QTableWidget</extends>
-   <header>widgets/paramtable.h</header>
-  </customwidget>
-  <customwidget>
-   <class>QCustomPlot</class>
-   <extends>QWidget</extends>
-   <header>widgets/qcustomplot.h</header>
-   <container>1</container>
-  </customwidget>
- </customwidgets>
- <resources/>
- <connections/>
-</ui>
diff --git a/pages/pages.pri b/pages/pages.pri
index c8007e034..7a3bb4a3b 100644
--- a/pages/pages.pri
+++ b/pages/pages.pri
@@ -1,5 +1,4 @@
 FORMS += \
-    $$PWD/pageappbalance.ui \
     $$PWD/pageapppas.ui \
     $$PWD/pagebms.ui \
     $$PWD/pagecananalyzer.ui \
@@ -41,7 +40,6 @@ FORMS += \
     $$PWD/pageloganalysis.ui
 
 HEADERS += \
-    $$PWD/pageappbalance.h \
     $$PWD/pageapppas.h \
     $$PWD/pagebms.h \
     $$PWD/pagecananalyzer.h \
@@ -83,7 +81,6 @@ HEADERS += \
     $$PWD/pageloganalysis.h
 
 SOURCES += \
-    $$PWD/pageappbalance.cpp \
     $$PWD/pageapppas.cpp \
     $$PWD/pagebms.cpp \
     $$PWD/pagecananalyzer.cpp \
diff --git a/res/config/6.05/parameters_appconf.xml b/res/config/6.05/parameters_appconf.xml
index efbd428f0..3b1c25010 100644
--- a/res/config/6.05/parameters_appconf.xml
+++ b/res/config/6.05/parameters_appconf.xml
@@ -453,7 +453,7 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The APP to use. With multiple VESC connected over CAN only the master needs to have an app to use set up. Notice that using the NRF nunchuk needs the NRF app.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The APP to use. With multiple VESC connected over CAN only the master needs to have an app to use set up. Notice that using the NRF nunchuk needs the NRF app.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_APP_TO_USE</cDefine>
             <valInt>3</valInt>
             <enumNames>No App</enumNames>
@@ -465,7 +465,6 @@ p, li { white-space: pre-wrap; }
             <enumNames>Nunchuk (I2C, Nyko Kama)</enumNames>
             <enumNames>NRF</enumNames>
             <enumNames>Custom User App</enumNames>
-            <enumNames>Balance</enumNames>
             <enumNames>PAS</enumNames>
             <enumNames>ADC and PAS</enumNames>
         </app_to_use>
@@ -2022,1444 +2021,6 @@ p, li { white-space: pre-wrap; }
             <cDefine>APPCONF_NRF_SEND_CRC_ACK</cDefine>
             <valInt>1</valInt>
         </app_nrf_conf.send_crc_ack>
-        <app_balance_conf.pid_mode>
-            <longName>PID Mode</longName>
-            <type>4</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;PID loop mode, Angle or Cascadeing Angle Rate.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_PID_MODE</cDefine>
-            <valInt>0</valInt>
-            <enumNames>BALANCE_PID_MODE_ANGLE</enumNames>
-            <enumNames>BALANCE_PID_MODE_ANGLE_RATE_CASCADE</enumNames>
-        </app_balance_conf.pid_mode>
-        <app_balance_conf.kp>
-            <longName>Angle P</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;P value for the PID balance loop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_KP</cDefine>
-            <editorDecimalsDouble>4</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>1e+06</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.1</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix></suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.kp>
-        <app_balance_conf.ki>
-            <longName>Angle I</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;I value for the PID balance loop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_KI</cDefine>
-            <editorDecimalsDouble>4</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>1e+06</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.1</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix></suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.ki>
-        <app_balance_conf.kd>
-            <longName>Angle D</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D value for the PID balance loop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_KD</cDefine>
-            <editorDecimalsDouble>4</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>1e+06</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.1</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix></suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.kd>
-        <app_balance_conf.kp2>
-            <longName>Rate P</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;P value for the PID balance loop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_KP2</cDefine>
-            <editorDecimalsDouble>4</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>1e+06</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.1</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix></suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.kp2>
-        <app_balance_conf.ki2>
-            <longName>Rate I</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;I value for the PID balance loop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_KI2</cDefine>
-            <editorDecimalsDouble>4</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>1e+06</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.1</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix></suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.ki2>
-        <app_balance_conf.kd2>
-            <longName>Rate D</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D value for the PID balance loop.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_KD2</cDefine>
-            <editorDecimalsDouble>4</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>1e+06</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.1</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix></suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.kd2>
-        <app_balance_conf.hertz>
-            <longName>Loop Hertz</longName>
-            <type>2</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Loop Hertz.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_HERTZ</cDefine>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxInt>4000</maxInt>
-            <minInt>50</minInt>
-            <showDisplay>0</showDisplay>
-            <stepInt>100</stepInt>
-            <valInt>1000</valInt>
-            <suffix> Hz</suffix>
-            <vTx>3</vTx>
-        </app_balance_conf.hertz>
-        <app_balance_conf.loop_time_filter>
-            <longName>Loop Time Correction Filter</longName>
-            <type>2</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Filter overshoot and correct for it.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_LOOP_TIME_FILTER</cDefine>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxInt>1000</maxInt>
-            <minInt>0</minInt>
-            <showDisplay>0</showDisplay>
-            <stepInt>10</stepInt>
-            <valInt>0</valInt>
-            <suffix> Hz</suffix>
-            <vTx>3</vTx>
-        </app_balance_conf.loop_time_filter>
-        <app_balance_conf.fault_pitch>
-            <longName>Pitch Axis Fault Cutoff</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Angle to turn off driving (on the pitch axis).&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_FAULT_PITCH</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>180</maxDouble>
-            <minDouble>-180</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>1</stepDouble>
-            <valDouble>20</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> °</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.fault_pitch>
-        <app_balance_conf.fault_roll>
-            <longName>Roll Axis Fault Cutoff</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Angle to turn off driving (on the roll axis).&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_FAULT_ROLL</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>180</maxDouble>
-            <minDouble>-180</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>1</stepDouble>
-            <valDouble>45</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> °</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.fault_roll>
-        <app_balance_conf.fault_duty>
-            <longName>Duty Cycle Fault Cutoff</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Duty cycle value to trigger a safety cutoff 0-1% (This cutoff will lock the app untill another fault occurs).&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_FAULT_DUTY</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>1</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.01</stepDouble>
-            <valDouble>0.9</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix></suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.fault_duty>
-        <app_balance_conf.fault_adc1>
-            <longName>ADC1 Switch Voltage</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Voltage below this value will trigger a fault. To disable this switch set this value to 0. Hint: consider a pulldown resisitor!&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_FAULT_ADC1</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>3.3</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>1</showDisplay>
-            <stepDouble>0.1</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> V</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.fault_adc1>
-        <app_balance_conf.fault_adc2>
-            <longName>ADC2 Switch Voltage</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Voltage below this value will trigger a fault. To disable this switch set this value to 0. Hint: consider a pulldown resisitor!&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_FAULT_ADC2</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>3.3</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>1</showDisplay>
-            <stepDouble>0.1</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> V</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.fault_adc2>
-        <app_balance_conf.fault_delay_pitch>
-            <longName>Pitch Fault Delay</longName>
-            <type>2</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Pitch fault cutoff time delay in ms.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_FAULT_DELAY_PITCH</cDefine>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxInt>10000</maxInt>
-            <minInt>0</minInt>
-            <showDisplay>0</showDisplay>
-            <stepInt>10</stepInt>
-            <valInt>0</valInt>
-            <suffix> ms</suffix>
-            <vTx>3</vTx>
-        </app_balance_conf.fault_delay_pitch>
-        <app_balance_conf.fault_delay_roll>
-            <longName>Roll Fault Delay</longName>
-            <type>2</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Roll fault cutoff time delay in ms.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_FAULT_DELAY_ROLL</cDefine>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxInt>10000</maxInt>
-            <minInt>0</minInt>
-            <showDisplay>0</showDisplay>
-            <stepInt>10</stepInt>
-            <valInt>0</valInt>
-            <suffix> ms</suffix>
-            <vTx>3</vTx>
-        </app_balance_conf.fault_delay_roll>
-        <app_balance_conf.fault_delay_duty>
-            <longName>Duty Fault Delay</longName>
-            <type>2</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty cycle cutoff time delay in ms.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_FAULT_DELAY_DUTY</cDefine>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxInt>10000</maxInt>
-            <minInt>0</minInt>
-            <showDisplay>0</showDisplay>
-            <stepInt>10</stepInt>
-            <valInt>0</valInt>
-            <suffix> ms</suffix>
-            <vTx>3</vTx>
-        </app_balance_conf.fault_delay_duty>
-        <app_balance_conf.fault_delay_switch_half>
-            <longName>Half Switch Fault Delay</longName>
-            <type>2</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Half switch cutoff time delay in ms.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_FAULT_DELAY_SWITCH_HALF</cDefine>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxInt>10000</maxInt>
-            <minInt>0</minInt>
-            <showDisplay>0</showDisplay>
-            <stepInt>10</stepInt>
-            <valInt>0</valInt>
-            <suffix> ms</suffix>
-            <vTx>3</vTx>
-        </app_balance_conf.fault_delay_switch_half>
-        <app_balance_conf.fault_delay_switch_full>
-            <longName>Full Switch Fault Delay</longName>
-            <type>2</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Full switch cutoff time delay in ms.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_FAULT_DELAY_SWITCH_FULL</cDefine>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxInt>10000</maxInt>
-            <minInt>0</minInt>
-            <showDisplay>0</showDisplay>
-            <stepInt>10</stepInt>
-            <valInt>0</valInt>
-            <suffix> ms</suffix>
-            <vTx>3</vTx>
-        </app_balance_conf.fault_delay_switch_full>
-        <app_balance_conf.fault_adc_half_erpm>
-            <longName>ADC Half State Fault ERPM</longName>
-            <type>2</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM (absoulte value) below which a half state on the ADC switches will be considered a fault.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_FAULT_ADC_HALF_ERPM</cDefine>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxInt>100000</maxInt>
-            <minInt>0</minInt>
-            <showDisplay>0</showDisplay>
-            <stepInt>10</stepInt>
-            <valInt>1000</valInt>
-            <suffix> ERPM</suffix>
-            <vTx>3</vTx>
-        </app_balance_conf.fault_adc_half_erpm>
-        <app_balance_conf.fault_is_dual_switch>
-            <longName>Treat both sensors as one</longName>
-            <type>5</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Treat both sensors as a single one, i.e. startup only requires one of the sensors, and heel lifts aren't possible (for advanced riders only!).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_FAULT_IS_DUAL_SWITCH</cDefine>
-            <valInt>0</valInt>
-        </app_balance_conf.fault_is_dual_switch>
-        <app_balance_conf.tiltback_duty_angle>
-            <longName>Angle</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Angle of rise for duty cycle tiltback.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TILTBACK_DUTY_ANGLE</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>45</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>1</stepDouble>
-            <valDouble>10</valDouble>
-            <vTxDoubleScale>100</vTxDoubleScale>
-            <suffix> °</suffix>
-            <vTx>7</vTx>
-        </app_balance_conf.tiltback_duty_angle>
-        <app_balance_conf.tiltback_duty_speed>
-            <longName>Speed</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed at which vehicle is being tilted back when exceeding duty cycle limit (fast tiltback can be dangerous!).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TILTBACK_DUTY_SPEED</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>100</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.5</stepDouble>
-            <valDouble>3</valDouble>
-            <vTxDoubleScale>100</vTxDoubleScale>
-            <suffix> °/s</suffix>
-            <vTx>7</vTx>
-        </app_balance_conf.tiltback_duty_speed>
-        <app_balance_conf.tiltback_duty>
-            <longName>Duty Cycle</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Duty cycle threshold to trigger a safety tiltback (Tiltback raises the nose of the vehicle informing you to slow down).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TILTBACK_DUTY</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>1</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.01</stepDouble>
-            <valDouble>0.75</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix></suffix>
-            <vTx>7</vTx>
-        </app_balance_conf.tiltback_duty>
-        <app_balance_conf.tiltback_hv_angle>
-            <longName>Angle</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Angle of rise for high voltage tiltback.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TILTBACK_HV_ANGLE</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>45</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>1</stepDouble>
-            <valDouble>10</valDouble>
-            <vTxDoubleScale>100</vTxDoubleScale>
-            <suffix> °</suffix>
-            <vTx>7</vTx>
-        </app_balance_conf.tiltback_hv_angle>
-        <app_balance_conf.tiltback_hv_speed>
-            <longName>Speed</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed at which vehicle is being tilted back when exceeding high voltage limit (fast tiltback can be dangerous!).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TILTBACK_HV_SPEED</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>100</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.5</stepDouble>
-            <valDouble>3</valDouble>
-            <vTxDoubleScale>100</vTxDoubleScale>
-            <suffix> °/s</suffix>
-            <vTx>7</vTx>
-        </app_balance_conf.tiltback_hv_speed>
-        <app_balance_conf.tiltback_hv>
-            <longName>High Voltage</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;High voltage threshold to trigger a safety tiltback (Tiltback raises the nose of the vehicle to alert you). High voltage tiltback is most likely to be triggered when braking or going downhill on a full battery, sometimes resulting in a tail drag on board shaped vehicles. &lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TILTBACK_HV</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>700</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.1</stepDouble>
-            <valDouble>100</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> V</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.tiltback_hv>
-        <app_balance_conf.tiltback_lv_angle>
-            <longName>Angle</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Angle of rise for low voltage tiltback.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TILTBACK_LV_ANGLE</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>45</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>1</stepDouble>
-            <valDouble>10</valDouble>
-            <vTxDoubleScale>100</vTxDoubleScale>
-            <suffix> °</suffix>
-            <vTx>7</vTx>
-        </app_balance_conf.tiltback_lv_angle>
-        <app_balance_conf.tiltback_lv_speed>
-            <longName>Speed</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed at which vehicle is being tilted back when below low voltage threshold (fast tiltback can be dangerous and further contribute to voltage sag!).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TILTBACK_LV_SPEED</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>100</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.5</stepDouble>
-            <valDouble>3</valDouble>
-            <vTxDoubleScale>100</vTxDoubleScale>
-            <suffix> °/s</suffix>
-            <vTx>7</vTx>
-        </app_balance_conf.tiltback_lv_speed>
-        <app_balance_conf.tiltback_lv>
-            <longName>Low Voltage</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Low voltage threshold to trigger a safety tiltback (Tiltback raises the nose of the vehicle informing you to slow down). &lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TILTBACK_LV</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>700</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.1</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> V</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.tiltback_lv>
-        <app_balance_conf.tiltback_return_speed>
-            <longName>Return To Level Speed</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed at which vehicle is being returned back to normal after a tiltback condition has been cleared (should be equal to or slower than slowest tiltback speed).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TILTBACK_RETURN_SPEED</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>100</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.5</stepDouble>
-            <valDouble>1</valDouble>
-            <vTxDoubleScale>100</vTxDoubleScale>
-            <suffix> °/s</suffix>
-            <vTx>7</vTx>
-        </app_balance_conf.tiltback_return_speed>
-        <app_balance_conf.tiltback_constant>
-            <longName>Constant Tiltback</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Tiltback that will be applied above a configurable minimum ERPM. AKA nose angle adjustment, can be downwards too.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TILTBACK_CONSTANT</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>80</maxDouble>
-            <minDouble>-80</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>1</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1</vTxDoubleScale>
-            <suffix> °</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.tiltback_constant>
-        <app_balance_conf.tiltback_constant_erpm>
-            <longName>Constant Tiltback ERPM</longName>
-            <type>2</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; APPCONF_BALANCE_FAULT_ADC_HALF_ERPMmargin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM (absolute value) above which constant tiltback will be applied.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TILTBACK_CONSTANT_ERPM</cDefine>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxInt>100000</maxInt>
-            <minInt>200</minInt>
-            <showDisplay>0</showDisplay>
-            <stepInt>100</stepInt>
-            <valInt>500</valInt>
-            <suffix> ERPM</suffix>
-            <vTx>3</vTx>
-        </app_balance_conf.tiltback_constant_erpm>
-        <app_balance_conf.tiltback_variable>
-            <longName>Variable Tiltback</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Nose angle adjustment that will be applied depending on speed, specified in degrees per 1000 erpm, applied linearly up to a maximum set in Variable Tiltback Maximum. Can be downwards (negative) too. Applies in addition to constant tiltback.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TILTBACK_VARIABLE</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>1</maxDouble>
-            <minDouble>-1</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.01</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1</vTxDoubleScale>
-            <suffix> °/1000 ERPM</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.tiltback_variable>
-        <app_balance_conf.tiltback_variable_max>
-            <longName>Variable Tiltback Maximum</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum angle which variable tiltback is permitted to add (in addition to constant tiltback). Does not affect or prevent alert tiltbacks.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TILTBACK_VARIABLE_MAX</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>80</maxDouble>
-            <minDouble>-80</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.5</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1</vTxDoubleScale>
-            <suffix> °</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.tiltback_variable_max>
-        <app_balance_conf.noseangling_speed>
-            <longName>Nose Angling Speed</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed at which vehicle will tilt to the desired angle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_NOSEANGLING_SPEED</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>100</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.5</stepDouble>
-            <valDouble>5</valDouble>
-            <vTxDoubleScale>100</vTxDoubleScale>
-            <suffix> °/s</suffix>
-            <vTx>7</vTx>
-        </app_balance_conf.noseangling_speed>
-        <app_balance_conf.startup_pitch_tolerance>
-            <longName>Startup Pitch Axis Angle Tolerance</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Angle at which balancing will start (on the main axis). Measured in degrees from upright (0).&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_STARTUP_PITCH_TOLERANCE</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>80</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.1</stepDouble>
-            <valDouble>20</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> °</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.startup_pitch_tolerance>
-        <app_balance_conf.startup_roll_tolerance>
-            <longName>Startup Roll Axis Angle Tolerance</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Angle at which balancing will start (on the cross axis). Measured in degrees from upright (0).&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_STARTUP_ROLL_TOLERANCE</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>80</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.1</stepDouble>
-            <valDouble>8</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> °</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.startup_roll_tolerance>
-        <app_balance_conf.startup_speed>
-            <longName>Startup Centering Speed</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed at which wheel will center itself on startup.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_STARTUP_SPEED</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>100</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.1</stepDouble>
-            <valDouble>30</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> °/s</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.startup_speed>
-        <app_balance_conf.deadzone>
-            <longName>Deadzone</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Deadzone disables balancing at center.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_DEADZONE</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>5</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.01</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> °</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.deadzone>
-        <app_balance_conf.multi_esc>
-            <longName>Multiple VESCs Over CAN</longName>
-            <type>5</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_MULTI_ESC</cDefine>
-            <valInt>0</valInt>
-        </app_balance_conf.multi_esc>
-        <app_balance_conf.yaw_kp>
-            <longName>Yaw P</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;P value for yaw PID stabilization.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_YAW_KP</cDefine>
-            <editorDecimalsDouble>3</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>10000</maxDouble>
-            <minDouble>-10000</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.01</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix></suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.yaw_kp>
-        <app_balance_conf.yaw_ki>
-            <longName>Yaw I</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;I value for yaw PID stabilization.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_YAW_KI</cDefine>
-            <editorDecimalsDouble>3</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>10000</maxDouble>
-            <minDouble>-10000</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.01</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix></suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.yaw_ki>
-        <app_balance_conf.yaw_kd>
-            <longName>Yaw D</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D value for yaw PID stabilization.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_YAW_KD</cDefine>
-            <editorDecimalsDouble>3</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>10000</maxDouble>
-            <minDouble>-10000</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.01</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix></suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.yaw_kd>
-        <app_balance_conf.roll_steer_kp>
-            <longName>Roll Steer KP</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Roll angle to yaw setpoint adjustment proportion. This is a constant turning speed regardless of forward travel speed. It will turn tighter at low speeds&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_ROLL_STEER_KP</cDefine>
-            <editorDecimalsDouble>3</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>10000</maxDouble>
-            <minDouble>-10000</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.01</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix></suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.roll_steer_kp>
-        <app_balance_conf.roll_steer_erpm_kp>
-            <longName>Roll Steer ERPM KP</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Roll angle multiplied by ERPM to yaw setpoint adjustment proportion. Scaling turn speed by erpm will give a constant turning radius at all speeds, like a normal vehicle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_ROLL_STEER_ERPM_KP</cDefine>
-            <editorDecimalsDouble>5</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>10000</maxDouble>
-            <minDouble>-10000</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.0001</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix></suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.roll_steer_erpm_kp>
-        <app_balance_conf.brake_current>
-            <longName>Brake Current</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Breaking current to be applied when balance app is not actively balancing.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_BRAKE_CURRENT</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>100</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>2</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> A</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.brake_current>
-        <app_balance_conf.brake_timeout>
-            <longName>Brake Timeout</longName>
-            <type>2</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Turn off the brake after this many seconds. It will automatically reactivate if the motor moves. 0 = Disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_BRAKE_TIMEOUT</cDefine>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxInt>10000</maxInt>
-            <minInt>0</minInt>
-            <showDisplay>0</showDisplay>
-            <stepInt>5</stepInt>
-            <valInt>10</valInt>
-            <suffix> s</suffix>
-            <vTx>3</vTx>
-        </app_balance_conf.brake_timeout>
-        <app_balance_conf.yaw_current_clamp>
-            <longName>Yaw Current Clamp</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum current to be applied to yaw motions. This lets you overpower the pid traction.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_YAW_CURRENT_CLAMP</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>100</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.01</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> A</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.yaw_current_clamp>
-        <app_balance_conf.ki_limit>
-            <longName>I term limit</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;I term limiter, used to prevent windup. 0 = disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_KI_LIMIT</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>500</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>2</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> A</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.ki_limit>
-        <app_balance_conf.kd_pt1_lowpass_frequency>
-            <longName>D term PT1 Low Pass Filter</longName>
-            <type>2</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D term filter above this frequency. 0 = Disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_KD_PT1_LOWPASS_FREQUENCY</cDefine>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxInt>4000</maxInt>
-            <minInt>0</minInt>
-            <showDisplay>0</showDisplay>
-            <stepInt>10</stepInt>
-            <valInt>0</valInt>
-            <suffix> Hz</suffix>
-            <vTx>3</vTx>
-        </app_balance_conf.kd_pt1_lowpass_frequency>
-        <app_balance_conf.kd_pt1_highpass_frequency>
-            <longName>D term PT1 High Pass Filter</longName>
-            <type>2</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;D term filter below this frequency. 0 = Disabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_KD_PT1_HIGHPASS_FREQUENCY</cDefine>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxInt>4000</maxInt>
-            <minInt>0</minInt>
-            <showDisplay>0</showDisplay>
-            <stepInt>10</stepInt>
-            <valInt>0</valInt>
-            <suffix> Hz</suffix>
-            <vTx>3</vTx>
-        </app_balance_conf.kd_pt1_highpass_frequency>
-        <app_balance_conf.booster_angle>
-            <longName>Start Angle</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Angle at which booster is applied (actually measued as absolute deviation from setpoint).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_BOOSTER_ANGLE</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>80</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.5</stepDouble>
-            <valDouble>8</valDouble>
-            <vTxDoubleScale>1</vTxDoubleScale>
-            <suffix> °</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.booster_angle>
-        <app_balance_conf.booster_ramp>
-            <longName>Ramp Up</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Degrees over which booster will ramp from 0A to the Configured Current, starting at start Angle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_BOOSTER_RAMP</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>80</maxDouble>
-            <minDouble>1</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.5</stepDouble>
-            <valDouble>1</valDouble>
-            <vTxDoubleScale>1</vTxDoubleScale>
-            <suffix> °</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.booster_ramp>
-        <app_balance_conf.booster_current>
-            <longName>Current Boost</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Extra current to be applied when booster angle is reached.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_BOOSTER_CURRENT</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>100</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>1</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> A</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.booster_current>
-        <app_balance_conf.torquetilt_start_current>
-            <longName>Start Current Threshold</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum output current threshold for torque tiltback to start applying.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TORQUETILT_START_CURRENT</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>100</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>2</stepDouble>
-            <valDouble>10</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> A</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.torquetilt_start_current>
-        <app_balance_conf.torquetilt_angle_limit>
-            <longName>Tilitback Angle Limit</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Max angle to which torque tiltback will tilt.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TORQUETILT_ANGLE_LIMIT</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>80</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.5</stepDouble>
-            <valDouble>5</valDouble>
-            <vTxDoubleScale>1</vTxDoubleScale>
-            <suffix> °</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.torquetilt_angle_limit>
-        <app_balance_conf.torquetilt_on_speed>
-            <longName>Max Tiltback Speed</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Max speed at which torque tiltback will tilt to the desired angle (tilt will be slower if current increases slowly).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TORQUETILT_ON_SPEED</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>100</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.5</stepDouble>
-            <valDouble>5</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> °/s</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.torquetilt_on_speed>
-        <app_balance_conf.torquetilt_off_speed>
-            <longName>Max Tiltback Release Speed</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Max speed at which torque tiltback will release to the desired angle back to 0 (tilt will be slower if current decreases slowly).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TORQUETILT_OFF_SPEED</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>100</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.5</stepDouble>
-            <valDouble>3</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> °/s</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.torquetilt_off_speed>
-        <app_balance_conf.torquetilt_strength>
-            <longName>Strength</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;How much tiltback should be applied based on output current.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TORQUETILT_STRENGTH</cDefine>
-            <editorDecimalsDouble>2</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>1</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.05</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> °/A</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.torquetilt_strength>
-        <app_balance_conf.torquetilt_filter>
-            <longName>Current Filter</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Biquad Low pass filter on the current used for calculating the torquetilt. This smooths out spikes in the current, and prevents torquetilt from being twitchy.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TORQUETILT_FILTER</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>500</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.5</stepDouble>
-            <valDouble>2</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> Hz</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.torquetilt_filter>
-        <app_balance_conf.turntilt_strength>
-            <longName>Strength</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;How much tiltback should be applied based on the sine of the roll angle. A strength value of N will give N degrees of tiltback when the vehicle is rolled to 90 degrees.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TURNTILT_STRENGTH</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>90</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.5</stepDouble>
-            <valDouble>0</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> </suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.turntilt_strength>
-        <app_balance_conf.turntilt_angle_limit>
-            <longName>Tilitback Angle Limit</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Max angle to which turn tiltback will tilt. This wont change the power curve, only stop it at the limit.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TURNTILT_ANGLE_LIMIT</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>30</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.5</stepDouble>
-            <valDouble>5</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> °</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.turntilt_angle_limit>
-        <app_balance_conf.turntilt_start_angle>
-            <longName>Roll Angle Threshold</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Min angle threshold to apply turntilt. Similar to a deadzone, except after reaching the angle, it will apply as if it started from 0.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TURNTILT_START_ANGLE</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>45</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.5</stepDouble>
-            <valDouble>1</valDouble>
-            <vTxDoubleScale>1</vTxDoubleScale>
-            <suffix> °</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.turntilt_start_angle>
-        <app_balance_conf.turntilt_start_erpm>
-            <longName>ERPM Threshold</longName>
-            <type>2</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM threshold to apply turntilt.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TURNTILT_START_ERPM</cDefine>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxInt>100000</maxInt>
-            <minInt>100</minInt>
-            <showDisplay>0</showDisplay>
-            <stepInt>100</stepInt>
-            <valInt>100</valInt>
-            <suffix> ERPM</suffix>
-            <vTx>3</vTx>
-        </app_balance_conf.turntilt_start_erpm>
-        <app_balance_conf.turntilt_speed>
-            <longName>Max Tiltback Speed</longName>
-            <type>1</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Max speed at which turntilt will tilt to the desired angle (tilt will be slower if roll angle increases slowly).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TURNTILT_SPEED</cDefine>
-            <editorDecimalsDouble>1</editorDecimalsDouble>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxDouble>100</maxDouble>
-            <minDouble>0</minDouble>
-            <showDisplay>0</showDisplay>
-            <stepDouble>0.5</stepDouble>
-            <valDouble>5</valDouble>
-            <vTxDoubleScale>1000</vTxDoubleScale>
-            <suffix> °/s</suffix>
-            <vTx>9</vTx>
-        </app_balance_conf.turntilt_speed>
-        <app_balance_conf.turntilt_erpm_boost>
-            <longName>Speed Boost %</longName>
-            <type>2</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Increase the strength based on ERPM. Boost percent is added linearly from 0 erpm (0% boost) to max erpm (Full configured boost % is applied).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TURNTILT_ERPM_BOOST</cDefine>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxInt>10000</maxInt>
-            <minInt>0</minInt>
-            <showDisplay>0</showDisplay>
-            <stepInt>5</stepInt>
-            <valInt>20</valInt>
-            <suffix> %</suffix>
-            <vTx>3</vTx>
-        </app_balance_conf.turntilt_erpm_boost>
-        <app_balance_conf.turntilt_erpm_boost_end>
-            <longName>Speed Boost Max ERPM</longName>
-            <type>2</type>
-            <transmittable>1</transmittable>
-            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM (absolute value) to end boosting the turn tilt effect, above this erpm there will be constant boost % (at your configured boost %).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>APPCONF_BALANCE_TURNTILT_ERPM_BOOST_END</cDefine>
-            <editorScale>1</editorScale>
-            <editAsPercentage>0</editAsPercentage>
-            <maxInt>100000</maxInt>
-            <minInt>100</minInt>
-            <showDisplay>0</showDisplay>
-            <stepInt>100</stepInt>
-            <valInt>20000</valInt>
-            <suffix> ERPM</suffix>
-            <vTx>3</vTx>
-        </app_balance_conf.turntilt_erpm_boost_end>
         <app_pas_conf.ctrl_type>
             <longName>Control Type</longName>
             <type>4</type>
@@ -4229,74 +2790,6 @@ p, li { white-space: pre-wrap; }
         <ser>app_nrf_conf.address__1</ser>
         <ser>app_nrf_conf.address__2</ser>
         <ser>app_nrf_conf.send_crc_ack</ser>
-        <ser>app_balance_conf.pid_mode</ser>
-        <ser>app_balance_conf.kp</ser>
-        <ser>app_balance_conf.ki</ser>
-        <ser>app_balance_conf.kd</ser>
-        <ser>app_balance_conf.kp2</ser>
-        <ser>app_balance_conf.ki2</ser>
-        <ser>app_balance_conf.kd2</ser>
-        <ser>app_balance_conf.hertz</ser>
-        <ser>app_balance_conf.loop_time_filter</ser>
-        <ser>app_balance_conf.fault_pitch</ser>
-        <ser>app_balance_conf.fault_roll</ser>
-        <ser>app_balance_conf.fault_duty</ser>
-        <ser>app_balance_conf.fault_adc1</ser>
-        <ser>app_balance_conf.fault_adc2</ser>
-        <ser>app_balance_conf.fault_delay_pitch</ser>
-        <ser>app_balance_conf.fault_delay_roll</ser>
-        <ser>app_balance_conf.fault_delay_duty</ser>
-        <ser>app_balance_conf.fault_delay_switch_half</ser>
-        <ser>app_balance_conf.fault_delay_switch_full</ser>
-        <ser>app_balance_conf.fault_adc_half_erpm</ser>
-        <ser>app_balance_conf.fault_is_dual_switch</ser>
-        <ser>app_balance_conf.tiltback_duty_angle</ser>
-        <ser>app_balance_conf.tiltback_duty_speed</ser>
-        <ser>app_balance_conf.tiltback_duty</ser>
-        <ser>app_balance_conf.tiltback_hv_angle</ser>
-        <ser>app_balance_conf.tiltback_hv_speed</ser>
-        <ser>app_balance_conf.tiltback_hv</ser>
-        <ser>app_balance_conf.tiltback_lv_angle</ser>
-        <ser>app_balance_conf.tiltback_lv_speed</ser>
-        <ser>app_balance_conf.tiltback_lv</ser>
-        <ser>app_balance_conf.tiltback_return_speed</ser>
-        <ser>app_balance_conf.tiltback_constant</ser>
-        <ser>app_balance_conf.tiltback_constant_erpm</ser>
-        <ser>app_balance_conf.tiltback_variable</ser>
-        <ser>app_balance_conf.tiltback_variable_max</ser>
-        <ser>app_balance_conf.noseangling_speed</ser>
-        <ser>app_balance_conf.startup_pitch_tolerance</ser>
-        <ser>app_balance_conf.startup_roll_tolerance</ser>
-        <ser>app_balance_conf.startup_speed</ser>
-        <ser>app_balance_conf.deadzone</ser>
-        <ser>app_balance_conf.multi_esc</ser>
-        <ser>app_balance_conf.yaw_kp</ser>
-        <ser>app_balance_conf.yaw_ki</ser>
-        <ser>app_balance_conf.yaw_kd</ser>
-        <ser>app_balance_conf.roll_steer_kp</ser>
-        <ser>app_balance_conf.roll_steer_erpm_kp</ser>
-        <ser>app_balance_conf.brake_current</ser>
-        <ser>app_balance_conf.brake_timeout</ser>
-        <ser>app_balance_conf.yaw_current_clamp</ser>
-        <ser>app_balance_conf.ki_limit</ser>
-        <ser>app_balance_conf.kd_pt1_lowpass_frequency</ser>
-        <ser>app_balance_conf.kd_pt1_highpass_frequency</ser>
-        <ser>app_balance_conf.booster_angle</ser>
-        <ser>app_balance_conf.booster_ramp</ser>
-        <ser>app_balance_conf.booster_current</ser>
-        <ser>app_balance_conf.torquetilt_start_current</ser>
-        <ser>app_balance_conf.torquetilt_angle_limit</ser>
-        <ser>app_balance_conf.torquetilt_on_speed</ser>
-        <ser>app_balance_conf.torquetilt_off_speed</ser>
-        <ser>app_balance_conf.torquetilt_strength</ser>
-        <ser>app_balance_conf.torquetilt_filter</ser>
-        <ser>app_balance_conf.turntilt_strength</ser>
-        <ser>app_balance_conf.turntilt_angle_limit</ser>
-        <ser>app_balance_conf.turntilt_start_angle</ser>
-        <ser>app_balance_conf.turntilt_start_erpm</ser>
-        <ser>app_balance_conf.turntilt_speed</ser>
-        <ser>app_balance_conf.turntilt_erpm_boost</ser>
-        <ser>app_balance_conf.turntilt_erpm_boost_end</ser>
         <ser>app_pas_conf.ctrl_type</ser>
         <ser>app_pas_conf.sensor_type</ser>
         <ser>app_pas_conf.current_scaling</ser>
@@ -4501,128 +2994,6 @@ p, li { white-space: pre-wrap; }
                 </subgroupParams>
             </subgroup>
         </group>
-        <group>
-            <groupName>Balance</groupName>
-            <subgroup>
-                <subgroupName>Tune</subgroupName>
-                <subgroupParams>
-                    <param>::sep::PID</param>
-                    <param>app_balance_conf.pid_mode</param>
-                    <param>app_balance_conf.kp</param>
-                    <param>app_balance_conf.ki</param>
-                    <param>app_balance_conf.kd</param>
-                    <param>app_balance_conf.kp2</param>
-                    <param>app_balance_conf.ki2</param>
-                    <param>app_balance_conf.kd2</param>
-                    <param>::sep::Main Loop</param>
-                    <param>app_balance_conf.hertz</param>
-                    <param>app_balance_conf.loop_time_filter</param>
-                    <param>::sep::Filters</param>
-                    <param>app_balance_conf.ki_limit</param>
-                    <param>app_balance_conf.kd_pt1_lowpass_frequency</param>
-                    <param>app_balance_conf.kd_pt1_highpass_frequency</param>
-                    <param>::sep::Experimental</param>
-                    <param>app_balance_conf.deadzone</param>
-                </subgroupParams>
-            </subgroup>
-            <subgroup>
-                <subgroupName>Tune Modifiers</subgroupName>
-                <subgroupParams>
-                    <param>::sep::Nose Angling</param>
-                    <param>app_balance_conf.tiltback_constant</param>
-                    <param>app_balance_conf.tiltback_constant_erpm</param>
-                    <param>app_balance_conf.tiltback_variable</param>
-                    <param>app_balance_conf.tiltback_variable_max</param>
-                    <param>app_balance_conf.noseangling_speed</param>
-                    <param>::sep::Booster</param>
-                    <param>app_balance_conf.booster_angle</param>
-                    <param>app_balance_conf.booster_ramp</param>
-                    <param>app_balance_conf.booster_current</param>
-                    <param>::sep::Torque Tiltback</param>
-                    <param>app_balance_conf.torquetilt_strength</param>
-                    <param>app_balance_conf.torquetilt_start_current</param>
-                    <param>app_balance_conf.torquetilt_angle_limit</param>
-                    <param>app_balance_conf.torquetilt_on_speed</param>
-                    <param>app_balance_conf.torquetilt_off_speed</param>
-                    <param>app_balance_conf.torquetilt_filter</param>
-                    <param>::sep::Turn/Roll Tiltback</param>
-                    <param>app_balance_conf.turntilt_strength</param>
-                    <param>app_balance_conf.turntilt_angle_limit</param>
-                    <param>app_balance_conf.turntilt_start_angle</param>
-                    <param>app_balance_conf.turntilt_start_erpm</param>
-                    <param>app_balance_conf.turntilt_speed</param>
-                    <param>app_balance_conf.turntilt_erpm_boost</param>
-                    <param>app_balance_conf.turntilt_erpm_boost_end</param>
-                </subgroupParams>
-            </subgroup>
-            <subgroup>
-                <subgroupName>Startup</subgroupName>
-                <subgroupParams>
-                    <param>::sep::Tolerances</param>
-                    <param>app_balance_conf.startup_pitch_tolerance</param>
-                    <param>app_balance_conf.startup_roll_tolerance</param>
-                    <param>::sep::Centering</param>
-                    <param>app_balance_conf.startup_speed</param>
-                    <param>::sep::Holding</param>
-                    <param>app_balance_conf.brake_current</param>
-                    <param>app_balance_conf.brake_timeout</param>
-                </subgroupParams>
-            </subgroup>
-            <subgroup>
-                <subgroupName>Tiltback</subgroupName>
-                <subgroupParams>
-                    <param>::sep::General Config</param>
-                    <param>app_balance_conf.tiltback_return_speed</param>
-                    <param>::sep::Duty Cycle Tiltback</param>
-                    <param>app_balance_conf.tiltback_duty</param>
-                    <param>app_balance_conf.tiltback_duty_angle</param>
-                    <param>app_balance_conf.tiltback_duty_speed</param>
-                    <param>::sep::High Voltage Tiltback</param>
-                    <param>app_balance_conf.tiltback_hv</param>
-                    <param>app_balance_conf.tiltback_hv_angle</param>
-                    <param>app_balance_conf.tiltback_hv_speed</param>
-                    <param>::sep::Low Voltage Tiltback</param>
-                    <param>app_balance_conf.tiltback_lv</param>
-                    <param>app_balance_conf.tiltback_lv_angle</param>
-                    <param>app_balance_conf.tiltback_lv_speed</param>
-                </subgroupParams>
-            </subgroup>
-            <subgroup>
-                <subgroupName>Fault</subgroupName>
-                <subgroupParams>
-                    <param>::sep::Angle Faults</param>
-                    <param>app_balance_conf.fault_pitch</param>
-                    <param>app_balance_conf.fault_delay_pitch</param>
-                    <param>app_balance_conf.fault_roll</param>
-                    <param>app_balance_conf.fault_delay_roll</param>
-                    <param>::sep::Speed Faults</param>
-                    <param>app_balance_conf.fault_duty</param>
-                    <param>app_balance_conf.fault_delay_duty</param>
-                    <param>::sep::Switches</param>
-                    <param>app_balance_conf.fault_adc1</param>
-                    <param>app_balance_conf.fault_adc2</param>
-                    <param>app_balance_conf.fault_delay_switch_half</param>
-                    <param>app_balance_conf.fault_delay_switch_full</param>
-                    <param>app_balance_conf.fault_adc_half_erpm</param>
-                    <param>app_balance_conf.fault_is_dual_switch</param>
-                </subgroupParams>
-            </subgroup>
-            <subgroup>
-                <subgroupName>Multi ESC</subgroupName>
-                <subgroupParams>
-                    <param>::sep::Multi ESC</param>
-                    <param>app_balance_conf.multi_esc</param>
-                    <param>::sep::Stabilization PID</param>
-                    <param>app_balance_conf.yaw_kp</param>
-                    <param>app_balance_conf.yaw_ki</param>
-                    <param>app_balance_conf.yaw_kd</param>
-                    <param>::sep::Steering</param>
-                    <param>app_balance_conf.roll_steer_kp</param>
-                    <param>app_balance_conf.roll_steer_erpm_kp</param>
-                    <param>app_balance_conf.yaw_current_clamp</param>
-                </subgroupParams>
-            </subgroup>
-        </group>
         <group>
             <groupName>IMU</groupName>
             <subgroup>

From 37750460d67af131d9288a404d5707e7b872a136 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 19 Jun 2023 14:17:26 +0200
Subject: [PATCH 471/559] Removed app_balance reference

---
 mainwindow.cpp | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/mainwindow.cpp b/mainwindow.cpp
index a52584611..feeb14357 100755
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -359,7 +359,6 @@ MainWindow::MainWindow(QWidget *parent) :
             ui->pageList->item(mPageNameIdList.value("app_uart"))->setHidden(false);
             ui->pageList->item(mPageNameIdList.value("app_vescremote"))->setHidden(false);
             ui->pageList->item(mPageNameIdList.value("app_nrf"))->setHidden(false);
-            ui->pageList->item(mPageNameIdList.value("app_balance"))->setHidden(false);
             ui->pageList->item(mPageNameIdList.value("app_pas"))->setHidden(false);
             ui->pageList->item(mPageNameIdList.value("app_imu"))->setHidden(false);
             ui->pageList->item(mPageNameIdList.value("data_rt"))->setHidden(false);
@@ -387,10 +386,8 @@ MainWindow::MainWindow(QWidget *parent) :
             ui->pageList->item(mPageNameIdList.value("app_uart"))->setHidden(true);
             ui->pageList->item(mPageNameIdList.value("app_vescremote"))->setHidden(true);
             ui->pageList->item(mPageNameIdList.value("app_nrf"))->setHidden(true);
-            ui->pageList->item(mPageNameIdList.value("app_balance"))->setHidden(true);
             ui->pageList->item(mPageNameIdList.value("app_pas"))->setHidden(true);
             ui->pageList->item(mPageNameIdList.value("app_imu"))->setHidden(true);
-            //            ui->pageList->item(mPageNameIdList.value("data_rt"))->setHidden(true);
             ui->pageList->item(mPageNameIdList.value("data_sampled"))->setHidden(true);
         }
     });

From 7f1dafd3853024e55d623e2e079ba80672525f6a Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 19 Jun 2023 15:08:02 +0200
Subject: [PATCH 472/559] Added bootloader hack

---
 mobile/fwhelper.cpp    |  6 +++++-
 pages/pagefirmware.cpp |  6 +++++-
 vescinterface.cpp      | 10 +++++++---
 3 files changed, 17 insertions(+), 5 deletions(-)

diff --git a/mobile/fwhelper.cpp b/mobile/fwhelper.cpp
index 1133830ef..617b5e702 100644
--- a/mobile/fwhelper.cpp
+++ b/mobile/fwhelper.cpp
@@ -102,7 +102,11 @@ QVariantMap FwHelper::getBootloaders(FW_RX_PARAMS params, QString hw)
         endEsp.append('\0');
 
         if (!params.uuid.endsWith(endEsp)) {
-            blDir = "://res/bootloaders_custom_module";
+            if (params.hw == "hm1") {
+                blDir = "://res/bootloaders_bms";
+            } else {
+                blDir = "://res/bootloaders_custom_module";
+            }
         }
         break;
     }
diff --git a/pages/pagefirmware.cpp b/pages/pagefirmware.cpp
index 8ed822f19..b8f82f7d7 100755
--- a/pages/pagefirmware.cpp
+++ b/pages/pagefirmware.cpp
@@ -353,7 +353,11 @@ void PageFirmware::updateBlList(FW_RX_PARAMS params)
         endEsp.append('\0');
 
         if (!params.uuid.endsWith(endEsp)) {
-            blDir = "://res/bootloaders_custom_module";
+            if (params.hw == "hm1") {
+                blDir = "://res/bootloaders_bms";
+            } else {
+                blDir = "://res/bootloaders_custom_module";
+            }
         }
         break;
     }
diff --git a/vescinterface.cpp b/vescinterface.cpp
index df992e562..9fcccf829 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -1471,9 +1471,13 @@ bool VescInterface::fwUpload(QByteArray &newFirmware, bool isBootloader, bool fw
             addr += 0x0803E000 - 0x08020000;
             break;
 
-        case HW_TYPE_CUSTOM_MODULE:
-            addr += 0x0801E000 - 0x08010000;
-            break;
+        case HW_TYPE_CUSTOM_MODULE: {
+            if (mLastFwParams.hw == "hm1") {
+                addr += 0x0803E000 - 0x08020000;
+            } else {
+                addr += 0x0801E000 - 0x08010000;
+            }
+        } break;
         }
     }
 

From 9b4bf37dcdb703ca40e4e17e9903c3d768f9b378 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 21 Jun 2023 14:51:05 +0200
Subject: [PATCH 473/559] Added new keywords

---
 QCodeEditor/resources/languages/lisp.xml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 3630487de..6c5080a29 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -326,6 +326,9 @@
 <name>conf-detect-foc</name>
 <name>conf-set-pid-offset</name>
 <name>conf-measure-res</name>
+<name>conf-restore-mc</name>
+<name>conf-restore-app</name>
+<name>conf-dc-cal</name>
 <name>free</name>
 <name>bufcreate</name>
 <name>array-create</name>

From 1b0d1813973e06ef4963ace67e26942a26d802ba Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 23 Jun 2023 11:11:24 +0200
Subject: [PATCH 474/559] Added new parameter

---
 res/config/6.05/parameters_mcconf.xml | 24 ++++++++++++++++++++++++
 1 file changed, 24 insertions(+)

diff --git a/res/config/6.05/parameters_mcconf.xml b/res/config/6.05/parameters_mcconf.xml
index 561402acb..8db68dc17 100644
--- a/res/config/6.05/parameters_mcconf.xml
+++ b/res/config/6.05/parameters_mcconf.xml
@@ -187,6 +187,28 @@ p, li { white-space: pre-wrap; }
             <suffix></suffix>
             <vTx>7</vTx>
         </l_in_current_map_start>
+        <l_in_current_map_filter>
+            <longName>Input Current Map Filter</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Input current filter for the mapped Q axis current limit. Range 0.0 to 1.0 where 1.0 is no filtering and the closer to 0.0 the more filtering there is. Filtering the input current before the mapped limit can affect oscillations caused by the limit.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_L_IN_CURRENT_MAP_FILTER</cDefine>
+            <editorDecimalsDouble>3</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>1</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>1</showDisplay>
+            <stepDouble>0.01</stepDouble>
+            <valDouble>1</valDouble>
+            <vTxDoubleScale>10000</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>7</vTx>
+        </l_in_current_map_filter>
         <l_abs_current_max>
             <longName>Absolute Maximum Current</longName>
             <type>1</type>
@@ -4440,6 +4462,7 @@ p, li { white-space: pre-wrap; }
         <ser>l_in_current_max</ser>
         <ser>l_in_current_min</ser>
         <ser>l_in_current_map_start</ser>
+        <ser>l_in_current_map_filter</ser>
         <ser>l_abs_current_max</ser>
         <ser>l_min_erpm</ser>
         <ser>l_max_erpm</ser>
@@ -4664,6 +4687,7 @@ p, li { white-space: pre-wrap; }
                     <param>l_in_current_max</param>
                     <param>l_in_current_min</param>
                     <param>l_in_current_map_start</param>
+                    <param>l_in_current_map_filter</param>
                     <param>::sep::DRV8301</param>
                     <param>m_drv8301_oc_mode</param>
                     <param>m_drv8301_oc_adj</param>

From 5ea20aa1549e74a280b133b6b3c80c93487e0c03 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Fri, 23 Jun 2023 13:49:26 +0000
Subject: [PATCH 475/559] @EnnoidMe has signed the CLA from Pull Request #323

---
 signatures/version1/cla.json | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/signatures/version1/cla.json b/signatures/version1/cla.json
index 05f10d2d9..5645172c3 100644
--- a/signatures/version1/cla.json
+++ b/signatures/version1/cla.json
@@ -127,6 +127,14 @@
       "created_at": "2023-02-20T02:10:27Z",
       "repoId": 102395117,
       "pullRequestNo": 300
+    },
+    {
+      "name": "EnnoidMe",
+      "id": 34245795,
+      "comment_id": 1604313025,
+      "created_at": "2023-06-23T13:49:08Z",
+      "repoId": 102395117,
+      "pullRequestNo": 323
     }
   ]
 }
\ No newline at end of file

From 8646daa15cc4124ad47c7f6af848a21565104d3d Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 27 Jun 2023 15:41:47 +0200
Subject: [PATCH 476/559] Added abs max current and temperature sensor settings
 to multisettings

---
 mobile/MultiSettings.qml  | 3 +++
 mobile/SetupWizardFoc.qml | 4 ++++
 2 files changed, 7 insertions(+)
 mode change 100644 => 100755 mobile/MultiSettings.qml

diff --git a/mobile/MultiSettings.qml b/mobile/MultiSettings.qml
old mode 100644
new mode 100755
index af384c0ff..c98357bd0
--- a/mobile/MultiSettings.qml
+++ b/mobile/MultiSettings.qml
@@ -87,6 +87,8 @@ Item {
             // General
             paramListGeneral.addEditorMc("foc_sensor_mode")
             paramListGeneral.addEditorMc("l_duty_start")
+            paramListGeneral.addEditorMc("m_motor_temp_sens_type")
+            paramListGeneral.addEditorMc("m_ntc_motor_beta")
 
             // Limits
             paramListLimits.addSeparator("Current")
@@ -94,6 +96,7 @@ Item {
             paramListLimits.addEditorMc("l_current_min")
             paramListLimits.addEditorMc("l_in_current_max")
             paramListLimits.addEditorMc("l_in_current_min")
+            paramListLimits.addEditorMc("l_abs_current_max")
 
             paramListLimits.addSeparator("ERPM")
             paramListLimits.addEditorMc("l_min_erpm")
diff --git a/mobile/SetupWizardFoc.qml b/mobile/SetupWizardFoc.qml
index 47ed38ba4..78c9ec6f3 100755
--- a/mobile/SetupWizardFoc.qml
+++ b/mobile/SetupWizardFoc.qml
@@ -85,6 +85,8 @@ Item {
         paramListSetup.addEditorMc("si_wheel_diameter")
         paramListSetup.addSeparator("↓ Only change if needed ↓")
         paramListSetup.addEditorMc("si_motor_poles")
+        paramListSetup.addEditorMc("m_motor_temp_sens_type")
+        paramListSetup.addEditorMc("m_ntc_motor_beta")
     }
 
     Dialog {
@@ -915,6 +917,8 @@ Item {
                     return
                 }
 
+                Utility.setMcParamsFromCurrentConfigAllCan(VescIf, canDevs, ["m_motor_temp_sens_type", "m_ntc_motor_beta"])
+
                 var res  = Utility.detectAllFoc(VescIf, detectCanBox.checked,
                                                 maxPowerLossBox.realValue,
                                                 currentInMinBox.realValue,

From d0f53a762268b571b7ca61c6315075cee853034b Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 5 Jul 2023 14:07:51 +0200
Subject: [PATCH 477/559] Added speed source parameter

---
 res/config/6.05/parameters_mcconf.xml | 26 ++++++++++++++++++++++++++
 1 file changed, 26 insertions(+)

diff --git a/res/config/6.05/parameters_mcconf.xml b/res/config/6.05/parameters_mcconf.xml
index 8db68dc17..6043dc291 100644
--- a/res/config/6.05/parameters_mcconf.xml
+++ b/res/config/6.05/parameters_mcconf.xml
@@ -3127,6 +3127,30 @@ p, li { white-space: pre-wrap; }
             <suffix></suffix>
             <vTx>9</vTx>
         </s_pid_ramp_erpms_s>
+        <s_pid_speed_source>
+            <longName>Speed Source</longName>
+            <type>4</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Speed source for the PID speed controller.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;PLL&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Phase locked loop. Low noise, but slow response.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Fast Estimator&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Filtered phase difference per time. Faster than the PLL but more noise.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Faster Estimator&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as fast estimator, but less filtering. Fastest update but the most noise.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_S_PID_SPEED_SOURCE</cDefine>
+            <valInt>0</valInt>
+            <enumNames>PLL</enumNames>
+            <enumNames>Fast Estimator</enumNames>
+            <enumNames>Faster Estimator</enumNames>
+        </s_pid_speed_source>
         <p_pid_kp>
             <longName>Position PID Kp</longName>
             <type>1</type>
@@ -4596,6 +4620,7 @@ p, li { white-space: pre-wrap; }
         <ser>s_pid_min_erpm</ser>
         <ser>s_pid_allow_braking</ser>
         <ser>s_pid_ramp_erpms_s</ser>
+        <ser>s_pid_speed_source</ser>
         <ser>p_pid_kp</ser>
         <ser>p_pid_ki</ser>
         <ser>p_pid_kd</ser>
@@ -4996,6 +5021,7 @@ p, li { white-space: pre-wrap; }
                     <param>s_pid_allow_braking</param>
                     <param>s_pid_ramp_erpms_s</param>
                     <param>foc_speed_soure</param>
+                    <param>s_pid_speed_source</param>
                     <param>::sep::Position Controller</param>
                     <param>p_pid_kp</param>
                     <param>p_pid_ki</param>

From eb614ed71f9a04ba0fb087eb8f7ff82e741d3e91 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 5 Jul 2023 14:20:45 +0200
Subject: [PATCH 478/559] Added font editor to display tool

---
 display_tool/displayedit.cpp |  17 +++-
 display_tool/displayedit.h   |   1 +
 pages/pagedisplaytool.cpp    | 189 ++++++++++++++++++++++++++++++++++-
 pages/pagedisplaytool.h      |   6 ++
 pages/pagedisplaytool.ui     | 147 ++++++++++++++++++++++++++-
 5 files changed, 355 insertions(+), 5 deletions(-)
 mode change 100644 => 100755 display_tool/displayedit.cpp

diff --git a/display_tool/displayedit.cpp b/display_tool/displayedit.cpp
old mode 100644
new mode 100755
index 8202e6539..29185706e
--- a/display_tool/displayedit.cpp
+++ b/display_tool/displayedit.cpp
@@ -52,6 +52,19 @@ QImage DisplayEdit::getImageNow()
     return res;
 }
 
+QImage DisplayEdit::getImageBase()
+{
+    QImage res(mPixelsX, mPixelsY, QImage::Format_RGB32);
+
+    for (int i = 0;i < mPixelsX;i++) {
+        for (int j = 0;j < mPixelsY;j++) {
+            res.setPixelColor(i, j, mImage.at(i).at(j));
+        }
+    }
+
+    return res;
+}
+
 void DisplayEdit::loadFromImage(QImage img)
 {
     for (int i = 0;i < mPixelsX;i++) {
@@ -520,7 +533,9 @@ QColor DisplayEdit::pixel(int x, int y, bool withMask)
                 cPix = cL2;
             }
         } else {
-            cPix = cO;
+            cPix.setRedF(cO.redF() * cO.alphaF() + c.redF() * (1.0 - cO.alphaF()));
+            cPix.setGreenF(cO.greenF() * cO.alphaF() + c.greenF() * (1.0 - cO.alphaF()));
+            cPix.setBlueF(cO.blueF() * cO.alphaF() + c.blueF() * (1.0 - cO.alphaF()));
         }
     } else {
         cPix = withMask ? cM : Qt::black;
diff --git a/display_tool/displayedit.h b/display_tool/displayedit.h
index 4a2814ea8..d1af1da36 100644
--- a/display_tool/displayedit.h
+++ b/display_tool/displayedit.h
@@ -29,6 +29,7 @@ class DisplayEdit : public QWidget
     explicit DisplayEdit(QWidget *parent = nullptr);
     QPoint getPixelUnderCursor();
     QImage getImageNow();
+    QImage getImageBase();
     void loadFromImage(QImage img);
     void loadMaskImage(QImage img);
     void setImageSize(int width, int height);
diff --git a/pages/pagedisplaytool.cpp b/pages/pagedisplaytool.cpp
index a067e44f4..75ef9257d 100644
--- a/pages/pagedisplaytool.cpp
+++ b/pages/pagedisplaytool.cpp
@@ -19,9 +19,11 @@
 
 #include "pagedisplaytool.h"
 #include "ui_pagedisplaytool.h"
+#include "vbytearray.h"
 
 #include <QLayout>
 #include <QFileDialog>
+#include <QDebug>
 
 PageDisplayTool::PageDisplayTool(QWidget *parent) :
     QWidget(parent),
@@ -33,6 +35,10 @@ PageDisplayTool::PageDisplayTool(QWidget *parent) :
     mOverlayUpdating = false;
     on_updateSizeButton_clicked();
 
+    // This seems to be required to scale the right pane layout properly. No idea why...
+    ui->fontEditor->setVisible(false);
+    ui->fontEditor->setVisible(true);
+
     connect(ui->ovCrHBox, SIGNAL(valueChanged(int)), this, SLOT(updateOverlay()));
     connect(ui->ovCrWBox, SIGNAL(valueChanged(int)), this, SLOT(updateOverlay()));
     connect(ui->ovCrXPosBox, SIGNAL(valueChanged(int)), this, SLOT(updateOverlay()));
@@ -69,6 +75,12 @@ PageDisplayTool::PageDisplayTool(QWidget *parent) :
             updateOverlay();
         }
     });
+
+    connect(ui->fontEditBorderBox, &QCheckBox::toggled, [this]() {
+        reloadFontEditorOverlay();
+    });
+
+    reloadFontEditor();
 }
 
 PageDisplayTool::~PageDisplayTool()
@@ -207,13 +219,11 @@ void PageDisplayTool::on_exportFontButton_clicked()
     f.close();
 }
 
-
 void PageDisplayTool::on_ovSaveButton_clicked()
 {
     ui->fullEditor->getEdit()->saveOverlayToLayer2();
 }
 
-
 void PageDisplayTool::on_updateSizeButton_clicked()
 {
     ui->customEditor->updateSize(ui->wBox->value(), ui->hBox->value());
@@ -235,9 +245,184 @@ QFont PageDisplayTool::getSelectedFont(bool antialias)
     return f;
 }
 
+QFont PageDisplayTool::getSelectedFontEditor()
+{
+    QFont f = ui->fontEditFontBox->currentFont();
+    f.setPointSizeF(500.0);
+    f.setBold(ui->fontEditBoldBox->isChecked());
+    f.setStyleStrategy(QFont::NoAntialias);
+
+    QFontMetrics fm(f);
+    double fh = (500.0 * (double)ui->fontEditHBox->value()) / (double)fm.ascent();
+    f.setPointSizeF(fh * ui->fontEditScaleBox->value());
+    return f;
+}
+
+void PageDisplayTool::reloadFontEditor()
+{
+    int w = ui->fontEditWBox->value();
+    int h = ui->fontEditHBox->value();
+    int charNum = ui->fontEditNumOnlyButton->isChecked() ? 10 : 95;
+
+    ui->fontEditor->updateSize(w * charNum, h);
+
+    QImage img(w * charNum, h, QImage::Format_ARGB32);
+    img.fill(Qt::black);
+    QPainter p(&img);
+
+    p.setFont(getSelectedFontEditor());
+
+    for (int i = 0;i < charNum;i++) {
+        p.setPen(Qt::white);
+        p.drawText(QRect(i * w, 0, w, h), Qt::AlignCenter, QChar(i + (charNum == 10 ? '0' : ' ')));
+    }
+
+    ui->fontEditor->getEdit()->loadFromImage(img);
+
+    reloadFontEditorOverlay();
+}
+
+void PageDisplayTool::reloadFontEditorOverlay()
+{
+    if (!ui->fontEditBorderBox->isChecked()) {
+        ui->fontEditor->getEdit()->clearOverlayImage();
+        return;
+    }
+
+    int w = ui->fontEditWBox->value();
+    int h = ui->fontEditHBox->value();
+    int charNum = ui->fontEditNumOnlyButton->isChecked() ? 10 : 95;
+
+    QImage imgBorder(w * charNum, h, QImage::Format_ARGB32);
+    imgBorder.fill(Qt::transparent);
+    QPainter p(&imgBorder);
+
+    QColor col = Qt::red;
+    col.setAlphaF(0.5);
+
+    for (int i = 0;i < charNum;i++) {
+        p.setPen(col);
+        p.drawRect(i * w, 0, w - 1, h - 1);
+    }
+
+    ui->fontEditor->getEdit()->setOverlayImage(0, 0, 0, w * charNum, 0, h, 0, 0,
+                                               0, 0, 0, 1, Qt::yellow, imgBorder);
+}
 
 void PageDisplayTool::on_updateSizeButtonDisp_clicked()
 {
     ui->fullEditor->updateSize(ui->wBoxDisp->value(), ui->hBoxDisp->value());
 }
 
+void PageDisplayTool::on_fontEditExportButton_clicked()
+{
+    QString filename = QFileDialog::getSaveFileName(this,
+                                                    tr("Save Binary File"), "",
+                                                    tr("Bin files (*.bin *.BIN *.Bin)"));
+
+    if (filename.isEmpty()) {
+        return;
+    }
+
+    if (!filename.endsWith(".bin", Qt::CaseInsensitive)) {
+        filename.append(".bin");
+    }
+
+    QFile f(filename);
+
+    if (!f.open(QIODevice::WriteOnly)) {
+        return;
+    }
+
+    int w = ui->fontEditWBox->value();
+    int h = ui->fontEditHBox->value();
+    int bytesPerChar = (w * h) / 8;
+    int charNum = ui->fontEditNumOnlyButton->isChecked() ? 10 : 95;
+
+    if ((w * h) % 8 != 0) {
+        bytesPerChar++;
+    }
+
+    QByteArray fontArr;
+    fontArr.resize(bytesPerChar * charNum + 4);
+
+    for (auto &c: fontArr) {
+        c = 0;
+    }
+
+    fontArr[0] = w;
+    fontArr[1] = h;
+    fontArr[2] = charNum;
+    fontArr[3] = 1; // 1 bit per char
+
+    auto imgFont = ui->fontEditor->getEdit()->getImageBase();
+
+    for (int ch = 0;ch < charNum; ch++) {
+        for (int i = 0;i < w * h; i++) {
+            QColor px = imgFont.pixel(ch * w + i % w, i / w);
+            char c = fontArr[4 + bytesPerChar * ch + i / 8];
+            c |= (px != Qt::black) << (i % 8);
+            fontArr[4 + bytesPerChar * ch + (i / 8)] = c;
+        }
+    }
+
+    f.write(fontArr);
+    f.close();
+}
+
+void PageDisplayTool::on_fontEditApplyButton_clicked()
+{
+    reloadFontEditor();
+}
+
+void PageDisplayTool::on_fontEditImportButton_clicked()
+{
+    QString filename = QFileDialog::getOpenFileName(this,
+                                                    tr("Load Binary Font"), "",
+                                                    tr("Bin files (*.bin *.BIN *.Bin)"));
+
+    if (!filename.isEmpty()) {
+        QFile f(filename);
+        if (!f.open(QIODevice::ReadOnly)) {
+            return;
+        }
+        VByteArray data = f.readAll();
+        f.close();
+
+        int w = data.vbPopFrontUint8();
+        int h = data.vbPopFrontUint8();
+        int charNum = data.vbPopFrontUint8();
+        data.vbPopFrontUint8();
+
+        int bytesPerChar = (w * h) / 8;
+        if ((w * h) % 8 != 0) {
+            bytesPerChar++;
+        }
+
+        ui->fontEditor->updateSize(w * charNum, h);
+
+        QImage img(w * charNum, h, QImage::Format_ARGB32);
+        img.fill(Qt::black);
+
+        for (int ch = 0;ch < charNum; ch++) {
+            for (int i = 0;i < w * h; i++) {
+                char c = data[bytesPerChar * ch + i / 8];
+                QColor px = (c >> (i % 8) & 0x01) ? Qt::white : Qt::black;
+                img.setPixelColor(ch * w + i % w, i / w, px);
+            }
+        }
+
+        ui->fontEditor->getEdit()->loadFromImage(img);
+
+        if (charNum == 10) {
+            ui->fontEditNumOnlyButton->setChecked(true);
+        } else {
+            ui->fontEditAllButton->setChecked(true);
+        }
+
+        ui->fontEditWBox->setValue(w);
+        ui->fontEditHBox->setValue(h);
+
+        reloadFontEditorOverlay();
+    }
+}
diff --git a/pages/pagedisplaytool.h b/pages/pagedisplaytool.h
index 3cd2300d7..6136e6150 100644
--- a/pages/pagedisplaytool.h
+++ b/pages/pagedisplaytool.h
@@ -40,9 +40,15 @@ private slots:
     void on_ovSaveButton_clicked();
     void on_updateSizeButton_clicked();
     void on_updateSizeButtonDisp_clicked();
+    void on_fontEditExportButton_clicked();
+    void on_fontEditApplyButton_clicked();
+    void on_fontEditImportButton_clicked();
 
 private:
     QFont getSelectedFont(bool antialias);
+    QFont getSelectedFontEditor();
+    void reloadFontEditor();
+    void reloadFontEditorOverlay();
 
     Ui::PageDisplayTool *ui;
     bool mOverlayUpdating;
diff --git a/pages/pagedisplaytool.ui b/pages/pagedisplaytool.ui
index 111f1e473..ad55df371 100644
--- a/pages/pagedisplaytool.ui
+++ b/pages/pagedisplaytool.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1235</width>
-    <height>421</height>
+    <width>685</width>
+    <height>462</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -697,6 +697,149 @@
        </item>
       </layout>
      </widget>
+     <widget class="QWidget" name="tab_5">
+      <attribute name="title">
+       <string>Font Editor</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_6">
+       <item>
+        <layout class="QGridLayout" name="gridLayout_3">
+         <item row="0" column="1" colspan="2">
+          <widget class="QRadioButton" name="fontEditNumOnlyButton">
+           <property name="text">
+            <string>Numbers Only</string>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="0">
+          <widget class="QRadioButton" name="fontEditAllButton">
+           <property name="text">
+            <string>All</string>
+           </property>
+           <property name="checked">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="3">
+          <widget class="QCheckBox" name="fontEditBorderBox">
+           <property name="toolTip">
+            <string>Draw border around characters to see their bounding box</string>
+           </property>
+           <property name="text">
+            <string>Border</string>
+           </property>
+           <property name="checked">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="2">
+          <widget class="QCheckBox" name="fontEditBoldBox">
+           <property name="text">
+            <string>Bold</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="0" colspan="2">
+          <widget class="QFontComboBox" name="fontEditFontBox">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="0">
+          <widget class="QSpinBox" name="fontEditWBox">
+           <property name="prefix">
+            <string>W: </string>
+           </property>
+           <property name="maximum">
+            <number>128</number>
+           </property>
+           <property name="value">
+            <number>10</number>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="1">
+          <widget class="QSpinBox" name="fontEditHBox">
+           <property name="prefix">
+            <string>H: </string>
+           </property>
+           <property name="maximum">
+            <number>128</number>
+           </property>
+           <property name="value">
+            <number>16</number>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="2" colspan="2">
+          <widget class="QDoubleSpinBox" name="fontEditScaleBox">
+           <property name="prefix">
+            <string>Scale: </string>
+           </property>
+           <property name="decimals">
+            <number>2</number>
+           </property>
+           <property name="maximum">
+            <double>10.000000000000000</double>
+           </property>
+           <property name="singleStep">
+            <double>0.010000000000000</double>
+           </property>
+           <property name="value">
+            <double>1.000000000000000</double>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="3">
+          <widget class="QPushButton" name="fontEditApplyButton">
+           <property name="toolTip">
+            <string>Apply font and settings</string>
+           </property>
+           <property name="text">
+            <string>Apply</string>
+           </property>
+          </widget>
+         </item>
+         <item row="5" column="0" colspan="2">
+          <widget class="QPushButton" name="fontEditExportButton">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="text">
+            <string>Export Font</string>
+           </property>
+          </widget>
+         </item>
+         <item row="5" column="2" colspan="2">
+          <widget class="QPushButton" name="fontEditImportButton">
+           <property name="text">
+            <string>Import Font</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item>
+        <widget class="DispEditor" name="fontEditor" native="true">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </widget>
     </widget>
    </item>
   </layout>

From 5846df726517e24ed3d740e6c171696b592e0cf6 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 5 Jul 2023 14:46:52 +0200
Subject: [PATCH 479/559] Limit maximum number of lines in repl

---
 pages/pagelisp.cpp | 20 ++++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index bbf7c97a1..446fbc69a 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -228,6 +228,26 @@ void PageLisp::setVesc(VescInterface *vesc)
         ui->debugEdit->moveCursor(QTextCursor::End);
         ui->debugEdit->insertPlainText(str + "\n");
         ui->debugEdit->moveCursor(QTextCursor::End);
+
+        int maxLines = 5000;
+        int removeLines = 1000;
+
+        if (ui->debugEdit->document()->lineCount() > maxLines) {
+            QString txt = ui->debugEdit->toPlainText();
+            auto lines = txt.split("\n");
+            if (lines.length() >= removeLines) {
+                QString shorter;
+                for (int i = removeLines;i < lines.length();i++) {
+                    shorter.append(lines.at(i));
+
+                    if (i != (lines.length() - 1)) {
+                        shorter.append("\n");
+                    }
+                }
+                ui->debugEdit->setText(shorter);
+                ui->debugEdit->moveCursor(QTextCursor::End);
+            }
+        }
     });
 
     connect(mVesc->commands(), &Commands::lispRunningResRx, [this](bool ok) {

From f824acccb204054079f6ab74115737c5d9994dfd Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 5 Jul 2023 14:55:56 +0200
Subject: [PATCH 480/559] Added keyword

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 6c5080a29..824cc764b 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -35,6 +35,7 @@
 <name>move-to-flash</name>
 <name>@const-start</name>
 <name>@const-end</name>
+<name>@const-symbol-strings</name>
 </section>
 
 <section name="Label">

From 2e3a04b468761794dd9d4083ce0bffbbafed90ef Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 8 Jul 2023 12:23:00 +0200
Subject: [PATCH 481/559] Search improvements

---
 widgets/scripteditor.cpp | 12 ++++++++++++
 widgets/scripteditor.h   |  1 +
 2 files changed, 13 insertions(+)

diff --git a/widgets/scripteditor.cpp b/widgets/scripteditor.cpp
index 0358204ff..c2719f916 100644
--- a/widgets/scripteditor.cpp
+++ b/widgets/scripteditor.cpp
@@ -55,6 +55,7 @@ ScriptEditor::ScriptEditor(QWidget *parent) :
         }
         ui->codeEdit->searchForString(ui->searchEdit->text());
         ui->searchEdit->setFocus();
+        ui->searchEdit->selectAll();
     });
 }
 
@@ -83,6 +84,7 @@ void ScriptEditor::setModeQml()
 {
     ui->codeEdit->setHighlighter(new QmlHighlighter);
     ui->codeEdit->setCompleter(new QVescCompleter);
+    ui->codeEdit->setHighlightBlocks(false);
     mIsModeLisp = false;
 }
 
@@ -94,6 +96,7 @@ void ScriptEditor::setModeLisp()
     ui->codeEdit->setIndentStrs("{(", "})");
     ui->codeEdit->setAutoParentheses(true);
     ui->codeEdit->setSeparateMinus(false);
+    ui->codeEdit->setHighlightBlocks(true);
     mIsModeLisp = true;
 }
 
@@ -277,3 +280,12 @@ void ScriptEditor::on_refreshButton_clicked()
 
     file.close();
 }
+
+void ScriptEditor::on_searchEdit_returnPressed()
+{
+    if (QApplication::keyboardModifiers() == Qt::ControlModifier) {
+        ui->codeEdit->searchPreviousResult();
+    } else {
+        ui->codeEdit->searchNextResult();
+    }
+}
diff --git a/widgets/scripteditor.h b/widgets/scripteditor.h
index c734740ab..53af1adbb 100644
--- a/widgets/scripteditor.h
+++ b/widgets/scripteditor.h
@@ -64,6 +64,7 @@ private slots:
     void on_searchHideButton_clicked();
     void on_searchCaseSensitiveBox_toggled(bool checked);
     void on_refreshButton_clicked();
+    void on_searchEdit_returnPressed();
 
 private:
     Ui::ScriptEditor *ui;

From 1155b68f21a92bdccf43bb059ca76788e96be1fe Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 8 Jul 2023 12:24:15 +0200
Subject: [PATCH 482/559] Ctrl+r to run code block in repl

---
 QCodeEditor/include/internal/QCodeEditor.hpp |  11 +-
 QCodeEditor/resources/dark_style.xml         |   1 +
 QCodeEditor/resources/default_style.xml      |   1 +
 QCodeEditor/src/internal/QCodeEditor.cpp     | 129 +++++++++++++------
 pages/pagelisp.cpp                           |   6 +-
 res/CHANGELOG.md                             |   2 +
 6 files changed, 111 insertions(+), 39 deletions(-)

diff --git a/QCodeEditor/include/internal/QCodeEditor.hpp b/QCodeEditor/include/internal/QCodeEditor.hpp
index b4c8ae256..907249b89 100755
--- a/QCodeEditor/include/internal/QCodeEditor.hpp
+++ b/QCodeEditor/include/internal/QCodeEditor.hpp
@@ -59,6 +59,9 @@ class QCodeEditor : public QTextEdit
     bool getSeparateMinus() const;
     void setSeparateMinus(bool separateMinus);
 
+    bool highlightBlocks() const;
+    void setHighlightBlocks(bool newHighlightBlocks);
+
 signals:
     void saveTriggered();
     void runEmbeddedTriggered();
@@ -66,6 +69,7 @@ class QCodeEditor : public QTextEdit
     void stopTriggered();
     void clearConsoleTriggered();
     void searchTriggered();
+    void runBlockTriggered(QString text);
 
 public Q_SLOTS:
 
@@ -132,6 +136,7 @@ public Q_SLOTS:
      * 4. Auto parenthesis
      */
     void keyPressEvent(QKeyEvent* e) override;
+    void keyReleaseEvent(QKeyEvent* e) override;
 
     /**
      * @brief Method, that's called on focus into widget.
@@ -192,7 +197,9 @@ public Q_SLOTS:
      * @brief Method, that adds highlighting of
      * parenthesis if available.
      */
-    void highlightParenthesis(QList<QTextEdit::ExtraSelection>& extraSelection);
+    void highlightParenthesis(
+            QList<QTextEdit::ExtraSelection>& extraSelection,
+            bool selectBlock);
 
     void highlightSearch(QList<QTextEdit::ExtraSelection>& extraSelection);
 
@@ -222,6 +229,8 @@ public Q_SLOTS:
     QString m_indentStartStr;
     QString m_indentEndStr;
     bool m_separateMinus;
+    bool m_highlightBlocks;
+    QString m_highlightedBlock;
 
 };
 
diff --git a/QCodeEditor/resources/dark_style.xml b/QCodeEditor/resources/dark_style.xml
index daf59ea79..518fb5fe7 100644
--- a/QCodeEditor/resources/dark_style.xml
+++ b/QCodeEditor/resources/dark_style.xml
@@ -63,4 +63,5 @@
     <style name="Declaration" bold="true"/>
     <style name="FunctionDefinition"/>
     <style name="OutputArgument" italic="true"/>
+    <style name="HighlightedBlock" background="#276727"/>
 </style-scheme>
diff --git a/QCodeEditor/resources/default_style.xml b/QCodeEditor/resources/default_style.xml
index 203951fba..73eddb6e9 100644
--- a/QCodeEditor/resources/default_style.xml
+++ b/QCodeEditor/resources/default_style.xml
@@ -63,4 +63,5 @@
     <style name="Declaration" bold="true"/>
     <style name="FunctionDefinition"/>
     <style name="OutputArgument" italic="true"/>
+    <style name="HighlightedBlock" background="#ccccff"/>
 </style-scheme>
diff --git a/QCodeEditor/src/internal/QCodeEditor.cpp b/QCodeEditor/src/internal/QCodeEditor.cpp
index be7d431e0..6c7f4decb 100755
--- a/QCodeEditor/src/internal/QCodeEditor.cpp
+++ b/QCodeEditor/src/internal/QCodeEditor.cpp
@@ -5,7 +5,6 @@
 #include <QStyleSyntaxHighlighter>
 #include <QCXXHighlighter>
 
-
 // Qt
 #include <QTextBlock>
 #include <QPaintEvent>
@@ -41,14 +40,16 @@ QCodeEditor::QCodeEditor(QWidget* widget) :
     m_commentStr("//"),
     m_indentStartStr("{"),
     m_indentEndStr("}"),
-    m_separateMinus(true)
+    m_separateMinus(true),
+    m_highlightBlocks(false)
 {
 
     initFont();
     performConnections();
-    if(Utility::isDarkMode()){
+
+    if (Utility::isDarkMode()) {
         setSyntaxStyle(QSyntaxStyle::darkStyle());
-    }else{
+    } else {
         setSyntaxStyle(QSyntaxStyle::defaultStyle());
     }
 }
@@ -87,15 +88,13 @@ void QCodeEditor::performConnections()
 
 void QCodeEditor::setHighlighter(QStyleSyntaxHighlighter* highlighter)
 {
-    if (m_highlighter)
-    {
+    if (m_highlighter) {
         m_highlighter->setDocument(nullptr);
     }
 
     m_highlighter = highlighter;
 
-    if (m_highlighter)
-    {
+    if (m_highlighter) {
         m_highlighter->setSyntaxStyle(m_syntaxStyle);
         m_highlighter->setDocument(document());
     }
@@ -104,11 +103,9 @@ void QCodeEditor::setHighlighter(QStyleSyntaxHighlighter* highlighter)
 void QCodeEditor::setSyntaxStyle(QSyntaxStyle* style)
 {
     m_syntaxStyle = style;
-
     m_lineNumberArea->setSyntaxStyle(m_syntaxStyle);
 
-    if (m_highlighter)
-    {
+    if (m_highlighter) {
         m_highlighter->setSyntaxStyle(m_syntaxStyle);
     }
 
@@ -117,13 +114,11 @@ void QCodeEditor::setSyntaxStyle(QSyntaxStyle* style)
 
 void QCodeEditor::updateStyle()
 {
-    if (m_highlighter)
-    {
+    if (m_highlighter) {
         m_highlighter->rehighlight();
     }
 
-    if (m_syntaxStyle)
-    {
+    if (m_syntaxStyle) {
         auto currentPalette = palette();
 
         // Setting text format/color
@@ -153,7 +148,6 @@ void QCodeEditor::updateStyle()
 void QCodeEditor::resizeEvent(QResizeEvent* e)
 {
     QTextEdit::resizeEvent(e);
-
     updateLineGeometry();
 }
 
@@ -196,39 +190,37 @@ void QCodeEditor::updateExtraSelection()
 
     highlightSearch(extra);
     highlightCurrentLine(extra);
-    highlightParenthesis(extra);
+    highlightParenthesis(extra, false);
 
     setExtraSelections(extra);
 }
 
-void QCodeEditor::highlightParenthesis(QList<QTextEdit::ExtraSelection>& extraSelection)
+void QCodeEditor::highlightParenthesis(
+        QList<QTextEdit::ExtraSelection>& extraSelection,
+        bool selectBlock)
 {
     auto currentSymbol = charUnderCursor();
     auto prevSymbol = charUnderCursor(-1);
 
-    for (auto& pair : parentheses)
-    {
+    m_highlightedBlock.clear();
+
+    for (auto& pair : parentheses) {
         int direction;
 
         QChar counterSymbol;
         QChar activeSymbol;
         auto position = textCursor().position();
 
-        if (pair.first == currentSymbol)
-        {
+        if (pair.first == currentSymbol) {
             direction = 1;
             counterSymbol = pair.second[0];
             activeSymbol = currentSymbol;
-        }
-        else if (pair.second == prevSymbol)
-        {
+        } else if (pair.second == prevSymbol) {
             direction = -1;
             counterSymbol = pair.first[0];
             activeSymbol = prevSymbol;
             position--;
-        }
-        else
-        {
+        } else {
             continue;
         }
 
@@ -243,21 +235,19 @@ void QCodeEditor::highlightParenthesis(QList<QTextEdit::ExtraSelection>& extraSe
 
             auto character = document()->characterAt(position);
             // Checking symbol under position
-            if (character == activeSymbol)
-            {
+            if (character == activeSymbol) {
                 ++counter;
-            }
-            else if (character == counterSymbol)
-            {
+            } else if (character == counterSymbol) {
                 --counter;
             }
         }
 
         auto format = m_syntaxStyle->getFormat("Parentheses");
 
+        QList<QTextEdit::ExtraSelection> selectedParantheses;
+
         // Found
-        if (counter == 0)
-        {
+        if (counter == 0) {
             ExtraSelection selection{};
 
             auto directionEnum =
@@ -281,7 +271,7 @@ void QCodeEditor::highlightParenthesis(QList<QTextEdit::ExtraSelection>& extraSe
                 1
             );
 
-            extraSelection.append(selection);
+            selectedParantheses.append(selection);
 
             selection.cursor = textCursor();
             selection.cursor.clearSelection();
@@ -291,7 +281,40 @@ void QCodeEditor::highlightParenthesis(QList<QTextEdit::ExtraSelection>& extraSe
                 1
             );
 
-            extraSelection.append(selection);
+            selectedParantheses.append(selection);
+        }
+
+        extraSelection.append(selectedParantheses);
+
+        // Block contained in parantheses
+        if (selectedParantheses.length() == 2) {
+            int first = selectedParantheses.first().cursor.position();
+            int second = selectedParantheses.at(1).cursor.position();
+
+            if (first > second) {
+                int temp = first;
+                first = second - 1;
+                second = temp;
+            } else {
+                first--;
+                second++;
+            }
+
+            auto tc = textCursor();
+            tc.setPosition(first);
+            tc.movePosition(
+                        QTextCursor::MoveOperation::Right,
+                        QTextCursor::MoveMode::KeepAnchor,
+                        second - first
+                        );
+
+            if (selectBlock) {
+                QTextEdit::ExtraSelection selection{};
+                selection.format = m_syntaxStyle->getFormat("HighlightedBlock");
+                selection.cursor = tc;
+                extraSelection.append(selection);
+                m_highlightedBlock = tc.selectedText();
+            }
         }
 
         break;
@@ -499,6 +522,21 @@ void QCodeEditor::proceedCompleterEnd(QKeyEvent *e)
 void QCodeEditor::keyPressEvent(QKeyEvent* e) {
     const int defaultIndent = 4;
 
+    if (e->key() == Qt::Key_Control && m_highlightBlocks) {
+        QList<QTextEdit::ExtraSelection> extra;
+        highlightParenthesis(extra, true);
+
+        if (extra.length() > 1) {
+            setExtraSelections(extra);
+        }
+    }
+
+    if (e->key() == Qt::Key_R && e->modifiers() & Qt::ControlModifier) {
+        if (!m_highlightedBlock.isEmpty()) {
+            emit runBlockTriggered(m_highlightedBlock);
+        }
+    }
+
     auto completerSkip = proceedCompleterBegin(e);
 
     if (!completerSkip) {
@@ -791,6 +829,13 @@ void QCodeEditor::keyPressEvent(QKeyEvent* e) {
     proceedCompleterEnd(e);
 }
 
+void QCodeEditor::keyReleaseEvent(QKeyEvent *e)
+{
+    if (e->key() == Qt::Key_Control && m_highlightBlocks) {
+        updateExtraSelection();
+    }
+}
+
 void QCodeEditor::setAutoIndentation(bool enabled)
 {
     m_autoIndentation = enabled;
@@ -1015,6 +1060,16 @@ QString QCodeEditor::getCompletionWordNow(int *linePosStart, int *linePosEnd)
     return res;
 }
 
+bool QCodeEditor::highlightBlocks() const
+{
+    return m_highlightBlocks;
+}
+
+void QCodeEditor::setHighlightBlocks(bool newHighlightBlocks)
+{
+    m_highlightBlocks = newHighlightBlocks;
+}
+
 bool QCodeEditor::getSeparateMinus() const
 {
     return m_separateMinus;
diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index 446fbc69a..b4f048f91 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -377,6 +377,9 @@ void PageLisp::makeEditorConnections(ScriptEditor *editor)
     connect(editor->codeEditor(), &QCodeEditor::stopTriggered, [this]() {
         on_stopButton_clicked();
     });
+    connect(editor->codeEditor(), &QCodeEditor::runBlockTriggered, [this](QString text) {
+        mVesc->commands()->lispSendReplCmd(text);
+    });
 }
 
 void PageLisp::createEditorTab(QString fileName, QString content)
@@ -700,7 +703,8 @@ void PageLisp::on_helpButton_clicked()
                    "Ctrl + 'w'   : Stream application<br>"
                    "Ctrl + 'q'   : Stop application<br>"
                    "Ctrl + 'd'   : Clear console<br>"
-                   "Ctrl + 's'   : Save file<br>";
+                   "Ctrl + 's'   : Save file<br>"
+                   "Ctrl + 'r'   : Run selected block in REPL<br>";
 
     HelpDialog::showHelpMonospace(this, "VESC Tool Script Editor", html);
 }
diff --git a/res/CHANGELOG.md b/res/CHANGELOG.md
index 663736b3f..e4f198305 100644
--- a/res/CHANGELOG.md
+++ b/res/CHANGELOG.md
@@ -8,6 +8,8 @@
 * Sanity-check motor parameters on write.
 * Log analysis graph and table alignment fix.
 * Disable BMS limits on balance vehicles in wizard.
+* Ctrl+R to run selected code block LBM in repl.
+* Script editor search improvements.
 
 ### 6.02
 #### Released 2023-03-12

From c2a30ea2934289ece5393fd27d03f132720f62db Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 8 Jul 2023 13:37:34 +0200
Subject: [PATCH 483/559] Fix multi-line blocks

---
 QCodeEditor/src/internal/QCodeEditor.cpp    | 2 +-
 QCodeEditor/src/internal/QLispCompleter.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/QCodeEditor/src/internal/QCodeEditor.cpp b/QCodeEditor/src/internal/QCodeEditor.cpp
index 6c7f4decb..d783a2d50 100755
--- a/QCodeEditor/src/internal/QCodeEditor.cpp
+++ b/QCodeEditor/src/internal/QCodeEditor.cpp
@@ -313,7 +313,7 @@ void QCodeEditor::highlightParenthesis(
                 selection.format = m_syntaxStyle->getFormat("HighlightedBlock");
                 selection.cursor = tc;
                 extraSelection.append(selection);
-                m_highlightedBlock = tc.selectedText();
+                m_highlightedBlock = tc.selectedText().replace("\u2029", "\n");
             }
         }
 
diff --git a/QCodeEditor/src/internal/QLispCompleter.cpp b/QCodeEditor/src/internal/QLispCompleter.cpp
index bc861a60b..1284fe1cb 100644
--- a/QCodeEditor/src/internal/QLispCompleter.cpp
+++ b/QCodeEditor/src/internal/QLispCompleter.cpp
@@ -59,7 +59,7 @@ QLispCompleter::QLispCompleter(QObject *parent) :
 
         if (language.isLoaded()) {
             auto keys = language.keys();
-            for (auto&& key : keys) {
+            foreach (auto&& key, keys) {
                 for (auto name: language.names(key)) {
                     addItem(name);
                 }

From 25ca6667553cf6ccbf7e6e67daa3ba2ffd4ef882 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 9 Jul 2023 09:12:45 +0200
Subject: [PATCH 484/559] Code block highlight fix

---
 QCodeEditor/src/internal/QCodeEditor.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/QCodeEditor/src/internal/QCodeEditor.cpp b/QCodeEditor/src/internal/QCodeEditor.cpp
index d783a2d50..662334aa6 100755
--- a/QCodeEditor/src/internal/QCodeEditor.cpp
+++ b/QCodeEditor/src/internal/QCodeEditor.cpp
@@ -582,21 +582,27 @@ void QCodeEditor::keyPressEvent(QKeyEvent* e) {
         if (e->modifiers() == Qt::ControlModifier) {
             if (e->key() == Qt::Key_S) {
                 emit saveTriggered();
+                updateExtraSelection();
                 return;
             } else if (e->key() == Qt::Key_E) {
                 emit runEmbeddedTriggered();
+                updateExtraSelection();
                 return;
             } else if (e->key() == Qt::Key_W) {
                 emit runWindowTriggered();
+                updateExtraSelection();
                 return;
             } else if (e->key() == Qt::Key_Q) {
                 emit stopTriggered();
+                updateExtraSelection();
                 return;
             } else if (e->key() == Qt::Key_D) {
                 emit clearConsoleTriggered();
+                updateExtraSelection();
                 return;
             } else if (e->key() == Qt::Key_F) {
                 emit searchTriggered();
+                updateExtraSelection();
                 return;
             }
         }

From 6ffefb664180aa5e35a3c7c369241af17c9024dc Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 9 Jul 2023 09:14:40 +0200
Subject: [PATCH 485/559] Check if there are unsaved open scripts before
 closing

---
 mainwindow.cpp           | 35 +++++++++++++++++++++++++++++++++++
 mainwindow.h             |  1 +
 pages/pagelisp.cpp       | 14 +++++++++++++-
 pages/pagelisp.h         |  1 +
 pages/pagescripting.cpp  | 14 +++++++++++++-
 pages/pagescripting.h    |  1 +
 res/CHANGELOG.md         |  1 +
 widgets/scripteditor.cpp | 26 +++++++++++++++++++++++++-
 widgets/scripteditor.h   |  1 +
 9 files changed, 91 insertions(+), 3 deletions(-)

diff --git a/mainwindow.cpp b/mainwindow.cpp
index feeb14357..a3c73f7e3 100755
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -670,6 +670,41 @@ bool MainWindow::eventFilter(QObject *object, QEvent *e)
     return false;
 }
 
+void MainWindow::closeEvent(QCloseEvent *event)
+{
+    if (mPageLisp->hasUnsavedTabs()) {
+        QMessageBox::StandardButton answer = QMessageBox::question(
+                    this,
+                    tr("Unsaved Lisp-Tabs"),
+                    tr("There are unsaved Lisp-tabs open. Do you want to close "
+                       "VESC Tool without saving them?"),
+                    QMessageBox::Yes | QMessageBox::Cancel
+                    );
+
+        if (answer == QMessageBox::Yes) {
+            event->accept();
+        } else {
+            event->ignore();
+        }
+    } else if (mPageScripting->hasUnsavedTabs()) {
+        QMessageBox::StandardButton answer = QMessageBox::question(
+                    this,
+                    tr("Unsaved Qml-Tabs"),
+                    tr("There are unsaved Qml-tabs open. Do you want to close "
+                       "VESC Tool without saving them?"),
+                    QMessageBox::Yes | QMessageBox::Cancel
+                    );
+
+        if (answer == QMessageBox::Yes) {
+            event->accept();
+        } else {
+            event->ignore();
+        }
+    } else {
+        event->accept();
+    }
+}
+
 void MainWindow::timerSlotDebugMsg()
 {
     QMutexLocker locker(&myDebugMsgMutex);
diff --git a/mainwindow.h b/mainwindow.h
index f925812ca..c296c3557 100644
--- a/mainwindow.h
+++ b/mainwindow.h
@@ -83,6 +83,7 @@ class MainWindow : public QMainWindow
     explicit MainWindow(QWidget *parent = nullptr);
     ~MainWindow();
     bool eventFilter(QObject *object, QEvent *e);
+    void closeEvent(QCloseEvent *event);
 
 private slots:
     void timerSlotDebugMsg();
diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index b4f048f91..f6aa968ad 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -334,6 +334,18 @@ void PageLisp::reloadParams()
 
 }
 
+bool PageLisp::hasUnsavedTabs()
+{
+    for (int i = 0; i < ui->fileTabs->count(); i++) {
+        auto e = qobject_cast<ScriptEditor*>(ui->fileTabs->widget(i));
+        if (e->hasUnsavedContent()) {
+            return true;
+        }
+    }
+
+    return false;
+}
+
 void PageLisp::updateRecentList()
 {
     ui->recentList->clear();
@@ -425,7 +437,7 @@ void PageLisp::removeEditor(ScriptEditor *editor)
     bool shouldCloseTab = false;
 
     // Check if tab is dirty
-    if (editor->isDirty == true) {
+    if (editor->hasUnsavedContent()) {
         // Ask user for confirmation
         QMessageBox::StandardButton answer = QMessageBox::question(
              this,
diff --git a/pages/pagelisp.h b/pages/pagelisp.h
index 039e72536..99371929f 100644
--- a/pages/pagelisp.h
+++ b/pages/pagelisp.h
@@ -40,6 +40,7 @@ class PageLisp : public QWidget
     VescInterface *vesc() const;
     void setVesc(VescInterface *vesc);
     void reloadParams();
+    bool hasUnsavedTabs();
 
 private slots:
     void on_openRecentButton_clicked();
diff --git a/pages/pagescripting.cpp b/pages/pagescripting.cpp
index 606e945eb..f9beeef07 100755
--- a/pages/pagescripting.cpp
+++ b/pages/pagescripting.cpp
@@ -198,6 +198,18 @@ void PageScripting::reloadParams()
 
 }
 
+bool PageScripting::hasUnsavedTabs()
+{
+    for (int i = 0; i < ui->fileTabs->count(); i++) {
+        auto e = qobject_cast<ScriptEditor*>(ui->fileTabs->widget(i));
+        if (e->hasUnsavedContent()) {
+            return true;
+        }
+    }
+
+    return false;
+}
+
 void PageScripting::debugMsgRx(QtMsgType type, const QString msg)
 {
     QString str;
@@ -447,7 +459,7 @@ void PageScripting::removeEditor(ScriptEditor *editor)
    bool shouldCloseTab = false;
 
    // Check if tab is dirty
-   if (editor->isDirty == true) {
+   if (editor->hasUnsavedContent()) {
        // Ask user for confirmation
        QMessageBox::StandardButton answer = QMessageBox::question(
             this,
diff --git a/pages/pagescripting.h b/pages/pagescripting.h
index 1a7a9d93c..a4ca8d308 100644
--- a/pages/pagescripting.h
+++ b/pages/pagescripting.h
@@ -44,6 +44,7 @@ class PageScripting : public QWidget
     VescInterface *vesc() const;
     void setVesc(VescInterface *vesc);
     void reloadParams();
+    bool hasUnsavedTabs();
 
 signals:
     void reloadQml(QString str);
diff --git a/res/CHANGELOG.md b/res/CHANGELOG.md
index e4f198305..7e41ea530 100644
--- a/res/CHANGELOG.md
+++ b/res/CHANGELOG.md
@@ -10,6 +10,7 @@
 * Disable BMS limits on balance vehicles in wizard.
 * Ctrl+R to run selected code block LBM in repl.
 * Script editor search improvements.
+* Check if there are unsaved scripts before closing.
 
 ### 6.02
 #### Released 2023-03-12
diff --git a/widgets/scripteditor.cpp b/widgets/scripteditor.cpp
index c2719f916..90ebcccaa 100644
--- a/widgets/scripteditor.cpp
+++ b/widgets/scripteditor.cpp
@@ -125,6 +125,30 @@ QString ScriptEditor::contentAsText()
     return res;
 }
 
+bool ScriptEditor::hasUnsavedContent()
+{
+    bool res = false;
+
+    QString fileName = ui->fileNowLabel->text();
+    QFileInfo fi(fileName);
+    if (!fi.exists()) {
+        // Use a threshold of 5 characters
+        if (ui->codeEdit->toPlainText().size() > 5) {
+            res = true;
+        }
+    } else {
+        QFile file(fileName);
+        if (file.open(QIODevice::ReadOnly)) {
+            if (QString::fromUtf8(file.readAll()) !=
+                    ui->codeEdit->toPlainText().toUtf8()) {
+                res = true;
+            }
+        }
+    }
+
+    return res;
+}
+
 void ScriptEditor::keyPressEvent(QKeyEvent *event)
 {
     if (event->key() == Qt::Key_Escape) {
@@ -274,7 +298,7 @@ void ScriptEditor::on_refreshButton_clicked()
         return;
     }
 
-    ui->codeEdit->setPlainText(file.readAll());
+    ui->codeEdit->setPlainText(QString::fromUtf8(file.readAll()));
     ui->fileNowLabel->setText(fileName);
     emit fileOpened(fileName);
 
diff --git a/widgets/scripteditor.h b/widgets/scripteditor.h
index 53af1adbb..bf825945e 100644
--- a/widgets/scripteditor.h
+++ b/widgets/scripteditor.h
@@ -41,6 +41,7 @@ class ScriptEditor : public QWidget
     void setModeQml();
     void setModeLisp();
     QString contentAsText();
+    bool hasUnsavedContent();
 
     bool isDirty = false;
 

From 5c0cc954e61c7219d079eb15e74b63e3324490c1 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 9 Jul 2023 13:26:21 +0200
Subject: [PATCH 486/559] Added additional shortcut ctrl+# for toggling
 comments

---
 QCodeEditor/src/internal/QCodeEditor.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/QCodeEditor/src/internal/QCodeEditor.cpp b/QCodeEditor/src/internal/QCodeEditor.cpp
index 662334aa6..74a721c7b 100755
--- a/QCodeEditor/src/internal/QCodeEditor.cpp
+++ b/QCodeEditor/src/internal/QCodeEditor.cpp
@@ -549,7 +549,8 @@ void QCodeEditor::keyPressEvent(QKeyEvent* e) {
         int lineEnd = tcEnd.blockNumber();
 
         // Toggle block comment
-        if (e->text() == "\u001F") {
+        if (e->text() == "\u001F" ||
+                (e->modifiers() & Qt::ControlModifier) && e->text() == "#") {
             for (int i = lineStart;i <= lineEnd;i++) {
                 auto tc = textCursor();
 

From 96b54faa22a8276afba551ea2ce34132acea61ae Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 9 Jul 2023 13:48:29 +0200
Subject: [PATCH 487/559] Check block-size before running it

---
 pages/pagelisp.cpp | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index f6aa968ad..892a65eee 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -390,7 +390,13 @@ void PageLisp::makeEditorConnections(ScriptEditor *editor)
         on_stopButton_clicked();
     });
     connect(editor->codeEditor(), &QCodeEditor::runBlockTriggered, [this](QString text) {
-        mVesc->commands()->lispSendReplCmd(text);
+        if (text.length() > 400) {
+            mVesc->emitMessageDialog("Run Block",
+                                     "Too much code selected, please select a smaller block.",
+                                     false, false);
+        } else {
+            mVesc->commands()->lispSendReplCmd(text);
+        }
     });
 }
 

From 6a0875e8532f46f5579d79b8d0c90f3d6bca0456 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 16 Jul 2023 18:00:59 +0200
Subject: [PATCH 488/559] Increased current spinbox ranges

---
 res/config/6.05/parameters_mcconf.xml | 24 ++++++++++++------------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/res/config/6.05/parameters_mcconf.xml b/res/config/6.05/parameters_mcconf.xml
index 6043dc291..f2f410f35 100644
--- a/res/config/6.05/parameters_mcconf.xml
+++ b/res/config/6.05/parameters_mcconf.xml
@@ -88,7 +88,7 @@ p, li { white-space: pre-wrap; }
             <editorDecimalsDouble>2</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
-            <maxDouble>1000</maxDouble>
+            <maxDouble>5000</maxDouble>
             <minDouble>0</minDouble>
             <showDisplay>0</showDisplay>
             <stepDouble>1</stepDouble>
@@ -105,13 +105,13 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Maximum (braking) motor current. The is the maximum current that will be fed back to the VESC and when braking, thus negative. The energy from the braking current will be fed back to the battery.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum (braking) motor current. The is the maximum current that will be fed back to the VESC and when braking, thus negative. The energy from the braking current will be fed back to the battery.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_L_CURRENT_MIN</cDefine>
             <editorDecimalsDouble>2</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
             <maxDouble>0</maxDouble>
-            <minDouble>-1000</minDouble>
+            <minDouble>-5000</minDouble>
             <showDisplay>0</showDisplay>
             <stepDouble>1</stepDouble>
             <valDouble>-60</valDouble>
@@ -127,12 +127,12 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The maximum current that can be drawn from the battery. The battery current is always lower than or equal to the motor current.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The maximum current that can be drawn from the battery. The battery current is always lower than or equal to the motor current.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_L_IN_CURRENT_MAX</cDefine>
             <editorDecimalsDouble>2</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
-            <maxDouble>1000</maxDouble>
+            <maxDouble>5000</maxDouble>
             <minDouble>0</minDouble>
             <showDisplay>0</showDisplay>
             <stepDouble>1</stepDouble>
@@ -149,13 +149,13 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;The maximum regenerative current that can be fed to the battery (thus negative). The battery current is always lower than or equal to the motor current.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The maximum regenerative current that can be fed to the battery (thus negative). The battery current is always lower than or equal to the motor current.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_L_IN_CURRENT_MIN</cDefine>
             <editorDecimalsDouble>2</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
             <maxDouble>0</maxDouble>
-            <minDouble>-1000</minDouble>
+            <minDouble>-5000</minDouble>
             <showDisplay>0</showDisplay>
             <stepDouble>1</stepDouble>
             <valDouble>-60</valDouble>
@@ -222,7 +222,7 @@ p, li { white-space: pre-wrap; }
             <editorDecimalsDouble>2</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
-            <maxDouble>1000</maxDouble>
+            <maxDouble>5000</maxDouble>
             <minDouble>0</minDouble>
             <showDisplay>0</showDisplay>
             <stepDouble>1</stepDouble>
@@ -494,10 +494,10 @@ p, li { white-space: pre-wrap; }
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-weight:400; font-style:normal;&quot;&gt;
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use the filtered current for the ABS max fault code. Will not trigger as easily on very short spikes.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_L_SLOW_ABS_OVERCURRENT</cDefine>
-            <valInt>1</valInt>
+            <valInt>0</valInt>
         </l_slow_abs_current>
         <l_temp_fet_start>
             <longName>MOSFET Temp Cutoff Start</longName>
@@ -2755,12 +2755,12 @@ p, li { white-space: pre-wrap; }
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Maximum field weakening (FW) current.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum field weakening (FW) current.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>MCCONF_FOC_FW_CURRENT_MAX</cDefine>
             <editorDecimalsDouble>2</editorDecimalsDouble>
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
-            <maxDouble>1000</maxDouble>
+            <maxDouble>5000</maxDouble>
             <minDouble>0</minDouble>
             <showDisplay>0</showDisplay>
             <stepDouble>1</stepDouble>

From 7b5d8950db25013cd42fbab6a244f7522287e57a Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 3 Aug 2023 21:07:49 +0200
Subject: [PATCH 489/559] Added new lbm keywords

---
 QCodeEditor/resources/languages/lisp.xml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 824cc764b..fc9d993f2 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -33,6 +33,8 @@
 <name>var</name>
 <name>setq</name>
 <name>move-to-flash</name>
+<name>unflatten</name>
+<name>flatten</name>
 <name>@const-start</name>
 <name>@const-end</name>
 <name>@const-symbol-strings</name>
@@ -120,7 +122,9 @@
 <name>self</name>
 <name>exit-ok</name>
 <name>exit-error</name>
+<name>timeout</name>
 <name>recv</name>
+<name>recv-to</name>
 <name>send</name>
 <name>set-mailbox-size</name>
 <name>yield</name>

From 70c632a690b33abc999aaf4527113d5c12e0a531 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 7 Aug 2023 22:03:45 +0200
Subject: [PATCH 490/559] Added new keywords

---
 QCodeEditor/resources/languages/lisp.xml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index fc9d993f2..9b46938b8 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -277,6 +277,7 @@
 <name>canget-vin</name>
 <name>can-list-devs</name>
 <name>can-scan</name>
+<name>can-local-id</name>
 <name>can-send-sid</name>
 <name>can-send-eid</name>
 <name>can-cmd</name>
@@ -416,5 +417,7 @@
 <name>rgbled-color</name>
 <name>sleep-deep</name>
 <name>sleep-config-wakeup-pin</name>
+<name>rmsg-send-can</name>
+<name>rmsg-wait</name>
 </section>
 </root>

From 294efd3caffea4a0e9672a92963daf32e6948120 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 8 Aug 2023 12:49:21 +0200
Subject: [PATCH 491/559] Added keyword

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 9b46938b8..73c9c5bb4 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -407,6 +407,7 @@
 <name>esp-now-start</name>
 <name>esp-now-add-peer</name>
 <name>esp-now-send</name>
+<name>esp-now-recv</name>
 <name>get-mac-addr</name>
 <name>wifi-get-chan</name>
 <name>wifi-set-chan</name>

From 76a8cd9954bbdaa9e7ffda19489574ba97b0721e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 8 Aug 2023 20:00:25 +0200
Subject: [PATCH 492/559] Added keywords

---
 QCodeEditor/resources/languages/lisp.xml | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 73c9c5bb4..4f5445583 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -174,6 +174,14 @@
 <name>get-encoder</name>
 <name>set-encoder</name>
 <name>get-encoder-error-rate</name>
+<name>pos-pid-now</name>
+<name>pos-pid-set</name>
+<name>pos-pid-error</name>
+<name>phase-motor</name>
+<name>phase-encoder</name>
+<name>phase-hall</name>
+<name>phase-observer</name>
+<name>observer-error</name>
 <name>set-servo</name>
 <name>get-vin</name>
 <name>select-motor</name>

From 133e6d712826e02d75604fdc04bb353ffa7c2ee1 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 8 Aug 2023 20:00:59 +0200
Subject: [PATCH 493/559] Added hall vs observer pos plot

---
 datatypes.h          |  3 ++-
 pages/pagertdata.cpp |  8 ++++++++
 pages/pagertdata.h   |  1 +
 pages/pagertdata.ui  | 12 +++++++++++-
 4 files changed, 22 insertions(+), 2 deletions(-)

diff --git a/datatypes.h b/datatypes.h
index f61b06ddf..4f2a3680c 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -128,7 +128,8 @@ typedef enum {
     DISP_POS_MODE_ENCODER,
     DISP_POS_MODE_PID_POS,
     DISP_POS_MODE_PID_POS_ERROR,
-    DISP_POS_MODE_ENCODER_OBSERVER_ERROR
+    DISP_POS_MODE_ENCODER_OBSERVER_ERROR,
+    DISP_POS_MODE_HALL_OBSERVER_ERROR
 } disp_pos_mode;
 
 Q_DECLARE_METATYPE(disp_pos_mode)
diff --git a/pages/pagertdata.cpp b/pages/pagertdata.cpp
index ca0f220a9..8523b3334 100644
--- a/pages/pagertdata.cpp
+++ b/pages/pagertdata.cpp
@@ -476,3 +476,11 @@ void PageRtData::on_logRtButton_toggled(bool checked)
         mVesc->closeRtLogFile();
     }
 }
+
+void PageRtData::on_posHallObserverErrorButton_clicked()
+{
+    if (mVesc) {
+        mVesc->commands()->setDetect(DISP_POS_MODE_HALL_OBSERVER_ERROR);
+    }
+}
+
diff --git a/pages/pagertdata.h b/pages/pagertdata.h
index f97b7bb50..12185ccf2 100644
--- a/pages/pagertdata.h
+++ b/pages/pagertdata.h
@@ -58,6 +58,7 @@ private slots:
     void on_tempShowMosfetBox_toggled(bool checked);
     void on_tempShowMotorBox_toggled(bool checked);
     void on_logRtButton_toggled(bool checked);
+    void on_posHallObserverErrorButton_clicked();
 
 private:
     Ui::PageRtData *ui;
diff --git a/pages/pagertdata.ui b/pages/pagertdata.ui
index a9312c209..b610692ee 100644
--- a/pages/pagertdata.ui
+++ b/pages/pagertdata.ui
@@ -187,7 +187,17 @@
               <string>Plot the difference between the observer and encoder position (FOC only)</string>
              </property>
              <property name="text">
-              <string>Observer Error</string>
+              <string>Obs vs Enc</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QPushButton" name="posHallObserverErrorButton">
+             <property name="toolTip">
+              <string>Plot the difference between the observer and hall sensor position (FOC only)</string>
+             </property>
+             <property name="text">
+              <string>Obs vs Hall</string>
              </property>
             </widget>
            </item>

From 6bb99c93dc04cb377eea043914bb9de61bfd8778 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 8 Aug 2023 20:57:55 +0200
Subject: [PATCH 494/559] Disable CAN-list while scanning and while waiting for
 configs and fw data

---
 mainwindow.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/mainwindow.cpp b/mainwindow.cpp
index a3c73f7e3..138f02100 100755
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -756,6 +756,12 @@ void MainWindow::timerSlot()
         on_scanCanButton_clicked();
     }
 
+    if (ui->scanCanButton->isEnabled()) {
+        ui->canList->setEnabled(mVesc->fwRx() && mVesc->customConfigRxDone());
+    } else {
+        ui->canList->setEnabled(false);
+    }
+
     // If disconnected for a short time clear the can list so it scans on reconnect.
     // Also disable CAN fwd for newer users who try to reconnect to non-existent CAN device from different setup.
     static int disconected_cnt = 0;
@@ -2083,6 +2089,8 @@ void MainWindow::pingCanRx(QVector<int> devs, bool isTimeout)
 
 void MainWindow::on_canList_currentRowChanged(int currentRow)
 {
+    ui->canList->setEnabled(false);
+
     if (currentRow >= 0) {
         if (currentRow == 0) {
             if (mVesc->commands()->getSendCan()) {

From 1734f71a381f90b168ba0135e0d666024b89c44d Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 10 Aug 2023 14:12:42 +0200
Subject: [PATCH 495/559] Better code read import handling

---
 codeloader.cpp     | 248 ++++++++++++++++++++++++++++-----------------
 codeloader.h       |   3 +-
 pages/pagelisp.cpp |   9 +-
 res/CHANGELOG.md   |   1 +
 4 files changed, 163 insertions(+), 98 deletions(-)

diff --git a/codeloader.cpp b/codeloader.cpp
index b731d719b..f4e0eb72c 100644
--- a/codeloader.cpp
+++ b/codeloader.cpp
@@ -121,119 +121,99 @@ QByteArray CodeLoader::lispPackImports(QString codeStr, QString editorPath)
         auto lines = codeStr.split("\n");
         int line_num = 0;
 
-        for (auto line: lines) {
+        foreach (auto line, lines) {
             line_num++;
 
-            while (line.startsWith(" ")) {
-                line.remove(0, 1);
-            }
+            QString path;
+            QString tag;
+            bool isInvalid;
 
-            while (line.startsWith("( ")) {
-                line.remove(1, 1);
-            }
+            if (getImportFromLine(line, path, tag, isInvalid)) {
+                if (isInvalid) {
+                    dbg(tr("Append Imports"),
+                        tr("Line: %1: Invalid import tag.").arg(line_num),
+                        false);
+                    return QByteArray();
+                }
 
-            if (line.startsWith("(import ", Qt::CaseInsensitive)) {
-                int start = line.indexOf("\"");
-                int end = line.lastIndexOf("\"");
+                auto pkgErrorMsg = "If you are importing from a package in the git repository you might "
+                                   "need to update the package archive. That can be done from the the "
+                                   "VESC Packages page.";
 
-                if (start > 0 && end > start) {
-                    auto path = line.mid(start + 1, end - start - 1);
-                    auto tag = line.mid(end + 1).replace("\r", "").replace(" ", "").replace(")", "").replace("'", "");
-                    if (tag.indexOf(";") >= 0) {
-                        tag = tag.mid(0, tag.indexOf(";"));
-                    }
+                bool isPkgImport = false;
+                QString pkgImportName;
+                if (path.startsWith("pkg::")) {
+                    path.remove(0, 5);
 
-                    if (tag.isEmpty()) {
+                    auto atInd = path.indexOf("@");
+                    if (atInd > 0) {
+                        pkgImportName = path.mid(0, atInd);
+                        path.remove(0, atInd + 1);
+                    } else {
                         dbg(tr("Append Imports"),
                             tr("Line: %1: Invalid import tag.").arg(line_num),
                             false);
                         return QByteArray();
                     }
 
-                    auto pkgErrorMsg = "If you are importing from a package in the git repository you might "
-                                       "need to update the package archive. That can be done from the the "
-                                       "VESC Packages page.";
+                    isPkgImport = true;
+                } else if (path.startsWith("pkg@")) {
+                    path.remove(0, 4);
+                    isPkgImport = true;
+                }
 
-                    bool isPkgImport = false;
-                    QString pkgImportName;
-                    if (path.startsWith("pkg::")) {
-                        path.remove(0, 5);
+                QFileInfo fi(editorPath + "/" + path);
+                if (!fi.exists()) {
+                    fi = QFileInfo(path);
+                }
 
-                        auto atInd = path.indexOf("@");
-                        if (atInd > 0) {
-                            pkgImportName = path.mid(0, atInd);
-                            path.remove(0, atInd + 1);
-                        } else {
-                            dbg(tr("Append Imports"),
-                                tr("Line: %1: Invalid import tag.").arg(line_num),
-                                false);
-                            return QByteArray();
-                        }
+                if (fi.exists()) {
+                    QFile f(fi.absoluteFilePath());
+                    if (f.open(QIODevice::ReadOnly)) {
+                        auto fileData = f.readAll();
 
-                        isPkgImport = true;
-                    } else if (path.startsWith("pkg@")) {
-                        path.remove(0, 4);
-                        isPkgImport = true;
-                    }
+                        if (isPkgImport) {
+                            auto pkg = unpackVescPackage(fileData);
+                            auto imports = lispUnpackImports(pkg.lispData);
 
-                    QFileInfo fi(editorPath + "/" + path);
-                    if (!fi.exists()) {
-                        fi = QFileInfo(path);
-                    }
-
-                    if (fi.exists()) {
-                        QFile f(fi.absoluteFilePath());
-                        if (f.open(QIODevice::ReadOnly)) {
-                            auto fileData = f.readAll();
-
-                            if (isPkgImport) {
-                                auto pkg = unpackVescPackage(fileData);
-                                auto imports = lispUnpackImports(pkg.lispData);
-
-                                if (pkgImportName.isEmpty()) {
-                                    auto importData = imports.first.toLocal8Bit();
-                                    importData.append('\0'); // Pad with 0 in case it is a text file
-                                    files.append(qMakePair(tag, importData));
-                                } else {
-                                    bool found = false;
-                                    for (auto i: imports.second) {
-                                        if (i.first == pkgImportName) {
-                                            auto importData = i.second;
-                                            importData.append('\0'); // Pad with 0 in case it is a text file
-                                            files.append(qMakePair(tag, importData));
-                                            found = true;
-                                            break;
-                                        }
+                            if (pkgImportName.isEmpty()) {
+                                auto importData = imports.first.toLocal8Bit();
+                                importData.append('\0'); // Pad with 0 in case it is a text file
+                                files.append(qMakePair(tag, importData));
+                            } else {
+                                bool found = false;
+                                for (auto i: imports.second) {
+                                    if (i.first == pkgImportName) {
+                                        auto importData = i.second;
+                                        importData.append('\0'); // Pad with 0 in case it is a text file
+                                        files.append(qMakePair(tag, importData));
+                                        found = true;
+                                        break;
                                     }
+                                }
 
-                                    if (!found) {
-                                        mVesc->emitMessageDialog(tr("Append Imports"),
-                                                                 tr("Tag %1 not found in package %2. %3").
-                                                                 arg(pkgImportName).arg(path).arg(pkgErrorMsg),
-                                                                 false);
-                                        return QByteArray();
-                                    }
+                                if (!found) {
+                                    mVesc->emitMessageDialog(tr("Append Imports"),
+                                                             tr("Tag %1 not found in package %2. %3").
+                                                             arg(pkgImportName).arg(path).arg(pkgErrorMsg),
+                                                             false);
+                                    return QByteArray();
                                 }
-                            } else {
-                                fileData.append('\0'); // Pad with 0 in case it is a text file
-                                files.append(qMakePair(tag, fileData));
                             }
                         } else {
-                            dbg(tr("Append Imports"),
-                                tr("Line: %1: Imported file cannot be opened.").arg(line_num),
-                                false);
-                            return QByteArray();
+                            fileData.append('\0'); // Pad with 0 in case it is a text file
+                            files.append(qMakePair(tag, fileData));
                         }
                     } else {
                         dbg(tr("Append Imports"),
-                            tr("Line: %1: Imported file not found: %2. %3").
-                            arg(line_num).arg(fi.absoluteFilePath()).arg(pkgErrorMsg),
+                            tr("Line: %1: Imported file cannot be opened.").arg(line_num),
                             false);
                         return QByteArray();
                     }
                 } else {
                     dbg(tr("Append Imports"),
-                        tr("Line %1: Invalid import.").arg(line_num),
+                        tr("Line: %1: Imported file not found: %2. %3").
+                        arg(line_num).arg(fi.absoluteFilePath()).arg(pkgErrorMsg),
                         false);
                     return QByteArray();
                 }
@@ -441,7 +421,7 @@ bool CodeLoader::lispStream(VByteArray vb, qint8 mode)
     return ok;
 }
 
-QString CodeLoader::lispRead(QWidget *parent)
+QString CodeLoader::lispRead(QWidget *parent, QString &lispPath)
 {
     if (!mVesc->isPortConnected()) {
         mVesc->emitMessageDialog(tr("Read code"), tr("Not Connected"), false);
@@ -493,24 +473,65 @@ QString CodeLoader::lispRead(QWidget *parent)
                                                   tr("%1 imports found. Do you want to save them as files?").arg(num_imports),
                                                   QMessageBox::Yes | QMessageBox::No);
 
-                QString lastDir = "";
+                QMap<QString, QString> importPaths;
+                foreach (auto line, res.split('\n')) {
+                    QString path;
+                    QString tag;
+                    bool isInvalid;
+                    if (getImportFromLine(line, path, tag, isInvalid)) {
+                        if (!isInvalid) {
+                            importPaths.insert(tag, path);
+                        }
+                    }
+                }
+
                 if (reply == QMessageBox::Yes) {
-                    foreach (auto i, unpacked.second) {
-                        QString fileName = QFileDialog::getSaveFileName(parent,
-                                                                        tr("Save Import %1").arg(i.first),
-                                                                        lastDir + "/" + i.first + ".bin");
+                    QString dirName = QFileDialog::getExistingDirectory(parent, tr("Choose Directory"));
+
+                    if (!dirName.isEmpty()) {
+                        QFile fileLisp(dirName + "/From VESC.lisp");
+                        if (!fileLisp.exists()) {
+                            if (fileLisp.open(QIODevice::WriteOnly)) {
+                                fileLisp.write(res.toUtf8());
+                                fileLisp.close();
+                                lispPath = QFileInfo(fileLisp).canonicalFilePath();
+                            }
+                        }
+
+                        foreach (auto i, unpacked.second) {
+                            QString fileName = dirName + "/" + i.first + ".bin";
+
+                            if (importPaths.contains(i.first)) {
+                                const auto &path = importPaths[i.first];
+
+                                if (!path.startsWith("/") &&
+                                        !path.startsWith("\\") &&
+                                        !path.startsWith("pkg::") &&
+                                        !path.startsWith("pkg@")) {
+                                    fileName = dirName + "/" + path;
+                                }
+                            }
 
-                        if (!fileName.isEmpty()) {
                             QFile file(fileName);
+                            QFileInfo fi(file);
+                            QDir().mkpath(fi.path());
+
+                            if (file.exists()) {
+                                auto reply = QMessageBox::question(parent,
+                                                                   tr("Replace File"),
+                                                                   tr("File %1 exists. Do you want to replace it?").arg(i.first));
+
+                                if (reply != QMessageBox::Yes) {
+                                    continue;
+                                }
+                            }
+
                             if (!file.open(QIODevice::WriteOnly)) {
                                 QMessageBox::critical(parent, tr("Save Import"),
-                                                      "Could not open\n" + fileName + "\nfor writing");
+                                                      "Could not open\n" + file.fileName() + "\nfor writing");
                                 return QByteArray();
                             }
 
-                            QFileInfo fi(file);
-                            lastDir = fi.canonicalPath();
-
                             file.write(i.second);
                             file.close();
                         }
@@ -887,3 +908,40 @@ bool CodeLoader::downloadPackageArchive()
 
     return res;
 }
+
+bool CodeLoader::getImportFromLine(QString line, QString &path, QString &tag, bool &isInvalid)
+{
+    bool res = false;
+    isInvalid = false;
+
+    while (line.startsWith(" ")) {
+        line.remove(0, 1);
+    }
+
+    while (line.startsWith("( ")) {
+        line.remove(1, 1);
+    }
+
+    if (line.startsWith("(import ", Qt::CaseInsensitive)) {
+        int start = line.indexOf("\"");
+        int end = line.lastIndexOf("\"");
+
+        if (start > 0 && end > start) {
+            path = line.mid(start + 1, end - start - 1);
+            tag = line.mid(end + 1).replace("\r", "").replace(" ", "").replace(")", "").replace("'", "");
+            if (tag.indexOf(";") >= 0) {
+                tag = tag.mid(0, tag.indexOf(";"));
+            }
+        } else {
+            isInvalid = true;
+        }
+
+        res = true;
+    }
+
+    if (path.isEmpty() || tag.isEmpty()) {
+        isInvalid = true;
+    }
+
+    return res;
+}
diff --git a/codeloader.h b/codeloader.h
index 552b8affb..ed35f1d6b 100644
--- a/codeloader.h
+++ b/codeloader.h
@@ -40,7 +40,7 @@ class CodeLoader : public QObject
     bool lispUpload(VByteArray vb);
     bool lispUpload(QString codeStr, QString editorPath = QDir::currentPath());
     bool lispStream(VByteArray vb, qint8 mode);
-    QString lispRead(QWidget *parent = nullptr);
+    QString lispRead(QWidget *parent, QString &lispPath);
 
     Q_INVOKABLE bool qmlErase(int size);
     QByteArray qmlCompress(QString script);
@@ -60,6 +60,7 @@ class CodeLoader : public QObject
 
 private:
     VescInterface *mVesc;
+    bool getImportFromLine(QString line, QString &path, QString &tag, bool &isInvalid);
 
 };
 
diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index 892a65eee..8bd8114f0 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -677,14 +677,19 @@ void PageLisp::on_uploadButton_clicked()
 
 void PageLisp::on_readExistingButton_clicked()
 {
-    auto code = mLoader.lispRead(this);
+    QProgressDialog dialog(tr("Reading Code..."), QString(), 0, 0, this);
+    dialog.setWindowModality(Qt::WindowModal);
+    dialog.show();
+
+    QString lispPath = "From VESC";
+    auto code = mLoader.lispRead(this, lispPath);
 
     if (!code.isEmpty()) {
         if (ui->mainEdit->codeEditor()->toPlainText().isEmpty()) {
             ui->mainEdit->codeEditor()->setPlainText(code);
             ui->fileTabs->setTabText(ui->fileTabs->indexOf(ui->mainEdit), "From VESC");
         } else {
-            createEditorTab("From VESC", code);
+            createEditorTab(lispPath, code);
         }
     }
 }
diff --git a/res/CHANGELOG.md b/res/CHANGELOG.md
index 7e41ea530..80e962ed3 100644
--- a/res/CHANGELOG.md
+++ b/res/CHANGELOG.md
@@ -11,6 +11,7 @@
 * Ctrl+R to run selected code block LBM in repl.
 * Script editor search improvements.
 * Check if there are unsaved scripts before closing.
+* Better lisp code read import handling.
 
 ### 6.02
 #### Released 2023-03-12

From 1da291a0a10fbdda9bd704ae02156510bbb7d70f Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 10 Aug 2023 14:49:49 +0200
Subject: [PATCH 496/559] Added blue background to selected tabs to make it
 easier to see which tab is selected

---
 main.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/main.cpp b/main.cpp
index b7d13dddf..24903ceca 100755
--- a/main.cpp
+++ b/main.cpp
@@ -843,6 +843,11 @@ int main(int argc, char *argv[])
             darkPalette.setColor(QPalette::Link, QColor(150,150,255));
             darkPalette.setColor(QPalette::LinkVisited, QColor(220,150,255));
             qApp->setPalette(darkPalette);
+            qApp->setStyleSheet(
+                        "QTabBar::tab:selected, QTabBar::tab:hover {"
+                        "        background: #204070;"
+                        "    }"
+                        );
         } else {
             QPalette lightPalette = qApp->style()->standardPalette();
             lightPalette.setColor(QPalette::Inactive,QPalette::Highlight,Utility::getAppQColor("darkAccent"));

From 9301daa8ee1f9ec55ffbbe3f4dcdfc04d168a508 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 10 Aug 2023 15:19:22 +0200
Subject: [PATCH 497/559] Changed tab-colors again

---
 main.cpp | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/main.cpp b/main.cpp
index 24903ceca..f424edc18 100755
--- a/main.cpp
+++ b/main.cpp
@@ -845,8 +845,13 @@ int main(int argc, char *argv[])
             qApp->setPalette(darkPalette);
             qApp->setStyleSheet(
                         "QTabBar::tab:selected, QTabBar::tab:hover {"
-                        "        background: #204070;"
-                        "    }"
+                        "    background: #3d3d3d;"
+                        "    color: #eeeeee;"
+                        "}"
+                        "QTabBar::tab:!selected {"
+                        "    background: #272727;"
+                        "    color: #a5a5a5;"
+                        "}"
                         );
         } else {
             QPalette lightPalette = qApp->style()->standardPalette();

From 239bbcc96a917283a28b15a73efe552a47f18fd7 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 14 Aug 2023 10:33:30 +0200
Subject: [PATCH 498/559] Added keyword

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 4f5445583..c33bd864f 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -23,6 +23,7 @@
 <name>loopwhile</name>
 <name>looprange</name>
 <name>loopforeach</name>
+<name>loopwhile-thd</name>
 <name>break</name>
 <name>return</name>
 <name>import</name>

From 030605bd8d760410d3dce352cff8a37b0bd19e29 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 14 Aug 2023 10:40:24 +0200
Subject: [PATCH 499/559] Renamed express image

---
 mobile/fwhelper.cpp                                 |   2 +-
 pages/pageespprog.cpp                               |   8 ++++----
 pages/pagefirmware.cpp                              |   2 +-
 .../DevKitM-1/{app.bin => vesc_express.bin}         | Bin
 .../VESC Express/{app.bin => vesc_express.bin}      | Bin
 res/firmwares_esp/res_fw_esp.qrc                    |   4 ++--
 6 files changed, 8 insertions(+), 8 deletions(-)
 rename res/firmwares_esp/ESP32-C3/DevKitM-1/{app.bin => vesc_express.bin} (100%)
 rename res/firmwares_esp/ESP32-C3/VESC Express/{app.bin => vesc_express.bin} (100%)

diff --git a/mobile/fwhelper.cpp b/mobile/fwhelper.cpp
index 617b5e702..330de241f 100644
--- a/mobile/fwhelper.cpp
+++ b/mobile/fwhelper.cpp
@@ -72,7 +72,7 @@ QVariantMap FwHelper::getFirmwares(QString hw)
     while (it.hasNext()) {
         QFileInfo fi(it.next());
         if (fi.fileName().toLower() == "vesc_default.bin" ||
-                fi.fileName().toLower() == "app.bin") {
+                fi.fileName().toLower() == "vesc_express.bin") {
             fws.insert(fi.fileName(), fi.absoluteFilePath());
         }
     }
diff --git a/pages/pageespprog.cpp b/pages/pageespprog.cpp
index eca27bdd4..06959f7d2 100644
--- a/pages/pageespprog.cpp
+++ b/pages/pageespprog.cpp
@@ -140,7 +140,7 @@ void PageEspProg::on_serialConnectButton_clicked()
             QDir dir("://res/firmwares_esp/ESP32-C3");
             dir.setSorting(QDir::Name);
             for (auto fi: dir.entryInfoList()) {
-                QFileInfo fiApp(fi.absoluteFilePath() + "/app.bin");
+                QFileInfo fiApp(fi.absoluteFilePath() + "/vesc_express.bin");
                 QFileInfo fiBl(fi.absoluteFilePath() + "/bootloader.bin");
                 QFileInfo fiPart(fi.absoluteFilePath() + "/partition-table.bin");
 
@@ -169,7 +169,7 @@ void PageEspProg::on_flashButton_clicked()
             QString path = item->data(Qt::UserRole).toString();
             blPath = path + "/bootloader.bin";
             partPath = path + "/partition-table.bin";
-            appPath = path + "/app.bin";
+            appPath = path + "/vesc_express.bin";
         } else {
             mVesc->emitMessageDialog("Flash Firmware",
                                      "No Firmware Selected",
@@ -297,7 +297,7 @@ void PageEspProg::on_flashBlButton_clicked()
         auto item = ui->fwList->currentItem();
         if (item != nullptr) {
             QString path = item->data(Qt::UserRole).toString();
-            appPath = path + "/app.bin";
+            appPath = path + "/vesc_express.bin";
         } else {
             mVesc->emitMessageDialog("Flash Firmware",
                                      "No Firmware Selected",
@@ -336,7 +336,7 @@ void PageEspProg::listAllFw()
     QDir dir("://res/firmwares_esp/ESP32-C3");
     dir.setSorting(QDir::Name);
     for (auto fi: dir.entryInfoList()) {
-        QFileInfo fiApp(fi.absoluteFilePath() + "/app.bin");
+        QFileInfo fiApp(fi.absoluteFilePath() + "/vesc_express.bin");
         QFileInfo fiBl(fi.absoluteFilePath() + "/bootloader.bin");
         QFileInfo fiPart(fi.absoluteFilePath() + "/partition-table.bin");
 
diff --git a/pages/pagefirmware.cpp b/pages/pagefirmware.cpp
index b8f82f7d7..bcc2743fe 100755
--- a/pages/pagefirmware.cpp
+++ b/pages/pagefirmware.cpp
@@ -274,7 +274,7 @@ void PageFirmware::updateFwList()
             QFileInfo fi(it.next());
             if (ui->showNonDefaultBox->isChecked() ||
                     fi.fileName().toLower() == "vesc_default.bin" ||
-                    fi.fileName().toLower() == "app.bin") {
+                    fi.fileName().toLower() == "vesc_express.bin") {
                 QListWidgetItem *item = new QListWidgetItem;
                 item->setText(fi.fileName());
                 item->setData(Qt::UserRole, fi.absoluteFilePath());
diff --git a/res/firmwares_esp/ESP32-C3/DevKitM-1/app.bin b/res/firmwares_esp/ESP32-C3/DevKitM-1/vesc_express.bin
similarity index 100%
rename from res/firmwares_esp/ESP32-C3/DevKitM-1/app.bin
rename to res/firmwares_esp/ESP32-C3/DevKitM-1/vesc_express.bin
diff --git a/res/firmwares_esp/ESP32-C3/VESC Express/app.bin b/res/firmwares_esp/ESP32-C3/VESC Express/vesc_express.bin
similarity index 100%
rename from res/firmwares_esp/ESP32-C3/VESC Express/app.bin
rename to res/firmwares_esp/ESP32-C3/VESC Express/vesc_express.bin
diff --git a/res/firmwares_esp/res_fw_esp.qrc b/res/firmwares_esp/res_fw_esp.qrc
index 25071984a..0eac1eb31 100644
--- a/res/firmwares_esp/res_fw_esp.qrc
+++ b/res/firmwares_esp/res_fw_esp.qrc
@@ -2,8 +2,8 @@
     <qresource prefix="/res/firmwares_esp">
         <file>ESP32-C3/VESC Express/bootloader.bin</file>
         <file>ESP32-C3/VESC Express/partition-table.bin</file>
-        <file>ESP32-C3/VESC Express/app.bin</file>
-        <file>ESP32-C3/DevKitM-1/app.bin</file>
+        <file>ESP32-C3/VESC Express/vesc_express.bin</file>
+        <file>ESP32-C3/DevKitM-1/vesc_express.bin</file>
         <file>ESP32-C3/DevKitM-1/bootloader.bin</file>
         <file>ESP32-C3/DevKitM-1/partition-table.bin</file>
     </qresource>

From ec50777b7eb220fac83cdb1a748b875779aeeab6 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 16 Aug 2023 19:40:14 +0200
Subject: [PATCH 500/559] Updated keywords

---
 QCodeEditor/resources/languages/lisp.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index c33bd864f..799151b56 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -427,7 +427,7 @@
 <name>rgbled-color</name>
 <name>sleep-deep</name>
 <name>sleep-config-wakeup-pin</name>
-<name>rmsg-send-can</name>
-<name>rmsg-wait</name>
+<name>canmsg-send</name>
+<name>canmsg-recv</name>
 </section>
 </root>

From 6bfecc7cc7fed1a6bc102b740eabbee81df87d5b Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 16 Aug 2023 21:46:19 +0200
Subject: [PATCH 501/559] Added keywords

---
 QCodeEditor/resources/languages/lisp.xml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 799151b56..fc3fe8927 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -205,6 +205,7 @@
 <name>get-imu-acc-derot</name>
 <name>get-imu-gyro-derot</name>
 <name>send-data</name>
+<name>recv-data</name>
 <name>get-remote-state</name>
 <name>eeprom-store-f</name>
 <name>eeprom-read-f</name>
@@ -289,6 +290,8 @@
 <name>can-local-id</name>
 <name>can-send-sid</name>
 <name>can-send-eid</name>
+<name>can-recv-sid</name>
+<name>can-recv-eid</name>
 <name>can-cmd</name>
 <name>sin</name>
 <name>cos</name>

From 7054e3ad73508a587d7ffd53159e1604681ab9ff Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 21 Aug 2023 20:42:52 +0200
Subject: [PATCH 502/559] Renamed RPM to ERPM on experiment page

---
 pages/pageexperiments.cpp | 6 +++---
 pages/pageexperiments.ui  | 8 +++-----
 2 files changed, 6 insertions(+), 8 deletions(-)
 mode change 100644 => 100755 pages/pageexperiments.cpp

diff --git a/pages/pageexperiments.cpp b/pages/pageexperiments.cpp
old mode 100644
new mode 100755
index 4d4590c9e..4cd12a792
--- a/pages/pageexperiments.cpp
+++ b/pages/pageexperiments.cpp
@@ -86,7 +86,7 @@ PageExperiments::PageExperiments(QWidget *parent) :
     ui->plot->legend->setFont(legendFont);
     ui->plot->axisRect()->insetLayout()->setInsetAlignment(0, Qt::AlignTop | Qt::AlignLeft);
     ui->plot->xAxis->setLabel("Seconds (s)");
-    ui->plot->yAxis2->setLabel("RPM");
+    ui->plot->yAxis2->setLabel("ERPM");
     ui->plot->yAxis2->setVisible(true);
 
 #ifdef HAS_SERIALPORT
@@ -493,7 +493,7 @@ void PageExperiments::plotSamples(bool exportFormat)
 
     ui->plot->addGraph(ui->plot->xAxis, ui->plot->yAxis2);
     ui->plot->graph(graphIndex)->setPen(QPen(Utility::getAppQColor("plot_graph11"), lineWidth));
-    ui->plot->graph(graphIndex)->setName(ui->compAEdit->text() + " RPM");
+    ui->plot->graph(graphIndex)->setName(ui->compAEdit->text() + " ERPM");
     ui->plot->graph(graphIndex)->setData(mTimeVec, mRpmVec);
     graphIndex++;
 
@@ -587,7 +587,7 @@ void PageExperiments::plotSamples(bool exportFormat)
 
         ui->plot->addGraph(ui->plot->xAxis, ui->plot->yAxis2);
         ui->plot->graph(graphIndex)->setPen(QPen(Utility::getAppQColor("plot_graph11"), lineWidth, penStyle));
-        ui->plot->graph(graphIndex)->setName(ui->compBEdit->text() + " RPM");
+        ui->plot->graph(graphIndex)->setName(ui->compBEdit->text() + " ERPM");
         ui->plot->graph(graphIndex)->setData(mCTimeVec, mCRpmVec);
         graphIndex++;
     }
diff --git a/pages/pageexperiments.ui b/pages/pageexperiments.ui
index 5f6cb986b..ed7ea40c9 100644
--- a/pages/pageexperiments.ui
+++ b/pages/pageexperiments.ui
@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>689</width>
+    <width>811</width>
     <height>544</height>
    </rect>
   </property>
@@ -275,7 +275,7 @@
        <item row="2" column="0">
         <widget class="QGroupBox" name="groupBox_3">
          <property name="title">
-          <string>RPM Sweep</string>
+          <string>ERPM Sweep</string>
          </property>
          <layout class="QGridLayout" name="gridLayout_3">
           <property name="leftMargin">
@@ -408,7 +408,7 @@
           <item row="1" column="2">
            <widget class="QCheckBox" name="keepRPMcheckBox">
             <property name="text">
-             <string>Keep End RPM</string>
+             <string>Keep End Speed</string>
             </property>
             <property name="checked">
              <bool>false</bool>
@@ -1184,7 +1184,6 @@
           <font>
            <family>DejaVu Sans Mono</family>
            <pointsize>14</pointsize>
-           <weight>75</weight>
            <bold>true</bold>
           </font>
          </property>
@@ -1199,7 +1198,6 @@
           <font>
            <family>DejaVu Sans Mono</family>
            <pointsize>14</pointsize>
-           <weight>75</weight>
            <bold>true</bold>
           </font>
          </property>

From 67c68527c28cf23200c1232f8291781b892b63a4 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 28 Aug 2023 08:41:19 +0200
Subject: [PATCH 503/559] Always move last opened file to end of recent files
 list

---
 pages/pagelisp.cpp      | 14 ++++++--------
 pages/pagescripting.cpp | 14 ++++++--------
 2 files changed, 12 insertions(+), 16 deletions(-)

diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index 8bd8114f0..a52e7e726 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -363,20 +363,18 @@ void PageLisp::makeEditorConnections(ScriptEditor *editor)
         ui->debugEdit->clear();
     });
     connect(editor, &ScriptEditor::fileOpened, [this](QString fileName) {
-        if (!mRecentFiles.contains(fileName)) {
-            mRecentFiles.append(fileName);
-            updateRecentList();
-        }
+        mRecentFiles.removeAll(fileName);
+        mRecentFiles.append(fileName);
+        updateRecentList();
     });
     connect(editor, &ScriptEditor::fileSaved, [editor, this](QString fileName) {
         if (mVesc) {
             mVesc->emitStatusMessage("Saved " + fileName, true);
         }
 
-        if (!mRecentFiles.contains(fileName)) {
-            mRecentFiles.append(fileName);
-            updateRecentList();
-        }
+        mRecentFiles.removeAll(fileName);
+        mRecentFiles.append(fileName);
+        updateRecentList();
 
         setEditorClean(editor);
     });
diff --git a/pages/pagescripting.cpp b/pages/pagescripting.cpp
index f9beeef07..c5cd4d305 100755
--- a/pages/pagescripting.cpp
+++ b/pages/pagescripting.cpp
@@ -392,20 +392,18 @@ void PageScripting::makeEditorConnections(ScriptEditor *editor)
         ui->debugEdit->clear();
     });
     connect(editor, &ScriptEditor::fileOpened, [this](QString fileName) {
-        if (!mRecentFiles.contains(fileName)) {
-            mRecentFiles.append(fileName);
-            updateRecentList();
-        }
+        mRecentFiles.removeAll(fileName);
+        mRecentFiles.append(fileName);
+        updateRecentList();
     });
     connect(editor, &ScriptEditor::fileSaved, [editor, this](QString fileName) {
         if (mVesc) {
             mVesc->emitStatusMessage("Saved " + fileName, true);
         }
 
-        if (!mRecentFiles.contains(fileName)) {
-            mRecentFiles.append(fileName);
-            updateRecentList();
-        }
+        mRecentFiles.removeAll(fileName);
+        mRecentFiles.append(fileName);
+        updateRecentList();
 
         setEditorClean(editor);
     });

From bbd010bab37dbb37ad847b6da1a2bfd025dcaec9 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 28 Aug 2023 08:50:06 +0200
Subject: [PATCH 504/559] Move recent file to bottom when opened from recent
 list

---
 pages/pagelisp.cpp      | 5 +++++
 pages/pagescripting.cpp | 5 +++++
 2 files changed, 10 insertions(+)

diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index a52e7e726..68a14f995 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -563,6 +563,11 @@ void PageLisp::openRecentList()
             createEditorTab(fileName, file.readAll());
         }
 
+        mRecentFiles.removeAll(fileName);
+        mRecentFiles.append(fileName);
+        updateRecentList();
+        ui->recentList->setCurrentRow(ui->recentList->count() - 1);
+
         file.close();
     } else {
         QMessageBox::critical(this, "Open Recent",
diff --git a/pages/pagescripting.cpp b/pages/pagescripting.cpp
index c5cd4d305..ea51d850c 100755
--- a/pages/pagescripting.cpp
+++ b/pages/pagescripting.cpp
@@ -286,6 +286,11 @@ void PageScripting::openRecentList()
             createEditorTab(fileName, file.readAll());
         }
 
+        mRecentFiles.removeAll(fileName);
+        mRecentFiles.append(fileName);
+        updateRecentList();
+        ui->recentList->setCurrentRow(ui->recentList->count() - 1);
+
         file.close();
     } else {
         QMessageBox::critical(this, "Open Recent",

From d3658ca1e27be1113b9797fa87f31c3de1a22b89 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 28 Aug 2023 12:17:16 +0200
Subject: [PATCH 505/559] Added recent and example list filter boxes to qml and
 lbm editor

---
 pages/pagelisp.cpp      | 26 +++++++++++++++
 pages/pagelisp.h        |  2 ++
 pages/pagelisp.ui       | 72 ++++++++++++++++++++++++++++++++---------
 pages/pagescripting.cpp | 26 +++++++++++++++
 pages/pagescripting.h   |  2 ++
 pages/pagescripting.ui  | 50 +++++++++++++++++++++++++---
 6 files changed, 159 insertions(+), 19 deletions(-)

diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index 68a14f995..69cd6431e 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -352,6 +352,8 @@ void PageLisp::updateRecentList()
     for (auto f: mRecentFiles) {
         ui->recentList->addItem(f);
     }
+
+    on_recentFilterEdit_textChanged(ui->recentFilterEdit->text());
 }
 
 void PageLisp::makeEditorConnections(ScriptEditor *editor)
@@ -764,3 +766,27 @@ void PageLisp::on_streamButton_clicked()
 
     mLoader.lispStream(codeStr.toLocal8Bit(), ui->streamModeBox->currentIndex());
 }
+
+void PageLisp::on_recentFilterEdit_textChanged(const QString &filter)
+{
+    for (int row = 0; row < ui->recentList->count(); ++row) {
+        if (filter.isEmpty()) {
+            ui->recentList->item(row)->setHidden(false);
+        } else {
+            ui->recentList->item(row)->setHidden(!ui->recentList->item(row)->text().
+                                                 contains(filter, Qt::CaseInsensitive));
+        }
+    }
+}
+
+void PageLisp::on_exampleFilterEdit_textChanged(const QString &filter)
+{
+    for (int row = 0; row < ui->exampleList->count(); ++row) {
+        if (filter.isEmpty()) {
+            ui->exampleList->item(row)->setHidden(false);
+        } else {
+            ui->exampleList->item(row)->setHidden(!ui->exampleList->item(row)->text().
+                                                 contains(filter, Qt::CaseInsensitive));
+        }
+    }
+}
diff --git a/pages/pagelisp.h b/pages/pagelisp.h
index 99371929f..7620b0d71 100644
--- a/pages/pagelisp.h
+++ b/pages/pagelisp.h
@@ -59,6 +59,8 @@ private slots:
     void on_replEdit_returnPressed();
     void on_replHelpButton_clicked();
     void on_streamButton_clicked();
+    void on_recentFilterEdit_textChanged(const QString &arg1);
+    void on_exampleFilterEdit_textChanged(const QString &arg1);
 
 private:
     Ui::PageLisp *ui;
diff --git a/pages/pagelisp.ui b/pages/pagelisp.ui
index d7811fcf7..742487a37 100644
--- a/pages/pagelisp.ui
+++ b/pages/pagelisp.ui
@@ -433,9 +433,30 @@
        <attribute name="title">
         <string>Recent</string>
        </attribute>
-       <layout class="QHBoxLayout" name="horizontalLayout_4">
+       <layout class="QHBoxLayout" name="horizontalLayout_9">
         <item>
-         <widget class="QListWidget" name="recentList"/>
+         <layout class="QVBoxLayout" name="verticalLayout_10">
+          <property name="spacing">
+           <number>2</number>
+          </property>
+          <item>
+           <layout class="QHBoxLayout" name="horizontalLayout_4">
+            <item>
+             <widget class="QLabel" name="label_2">
+              <property name="text">
+               <string>Filter</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLineEdit" name="recentFilterEdit"/>
+            </item>
+           </layout>
+          </item>
+          <item>
+           <widget class="QListWidget" name="recentList"/>
+          </item>
+         </layout>
         </item>
         <item>
          <layout class="QVBoxLayout" name="verticalLayout_6">
@@ -505,9 +526,30 @@
        <attribute name="title">
         <string>Examples</string>
        </attribute>
-       <layout class="QHBoxLayout" name="horizontalLayout_3">
+       <layout class="QHBoxLayout" name="horizontalLayout_10">
         <item>
-         <widget class="QListWidget" name="exampleList"/>
+         <layout class="QVBoxLayout" name="verticalLayout_11">
+          <property name="spacing">
+           <number>2</number>
+          </property>
+          <item>
+           <layout class="QHBoxLayout" name="horizontalLayout_3">
+            <item>
+             <widget class="QLabel" name="label_5">
+              <property name="text">
+               <string>Filter</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLineEdit" name="exampleFilterEdit"/>
+            </item>
+           </layout>
+          </item>
+          <item>
+           <widget class="QListWidget" name="exampleList"/>
+          </item>
+         </layout>
         </item>
         <item>
          <layout class="QVBoxLayout" name="verticalLayout_4">
@@ -745,17 +787,6 @@
   </layout>
  </widget>
  <customwidgets>
-  <customwidget>
-   <class>VTextBrowser</class>
-   <extends>QTextEdit</extends>
-   <header>widgets/vtextbrowser.h</header>
-  </customwidget>
-  <customwidget>
-   <class>ScriptEditor</class>
-   <extends>QWidget</extends>
-   <header>widgets/scripteditor.h</header>
-   <container>1</container>
-  </customwidget>
   <customwidget>
    <class>QCustomPlot</class>
    <extends>QWidget</extends>
@@ -768,6 +799,17 @@
    <header>widgets/experimentplot.h</header>
    <container>1</container>
   </customwidget>
+  <customwidget>
+   <class>VTextBrowser</class>
+   <extends>QTextEdit</extends>
+   <header>widgets/vtextbrowser.h</header>
+  </customwidget>
+  <customwidget>
+   <class>ScriptEditor</class>
+   <extends>QWidget</extends>
+   <header>widgets/scripteditor.h</header>
+   <container>1</container>
+  </customwidget>
   <customwidget>
    <class>HistoryLineEdit</class>
    <extends>QLineEdit</extends>
diff --git a/pages/pagescripting.cpp b/pages/pagescripting.cpp
index ea51d850c..9053346a2 100755
--- a/pages/pagescripting.cpp
+++ b/pages/pagescripting.cpp
@@ -377,6 +377,8 @@ void PageScripting::updateRecentList()
     for (auto f: mRecentFiles) {
         ui->recentList->addItem(f);
     }
+
+    on_recentFilterEdit_textChanged(ui->recentFilterEdit->text());
 }
 
 void PageScripting::makeEditorConnections(ScriptEditor *editor)
@@ -780,3 +782,27 @@ void PageScripting::on_calcSizeButton_clicked()
                              QString("Compressed QML size: %1").
                              arg(qCompress(qmlToRun(false).toUtf8(), 9).size()));
 }
+
+void PageScripting::on_recentFilterEdit_textChanged(const QString &filter)
+{
+    for (int row = 0; row < ui->recentList->count(); ++row) {
+        if (filter.isEmpty()) {
+            ui->recentList->item(row)->setHidden(false);
+        } else {
+            ui->recentList->item(row)->setHidden(!ui->recentList->item(row)->text().
+                                                 contains(filter, Qt::CaseInsensitive));
+        }
+    }
+}
+
+void PageScripting::on_exampleFilterEdit_textChanged(const QString &filter)
+{
+    for (int row = 0; row < ui->exampleList->count(); ++row) {
+        if (filter.isEmpty()) {
+            ui->exampleList->item(row)->setHidden(false);
+        } else {
+            ui->exampleList->item(row)->setHidden(!ui->exampleList->item(row)->text().
+                                                 contains(filter, Qt::CaseInsensitive));
+        }
+    }
+}
diff --git a/pages/pagescripting.h b/pages/pagescripting.h
index a4ca8d308..e7004d748 100644
--- a/pages/pagescripting.h
+++ b/pages/pagescripting.h
@@ -71,6 +71,8 @@ private slots:
     void on_uploadButton_clicked();
     void on_eraseOnlyButton_clicked();
     void on_calcSizeButton_clicked();
+    void on_recentFilterEdit_textChanged(const QString &arg1);
+    void on_exampleFilterEdit_textChanged(const QString &arg1);
 
 private:
     Ui::PageScripting *ui;
diff --git a/pages/pagescripting.ui b/pages/pagescripting.ui
index 3f3fc3ef7..a2a7d1ba8 100644
--- a/pages/pagescripting.ui
+++ b/pages/pagescripting.ui
@@ -211,9 +211,30 @@
        <attribute name="title">
         <string>Recent</string>
        </attribute>
-       <layout class="QHBoxLayout" name="horizontalLayout_4">
+       <layout class="QHBoxLayout" name="horizontalLayout_7">
         <item>
-         <widget class="QListWidget" name="recentList"/>
+         <layout class="QVBoxLayout" name="verticalLayout_10">
+          <property name="spacing">
+           <number>2</number>
+          </property>
+          <item>
+           <layout class="QHBoxLayout" name="horizontalLayout_4">
+            <item>
+             <widget class="QLabel" name="label">
+              <property name="text">
+               <string>Filter</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLineEdit" name="recentFilterEdit"/>
+            </item>
+           </layout>
+          </item>
+          <item>
+           <widget class="QListWidget" name="recentList"/>
+          </item>
+         </layout>
         </item>
         <item>
          <layout class="QVBoxLayout" name="verticalLayout_6">
@@ -283,9 +304,30 @@
        <attribute name="title">
         <string>Examples</string>
        </attribute>
-       <layout class="QHBoxLayout" name="horizontalLayout_3">
+       <layout class="QHBoxLayout" name="horizontalLayout_8">
         <item>
-         <widget class="QListWidget" name="exampleList"/>
+         <layout class="QVBoxLayout" name="verticalLayout_11">
+          <property name="spacing">
+           <number>2</number>
+          </property>
+          <item>
+           <layout class="QHBoxLayout" name="horizontalLayout_3">
+            <item>
+             <widget class="QLabel" name="label_2">
+              <property name="text">
+               <string>Filter</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLineEdit" name="exampleFilterEdit"/>
+            </item>
+           </layout>
+          </item>
+          <item>
+           <widget class="QListWidget" name="exampleList"/>
+          </item>
+         </layout>
         </item>
         <item>
          <layout class="QVBoxLayout" name="verticalLayout_4">

From 853bb4e2238187717bba2ad59435cc087ea73b1b Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 28 Aug 2023 13:38:51 +0200
Subject: [PATCH 506/559] Updated changelog

---
 res/CHANGELOG.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/res/CHANGELOG.md b/res/CHANGELOG.md
index 80e962ed3..f1b6b81df 100644
--- a/res/CHANGELOG.md
+++ b/res/CHANGELOG.md
@@ -12,6 +12,7 @@
 * Script editor search improvements.
 * Check if there are unsaved scripts before closing.
 * Better lisp code read import handling.
+* Added filter-box to example and recent lists in script editors.
 
 ### 6.02
 #### Released 2023-03-12

From 9de113f9451832dc4628af687dea80e353d0c91a Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Mon, 28 Aug 2023 13:22:30 +0000
Subject: [PATCH 507/559] @bionade24 has signed the CLA from Pull Request #327

---
 signatures/version1/cla.json | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/signatures/version1/cla.json b/signatures/version1/cla.json
index 5645172c3..e3ab45924 100644
--- a/signatures/version1/cla.json
+++ b/signatures/version1/cla.json
@@ -135,6 +135,14 @@
       "created_at": "2023-06-23T13:49:08Z",
       "repoId": 102395117,
       "pullRequestNo": 323
+    },
+    {
+      "name": "bionade24",
+      "id": 42534613,
+      "comment_id": 1695692758,
+      "created_at": "2023-08-28T13:22:14Z",
+      "repoId": 102395117,
+      "pullRequestNo": 327
     }
   ]
 }
\ No newline at end of file

From 3584bd69c5b98dc577c427154b73f5e670e990c1 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 7 Sep 2023 14:35:27 +0200
Subject: [PATCH 508/559] Added keyword

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index fc3fe8927..110853acc 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -371,6 +371,7 @@
 <name>bufclear</name>
 <name>bufcpy</name>
 <name>bufset-bit</name>
+<name>buf-find</name>
 <name>load-native-lib</name>
 <name>unload-native-lib</name>
 <name>uavcan-last-rawcmd</name>

From 24daf9c48a26e81f64b342416b6eb7baca52c824 Mon Sep 17 00:00:00 2001
From: Oskar Roesler <o.roesler@oscloud.info>
Date: Thu, 7 Sep 2023 14:39:25 +0200
Subject: [PATCH 509/559] lzokay: Include <iterator> explicitly for building on
 gcc12, clang13 and higher. (#327)

---
 lzokay/lzokay.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/lzokay/lzokay.cpp b/lzokay/lzokay.cpp
index e59e9cab3..fd86142c9 100644
--- a/lzokay/lzokay.cpp
+++ b/lzokay/lzokay.cpp
@@ -1,6 +1,7 @@
 #include "lzokay.hpp"
 #include <cstring>
 #include <algorithm>
+#include <iterator>
 
 /*
  * Based on documentation from the Linux sources: Documentation/lzo.txt
@@ -643,4 +644,4 @@ EResult compress(const uint8_t* src, std::size_t src_size,
   return EResult::Success;
 }
 
-}
\ No newline at end of file
+}

From 3142539538c1844a3b2c77b45b6afc776574babd Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 23 Sep 2023 14:47:33 +0200
Subject: [PATCH 510/559] Added parameters for new sampling modes

---
 res/CHANGELOG.md                      |  2 +
 res/config/6.05/parameters_mcconf.xml | 63 +++++++++++++++++----------
 2 files changed, 43 insertions(+), 22 deletions(-)

diff --git a/res/CHANGELOG.md b/res/CHANGELOG.md
index f1b6b81df..26bd0bb6c 100644
--- a/res/CHANGELOG.md
+++ b/res/CHANGELOG.md
@@ -14,6 +14,8 @@
 * Better lisp code read import handling.
 * Added filter-box to example and recent lists in script editors.
 
+---
+
 ### 6.02
 #### Released 2023-03-12
 * Improved experiment plot.
diff --git a/res/config/6.05/parameters_mcconf.xml b/res/config/6.05/parameters_mcconf.xml
index f2f410f35..8ea0c6a8f 100644
--- a/res/config/6.05/parameters_mcconf.xml
+++ b/res/config/6.05/parameters_mcconf.xml
@@ -2069,36 +2069,55 @@ p, li { white-space: pre-wrap; }
             <suffix></suffix>
             <vTx>9</vTx>
         </foc_sl_erpm>
-        <foc_sample_v0_v7>
-            <longName>Sample in V0 and V7</longName>
-            <type>5</type>
+        <foc_control_sample_mode>
+            <longName>Control Sample Mode</longName>
+            <type>4</type>
             <transmittable>1</transmittable>
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Sample currents and voltages in both V0 and V7 of the space vector modulation, and run the control loop at twice the rate. Can be useful for high speed motors at limited switching frequency, or in order to decrease the modulation noise. Notice that this option will require twice the amount of computational power for a given switching frequency.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Note&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;This option is only valid for hardware with phase shunts, such as the VESC Six. For other shunt configurations it is ignored.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>MCCONF_FOC_SAMPLE_V0_V7</cDefine>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;V0 Only&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sample and run the control loop in V0 only.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;V0 and V7&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Sample currents and voltages in both V0 and V7 and run the full control loop at twice the rate. Can be useful for high speed motors at limited switching frequency, or in order to decrease the modulation noise. Notice that this option will require twice the amount of computational power for a given switching frequency.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This mode is only valid for hardware with phase shunts, such as the VESC Six. For other shunt configurations it is ignored.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;V0 and V7 Interpolation&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Regular sampling and control in V0 and advance the voltage vector with interpolation in V7. This can help motors run better at high speeds.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_CONTROL_SAMPLE_MODE</cDefine>
             <valInt>0</valInt>
-        </foc_sample_v0_v7>
-        <foc_sample_high_current>
-            <longName>High Current Sampling Mode</longName>
-            <type>5</type>
+            <enumNames>V0 Only</enumNames>
+            <enumNames>V0 and V7</enumNames>
+            <enumNames>V0 and V7 Interpolation</enumNames>
+        </foc_control_sample_mode>
+        <foc_current_sample_mode>
+            <longName>Current Sample Mode</longName>
+            <type>4</type>
             <transmittable>1</transmittable>
             <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;Choose the lowest currents during sampling to derive the highest current. Since the motor currents are balanced and sum to 0, two of the phase currents can be used to derive the third one. Enabling this option will make the current measurement compare all motor currents and derive the highest one from the two lower currents. This way higher currents can be measured than the ADC gain allows by a factor of 2 / sqrt(3), or roughly 1.15. For example, for the VESC6 this increases the current measurement capability from 165A to roughly 190A.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto'; font-weight:600;&quot;&gt;Note&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Roboto';&quot;&gt;This option is only valid for hardware with three shunts, such as the VESC Six. For other shunt configurations it is ignored.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
-            <cDefine>MCCONF_FOC_SAMPLE_HIGH_CURRENT</cDefine>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Longest Zero Time&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Pick the two sensors that spend the longest time in the zero vectors and calculate the third current from them. This can help reduce noise and gives low side shunt hardware more time to rise before the sample is taken on high modulation.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;All Sensors Combined&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Use all three current readings and make a full Clarke transform. This helps reject common mode noise and also reduces current offsets on motors with low inductance with high current ripple.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;High Current&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Choose the lowest currents during sampling to derive the highest current. Since the motor currents are balanced and sum to 0, two of the phase currents can be used to derive the third one. Enabling this option will make the current measurement compare all motor currents and derive the highest one from the two lower currents. This way higher currents can be measured than the ADC gain allows by a factor of 2 / sqrt(3), or roughly 1.15. For example, for the VESC6 this increases the current measurement capability from 165A to roughly 190A.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Note&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This parameter is only valid for hardware with three shunts, such as the VESC Six. For other shunt configurations it is ignored.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>MCCONF_FOC_CURRENT_SAMPLE_MODE</cDefine>
             <valInt>0</valInt>
-        </foc_sample_high_current>
+            <enumNames>Longest Zero Time</enumNames>
+            <enumNames>All Sensors Combined</enumNames>
+            <enumNames>High Current</enumNames>
+        </foc_current_sample_mode>
         <foc_sat_comp_mode>
             <longName>Saturation Compensation Mode</longName>
             <type>4</type>
@@ -4570,8 +4589,8 @@ p, li { white-space: pre-wrap; }
         <ser>foc_hall_interp_erpm</ser>
         <ser>foc_sl_erpm_start</ser>
         <ser>foc_sl_erpm</ser>
-        <ser>foc_sample_v0_v7</ser>
-        <ser>foc_sample_high_current</ser>
+        <ser>foc_control_sample_mode</ser>
+        <ser>foc_current_sample_mode</ser>
         <ser>foc_sat_comp_mode</ser>
         <ser>foc_sat_comp</ser>
         <ser>foc_temp_comp</ser>
@@ -4977,8 +4996,8 @@ p, li { white-space: pre-wrap; }
                     <param>foc_pll_ki</param>
                     <param>foc_duty_dowmramp_kp</param>
                     <param>foc_duty_dowmramp_ki</param>
-                    <param>foc_sample_v0_v7</param>
-                    <param>foc_sample_high_current</param>
+                    <param>foc_control_sample_mode</param>
+                    <param>foc_current_sample_mode</param>
                     <param>foc_observer_gain_slow</param>
                     <param>foc_current_filter_const</param>
                     <param>foc_cc_decoupling</param>

From 649003b6829a928a4263827ecc84e8a102fe543f Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 23 Sep 2023 15:05:51 +0200
Subject: [PATCH 511/559] Added filter clear buttons

---
 pages/pagelisp.cpp      |  2 ++
 pages/pagelisp.ui       | 74 ++++++++++++++++++++++++++++++++++++++---
 pages/pagescripting.cpp |  2 ++
 pages/pagescripting.ui  | 64 +++++++++++++++++++++++++++++++++--
 4 files changed, 136 insertions(+), 6 deletions(-)

diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index 69cd6431e..85e6959b7 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -52,6 +52,8 @@ PageLisp::PageLisp(QWidget *parent) :
     ui->eraseButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
     ui->replHelpButton->setIcon(Utility::getIcon("icons/Help-96.png"));
     ui->streamButton->setIcon(Utility::getIcon("icons/Download-96.png"));
+    ui->recentFilterClearButton->setIcon(Utility::getIcon("icons/Cancel-96.png"));
+    ui->exampleFilterClearButton->setIcon(Utility::getIcon("icons/Cancel-96.png"));
 
     QIcon mycon = Utility::getIcon( "icons/expand_off.png");
     mycon.addPixmap(Utility::getIcon("icons/expand_on.png"), QIcon::Normal, QIcon::On);
diff --git a/pages/pagelisp.ui b/pages/pagelisp.ui
index 742487a37..efd063bfc 100644
--- a/pages/pagelisp.ui
+++ b/pages/pagelisp.ui
@@ -441,6 +441,9 @@
           </property>
           <item>
            <layout class="QHBoxLayout" name="horizontalLayout_4">
+            <property name="spacing">
+             <number>2</number>
+            </property>
             <item>
              <widget class="QLabel" name="label_2">
               <property name="text">
@@ -451,6 +454,20 @@
             <item>
              <widget class="QLineEdit" name="recentFilterEdit"/>
             </item>
+            <item>
+             <widget class="QPushButton" name="recentFilterClearButton">
+              <property name="toolTip">
+               <string>Clear Filter Text</string>
+              </property>
+              <property name="text">
+               <string/>
+              </property>
+              <property name="icon">
+               <iconset resource="../res.qrc">
+                <normaloff>:/res/+theme_light/icons/Cancel-96.png</normaloff>:/res/+theme_light/icons/Cancel-96.png</iconset>
+              </property>
+             </widget>
+            </item>
            </layout>
           </item>
           <item>
@@ -534,6 +551,9 @@
           </property>
           <item>
            <layout class="QHBoxLayout" name="horizontalLayout_3">
+            <property name="spacing">
+             <number>2</number>
+            </property>
             <item>
              <widget class="QLabel" name="label_5">
               <property name="text">
@@ -544,6 +564,20 @@
             <item>
              <widget class="QLineEdit" name="exampleFilterEdit"/>
             </item>
+            <item>
+             <widget class="QPushButton" name="exampleFilterClearButton">
+              <property name="toolTip">
+               <string>Clear Filter Text</string>
+              </property>
+              <property name="text">
+               <string/>
+              </property>
+              <property name="icon">
+               <iconset resource="../res.qrc">
+                <normaloff>:/res/+theme_light/icons/Cancel-96.png</normaloff>:/res/+theme_light/icons/Cancel-96.png</iconset>
+              </property>
+             </widget>
+            </item>
            </layout>
           </item>
           <item>
@@ -827,12 +861,44 @@
    <slot>clear()</slot>
    <hints>
     <hint type="sourcelabel">
-     <x>1524</x>
-     <y>374</y>
+     <x>1465</x>
+     <y>553</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>1429</x>
+     <y>818</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>recentFilterClearButton</sender>
+   <signal>clicked()</signal>
+   <receiver>recentFilterEdit</receiver>
+   <slot>clear()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>1357</x>
+     <y>535</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>1308</x>
+     <y>532</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>exampleFilterClearButton</sender>
+   <signal>clicked()</signal>
+   <receiver>exampleFilterEdit</receiver>
+   <slot>clear()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>1358</x>
+     <y>537</y>
     </hint>
     <hint type="destinationlabel">
-     <x>1456</x>
-     <y>379</y>
+     <x>1291</x>
+     <y>538</y>
     </hint>
    </hints>
   </connection>
diff --git a/pages/pagescripting.cpp b/pages/pagescripting.cpp
index 9053346a2..288379de8 100755
--- a/pages/pagescripting.cpp
+++ b/pages/pagescripting.cpp
@@ -63,6 +63,8 @@ PageScripting::PageScripting(QWidget *parent) :
     ui->uploadButton->setIcon(Utility::getIcon("icons/Download-96.png"));
     ui->eraseOnlyButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
     ui->clearUploadTextButton->setIcon(Utility::getIcon("icons/Delete-96.png"));
+    ui->recentFilterClearButton->setIcon(Utility::getIcon("icons/Cancel-96.png"));
+    ui->exampleFilterClearButton->setIcon(Utility::getIcon("icons/Cancel-96.png"));
 
     plusButton->setFlat(true);
     plusButton->setText("New Tab");
diff --git a/pages/pagescripting.ui b/pages/pagescripting.ui
index a2a7d1ba8..6dfcf889b 100644
--- a/pages/pagescripting.ui
+++ b/pages/pagescripting.ui
@@ -219,6 +219,9 @@
           </property>
           <item>
            <layout class="QHBoxLayout" name="horizontalLayout_4">
+            <property name="spacing">
+             <number>2</number>
+            </property>
             <item>
              <widget class="QLabel" name="label">
               <property name="text">
@@ -229,6 +232,17 @@
             <item>
              <widget class="QLineEdit" name="recentFilterEdit"/>
             </item>
+            <item>
+             <widget class="QPushButton" name="recentFilterClearButton">
+              <property name="text">
+               <string/>
+              </property>
+              <property name="icon">
+               <iconset resource="../res.qrc">
+                <normaloff>:/res/+theme_light/icons/Cancel-96.png</normaloff>:/res/+theme_light/icons/Cancel-96.png</iconset>
+              </property>
+             </widget>
+            </item>
            </layout>
           </item>
           <item>
@@ -312,6 +326,9 @@
           </property>
           <item>
            <layout class="QHBoxLayout" name="horizontalLayout_3">
+            <property name="spacing">
+             <number>2</number>
+            </property>
             <item>
              <widget class="QLabel" name="label_2">
               <property name="text">
@@ -322,6 +339,17 @@
             <item>
              <widget class="QLineEdit" name="exampleFilterEdit"/>
             </item>
+            <item>
+             <widget class="QPushButton" name="exampleFilterClearButton">
+              <property name="text">
+               <string/>
+              </property>
+              <property name="icon">
+               <iconset resource="../res.qrc">
+                <normaloff>:/res/+theme_light/icons/Cancel-96.png</normaloff>:/res/+theme_light/icons/Cancel-96.png</iconset>
+              </property>
+             </widget>
+            </item>
            </layout>
           </item>
           <item>
@@ -616,8 +644,8 @@
    <slot>clear()</slot>
    <hints>
     <hint type="sourcelabel">
-     <x>1385</x>
-     <y>168</y>
+     <x>1402</x>
+     <y>201</y>
     </hint>
     <hint type="destinationlabel">
      <x>1386</x>
@@ -625,5 +653,37 @@
     </hint>
    </hints>
   </connection>
+  <connection>
+   <sender>recentFilterClearButton</sender>
+   <signal>clicked()</signal>
+   <receiver>recentFilterEdit</receiver>
+   <slot>clear()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>1306</x>
+     <y>161</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>1226</x>
+     <y>147</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>exampleFilterClearButton</sender>
+   <signal>clicked()</signal>
+   <receiver>exampleFilterEdit</receiver>
+   <slot>clear()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>1310</x>
+     <y>164</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>1265</x>
+     <y>157</y>
+    </hint>
+   </hints>
+  </connection>
  </connections>
 </ui>

From 504f9bc890af749984e29dc2277e9cee2fff72fa Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 25 Sep 2023 14:51:08 +0200
Subject: [PATCH 512/559] Added filesystem keywords

---
 QCodeEditor/resources/languages/lisp.xml | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 110853acc..370a1e034 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -433,5 +433,17 @@
 <name>sleep-config-wakeup-pin</name>
 <name>canmsg-send</name>
 <name>canmsg-recv</name>
+<name>f-open</name>
+<name>f-close</name>
+<name>f-read</name>
+<name>f-readline</name>
+<name>f-write</name>
+<name>f-tell</name>
+<name>f-seek</name>
+<name>f-mkdir</name>
+<name>f-rm</name>
+<name>f-ls</name>
+<name>f-size</name>
+<name>f-fatinfo</name>
 </section>
 </root>

From 53983c36dba9a8591ca885f21b741b82a933e873 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 26 Sep 2023 17:53:50 +0200
Subject: [PATCH 513/559] Added keyword

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 370a1e034..be9d3cb8c 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -219,6 +219,7 @@
 <name>icu-period</name>
 <name>app-adc-detach</name>
 <name>app-adc-override</name>
+<name>app-adc-range-ok</name>
 <name>app-ppm-detach</name>
 <name>app-ppm-override</name>
 <name>set-remote-state</name>

From 7660dc9bf45833623c19bf8a45eb1b08e0a13581 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 28 Sep 2023 16:13:58 +0200
Subject: [PATCH 514/559] Limit terminal line number

---
 pages/pagescripting.ui |  6 ++++++
 pages/pageterminal.cpp | 24 +++++++++++++++++++++++-
 pages/pageterminal.ui  |  5 ++++-
 3 files changed, 33 insertions(+), 2 deletions(-)

diff --git a/pages/pagescripting.ui b/pages/pagescripting.ui
index 6dfcf889b..1ef7ff102 100644
--- a/pages/pagescripting.ui
+++ b/pages/pagescripting.ui
@@ -234,6 +234,9 @@
             </item>
             <item>
              <widget class="QPushButton" name="recentFilterClearButton">
+              <property name="toolTip">
+               <string>Clear Filter Text</string>
+              </property>
               <property name="text">
                <string/>
               </property>
@@ -341,6 +344,9 @@
             </item>
             <item>
              <widget class="QPushButton" name="exampleFilterClearButton">
+              <property name="toolTip">
+               <string>Clear Filter Text</string>
+              </property>
               <property name="text">
                <string/>
               </property>
diff --git a/pages/pageterminal.cpp b/pages/pageterminal.cpp
index ec9339e61..b03603745 100644
--- a/pages/pageterminal.cpp
+++ b/pages/pageterminal.cpp
@@ -63,7 +63,29 @@ void PageTerminal::setVesc(VescInterface *vesc)
 
 void PageTerminal::printReceived(QString str)
 {
-    ui->terminalBrowser->append(str);
+    ui->terminalBrowser->moveCursor(QTextCursor::End);
+    ui->terminalBrowser->insertPlainText(str + "\n");
+    ui->terminalBrowser->moveCursor(QTextCursor::End);
+
+    int maxLines = 5000;
+    int removeLines = 1000;
+
+    if (ui->terminalBrowser->document()->lineCount() > maxLines) {
+        QString txt = ui->terminalBrowser->toPlainText();
+        auto lines = txt.split("\n");
+        if (lines.length() >= removeLines) {
+            QString shorter;
+            for (int i = removeLines;i < lines.length();i++) {
+                shorter.append(lines.at(i));
+
+                if (i != (lines.length() - 1)) {
+                    shorter.append("\n");
+                }
+            }
+            ui->terminalBrowser->setText(shorter);
+            ui->terminalBrowser->moveCursor(QTextCursor::End);
+        }
+    }
 }
 
 void PageTerminal::on_sendButton_clicked()
diff --git a/pages/pageterminal.ui b/pages/pageterminal.ui
index 6764268d3..abe0cd4bf 100644
--- a/pages/pageterminal.ui
+++ b/pages/pageterminal.ui
@@ -15,7 +15,7 @@
   </property>
   <layout class="QVBoxLayout" name="verticalLayout">
    <item>
-    <widget class="QTextBrowser" name="terminalBrowser">
+    <widget class="QTextEdit" name="terminalBrowser">
      <property name="font">
       <font>
        <family>DejaVu Sans Mono</family>
@@ -24,6 +24,9 @@
      <property name="lineWrapMode">
       <enum>QTextEdit::NoWrap</enum>
      </property>
+     <property name="readOnly">
+      <bool>true</bool>
+     </property>
     </widget>
    </item>
    <item>

From 54408c05d294faad0247037f34d99d429cc964e4 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 29 Sep 2023 13:49:55 +0200
Subject: [PATCH 515/559] Use all currents in sampled data

---
 pages/pagesampleddata.cpp | 15 +++++++++++----
 pages/pagesampleddata.h   |  2 ++
 pages/pagesampleddata.ui  |  4 ++--
 res/CHANGELOG.md          |  2 ++
 4 files changed, 17 insertions(+), 6 deletions(-)

diff --git a/pages/pagesampleddata.cpp b/pages/pagesampleddata.cpp
index 65e9178c1..128d1ed8b 100644
--- a/pages/pagesampleddata.cpp
+++ b/pages/pagesampleddata.cpp
@@ -224,7 +224,7 @@ void PageSampledData::timerSlot()
             // Calculate current and voltages
             QVector<double> curr1 = curr1Vector;
             QVector<double> curr2 = curr2Vector;
-            QVector<double> curr3(size);
+            QVector<double> curr3 = curr3Vector;
 
             QVector<double> ph1 = ph1Vector;
             QVector<double> ph2 = ph2Vector;
@@ -235,8 +235,6 @@ void PageSampledData::timerSlot()
             QVector<double> fSw = fSwVector;
 
             for (int i=0;i < curr2.size(); i++) {
-                curr3[i] = -(curr1[i] + curr2[i]);
-
                 if (ui->truncateBox->isChecked()) {
                     if (!(position[i] == 1 || position[i] == 4)) {
                         ph1[i] = 0;
@@ -494,6 +492,13 @@ void PageSampledData::samplesReceived(QByteArray bytes)
 
     tmpCurr1Vector.append(vb.vbPopFrontDouble32Auto());
     tmpCurr2Vector.append(vb.vbPopFrontDouble32Auto());
+
+    if (vb.size() >= 30) {
+        tmpCurr3Vector.append(vb.vbPopFrontDouble32Auto());
+    } else {
+        tmpCurr3Vector.append(-(tmpCurr1Vector.last() + tmpCurr2Vector.last()));
+    }
+
     tmpPh1Vector.append(vb.vbPopFrontDouble32Auto());
     tmpPh2Vector.append(vb.vbPopFrontDouble32Auto());
     tmpPh3Vector.append(vb.vbPopFrontDouble32Auto());
@@ -509,6 +514,7 @@ void PageSampledData::samplesReceived(QByteArray bytes)
     if (tmpCurr1Vector.size() == mSamplesToWait) {
         curr1Vector = tmpCurr1Vector;
         curr2Vector = tmpCurr2Vector;
+        curr3Vector = tmpCurr3Vector;
         ph1Vector = tmpPh1Vector;
         ph2Vector = tmpPh2Vector;
         ph3Vector = tmpPh3Vector;
@@ -640,6 +646,7 @@ void PageSampledData::clearBuffers()
     mSampleInt = 0;
     tmpCurr1Vector.clear();
     tmpCurr2Vector.clear();
+    tmpCurr3Vector.clear();
     tmpPh1Vector.clear();
     tmpPh2Vector.clear();
     tmpPh3Vector.clear();
@@ -716,7 +723,7 @@ void PageSampledData::on_saveDataButton_clicked()
             stream << timeVec.at(i) << ";";
             stream << curr1Vector.at(i) << ";";
             stream << curr2Vector.at(i) << ";";
-            stream << -(curr1Vector.at(i) + curr2Vector.at(i)) << ";";
+            stream << curr3Vector.at(i) << ";";
             stream << ph1Vector.at(i) << ";";
             stream << ph2Vector.at(i) << ";";
             stream << ph3Vector.at(i) << ";";
diff --git a/pages/pagesampleddata.h b/pages/pagesampleddata.h
index 97c2736ed..7d080c79f 100644
--- a/pages/pagesampleddata.h
+++ b/pages/pagesampleddata.h
@@ -69,6 +69,7 @@ private slots:
 
     QVector<double> curr1Vector;
     QVector<double> curr2Vector;
+    QVector<double> curr3Vector;
     QVector<double> ph1Vector;
     QVector<double> ph2Vector;
     QVector<double> ph3Vector;
@@ -80,6 +81,7 @@ private slots:
 
     QVector<double> tmpCurr1Vector;
     QVector<double> tmpCurr2Vector;
+    QVector<double> tmpCurr3Vector;
     QVector<double> tmpPh1Vector;
     QVector<double> tmpPh2Vector;
     QVector<double> tmpPh3Vector;
diff --git a/pages/pagesampleddata.ui b/pages/pagesampleddata.ui
index acf0b5269..510f359b8 100644
--- a/pages/pagesampleddata.ui
+++ b/pages/pagesampleddata.ui
@@ -683,13 +683,13 @@
         <string>Samp: </string>
        </property>
        <property name="maximum">
-        <number>2000</number>
+        <number>1600</number>
        </property>
        <property name="singleStep">
         <number>100</number>
        </property>
        <property name="value">
-        <number>1000</number>
+        <number>800</number>
        </property>
       </widget>
      </item>
diff --git a/res/CHANGELOG.md b/res/CHANGELOG.md
index 26bd0bb6c..e7b6c2b1f 100644
--- a/res/CHANGELOG.md
+++ b/res/CHANGELOG.md
@@ -13,6 +13,8 @@
 * Check if there are unsaved scripts before closing.
 * Better lisp code read import handling.
 * Added filter-box to example and recent lists in script editors.
+* Limit output size in vesc and lbm terminal to prevent problems when printing too much.
+* Use all 3 measured currents in sampled data instead of calculating one.
 
 ---
 

From 0926710d20f1a6c746b27382fef8133468125c35 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 6 Oct 2023 17:15:12 +0200
Subject: [PATCH 516/559] Added keyword

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index be9d3cb8c..de5fa9190 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -378,6 +378,7 @@
 <name>uavcan-last-rawcmd</name>
 <name>uavcan-last-rpmcmd</name>
 <name>lbm-set-quota</name>
+<name>lbm-set-gc-stack-size</name>
 <name>plot-init</name>
 <name>plot-add-graph</name>
 <name>plot-set-graph</name>

From 32c83171bf1b54ce033bc9e2a4e1161629dbd7b7 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 8 Oct 2023 10:05:55 +0200
Subject: [PATCH 517/559] Allow passive flux linkage measurement

---
 widgets/detectfoc.cpp | 34 ++++++++++++++++++++++------------
 1 file changed, 22 insertions(+), 12 deletions(-)

diff --git a/widgets/detectfoc.cpp b/widgets/detectfoc.cpp
index f8a404fa9..cd3daa4b2 100644
--- a/widgets/detectfoc.cpp
+++ b/widgets/detectfoc.cpp
@@ -90,20 +90,30 @@ void DetectFoc::on_lambdaButton_clicked()
             return;
         }
 
-        if (ui->resistanceBox->value() < 1e-10) {
-            QMessageBox::critical(this,
-                                  tr("Measure Error"),
-                                  tr("R is 0. Please measure it first."));
-            return;
+        QMessageBox::StandardButton reply = QMessageBox::Cancel;
+        if (ui->currentBox->value() > 0.001) {
+            if (ui->resistanceBox->value() < 1e-10) {
+                QMessageBox::critical(this,
+                                      tr("Measure Error"),
+                                      tr("R is 0. Please measure it first."));
+                return;
+            }
+
+            reply = QMessageBox::warning(this,
+                                         tr("Warning"),
+                                         tr("<font color=\"red\">Warning: </font>"
+                                            "This is going to spin up the motor. Make "
+                                            "sure that nothing is in the way."),
+                                         QMessageBox::Ok | QMessageBox::Cancel);
+        } else {
+            reply = QMessageBox::warning(this,
+                                         tr("Warning"),
+                                         tr("As the current is 0 this is going to perform passive flux "
+                                            "linkage measurement. Make sure that the motor is driven "
+                                            "externally."),
+                                         QMessageBox::Ok | QMessageBox::Cancel);
         }
 
-        QMessageBox::StandardButton reply = QMessageBox::warning(this,
-                                     tr("Warning"),
-                                     tr("<font color=\"red\">Warning: </font>"
-                                        "This is going to spin up the motor. Make "
-                                        "sure that nothing is in the way."),
-                                     QMessageBox::Ok | QMessageBox::Cancel);
-
         if (reply == QMessageBox::Ok) {
             mVesc->commands()->measureLinkageOpenloop(ui->currentBox->value(),
                                                       ui->erpmBox->value(),

From 8587c6e0294efb85683ec1bf0409a391e3ef8eeb Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 9 Oct 2023 11:14:28 +0200
Subject: [PATCH 518/559] Rearranged UI to make it easier to find dev tools.
 Also gived them more vertical space.

---
 display_tool/dispeditor.ui |  3 +++
 mainwindow.cpp             | 36 +++++++++++++++++-------------------
 mainwindow.h               |  1 -
 pages/pageappsettings.cpp  | 10 +++-------
 pages/pagedisplaytool.ui   |  3 +++
 pages/pagelisp.cpp         |  2 +-
 res/config/6.05/info.xml   | 30 ++++++++++++++++++++++++++++++
 7 files changed, 57 insertions(+), 28 deletions(-)

diff --git a/display_tool/dispeditor.ui b/display_tool/dispeditor.ui
index 9ab979ca9..3005c0eae 100644
--- a/display_tool/dispeditor.ui
+++ b/display_tool/dispeditor.ui
@@ -94,6 +94,9 @@
          <verstretch>0</verstretch>
         </sizepolicy>
        </property>
+       <property name="tabShape">
+        <enum>QTabWidget::Triangular</enum>
+       </property>
        <property name="currentIndex">
         <number>0</number>
        </property>
diff --git a/mainwindow.cpp b/mainwindow.cpp
index 138f02100..e0185e396 100755
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -1574,39 +1574,41 @@ void MainWindow::reloadPages()
     ui->pageWidget->addWidget(mPageLogAnalysis);
     addPageItem(tr("Log Analysis"),  theme + "icons/Waypoint Map-96.png", "", false, true);
 
-    mPageVESCDev = new QTabWidget(this);
-    mPageVESCDev->setTabShape(QTabWidget::Triangular);
+    VTextBrowser *vt = new VTextBrowser(this);
+    ConfigParam *p = mVesc->infoConfig()->getParam("dev_tools_description");
+    if (p) {
+        vt->setText(p->description);
+    }
+    ui->pageWidget->addWidget(vt);
+    addPageItem(tr("VESC Dev Tools"),  theme + "icons/v_icon-96.png", "", true);
 
     mPageTerminal = new PageTerminal(this);
     mPageTerminal->setVesc(mVesc);
     ui->pageWidget->addWidget(mPageTerminal);
-    mPageVESCDev->addTab(mPageTerminal, Utility::getIcon("icons/Console-96.png"), tr("VESC Terminal"));
+    addPageItem(tr("Terminal"),  theme + "icons/Console-96.png", "", false, true);
 
     mPageScripting = new PageScripting(this);
     mPageScripting->setVesc(mVesc);
     ui->pageWidget->addWidget(mPageScripting);
-    mPageVESCDev->addTab(mPageScripting, Utility::getIcon("icons_textedit/Outdent-96.png"), tr("QML"));
+    addPageItem(tr("QML Scripting"),  theme + "icons_textedit/Outdent-96.png", "", false, true);
 
     mPageLisp = new PageLisp(this);
     mPageLisp->setVesc(mVesc);
     ui->pageWidget->addWidget(mPageLisp);
-    mPageVESCDev->addTab(mPageLisp, Utility::getIcon("icons_textedit/Outdent-96.png"), tr("Lisp"));
+    addPageItem(tr("LispBM Scripting"),  theme + "icons_textedit/Outdent-96.png", "", false, true);
 
     mPageCanAnalyzer = new PageCanAnalyzer(this);
     mPageCanAnalyzer->setVesc(mVesc);
     ui->pageWidget->addWidget(mPageCanAnalyzer);
-    mPageVESCDev->addTab(mPageCanAnalyzer, Utility::getIcon("icons/can_off.png"), tr("CAN Analyzer"));
+    addPageItem(tr("CAN Analyzer"),  theme + "icons/can_off.png", "", false, true);
 
     mPageDisplayTool = new PageDisplayTool(this);
     ui->pageWidget->addWidget(mPageDisplayTool);
-    mPageVESCDev->addTab(mPageDisplayTool, Utility::getIcon("icons/Calculator-96.png"), tr("Display Tool"));
+    addPageItem(tr("Display Tool"),  theme + "icons/Calculator-96.png", "", false, true);
 
     mPageDebugPrint = new PageDebugPrint(this);
     ui->pageWidget->addWidget(mPageDebugPrint);
-    mPageVESCDev->addTab(mPageDebugPrint, Utility::getIcon("icons/Bug-96.png"), tr("Debug Console"));
-
-    ui->pageWidget->addWidget(mPageVESCDev);
-    addPageItem(tr("VESC Dev Tools"),  theme + "icons/Console-96.png", "", true);
+    addPageItem(tr("Debug Console"),  theme + "icons/Bug-96.png", "", false, true);
 
     mPageSwdProg = new PageSwdProg(this);
     mPageSwdProg->setVesc(mVesc);
@@ -1883,29 +1885,25 @@ void MainWindow::on_actionSaveAppConfigurationHeaderWrap_triggered()
 void MainWindow::on_actionTerminalPrintFaults_triggered()
 {
     mVesc->commands()->sendTerminalCmd("faults");
-    showPage("VESC Dev Tools");
-    mPageVESCDev->setCurrentIndex(0);
+    showPage("Terminal");
 }
 
 void MainWindow::on_actionTerminalShowHelp_triggered()
 {
     mVesc->commands()->sendTerminalCmd("help");
-    showPage("VESC Dev Tools");
-    mPageVESCDev->setCurrentIndex(0);
+    showPage("Terminal");
 }
 
 void MainWindow::on_actionTerminalClear_triggered()
 {
     mPageTerminal->clearTerminal();
-    showPage("VESC Dev Tools");
-    mPageVESCDev->setCurrentIndex(0);
+    showPage("Terminal");
 }
 
 void MainWindow::on_actionTerminalPrintThreads_triggered()
 {
     mVesc->commands()->sendTerminalCmd("threads");
-    showPage("VESC Dev Tools");
-    mPageVESCDev->setCurrentIndex(0);
+    showPage("Terminal");
 }
 
 void MainWindow::on_actionTerminalDRVResetLatchedFaults_triggered()
diff --git a/mainwindow.h b/mainwindow.h
index c296c3557..78895b52f 100644
--- a/mainwindow.h
+++ b/mainwindow.h
@@ -223,7 +223,6 @@ private slots:
     PageScripting *mPageScripting;
     PageLisp *mPageLisp;
     PageEspProg *mPageEspProg;
-    QTabWidget *mPageVESCDev;
     PageDisplayTool *mPageDisplayTool;
     Preferences *mPreferences;
 
diff --git a/pages/pageappsettings.cpp b/pages/pageappsettings.cpp
index 9545a91af..752495877 100644
--- a/pages/pageappsettings.cpp
+++ b/pages/pageappsettings.cpp
@@ -61,18 +61,14 @@ void PageAppSettings::reloadParams()
             QStringList imgs = {"app_up", "app_default" , "app_down","Upload-96","Data Backup-96","Help-96"};
             QString theme = "<img src=\"" + Utility::getThemePath() + "icons/";
             QString out;
-            if(imgs.length() > htmls.length()/2 - 1)
-            {
-                for(int i =0; i < htmls.length()-1; i+=2)
-                {
+            if(imgs.length() > htmls.length()/2 - 1) {
+                for(int i =0; i < htmls.length()-1; i+=2) {
                     out.append(htmls[i] + theme + imgs[i/2]);
                     out.append(".png\" width=");
                 }
                 out.append(htmls.last());
                 ui->textEdit->setHtml(out);
-            }
-            else
-            {
+            } else {
                 ui->textEdit->setHtml(p->description);
             }
         } else {
diff --git a/pages/pagedisplaytool.ui b/pages/pagedisplaytool.ui
index ad55df371..8c5e9c59b 100644
--- a/pages/pagedisplaytool.ui
+++ b/pages/pagedisplaytool.ui
@@ -114,6 +114,9 @@
            <verstretch>0</verstretch>
           </sizepolicy>
          </property>
+         <property name="tabShape">
+          <enum>QTabWidget::Triangular</enum>
+         </property>
          <property name="currentIndex">
           <number>0</number>
          </property>
diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index 85e6959b7..3e1a844a8 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -148,7 +148,7 @@ PageLisp::PageLisp(QWidget *parent) :
         removeEditor(mainEditor);
     });
 
-    ui->splitter->setSizes(QList<int>({1000, 600}));
+    ui->splitter->setSizes(QList<int>({1000, 100}));
     ui->splitter_2->setSizes(QList<int>({1000, 600}));
 
     mPollTimer.start(1000 / ui->pollRateBox->value());
diff --git a/res/config/6.05/info.xml b/res/config/6.05/info.xml
index e7fc57281..ec43c59de 100644
--- a/res/config/6.05/info.xml
+++ b/res/config/6.05/info.xml
@@ -604,6 +604,36 @@ X+zYP8lfgOHlZEKN7DBYwAAAABJRU5ErkJggg==&quot; width=&quot;20&quot; height=&quot;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Notice that uploading new firmware to the VESC will reset all its settings to their default values for that firmware. This means that after uploading firmware to the VESC you have to perform the app configuration again.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine></cDefine>
         </app_setting_description>
+        <dev_tools_description>
+            <longName> Development Tool Description</longName>
+            <type>0</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; ; font-weight:600;&quot;&gt;VESC Development Tools&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; ; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Terminal&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This is a text command interface to some advanced and debug-functions of the hardware. &lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Qml Scripting&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Qml is an extension of javascript that is used to make mobile applications in Qt. The mobile version of VESC Tool as well as the wizards in the desktop version are written in Qml. The Qml-editor in VESC Tool can be used to write custom user interface pages that are loaded and run in VESC Tool. There are many examples available that can be used as a starting point.&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Lisp Scripting&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC motor control firmware as well as the VESC Express firmware have a built-in version of LispBM, which is a modern embedded scripting language based on lisp. Code written in LispBM runs directly on the hardware and can be used for custom functionality not covered by the basic applications. &lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;CAN Analyzer&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Simple CAN-bus tool that can read and send messages on the CAN-bus. &lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Display Tool&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Graphic and font generation tool for displays supported by the VESC display driver, which is part of the Express firmware. &lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Debug Console&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Debug messages from VESC Tool are printed here. &lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine></cDefine>
+        </dev_tools_description>
         <data_analysis_description>
             <longName>Data Analysis Description</longName>
             <type>0</type>

From a6f27724531a9813b752d46c2b7cbdb16c4ee89c Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 12 Oct 2023 09:59:54 +0200
Subject: [PATCH 519/559] Added missing bms-firmware to swdprog-page

---
 pages/pageswdprog.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/pages/pageswdprog.cpp b/pages/pageswdprog.cpp
index 59e44669f..cdbc12eca 100644
--- a/pages/pageswdprog.cpp
+++ b/pages/pageswdprog.cpp
@@ -563,6 +563,12 @@ void PageSwdProg::bmConnRes(int res)
         addSwdFw("Trampa 18s Light BMS",
                  "://res/firmwares_bms/18s_light/vesc_default.bin", 0,
                  "://res/bootloaders_bms/generic.bin", 0x3E000);
+        addSwdFw("Trampa 18s Light LMP BMS",
+                 "://res/firmwares_bms/18s_light_lmp/vesc_default.bin", 0,
+                 "://res/bootloaders_bms/generic.bin", 0x3E000);
+        addSwdFw("Trampa 18s Light MK2 BMS",
+                 "://res/firmwares_bms/18s_light_mk2/vesc_default.bin", 0,
+                 "://res/bootloaders_bms/generic.bin", 0x3E000);
         addSwdFw("Power Switch 120V",
                  "://res/other_fw/vesc_power_switch_120.bin", 0,
                  "://res/bootloaders_bms/generic.bin", 0x3E000);

From c3799e6b5d030bbb333ac88475525e8e804af08e Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 15 Oct 2023 09:14:48 +0200
Subject: [PATCH 520/559] Support for latest imu-code

---
 commands.cpp | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/commands.cpp b/commands.cpp
index d1c188d43..2280d9043 100755
--- a/commands.cpp
+++ b/commands.cpp
@@ -596,9 +596,7 @@ void Commands::processPacket(QByteArray data)
             values.q3 = vb.vbPopFrontDouble32Auto();
         }
         if (vb.size() >= 1) {
-            if (mask & (uint32_t(1) << 16)) {
-                values.vesc_id = vb.vbPopFrontUint8();
-            }
+            values.vesc_id = vb.vbPopFrontUint8();
         }
 
         emit valuesImuReceived(values, mask);

From c07c5977eaefdd1ef7f20d1d52d4062f96692dab Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 15 Oct 2023 20:59:18 +0200
Subject: [PATCH 521/559] Added keywords

---
 QCodeEditor/resources/languages/lisp.xml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index de5fa9190..b64a30af7 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -242,6 +242,8 @@
 <name>get-current-in</name>
 <name>get-id</name>
 <name>get-iq</name>
+<name>get-id-set</name>
+<name>get-iq-set</name>
 <name>get-vd</name>
 <name>get-vq</name>
 <name>get-est-lambda</name>
@@ -348,6 +350,7 @@
 <name>conf-restore-mc</name>
 <name>conf-restore-app</name>
 <name>conf-dc-cal</name>
+<name>conf-get-limits</name>
 <name>free</name>
 <name>bufcreate</name>
 <name>array-create</name>

From 1d3c859b620146af86531f7e5b5343eb2d2c107c Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 17 Oct 2023 19:38:44 +0200
Subject: [PATCH 522/559] Added uploadLisp and eraseLisp CLI arguments

---
 main.cpp | 164 +++++++++++++++++++++++++++++++++++++++++--------------
 1 file changed, 123 insertions(+), 41 deletions(-)

diff --git a/main.cpp b/main.cpp
index f424edc18..1686ac9c3 100755
--- a/main.cpp
+++ b/main.cpp
@@ -93,6 +93,8 @@ static void showHelp()
     qDebug() << "--getMcConf [confPath] : Connect and read motor configuration and store the XML to confPath.";
     qDebug() << "--setMcConf [confPath] : Connect and write motor configuration XML from confPath.";
     qDebug() << "--debugOutFile [path] : Print debug output to file with path.";
+    qDebug() << "--uploadLisp [path] : Upload lisp-script.";
+    qDebug() << "--eraseLisp : Erase lisp-script.";
 }
 
 #ifdef Q_OS_LINUX
@@ -279,6 +281,8 @@ int main(int argc, char *argv[])
     QString getMcConfPath = "";
     QString setMcConfPath = "";
     QSize qmlWindowSize = QSize(-1, -1);
+    QString lispPath = "";
+    bool eraseLisp = false;
 
     // Arguments can be hard-coded in a build like this:
 //    qmlWindowSize = QSize(400, 800);
@@ -475,6 +479,23 @@ int main(int argc, char *argv[])
             }
         }
 
+        if (str == "--uploadLisp") {
+            if ((i + 1) < args.size()) {
+                i++;
+                lispPath = args.at(i);
+                found = true;
+            } else {
+                i++;
+                qCritical() << "No path specified";
+                return 1;
+            }
+        }
+
+        if (str == "--eraseLisp") {
+            eraseLisp = true;
+            found = true;
+        }
+
         if (str == "--debugOutFile") {
             if ((i + 1) < args.size()) {
                 i++;
@@ -538,7 +559,7 @@ int main(int argc, char *argv[])
 
         CodeLoader loader;
         QString pkgPath = pkgArgs.at(0);
-        QString lispPath = pkgArgs.at(1);
+        lispPath = pkgArgs.at(1);
         QString qmlPath = pkgArgs.at(2);
         bool isFullscreen = pkgArgs.at(3).toInt();
 
@@ -692,14 +713,36 @@ int main(int argc, char *argv[])
         }
     });
 
-    if (!getMcConfPath.isEmpty() || !setMcConfPath.isEmpty()) {
+    bool isMcConf = !getMcConfPath.isEmpty() || !setMcConfPath.isEmpty();
+
+    if (isMcConf || !lispPath.isEmpty() || eraseLisp) {
         qputenv("QT_QPA_PLATFORM", "offscreen");
         app = new QCoreApplication(argc, argv);
         vesc = new VescInterface;
         vesc->fwConfig()->loadParamsXml("://res/config/fw.xml");
         Utility::configLoadLatest(vesc);
 
+        QObject::connect(vesc, &VescInterface::statusMessage, []
+                         (const QString &msg, bool isGood) {
+            if (isGood) {
+                qDebug() << msg;
+            } else {
+                qWarning() << msg;
+            }
+        });
+
+        QObject::connect(vesc, &VescInterface::messageDialog, []
+                         (const QString &title, const QString &msg, bool isGood, bool richText) {
+            (void)richText;
+            if (isGood) {
+                qDebug() << title << ":" << msg;
+            } else {
+                qWarning() << title << ":" << msg;
+            }
+        });
+
         QTimer::singleShot(10, [&]() {
+            int exitCode = 0;
             bool ok = false;
             if (vescPort.isEmpty()) {
                 ok = vesc->autoconnect();
@@ -714,62 +757,101 @@ int main(int argc, char *argv[])
                     vesc->commands()->setSendCan(true, canFwd);
                 }
 
-                auto res = Utility::waitSignal(vesc, SIGNAL(customConfigLoadDone()), 4000);
-                if (res) {
-                    ConfigParams *p = vesc->mcConfig();
-                    vesc->commands()->getMcconf();
-                    res = Utility::waitSignal(p, SIGNAL(updated()), 4000);
-                    if (res) {
-                        if (!setMcConfPath.isEmpty()) {
-                            res = p->loadXml(setMcConfPath, "MCConfiguration");
+                CodeLoader loader;
+                loader.setVesc(vesc);
 
-                            if (res) {
-                                vesc->commands()->setMcconf(false);
-                                res = Utility::waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 4000);
-
-                                if (res) {
-                                    qDebug() << "Wrote XML from" << setMcConfPath;
-                                    qApp->exit();
-                                } else {
-                                    qWarning() << "Could not write config";
-                                    qApp->exit(-4);
-                                }
+                if (eraseLisp) {
+                    if (loader.lispErase(16)) {
+                        qDebug() << "Lisp erase OK!";
+                    } else {
+                        qWarning() << "Could not erase lisp";
+                        exitCode = -10;
+                    }
+                }
 
+                if (!lispPath.isEmpty()) {
+                    QFile f(lispPath);
+                    if (f.open(QIODevice::ReadOnly)) {
+                        QFileInfo fi(f);
+                        VByteArray lispData = loader.lispPackImports(f.readAll(), fi.canonicalPath());
+                        f.close();
+
+                        if (!lispData.isEmpty()) {
+                            bool ok = loader.lispErase(lispData.size() + 100);
+                            if (ok) {
+                                ok = loader.lispUpload(lispData);
                             } else {
-                                qWarning() << "Could not load XML from" << setMcConfPath;
-                                qApp->exit(-3);
+                                qWarning() << "Could not erase lisp";
+                                exitCode = -10;
+                            }
+                            if (ok) {
+                                qDebug() << "Lisp upload OK!";
+                                vesc->commands()->lispSetRunning(1);
+                                Utility::sleepWithEventLoop(100);
+                            } else
+                                qWarning() << "Could not upload lisp";{
+                                exitCode = -11;
                             }
                         } else {
-                            res = p->saveXml(getMcConfPath, "MCConfiguration");
+                            qWarning() << "Empty or invalid lisp-file.";
+                            exitCode = -12;
+                        }
+                    } else {
+                        qWarning() << "Could not open lisp file for reading.";
+                        exitCode = -13;
+                    }
+                }
+
+                if (isMcConf) {
+                    auto res = Utility::waitSignal(vesc, SIGNAL(customConfigLoadDone()), 4000);
+                    if (res) {
+                        ConfigParams *p = vesc->mcConfig();
+                        vesc->commands()->getMcconf();
+                        res = Utility::waitSignal(p, SIGNAL(updated()), 4000);
+                        if (res) {
+                            if (!setMcConfPath.isEmpty()) {
+                                res = p->loadXml(setMcConfPath, "MCConfiguration");
 
-                            if (res) {
-                                qDebug() << "Saved XML to" << getMcConfPath;
-                                qApp->exit();
+                                if (res) {
+                                    vesc->commands()->setMcconf(false);
+                                    res = Utility::waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 4000);
+
+                                    if (res) {
+                                        qDebug() << "Wrote XML from" << setMcConfPath;
+                                    } else {
+                                        qWarning() << "Could not write config";
+                                        exitCode = -4;
+                                    }
+
+                                } else {
+                                    qWarning() << "Could not load XML from" << setMcConfPath;
+                                    exitCode = -3;
+                                }
                             } else {
-                                qWarning() << "Could not save XML";
-                                qApp->exit(-3);
+                                res = p->saveXml(getMcConfPath, "MCConfiguration");
+
+                                if (res) {
+                                    qDebug() << "Saved XML to" << getMcConfPath;
+                                } else {
+                                    qWarning() << "Could not save XML";
+                                    exitCode = -3;
+                                }
                             }
+                        } else {
+                            qWarning() << "Could not load config";
+                            exitCode = -2;
                         }
                     } else {
                         qWarning() << "Could not load config";
-                        qApp->exit(-2);
+                        exitCode = -1;
                     }
-                } else {
-                    qWarning() << "Could not load config";
-                    qApp->exit(-1);
                 }
             } else {
                 qWarning() << "Could not connect";
-                qApp->exit(-1);
+                exitCode = -1;
             }
-        });
 
-        QObject::connect(vesc, &VescInterface::statusMessage, [&](QString msg, bool isGood) {
-            if (isGood) {
-                qDebug() << msg;
-            } else  {
-                qWarning() << msg;
-            }
+            qApp->exit(exitCode);
         });
     } else if (useTcp) {
         qputenv("QT_QPA_PLATFORM", "offscreen");

From 28ac234bb9e0b2aa06d5ed892a9f4515a5325083 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 17 Oct 2023 20:55:09 +0200
Subject: [PATCH 523/559] Added uploadFirmware CLI command

---
 main.cpp | 66 +++++++++++++++++++++++++++++++++++++++++++++++++++++---
 1 file changed, 63 insertions(+), 3 deletions(-)

diff --git a/main.cpp b/main.cpp
index 1686ac9c3..1907b14f3 100755
--- a/main.cpp
+++ b/main.cpp
@@ -95,6 +95,7 @@ static void showHelp()
     qDebug() << "--debugOutFile [path] : Print debug output to file with path.";
     qDebug() << "--uploadLisp [path] : Upload lisp-script.";
     qDebug() << "--eraseLisp : Erase lisp-script.";
+    qDebug() << "--uploadFirmware [path] : Upload firmware-file from path.";
 }
 
 #ifdef Q_OS_LINUX
@@ -283,6 +284,7 @@ int main(int argc, char *argv[])
     QSize qmlWindowSize = QSize(-1, -1);
     QString lispPath = "";
     bool eraseLisp = false;
+    QString firmwarePath = "";
 
     // Arguments can be hard-coded in a build like this:
 //    qmlWindowSize = QSize(400, 800);
@@ -496,6 +498,18 @@ int main(int argc, char *argv[])
             found = true;
         }
 
+        if (str == "--uploadFirmware") {
+            if ((i + 1) < args.size()) {
+                i++;
+                firmwarePath = args.at(i);
+                found = true;
+            } else {
+                i++;
+                qCritical() << "No path specified";
+                return 1;
+            }
+        }
+
         if (str == "--debugOutFile") {
             if ((i + 1) < args.size()) {
                 i++;
@@ -715,19 +729,22 @@ int main(int argc, char *argv[])
 
     bool isMcConf = !getMcConfPath.isEmpty() || !setMcConfPath.isEmpty();
 
-    if (isMcConf || !lispPath.isEmpty() || eraseLisp) {
+    if (isMcConf || !lispPath.isEmpty() || eraseLisp || !firmwarePath.isEmpty()) {
         qputenv("QT_QPA_PLATFORM", "offscreen");
         app = new QCoreApplication(argc, argv);
         vesc = new VescInterface;
         vesc->fwConfig()->loadParamsXml("://res/config/fw.xml");
         Utility::configLoadLatest(vesc);
 
-        QObject::connect(vesc, &VescInterface::statusMessage, []
+        QObject::connect(vesc, &VescInterface::statusMessage, [firmwarePath]
                          (const QString &msg, bool isGood) {
             if (isGood) {
                 qDebug() << msg;
             } else {
-                qWarning() << msg;
+                // Firmware upload tends to end with a serial port error when jumping to the bootloader, do not print it
+                if (firmwarePath.isEmpty() || !msg.startsWith("Serial port error")) {
+                    qWarning() << msg;
+                }
             }
         });
 
@@ -741,6 +758,24 @@ int main(int argc, char *argv[])
             }
         });
 
+        QObject::connect(vesc, &VescInterface::fwUploadStatus, []
+                         (const QString &status, double progress, bool isOngoing) {
+            (void)status;
+            (void)isOngoing;
+
+            static double progress_last = 0.0;
+            progress *= 100.0;
+
+            if (progress < progress_last) {
+                progress_last = 0.0;
+            }
+
+            if (progress > 0.5 && (progress - progress_last) >= 1.0) {
+                fprintf(stderr, "%s", QString("\rUpload progress: %1%").arg(floor(progress)).toLatin1().data());
+                progress_last = progress;
+            }
+        });
+
         QTimer::singleShot(10, [&]() {
             int exitCode = 0;
             bool ok = false;
@@ -748,10 +783,17 @@ int main(int argc, char *argv[])
                 ok = vesc->autoconnect();
             } else {
                 ok = vesc->connectSerial(vescPort);
+                if (ok) {
+                    ok = Utility::waitSignal(vesc, SIGNAL(fwRxChanged(`bool, bool)), 1000);
+                    if (!ok) {
+                        qWarning() << "Could not read firmware version";
+                    }
+                }
             }
 
             if (ok) {
                 qDebug() << "Connected";
+                Utility::sleepWithEventLoop(100);
 
                 if (canFwd >= 0) {
                     vesc->commands()->setSendCan(true, canFwd);
@@ -846,6 +888,24 @@ int main(int argc, char *argv[])
                         exitCode = -1;
                     }
                 }
+
+                if (!firmwarePath.isEmpty()) {
+                    QFile f(firmwarePath);
+                    if (f.open(QIODevice::ReadOnly)) {
+                        auto fwData = f.readAll();
+                        qDebug() << "Erasing firmware buffer...";
+                        if (vesc->fwUpload(fwData, false, false, false)) {
+                            fprintf(stderr, "\r\n");
+                            qDebug() << "Firmware upload OK!";
+                        } else {
+                            qWarning() << "Firmware upload failed.";
+                            exitCode = -20;
+                        }
+                    } else {
+                        qWarning() << "Could not open firmware file for reading.";
+                        exitCode = -21;
+                    }
+                }
             } else {
                 qWarning() << "Could not connect";
                 exitCode = -1;

From 094462c353f32da198219f8d8390a3721f1d4681 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 17 Oct 2023 22:51:50 +0200
Subject: [PATCH 524/559] Added uploadBootloaderBuiltin CLI command

---
 main.cpp          | 61 ++++++++++++++++++++++++++++++++++++++++++++++-
 vescinterface.cpp |  2 +-
 2 files changed, 61 insertions(+), 2 deletions(-)

diff --git a/main.cpp b/main.cpp
index 1907b14f3..f8ff38c0a 100755
--- a/main.cpp
+++ b/main.cpp
@@ -96,6 +96,7 @@ static void showHelp()
     qDebug() << "--uploadLisp [path] : Upload lisp-script.";
     qDebug() << "--eraseLisp : Erase lisp-script.";
     qDebug() << "--uploadFirmware [path] : Upload firmware-file from path.";
+    qDebug() << "--uploadBootloaderBuiltin : Upload bootloader from generic included bootloaders.";
 }
 
 #ifdef Q_OS_LINUX
@@ -285,6 +286,7 @@ int main(int argc, char *argv[])
     QString lispPath = "";
     bool eraseLisp = false;
     QString firmwarePath = "";
+    bool uploadBootloaderBuiltin = false;
 
     // Arguments can be hard-coded in a build like this:
 //    qmlWindowSize = QSize(400, 800);
@@ -510,6 +512,11 @@ int main(int argc, char *argv[])
             }
         }
 
+        if (str == "--uploadBootloaderBuiltin") {
+            uploadBootloaderBuiltin = true;
+            found = true;
+        }
+
         if (str == "--debugOutFile") {
             if ((i + 1) < args.size()) {
                 i++;
@@ -729,7 +736,7 @@ int main(int argc, char *argv[])
 
     bool isMcConf = !getMcConfPath.isEmpty() || !setMcConfPath.isEmpty();
 
-    if (isMcConf || !lispPath.isEmpty() || eraseLisp || !firmwarePath.isEmpty()) {
+    if (isMcConf || !lispPath.isEmpty() || eraseLisp || !firmwarePath.isEmpty() || uploadBootloaderBuiltin) {
         qputenv("QT_QPA_PLATFORM", "offscreen");
         app = new QCoreApplication(argc, argv);
         vesc = new VescInterface;
@@ -889,6 +896,58 @@ int main(int argc, char *argv[])
                     }
                 }
 
+                if (uploadBootloaderBuiltin) {
+                    FW_RX_PARAMS params = vesc->getLastFwRxParams();
+                    QString path = "";
+
+                    switch (params.hwType) {
+                    case HW_TYPE_VESC:
+                        path = "://res/bootloaders/generic.bin";
+                        break;
+
+                    case HW_TYPE_VESC_BMS:
+                        path = "://res/bootloaders_bms/generic.bin";
+                        break;
+
+                    case HW_TYPE_CUSTOM_MODULE:
+                        QByteArray endEsp;
+                        endEsp.append('\0');
+                        endEsp.append('\0');
+                        endEsp.append('\0');
+                        endEsp.append('\0');
+
+                        if (!params.uuid.endsWith(endEsp)) {
+                            if (params.hw == "hm1") {
+                                path = "://res/bootloaders_bms/generic.bin";
+                            } else {
+                                path = "://res/bootloaders_custom_module/stm32g431.bin";
+                            }
+                        }
+                        break;
+                    }
+
+                    if (!path.isEmpty()) {
+                        QFile f(path);
+                        if (f.open(QIODevice::ReadOnly)) {
+                            auto fwData = f.readAll();
+                            qDebug() << "Erasing old bootloader...";
+                            if (vesc->fwUpload(fwData, true, false, false)) {
+                                fprintf(stderr, "\r\n");
+                                qDebug() << "Bootloader upload OK!";
+                            } else {
+                                qWarning() << "Bootloader upload failed.";
+                                exitCode = -20;
+                            }
+                        } else {
+                            qWarning() << "Could not open bootloader file for reading.";
+                            exitCode = -21;
+                        }
+                    } else {
+                        qWarning() << "No included bootloader found.";
+                        exitCode = -30;
+                    }
+                }
+
                 if (!firmwarePath.isEmpty()) {
                     QFile f(firmwarePath);
                     if (f.open(QIODevice::ReadOnly)) {
diff --git a/vescinterface.cpp b/vescinterface.cpp
index 9fcccf829..3a5269a70 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -1266,7 +1266,7 @@ bool VescInterface::fwEraseNewApp(bool fwdCan, quint32 fwSize)
     };
 
     mCommands->eraseNewApp(fwdCan, fwSize, mLastFwParams.hwType, mLastFwParams.hw);
-    emit fwUploadStatus("Erasing buffer...", 0.0, true);
+    emit fwUploadStatus("Erasing buffer", 0.0, true);
     int erRes = waitEraseRes();
     if (erRes != 1) {
         QString msg = QString("Unknown failure: %1").arg(erRes);

From 2cadbced514d3914290377865e9be5fc33317fa5 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 18 Oct 2023 10:21:27 +0200
Subject: [PATCH 525/559] Added app and custom config CLI commands

---
 main.cpp | 195 +++++++++++++++++++++++++++++++++++++++++++++++--------
 1 file changed, 169 insertions(+), 26 deletions(-)

diff --git a/main.cpp b/main.cpp
index f8ff38c0a..39a78bd9c 100755
--- a/main.cpp
+++ b/main.cpp
@@ -92,6 +92,10 @@ static void showHelp()
     qDebug() << "--canFwd [canId] : Can ID for CAN forwarding";
     qDebug() << "--getMcConf [confPath] : Connect and read motor configuration and store the XML to confPath.";
     qDebug() << "--setMcConf [confPath] : Connect and write motor configuration XML from confPath.";
+    qDebug() << "--getAppConf [confPath] : Connect and read app configuration and store the XML to confPath.";
+    qDebug() << "--setAppConf [confPath] : Connect and write app configuration XML from confPath.";
+    qDebug() << "--getCustomConf [confPath] : Connect and read custom configuration 1 and store the XML to confPath.";
+    qDebug() << "--setCustomConf [confPath] : Connect and write custom configuration 1 XML from confPath.";
     qDebug() << "--debugOutFile [path] : Print debug output to file with path.";
     qDebug() << "--uploadLisp [path] : Upload lisp-script.";
     qDebug() << "--eraseLisp : Erase lisp-script.";
@@ -282,6 +286,10 @@ int main(int argc, char *argv[])
     int canFwd = -1;
     QString getMcConfPath = "";
     QString setMcConfPath = "";
+    QString getAppConfPath = "";
+    QString setAppConfPath = "";
+    QString getCustomConfPath = "";
+    QString setCustomConfPath = "";
     QSize qmlWindowSize = QSize(-1, -1);
     QString lispPath = "";
     bool eraseLisp = false;
@@ -483,6 +491,54 @@ int main(int argc, char *argv[])
             }
         }
 
+        if (str == "--getAppConf") {
+            if ((i + 1) < args.size()) {
+                i++;
+                getAppConfPath = args.at(i);
+                found = true;
+            } else {
+                i++;
+                qCritical() << "No path specified";
+                return 1;
+            }
+        }
+
+        if (str == "--setAppConf") {
+            if ((i + 1) < args.size()) {
+                i++;
+                setAppConfPath = args.at(i);
+                found = true;
+            } else {
+                i++;
+                qCritical() << "No path specified";
+                return 1;
+            }
+        }
+
+        if (str == "--getCustomConf") {
+            if ((i + 1) < args.size()) {
+                i++;
+                getCustomConfPath = args.at(i);
+                found = true;
+            } else {
+                i++;
+                qCritical() << "No path specified";
+                return 1;
+            }
+        }
+
+        if (str == "--setCustomConf") {
+            if ((i + 1) < args.size()) {
+                i++;
+                setCustomConfPath = args.at(i);
+                found = true;
+            } else {
+                i++;
+                qCritical() << "No path specified";
+                return 1;
+            }
+        }
+
         if (str == "--uploadLisp") {
             if ((i + 1) < args.size()) {
                 i++;
@@ -735,8 +791,11 @@ int main(int argc, char *argv[])
     });
 
     bool isMcConf = !getMcConfPath.isEmpty() || !setMcConfPath.isEmpty();
+    bool isAppConf = !getAppConfPath.isEmpty() || !setAppConfPath.isEmpty();
+    bool isCustomConf = !getCustomConfPath.isEmpty() || !setCustomConfPath.isEmpty();
 
-    if (isMcConf || !lispPath.isEmpty() || eraseLisp || !firmwarePath.isEmpty() || uploadBootloaderBuiltin) {
+    if (isMcConf || isAppConf || isCustomConf || !lispPath.isEmpty() ||
+            eraseLisp || !firmwarePath.isEmpty() || uploadBootloaderBuiltin) {
         qputenv("QT_QPA_PLATFORM", "offscreen");
         app = new QCoreApplication(argc, argv);
         vesc = new VescInterface;
@@ -791,7 +850,7 @@ int main(int argc, char *argv[])
             } else {
                 ok = vesc->connectSerial(vescPort);
                 if (ok) {
-                    ok = Utility::waitSignal(vesc, SIGNAL(fwRxChanged(`bool, bool)), 1000);
+                    ok = Utility::waitSignal(vesc, SIGNAL(fwRxChanged(bool, bool)), 1000);
                     if (!ok) {
                         qWarning() << "Could not read firmware version";
                     }
@@ -851,44 +910,128 @@ int main(int argc, char *argv[])
                     }
                 }
 
-                if (isMcConf) {
-                    auto res = Utility::waitSignal(vesc, SIGNAL(customConfigLoadDone()), 4000);
+                if (isMcConf || isAppConf || isCustomConf) {
+                    bool res = vesc->customConfigRxDone();
+                    if (!res) {
+                        res = Utility::waitSignal(vesc, SIGNAL(customConfigLoadDone()), 4000);
+                    }
+
                     if (res) {
-                        ConfigParams *p = vesc->mcConfig();
-                        vesc->commands()->getMcconf();
-                        res = Utility::waitSignal(p, SIGNAL(updated()), 4000);
-                        if (res) {
-                            if (!setMcConfPath.isEmpty()) {
-                                res = p->loadXml(setMcConfPath, "MCConfiguration");
+                        if (isMcConf) {
+                            ConfigParams *p = vesc->mcConfig();
+                            vesc->commands()->getMcconf();
+                            res = Utility::waitSignal(p, SIGNAL(updated()), 4000);
 
-                                if (res) {
-                                    vesc->commands()->setMcconf(false);
-                                    res = Utility::waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 4000);
+                            if (res) {
+                                if (!setMcConfPath.isEmpty()) {
+                                    res = p->loadXml(setMcConfPath, "MCConfiguration");
+
+                                    if (res) {
+                                        vesc->commands()->setMcconf(false);
+                                        res = Utility::waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 4000);
+
+                                        if (res) {
+                                            qDebug() << "Wrote XML from" << setMcConfPath;
+                                        } else {
+                                            qWarning() << "Could not write config";
+                                            exitCode = -4;
+                                        }
+                                    } else {
+                                        qWarning() << "Could not load XML from" << setMcConfPath;
+                                        exitCode = -3;
+                                    }
+                                } else {
+                                    res = p->saveXml(getMcConfPath, "MCConfiguration");
 
                                     if (res) {
-                                        qDebug() << "Wrote XML from" << setMcConfPath;
+                                        qDebug() << "Saved XML to" << getMcConfPath;
                                     } else {
-                                        qWarning() << "Could not write config";
-                                        exitCode = -4;
+                                        qWarning() << "Could not save XML";
+                                        exitCode = -3;
                                     }
+                                }
+                            } else {
+                                qWarning() << "Could not load config";
+                                exitCode = -2;
+                            }
+                        }
 
+                        if (isAppConf) {
+                            ConfigParams *p = vesc->appConfig();
+                            vesc->commands()->getAppConf();
+                            res = Utility::waitSignal(p, SIGNAL(updated()), 4000);
+
+                            if (res) {
+                                if (!setAppConfPath.isEmpty()) {
+                                    res = p->loadXml(setAppConfPath, "APPConfiguration");
+
+                                    if (res) {
+                                        vesc->commands()->setAppConf();
+                                        res = Utility::waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 4000);
+
+                                        if (res) {
+                                            qDebug() << "Wrote XML from" << setAppConfPath;
+                                        } else {
+                                            qWarning() << "Could not write config";
+                                            exitCode = -4;
+                                        }
+                                    } else {
+                                        qWarning() << "Could not load XML from" << setAppConfPath;
+                                        exitCode = -3;
+                                    }
                                 } else {
-                                    qWarning() << "Could not load XML from" << setMcConfPath;
-                                    exitCode = -3;
+                                    res = p->saveXml(getAppConfPath, "APPConfiguration");
+
+                                    if (res) {
+                                        qDebug() << "Saved XML to" << getAppConfPath;
+                                    } else {
+                                        qWarning() << "Could not save XML";
+                                        exitCode = -3;
+                                    }
                                 }
                             } else {
-                                res = p->saveXml(getMcConfPath, "MCConfiguration");
+                                qWarning() << "Could not load config";
+                                exitCode = -2;
+                            }
+                        }
+
+                        if (isCustomConf) {
+                            ConfigParams *p = vesc->customConfig(0);
+                            vesc->commands()->customConfigGet(0, false);
+                            res = Utility::waitSignal(p, SIGNAL(updated()), 4000);
+
+                            if (res) {
+                                if (!setCustomConfPath.isEmpty()) {
+                                    res = p->loadXml(setCustomConfPath, "CustomConfiguration");
 
-                                if (res) {
-                                    qDebug() << "Saved XML to" << getMcConfPath;
+                                    if (res) {
+                                        vesc->commands()->customConfigSet(0, p);
+                                        res = Utility::waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 4000);
+
+                                        if (res) {
+                                            qDebug() << "Wrote XML from" << setCustomConfPath;
+                                        } else {
+                                            qWarning() << "Could not write config";
+                                            exitCode = -4;
+                                        }
+                                    } else {
+                                        qWarning() << "Could not load XML from" << setCustomConfPath;
+                                        exitCode = -3;
+                                    }
                                 } else {
-                                    qWarning() << "Could not save XML";
-                                    exitCode = -3;
+                                    res = p->saveXml(getCustomConfPath, "CustomConfiguration");
+
+                                    if (res) {
+                                        qDebug() << "Saved XML to" << getCustomConfPath;
+                                    } else {
+                                        qWarning() << "Could not save XML";
+                                        exitCode = -3;
+                                    }
                                 }
+                            } else {
+                                qWarning() << "Could not load config";
+                                exitCode = -2;
                             }
-                        } else {
-                            qWarning() << "Could not load config";
-                            exitCode = -2;
                         }
                     } else {
                         qWarning() << "Could not load config";

From 861812fa9b739faf8d358a8c6544450932e58627 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 18 Oct 2023 12:55:03 +0200
Subject: [PATCH 526/559] Updated native cube example

---
 .../Examples/ssd1306_oled_cube_native.lisp    | 28 +++++++++----------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/res/Lisp/Examples/ssd1306_oled_cube_native.lisp b/res/Lisp/Examples/ssd1306_oled_cube_native.lisp
index 646aad375..6dd546f0b 100644
--- a/res/Lisp/Examples/ssd1306_oled_cube_native.lisp
+++ b/res/Lisp/Examples/ssd1306_oled_cube_native.lisp
@@ -37,20 +37,20 @@
 0x00 0x00 0x00 0x00 0x08 0xb5 0x07 0x4b 0x07 0x49 0x08 0x48 0x7b 0x44 0x79 0x44 0x1b 0x68 0x03 0x4b
 0x78 0x44 0x1b 0x68 0x98 0x47 0x01 0x20 0x08 0xbd 0x00 0xbf 0x00 0xf8 0x00 0x10 0xf0 0xff 0xff 0xff
 0x2f 0x00 0x00 0x00 0x18 0x00 0x00 0x00 0x65 0x78 0x74 0x2d 0x64 0x72 0x61 0x77 0x6c 0x69 0x6e 0x65
-0x00 0x00 0x00 0x00 0x2d 0xe9 0xf7 0x4f 0x40 0x4c 0x05 0x29 0x07 0x46 0xd4 0xf8 0x94 0x50 0x76 0xd1
-0x63 0x6f 0x00 0x68 0x98 0x47 0x00 0x28 0x71 0xd0 0xe3 0x6f 0x78 0x68 0x98 0x47 0x00 0x28 0x6c 0xd0
-0xe3 0x6f 0xb8 0x68 0x98 0x47 0x00 0x28 0x67 0xd0 0xe3 0x6f 0xf8 0x68 0x98 0x47 0x00 0x28 0x62 0xd0
-0xe3 0x6f 0x38 0x69 0x98 0x47 0x00 0x28 0x5d 0xd0 0xa3 0x6a 0x38 0x68 0x98 0x47 0x63 0x6e 0xd0 0xf8
-0x08 0x90 0x78 0x68 0x98 0x47 0x63 0x6e 0x06 0x46 0xb8 0x68 0x98 0x47 0x63 0x6e 0x05 0x46 0xf8 0x68
-0x98 0x47 0x63 0x6e 0x80 0x46 0x38 0x69 0x98 0x47 0xa8 0xeb 0x06 0x01 0x47 0x1b 0x00 0x29 0xb8 0xbf
-0x49 0x42 0x46 0x45 0xb4 0xbf 0x4f 0xf0 0x01 0x0e 0x4f 0xf0 0xff 0x3e 0x00 0x2f 0xb8 0xbf 0x7f 0x42
-0x7b 0x42 0x00 0x93 0x85 0x42 0xb4 0xbf 0x01 0x23 0x4f 0xf0 0xff 0x33 0x01 0x93 0xca 0x1b 0x4f 0xf0
-0x01 0x0a 0x7f 0x2e 0x16 0xd8 0x3f 0x2d 0x14 0xd8 0x05 0xf0 0x07 0x0c 0x73 0x1c 0x0c 0xeb 0xc3 0x03
-0x4f 0xea 0xe5 0x0c 0x03 0xeb 0x8c 0x23 0x4f 0xea 0xd3 0x0c 0x03 0xf0 0x07 0x03 0x19 0xf8 0x0c 0xb0
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-0x00 0x9b 0xb3 0xeb 0x42 0x0f 0x03 0xdc 0xb0 0x45 0x0a 0xd0 0xd2 0x1b 0x76 0x44 0xb1 0xeb 0x42 0x0f
-0xd7 0xdb 0xa8 0x42 0x03 0xd0 0x01 0x9b 0x0a 0x44 0x1d 0x44 0xd1 0xe7 0xd4 0xf8 0x8c 0x50 0x28 0x46
-0x03 0xb0 0xbd 0xe8 0xf0 0x8f 0x00 0xbf 0x00 0xf8 0x00 0x10
+0x00 0x00 0x00 0x00 0x2d 0xe9 0xf7 0x4f 0x3f 0x4c 0x05 0x29 0x07 0x46 0xd4 0xf8 0x94 0x50 0x75 0xd1
+0x63 0x6f 0x00 0x68 0x98 0x47 0x00 0x28 0x70 0xd0 0xe3 0x6f 0x78 0x68 0x98 0x47 0x00 0x28 0x6b 0xd0
+0xe3 0x6f 0xb8 0x68 0x98 0x47 0x00 0x28 0x66 0xd0 0xe3 0x6f 0xf8 0x68 0x98 0x47 0x00 0x28 0x61 0xd0
+0xe3 0x6f 0x38 0x69 0x98 0x47 0x00 0x28 0x5c 0xd0 0xe3 0x6e 0x38 0x68 0x98 0x47 0x63 0x6e 0x81 0x46
+0x78 0x68 0x98 0x47 0x63 0x6e 0x06 0x46 0xb8 0x68 0x98 0x47 0x63 0x6e 0x05 0x46 0xf8 0x68 0x98 0x47
+0x63 0x6e 0x80 0x46 0x38 0x69 0x98 0x47 0xa8 0xeb 0x06 0x01 0x47 0x1b 0x00 0x29 0xb8 0xbf 0x49 0x42
+0x46 0x45 0xb4 0xbf 0x4f 0xf0 0x01 0x0e 0x4f 0xf0 0xff 0x3e 0x00 0x2f 0xb8 0xbf 0x7f 0x42 0x7b 0x42
+0x00 0x93 0x85 0x42 0xb4 0xbf 0x01 0x23 0x4f 0xf0 0xff 0x33 0x01 0x93 0xca 0x1b 0x4f 0xf0 0x01 0x0a
+0x7f 0x2e 0x16 0xd8 0x3f 0x2d 0x14 0xd8 0x05 0xf0 0x07 0x0c 0x73 0x1c 0x0c 0xeb 0xc3 0x03 0x4f 0xea
+0xe5 0x0c 0x03 0xeb 0x8c 0x23 0x4f 0xea 0xd3 0x0c 0x03 0xf0 0x07 0x03 0x19 0xf8 0x0c 0xb0 0x0a 0xfa
+0x03 0xf3 0x43 0xea 0x0b 0x03 0x09 0xf8 0x0c 0x30 0xb0 0x45 0x01 0xd1 0xa8 0x42 0x10 0xd0 0x00 0x9b
+0xb3 0xeb 0x42 0x0f 0x03 0xdc 0xb0 0x45 0x0a 0xd0 0xd2 0x1b 0x76 0x44 0xb1 0xeb 0x42 0x0f 0xd7 0xdb
+0xa8 0x42 0x03 0xd0 0x01 0x9b 0x0a 0x44 0x1d 0x44 0xd1 0xe7 0xd4 0xf8 0x8c 0x50 0x28 0x46 0x03 0xb0
+0xbd 0xe8 0xf0 0x8f 0x00 0xf8 0x00 0x10 
 ])
 
 (load-native-lib ssdacc)

From 59f712e9af2dc49197473717ec40e3890c8beadc Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 19 Oct 2023 10:22:46 +0200
Subject: [PATCH 527/559] Added vesc tool log example

---
 res/Lisp/Examples/log_vesc_tool.lisp | 47 ++++++++++++++++++++++++++++
 res_lisp.qrc                         |  1 +
 2 files changed, 48 insertions(+)
 create mode 100644 res/Lisp/Examples/log_vesc_tool.lisp

diff --git a/res/Lisp/Examples/log_vesc_tool.lisp b/res/Lisp/Examples/log_vesc_tool.lisp
new file mode 100644
index 000000000..e0a526f8d
--- /dev/null
+++ b/res/Lisp/Examples/log_vesc_tool.lisp
@@ -0,0 +1,47 @@
+(def logger-id -1) ; -1 means VESC Tool
+
+(def val-a 0.0)
+(def val-b 0.0)
+(def v 0.0)
+(def pi (* 2.0 (acos 0)))
+
+(loopwhile-thd 100 t {
+        (setq val-a (sin v))
+        (setq val-b (cos v))
+        (setq v (+ v 0.1))
+        (if (> v (* 2.0 pi))
+            (setq v (- v (* 2.0 pi)))
+        )
+        (sleep 0.05)
+})
+
+(log-config-field
+    logger-id 0
+    "val_a"
+    "Value A"
+    ""
+    2 false false
+)
+
+(log-config-field
+    logger-id 1
+    "val_b"
+    "Value B"
+    ""
+    2 false false
+)
+
+(log-config-field
+    logger-id 2
+    "v"
+    "Angle"
+    "rad"
+    2 false false
+)
+
+(log-start logger-id 3 20 true false)
+
+(loopwhile t {
+        (log-send-f32 logger-id 0 val-a val-b v)
+        (sleep 0.05)
+})
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 3da8ab22d..4ab4949e7 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -43,5 +43,6 @@
         <file>res/Lisp/Examples/event_custom_data.lisp</file>
         <file>res/Lisp/Examples/crc16_v2.lisp</file>
         <file>res/Lisp/Examples/speed_test_tak_q2.lisp</file>
+        <file>res/Lisp/Examples/log_vesc_tool.lisp</file>
     </qresource>
 </RCC>

From 360a18c9f7082513e36de0774c83790aa209aa38 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 20 Oct 2023 11:44:56 +0200
Subject: [PATCH 528/559] Added support for loading sampled data CSV files

---
 pages/pageloganalysis.cpp |   6 +--
 pages/pagesampleddata.cpp | 109 +++++++++++++++++++++++++++++++++++++-
 pages/pagesampleddata.h   |   1 +
 pages/pagesampleddata.ui  |  64 ++++------------------
 res/CHANGELOG.md          |   1 +
 5 files changed, 124 insertions(+), 57 deletions(-)

diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index 48da4a3a7..c6f9cfd5d 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -606,13 +606,13 @@ void PageLogAnalysis::loadVescLog(QVector<LOG_DATA> log)
 void PageLogAnalysis::on_openCsvButton_clicked()
 {
     if (mVesc) {
+        QString dirPath = QSettings().value("pageloganalysis/lastdir", "").toString();
         QString fileName = QFileDialog::getOpenFileName(this,
-                                                        tr("Load CSV File"), "",
+                                                        tr("Load CSV File"), dirPath,
                                                         tr("CSV files (*.csv)"));
 
         if (!fileName.isEmpty()) {
-            QSettings set;
-            set.setValue("pageloganalysis/lastdir",
+            QSettings().setValue("pageloganalysis/lastdir",
                          QFileInfo(fileName).absolutePath());
 
             QFile inFile(fileName);
diff --git a/pages/pagesampleddata.cpp b/pages/pagesampleddata.cpp
index 128d1ed8b..7f8538a3d 100644
--- a/pages/pagesampleddata.cpp
+++ b/pages/pagesampleddata.cpp
@@ -32,6 +32,7 @@ PageSampledData::PageSampledData(QWidget *parent) :
 
     ui->rescaleButton->setIcon(Utility::getIcon("icons/expand_off.png"));
     ui->saveDataButton->setIcon(Utility::getIcon("icons/Save as-96.png"));
+    ui->loadDataButton->setIcon(Utility::getIcon("icons/Open Folder-96.png"));
     ui->sampleNowButton->setIcon(Utility::getIcon("icons/3ph_sine.png"));
     ui->sampleStartButton->setIcon(Utility::getIcon("icons/motor.png"));
     ui->sampleStopButton->setIcon(Utility::getIcon("icons/Cancel-96.png"));
@@ -689,8 +690,9 @@ void PageSampledData::on_plotModeBox_currentIndexChanged(int index)
 
 void PageSampledData::on_saveDataButton_clicked()
 {
+    QString dirPath = QSettings().value("pagesampleddata/lastdir", "").toString();
     QString fileName = QFileDialog::getSaveFileName(this,
-                                                    tr("Save CSV"), "",
+                                                    tr("Save CSV"), dirPath,
                                                     tr("CSV Files (*.csv)"));
 
     if (!fileName.isEmpty()) {
@@ -705,6 +707,9 @@ void PageSampledData::on_saveDataButton_clicked()
             return;
         }
 
+        QSettings().setValue("pagesampleddata/lastdir",
+                             QFileInfo(fileName).absolutePath());
+
         QTextStream stream(&file);
         stream.setCodec("UTF-8");
 
@@ -739,3 +744,105 @@ void PageSampledData::on_saveDataButton_clicked()
         file.close();
     }
 }
+
+void PageSampledData::on_loadDataButton_clicked()
+{
+    QString dirPath = QSettings().value("pagesampleddata/lastdir", "").toString();
+    QString fileName = QFileDialog::getOpenFileName(this,
+                                                    tr("Load CSV File"), dirPath,
+                                                    tr("CSV files (*.csv)"));
+
+    if (!fileName.isEmpty()) {
+        QSettings().setValue("pagesampleddata/lastdir",
+                             QFileInfo(fileName).absolutePath());
+
+        QFile inFile(fileName);
+        if (inFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
+            QByteArray data = inFile.readAll();
+            inFile.close();
+            QTextStream in(&data);
+            auto tokensLine1 = in.readLine().split(";");
+            if (tokensLine1.size() < 1) {
+                mVesc->emitStatusMessage("Invalid log file", false);
+                return;
+            }
+
+            clearBuffers();
+
+            int indT = -1;
+            int indI1 = -1;
+            int indI2 = -1;
+            int indI3 = -1;
+            int indV1 = -1;
+            int indV2 = -1;
+            int indV3 = -1;
+            int indI_tot = -1;
+            int indV_zero = -1;
+            int indPhase = -1;
+
+            for (int i = 0;i < tokensLine1.size();i++) {
+                QString token = tokensLine1.at(i).toLower().replace(" ", "");
+                if (token == "t") {
+                    indT = i;
+                } else if (token == "i1") {
+                    indI1 = i;
+                } else if (token == "i2") {
+                    indI2 = i;
+                } else if (token == "i3") {
+                    indI3 = i;
+                } else if (token == "v1") {
+                    indV1 = i;
+                } else if (token == "v2") {
+                    indV2 = i;
+                } else if (token == "v3") {
+                    indV3 = i;
+                } else if (token == "i_tot") {
+                    indI_tot = i;
+                } else if (token == "v_zero") {
+                    indV_zero = i;
+                } else if (token == "phase") {
+                    indPhase = i;
+                }
+            }
+
+            double tLast = -1.0;
+            double tLastSet = false;
+
+            while (!in.atEnd()) {
+                QStringList tokens = in.readLine().split(";");
+
+                if (indT >= 0 && tokens.size() > indT) {
+                    double tNow = tokens.at(indT).toDouble();
+                    if (tLastSet) {
+                        fSwVector.append(1.0 / (tNow - tLast));
+                    }
+
+                    tLast = tNow;
+                    tLastSet = true;
+                } else {
+                    fSwVector.append(15000.0);
+                }
+
+                curr1Vector.append((indI1 >= 0 && tokens.size() > indI1) ? tokens.at(indI1).toDouble() : 0.0);
+                curr2Vector.append((indI2 >= 0 && tokens.size() > indI2) ? tokens.at(indI2).toDouble() : 0.0);
+                curr3Vector.append((indI3 >= 0 && tokens.size() > indI3) ? tokens.at(indI3).toDouble() : 0.0);
+                ph1Vector.append((indV1 >= 0 && tokens.size() > indV1) ? tokens.at(indV1).toDouble() : 0.0);
+                ph2Vector.append((indV2 >= 0 && tokens.size() > indV2) ? tokens.at(indV2).toDouble() : 0.0);
+                ph3Vector.append((indV3 >= 0 && tokens.size() > indV3) ? tokens.at(indV3).toDouble() : 0.0);
+                currTotVector.append((indI_tot >= 0 && tokens.size() > indI_tot) ? tokens.at(indI_tot).toDouble() : 0.0);
+                vZeroVector.append((indV_zero >= 0 && tokens.size() > indV_zero) ? tokens.at(indV_zero).toDouble() : 0.0);
+                phaseArray.append((indPhase >= 0 && tokens.size() > indPhase) ? quint8(tokens.at(indPhase).toDouble() / 360.0 * 250.0) : 0);
+                statusArray.append(char(0));
+            }
+
+            if (fSwVector.size() < curr1Vector.size() && fSwVector.size() > 0) {
+                auto last = fSwVector.last();
+                fSwVector.append(last);
+            }
+
+            mDoReplot = true;
+            mDoFilterReplot = true;
+            mDoRescale = true;
+        }
+    }
+}
diff --git a/pages/pagesampleddata.h b/pages/pagesampleddata.h
index 7d080c79f..92d0fc306 100644
--- a/pages/pagesampleddata.h
+++ b/pages/pagesampleddata.h
@@ -59,6 +59,7 @@ private slots:
     void on_filterLogScaleBox_toggled(bool checked);
     void on_plotModeBox_currentIndexChanged(int index);
     void on_saveDataButton_clicked();
+    void on_loadDataButton_clicked();
 
 private:
     Ui::PageSampledData *ui;
diff --git a/pages/pagesampleddata.ui b/pages/pagesampleddata.ui
index 510f359b8..b8cbf4c3e 100644
--- a/pages/pagesampleddata.ui
+++ b/pages/pagesampleddata.ui
@@ -487,10 +487,6 @@
        <property name="text">
         <string/>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/3ph_sine.png</normaloff>:/res/icons/3ph_sine.png</iconset>
-       </property>
       </widget>
      </item>
      <item>
@@ -501,10 +497,6 @@
        <property name="text">
         <string/>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/motor.png</normaloff>:/res/icons/motor.png</iconset>
-       </property>
        <property name="iconSize">
         <size>
          <width>16</width>
@@ -521,10 +513,6 @@
        <property name="text">
         <string/>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/sampl_trigger_start.png</normaloff>:/res/icons/sampl_trigger_start.png</iconset>
-       </property>
        <property name="iconSize">
         <size>
          <width>30</width>
@@ -544,10 +532,6 @@
        <property name="text">
         <string/>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/sample_trigger_fault.png</normaloff>:/res/icons/sample_trigger_fault.png</iconset>
-       </property>
        <property name="iconSize">
         <size>
          <width>30</width>
@@ -564,10 +548,6 @@
        <property name="text">
         <string/>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/sample_trigger_start_nosend.png</normaloff>:/res/icons/sample_trigger_start_nosend.png</iconset>
-       </property>
        <property name="iconSize">
         <size>
          <width>40</width>
@@ -584,10 +564,6 @@
        <property name="text">
         <string/>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/sample_trigger_fault_nosend.png</normaloff>:/res/icons/sample_trigger_fault_nosend.png</iconset>
-       </property>
        <property name="iconSize">
         <size>
          <width>40</width>
@@ -604,10 +580,6 @@
        <property name="text">
         <string/>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/Upload-96.png</normaloff>:/res/icons/Upload-96.png</iconset>
-       </property>
       </widget>
      </item>
      <item>
@@ -618,10 +590,6 @@
        <property name="text">
         <string/>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/Cancel-96.png</normaloff>:/res/icons/Cancel-96.png</iconset>
-       </property>
       </widget>
      </item>
      <item>
@@ -647,6 +615,16 @@
        </property>
       </spacer>
      </item>
+     <item>
+      <widget class="QPushButton" name="loadDataButton">
+       <property name="toolTip">
+        <string>Load samples from CSV-file</string>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+      </widget>
+     </item>
      <item>
       <widget class="QPushButton" name="saveDataButton">
        <property name="sizePolicy">
@@ -661,10 +639,6 @@
        <property name="text">
         <string/>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/Save as-96.png</normaloff>:/res/icons/Save as-96.png</iconset>
-       </property>
       </widget>
      </item>
     </layout>
@@ -735,11 +709,6 @@
        <property name="text">
         <string/>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/expand_off.png</normaloff>
-         <normalon>:/res/icons/expand_on.png</normalon>:/res/icons/expand_off.png</iconset>
-       </property>
        <property name="iconSize">
         <size>
          <width>20</width>
@@ -773,11 +742,6 @@
        <property name="text">
         <string/>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/expand_v_off.png</normaloff>
-         <normalon>:/res/icons/expand_v_on.png</normalon>:/res/icons/expand_v_off.png</iconset>
-       </property>
        <property name="iconSize">
         <size>
          <width>20</width>
@@ -800,10 +764,6 @@
        <property name="text">
         <string/>
        </property>
-       <property name="icon">
-        <iconset resource="../res.qrc">
-         <normaloff>:/res/icons/size_off.png</normaloff>:/res/icons/size_off.png</iconset>
-       </property>
        <property name="iconSize">
         <size>
          <width>20</width>
@@ -824,8 +784,6 @@
    <container>1</container>
   </customwidget>
  </customwidgets>
- <resources>
-  <include location="../res.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>
diff --git a/res/CHANGELOG.md b/res/CHANGELOG.md
index e7b6c2b1f..51eff95a3 100644
--- a/res/CHANGELOG.md
+++ b/res/CHANGELOG.md
@@ -15,6 +15,7 @@
 * Added filter-box to example and recent lists in script editors.
 * Limit output size in vesc and lbm terminal to prevent problems when printing too much.
 * Use all 3 measured currents in sampled data instead of calculating one.
+* Added support for loading sampled data CSV files.
 
 ---
 

From d9212ec993ed3a1cdb9e2bb846eb93ef478b8b06 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 20 Oct 2023 11:59:47 +0200
Subject: [PATCH 529/559] Clear the correct buffers before loading samples

---
 pages/pagesampleddata.cpp | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/pages/pagesampleddata.cpp b/pages/pagesampleddata.cpp
index 7f8538a3d..cec21e160 100644
--- a/pages/pagesampleddata.cpp
+++ b/pages/pagesampleddata.cpp
@@ -767,7 +767,17 @@ void PageSampledData::on_loadDataButton_clicked()
                 return;
             }
 
-            clearBuffers();
+            fSwVector.clear();
+            curr1Vector.clear();
+            curr2Vector.clear();
+            curr3Vector.clear();
+            ph1Vector.clear();
+            ph2Vector.clear();
+            ph3Vector.clear();
+            currTotVector.clear();
+            vZeroVector.clear();
+            phaseArray.clear();
+            statusArray.clear();
 
             int indT = -1;
             int indI1 = -1;

From e1eb24139b4f6c6d73645be9eb2d49653bfcc8c5 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 22 Oct 2023 16:44:00 +0200
Subject: [PATCH 530/559] RT Log Bug Fixes

---
 pages/pageloganalysis.cpp | 12 ++++++++----
 pages/pageloganalysis.h   |  1 +
 2 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index c6f9cfd5d..3668e5fc1 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -121,6 +121,7 @@ PageLogAnalysis::PageLogAnalysis(QWidget *parent) :
     mGnssTimer->start(100);
     mGnssMsTodayLast = 0;
 
+    mLogRtFieldUpdatePending = false;
     mLogRtAppendTime = false;
     mLogRtTimer = new QTimer(this);
 
@@ -259,6 +260,10 @@ void PageLogAnalysis::setVesc(VescInterface *vesc)
 
     if (mVesc) {
         auto updatePlots = [this]() {
+            if (mLogRtFieldUpdatePending) {
+                return;
+            }
+
             storeSelection();
 
             resetInds();
@@ -314,6 +319,7 @@ void PageLogAnalysis::setVesc(VescInterface *vesc)
                 mLogRtHeader[0] = h;
             }
 
+            mLogRtFieldUpdatePending = false;
             mLogRtSamplesNow.resize(fieldNum);
             mLogRtTimer->start(1000.0 / rateHz);
             mLogRt.clear();
@@ -325,9 +331,7 @@ void PageLogAnalysis::setVesc(VescInterface *vesc)
         });
 
         connect(mVesc->commands(), &Commands::logConfigField, [this](int fieldInd, LOG_HEADER h) {
-            if (mLogRtAppendTime) {
-                fieldInd++;
-            }
+            mLogRtFieldUpdatePending = true;
 
             if (mLogRtHeader.size() <= fieldInd) {
                 mLogRtHeader.resize(fieldInd + 1);
@@ -739,7 +743,7 @@ void PageLogAnalysis::updateGraphs()
     LocPoint p, p2;
 
     double time = 0;
-    for (const auto &d: mLogTruncated) {
+    foreach (const auto &d, mLogTruncated) {
         if (mInd_t_day >= 0) {
             if (startTime < 0) {
                 startTime = d[mInd_t_day];
diff --git a/pages/pageloganalysis.h b/pages/pageloganalysis.h
index 6a1c56ca0..61d13a32b 100644
--- a/pages/pageloganalysis.h
+++ b/pages/pageloganalysis.h
@@ -89,6 +89,7 @@ private slots:
     QVector<double> mLogRtSamplesNow;
     QTimer *mLogRtTimer;
     bool mLogRtAppendTime;
+    bool mLogRtFieldUpdatePending;
 
     // Lightweight pre-calculated offsets in the log. These
     // need to be looked up a lot and finding them in the

From 397ccbf6264d71d6dc1606f3ac63977d28e3b995 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 25 Oct 2023 13:32:41 +0200
Subject: [PATCH 531/559] Added cli-commands and keywords

---
 QCodeEditor/resources/languages/lisp.xml |   3 +
 main.cpp                                 | 142 ++++++++++++++++++++++-
 res/Lisp/Examples/fw_update.lisp         |  25 ++++
 res_lisp.qrc                             |   1 +
 vescinterface.cpp                        |   2 +-
 5 files changed, 171 insertions(+), 2 deletions(-)
 create mode 100644 res/Lisp/Examples/fw_update.lisp

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index b64a30af7..4e6262378 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -450,5 +450,8 @@
 <name>f-ls</name>
 <name>f-size</name>
 <name>f-fatinfo</name>
+<name>fw-erase</name>
+<name>fw-write</name>
+<name>fw-reboot</name>
 </section>
 </root>
diff --git a/main.cpp b/main.cpp
index 39a78bd9c..d8eabab3f 100755
--- a/main.cpp
+++ b/main.cpp
@@ -29,6 +29,7 @@
 #include "codeloader.h"
 #include "configparam.h"
 #include "utility.h"
+#include "heatshrink/heatshrinkif.h"
 
 #include <QApplication>
 #include <QStyleFactory>
@@ -101,6 +102,8 @@ static void showHelp()
     qDebug() << "--eraseLisp : Erase lisp-script.";
     qDebug() << "--uploadFirmware [path] : Upload firmware-file from path.";
     qDebug() << "--uploadBootloaderBuiltin : Upload bootloader from generic included bootloaders.";
+    qDebug() << "--createFirmwareForBootloader [fileIn:fileOut] : Generate firmware-file compatible with the bootloader. ";
+    qDebug() << "--writeFileToSdCard [fileLocal:pathSdcard] : Write file to SD-card.";
 }
 
 #ifdef Q_OS_LINUX
@@ -295,6 +298,10 @@ int main(int argc, char *argv[])
     bool eraseLisp = false;
     QString firmwarePath = "";
     bool uploadBootloaderBuiltin = false;
+    QString fwForBootloaderIn = "";
+    QString fwForBootloaderOut = "";
+    QString fileForSdIn = "";
+    QString fileForSdOut = "";
 
     // Arguments can be hard-coded in a build like this:
 //    qmlWindowSize = QSize(400, 800);
@@ -590,6 +597,46 @@ int main(int argc, char *argv[])
             }
         }
 
+        if (str == "--createFirmwareForBootloader") {
+            if ((i + 1) < args.size()) {
+                i++;
+                auto p = args.at(i).split(":");
+                if (p.size() == 2) {
+                    fwForBootloaderIn = p.at(0);
+                    fwForBootloaderOut = p.at(1);
+                } else {
+                    qCritical() << "Invalid paths specified";
+                    return 1;
+                }
+
+                found = true;
+            } else {
+                i++;
+                qCritical() << "No paths specified";
+                return 1;
+            }
+        }
+
+        if (str == "--writeFileToSdCard") {
+            if ((i + 1) < args.size()) {
+                i++;
+                auto p = args.at(i).split(":");
+                if (p.size() == 2) {
+                    fileForSdIn = p.at(0);
+                    fileForSdOut = p.at(1);
+                } else {
+                    qCritical() << "Invalid paths specified";
+                    return 1;
+                }
+
+                found = true;
+            } else {
+                i++;
+                qCritical() << "No paths specified";
+                return 1;
+            }
+        }
+
         if (!found) {
             if (dash) {
                 qCritical() << "At least one of the flags is invalid:" << str;
@@ -628,6 +675,68 @@ int main(int argc, char *argv[])
         return 0;
     }
 
+    if (!fwForBootloaderIn.isEmpty()) {
+        QFile fIn(fwForBootloaderIn);
+        if (!fIn.open(QIODevice::ReadOnly)) {
+            qWarning() << QString("Could not open %1 for reading.").arg(fwForBootloaderIn);
+            return 1;
+        }
+
+        QFile fOut(fwForBootloaderOut);
+        if (!fOut.open(QIODevice::WriteOnly)) {
+            qWarning() << QString("Could not open %1 for writing.").arg(fwForBootloaderOut);
+            return 1;
+        }
+
+        QByteArray newFirmware = fIn.readAll();
+        fIn.close();
+
+        int szTot = newFirmware.size();
+
+        bool useHeatshrink = false;
+        if (szTot > 393208 && szTot < 700000) { // If fw is much larger it is probably for the esp32
+            useHeatshrink = true;
+            qDebug() << "Firmware is big, using heatshrink compression library";
+            int szOld = szTot;
+            HeatshrinkIf hs;
+            newFirmware = hs.encode(newFirmware);
+            szTot = newFirmware.size();
+            qDebug() << "New size:" << szTot << "(" << 100.0 * (double)szTot / (double)szOld << "%)";
+
+            if (szTot > 393208) {
+                qWarning() << "Firmware too big" <<
+                            "The firmware you are trying to upload is too large for the bootloader even after compression.";
+                return -1;
+            }
+        }
+
+        if (szTot > 5000000) {
+            qWarning() << "Firmware too big" <<
+                        "The firmware you are trying to upload is unreasonably "
+                        "large, most likely it is an invalid file";
+            return -2;
+        }
+
+        quint16 crc = Packet::crc16((const unsigned char*)newFirmware.constData(),
+                                    uint32_t(newFirmware.size()));
+        VByteArray sizeCrc;
+        if (useHeatshrink) {
+            uint32_t szShift = 0xCC;
+            szShift <<= 24;
+            szShift |= szTot;
+            sizeCrc.vbAppendUint32(szShift);
+        } else {
+            sizeCrc.vbAppendUint32(szTot);
+        }
+        sizeCrc.vbAppendUint16(crc);
+        newFirmware.prepend(sizeCrc);
+        fOut.write(newFirmware);
+        fOut.close();
+
+        qDebug() << "Done!";
+        return 0;
+    }
+
     if (!pkgArgs.isEmpty()) {
         if (pkgArgs.size() < 4) {
             qWarning() << "Invalid arguments";
@@ -795,7 +904,8 @@ int main(int argc, char *argv[])
     bool isCustomConf = !getCustomConfPath.isEmpty() || !setCustomConfPath.isEmpty();
 
     if (isMcConf || isAppConf || isCustomConf || !lispPath.isEmpty() ||
-            eraseLisp || !firmwarePath.isEmpty() || uploadBootloaderBuiltin) {
+            eraseLisp || !firmwarePath.isEmpty() || uploadBootloaderBuiltin ||
+            !fileForSdIn.isEmpty()) {
         qputenv("QT_QPA_PLATFORM", "offscreen");
         app = new QCoreApplication(argc, argv);
         vesc = new VescInterface;
@@ -842,6 +952,15 @@ int main(int argc, char *argv[])
             }
         });
 
+        QObject::connect(vesc->commands(), &Commands::fileProgress, []
+                         (int32_t prog, int32_t tot, double percentage, double bytesPerSec) {
+            (void)prog;
+            (void)tot;
+
+            fprintf(stderr, "%s", QString("\rUpload progress: %1% (%2 kbps)").
+                    arg(floor(percentage)).arg(bytesPerSec / 1024).toLatin1().data());
+        });
+
         QTimer::singleShot(10, [&]() {
             int exitCode = 0;
             bool ok = false;
@@ -910,6 +1029,27 @@ int main(int argc, char *argv[])
                     }
                 }
 
+                if (!fileForSdIn.isEmpty()) {
+                    QFile f(fileForSdIn);
+                    QFileInfo fi(f);
+                    if (f.open(QIODevice::ReadOnly)) {
+                        QFileInfo fi(f);
+                        vesc->commands()->fileBlockMkdir(fileForSdOut);
+                        QString target = fileForSdOut + "/" + fi.fileName();
+                        if (vesc->commands()->fileBlockWrite(target.replace("//", "/"), f.readAll())) {
+                            qDebug() << "Done!";
+                        } else {
+                            qWarning() << "Could not write file";
+                            exitCode = -51;
+                        }
+
+                        f.close();
+                    } else {
+                        qWarning() << "Could not open file for reading.";
+                        exitCode = -50;
+                    }
+                }
+
                 if (isMcConf || isAppConf || isCustomConf) {
                     bool res = vesc->customConfigRxDone();
                     if (!res) {
diff --git a/res/Lisp/Examples/fw_update.lisp b/res/Lisp/Examples/fw_update.lisp
new file mode 100644
index 000000000..69c916ef5
--- /dev/null
+++ b/res/Lisp/Examples/fw_update.lisp
@@ -0,0 +1,25 @@
+(def f (f-open "fws/str500.boot" "r"))
+(def can-id 93)
+
+;(def f (f-open "fws/express.boot" "r"))
+;(def can-id -1)
+
+(def fwsize (f-size f))
+
+(print "erase")
+(print (list "Erase res" (fw-erase (f-size f) can-id)))
+
+(def offset 0)
+(loopwhile t {
+        (var data (f-read f 256))
+        (if (eq data nil) {
+                (print "Upload done")
+                (break)
+        })
+        
+        (fw-write offset data can-id)
+        (setq offset (+ offset (buflen data)))
+        (print (list "Progress" (floor (* 100 (/ (to-float offset) fwsize)))))
+})
+
+(fw-reboot can-id)
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 4ab4949e7..728e770fe 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -44,5 +44,6 @@
         <file>res/Lisp/Examples/crc16_v2.lisp</file>
         <file>res/Lisp/Examples/speed_test_tak_q2.lisp</file>
         <file>res/Lisp/Examples/log_vesc_tool.lisp</file>
+        <file>res/Lisp/Examples/fw_update.lisp</file>
     </qresource>
 </RCC>
diff --git a/vescinterface.cpp b/vescinterface.cpp
index 3a5269a70..128a69fcb 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -1545,7 +1545,7 @@ bool VescInterface::fwUpload(QByteArray &newFirmware, bool isBootloader, bool fw
         QByteArray in = newFirmware.mid(0, sz);
 
         bool hasData = false;
-        for (auto b: in) {
+        foreach (auto b, in) {
             if (b != (char)0xff) {
                 hasData = true;
                 break;

From 3519c258e90cf12152353cabb9fb7da851c7ed40 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Mon, 30 Oct 2023 07:22:24 +0000
Subject: [PATCH 532/559] @karu2003 has signed the CLA from Pull Request #332

---
 signatures/version1/cla.json | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/signatures/version1/cla.json b/signatures/version1/cla.json
index e3ab45924..eb362aacf 100644
--- a/signatures/version1/cla.json
+++ b/signatures/version1/cla.json
@@ -143,6 +143,14 @@
       "created_at": "2023-08-28T13:22:14Z",
       "repoId": 102395117,
       "pullRequestNo": 327
+    },
+    {
+      "name": "karu2003",
+      "id": 4937137,
+      "comment_id": 1784613306,
+      "created_at": "2023-10-30T07:22:12Z",
+      "repoId": 102395117,
+      "pullRequestNo": 332
     }
   ]
 }
\ No newline at end of file

From bcfcc49bfce018c37d5d232fc367b638402d4d6f Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 31 Oct 2023 09:35:37 +0100
Subject: [PATCH 533/559] Updated no-firmware-response message

---
 vescinterface.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/vescinterface.cpp b/vescinterface.cpp
index 128a69fcb..d7ca091b1 100755
--- a/vescinterface.cpp
+++ b/vescinterface.cpp
@@ -3181,7 +3181,10 @@ void VescInterface::timerSlot()
                         emit statusMessage(tr("No firmware read response"), false);
                         emit messageDialog(tr("Read Firmware Version"),
                                            tr("Could not read firmware version. Make sure that "
-                                              "the selected port really belongs to the VESC. "),
+                                              "the selected port really belongs to the VESC. If "
+                                              "you are using UART, make sure that the port is enabled, "
+                                              "connected correctly (rx to tx and tx to rx) and uses "
+                                              "the correct baudrate"),
                                            false, false);
                         disconnectPort();
                     }

From fb99a4b45bd99366df60030e7de941d81bc95045 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Tue, 31 Oct 2023 16:36:29 +0000
Subject: [PATCH 534/559] @dcodeIO has signed the CLA from Pull Request #333

---
 signatures/version1/cla.json | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/signatures/version1/cla.json b/signatures/version1/cla.json
index eb362aacf..339d5bf50 100644
--- a/signatures/version1/cla.json
+++ b/signatures/version1/cla.json
@@ -151,6 +151,14 @@
       "created_at": "2023-10-30T07:22:12Z",
       "repoId": 102395117,
       "pullRequestNo": 332
+    },
+    {
+      "name": "dcodeIO",
+      "id": 1136893,
+      "comment_id": 1787580277,
+      "created_at": "2023-10-31T16:36:12Z",
+      "repoId": 102395117,
+      "pullRequestNo": 333
     }
   ]
 }
\ No newline at end of file

From 14bd1a733077ecdb41579be6d1960ed63031a742 Mon Sep 17 00:00:00 2001
From: dcode <dcode@dcode.io>
Date: Tue, 31 Oct 2023 19:39:19 +0100
Subject: [PATCH 535/559] Fix typos in shutdown mode help text (#333)

---
 res/config/3.59/parameters_appconf.xml | 6 +++---
 res/config/3.60/parameters_appconf.xml | 6 +++---
 res/config/3.61/parameters_appconf.xml | 6 +++---
 res/config/3.62/parameters_appconf.xml | 6 +++---
 res/config/3.63/parameters_appconf.xml | 6 +++---
 res/config/3.64/parameters_appconf.xml | 6 +++---
 res/config/3.65/parameters_appconf.xml | 6 +++---
 res/config/3.66/parameters_appconf.xml | 6 +++---
 res/config/4.00/parameters_appconf.xml | 6 +++---
 res/config/4.01/parameters_appconf.xml | 6 +++---
 res/config/4.02/parameters_appconf.xml | 6 +++---
 res/config/5.00/parameters_appconf.xml | 6 +++---
 res/config/5.01/parameters_appconf.xml | 6 +++---
 res/config/5.02/parameters_appconf.xml | 6 +++---
 res/config/5.03/parameters_appconf.xml | 6 +++---
 res/config/6.00/parameters_appconf.xml | 6 +++---
 res/config/6.02/parameters_appconf.xml | 6 +++---
 res/config/6.05/parameters_appconf.xml | 6 +++---
 18 files changed, 54 insertions(+), 54 deletions(-)

diff --git a/res/config/3.59/parameters_appconf.xml b/res/config/3.59/parameters_appconf.xml
index 294e36bfd..600128395 100755
--- a/res/config/3.59/parameters_appconf.xml
+++ b/res/config/3.59/parameters_appconf.xml
@@ -159,13 +159,13 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC power is only determined by the inverted state of the shutdown input.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ALWAYS_ON&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on ofter being powered.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on after being powered.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TOGGLE_BUTTON_ONLY&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutfown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutdown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;OFF_AFTER_x&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware suports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware supports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_SHUTDOWN_MODE</cDefine>
             <valInt>7</valInt>
             <enumNames>ALWAYS_OFF</enumNames>
diff --git a/res/config/3.60/parameters_appconf.xml b/res/config/3.60/parameters_appconf.xml
index 2d353d640..b65558192 100644
--- a/res/config/3.60/parameters_appconf.xml
+++ b/res/config/3.60/parameters_appconf.xml
@@ -159,13 +159,13 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC power is only determined by the inverted state of the shutdown input.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ALWAYS_ON&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on ofter being powered.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on after being powered.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TOGGLE_BUTTON_ONLY&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutfown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutdown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;OFF_AFTER_x&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware suports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware supports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_SHUTDOWN_MODE</cDefine>
             <valInt>7</valInt>
             <enumNames>ALWAYS_OFF</enumNames>
diff --git a/res/config/3.61/parameters_appconf.xml b/res/config/3.61/parameters_appconf.xml
index b5a9c8a97..a06a43bd7 100644
--- a/res/config/3.61/parameters_appconf.xml
+++ b/res/config/3.61/parameters_appconf.xml
@@ -159,13 +159,13 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC power is only determined by the inverted state of the shutdown input.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ALWAYS_ON&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on ofter being powered.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on after being powered.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TOGGLE_BUTTON_ONLY&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutfown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutdown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;OFF_AFTER_x&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware suports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware supports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_SHUTDOWN_MODE</cDefine>
             <valInt>7</valInt>
             <enumNames>ALWAYS_OFF</enumNames>
diff --git a/res/config/3.62/parameters_appconf.xml b/res/config/3.62/parameters_appconf.xml
index 3b06aff84..0d5a4ed61 100644
--- a/res/config/3.62/parameters_appconf.xml
+++ b/res/config/3.62/parameters_appconf.xml
@@ -159,13 +159,13 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC power is only determined by the inverted state of the shutdown input.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ALWAYS_ON&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on ofter being powered.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on after being powered.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TOGGLE_BUTTON_ONLY&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutfown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutdown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;OFF_AFTER_x&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware suports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware supports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_SHUTDOWN_MODE</cDefine>
             <valInt>7</valInt>
             <enumNames>ALWAYS_OFF</enumNames>
diff --git a/res/config/3.63/parameters_appconf.xml b/res/config/3.63/parameters_appconf.xml
index 3b06aff84..0d5a4ed61 100644
--- a/res/config/3.63/parameters_appconf.xml
+++ b/res/config/3.63/parameters_appconf.xml
@@ -159,13 +159,13 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC power is only determined by the inverted state of the shutdown input.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ALWAYS_ON&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on ofter being powered.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on after being powered.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TOGGLE_BUTTON_ONLY&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutfown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutdown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;OFF_AFTER_x&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware suports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware supports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_SHUTDOWN_MODE</cDefine>
             <valInt>7</valInt>
             <enumNames>ALWAYS_OFF</enumNames>
diff --git a/res/config/3.64/parameters_appconf.xml b/res/config/3.64/parameters_appconf.xml
index 3b06aff84..0d5a4ed61 100644
--- a/res/config/3.64/parameters_appconf.xml
+++ b/res/config/3.64/parameters_appconf.xml
@@ -159,13 +159,13 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC power is only determined by the inverted state of the shutdown input.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ALWAYS_ON&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on ofter being powered.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on after being powered.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TOGGLE_BUTTON_ONLY&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutfown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutdown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;OFF_AFTER_x&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware suports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware supports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_SHUTDOWN_MODE</cDefine>
             <valInt>7</valInt>
             <enumNames>ALWAYS_OFF</enumNames>
diff --git a/res/config/3.65/parameters_appconf.xml b/res/config/3.65/parameters_appconf.xml
index 3b06aff84..0d5a4ed61 100644
--- a/res/config/3.65/parameters_appconf.xml
+++ b/res/config/3.65/parameters_appconf.xml
@@ -159,13 +159,13 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC power is only determined by the inverted state of the shutdown input.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ALWAYS_ON&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on ofter being powered.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on after being powered.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TOGGLE_BUTTON_ONLY&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutfown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutdown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;OFF_AFTER_x&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware suports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware supports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_SHUTDOWN_MODE</cDefine>
             <valInt>7</valInt>
             <enumNames>ALWAYS_OFF</enumNames>
diff --git a/res/config/3.66/parameters_appconf.xml b/res/config/3.66/parameters_appconf.xml
index 3b06aff84..0d5a4ed61 100644
--- a/res/config/3.66/parameters_appconf.xml
+++ b/res/config/3.66/parameters_appconf.xml
@@ -159,13 +159,13 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC power is only determined by the inverted state of the shutdown input.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ALWAYS_ON&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on ofter being powered.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on after being powered.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TOGGLE_BUTTON_ONLY&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutfown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutdown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;OFF_AFTER_x&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware suports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware supports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_SHUTDOWN_MODE</cDefine>
             <valInt>7</valInt>
             <enumNames>ALWAYS_OFF</enumNames>
diff --git a/res/config/4.00/parameters_appconf.xml b/res/config/4.00/parameters_appconf.xml
index f75020d41..3faec0559 100644
--- a/res/config/4.00/parameters_appconf.xml
+++ b/res/config/4.00/parameters_appconf.xml
@@ -159,13 +159,13 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC power is only determined by the inverted state of the shutdown input.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ALWAYS_ON&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on ofter being powered.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on after being powered.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TOGGLE_BUTTON_ONLY&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutfown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutdown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;OFF_AFTER_x&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware suports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware supports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_SHUTDOWN_MODE</cDefine>
             <valInt>7</valInt>
             <enumNames>ALWAYS_OFF</enumNames>
diff --git a/res/config/4.01/parameters_appconf.xml b/res/config/4.01/parameters_appconf.xml
index e577a7710..25f89bd9b 100644
--- a/res/config/4.01/parameters_appconf.xml
+++ b/res/config/4.01/parameters_appconf.xml
@@ -163,13 +163,13 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC power is only determined by the inverted state of the shutdown input.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ALWAYS_ON&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on ofter being powered.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on after being powered.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TOGGLE_BUTTON_ONLY&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutfown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutdown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;OFF_AFTER_x&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware suports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware supports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_SHUTDOWN_MODE</cDefine>
             <valInt>7</valInt>
             <enumNames>ALWAYS_OFF</enumNames>
diff --git a/res/config/4.02/parameters_appconf.xml b/res/config/4.02/parameters_appconf.xml
index be6d7484b..f1225fad6 100644
--- a/res/config/4.02/parameters_appconf.xml
+++ b/res/config/4.02/parameters_appconf.xml
@@ -163,13 +163,13 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC power is only determined by the inverted state of the shutdown input.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ALWAYS_ON&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on ofter being powered.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on after being powered.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TOGGLE_BUTTON_ONLY&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutfown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutdown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;OFF_AFTER_x&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware suports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware supports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_SHUTDOWN_MODE</cDefine>
             <valInt>7</valInt>
             <enumNames>ALWAYS_OFF</enumNames>
diff --git a/res/config/5.00/parameters_appconf.xml b/res/config/5.00/parameters_appconf.xml
index 5c9447da0..976a4be3a 100644
--- a/res/config/5.00/parameters_appconf.xml
+++ b/res/config/5.00/parameters_appconf.xml
@@ -163,13 +163,13 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC power is only determined by the inverted state of the shutdown input.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ALWAYS_ON&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on ofter being powered.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on after being powered.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TOGGLE_BUTTON_ONLY&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutfown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutdown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;OFF_AFTER_x&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware suports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware supports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_SHUTDOWN_MODE</cDefine>
             <valInt>7</valInt>
             <enumNames>ALWAYS_OFF</enumNames>
diff --git a/res/config/5.01/parameters_appconf.xml b/res/config/5.01/parameters_appconf.xml
index 5c9447da0..976a4be3a 100644
--- a/res/config/5.01/parameters_appconf.xml
+++ b/res/config/5.01/parameters_appconf.xml
@@ -163,13 +163,13 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC power is only determined by the inverted state of the shutdown input.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ALWAYS_ON&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on ofter being powered.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on after being powered.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TOGGLE_BUTTON_ONLY&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutfown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutdown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;OFF_AFTER_x&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware suports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware supports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_SHUTDOWN_MODE</cDefine>
             <valInt>7</valInt>
             <enumNames>ALWAYS_OFF</enumNames>
diff --git a/res/config/5.02/parameters_appconf.xml b/res/config/5.02/parameters_appconf.xml
index b272ff372..471274ff8 100644
--- a/res/config/5.02/parameters_appconf.xml
+++ b/res/config/5.02/parameters_appconf.xml
@@ -164,13 +164,13 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC power is only determined by the inverted state of the shutdown input.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ALWAYS_ON&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on ofter being powered.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on after being powered.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TOGGLE_BUTTON_ONLY&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutfown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutdown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;OFF_AFTER_x&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware suports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware supports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_SHUTDOWN_MODE</cDefine>
             <valInt>7</valInt>
             <enumNames>ALWAYS_OFF</enumNames>
diff --git a/res/config/5.03/parameters_appconf.xml b/res/config/5.03/parameters_appconf.xml
index 42c1dcbc6..be11df25a 100644
--- a/res/config/5.03/parameters_appconf.xml
+++ b/res/config/5.03/parameters_appconf.xml
@@ -164,13 +164,13 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC power is only determined by the inverted state of the shutdown input.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ALWAYS_ON&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on ofter being powered.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on after being powered.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TOGGLE_BUTTON_ONLY&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutfown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutdown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;OFF_AFTER_x&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware suports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware supports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_SHUTDOWN_MODE</cDefine>
             <valInt>7</valInt>
             <enumNames>ALWAYS_OFF</enumNames>
diff --git a/res/config/6.00/parameters_appconf.xml b/res/config/6.00/parameters_appconf.xml
index efbd428f0..b042c39e2 100644
--- a/res/config/6.00/parameters_appconf.xml
+++ b/res/config/6.00/parameters_appconf.xml
@@ -266,13 +266,13 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC power is only determined by the inverted state of the shutdown input.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ALWAYS_ON&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on ofter being powered.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on after being powered.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TOGGLE_BUTTON_ONLY&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutfown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutdown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;OFF_AFTER_x&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware suports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware supports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_SHUTDOWN_MODE</cDefine>
             <valInt>7</valInt>
             <enumNames>ALWAYS_OFF</enumNames>
diff --git a/res/config/6.02/parameters_appconf.xml b/res/config/6.02/parameters_appconf.xml
index efbd428f0..b042c39e2 100644
--- a/res/config/6.02/parameters_appconf.xml
+++ b/res/config/6.02/parameters_appconf.xml
@@ -266,13 +266,13 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC power is only determined by the inverted state of the shutdown input.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ALWAYS_ON&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on ofter being powered.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on after being powered.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TOGGLE_BUTTON_ONLY&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutfown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutdown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;OFF_AFTER_x&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware suports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware supports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_SHUTDOWN_MODE</cDefine>
             <valInt>7</valInt>
             <enumNames>ALWAYS_OFF</enumNames>
diff --git a/res/config/6.05/parameters_appconf.xml b/res/config/6.05/parameters_appconf.xml
index 3b1c25010..1bb7b4bed 100644
--- a/res/config/6.05/parameters_appconf.xml
+++ b/res/config/6.05/parameters_appconf.xml
@@ -266,13 +266,13 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC power is only determined by the inverted state of the shutdown input.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;ALWAYS_ON&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on ofter being powered.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The VESC always stays on after being powered.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;TOGGLE_BUTTON_ONLY&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutfown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A normally closed (NC) momentary button can be connected to the shutdown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;OFF_AFTER_x&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware suports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware supports push to start, such as the VESC HD.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
             <cDefine>APPCONF_SHUTDOWN_MODE</cDefine>
             <valInt>7</valInt>
             <enumNames>ALWAYS_OFF</enumNames>

From a420f27ddf6e92e3083a79b9faca556c1d8e8217 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 1 Nov 2023 14:26:13 +0100
Subject: [PATCH 536/559] Added CLI-arguments and more keywords

---
 QCodeEditor/resources/languages/lisp.xml |  6 ++
 main.cpp                                 | 82 ++++++++++++++++++++----
 res/Lisp/Examples/lbm_update.lisp        | 27 ++++++++
 res_lisp.qrc                             |  1 +
 4 files changed, 102 insertions(+), 14 deletions(-)
 create mode 100644 res/Lisp/Examples/lbm_update.lisp

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 4e6262378..3600f80de 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -453,5 +453,11 @@
 <name>fw-erase</name>
 <name>fw-write</name>
 <name>fw-reboot</name>
+<name>lbm-erase</name>
+<name>lbm-write</name>
+<name>lbm-run</name>
+<name>qml-erase</name>
+<name>qml-write</name>
+<name>shutdown-hold</name>
 </section>
 </root>
diff --git a/main.cpp b/main.cpp
index d8eabab3f..8bc416bc4 100755
--- a/main.cpp
+++ b/main.cpp
@@ -102,8 +102,9 @@ static void showHelp()
     qDebug() << "--eraseLisp : Erase lisp-script.";
     qDebug() << "--uploadFirmware [path] : Upload firmware-file from path.";
     qDebug() << "--uploadBootloaderBuiltin : Upload bootloader from generic included bootloaders.";
-    qDebug() << "--createFirmwareForBootloader [fileIn:fileOut] : Generate firmware-file compatible with the bootloader. ";
     qDebug() << "--writeFileToSdCard [fileLocal:pathSdcard] : Write file to SD-card.";
+    qDebug() << "--packFirmware [fileIn:fileOut] : Pack firmware-file for compatibility with the bootloader. ";
+    qDebug() << "--packLisp [fileIn:fileOut] : Pack lisp-file and the included imports.";
 }
 
 #ifdef Q_OS_LINUX
@@ -298,10 +299,12 @@ int main(int argc, char *argv[])
     bool eraseLisp = false;
     QString firmwarePath = "";
     bool uploadBootloaderBuiltin = false;
-    QString fwForBootloaderIn = "";
-    QString fwForBootloaderOut = "";
+    QString fwPackIn = "";
+    QString fwPackOut = "";
     QString fileForSdIn = "";
     QString fileForSdOut = "";
+    QString lispPackIn = "";
+    QString lispPackOut = "";
 
     // Arguments can be hard-coded in a build like this:
 //    qmlWindowSize = QSize(400, 800);
@@ -597,13 +600,13 @@ int main(int argc, char *argv[])
             }
         }
 
-        if (str == "--createFirmwareForBootloader") {
+        if (str == "--writeFileToSdCard") {
             if ((i + 1) < args.size()) {
                 i++;
                 auto p = args.at(i).split(":");
                 if (p.size() == 2) {
-                    fwForBootloaderIn = p.at(0);
-                    fwForBootloaderOut = p.at(1);
+                    fileForSdIn = p.at(0);
+                    fileForSdOut = p.at(1);
                 } else {
                     qCritical() << "Invalid paths specified";
                     return 1;
@@ -617,13 +620,33 @@ int main(int argc, char *argv[])
             }
         }
 
-        if (str == "--writeFileToSdCard") {
+        if (str == "--packFirmware") {
             if ((i + 1) < args.size()) {
                 i++;
                 auto p = args.at(i).split(":");
                 if (p.size() == 2) {
-                    fileForSdIn = p.at(0);
-                    fileForSdOut = p.at(1);
+                    fwPackIn = p.at(0);
+                    fwPackOut = p.at(1);
+                } else {
+                    qCritical() << "Invalid paths specified";
+                    return 1;
+                }
+
+                found = true;
+            } else {
+                i++;
+                qCritical() << "No paths specified";
+                return 1;
+            }
+        }
+
+        if (str == "--packLisp") {
+            if ((i + 1) < args.size()) {
+                i++;
+                auto p = args.at(i).split(":");
+                if (p.size() == 2) {
+                    lispPackIn = p.at(0);
+                    lispPackOut = p.at(1);
                 } else {
                     qCritical() << "Invalid paths specified";
                     return 1;
@@ -675,16 +698,16 @@ int main(int argc, char *argv[])
         return 0;
     }
 
-    if (!fwForBootloaderIn.isEmpty()) {
-        QFile fIn(fwForBootloaderIn);
+    if (!fwPackIn.isEmpty()) {
+        QFile fIn(fwPackIn);
         if (!fIn.open(QIODevice::ReadOnly)) {
-            qWarning() << QString("Could not open %1 for reading.").arg(fwForBootloaderIn);
+            qWarning() << QString("Could not open %1 for reading.").arg(fwPackIn);
             return 1;
         }
 
-        QFile fOut(fwForBootloaderOut);
+        QFile fOut(fwPackOut);
         if (!fOut.open(QIODevice::WriteOnly)) {
-            qWarning() << QString("Could not open %1 for writing.").arg(fwForBootloaderOut);
+            qWarning() << QString("Could not open %1 for writing.").arg(fwPackOut);
             return 1;
         }
 
@@ -737,6 +760,37 @@ int main(int argc, char *argv[])
         return 0;
     }
 
+    if (!lispPackIn.isEmpty()) {
+        QFile fIn(lispPackIn);
+        if (!fIn.open(QIODevice::ReadOnly)) {
+            qWarning() << QString("Could not open %1 for reading.").arg(lispPackIn);
+            return 1;
+        }
+
+        QFile fOut(lispPackOut);
+        if (!fOut.open(QIODevice::WriteOnly)) {
+            qWarning() << QString("Could not open %1 for writing.").arg(lispPackOut);
+            return 1;
+        }
+
+        CodeLoader loader;
+        QFileInfo fi(fIn);
+        VByteArray vb = loader.lispPackImports(fIn.readAll(), fi.canonicalPath());
+        fIn.close();
+
+        quint16 crc = Packet::crc16((const unsigned char*)vb.constData(), uint32_t(vb.size()));
+        VByteArray data;
+        data.vbAppendUint32(vb.size() - 2);
+        data.vbAppendUint16(crc);
+        data.append(vb);
+
+        fOut.write(data);
+        fOut.close();
+
+        qDebug() << "Done!";
+        return 0;
+    }
+
     if (!pkgArgs.isEmpty()) {
         if (pkgArgs.size() < 4) {
             qWarning() << "Invalid arguments";
diff --git a/res/Lisp/Examples/lbm_update.lisp b/res/Lisp/Examples/lbm_update.lisp
new file mode 100644
index 000000000..b78f4ede9
--- /dev/null
+++ b/res/Lisp/Examples/lbm_update.lisp
@@ -0,0 +1,27 @@
+; These files can be generated using the VESC Tool CLI
+
+;(def f (f-open "lbm/test_native.lpkg" "r"))
+;(def can-id 26)
+
+(def f (f-open "lbm/test.lpkg" "r"))
+(def can-id -1)
+
+(def fsize (f-size f))
+
+(print "erase")
+(print (list "Erase res" (lbm-erase can-id)))
+
+(def offset 0)
+(loopwhile t {
+        (var data (f-read f 256))
+        (if (eq data nil) {
+                (print "Upload done")
+                (break)
+        })
+        
+        (lbm-write offset data can-id)
+        (setq offset (+ offset (buflen data)))
+        (print (list "Progress" (floor (* 100 (/ (to-float offset) fsize)))))
+})
+
+(print (list "Run res" (lbm-run 1 can-id)))
diff --git a/res_lisp.qrc b/res_lisp.qrc
index 728e770fe..c6054a09b 100644
--- a/res_lisp.qrc
+++ b/res_lisp.qrc
@@ -45,5 +45,6 @@
         <file>res/Lisp/Examples/speed_test_tak_q2.lisp</file>
         <file>res/Lisp/Examples/log_vesc_tool.lisp</file>
         <file>res/Lisp/Examples/fw_update.lisp</file>
+        <file>res/Lisp/Examples/lbm_update.lisp</file>
     </qresource>
 </RCC>

From 46a798d44a86ab4f16e01360830077dd0d07675c Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 2 Nov 2023 15:36:09 +0100
Subject: [PATCH 537/559] Added keywords

---
 QCodeEditor/resources/languages/lisp.xml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 3600f80de..6efd90db7 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -421,6 +421,7 @@
 <name>gnss-date-time</name>
 <name>gnss-age</name>
 <name>crc16</name>
+<name>crc32</name>
 <name>main-init-done</name>
 <name>esp-now-start</name>
 <name>esp-now-add-peer</name>
@@ -459,5 +460,6 @@
 <name>qml-erase</name>
 <name>qml-write</name>
 <name>shutdown-hold</name>
+<name>reboot</name>
 </section>
 </root>

From e94d48750064808741e55ad7ab76e4e890b85d04 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 3 Nov 2023 13:00:27 +0100
Subject: [PATCH 538/559] Added keyword

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 6efd90db7..4706de703 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -347,6 +347,7 @@
 <name>conf-detect-foc</name>
 <name>conf-set-pid-offset</name>
 <name>conf-measure-res</name>
+<name>conf-measure-ind</name>
 <name>conf-restore-mc</name>
 <name>conf-restore-app</name>
 <name>conf-dc-cal</name>

From 46ce5182bbeb55f280406f9b7c40b4b57efea50f Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 6 Nov 2023 13:39:07 +0100
Subject: [PATCH 539/559] Lisp UI updates

---
 commands.cpp                        |   3 +-
 commands.h                          |   2 +-
 pages/pagelisp.cpp                  |   4 +-
 pages/pagelisp.ui                   | 163 ++++++++++++++++++----------
 pages/pagescripting.ui              |  26 ++---
 res/Lisp/Examples/gc_time_test.lisp |  26 +++--
 6 files changed, 137 insertions(+), 87 deletions(-)

diff --git a/commands.cpp b/commands.cpp
index 2280d9043..b0bada185 100755
--- a/commands.cpp
+++ b/commands.cpp
@@ -2154,10 +2154,11 @@ void Commands::lispSetRunning(bool running)
     emitData(vb);
 }
 
-void Commands::lispGetStats()
+void Commands::lispGetStats(bool all)
 {
     VByteArray vb;
     vb.vbAppendUint8(COMM_LISP_GET_STATS);
+    vb.vbAppendInt8(all);
     emitData(vb);
 }
 
diff --git a/commands.h b/commands.h
index e60ec7933..a0612e716 100644
--- a/commands.h
+++ b/commands.h
@@ -273,7 +273,7 @@ public slots:
     void lispStreamCode(QByteArray data, quint32 offset, quint32 totLen, qint8 mode);
     void lispEraseCode(int size);
     void lispSetRunning(bool running);
-    void lispGetStats();
+    void lispGetStats(bool all);
     void lispSendReplCmd(QString str);
 
     void setBleName(QString name);
diff --git a/pages/pagelisp.cpp b/pages/pagelisp.cpp
index 3e1a844a8..064843c3a 100644
--- a/pages/pagelisp.cpp
+++ b/pages/pagelisp.cpp
@@ -153,9 +153,9 @@ PageLisp::PageLisp(QWidget *parent) :
 
     mPollTimer.start(1000 / ui->pollRateBox->value());
     connect(&mPollTimer, &QTimer::timeout, [this]() {
-        if (ui->pollBox->isChecked()) {
+        if (!ui->pollOffButton->isChecked()) {
             if (mVesc) {
-                mVesc->commands()->lispGetStats();
+                mVesc->commands()->lispGetStats(ui->pollAllButton->isChecked());
             }
         }
     });
diff --git a/pages/pagelisp.ui b/pages/pagelisp.ui
index efd063bfc..949b9df58 100644
--- a/pages/pagelisp.ui
+++ b/pages/pagelisp.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1487</width>
-    <height>870</height>
+    <width>1180</width>
+    <height>701</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -87,7 +87,7 @@
              <string>Read lisp code from connected VESC</string>
             </property>
             <property name="text">
-             <string>Read Existing</string>
+             <string>Read</string>
             </property>
             <property name="icon">
              <iconset resource="../res.qrc">
@@ -98,19 +98,6 @@
             </property>
            </widget>
           </item>
-          <item>
-           <spacer name="horizontalSpacer">
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>40</width>
-              <height>20</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
           <item>
            <widget class="QPushButton" name="helpButton">
             <property name="toolTip">
@@ -128,6 +115,19 @@
             </property>
            </widget>
           </item>
+          <item>
+           <spacer name="horizontalSpacer">
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>40</width>
+              <height>20</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
          </layout>
         </item>
         <item>
@@ -149,45 +149,62 @@
       </widget>
       <widget class="QWidget" name="layoutWidget2">
        <layout class="QVBoxLayout" name="verticalLayout_2">
+        <property name="spacing">
+         <number>3</number>
+        </property>
         <item>
          <layout class="QHBoxLayout" name="horizontalLayout_8">
           <item>
-           <widget class="QPushButton" name="runButton">
-            <property name="text">
-             <string>Run</string>
+           <widget class="QRadioButton" name="pollOffButton">
+            <property name="toolTip">
+             <string>Data polling disabled</string>
             </property>
-            <property name="icon">
-             <iconset resource="../res.qrc">
-              <normaloff>:/res/icons/Circled Play-96.png</normaloff>:/res/icons/Circled Play-96.png</iconset>
+            <property name="text">
+             <string>Poll Off</string>
             </property>
-            <property name="flat">
+            <property name="checked">
              <bool>true</bool>
             </property>
            </widget>
           </item>
           <item>
-           <widget class="QPushButton" name="stopButton">
-            <property name="text">
-             <string>Stop</string>
-            </property>
-            <property name="icon">
-             <iconset resource="../res.qrc">
-              <normaloff>:/res/icons/Shutdown-96.png</normaloff>:/res/icons/Shutdown-96.png</iconset>
+           <widget class="QRadioButton" name="pollVtButton">
+            <property name="toolTip">
+             <string>Poll variables starting with vt only</string>
             </property>
-            <property name="flat">
-             <bool>true</bool>
+            <property name="text">
+             <string>Poll VT</string>
             </property>
            </widget>
           </item>
           <item>
-           <widget class="QCheckBox" name="pollBox">
+           <widget class="QRadioButton" name="pollAllButton">
+            <property name="toolTip">
+             <string>Poll all variables</string>
+            </property>
             <property name="text">
-             <string>Poll Status</string>
+             <string>Poll All</string>
             </property>
            </widget>
           </item>
+          <item>
+           <spacer name="horizontalSpacer_3">
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>40</width>
+              <height>20</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
           <item>
            <widget class="QSpinBox" name="pollRateBox">
+            <property name="toolTip">
+             <string>Poll Rate</string>
+            </property>
             <property name="suffix">
              <string> Hz</string>
             </property>
@@ -277,41 +294,43 @@
          </widget>
         </item>
         <item>
-         <layout class="QHBoxLayout" name="horizontalLayout_5">
+         <layout class="QHBoxLayout" name="horizontalLayout_11">
           <item>
-           <widget class="QLabel" name="label_6">
+           <widget class="QPushButton" name="runButton">
+            <property name="toolTip">
+             <string>Run or re-run evaluator</string>
+            </property>
             <property name="text">
-             <string>Stream Mode:</string>
+             <string>Run</string>
             </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Circled Play-96.png</normaloff>:/res/icons/Circled Play-96.png</iconset>
+            </property>
+            <property name="flat">
+             <bool>true</bool>
             </property>
            </widget>
           </item>
           <item>
-           <widget class="QComboBox" name="streamModeBox">
-            <property name="currentIndex">
-             <number>1</number>
+           <widget class="QPushButton" name="stopButton">
+            <property name="toolTip">
+             <string>Stop evaluator</string>
+            </property>
+            <property name="text">
+             <string>Stop</string>
+            </property>
+            <property name="icon">
+             <iconset resource="../res.qrc">
+              <normaloff>:/res/icons/Shutdown-96.png</normaloff>:/res/icons/Shutdown-96.png</iconset>
+            </property>
+            <property name="flat">
+             <bool>true</bool>
             </property>
-            <item>
-             <property name="text">
-              <string>Load on top</string>
-             </property>
-            </item>
-            <item>
-             <property name="text">
-              <string>Reset &amp; Load</string>
-             </property>
-            </item>
-            <item>
-             <property name="text">
-              <string>Reload Flash &amp; Load</string>
-             </property>
-            </item>
            </widget>
           </item>
           <item>
-           <spacer name="horizontalSpacer_2">
+           <spacer name="horizontalSpacer_4">
             <property name="orientation">
              <enum>Qt::Horizontal</enum>
             </property>
@@ -338,6 +357,34 @@
           </item>
          </layout>
         </item>
+        <item>
+         <widget class="QComboBox" name="streamModeBox">
+          <property name="toolTip">
+           <string>Stream Mode</string>
+          </property>
+          <property name="currentIndex">
+           <number>1</number>
+          </property>
+          <property name="frame">
+           <bool>false</bool>
+          </property>
+          <item>
+           <property name="text">
+            <string>After Stream: Load on top</string>
+           </property>
+          </item>
+          <item>
+           <property name="text">
+            <string>After Stream: Reset &amp; Load</string>
+           </property>
+          </item>
+          <item>
+           <property name="text">
+            <string>After Stream: Reload Flash &amp; Load</string>
+           </property>
+          </item>
+         </widget>
+        </item>
        </layout>
       </widget>
      </widget>
diff --git a/pages/pagescripting.ui b/pages/pagescripting.ui
index 1ef7ff102..fdf8a7b0c 100644
--- a/pages/pagescripting.ui
+++ b/pages/pagescripting.ui
@@ -95,19 +95,6 @@
             </property>
            </widget>
           </item>
-          <item>
-           <spacer name="horizontalSpacer">
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>40</width>
-              <height>20</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
           <item>
            <widget class="QPushButton" name="helpButton">
             <property name="toolTip">
@@ -125,6 +112,19 @@
             </property>
            </widget>
           </item>
+          <item>
+           <spacer name="horizontalSpacer">
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>40</width>
+              <height>20</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
          </layout>
         </item>
         <item>
diff --git a/res/Lisp/Examples/gc_time_test.lisp b/res/Lisp/Examples/gc_time_test.lisp
index e259b95cb..a4f4e274d 100644
--- a/res/Lisp/Examples/gc_time_test.lisp
+++ b/res/Lisp/Examples/gc_time_test.lisp
@@ -1,20 +1,22 @@
-;(define a1 0) (define a2 0) (define a3 0) (define a4 0) (define a5 0)
-;(define a6 0) (define a7 0) (define a8 0) (define a9 0) (define a10 0)
-;(define b1 0) (define b2 0) (define b3 0) (define b4 0) (define b5 0)
-;(define b6 0) (define b7 0) (define b8 0) (define b9 0) (define b10 0)
-;(define c1 0) (define c2 0) (define c3 0) (define c4 0) (define c5 0)
-;(define c6 0) (define c7 0) (define c8 0) (define c9 0) (define c10 0)
-
 (defun repeat (f times)
     (if (<= times 1)
         (f)
         (progn (f) (repeat f (- times 1)))
 ))
 
-(defun run-gc ()
-    (progn
-        (define start (systime))
+(defun run-gc () {
+        (def a1 0) (def a2 0) (def a3 0) (def a4 0) (def a5 0)
+        (def a6 0) (def a7 0) (def a8 0) (def a9 0) (def a10 0)
+        (def b1 0) (def b2 0) (def b3 0) (def b4 0) (def b5 0)
+        (def b6 0) (def b7 0) (def b8 0) (def b9 0) (def b10 0)
+        (def c1 0) (def c2 0) (def c3 0) (def c4 0) (def c5 0)
+        (def c6 0) (def c7 0) (def c8 0) (def c9 0) (def c10 0)
+        
+        (def start (systime))
         (repeat 'gc 25)
-        (define res (secs-since start))
+        (def res (secs-since start))
         (print (list "GC-time (ms):" (* (/ res 25) 1000)))
-))
+})
+
+(looprange i 0 100 (run-gc))
+(print "Done!")

From 72fa0b8eb3ee2d6ca8796c689419d312de12eb17 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 11 Nov 2023 00:50:48 +0100
Subject: [PATCH 540/559] Added keywords

---
 QCodeEditor/resources/languages/lisp.xml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 4706de703..aad1629f3 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -436,6 +436,9 @@
 <name>rgbled-init</name>
 <name>rgbled-deinit</name>
 <name>rgbled-color</name>
+<name>as504x-init</name>
+<name>as504x-deinit</name>
+<name>as504x-angle</name>
 <name>sleep-deep</name>
 <name>sleep-config-wakeup-pin</name>
 <name>canmsg-send</name>

From c2d2ad95a0d7d4d43a1d93684b6df273d3079775 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 11 Nov 2023 12:17:09 +0100
Subject: [PATCH 541/559] Added keyword

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index aad1629f3..76219a3dd 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -328,6 +328,7 @@
 <name>i2c-start</name>
 <name>i2c-tx-rx</name>
 <name>i2c-restore</name>
+<name>imu-start-lsm6</name>
 <name>gpio-configure</name>
 <name>gpio-write</name>
 <name>gpio-read</name>

From 4ac758f7fbec97e575db83d9ca645c981ae49ad6 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 11 Nov 2023 12:57:18 +0100
Subject: [PATCH 542/559] Added keyword

---
 QCodeEditor/resources/languages/lisp.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 76219a3dd..028c1294a 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -329,6 +329,7 @@
 <name>i2c-tx-rx</name>
 <name>i2c-restore</name>
 <name>imu-start-lsm6</name>
+<name>imu-stop</name>
 <name>gpio-configure</name>
 <name>gpio-write</name>
 <name>gpio-read</name>

From 344d20e1a5461b6935d86a537228db534afc035a Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 13 Nov 2023 15:40:37 +0100
Subject: [PATCH 543/559] Package descriptions are now stored in markdown
 instead of html and markdown rendering is now done manually

---
 maddy/.editorconfig                           |   12 +
 .../.github/ISSUE_TEMPLATE/cpp-bug-report.yml |   65 +
 .../ISSUE_TEMPLATE/feature-request.yml        |   15 +
 .../ISSUE_TEMPLATE/markdown-bug-report.yml    |   65 +
 maddy/.github/ISSUE_TEMPLATE/other.yml        |   10 +
 .../workflows/create-release-package.yml      |   34 +
 maddy/.github/workflows/run-tests.yml         |   65 +
 maddy/.gitignore                              |  493 ++
 maddy/AUTHORS                                 |   13 +
 maddy/CHANGELOG.md                            |   89 +
 maddy/CONTRIBUTING.md                         |   26 +
 maddy/LICENSE                                 |   18 +
 maddy/README.md                               |  110 +
 maddy/blockparser.h                           |  203 +
 maddy/breaklineparser.h                       |   51 +
 maddy/checklistparser.h                       |  140 +
 maddy/codeblockparser.h                       |  149 +
 maddy/docs/definitions.md                     |  404 ++
 maddy/emphasizedparser.h                      |   68 +
 maddy/headlineparser.h                        |  143 +
 maddy/horizontallineparser.h                  |  106 +
 maddy/htmlparser.h                            |  127 +
 maddy/imageparser.h                           |   92 +
 maddy/inlinecodeparser.h                      |   51 +
 maddy/italicparser.h                          |   66 +
 maddy/latexblockparser.h                      |  135 +
 maddy/lineparser.h                            |   46 +
 maddy/linkparser.h                            |   53 +
 maddy/maddy.pri                               |   26 +
 maddy/orderedlistparser.h                     |  142 +
 maddy/paragraphparser.h                       |  130 +
 maddy/parser.h                                |  496 ++
 maddy/parserconfig.h                          |   96 +
 maddy/quoteparser.h                           |  165 +
 maddy/strikethroughparser.h                   |   66 +
 maddy/strongparser.h                          |   87 +
 maddy/tableparser.h                           |  246 +
 maddy/unorderedlistparser.h                   |  133 +
 main.cpp                                      |   10 +-
 mobile/Packages.qml                           |    2 +-
 pages/pagevescpackage.cpp                     |   11 +-
 pages/pagevescpackage.ui                      |   34 +-
 qmarkdowntextedit/.clang-format               |  157 +
 qmarkdowntextedit/.github/FUNDING.yml         |   12 +
 qmarkdowntextedit/.gitignore                  |    9 +
 qmarkdowntextedit/.travis.yml                 |   60 +
 qmarkdowntextedit/CMakeLists.txt              |  106 +
 qmarkdowntextedit/LICENSE                     |    8 +
 qmarkdowntextedit/README.md                   |   75 +
 qmarkdowntextedit/appveyor.yml                |   12 +
 qmarkdowntextedit/examples/qml/example.cpp    |   24 +
 qmarkdowntextedit/examples/qml/example.qml    |   22 +
 qmarkdowntextedit/examples/qml/ressources.qrc |    5 +
 qmarkdowntextedit/linenumberarea.h            |  124 +
 qmarkdowntextedit/main.cpp                    |   35 +
 qmarkdowntextedit/mainwindow.cpp              |   38 +
 qmarkdowntextedit/mainwindow.h                |   42 +
 qmarkdowntextedit/mainwindow.ui               |   84 +
 qmarkdowntextedit/markdownhighlighter.cpp     | 2583 ++++++++
 qmarkdowntextedit/markdownhighlighter.h       |  353 +
 qmarkdowntextedit/media.qrc                   |    9 +
 qmarkdowntextedit/media/edit-find-replace.svg |    1 +
 .../media/format-text-superscript.svg         |    1 +
 qmarkdowntextedit/media/go-bottom.svg         |    1 +
 qmarkdowntextedit/media/go-top.svg            |    1 +
 qmarkdowntextedit/media/window-close.svg      |    1 +
 qmarkdowntextedit/old_screenshot.png          |  Bin 0 -> 36234 bytes
 qmarkdowntextedit/qmarkdowntextedit-app.pro   |   17 +
 .../qmarkdowntextedit-headers.pri             |    8 +
 qmarkdowntextedit/qmarkdowntextedit-lib.pro   |   34 +
 .../qmarkdowntextedit-sources.pri             |   15 +
 qmarkdowntextedit/qmarkdowntextedit.cpp       | 1881 ++++++
 qmarkdowntextedit/qmarkdowntextedit.h         |  146 +
 qmarkdowntextedit/qmarkdowntextedit.pc.in     |   12 +
 qmarkdowntextedit/qmarkdowntextedit.pri       |    4 +
 qmarkdowntextedit/qmarkdowntextedit.pro       |    5 +
 qmarkdowntextedit/qownlanguagedata.cpp        | 5740 +++++++++++++++++
 qmarkdowntextedit/qownlanguagedata.h          |  245 +
 .../qplaintexteditsearchwidget.cpp            |  500 ++
 .../qplaintexteditsearchwidget.h              |   90 +
 .../qplaintexteditsearchwidget.ui             |  266 +
 qmarkdowntextedit/screenshot.png              |  Bin 0 -> 24225 bytes
 .../scripts/clang-format-project.sh           |   28 +
 .../trans/qmarkdowntextedit_de.qm             |  Bin 0 -> 951 bytes
 .../trans/qmarkdowntextedit_de.ts             |   57 +
 .../trans/qmarkdowntextedit_es.qm             |  Bin 0 -> 1871 bytes
 .../trans/qmarkdowntextedit_es.ts             |   92 +
 .../trans/qmarkdowntextedit_ur.qm             |  Bin 0 -> 913 bytes
 .../trans/qmarkdowntextedit_ur.ts             |   57 +
 .../trans/qmarkdowntextedit_zh_CN.qm          |  Bin 0 -> 1370 bytes
 .../trans/qmarkdowntextedit_zh_CN.ts          |   92 +
 utility.cpp                                   |   45 +
 utility.h                                     |    4 +
 vesc_tool.pro                                 |    2 +
 94 files changed, 17561 insertions(+), 35 deletions(-)
 create mode 100644 maddy/.editorconfig
 create mode 100644 maddy/.github/ISSUE_TEMPLATE/cpp-bug-report.yml
 create mode 100644 maddy/.github/ISSUE_TEMPLATE/feature-request.yml
 create mode 100644 maddy/.github/ISSUE_TEMPLATE/markdown-bug-report.yml
 create mode 100644 maddy/.github/ISSUE_TEMPLATE/other.yml
 create mode 100644 maddy/.github/workflows/create-release-package.yml
 create mode 100644 maddy/.github/workflows/run-tests.yml
 create mode 100644 maddy/.gitignore
 create mode 100644 maddy/AUTHORS
 create mode 100644 maddy/CHANGELOG.md
 create mode 100644 maddy/CONTRIBUTING.md
 create mode 100644 maddy/LICENSE
 create mode 100644 maddy/README.md
 create mode 100644 maddy/blockparser.h
 create mode 100644 maddy/breaklineparser.h
 create mode 100644 maddy/checklistparser.h
 create mode 100644 maddy/codeblockparser.h
 create mode 100644 maddy/docs/definitions.md
 create mode 100644 maddy/emphasizedparser.h
 create mode 100644 maddy/headlineparser.h
 create mode 100644 maddy/horizontallineparser.h
 create mode 100644 maddy/htmlparser.h
 create mode 100644 maddy/imageparser.h
 create mode 100644 maddy/inlinecodeparser.h
 create mode 100644 maddy/italicparser.h
 create mode 100644 maddy/latexblockparser.h
 create mode 100644 maddy/lineparser.h
 create mode 100644 maddy/linkparser.h
 create mode 100644 maddy/maddy.pri
 create mode 100644 maddy/orderedlistparser.h
 create mode 100644 maddy/paragraphparser.h
 create mode 100644 maddy/parser.h
 create mode 100644 maddy/parserconfig.h
 create mode 100644 maddy/quoteparser.h
 create mode 100644 maddy/strikethroughparser.h
 create mode 100644 maddy/strongparser.h
 create mode 100644 maddy/tableparser.h
 create mode 100644 maddy/unorderedlistparser.h
 create mode 100644 qmarkdowntextedit/.clang-format
 create mode 100644 qmarkdowntextedit/.github/FUNDING.yml
 create mode 100644 qmarkdowntextedit/.gitignore
 create mode 100644 qmarkdowntextedit/.travis.yml
 create mode 100644 qmarkdowntextedit/CMakeLists.txt
 create mode 100644 qmarkdowntextedit/LICENSE
 create mode 100644 qmarkdowntextedit/README.md
 create mode 100644 qmarkdowntextedit/appveyor.yml
 create mode 100644 qmarkdowntextedit/examples/qml/example.cpp
 create mode 100644 qmarkdowntextedit/examples/qml/example.qml
 create mode 100644 qmarkdowntextedit/examples/qml/ressources.qrc
 create mode 100644 qmarkdowntextedit/linenumberarea.h
 create mode 100644 qmarkdowntextedit/main.cpp
 create mode 100644 qmarkdowntextedit/mainwindow.cpp
 create mode 100644 qmarkdowntextedit/mainwindow.h
 create mode 100644 qmarkdowntextedit/mainwindow.ui
 create mode 100644 qmarkdowntextedit/markdownhighlighter.cpp
 create mode 100644 qmarkdowntextedit/markdownhighlighter.h
 create mode 100644 qmarkdowntextedit/media.qrc
 create mode 100644 qmarkdowntextedit/media/edit-find-replace.svg
 create mode 100644 qmarkdowntextedit/media/format-text-superscript.svg
 create mode 100644 qmarkdowntextedit/media/go-bottom.svg
 create mode 100644 qmarkdowntextedit/media/go-top.svg
 create mode 100644 qmarkdowntextedit/media/window-close.svg
 create mode 100644 qmarkdowntextedit/old_screenshot.png
 create mode 100644 qmarkdowntextedit/qmarkdowntextedit-app.pro
 create mode 100644 qmarkdowntextedit/qmarkdowntextedit-headers.pri
 create mode 100644 qmarkdowntextedit/qmarkdowntextedit-lib.pro
 create mode 100644 qmarkdowntextedit/qmarkdowntextedit-sources.pri
 create mode 100644 qmarkdowntextedit/qmarkdowntextedit.cpp
 create mode 100644 qmarkdowntextedit/qmarkdowntextedit.h
 create mode 100644 qmarkdowntextedit/qmarkdowntextedit.pc.in
 create mode 100644 qmarkdowntextedit/qmarkdowntextedit.pri
 create mode 100644 qmarkdowntextedit/qmarkdowntextedit.pro
 create mode 100644 qmarkdowntextedit/qownlanguagedata.cpp
 create mode 100644 qmarkdowntextedit/qownlanguagedata.h
 create mode 100644 qmarkdowntextedit/qplaintexteditsearchwidget.cpp
 create mode 100644 qmarkdowntextedit/qplaintexteditsearchwidget.h
 create mode 100644 qmarkdowntextedit/qplaintexteditsearchwidget.ui
 create mode 100644 qmarkdowntextedit/screenshot.png
 create mode 100644 qmarkdowntextedit/scripts/clang-format-project.sh
 create mode 100644 qmarkdowntextedit/trans/qmarkdowntextedit_de.qm
 create mode 100644 qmarkdowntextedit/trans/qmarkdowntextedit_de.ts
 create mode 100644 qmarkdowntextedit/trans/qmarkdowntextedit_es.qm
 create mode 100644 qmarkdowntextedit/trans/qmarkdowntextedit_es.ts
 create mode 100644 qmarkdowntextedit/trans/qmarkdowntextedit_ur.qm
 create mode 100644 qmarkdowntextedit/trans/qmarkdowntextedit_ur.ts
 create mode 100644 qmarkdowntextedit/trans/qmarkdowntextedit_zh_CN.qm
 create mode 100644 qmarkdowntextedit/trans/qmarkdowntextedit_zh_CN.ts

diff --git a/maddy/.editorconfig b/maddy/.editorconfig
new file mode 100644
index 000000000..9035bef6e
--- /dev/null
+++ b/maddy/.editorconfig
@@ -0,0 +1,12 @@
+root = true
+
+[*]
+charset = utf-8
+end_of_line = lf
+indent_size = 4
+indent_style = space
+insert_final_newline = true
+trim_trailing_whitespace = true
+
+[*.{h,hh,hpp,c,cc,cpp,cxx,yml}]
+indent_size = 2
diff --git a/maddy/.github/ISSUE_TEMPLATE/cpp-bug-report.yml b/maddy/.github/ISSUE_TEMPLATE/cpp-bug-report.yml
new file mode 100644
index 000000000..5e1c797af
--- /dev/null
+++ b/maddy/.github/ISSUE_TEMPLATE/cpp-bug-report.yml
@@ -0,0 +1,65 @@
+name: C++ Bug Report
+description: File a bug report regarding C++ problems
+title: "[Bug][C++]: "
+labels: ["bug", "triage"]
+body:
+  - type: markdown
+    attributes:
+      value: |
+        Thanks for taking the time to fill out this bug report!
+  - type: input
+    id: os
+    attributes:
+      label: Operating System
+      description: On which OS are you running maddy?
+      placeholder: ex. Windows/Linux/OSX
+    validations:
+      required: true
+  - type: input
+    id: compiler
+    attributes:
+      label: Compiler
+      description: Which compiler do you use?
+      placeholder: ex. mingw/Visual Studio/clang
+    validations:
+      required: true
+  - type: input
+    id: compiler_flags
+    attributes:
+      label: Compiler flags
+      description: Which compiler flags do you use?
+      placeholder: ex. -fno-rtti
+    validations:
+      required: true
+  - type: dropdown
+    id: maddy_version
+    attributes:
+      label: maddy version
+      description: What version of maddy are you using?
+      options:
+        - 1.3.0 (latest)
+        - 1.2.1
+        - 1.2.0
+        - 1.1.2
+        - 1.1.1
+        - 1.1.0
+        - 1.0.3
+        - 1.0.2
+        - 1.0.1
+        - 1.0.0
+    validations:
+      required: true
+  - type: textarea
+    id: example
+    attributes:
+      label: Minimal C++ example
+      description: To be able to reproduce your issue, please give some example C++ code which creates problems.
+    validations:
+      required: true
+  - type: textarea
+    id: whats-wrong
+    attributes:
+      label: What is not working? What did you try?
+      description: Also, what did you expect to happen?
+    validations:
+      required: true
diff --git a/maddy/.github/ISSUE_TEMPLATE/feature-request.yml b/maddy/.github/ISSUE_TEMPLATE/feature-request.yml
new file mode 100644
index 000000000..85ec92cd3
--- /dev/null
+++ b/maddy/.github/ISSUE_TEMPLATE/feature-request.yml
@@ -0,0 +1,15 @@
+name: Feature Request
+description: Missing some feature?
+labels: ["feature"]
+body:
+  - type: markdown
+    attributes:
+      value: |
+        Thanks for taking the time to create a feature request!
+  - type: textarea
+    id: feature-description
+    attributes:
+      label: What are you missing in maddy?
+      description: If you want some extra Markdown supported, please also write a Markdown example and an expected HTML output.
+    validations:
+      required: true
diff --git a/maddy/.github/ISSUE_TEMPLATE/markdown-bug-report.yml b/maddy/.github/ISSUE_TEMPLATE/markdown-bug-report.yml
new file mode 100644
index 000000000..0da6e1936
--- /dev/null
+++ b/maddy/.github/ISSUE_TEMPLATE/markdown-bug-report.yml
@@ -0,0 +1,65 @@
+name: Markdown Bug Report
+description: File a bug report regarding Markdown problems
+title: "[Bug][Markdown]: "
+labels: ["bug", "triage"]
+body:
+  - type: markdown
+    attributes:
+      value: |
+        Thanks for taking the time to fill out this bug report!
+  - type: input
+    id: os
+    attributes:
+      label: Operating System
+      description: On which OS are you running maddy?
+      placeholder: ex. Windows/Linux/OSX
+    validations:
+      required: true
+  - type: input
+    id: compiler
+    attributes:
+      label: Compiler
+      description: Which compiler do you use?
+      placeholder: ex. mingw/Visual Studio/clang
+    validations:
+      required: true
+  - type: input
+    id: compiler_flags
+    attributes:
+      label: Compiler flags
+      description: Which compiler flags do you use?
+      placeholder: ex. -fno-rtti
+    validations:
+      required: true
+  - type: dropdown
+    id: maddy_version
+    attributes:
+      label: maddy version
+      description: What version of maddy are you using?
+      options:
+        - 1.3.0 (latest)
+        - 1.2.1
+        - 1.2.0
+        - 1.1.2
+        - 1.1.1
+        - 1.1.0
+        - 1.0.3
+        - 1.0.2
+        - 1.0.1
+        - 1.0.0
+    validations:
+      required: true
+  - type: textarea
+    id: example
+    attributes:
+      label: Minimal Mardown example
+      description: To be able to reproduce your issue, please give some example Markdown which creates problems. Please indent the Markdown by 4 spaces.
+    validations:
+      required: true
+  - type: textarea
+    id: whats-wrong
+    attributes:
+      label: What is not working? What did you try?
+      description: Also, what did you expect to happen?
+    validations:
+      required: true
diff --git a/maddy/.github/ISSUE_TEMPLATE/other.yml b/maddy/.github/ISSUE_TEMPLATE/other.yml
new file mode 100644
index 000000000..4c442d4ae
--- /dev/null
+++ b/maddy/.github/ISSUE_TEMPLATE/other.yml
@@ -0,0 +1,10 @@
+name: Other
+description: Anything that doesn't fit into one of the other issue categories
+body:
+  - type: textarea
+    id: whats-up
+    attributes:
+      label: What is the issue?
+      description: Is some tooling not working? Performance issues? ...
+    validations:
+      required: true
diff --git a/maddy/.github/workflows/create-release-package.yml b/maddy/.github/workflows/create-release-package.yml
new file mode 100644
index 000000000..aa81d9db3
--- /dev/null
+++ b/maddy/.github/workflows/create-release-package.yml
@@ -0,0 +1,34 @@
+name: release
+permissions:
+  contents: write
+
+on:
+  push:
+    tags:
+      - '*'
+
+jobs:
+  release:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: lukka/get-cmake@latest
+        with:
+          cmakeVersion: "~3.25.0"  # <--= optional, use most recent 3.25.x version
+          ninjaVersion: "^1.11.1"  # <--= optional, use most recent 1.x version
+
+      - name: create zip
+        run: |
+          mkdir build
+          mkdir tmp
+          cd tmp
+          cmake -DMADDY_CREATE_PACKAGE=ON ..
+          make maddy_package
+
+      - name: create release
+        uses: svenstaro/upload-release-action@v2
+        with:
+          repo_token: ${{ secrets.GITHUB_TOKEN }}
+          file: build/maddy-src.zip
+          tag: ${{ github.ref }}
+          body: "You can find all changes of this release in the [changelog](https://github.com/progsource/maddy/blob/master/CHANGELOG.md)"
diff --git a/maddy/.github/workflows/run-tests.yml b/maddy/.github/workflows/run-tests.yml
new file mode 100644
index 000000000..939b48133
--- /dev/null
+++ b/maddy/.github/workflows/run-tests.yml
@@ -0,0 +1,65 @@
+name: run-tests
+run-name: test ${{ github.ref }}
+on:
+  push:
+    branches:
+      - master
+      - dev
+  pull_request:
+    branches:
+      - master
+      - dev
+jobs:
+  test-on-ubuntu:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: lukka/get-cmake@latest
+        with:
+          cmakeVersion: "~3.25.0"  # <--= optional, use most recent 3.25.x version
+          ninjaVersion: "^1.11.1"  # <--= optional, use most recent 1.x version
+      - name: build
+        run: |
+          mkdir tmp
+          cd tmp
+          cmake -DMADDY_BUILD_WITH_TESTS=ON ..
+          make -j4
+      - name: run tests
+        run: |
+          ./build/MaddyTests
+
+  test-on-windows:
+    runs-on: windows-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: lukka/get-cmake@latest
+        with:
+          cmakeVersion: "~3.25.0"  # <--= optional, use most recent 3.25.x version
+          ninjaVersion: "^1.11.1"  # <--= optional, use most recent 1.x version
+      - name: build
+        run: |
+          mkdir tmp
+          cd tmp
+          cmake -G "Visual Studio 17 2022" -A x64 -DMADDY_BUILD_WITH_TESTS=ON ..
+          cmake --build . --config Debug
+      - name: run tests
+        run: |
+          ./build/Debug/MaddyTests.exe
+
+  test-on-osx:
+    runs-on: macos-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: lukka/get-cmake@latest
+        with:
+          cmakeVersion: "~3.25.0"  # <--= optional, use most recent 3.25.x version
+          ninjaVersion: "^1.11.1"  # <--= optional, use most recent 1.x version
+      - name: build
+        run: |
+          mkdir tmp
+          cd tmp
+          cmake -DMADDY_BUILD_WITH_TESTS=ON ..
+          make -j4
+      - name: run tests
+        run: |
+          ./build/MaddyTests
diff --git a/maddy/.gitignore b/maddy/.gitignore
new file mode 100644
index 000000000..b11b98280
--- /dev/null
+++ b/maddy/.gitignore
@@ -0,0 +1,493 @@
+# Created by https://www.gitignore.io/api/vim,c++,xcode,clion,macos,valgrind,visualstudio,visualstudiocode
+
+### C++ ###
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+### CLion ###
+# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio and Webstorm
+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
+# User-specific stuff:
+.idea/**/workspace.xml
+.idea/**/tasks.xml
+.idea/dictionaries
+
+# Sensitive or high-churn files:
+.idea/**/dataSources/
+.idea/**/dataSources.ids
+.idea/**/dataSources.xml
+.idea/**/dataSources.local.xml
+.idea/**/sqlDataSources.xml
+.idea/**/dynamic.xml
+.idea/**/uiDesigner.xml
+
+# Gradle:
+.idea/**/gradle.xml
+.idea/**/libraries
+
+# CMake
+cmake-build-debug/
+
+# Mongo Explorer plugin:
+.idea/**/mongoSettings.xml
+
+## File-based project format:
+*.iws
+
+## Plugin-specific files:
+
+# IntelliJ
+/out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Cursive Clojure plugin
+.idea/replstate.xml
+
+# Ruby plugin and RubyMine
+/.rakeTasks
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
+crashlytics-build.properties
+fabric.properties
+
+### CLion Patch ###
+# Comment Reason: https://github.com/joeblau/gitignore.io/issues/186#issuecomment-215987721
+
+# *.iml
+# modules.xml
+# .idea/misc.xml
+# *.ipr
+
+# Sonarlint plugin
+.idea/sonarlint
+
+### macOS ###
+*.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+### Valgrind ###
+# Callgrind output files
+callgrind.out
+callgrind.out.*
+
+# Cachegrind output files
+cachegrind.out
+cachegrind.out.*
+
+# Massif output files
+massif.out
+massif.out.*
+
+# BBV output files
+bb.out
+bb.out.*
+
+
+
+### Vim ###
+# swap
+[._]*.s[a-v][a-z]
+[._]*.sw[a-p]
+[._]s[a-v][a-z]
+[._]sw[a-p]
+# session
+Session.vim
+# temporary
+.netrwhist
+*~
+# auto-generated tag files
+tags
+
+### VisualStudioCode ###
+.vscode/*
+.history
+
+### Xcode ###
+# Xcode
+#
+# gitignore contributors: remember to update Global/Xcode.gitignore, Objective-C.gitignore & Swift.gitignore
+
+## Build generated
+build/
+DerivedData/
+
+## Various settings
+*.pbxuser
+!default.pbxuser
+*.mode1v3
+!default.mode1v3
+*.mode2v3
+!default.mode2v3
+*.perspectivev3
+!default.perspectivev3
+xcuserdata/
+
+## Other
+*.moved-aside
+*.xccheckout
+*.xcscmblueprint
+
+### Xcode Patch ###
+*.xcodeproj/*
+!*.xcodeproj/project.pbxproj
+!*.xcodeproj/xcshareddata/
+!*.xcworkspace/contents.xcworkspacedata
+/*.gcno
+
+### VisualStudio ###
+## Ignore Visual Studio temporary files, build results, and
+## files generated by popular Visual Studio add-ons.
+##
+## Get latest from https://github.com/github/gitignore/blob/master/VisualStudio.gitignore
+
+# User-specific files
+*.suo
+*.user
+*.userosscache
+*.sln.docstates
+
+# User-specific files (MonoDevelop/Xamarin Studio)
+*.userprefs
+
+# Build results
+[Dd]ebug/
+[Dd]ebugPublic/
+[Rr]elease/
+[Rr]eleases/
+x64/
+x86/
+bld/
+[Bb]in/
+[Oo]bj/
+[Ll]og/
+
+# Visual Studio 2015 cache/options directory
+.vs/
+# Uncomment if you have tasks that create the project's static files in wwwroot
+#wwwroot/
+
+# MSTest test Results
+[Tt]est[Rr]esult*/
+[Bb]uild[Ll]og.*
+
+# NUNIT
+*.VisualState.xml
+TestResult.xml
+
+# Build Results of an ATL Project
+[Dd]ebugPS/
+[Rr]eleasePS/
+dlldata.c
+
+# .NET Core
+project.lock.json
+project.fragment.lock.json
+artifacts/
+**/Properties/launchSettings.json
+
+*_i.c
+*_p.c
+*_i.h
+*.ilk
+*.meta
+*.pdb
+*.pgc
+*.pgd
+*.rsp
+*.sbr
+*.tlb
+*.tli
+*.tlh
+*.tmp
+*.tmp_proj
+*.log
+*.vspscc
+*.vssscc
+.builds
+*.pidb
+*.svclog
+*.scc
+
+# Chutzpah Test files
+_Chutzpah*
+
+# Visual C++ cache files
+ipch/
+*.aps
+*.ncb
+*.opendb
+*.opensdf
+*.sdf
+*.cachefile
+*.VC.db
+*.VC.VC.opendb
+
+# Visual Studio profiler
+*.psess
+*.vsp
+*.vspx
+*.sap
+
+# TFS 2012 Local Workspace
+$tf/
+
+# Guidance Automation Toolkit
+*.gpState
+
+# ReSharper is a .NET coding add-in
+_ReSharper*/
+*.[Rr]e[Ss]harper
+*.DotSettings.user
+
+# JustCode is a .NET coding add-in
+.JustCode
+
+# TeamCity is a build add-in
+_TeamCity*
+
+# DotCover is a Code Coverage Tool
+*.dotCover
+
+# Visual Studio code coverage results
+*.coverage
+*.coveragexml
+
+# NCrunch
+_NCrunch_*
+.*crunch*.local.xml
+nCrunchTemp_*
+
+# MightyMoose
+*.mm.*
+AutoTest.Net/
+
+# Web workbench (sass)
+.sass-cache/
+
+# Installshield output folder
+[Ee]xpress/
+
+# DocProject is a documentation generator add-in
+DocProject/buildhelp/
+DocProject/Help/*.HxT
+DocProject/Help/*.HxC
+DocProject/Help/*.hhc
+DocProject/Help/*.hhk
+DocProject/Help/*.hhp
+DocProject/Help/Html2
+DocProject/Help/html
+
+# Click-Once directory
+publish/
+
+# Publish Web Output
+*.[Pp]ublish.xml
+*.azurePubxml
+# TODO: Uncomment the next line to ignore your web deploy settings.
+# By default, sensitive information, such as encrypted password
+# should be stored in the .pubxml.user file.
+#*.pubxml
+*.pubxml.user
+*.publishproj
+
+# Microsoft Azure Web App publish settings. Comment the next line if you want to
+# checkin your Azure Web App publish settings, but sensitive information contained
+# in these scripts will be unencrypted
+PublishScripts/
+
+# NuGet Packages
+*.nupkg
+# The packages folder can be ignored because of Package Restore
+**/packages/*
+# except build/, which is used as an MSBuild target.
+!**/packages/build/
+# Uncomment if necessary however generally it will be regenerated when needed
+#!**/packages/repositories.config
+# NuGet v3's project.json files produces more ignorable files
+*.nuget.props
+*.nuget.targets
+
+# Microsoft Azure Build Output
+csx/
+*.build.csdef
+
+# Microsoft Azure Emulator
+ecf/
+rcf/
+
+# Windows Store app package directories and files
+AppPackages/
+BundleArtifacts/
+Package.StoreAssociation.xml
+_pkginfo.txt
+
+# Visual Studio cache files
+# files ending in .cache can be ignored
+*.[Cc]ache
+# but keep track of directories ending in .cache
+!*.[Cc]ache/
+
+# Others
+ClientBin/
+~$*
+*.dbmdl
+*.dbproj.schemaview
+*.jfm
+*.pfx
+*.publishsettings
+orleans.codegen.cs
+
+# Since there are multiple workflows, uncomment next line to ignore bower_components
+# (https://github.com/github/gitignore/pull/1529#issuecomment-104372622)
+#bower_components/
+
+# RIA/Silverlight projects
+Generated_Code/
+
+# Backup & report files from converting an old project file
+# to a newer Visual Studio version. Backup files are not needed,
+# because we have git ;-)
+_UpgradeReport_Files/
+Backup*/
+UpgradeLog*.XML
+UpgradeLog*.htm
+
+# SQL Server files
+*.mdf
+*.ldf
+*.ndf
+
+# Business Intelligence projects
+*.rdl.data
+*.bim.layout
+*.bim_*.settings
+
+# Microsoft Fakes
+FakesAssemblies/
+
+# GhostDoc plugin setting file
+*.GhostDoc.xml
+
+# Node.js Tools for Visual Studio
+.ntvs_analysis.dat
+node_modules/
+
+# Typescript v1 declaration files
+typings/
+
+# Visual Studio 6 build log
+*.plg
+
+# Visual Studio 6 workspace options file
+*.opt
+
+# Visual Studio 6 auto-generated workspace file (contains which files were open etc.)
+*.vbw
+
+# Visual Studio LightSwitch build output
+**/*.HTMLClient/GeneratedArtifacts
+**/*.DesktopClient/GeneratedArtifacts
+**/*.DesktopClient/ModelManifest.xml
+**/*.Server/GeneratedArtifacts
+**/*.Server/ModelManifest.xml
+_Pvt_Extensions
+
+# Paket dependency manager
+.paket/paket.exe
+paket-files/
+
+# FAKE - F# Make
+.fake/
+
+# JetBrains Rider
+.idea/
+*.sln.iml
+
+# CodeRush
+.cr/
+
+# Python Tools for Visual Studio (PTVS)
+__pycache__/
+*.pyc
+
+# Cake - Uncomment if you are using it
+# tools/**
+# !tools/packages.config
+
+# Telerik's JustMock configuration file
+*.jmconfig
+
+# BizTalk build output
+*.btp.cs
+*.btm.cs
+*.odx.cs
+*.xsd.cs
+
+### VisualStudio Patch ###
+# By default, sensitive information, such as encrypted password
+# should be stored in the .pubxml.user file.
+
+# End of https://www.gitignore.io/api/vim,c++,xcode,clion,macos,valgrind,visualstudio,visualstudiocode
+
+tmp
diff --git a/maddy/AUTHORS b/maddy/AUTHORS
new file mode 100644
index 000000000..04e0cc041
--- /dev/null
+++ b/maddy/AUTHORS
@@ -0,0 +1,13 @@
+The following authors have all licensed their contributions to maddy under the
+licensing terms detailed in LICENSE.
+
+(Authors keep copyright of their contributions, of course; they just grant
+a license to everyone to use it as detailed in LICENSE.)
+
+M. Petra Baranski (info@progsource.de)
+Patrick José Pereira (patrickelectric@gmail.com)
+Martin Kopecky (martin.kopecky357@gmail.com)
+Andrew Mettlach (dmmettlach@gmail.com)
+Evan Klitzke (evan@eklitzke.org)
+Albert Schwarzkopf (dev-maddy@quitesimple.org)
+Ivans Saponenko (ivans.saponenko+maddy@gmail.com)
diff --git a/maddy/CHANGELOG.md b/maddy/CHANGELOG.md
new file mode 100644
index 000000000..b30d0630d
--- /dev/null
+++ b/maddy/CHANGELOG.md
@@ -0,0 +1,89 @@
+# Changelog
+
+This file tries to follow roughly [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
+maddy uses [semver versioning](https://semver.org/).
+
+## Badges
+
+* ![**FIXED**](https://img.shields.io/badge/-FIXED-%23090) for any bug fixes.
+* ![**SECURITY**](https://img.shields.io/badge/-SECURITY-%23c00) in case of vulnerabilities.
+* ![**ADDED**](https://img.shields.io/badge/-ADDED-%23099) for new features.
+* ![**CHANGED**](https://img.shields.io/badge/-CHANGED-%23e90) for changes in existing functionality.
+* ![**DEPRECATED**](https://img.shields.io/badge/-DEPRECATED-%23666) for soon-to-be removed features.
+* ![**REMOVED**](https://img.shields.io/badge/-REMOVED-%23900) for now removed features.
+
+## Upcoming
+
+* ?
+
+## version 1.3.0 2023-08-26
+
+* ![**ADDED**](https://img.shields.io/badge/-ADDED-%23099) Headlines can have inline parsing now. It is on by default, but can be disabled by config.
+
+## version 1.2.1 2023-08-06
+
+* ![**FIXED**](https://img.shields.io/badge/-FIXED-%23090) Parser.h version() method clashing with VERSION defines at global scope
+
+## version 1.2.0 2023-07-27
+
+* ![**ADDED**](https://img.shields.io/badge/-ADDED-%23099) Added Changelog
+* ![**ADDED**](https://img.shields.io/badge/-ADDED-%23099) Added contribution guideline
+* ![**CHANGED**](https://img.shields.io/badge/-CHANGED-%23e90) updated cmake minimum required version to 3.25
+* ![**CHANGED**](https://img.shields.io/badge/-CHANGED-%23e90) gtest is now loaded via cmake and not a git submodule any longer - updated gtest version to 1.13.0
+* ![**CHANGED**](https://img.shields.io/badge/-CHANGED-%23e90) tests are only run if the cmake option `MADDY_BUILD_WITH_TESTS` is on, moved test cmake code to the `tests` subfolder
+* ![**REMOVED**](https://img.shields.io/badge/-REMOVED-%23900) travis CI and appveyor
+* ![**ADDED**](https://img.shields.io/badge/-ADDED-%23099) GitHub workflow for tests
+* ![**DEPRECATED**](https://img.shields.io/badge/-DEPRECATED-%23666) config flags `isEmphasizedParserEnabled` and `isHTMLWrappedInParagraph`
+* ![**ADDED**](https://img.shields.io/badge/-ADDED-%23099) config flag `enabledParsers` to en-/disable each parser separately
+* ![**ADDED**](https://img.shields.io/badge/-ADDED-%23099) class attribute to code blocks if there is text after the three backticks like ` ```cpp`
+* ![**ADDED**](https://img.shields.io/badge/-ADDED-%23099) optional support for latex blocks - it's off by default
+* ![**ADDED**](https://img.shields.io/badge/-ADDED-%23099) version info to the parser class
+* ![**ADDED**](https://img.shields.io/badge/-ADDED-%23099) GitHub workflow for release, so that one can include maddy easier via cmake's `FetchContent`
+
+## version 1.1.2 2020-10-04
+
+* ![**ADDED**](https://img.shields.io/badge/-ADDED-%23099) `*`, `+` and `-` are equivalent for making unordered bullet list
+* ![**ADDED**](https://img.shields.io/badge/-ADDED-%23099) Parsing support for fully numeric ordered lists
+* ![**CHANGED**](https://img.shields.io/badge/-CHANGED-%23e90) make `Parser::Parse` accept istreams instead of stringstream
+* ![**CHANGED**](https://img.shields.io/badge/-CHANGED-%23e90) CMake is creating an interface library which you can include in your own `target_link_libraries` and the global include path is untouched from maddy.
+
+## version 1.1.1 2019-12-27
+
+* ![**ADDED**](https://img.shields.io/badge/-ADDED-%23099) BreakLineParser
+* ![**ADDED**](https://img.shields.io/badge/-ADDED-%23099) HTMLParser
+* ![**ADDED**](https://img.shields.io/badge/-ADDED-%23099) Added optional config with the following options:
+    * en-/disable the emphasized parser
+    * wrap/not wrap HTML in markdown within a paragraph in output
+* ![**CHANGED**](https://img.shields.io/badge/-CHANGED-%23e90) Updated gtest to release-1.10.0 to fix build issues
+
+
+## version 1.1.0 2019-02-19
+
+* ![**FIXED**](https://img.shields.io/badge/-FIXED-%23090) Added missing includes to BlockParser
+* ![**FIXED**](https://img.shields.io/badge/-FIXED-%23090) Added missing dtor to BlockParser and LineParser
+* ![**ADDED**](https://img.shields.io/badge/-ADDED-%23099) `__test__` can also be used to get `<strong>text</strong>`
+* ![**ADDED**](https://img.shields.io/badge/-ADDED-%23099) Added AppVeyor CI
+* ![**ADDED**](https://img.shields.io/badge/-ADDED-%23099) Added clang for CI
+* ![**CHANGED**](https://img.shields.io/badge/-CHANGED-%23e90) Single underscore `_` results in emphasized tag `<em>`, single `*` in italic tag `<i>`
+
+## version 1.0.3 2018-01-18
+
+* ![**FIXED**](https://img.shields.io/badge/-FIXED-%23090) Make sure that all parsers are finished
+* ![**FIXED**](https://img.shields.io/badge/-FIXED-%23090) ol documentation
+* ![**ADDED**](https://img.shields.io/badge/-ADDED-%23099) Added Travic-CI with gcc
+* ![**ADDED**](https://img.shields.io/badge/-ADDED-%23099) Added Howto for running the tests on the README
+
+## version 1.0.2 2017-12-26
+
+* ![**FIXED**](https://img.shields.io/badge/-FIXED-%23090) Fixed inline code for directly following letters (bold, emphasized and strikethrough)
+
+## version 1.0.1 2017-12-25
+
+* ![**FIXED**](https://img.shields.io/badge/-FIXED-%23090) Fixed inline code for bold, emphasized and strikethrough
+* ![**FIXED**](https://img.shields.io/badge/-FIXED-%23090) Fixed spelling in README
+* ![**ADDED**](https://img.shields.io/badge/-ADDED-%23099) Use Gold Linker on Unix if available for faster compile time
+* ![**ADDED**](https://img.shields.io/badge/-ADDED-%23099) Added Github ISSUE_TEMPLATE
+
+## version 1.0.0 2017-12-25
+
+initial release
diff --git a/maddy/CONTRIBUTING.md b/maddy/CONTRIBUTING.md
new file mode 100644
index 000000000..038b60f0c
--- /dev/null
+++ b/maddy/CONTRIBUTING.md
@@ -0,0 +1,26 @@
+# Contribution Guideline
+
+First of all: I am thankful for any contribution this project gets.
+
+## Creating Issues
+
+You found a bug, you miss some feature in the project or have an idea how to
+improve the code? Then [create a GitHub issue](https://github.com/progsource/maddy/issues/new).
+
+## Creating Pull-Requests
+
+* Use a branch other than master.
+* Add yourself to the `AUTHORS` file.
+* Try to stick with the code style the files are having right now.
+* Write in your commit messages what/why you did something. Often times a one-liner might be enough, but if you want to write more, make an empty line in between like:
+  ```
+  Short description
+
+  More and longer text for the commit message with some more information.
+  That can go over multiple lines.
+  ```
+  Do not include Github issue ticket numbers inside commit messages.
+* Explain for what your PR is for - like providing a use-case or something similar.
+* Update documentation of the Markdown syntax if anything changed there. (`docs/definitions.md`)
+* Add a changelog entry at "Upcoming" inside of `CHANGELOG.md`
+* Make sure, that the tests are successful.
diff --git a/maddy/LICENSE b/maddy/LICENSE
new file mode 100644
index 000000000..4f4e58104
--- /dev/null
+++ b/maddy/LICENSE
@@ -0,0 +1,18 @@
+Copyright 2017, 2018, 2019, 2020, 2023 M. Petra Baranski
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+the Software, and to permit persons to whom the Software is furnished to do so,
+subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
diff --git a/maddy/README.md b/maddy/README.md
new file mode 100644
index 000000000..62fb8ff1f
--- /dev/null
+++ b/maddy/README.md
@@ -0,0 +1,110 @@
+# maddy
+
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
+[![Version: 1.3.0](https://img.shields.io/badge/Version-1.3.0-brightgreen.svg)](https://semver.org/)
+
+maddy is a C++ Markdown to HTML **header-only** parser library.
+
+## Supported OS
+
+It actually should work on any OS, that supports the C++14 standard library.
+
+It is tested to work on:
+
+* Linux (gcc)
+* OSX (clang)
+* Windows (Visual Studio 17 2022, mingw)
+
+## Dependencies
+
+* C++14
+
+## Why maddy?
+
+When I was looking for a Markdown parser in C++, I couldn't find any, that was
+fitting my needs. So I simply wrote my own one.
+
+## Markdown syntax
+
+The supported syntax can be found in the [definitions docs](docs/definitions.md).
+
+## How to add maddy to your cmake project
+
+You can use [FetchContent](https://cmake.org/cmake/help/latest/module/FetchContent.html)
+which was introduced in CMake 3.11.
+
+This way you can add
+
+```cmake
+include(FetchContent)
+
+FetchContent_Declare(
+  maddy
+  URL https://github.com/progsource/maddy/.../maddy-src.zip
+)
+FetchContent_MakeAvailable(maddy)
+
+add_executable(my_exe)
+target_link_libraries(my_exe PUBLIC maddy)
+```
+
+to your CMake file to make it work. Check the
+[release](https://github.com/progsource/maddy/releases) for the full
+zip-file-url.
+
+The zip only contains a `CMakeLists.txt`, the `include` folder and the `LICENSE`
+file.
+
+## How to use
+
+To use maddy in your project, simply add the include path of maddy to yours
+and in the code, you can then do the following:
+
+```c++
+#include <memory>
+#include <string>
+
+#include "maddy/parser.h"
+
+std::stringstream markdownInput("");
+
+// config is optional
+std::shared_ptr<maddy::ParserConfig> config = std::make_shared<maddy::ParserConfig>();
+// config->isEmphasizedParserEnabled = false; // default true - this flag is deprecated
+// config->isHTMLWrappedInParagraph = false; // default true - this flag is deprecated
+config->enabledParsers &= ~maddy::types::EMPHASIZED_PARSER; // equivalent to !isEmphasizedParserEnabled
+config->enabledParsers |= maddy::types::HTML_PARSER; // equivalent to !isHTMLWrappedInParagraph
+
+std::shared_ptr<maddy::Parser> parser = std::make_shared<maddy::Parser>(config);
+std::string htmlOutput = parser->Parse(markdownInput);
+```
+
+You can find all parser flags in
+[`include/maddy/parserconfig.h`](include/maddy/parserconfig.h).
+
+## How to run the tests
+
+*(tested on Linux with
+[git](https://git-scm.com/book/en/v2/Getting-Started-Installing-Git) and
+[cmake](https://cmake.org/install/) installed)*
+
+Open your preferred terminal and type:
+
+```shell
+git clone https://github.com/progsource/maddy.git
+cd maddy
+mkdir tmp
+cd tmp
+cmake -DMADDY_BUILD_WITH_TESTS=ON ..
+make
+make test # or run the executable in ../build/MaddyTests
+```
+
+## How to contribute
+
+There are different possibilities:
+
+* [Create a GitHub issue](https://github.com/progsource/maddy/issues/new)
+* Create a pull request with an own branch
+
+Please also read [CONTRIBUTING.md](CONTRIBUTING.md).
diff --git a/maddy/blockparser.h b/maddy/blockparser.h
new file mode 100644
index 000000000..9df4fa671
--- /dev/null
+++ b/maddy/blockparser.h
@@ -0,0 +1,203 @@
+/*
+ * This project is licensed under the MIT license. For more information see the
+ * LICENSE file.
+ */
+#pragma once
+
+// -----------------------------------------------------------------------------
+
+#include <functional>
+#include <sstream>
+#include <string>
+// windows compatibility includes
+#include <cctype>
+#include <algorithm>
+
+// -----------------------------------------------------------------------------
+
+namespace maddy {
+
+// -----------------------------------------------------------------------------
+
+/**
+ * BlockParser
+ *
+ * The code expects every child to have the following static function to be
+ * implemented:
+ * `static bool IsStartingLine(const std::string& line)`
+ *
+ * @class
+ */
+class BlockParser
+{
+public:
+  /**
+   * ctor
+   *
+   * @method
+   * @param {std::function<void(std::string&)>} parseLineCallback
+   * @param {std::function<std::shared_ptr<BlockParser>(const std::string& line)>} getBlockParserForLineCallback
+   */
+  BlockParser(
+    std::function<void(std::string&)> parseLineCallback,
+    std::function<std::shared_ptr<BlockParser>(const std::string& line)> getBlockParserForLineCallback
+  )
+    : result("", std::ios_base::ate | std::ios_base::in | std::ios_base::out)
+    , childParser(nullptr)
+    , parseLineCallback(parseLineCallback)
+    , getBlockParserForLineCallback(getBlockParserForLineCallback)
+  {}
+
+  /**
+   * dtor
+   *
+   * @method
+   */
+  virtual ~BlockParser() {}
+
+  /**
+   * AddLine
+   *
+   * Adding a line which has to be parsed.
+   *
+   * @method
+   * @param {std::string&} line
+   * @return {void}
+   */
+  virtual void
+  AddLine(std::string& line)
+  {
+    this->parseBlock(line);
+
+    if (this->isInlineBlockAllowed() && !this->childParser)
+    {
+      this->childParser = this->getBlockParserForLine(line);
+    }
+
+    if (this->childParser)
+    {
+      this->childParser->AddLine(line);
+
+      if (this->childParser->IsFinished())
+      {
+        this->result << this->childParser->GetResult().str();
+        this->childParser = nullptr;
+      }
+
+      return;
+    }
+
+    if (this->isLineParserAllowed())
+    {
+      this->parseLine(line);
+    }
+
+    this->result << line;
+  }
+
+  /**
+   * IsFinished
+   *
+   * Check if the BlockParser is done
+   *
+   * @method
+   * @return {bool}
+   */
+  virtual bool IsFinished() const = 0;
+
+  /**
+   * GetResult
+   *
+   * Get the parsed HTML output.
+   *
+   * @method
+   * @return {std::stringstream}
+   */
+  std::stringstream&
+  GetResult()
+  {
+    return this->result;
+  }
+
+  /**
+   * Clear
+   *
+   * Clear the result to reuse the parser object.
+   *
+   * It is only used by one test for now.
+   *
+   * @method
+   * @return {void}
+   */
+  void
+  Clear()
+  {
+    this->result.str("");
+  }
+
+protected:
+  std::stringstream result;
+  std::shared_ptr<BlockParser> childParser;
+
+  virtual bool isInlineBlockAllowed() const = 0;
+  virtual bool isLineParserAllowed() const = 0;
+  virtual void parseBlock(std::string& line) = 0;
+
+  void
+  parseLine(std::string& line)
+  {
+    if (parseLineCallback)
+    {
+      parseLineCallback(line);
+    }
+  }
+
+  uint32_t
+  getIndentationWidth(const std::string& line) const
+  {
+    bool hasMetNonSpace = false;
+
+    uint32_t indentation = static_cast<uint32_t>(
+      std::count_if(
+        line.begin(),
+        line.end(),
+        [&hasMetNonSpace](unsigned char c)
+        {
+          if (hasMetNonSpace)
+          {
+            return false;
+          }
+
+          if (std::isspace(c))
+          {
+            return true;
+          }
+
+          hasMetNonSpace = true;
+          return false;
+        }
+      )
+    );
+
+    return indentation;
+  }
+
+  std::shared_ptr<BlockParser>
+  getBlockParserForLine(const std::string& line)
+  {
+    if (getBlockParserForLineCallback)
+    {
+      return getBlockParserForLineCallback(line);
+    }
+
+    return nullptr;
+  }
+
+private:
+  std::function<void(std::string&)> parseLineCallback;
+  std::function<std::shared_ptr<BlockParser>(const std::string& line)> getBlockParserForLineCallback;
+}; // class BlockParser
+
+// -----------------------------------------------------------------------------
+
+} // namespace maddy
diff --git a/maddy/breaklineparser.h b/maddy/breaklineparser.h
new file mode 100644
index 000000000..e3ee6fcde
--- /dev/null
+++ b/maddy/breaklineparser.h
@@ -0,0 +1,51 @@
+/*
+ * This project is licensed under the MIT license. For more information see the
+ * LICENSE file.
+ */
+#pragma once
+
+// -----------------------------------------------------------------------------
+
+#include <string>
+#include <regex>
+
+#include "maddy/lineparser.h"
+
+// -----------------------------------------------------------------------------
+
+namespace maddy {
+
+// -----------------------------------------------------------------------------
+
+/**
+ * BreakLineParser
+ *
+ * @class
+ */
+class BreakLineParser : public LineParser
+{
+public:
+  /**
+   * Parse
+   *
+   * From Markdown: `text\r\n text`
+   *
+   * To HTML: `text<br> text`
+   *
+   * @method
+   * @param {std::string&} line The line to interpret
+   * @return {void}
+   */
+  void
+  Parse(std::string& line) override
+  {
+    static std::regex re(R"((\r\n|\r))");
+    static std::string replacement = "<br>";
+
+    line = std::regex_replace(line, re, replacement);
+  }
+}; // class BreakLineParser
+
+// -----------------------------------------------------------------------------
+
+} // namespace maddy
diff --git a/maddy/checklistparser.h b/maddy/checklistparser.h
new file mode 100644
index 000000000..dab5ffcf8
--- /dev/null
+++ b/maddy/checklistparser.h
@@ -0,0 +1,140 @@
+/*
+ * This project is licensed under the MIT license. For more information see the
+ * LICENSE file.
+ */
+#pragma once
+
+// -----------------------------------------------------------------------------
+
+#include <functional>
+#include <regex>
+#include <string>
+
+#include "maddy/blockparser.h"
+
+// -----------------------------------------------------------------------------
+
+namespace maddy {
+
+// -----------------------------------------------------------------------------
+
+/**
+ * ChecklistParser
+ *
+ * @class
+ */
+class ChecklistParser : public BlockParser
+{
+public:
+  /**
+   * ctor
+   *
+   * @method
+   * @param {std::function<void(std::string&)>} parseLineCallback
+   * @param {std::function<std::shared_ptr<BlockParser>(const std::string& line)>} getBlockParserForLineCallback
+   */
+   ChecklistParser(
+    std::function<void(std::string&)> parseLineCallback,
+    std::function<std::shared_ptr<BlockParser>(const std::string& line)> getBlockParserForLineCallback
+  )
+    : BlockParser(parseLineCallback, getBlockParserForLineCallback)
+    , isStarted(false)
+    , isFinished(false)
+  {}
+
+  /**
+   * IsStartingLine
+   *
+   * An unordered list starts with `* `.
+   *
+   * @method
+   * @param {const std::string&} line
+   * @return {bool}
+   */
+  static bool
+  IsStartingLine(const std::string& line)
+  {
+    static std::regex re(R"(^- \[[x| ]\] .*)");
+    return std::regex_match(line, re);
+  }
+
+  /**
+   * IsFinished
+   *
+   * @method
+   * @return {bool}
+   */
+  bool
+  IsFinished() const override
+  {
+    return this->isFinished;
+  }
+
+protected:
+  bool
+  isInlineBlockAllowed() const override
+  {
+    return true;
+  }
+
+  bool
+  isLineParserAllowed() const override
+  {
+    return true;
+  }
+
+  void
+  parseBlock(std::string& line) override
+  {
+    bool isStartOfNewListItem = IsStartingLine(line);
+    uint32_t indentation = getIndentationWidth(line);
+
+    static std::regex lineRegex("^(- )");
+    line = std::regex_replace(line, lineRegex, "");
+
+    static std::regex emptyBoxRegex(R"(^\[ \])");
+    static std::string emptyBoxReplacement = "<input type=\"checkbox\"/>";
+    line = std::regex_replace(line, emptyBoxRegex, emptyBoxReplacement);
+
+    static std::regex boxRegex(R"(^\[x\])");
+    static std::string boxReplacement = "<input type=\"checkbox\" checked=\"checked\"/>";
+    line = std::regex_replace(line, boxRegex, boxReplacement);
+
+    if (!this->isStarted)
+    {
+      line = "<ul class=\"checklist\"><li><label>" + line;
+      this->isStarted = true;
+      return;
+    }
+
+    if (indentation >= 2)
+    {
+      line = line.substr(2);
+      return;
+    }
+
+    if (
+      line.empty() ||
+      line.find("</label></li><li><label>") != std::string::npos ||
+      line.find("</label></li></ul>") != std::string::npos
+    )
+    {
+      line = "</label></li></ul>" + line;
+      this->isFinished = true;
+      return;
+    }
+
+    if (isStartOfNewListItem)
+    {
+      line = "</label></li><li><label>" + line;
+    }
+  }
+
+private:
+  bool isStarted;
+  bool isFinished;
+}; // class ChecklistParser
+
+// -----------------------------------------------------------------------------
+
+} // namespace maddy
diff --git a/maddy/codeblockparser.h b/maddy/codeblockparser.h
new file mode 100644
index 000000000..05ccb8880
--- /dev/null
+++ b/maddy/codeblockparser.h
@@ -0,0 +1,149 @@
+/*
+ * This project is licensed under the MIT license. For more information see the
+ * LICENSE file.
+ */
+#pragma once
+
+// -----------------------------------------------------------------------------
+
+#include <functional>
+#include <string>
+#include <regex>
+
+#include "maddy/blockparser.h"
+#include "utility.h"
+
+// -----------------------------------------------------------------------------
+
+namespace maddy {
+
+// -----------------------------------------------------------------------------
+
+/**
+ * CodeBlockParser
+ *
+ * From Markdown: 3 times surrounded code (without space in the beginning)
+ *
+ * ```
+ *  ```
+ * some code
+ *  ```
+ * ```
+ *
+ * To HTML:
+ *
+ * ```
+ * <pre><code>
+ * some code
+ * </code></pre>
+ * ```
+ *
+ * @class
+ */
+class CodeBlockParser : public BlockParser
+{
+public:
+    /**
+   * ctor
+   *
+   * @method
+   * @param {std::function<void(std::string&)>} parseLineCallback
+   * @param {std::function<std::shared_ptr<BlockParser>(const std::string& line)>} getBlockParserForLineCallback
+   */
+    CodeBlockParser(
+            std::function<void(std::string&)> parseLineCallback,
+            std::function<std::shared_ptr<BlockParser>(const std::string& line)> getBlockParserForLineCallback
+            )
+        : BlockParser(parseLineCallback, getBlockParserForLineCallback)
+        , isStarted(false)
+        , isFinished(false)
+    {}
+
+    /**
+   * IsStartingLine
+   *
+   * If the line starts with three code signs, then it is a code block.
+   *
+   * ```
+   *  ```
+   * ```
+   *
+   * @method
+   * @param {const std::string&} line
+   * @return {bool}
+   */
+    static bool
+    IsStartingLine(const std::string& line)
+    {
+        static std::regex re("^(?:`){3}(.*)$");
+        return std::regex_match(line, re);
+    }
+
+    /**
+   * IsFinished
+   *
+   * @method
+   * @return {bool}
+   */
+    bool
+    IsFinished() const override
+    {
+        return this->isFinished;
+    }
+
+protected:
+    bool
+    isInlineBlockAllowed() const override
+    {
+        return false;
+    }
+
+    bool
+    isLineParserAllowed() const override
+    {
+        return false;
+    }
+
+    void
+    parseBlock(std::string& line) override
+    {
+        QString style = QString("\"background: %1; margin-left:12px; color:%2;\"").
+                arg(Utility::getAppHexColor("lightBackground")).
+                arg(Utility::getAppHexColor("lightText"));
+
+        if (line == "```")
+        {
+            if (!this->isStarted)
+            {
+                line = "<pre style=" + style.toStdString() + "><code>\n";
+                this->isStarted = true;
+                this->isFinished = false;
+                return;
+            }
+            else
+            {
+                line = "</code></pre>";
+                this->isFinished = true;
+                this->isStarted = false;
+                return;
+            }
+        }
+        else if (!this->isStarted && line.substr(0, 3) == "```")
+        {
+            line = "<pre style=" + style.toStdString() + " class=\"" + line.substr(3) + "\"><code>\n";
+            this->isStarted = true;
+            this->isFinished = false;
+            return;
+        }
+
+        line += "\n";
+    }
+
+private:
+    bool isStarted;
+    bool isFinished;
+}; // class CodeBlockParser
+
+// -----------------------------------------------------------------------------
+
+} // namespace maddy
diff --git a/maddy/docs/definitions.md b/maddy/docs/definitions.md
new file mode 100644
index 000000000..9be5075f1
--- /dev/null
+++ b/maddy/docs/definitions.md
@@ -0,0 +1,404 @@
+# Markdown Definitions
+
+This specification defines which markdown syntax can be parsed by maddy.
+There is no HTML allowed in the markdown syntax - or said otherwise - it might
+destroy the output, if there was HTML in your markdown.
+
+The Parser expects you to use spaces and not tabs for indentation in the
+markdown.
+
+If a line starts with `<` and `config->isHTMLWrappedInParagraph` is false, it
+expects that the upcoming line is HTML and therefor will not be surrounded by a
+paragraph.
+
+## Headlines
+
+```
+# h1 heading
+## h2 heading
+### h3 heading
+#### h4 heading
+##### h5 heading
+###### h6 heading
+```
+results in:
+```html
+<h1>h1 heading</h1>
+<h2>h2 heading</h2>
+<h3>h3 heading</h3>
+<h4>h4 heading</h4>
+<h5>h5 heading</h5>
+<h6>h6 heading</h6>
+```
+
+## Links
+
+```
+[Text of the link](http://example.com)
+```
+results in
+```html
+<a href="http://example.com">Text of the link</a>
+```
+
+## Lists
+
+### unordered
+Characters "*", "+" or "-" to make an unordered "bullet" list are equivalent.
+
+```
+
+- unordered
+* list
++ items
+
+```
+results in
+```html
+<ul>
+  <li>unordered</li>
+  <li>list</li>
+  <li>items</li>
+</ul>
+```
+
+```
+
+* unordered
+  * list
+  * items
+    * in
+    + an
+  - hierarchy
+
+```
+results in
+```html
+<ul>
+  <li>unordered
+    <ul>
+      <li>list</li>
+      <li>items
+        <ul>
+          <li>in</li>
+          <li>an</li>
+        </ul>
+      </li>
+      <li>hierarchy</li>
+    </ul>
+  </li>
+</ul>
+```
+
+### ordered
+
+```
+
+1. ordered
+2. list
+3. items
+
+```
+
+results in
+
+```html
+
+<ol>
+  <li>ordered</li>
+  <li>list</li>
+  <li>items</li>
+</ol>
+
+```
+
+```
+
+1. ordered
+* list
+* items
+
+```
+
+results in
+
+```html
+
+<ol>
+  <li>ordered</li>
+  <li>list</li>
+  <li>items</li>
+</ol>
+
+```
+
+```
+
+1. ordered
+* list
+  1. items
+  * in
+    1. an
+  * hierarchy
+
+```
+
+results in
+
+```html
+<ol>
+  <li>ordered</li>
+  <li>list
+    <ol>
+      <li>items</li>
+      <li>in
+        <ol>
+          <li>an</li>
+        </ol>
+      </li>
+      <li>hierarchy</li>
+    </ol>
+  </li>
+</ol>
+```
+
+### combination
+
+```
+
+* combination
+* of
+  1. unordered and
+  * ordered
+* list
+
+```
+results in
+```html
+<ul>
+  <li>combination</li>
+  <li>of
+    <ol>
+      <li>unordered and</li>
+      <li>ordered</li>
+    </ol>
+  </li>
+  <li>list</li>
+</ul>
+```
+
+### checklist
+
+```
+
+- [ ] some item
+  - [ ] another item
+- [x] some checked item
+
+```
+results in
+```html
+<ul class="checklist">
+  <li><label><input type="checkbox"/>some item
+    <ul class="checklist">
+      <li><label><input type="checkbox"/><span>another item</label></li>
+    </ul>
+  </label></li>
+  <li><label><input type="checkbox" checked="checked"/>some checked item</label></li>
+</ul>
+```
+might not work in combination with other lists
+
+## Code Blocks
+
+    ```
+    some code
+    ```
+
+results in
+```html
+<pre><code>
+some code
+</code></pre>
+```
+
+    ```cpp
+    int a = 42;
+    ```
+
+results in
+
+```html
+<pre class="cpp"><code>
+int a = 42;
+</code></pre>
+```
+
+## Inline code
+
+    some text `some inline code` some other text
+
+results in
+```html
+some text <code>some inline code</code> some other text
+```
+
+## quotes
+
+```
+> Some quote
+```
+results in
+```html
+<blockqoute>
+  <p>Some quote</p>
+</blockquote>
+```
+
+## bold
+
+```
+**bold text**
+__bold text__
+```
+results in
+```html
+<strong>bold text</strong>
+<strong>bold text</strong>
+```
+
+## italic
+
+```
+*italic text*
+```
+results in
+```html
+<i>italic text</i>
+```
+
+## emphasized
+
+This can be disabled by setting `config->isEmphasizedParserEnabled = false`.
+
+```
+_emphasized text_
+```
+results in
+```html
+<em>emphasized text</em>
+```
+
+## strikethrough
+
+```
+~~striked through text~~
+```
+results in
+```html
+<s>striked through text</s>
+```
+
+## horizontal line
+
+```
+---
+```
+results in
+```html
+<hr/>
+```
+
+## break line
+
+```
+New\r\nLine
+```
+results in
+```html
+New<br>
+Line
+```
+
+## Images
+
+```
+![Image alt text](http://example.com/example.png)
+```
+results in
+```html
+<img src="http://example.com/example.png" alt="Image alt text"/>
+```
+
+## Tables
+
+```
+
+|table>
+Left header | middle header | last header
+- | - | -
+cell 1 | cell 2 | cell 3
+cell 4 | cell 5 | cell 6
+- | - | -
+foot a | foot b | foot c
+|<table
+
+```
+becomes
+```html
+<table>
+  <thead>
+    <tr>
+      <th>Left header</th>
+      <th>middle header</th>
+      <th>last header</th>
+    </tr>
+  </thead>
+  <tbody>
+    <tr>
+      <td>cell 1</td>
+      <td>cell 2</td>
+      <td>cell 3</td>
+    </tr>
+    <tr>
+      <td>cell 4</td>
+      <td>cell 5</td>
+      <td>cell 6</td>
+    </tr>
+  </tbody>
+  <tfoot>
+    <tr>
+      <td>foot a</td>
+      <td>foot b</td>
+      <td>foot c</td>
+    </tr>
+  </tfoot>
+</table>
+```
+table header and footer are optional
+
+## LaTeX(MathJax) block support
+
+To turn on the LaTeX support - which basically is only a
+[MathJax](https://www.mathjax.org/) support and makes sure, that formulas aren't
+internally checked for other parsers - it has to be enabled in config:
+
+```cpp
+std::shared_ptr<maddy::ParserConfig> config = std::make_shared<maddy::ParserConfig>();
+config->enabledParsers |= maddy::types::LATEX_BLOCK_PARSER;
+
+std::shared_ptr<maddy::Parser> parser = std::make_shared<maddy::Parser>(config);
+std::string htmlOutput = parser->Parse(markdownInput);
+```
+
+After this you can do the following in Markdown:
+
+```
+$$x = {-b \\pm \\sqrt{b^2-4ac} \\over 2a}.$$
+```
+
+Which results in
+
+```html
+$$x = {-b \\pm \\sqrt{b^2-4ac} \\over 2a}.$$\n
+```
diff --git a/maddy/emphasizedparser.h b/maddy/emphasizedparser.h
new file mode 100644
index 000000000..8e5f93776
--- /dev/null
+++ b/maddy/emphasizedparser.h
@@ -0,0 +1,68 @@
+/*
+ * This project is licensed under the MIT license. For more information see the
+ * LICENSE file.
+ */
+#pragma once
+
+// -----------------------------------------------------------------------------
+
+#include <string>
+#include <regex>
+
+#include "maddy/lineparser.h"
+
+// -----------------------------------------------------------------------------
+
+namespace maddy {
+
+// -----------------------------------------------------------------------------
+
+/**
+ * EmphasizedParser
+ *
+ * Has to be used after the `StrongParser`.
+ *
+ * @class
+ */
+class EmphasizedParser : public LineParser
+{
+public:
+  /**
+   * Parse
+   *
+   * From Markdown: `text _text_`
+   *
+   * To HTML: `text <em>text</em>`
+   *
+   * @method
+   * @param {std::string&} line The line to interpret
+   * @return {void}
+   */
+  void
+  Parse(std::string& line) override
+  {
+      std::string pattern = "_";
+      std::string newPattern = "em";
+
+      for (;;) {
+          int patlen = pattern.size();
+
+          auto pos1 = line.find(pattern);
+          if (pos1 == std::string::npos) {
+              break;
+          }
+
+          auto pos2 = line.find(pattern, pos1 + patlen);
+          if (pos2 == std::string::npos) {
+              break;
+          }
+
+          std::string word = line.substr(pos1 + patlen, pos2 - pos1 - patlen);
+          line = line.replace(pos1, (patlen + pos2) - pos1, "<" + newPattern + ">" + word + "</" + newPattern + ">");
+      }
+  }
+}; // class EmphasizedParser
+
+// -----------------------------------------------------------------------------
+
+} // namespace maddy
diff --git a/maddy/headlineparser.h b/maddy/headlineparser.h
new file mode 100644
index 000000000..7b25d558d
--- /dev/null
+++ b/maddy/headlineparser.h
@@ -0,0 +1,143 @@
+/*
+ * This project is licensed under the MIT license. For more information see the
+ * LICENSE file.
+ */
+#pragma once
+
+// -----------------------------------------------------------------------------
+
+#include <functional>
+#include <string>
+#include <regex>
+
+#include "maddy/blockparser.h"
+
+// -----------------------------------------------------------------------------
+
+namespace maddy {
+
+// -----------------------------------------------------------------------------
+
+/**
+ * HeadlineParser
+ *
+ * From Markdown:
+ *
+ * ```
+ * # Headline 1
+ * ## Headline 2
+ * ### Headline 3
+ * #### Headline 4
+ * ##### Headline 5
+ * ###### Headline 6
+ * ```
+ *
+ * To HTML:
+ *
+ * ```
+ * <h1>Headline 1</h1>
+ * <h2>Headline 2</h2>
+ * <h3>Headline 3</h3>
+ * <h4>Headline 4</h4>
+ * <h5>Headline 5</h5>
+ * <h6>Headline 6</h6>
+ * ```
+ *
+ * @class
+ */
+class HeadlineParser : public BlockParser
+{
+public:
+  /**
+   * ctor
+   *
+   * @method
+   * @param {std::function<void(std::string&)>} parseLineCallback
+   * @param {std::function<std::shared_ptr<BlockParser>(const std::string& line)>} getBlockParserForLineCallback
+   */
+  HeadlineParser(
+    std::function<void(std::string&)> parseLineCallback,
+    std::function<std::shared_ptr<BlockParser>(const std::string& line)> getBlockParserForLineCallback,
+    bool isInlineParserAllowed = true
+  )
+    : BlockParser(parseLineCallback, getBlockParserForLineCallback)
+    , isInlineParserAllowed(isInlineParserAllowed)
+  {}
+
+  /**
+   * IsStartingLine
+   *
+   * If the line starts with 1 - 6 `#`, then it is a headline.
+   *
+   * @method
+   * @param {const std::string&} line
+   * @return {bool}
+   */
+  static bool
+  IsStartingLine(const std::string& line)
+  {
+    static std::regex re("^(?:#){1,6} (.*)");
+    return std::regex_match(line, re);
+  }
+
+  /**
+   * IsFinished
+   *
+   * The headline is always only one line long, so this method always returns
+   * true.
+   *
+   * @method
+   * @return {bool}
+   */
+  bool
+  IsFinished() const override
+  {
+    return true;
+  }
+
+protected:
+  bool
+  isInlineBlockAllowed() const override
+  {
+    return false;
+  }
+
+  bool
+  isLineParserAllowed() const override
+  {
+    return this->isInlineParserAllowed;
+  }
+
+  void
+  parseBlock(std::string& line) override
+  {
+    static std::vector<std::regex> hlRegex = {
+      std::regex("^# (.*)")
+      , std::regex("^(?:#){2} (.*)")
+      , std::regex("^(?:#){3} (.*)")
+      , std::regex("^(?:#){4} (.*)")
+      , std::regex("^(?:#){5} (.*)")
+      , std::regex("^(?:#){6} (.*)")
+    };
+    static std::vector<std::string> hlReplacement = {
+      "<h1>$1</h1>"
+      , "<h2>$1</h2>"
+      , "<h3>$1</h3>"
+      , "<h4>$1</h4>"
+      , "<h5>$1</h5>"
+      , "<h6>$1</h6>"
+    };
+
+    for (uint8_t i = 0; i < 6; ++i)
+    {
+      line = std::regex_replace(line, hlRegex[i], hlReplacement[i]);
+    }
+  }
+
+private:
+  bool isInlineParserAllowed;
+}; // class HeadlineParser
+
+// -----------------------------------------------------------------------------
+
+} // namespace maddy
diff --git a/maddy/horizontallineparser.h b/maddy/horizontallineparser.h
new file mode 100644
index 000000000..add6bf15b
--- /dev/null
+++ b/maddy/horizontallineparser.h
@@ -0,0 +1,106 @@
+/*
+ * This project is licensed under the MIT license. For more information see the
+ * LICENSE file.
+ */
+#pragma once
+
+// -----------------------------------------------------------------------------
+
+#include <functional>
+#include <string>
+#include <regex>
+
+#include "maddy/blockparser.h"
+
+// -----------------------------------------------------------------------------
+
+namespace maddy {
+
+// -----------------------------------------------------------------------------
+
+/**
+ * HorizontalLineParser
+ *
+ * From Markdown: `---`
+ *
+ * To HTML: `<hr/>`
+ *
+ * @class
+ */
+class HorizontalLineParser : public BlockParser
+{
+public:
+  /**
+   * ctor
+   *
+   * @method
+   * @param {std::function<void(std::string&)>} parseLineCallback
+   * @param {std::function<std::shared_ptr<BlockParser>(const std::string& line)>} getBlockParserForLineCallback
+   */
+  HorizontalLineParser(
+    std::function<void(std::string&)> parseLineCallback,
+    std::function<std::shared_ptr<BlockParser>(const std::string& line)> getBlockParserForLineCallback
+  )
+    : BlockParser(parseLineCallback, getBlockParserForLineCallback)
+    , lineRegex("^---$")
+  {}
+
+  /**
+   * IsStartingLine
+   *
+   * If the line has exact three dashes `---`, then it is a horizontal line.
+   *
+   * @method
+   * @param {const std::string&} line
+   * @return {bool}
+   */
+  static bool
+  IsStartingLine(const std::string& line)
+  {
+    static std::regex re("^---$");
+    return std::regex_match(line, re);
+  }
+
+  /**
+   * IsFinished
+   *
+   * The horizontal line is always only one line long, so this method always
+   * returns true.
+   *
+   * @method
+   * @return {bool}
+   */
+  bool
+  IsFinished() const override
+  {
+    return true;
+  }
+
+protected:
+  bool
+  isInlineBlockAllowed() const override
+  {
+    return false;
+  }
+
+  bool
+  isLineParserAllowed() const override
+  {
+    return false;
+  }
+
+  void
+  parseBlock(std::string& line) override
+  {
+    static std::string replacement = "<hr/>";
+
+    line = std::regex_replace(line, lineRegex, replacement);
+  }
+
+private:
+  std::regex lineRegex;
+}; // class HorizontalLineParser
+
+// -----------------------------------------------------------------------------
+
+} // namespace maddy
diff --git a/maddy/htmlparser.h b/maddy/htmlparser.h
new file mode 100644
index 000000000..b6845a71e
--- /dev/null
+++ b/maddy/htmlparser.h
@@ -0,0 +1,127 @@
+/*
+ * This project is licensed under the MIT license. For more information see the
+ * LICENSE file.
+ */
+#pragma once
+
+// -----------------------------------------------------------------------------
+
+#include <functional>
+#include <string>
+
+#include "maddy/blockparser.h"
+
+// -----------------------------------------------------------------------------
+
+namespace maddy {
+
+// -----------------------------------------------------------------------------
+
+/**
+ * HtmlParser
+ *
+ * @class
+ */
+class HtmlParser : public BlockParser
+{
+public:
+  /**
+   * ctor
+   *
+   * @method
+   * @param {std::function<void(std::string&)>} parseLineCallback
+   * @param {std::function<std::shared_ptr<BlockParser>(const std::string& line)>} getBlockParserForLineCallback
+   */
+   HtmlParser(
+    std::function<void(std::string&)> parseLineCallback,
+    std::function<std::shared_ptr<BlockParser>(const std::string& line)> getBlockParserForLineCallback
+  )
+    : BlockParser(parseLineCallback, getBlockParserForLineCallback)
+    , isStarted(false)
+    , isFinished(false)
+    , isGreaterThanFound(false)
+  {}
+
+  /**
+   * IsStartingLine
+   *
+   * If the line is starting with `<`, HTML is expected to follow.
+   * Nothing after that will be parsed, it only is copied.
+   *
+   * @method
+   * @param {const std::string&} line
+   * @return {bool}
+   */
+  static bool
+  IsStartingLine(const std::string& line)
+  {
+    return line[0] == '<';
+  }
+
+  /**
+   * IsFinished
+   *
+   * `>` followed by an empty line will end the HTML block.
+   *
+   * @method
+   * @return {bool}
+   */
+  bool
+  IsFinished() const override
+  {
+    return this->isFinished;
+  }
+
+protected:
+  bool
+  isInlineBlockAllowed() const override
+  {
+    return false;
+  }
+
+  bool
+  isLineParserAllowed() const override
+  {
+    return false;
+  }
+
+  void
+  parseBlock(std::string& line) override
+  {
+    if (!this->isStarted)
+    {
+      this->isStarted = true;
+    }
+
+    if (!line.empty() && line[line.size() - 1] == '>')
+    {
+      this->isGreaterThanFound = true;
+      return;
+    }
+
+    if (line.empty() && this->isGreaterThanFound)
+    {
+      this->isFinished = true;
+      return;
+    }
+
+    if (!line.empty() && this->isGreaterThanFound)
+    {
+      this->isGreaterThanFound = false;
+    }
+
+    if (!line.empty())
+    {
+      line += " ";
+    }
+  }
+
+private:
+  bool isStarted;
+  bool isFinished;
+  bool isGreaterThanFound;
+}; // class HtmlParser
+
+// -----------------------------------------------------------------------------
+
+} // namespace maddy
diff --git a/maddy/imageparser.h b/maddy/imageparser.h
new file mode 100644
index 000000000..4bb892d85
--- /dev/null
+++ b/maddy/imageparser.h
@@ -0,0 +1,92 @@
+/*
+ * This project is licensed under the MIT license. For more information see the
+ * LICENSE file.
+ */
+#pragma once
+
+// -----------------------------------------------------------------------------
+
+#include <string>
+
+#include "maddy/lineparser.h"
+
+#include <QStandardPaths>
+#include <QRegularExpression>
+#include <QFile>
+#include <QFileInfo>
+#include "utility.h"
+
+// -----------------------------------------------------------------------------
+
+namespace maddy {
+
+// -----------------------------------------------------------------------------
+
+/**
+ * ImageParser
+ *
+ * Has to be used before the `LinkParser`.
+ *
+ * @class
+ */
+class ImageParser : public LineParser
+{
+public:
+    /**
+   * Parse
+   *
+   * From Markdown: `![text](http://example.com/a.png)`
+   *
+   * To HTML: `<img src="http://example.com/a.png" alt="text"/>`
+   *
+   * @method
+   * @param {std::string&} line The line to interpret
+   * @return {void}
+   */
+    void
+    Parse(std::string& line) override
+    {
+        static QRegularExpression req(R"(\!\[([^\]]*)\]\(([^\]]*)\))");
+        QRegularExpressionMatch match = req.match(QString::fromStdString(line));
+
+        if (match.hasMatch()) {
+            QString txt = match.captured(1);
+            QString imgPath = match.captured(2);
+
+            if (!QFileInfo::exists(imgPath)) {
+                if (QUrl(imgPath).isValid()) {
+                    QString cacheLoc = QStandardPaths::writableLocation(QStandardPaths::CacheLocation);
+                    QString cachePath = imgPath;
+
+                    int indLastDot = cachePath.lastIndexOf(".");
+                    if (indLastDot > 0) {
+                        QString beginning = cachePath.mid(0, indLastDot);
+                        QString ending = cachePath.mid(indLastDot);
+                        QByteArray bytes = beginning.toUtf8();
+                        beginning = QString::number(Utility::crc32c((uint8_t*)bytes.data(), bytes.size()));
+                        cachePath = beginning + ending;
+                    }
+
+                    cachePath = cacheLoc + "/img/" + cachePath;
+
+                    if (!QFileInfo::exists(cachePath)) {
+                        QDir().mkpath(cacheLoc + "/img/");
+                        Utility::downloadUrlEventloop(imgPath, cachePath);
+                    }
+
+                    if (QFileInfo::exists(cachePath)) {
+                        imgPath = cachePath;
+                    }
+                }
+            }
+
+            QString update = QString::fromStdString(line).
+                    replace(req, QString("<img src=\"%1\" alt=\"%2\"/>").arg(imgPath, txt));
+            line = update.toStdString();
+        }
+    }
+}; // class ImageParser
+
+// -----------------------------------------------------------------------------
+
+} // namespace maddy
diff --git a/maddy/inlinecodeparser.h b/maddy/inlinecodeparser.h
new file mode 100644
index 000000000..3699501d6
--- /dev/null
+++ b/maddy/inlinecodeparser.h
@@ -0,0 +1,51 @@
+/*
+ * This project is licensed under the MIT license. For more information see the
+ * LICENSE file.
+ */
+#pragma once
+
+// -----------------------------------------------------------------------------
+
+#include <string>
+#include <regex>
+
+#include "maddy/lineparser.h"
+
+// -----------------------------------------------------------------------------
+
+namespace maddy {
+
+// -----------------------------------------------------------------------------
+
+/**
+ * InlineCodeParser
+ *
+ * @class
+ */
+class InlineCodeParser : public LineParser
+{
+public:
+  /**
+   * Parse
+   *
+   * From Markdown: `text `some code``
+   *
+   * To HTML: `text <code>some code</code>`
+   *
+   * @method
+   * @param {std::string&} line The line to interpret
+   * @return {void}
+   */
+  void
+  Parse(std::string& line) override
+  {
+    static std::regex re("`([^`]*)`");
+    static std::string replacement = "<code>$1</code>";
+
+    line = std::regex_replace(line, re, replacement);
+  }
+}; // class InlineCodeParser
+
+// -----------------------------------------------------------------------------
+
+} // namespace maddy
diff --git a/maddy/italicparser.h b/maddy/italicparser.h
new file mode 100644
index 000000000..4c81b210a
--- /dev/null
+++ b/maddy/italicparser.h
@@ -0,0 +1,66 @@
+/*
+ * This project is licensed under the MIT license. For more information see the
+ * LICENSE file.
+ */
+#pragma once
+
+// -----------------------------------------------------------------------------
+
+#include <string>
+#include <regex>
+
+#include "maddy/lineparser.h"
+
+// -----------------------------------------------------------------------------
+
+namespace maddy {
+
+// -----------------------------------------------------------------------------
+
+/**
+ * ItalicParser
+ *
+ * @class
+ */
+class ItalicParser : public LineParser
+{
+public:
+  /**
+   * Parse
+   *
+   * From Markdown: `text *text*`
+   *
+   * To HTML: `text <i>text</i>`
+   *
+   * @method
+   * @param {std::string&} line The line to interpret
+   * @return {void}
+   */
+  void
+  Parse(std::string& line) override
+  {
+      std::string pattern = "*";
+      std::string newPattern = "i";
+
+      for (;;) {
+          int patlen = pattern.size();
+
+          auto pos1 = line.find(pattern);
+          if (pos1 == std::string::npos) {
+              break;
+          }
+
+          auto pos2 = line.find(pattern, pos1 + patlen);
+          if (pos2 == std::string::npos) {
+              break;
+          }
+
+          std::string word = line.substr(pos1 + patlen, pos2 - pos1 - patlen);
+          line = line.replace(pos1, (patlen + pos2) - pos1, "<" + newPattern + ">" + word + "</" + newPattern + ">");
+      }
+  }
+}; // class ItalicParser
+
+// -----------------------------------------------------------------------------
+
+} // namespace maddy
diff --git a/maddy/latexblockparser.h b/maddy/latexblockparser.h
new file mode 100644
index 000000000..f668523b7
--- /dev/null
+++ b/maddy/latexblockparser.h
@@ -0,0 +1,135 @@
+/*
+ * This project is licensed under the MIT license. For more information see the
+ * LICENSE file.
+ */
+#pragma once
+
+// -----------------------------------------------------------------------------
+
+#include <functional>
+#include <string>
+#include <regex>
+
+#include "maddy/blockparser.h"
+
+// -----------------------------------------------------------------------------
+
+namespace maddy {
+
+// -----------------------------------------------------------------------------
+
+/**
+ * LatexBlockParser
+ *
+ * Support for https://www.mathjax.org/
+ * Be aware, that if you want to make MathJax work, you need also their
+ * JavaScript library added to your HTML code.
+ * maddy does not itself add that code to be more flexible in how you write your
+ * head and full body.
+ *
+ * From Markdown: `$$` surrounded text
+ *
+ * ```
+ *  $$some formula
+ *  $$
+ * ```
+ *
+ * To HTML:
+ *
+ * ```
+ * $$some formula
+ * $$
+ * ```
+ *
+ * @class
+ */
+class LatexBlockParser : public BlockParser
+{
+public:
+  /**
+   * ctor
+   *
+   * @method
+   * @param {std::function<void(std::string&)>} parseLineCallback
+   * @param {std::function<std::shared_ptr<BlockParser>(const std::string& line)>} getBlockParserForLineCallback
+   */
+   LatexBlockParser(
+    std::function<void(std::string&)> parseLineCallback,
+    std::function<std::shared_ptr<BlockParser>(const std::string& line)> getBlockParserForLineCallback
+  )
+    : BlockParser(parseLineCallback, getBlockParserForLineCallback)
+    , isStarted(false)
+    , isFinished(false)
+  {}
+
+  /**
+   * IsStartingLine
+   *
+   * If the line starts with two dollars, then it is a latex block.
+   *
+   * ```
+   *  $$
+   * ```
+   *
+   * @method
+   * @param {const std::string&} line
+   * @return {bool}
+   */
+  static bool
+  IsStartingLine(const std::string& line)
+  {
+    static std::regex re(R"(^(?:\$){2}(.*)$)");
+    return std::regex_match(line, re);
+  }
+
+  /**
+   * IsFinished
+   *
+   * @method
+   * @return {bool}
+   */
+  bool
+  IsFinished() const override
+  {
+    return this->isFinished;
+  }
+
+protected:
+  bool
+  isInlineBlockAllowed() const override
+  {
+    return false;
+  }
+
+  bool
+  isLineParserAllowed() const override
+  {
+    return false;
+  }
+
+  void
+  parseBlock(std::string& line) override
+  {
+    if (!this->isStarted && line.substr(0, 2) == "$$")
+    {
+      this->isStarted = true;
+      this->isFinished = false;
+    }
+
+    if (this->isStarted && !this->isFinished && line.size() > 1 && line.substr(line.size() - 2, 2) == "$$")
+    {
+      this->isFinished = true;
+      this->isStarted = false;
+    }
+
+    line += "\n";
+  }
+
+private:
+  bool isStarted;
+  bool isFinished;
+}; // class LatexBlockParser
+
+// -----------------------------------------------------------------------------
+
+} // namespace maddy
diff --git a/maddy/lineparser.h b/maddy/lineparser.h
new file mode 100644
index 000000000..55ec75946
--- /dev/null
+++ b/maddy/lineparser.h
@@ -0,0 +1,46 @@
+/*
+ * This project is licensed under the MIT license. For more information see the
+ * LICENSE file.
+ */
+#pragma once
+
+// -----------------------------------------------------------------------------
+
+#include <string>
+
+// -----------------------------------------------------------------------------
+
+namespace maddy {
+
+// -----------------------------------------------------------------------------
+
+/**
+ * LineParser
+ *
+ * @class
+ */
+class LineParser
+{
+public:
+  /**
+   * dtor
+   *
+   * @method
+   */
+  virtual ~LineParser() {}
+
+  /**
+   * Parse
+   *
+   * From Markdown to HTML
+   *
+   * @method
+   * @param {std::string&} line The line to interpret
+   * @return {void}
+   */
+  virtual void Parse(std::string& line) = 0;
+}; // class LineParser
+
+// -----------------------------------------------------------------------------
+
+} // namespace maddy
diff --git a/maddy/linkparser.h b/maddy/linkparser.h
new file mode 100644
index 000000000..e634d430e
--- /dev/null
+++ b/maddy/linkparser.h
@@ -0,0 +1,53 @@
+/*
+ * This project is licensed under the MIT license. For more information see the
+ * LICENSE file.
+ */
+#pragma once
+
+// -----------------------------------------------------------------------------
+
+#include <string>
+#include <regex>
+
+#include "maddy/lineparser.h"
+
+// -----------------------------------------------------------------------------
+
+namespace maddy {
+
+// -----------------------------------------------------------------------------
+
+/**
+ * LinkParser
+ *
+ * Has to be used after the `ImageParser`.
+ *
+ * @class
+ */
+class LinkParser : public LineParser
+{
+public:
+  /**
+   * Parse
+   *
+   * From Markdown: `[text](http://example.com)`
+   *
+   * To HTML: `<a href="http://example.com">text</a>`
+   *
+   * @method
+   * @param {std::string&} line The line to interpret
+   * @return {void}
+   */
+  void
+  Parse(std::string& line) override
+  {
+    static std::regex re(R"(\[([^\]]*)\]\(([^\]]*)\))");
+    static std::string replacement = "<a href=\"$2\">$1</a>";
+
+    line = std::regex_replace(line, re, replacement);
+  }
+}; // class LinkParser
+
+// -----------------------------------------------------------------------------
+
+} // namespace maddy
diff --git a/maddy/maddy.pri b/maddy/maddy.pri
new file mode 100644
index 000000000..5cb49c9ae
--- /dev/null
+++ b/maddy/maddy.pri
@@ -0,0 +1,26 @@
+HEADERS += \
+    $$PWD/blockparser.h \
+    $$PWD/breaklineparser.h \
+    $$PWD/checklistparser.h \
+    $$PWD/codeblockparser.h \
+    $$PWD/emphasizedparser.h \
+    $$PWD/headlineparser.h \
+    $$PWD/horizontallineparser.h \
+    $$PWD/htmlparser.h \
+    $$PWD/imageparser.h \
+    $$PWD/inlinecodeparser.h \
+    $$PWD/italicparser.h \
+    $$PWD/latexblockparser.h \
+    $$PWD/orderedlistparser.h \
+    $$PWD/paragraphparser.h \
+    $$PWD/parserconfig.h \
+    $$PWD/parser.h \
+    $$PWD/quoteparser.h \
+    $$PWD/strikethroughparser.h \
+    $$PWD/strongparser.h \
+    $$PWD/tableparser.h \
+    $$PWD/unorderedlistparser.h \
+    $$PWD/lineparser.h \
+    $$PWD/linkparser.h
+
+
diff --git a/maddy/orderedlistparser.h b/maddy/orderedlistparser.h
new file mode 100644
index 000000000..27a2acadc
--- /dev/null
+++ b/maddy/orderedlistparser.h
@@ -0,0 +1,142 @@
+/*
+ * This project is licensed under the MIT license. For more information see the
+ * LICENSE file.
+ */
+#pragma once
+
+// -----------------------------------------------------------------------------
+
+#include <functional>
+#include <regex>
+#include <string>
+
+#include "maddy/blockparser.h"
+
+// -----------------------------------------------------------------------------
+
+namespace maddy {
+
+// -----------------------------------------------------------------------------
+
+/**
+ * OrderedListParser
+ *
+ * @class
+ */
+class OrderedListParser : public BlockParser
+{
+public:
+  /**
+   * ctor
+   *
+   * @method
+   * @param {std::function<void(std::string&)>} parseLineCallback
+   * @param {std::function<std::shared_ptr<BlockParser>(const std::string& line)>} getBlockParserForLineCallback
+   */
+   OrderedListParser(
+    std::function<void(std::string&)> parseLineCallback,
+    std::function<std::shared_ptr<BlockParser>(const std::string& line)> getBlockParserForLineCallback
+  )
+    : BlockParser(parseLineCallback, getBlockParserForLineCallback)
+    , isStarted(false)
+    , isFinished(false)
+  {}
+
+  /**
+   * IsStartingLine
+   *
+   * An ordered list starts with `1. `.
+   *
+   * @method
+   * @param {const std::string&} line
+   * @return {bool}
+   */
+  static bool
+  IsStartingLine(const std::string& line)
+  {
+    static std::regex re("^1\\. .*");
+    return std::regex_match(line, re);
+  }
+
+  /**
+   * IsFinished
+   *
+   * @method
+   * @return {bool}
+   */
+  bool
+  IsFinished() const override
+  {
+    return this->isFinished;
+  }
+
+protected:
+  bool
+  isInlineBlockAllowed() const override
+  {
+    return true;
+  }
+
+  bool
+  isLineParserAllowed() const override
+  {
+    return true;
+  }
+
+  void
+  parseBlock(std::string& line) override
+  {
+    bool isStartOfNewListItem = this->isStartOfNewListItem(line);
+    uint32_t indentation = getIndentationWidth(line);
+
+    static std::regex orderedlineRegex(R"(^[1-9]+[0-9]*\. )");
+    line = std::regex_replace(line, orderedlineRegex, "");
+    static std::regex unorderedlineRegex(R"(^\* )");
+    line = std::regex_replace(line, unorderedlineRegex, "");
+
+    if (!this->isStarted)
+    {
+      line = "<ol><li>" + line;
+      this->isStarted = true;
+      return;
+    }
+
+    if (indentation >= 2)
+    {
+      line = line.substr(2);
+      return;
+    }
+
+    if (
+      line.empty() ||
+      line.find("</li><li>") != std::string::npos ||
+      line.find("</li></ol>") != std::string::npos ||
+      line.find("</li></ul>") != std::string::npos
+    )
+    {
+      line = "</li></ol>" + line;
+      this->isFinished = true;
+      return;
+    }
+
+    if (isStartOfNewListItem)
+    {
+      line = "</li><li>" + line;
+    }
+  }
+
+private:
+  bool isStarted;
+  bool isFinished;
+
+  bool
+  isStartOfNewListItem(const std::string& line) const
+  {
+    static std::regex re(R"(^(?:[1-9]+[0-9]*\. |\* ).*)");
+    return std::regex_match(line, re);
+  }
+}; // class OrderedListParser
+
+// -----------------------------------------------------------------------------
+
+} // namespace maddy
diff --git a/maddy/paragraphparser.h b/maddy/paragraphparser.h
new file mode 100644
index 000000000..40d19ccd5
--- /dev/null
+++ b/maddy/paragraphparser.h
@@ -0,0 +1,130 @@
+/*
+ * This project is licensed under the MIT license. For more information see the
+ * LICENSE file.
+ */
+#pragma once
+
+// -----------------------------------------------------------------------------
+
+#include <functional>
+#include <string>
+
+#include "maddy/blockparser.h"
+
+// -----------------------------------------------------------------------------
+
+namespace maddy {
+
+// -----------------------------------------------------------------------------
+
+/**
+ * ParagraphParser
+ *
+ * @class
+ */
+class ParagraphParser : public BlockParser
+{
+public:
+  /**
+   * ctor
+   *
+   * @method
+   * @param {std::function<void(std::string&)>} parseLineCallback
+   * @param {std::function<std::shared_ptr<BlockParser>(const std::string& line)>} getBlockParserForLineCallback
+   */
+   ParagraphParser(
+    std::function<void(std::string&)> parseLineCallback,
+    std::function<std::shared_ptr<BlockParser>(const std::string& line)> getBlockParserForLineCallback,
+    bool isEnabled
+  )
+    : BlockParser(parseLineCallback, getBlockParserForLineCallback)
+    , isStarted(false)
+    , isFinished(false)
+    , isEnabled(isEnabled)
+  {}
+
+  /**
+   * IsStartingLine
+   *
+   * If the line is not empty, it will be a paragraph.
+   *
+   * This block parser has to always run as the last one!
+   *
+   * @method
+   * @param {const std::string&} line
+   * @return {bool}
+   */
+  static bool
+  IsStartingLine(const std::string& line)
+  {
+    return !line.empty();
+  }
+
+  /**
+   * IsFinished
+   *
+   * An empty line will end the paragraph.
+   *
+   * @method
+   * @return {bool}
+   */
+  bool
+  IsFinished() const override
+  {
+    return this->isFinished;
+  }
+
+protected:
+  bool
+  isInlineBlockAllowed() const override
+  {
+    return false;
+  }
+
+  bool
+  isLineParserAllowed() const override
+  {
+    return true;
+  }
+
+  void
+  parseBlock(std::string& line) override
+  {
+    if (this->isEnabled && !this->isStarted)
+    {
+      line = "<p>" + line + " ";
+      this->isStarted = true;
+      return;
+    }
+    else if (!this->isEnabled && !this->isStarted)
+    {
+      line += " ";
+      this->isStarted = true;
+      return;
+    }
+
+    if (this->isEnabled && line.empty())
+    {
+      line += "</p>";
+      this->isFinished = true;
+      return;
+    }
+    else if (!this->isEnabled && line.empty())
+    {
+      line += "<br/>";
+      this->isFinished = true;
+      return;
+    }
+
+    line += " ";
+  }
+
+private:
+  bool isStarted;
+  bool isFinished;
+  bool isEnabled;
+}; // class ParagraphParser
+
+// -----------------------------------------------------------------------------
+
+} // namespace maddy
diff --git a/maddy/parser.h b/maddy/parser.h
new file mode 100644
index 000000000..aeb349da8
--- /dev/null
+++ b/maddy/parser.h
@@ -0,0 +1,496 @@
+/*
+ * This project is licensed under the MIT license. For more information see the
+ * LICENSE file.
+ */
+#pragma once
+
+// -----------------------------------------------------------------------------
+
+#include <memory>
+#include <functional>
+#include <string>
+
+#include "maddy/parserconfig.h"
+
+// BlockParser
+#include "maddy/checklistparser.h"
+#include "maddy/codeblockparser.h"
+#include "maddy/headlineparser.h"
+#include "maddy/horizontallineparser.h"
+#include "maddy/htmlparser.h"
+#include "maddy/latexblockparser.h"
+#include "maddy/orderedlistparser.h"
+#include "maddy/paragraphparser.h"
+#include "maddy/quoteparser.h"
+#include "maddy/tableparser.h"
+#include "maddy/unorderedlistparser.h"
+
+// LineParser
+#include "maddy/breaklineparser.h"
+#include "maddy/emphasizedparser.h"
+#include "maddy/imageparser.h"
+#include "maddy/inlinecodeparser.h"
+#include "maddy/italicparser.h"
+#include "maddy/linkparser.h"
+#include "maddy/strikethroughparser.h"
+#include "maddy/strongparser.h"
+
+// -----------------------------------------------------------------------------
+
+namespace maddy {
+
+// -----------------------------------------------------------------------------
+
+/**
+ * Parser
+ *
+ * Transforms Markdown to HTML
+ *
+ * @class
+ */
+class Parser
+{
+public:
+  /**
+   * Version info
+   *
+   * Check https://github.com/progsource/maddy/blob/master/CHANGELOG.md
+   * for the changelog.
+  */
+  static const std::string& version() { static const std::string v = "1.3.0"; return v; }
+
+  /**
+   * ctor
+   *
+   * Initializes all `LineParser`
+   *
+   * @method
+   */
+  Parser(std::shared_ptr<ParserConfig> config = nullptr)
+    : config(config)
+  {
+    // deprecated backward compatibility
+    // will be removed in 1.4.0 latest including the booleans
+    if (this->config && !this->config->isEmphasizedParserEnabled)
+    {
+      this->config->enabledParsers &= ~maddy::types::EMPHASIZED_PARSER;
+    }
+    if (this->config && !this->config->isHTMLWrappedInParagraph)
+    {
+      this->config->enabledParsers |= maddy::types::HTML_PARSER;
+    }
+
+    if (
+      !this->config ||
+      (this->config->enabledParsers & maddy::types::BREAKLINE_PARSER) != 0
+    )
+    {
+      this->breakLineParser = std::make_shared<BreakLineParser>();
+    }
+
+    if (
+      !this->config ||
+      (this->config->enabledParsers & maddy::types::EMPHASIZED_PARSER) != 0
+    )
+    {
+      this->emphasizedParser = std::make_shared<EmphasizedParser>();
+    }
+
+    if (
+      !this->config ||
+      (this->config->enabledParsers & maddy::types::IMAGE_PARSER) != 0
+    )
+    {
+      this->imageParser = std::make_shared<ImageParser>();
+    }
+
+    if (
+      !this->config ||
+      (this->config->enabledParsers & maddy::types::INLINE_CODE_PARSER) != 0
+    )
+    {
+      this->inlineCodeParser = std::make_shared<InlineCodeParser>();
+    }
+
+    if (
+      !this->config ||
+      (this->config->enabledParsers & maddy::types::ITALIC_PARSER) != 0
+    )
+    {
+      this->italicParser = std::make_shared<ItalicParser>();
+    }
+
+    if (
+      !this->config ||
+      (this->config->enabledParsers & maddy::types::LINK_PARSER) != 0
+    )
+    {
+      this->linkParser = std::make_shared<LinkParser>();
+    }
+
+    if (
+      !this->config ||
+      (this->config->enabledParsers & maddy::types::STRIKETHROUGH_PARSER) != 0
+    )
+    {
+      this->strikeThroughParser = std::make_shared<StrikeThroughParser>();
+    }
+
+    if (
+      !this->config ||
+      (this->config->enabledParsers & maddy::types::STRONG_PARSER) != 0
+    )
+    {
+      this->strongParser = std::make_shared<StrongParser>();
+    }
+  }
+
+  /**
+   * Parse
+   *
+   * @method
+   * @param {const std::istream&} markdown
+   * @return {std::string} HTML
+   */
+  std::string
+  Parse(std::istream& markdown) const
+  {
+    std::string result = "";
+    std::shared_ptr<BlockParser> currentBlockParser = nullptr;
+
+    for (std::string line; std::getline(markdown, line);)
+    {
+      if (!currentBlockParser)
+      {
+        currentBlockParser = getBlockParserForLine(line);
+      }
+
+      if (currentBlockParser)
+      {
+        currentBlockParser->AddLine(line);
+
+        if (currentBlockParser->IsFinished())
+        {
+          result += currentBlockParser->GetResult().str();
+          currentBlockParser = nullptr;
+        }
+      }
+    }
+
+    // make sure, that all parsers are finished
+    if (currentBlockParser)
+    {
+      std::string emptyLine = "";
+      currentBlockParser->AddLine(emptyLine);
+      if (currentBlockParser->IsFinished())
+      {
+        result += currentBlockParser->GetResult().str();
+        currentBlockParser = nullptr;
+      }
+    }
+
+    return result;
+  }
+
+private:
+  std::shared_ptr<ParserConfig> config;
+  std::shared_ptr<BreakLineParser> breakLineParser;
+  std::shared_ptr<EmphasizedParser> emphasizedParser;
+  std::shared_ptr<ImageParser> imageParser;
+  std::shared_ptr<InlineCodeParser> inlineCodeParser;
+  std::shared_ptr<ItalicParser> italicParser;
+  std::shared_ptr<LinkParser> linkParser;
+  std::shared_ptr<StrikeThroughParser> strikeThroughParser;
+  std::shared_ptr<StrongParser> strongParser;
+
+  // block parser have to run before
+  void
+  runLineParser(std::string& line) const
+  {
+    // Attention! ImageParser has to be before LinkParser
+    if (this->imageParser)
+    {
+      this->imageParser->Parse(line);
+    }
+
+    if (this->linkParser)
+    {
+      this->linkParser->Parse(line);
+    }
+
+    // Attention! StrongParser has to be before EmphasizedParser
+    if (this->strongParser)
+    {
+      this->strongParser->Parse(line);
+    }
+
+    if (this->emphasizedParser)
+    {
+      this->emphasizedParser->Parse(line);
+    }
+
+    if (this->strikeThroughParser)
+    {
+      this->strikeThroughParser->Parse(line);
+    }
+
+    if (this->inlineCodeParser)
+    {
+      this->inlineCodeParser->Parse(line);
+    }
+
+    if (this->italicParser)
+    {
+      this->italicParser->Parse(line);
+    }
+
+    if (this->breakLineParser)
+    {
+      this->breakLineParser->Parse(line);
+    }
+  }
+
+  std::shared_ptr<BlockParser>
+  getBlockParserForLine(const std::string& line) const
+  {
+    std::shared_ptr<BlockParser> parser;
+
+    if (
+      (
+        !this->config ||
+        (this->config->enabledParsers & maddy::types::CODE_BLOCK_PARSER) != 0
+      ) &&
+      maddy::CodeBlockParser::IsStartingLine(line)
+    )
+    {
+      parser = std::make_shared<maddy::CodeBlockParser>(
+        nullptr,
+        nullptr
+      );
+    }
+    else if (
+      this->config &&
+      (this->config->enabledParsers & maddy::types::LATEX_BLOCK_PARSER) != 0 &&
+      maddy::LatexBlockParser::IsStartingLine(line)
+    )
+    {
+      parser = std::make_shared<LatexBlockParser>(
+        nullptr,
+        nullptr
+      );
+    }
+    else if (
+      (
+        !this->config ||
+        (this->config->enabledParsers & maddy::types::HEADLINE_PARSER) != 0
+      ) &&
+      maddy::HeadlineParser::IsStartingLine(line)
+    )
+    {
+      if (!this->config || this->config->isHeadlineInlineParsingEnabled)
+      {
+        parser = std::make_shared<maddy::HeadlineParser>(
+          [this](std::string& line){ this->runLineParser(line); },
+          nullptr,
+          true
+        );
+      }
+      else
+      {
+        parser = std::make_shared<maddy::HeadlineParser>(
+          nullptr,
+          nullptr,
+          false
+        );
+      }
+    }
+    else if (
+      (
+        !this->config ||
+        (this->config->enabledParsers & maddy::types::HORIZONTAL_LINE_PARSER) != 0
+      ) &&
+      maddy::HorizontalLineParser::IsStartingLine(line)
+    )
+    {
+      parser = std::make_shared<maddy::HorizontalLineParser>(
+        nullptr,
+        nullptr
+      );
+    }
+    else if (
+      (
+        !this->config ||
+        (this->config->enabledParsers & maddy::types::QUOTE_PARSER) != 0
+      ) &&
+      maddy::QuoteParser::IsStartingLine(line)
+    )
+    {
+      parser = std::make_shared<maddy::QuoteParser>(
+        [this](std::string& line){ this->runLineParser(line); },
+        [this](const std::string& line){ return this->getBlockParserForLine(line); }
+      );
+    }
+    else if (
+      (
+        !this->config ||
+        (this->config->enabledParsers & maddy::types::TABLE_PARSER) != 0
+      ) &&
+      maddy::TableParser::IsStartingLine(line)
+    )
+    {
+      parser = std::make_shared<maddy::TableParser>(
+        [this](std::string& line){ this->runLineParser(line); },
+        nullptr
+      );
+    }
+    else if (
+      (
+        !this->config ||
+        (this->config->enabledParsers & maddy::types::CHECKLIST_PARSER) != 0
+      ) &&
+      maddy::ChecklistParser::IsStartingLine(line)
+    )
+    {
+      parser = this->createChecklistParser();
+    }
+    else if (
+      (
+        !this->config ||
+        (this->config->enabledParsers & maddy::types::ORDERED_LIST_PARSER) != 0
+      ) &&
+      maddy::OrderedListParser::IsStartingLine(line)
+    )
+    {
+      parser = this->createOrderedListParser();
+    }
+    else if (
+      (
+        !this->config ||
+        (this->config->enabledParsers & maddy::types::UNORDERED_LIST_PARSER) != 0
+      ) &&
+      maddy::UnorderedListParser::IsStartingLine(line)
+    )
+    {
+      parser = this->createUnorderedListParser();
+    }
+    else if (
+      this->config &&
+      (this->config->enabledParsers & maddy::types::HTML_PARSER) != 0 &&
+      maddy::HtmlParser::IsStartingLine(line)
+    )
+    {
+      parser = std::make_shared<maddy::HtmlParser>(nullptr, nullptr);
+    }
+    else if (
+      maddy::ParagraphParser::IsStartingLine(line)
+    )
+    {
+      parser = std::make_shared<maddy::ParagraphParser>(
+        [this](std::string& line){ this->runLineParser(line); },
+        nullptr,
+        (!this->config || (this->config->enabledParsers & maddy::types::PARAGRAPH_PARSER) != 0)
+      );
+    }
+
+    return parser;
+  }
+
+  std::shared_ptr<BlockParser>
+  createChecklistParser() const
+  {
+    return std::make_shared<maddy::ChecklistParser>(
+      [this](std::string& line){ this->runLineParser(line); },
+      [this](const std::string& line)
+      {
+        std::shared_ptr<BlockParser> parser;
+
+        if (
+          (
+            !this->config ||
+            (this->config->enabledParsers & maddy::types::CHECKLIST_PARSER) != 0
+          ) &&
+          maddy::ChecklistParser::IsStartingLine(line)
+        )
+        {
+          parser = this->createChecklistParser();
+        }
+
+        return parser;
+      }
+    );
+  }
+
+  std::shared_ptr<BlockParser>
+  createOrderedListParser() const
+  {
+    return std::make_shared<maddy::OrderedListParser>(
+      [this](std::string& line){ this->runLineParser(line); },
+      [this](const std::string& line)
+      {
+        std::shared_ptr<BlockParser> parser;
+
+        if (
+          (
+            !this->config ||
+            (this->config->enabledParsers & maddy::types::ORDERED_LIST_PARSER) != 0
+          ) &&
+          maddy::OrderedListParser::IsStartingLine(line)
+        )
+        {
+          parser = this->createOrderedListParser();
+        }
+        else if (
+          (
+            !this->config ||
+            (this->config->enabledParsers & maddy::types::UNORDERED_LIST_PARSER) != 0
+          ) &&
+          maddy::UnorderedListParser::IsStartingLine(line)
+        )
+        {
+          parser = this->createUnorderedListParser();
+        }
+
+        return parser;
+      }
+    );
+  }
+
+  std::shared_ptr<BlockParser>
+  createUnorderedListParser() const
+  {
+    return std::make_shared<maddy::UnorderedListParser>(
+      [this](std::string& line){ this->runLineParser(line); },
+      [this](const std::string& line)
+      {
+        std::shared_ptr<BlockParser> parser;
+
+        if (
+          (
+            !this->config ||
+            (this->config->enabledParsers & maddy::types::ORDERED_LIST_PARSER) != 0
+          ) &&
+          maddy::OrderedListParser::IsStartingLine(line)
+        )
+        {
+          parser = this->createOrderedListParser();
+        }
+        else if (
+          (
+            !this->config ||
+            (this->config->enabledParsers & maddy::types::UNORDERED_LIST_PARSER) != 0
+          ) &&
+          maddy::UnorderedListParser::IsStartingLine(line)
+        )
+        {
+          parser = this->createUnorderedListParser();
+        }
+
+        return parser;
+      }
+    );
+  }
+}; // class Parser
+
+// -----------------------------------------------------------------------------
+
+} // namespace maddy
diff --git a/maddy/parserconfig.h b/maddy/parserconfig.h
new file mode 100644
index 000000000..a7cdd9324
--- /dev/null
+++ b/maddy/parserconfig.h
@@ -0,0 +1,96 @@
+/*
+ * This project is licensed under the MIT license. For more information see the
+ * LICENSE file.
+ */
+#pragma once
+
+#include <stdint.h>
+
+// -----------------------------------------------------------------------------
+
+namespace maddy {
+
+// -----------------------------------------------------------------------------
+
+namespace types {
+
+/**
+ * PARSER_TYPE
+ *
+ * Bitwise flags to turn on/off each parser
+*/
+enum PARSER_TYPE : uint32_t
+{
+  NONE                     = 0,
+
+  BREAKLINE_PARSER         = 0b0000000000000000001,
+  CHECKLIST_PARSER         = 0b0000000000000000010,
+  CODE_BLOCK_PARSER        = 0b0000000000000000100,
+  EMPHASIZED_PARSER        = 0b0000000000000001000, // !
+  HEADLINE_PARSER          = 0b0000000000000010000,
+  HORIZONTAL_LINE_PARSER   = 0b0000000000000100000,
+  HTML_PARSER              = 0b0000000000001000000,
+  IMAGE_PARSER             = 0b0000000000010000000,
+  INLINE_CODE_PARSER       = 0b0000000000100000000,
+  ITALIC_PARSER            = 0b0000000001000000000, // !
+  LINK_PARSER              = 0b0000000010000000000,
+  ORDERED_LIST_PARSER      = 0b0000000100000000000,
+  PARAGRAPH_PARSER         = 0b0000001000000000000,
+  QUOTE_PARSER             = 0b0000010000000000000,
+  STRIKETHROUGH_PARSER     = 0b0000100000000000000, // !
+  STRONG_PARSER            = 0b0001000000000000000, // !
+  TABLE_PARSER             = 0b0010000000000000000,
+  UNORDERED_LIST_PARSER    = 0b0100000000000000000,
+  LATEX_BLOCK_PARSER       = 0b1000000000000000000,
+
+  DEFAULT                  = 0b0111111111110111111,
+  ALL                      = 0b1111111111111111111,
+  TEST                     = 0b1110011110111110111,
+};
+
+} // namespace types
+
+/**
+ * ParserConfig
+ *
+ * @class
+ */
+struct ParserConfig
+{
+  /**
+   * @deprecated will be removed in 1.4.0 latest
+   *
+   * this flag = false == `enabledParsers &= ~maddy::types::EMPHASIZED_PARSER`
+  */
+  bool isEmphasizedParserEnabled;
+
+  /**
+   * @deprecated will be removed in 1.4.0 latest
+   *
+   * this flag = false == `enabledParsers |= maddy::types::HTML_PARSER`
+  */
+  bool isHTMLWrappedInParagraph;
+
+  /**
+   * en-/disable headline inline-parsing
+   *
+   * default: enabled
+  */
+  bool isHeadlineInlineParsingEnabled;
+
+  /**
+   * enabled parsers bitfield
+  */
+  uint32_t enabledParsers;
+
+  ParserConfig()
+    : isEmphasizedParserEnabled(true)
+    , isHTMLWrappedInParagraph(true)
+    , isHeadlineInlineParsingEnabled(true)
+    , enabledParsers(maddy::types::DEFAULT)
+  {}
+}; // class ParserConfig
+
+// -----------------------------------------------------------------------------
+
+} // namespace maddy
diff --git a/maddy/quoteparser.h b/maddy/quoteparser.h
new file mode 100644
index 000000000..c0415dd3d
--- /dev/null
+++ b/maddy/quoteparser.h
@@ -0,0 +1,165 @@
+/*
+ * This project is licensed under the MIT license. For more information see the
+ * LICENSE file.
+ */
+#pragma once
+
+// -----------------------------------------------------------------------------
+
+#include <functional>
+#include <regex>
+#include <string>
+
+#include "maddy/blockparser.h"
+
+// -----------------------------------------------------------------------------
+
+namespace maddy {
+
+// -----------------------------------------------------------------------------
+
+/**
+ * QuoteParser
+ *
+ * @class
+ */
+class QuoteParser : public BlockParser
+{
+public:
+  /**
+   * ctor
+   *
+   * @method
+   * @param {std::function<void(std::string&)>} parseLineCallback
+   * @param {std::function<std::shared_ptr<BlockParser>(const std::string& line)>} getBlockParserForLineCallback
+   */
+   QuoteParser(
+    std::function<void(std::string&)> parseLineCallback,
+    std::function<std::shared_ptr<BlockParser>(const std::string& line)> getBlockParserForLineCallback
+  )
+    : BlockParser(parseLineCallback, getBlockParserForLineCallback)
+    , isStarted(false)
+    , isFinished(false)
+  {}
+
+  /**
+   * IsStartingLine
+   *
+   * A quote starts with `> `.
+   *
+   * @method
+   * @param {const std::string&} line
+   * @return {bool}
+   */
+  static bool
+  IsStartingLine(const std::string& line)
+  {
+    static std::regex re(R"(^\>.*)");
+    return std::regex_match(line, re);
+  }
+
+  /**
+   * AddLine
+   *
+   * Adding a line which has to be parsed.
+   *
+   * @method
+   * @param {std::string&} line
+   * @return {void}
+   */
+  void
+  AddLine(std::string& line) override
+  {
+    if (!this->isStarted)
+    {
+      this->result << "<blockquote>";
+      this->isStarted = true;
+    }
+
+    bool finish = false;
+    if (line.empty())
+    {
+      finish = true;
+    }
+
+    this->parseBlock(line);
+
+    if (this->isInlineBlockAllowed() && !this->childParser)
+    {
+      this->childParser = this->getBlockParserForLine(line);
+    }
+
+    if (this->childParser)
+    {
+      this->childParser->AddLine(line);
+
+      if (this->childParser->IsFinished())
+      {
+        this->result << this->childParser->GetResult().str();
+        this->childParser = nullptr;
+      }
+
+      return;
+    }
+
+    if (this->isLineParserAllowed())
+    {
+      this->parseLine(line);
+    }
+
+    if (finish)
+    {
+      this->result << "</blockquote>";
+      this->isFinished = true;
+    }
+
+    this->result << line;
+  }
+
+  /**
+   * IsFinished
+   *
+   * @method
+   * @return {bool}
+   */
+  bool
+  IsFinished() const override
+  {
+    return this->isFinished;
+  }
+
+protected:
+  bool
+  isInlineBlockAllowed() const override
+  {
+    return true;
+  }
+
+  bool
+  isLineParserAllowed() const override
+  {
+    return true;
+  }
+
+  void
+  parseBlock(std::string& line) override
+  {
+    static std::regex lineRegexWithSpace(R"(^\> )");
+    line = std::regex_replace(line, lineRegexWithSpace, "");
+    static std::regex lineRegexWithoutSpace(R"(^\>)");
+    line = std::regex_replace(line, lineRegexWithoutSpace, "");
+
+    if (!line.empty())
+    {
+      line += " ";
+    }
+  }
+
+private:
+  bool isStarted;
+  bool isFinished;
+}; // class QuoteParser
+
+// -----------------------------------------------------------------------------
+
+} // namespace maddy
diff --git a/maddy/strikethroughparser.h b/maddy/strikethroughparser.h
new file mode 100644
index 000000000..b0a94f153
--- /dev/null
+++ b/maddy/strikethroughparser.h
@@ -0,0 +1,66 @@
+/*
+ * This project is licensed under the MIT license. For more information see the
+ * LICENSE file.
+ */
+#pragma once
+
+// -----------------------------------------------------------------------------
+
+#include <string>
+#include <regex>
+
+#include "maddy/lineparser.h"
+
+// -----------------------------------------------------------------------------
+
+namespace maddy {
+
+// -----------------------------------------------------------------------------
+
+/**
+ * StrikeThroughParser
+ *
+ * @class
+ */
+class StrikeThroughParser : public LineParser
+{
+public:
+  /**
+   * Parse
+   *
+   * From Markdown: `text ~~text~~`
+   *
+   * To HTML: `text <s>text</s>`
+   *
+   * @method
+   * @param {std::string&} line The line to interpret
+   * @return {void}
+   */
+  void
+  Parse(std::string& line) override
+  {
+      std::string pattern = "~~";
+      std::string newPattern = "s";
+
+      for (;;) {
+          int patlen = pattern.size();
+
+          auto pos1 = line.find(pattern);
+          if (pos1 == std::string::npos) {
+              break;
+          }
+
+          auto pos2 = line.find(pattern, pos1 + patlen);
+          if (pos2 == std::string::npos) {
+              break;
+          }
+
+          std::string word = line.substr(pos1 + patlen, pos2 - pos1 - patlen);
+          line = line.replace(pos1, (patlen + pos2) - pos1, "<" + newPattern + ">" + word + "</" + newPattern + ">");
+      }
+  }
+}; // class StrikeThroughParser
+
+// -----------------------------------------------------------------------------
+
+} // namespace maddy
diff --git a/maddy/strongparser.h b/maddy/strongparser.h
new file mode 100644
index 000000000..6a441ea56
--- /dev/null
+++ b/maddy/strongparser.h
@@ -0,0 +1,87 @@
+/*
+ * This project is licensed under the MIT license. For more information see the
+ * LICENSE file.
+ */
+#pragma once
+
+// -----------------------------------------------------------------------------
+
+#include <string>
+#include <regex>
+
+#include "maddy/lineparser.h"
+
+// -----------------------------------------------------------------------------
+
+namespace maddy {
+
+// -----------------------------------------------------------------------------
+
+/**
+ * StrongParser
+ *
+ * Has to be used before the `EmphasizedParser`.
+ *
+ * @class
+ */
+class StrongParser : public LineParser
+{
+public:
+  /**
+   * Parse
+   *
+   * From Markdown: `text **text** __text__`
+   *
+   * To HTML: `text <strong>text</strong> <strong>text</strong>`
+   *
+   * @method
+   * @param {std::string&} line The line to interpret
+   * @return {void}
+   */
+  void
+  Parse(std::string& line) override
+  {
+      std::string pattern = "**";
+      std::string newPattern = "strong";
+
+      for (;;) {
+          int patlen = pattern.size();
+
+          auto pos1 = line.find(pattern);
+          if (pos1 == std::string::npos) {
+              break;
+          }
+
+          auto pos2 = line.find(pattern, pos1 + patlen);
+          if (pos2 == std::string::npos) {
+              break;
+          }
+
+          std::string word = line.substr(pos1 + patlen, pos2 - pos1 - patlen);
+          line = line.replace(pos1, (patlen + pos2) - pos1, "<" + newPattern + ">" + word + "</" + newPattern + ">");
+      }
+
+      pattern = "__";
+
+      for (;;) {
+          int patlen = pattern.size();
+
+          auto pos1 = line.find(pattern);
+          if (pos1 == std::string::npos) {
+              break;
+          }
+
+          auto pos2 = line.find(pattern, pos1 + patlen);
+          if (pos2 == std::string::npos) {
+              break;
+          }
+
+          std::string word = line.substr(pos1 + patlen, pos2 - pos1 - patlen);
+          line = line.replace(pos1, (patlen + pos2) - pos1, "<" + newPattern + ">" + word + "</" + newPattern + ">");
+      }
+  }
+}; // class StrongParser
+
+// -----------------------------------------------------------------------------
+
+} // namespace maddy
diff --git a/maddy/tableparser.h b/maddy/tableparser.h
new file mode 100644
index 000000000..c230cc620
--- /dev/null
+++ b/maddy/tableparser.h
@@ -0,0 +1,246 @@
+/*
+ * This project is licensed under the MIT license. For more information see the
+ * LICENSE file.
+ */
+#pragma once
+
+// -----------------------------------------------------------------------------
+
+#include <functional>
+#include <string>
+#include <regex>
+
+#include "maddy/blockparser.h"
+
+// -----------------------------------------------------------------------------
+
+namespace maddy {
+
+// -----------------------------------------------------------------------------
+
+/**
+ * TableParser
+ *
+ * For more information, see the docs folder.
+ *
+ * @class
+ */
+class TableParser : public BlockParser
+{
+public:
+  /**
+   * ctor
+   *
+   * @method
+   * @param {std::function<void(std::string&)>} parseLineCallback
+   * @param {std::function<std::shared_ptr<BlockParser>(const std::string& line)>} getBlockParserForLineCallback
+   */
+   TableParser(
+    std::function<void(std::string&)> parseLineCallback,
+    std::function<std::shared_ptr<BlockParser>(const std::string& line)> getBlockParserForLineCallback
+  )
+    : BlockParser(parseLineCallback, getBlockParserForLineCallback)
+    , isStarted(false)
+    , isFinished(false)
+    , currentBlock(0)
+    , currentRow(0)
+  {}
+
+  /**
+   * IsStartingLine
+   *
+   * If the line has exact `|table>`, then it is starting the table.
+   *
+   * @method
+   * @param {const std::string&} line
+   * @return {bool}
+   */
+  static bool
+  IsStartingLine(const std::string& line)
+  {
+    static std::string matchString("|table>");
+    return line == matchString;
+  }
+
+  /**
+   * AddLine
+   *
+   * Adding a line which has to be parsed.
+   *
+   * @method
+   * @param {std::string&} line
+   * @return {void}
+   */
+  void
+  AddLine(std::string& line) override
+  {
+    if (!this->isStarted && line == "|table>")
+    {
+      this->isStarted = true;
+      return;
+    }
+
+    if (this->isStarted)
+    {
+      if (line == "- | - | -")
+      {
+        ++this->currentBlock;
+        this->currentRow = 0;
+        return;
+      }
+
+      if (line == "|<table")
+      {
+        static std::string emptyLine = "";
+        this->parseBlock(emptyLine);
+        this->isFinished = true;
+        return;
+      }
+
+      if (this->table.size() < this->currentBlock + 1)
+      {
+        this->table.push_back(std::vector<std::vector<std::string>>());
+      }
+      this->table[this->currentBlock].push_back(std::vector<std::string>());
+
+      std::string segment;
+      std::stringstream streamToSplit(line);
+
+      while (std::getline(streamToSplit, segment, '|'))
+      {
+        this->parseLine(segment);
+        this->table[this->currentBlock][this->currentRow].push_back(segment);
+      }
+
+      ++this->currentRow;
+    }
+  }
+
+  /**
+   * IsFinished
+   *
+   * A table ends with `|<table`.
+   *
+   * @method
+   * @return {bool}
+   */
+  bool
+  IsFinished() const override
+  {
+    return this->isFinished;
+  }
+
+protected:
+  bool
+  isInlineBlockAllowed() const override
+  {
+    return false;
+  }
+
+  bool
+  isLineParserAllowed() const override
+  {
+    return true;
+  }
+
+  void
+  parseBlock(std::string&) override
+  {
+    result << "<table>";
+
+    bool hasHeader = false;
+    bool hasFooter = false;
+    bool isFirstBlock = true;
+    uint32_t currentBlockNumber = 0;
+
+    if (this->table.size() > 1)
+    {
+      hasHeader = true;
+    }
+
+    if (this->table.size() >= 3)
+    {
+      hasFooter = true;
+    }
+
+    for (const std::vector<std::vector<std::string>>& block : this->table)
+    {
+      bool isInHeader = false;
+      bool isInFooter = false;
+      ++currentBlockNumber;
+
+      if (hasHeader && isFirstBlock)
+      {
+        result << "<thead>";
+        isInHeader = true;
+      }
+      else if (hasFooter && currentBlockNumber == this->table.size())
+      {
+        result << "<tfoot>";
+        isInFooter = true;
+      }
+      else
+      {
+        result << "<tbody>";
+      }
+
+      for (const std::vector<std::string>& row : block)
+      {
+        result << "<tr>";
+
+        for (const std::string& column : row)
+        {
+          if (isInHeader)
+          {
+            result << "<th>";
+          }
+          else
+          {
+            result << "<td>";
+          }
+
+          result << column;
+
+          if (isInHeader)
+          {
+            result << "</th>";
+          }
+          else
+          {
+            result << "</td>";
+          }
+        }
+
+        result << "</tr>";
+      }
+
+      if (isInHeader)
+      {
+        result << "</thead>";
+      }
+      else if (isInFooter)
+      {
+        result << "</tfoot>";
+      }
+      else
+      {
+        result << "</tbody>";
+      }
+
+      isFirstBlock = false;
+    }
+
+    result << "</table>";
+  }
+
+private:
+  bool isStarted;
+  bool isFinished;
+  uint32_t currentBlock;
+  uint32_t currentRow;
+  std::vector<std::vector<std::vector<std::string>>> table;
+}; // class TableParser
+
+// -----------------------------------------------------------------------------
+
+} // namespace maddy
diff --git a/maddy/unorderedlistparser.h b/maddy/unorderedlistparser.h
new file mode 100644
index 000000000..0c1aa5d50
--- /dev/null
+++ b/maddy/unorderedlistparser.h
@@ -0,0 +1,133 @@
+/*
+ * This project is licensed under the MIT license. For more information see the
+ * LICENSE file.
+ */
+#pragma once
+
+// -----------------------------------------------------------------------------
+
+#include <functional>
+#include <regex>
+#include <string>
+
+#include "maddy/blockparser.h"
+
+// -----------------------------------------------------------------------------
+
+namespace maddy {
+
+// -----------------------------------------------------------------------------
+
+/**
+ * UnorderedListParser
+ *
+ * @class
+ */
+class UnorderedListParser : public BlockParser
+{
+public:
+  /**
+   * ctor
+   *
+   * @method
+   * @param {std::function<void(std::string&)>} parseLineCallback
+   * @param {std::function<std::shared_ptr<BlockParser>(const std::string& line)>} getBlockParserForLineCallback
+   */
+   UnorderedListParser(
+    std::function<void(std::string&)> parseLineCallback,
+    std::function<std::shared_ptr<BlockParser>(const std::string& line)> getBlockParserForLineCallback
+  )
+    : BlockParser(parseLineCallback, getBlockParserForLineCallback)
+    , isStarted(false)
+    , isFinished(false)
+  {}
+
+  /**
+   * IsStartingLine
+   *
+   * An unordered list starts with `* `.
+   *
+   * @method
+   * @param {const std::string&} line
+   * @return {bool}
+   */
+  static bool
+  IsStartingLine(const std::string& line)
+  {
+    static std::regex re("^[+*-] .*");
+    return std::regex_match(line, re);
+  }
+
+  /**
+   * IsFinished
+   *
+   * @method
+   * @return {bool}
+   */
+  bool
+  IsFinished() const override
+  {
+    return this->isFinished;
+  }
+
+protected:
+  bool
+  isInlineBlockAllowed() const override
+  {
+    return true;
+  }
+
+  bool
+  isLineParserAllowed() const override
+  {
+    return true;
+  }
+
+  void
+  parseBlock(std::string& line) override
+  {
+    bool isStartOfNewListItem = IsStartingLine(line);
+    uint32_t indentation = getIndentationWidth(line);
+
+    static std::regex lineRegex("^([+*-] )");
+    line = std::regex_replace(line, lineRegex, "");
+
+    if (!this->isStarted)
+    {
+      line = "<ul><li>" + line;
+      this->isStarted = true;
+      return;
+    }
+
+    if (indentation >= 2)
+    {
+      line = line.substr(2);
+      return;
+    }
+
+    if (
+      line.empty() ||
+      line.find("</li><li>") != std::string::npos ||
+      line.find("</li></ol>") != std::string::npos ||
+      line.find("</li></ul>") != std::string::npos
+    )
+    {
+      line = "</li></ul>" + line;
+      this->isFinished = true;
+      return;
+    }
+
+    if (isStartOfNewListItem)
+    {
+      line = "</li><li>" + line;
+    }
+  }
+
+private:
+  bool isStarted;
+  bool isFinished;
+}; // class UnorderedListParser
+
+// -----------------------------------------------------------------------------
+
+} // namespace maddy
diff --git a/main.cpp b/main.cpp
index 8bc416bc4..fdf808849 100755
--- a/main.cpp
+++ b/main.cpp
@@ -818,17 +818,11 @@ int main(int argc, char *argv[])
                 return 1;
             }
 
-            qputenv("QT_QPA_PLATFORM", "offscreen");
-            QApplication a(argc, argv);
-            addFonts();
-
-            QTextDocument d;
-            d.setMarkdown(QString::fromUtf8(f.readAll()));
-
+            QString desc = QString::fromUtf8(f.readAll());
             f.close();
 
             pkg.name = name;
-            pkg.description = d.toHtml();
+            pkg.description = desc;
         } else {
             QFile f(pkgPath);
             if (!f.open(QIODevice::ReadOnly)) {
diff --git a/mobile/Packages.qml b/mobile/Packages.qml
index 124e9191f..c749fa2e8 100644
--- a/mobile/Packages.qml
+++ b/mobile/Packages.qml
@@ -180,7 +180,7 @@ Item {
                                 text: "Info"
 
                                 onClicked: {
-                                    VescIf.emitMessageDialog(pkgName, pkgDescription, true, true)
+                                    VescIf.emitMessageDialog(pkgName, Utility.md2html(pkgDescription), true, true)
                                 }
                             }
                         }
diff --git a/pages/pagevescpackage.cpp b/pages/pagevescpackage.cpp
index aadd255d3..f0944dcb9 100644
--- a/pages/pagevescpackage.cpp
+++ b/pages/pagevescpackage.cpp
@@ -129,6 +129,7 @@ void PageVescPackage::on_chooseOutputButton_clicked()
 
         ui->outputEdit->setText(filename);
         on_outputRefreshButton_clicked();
+        on_saveButton_clicked();
     }
 }
 
@@ -182,7 +183,7 @@ void PageVescPackage::on_saveButton_clicked()
     }
 
     pkg.name = ui->nameEdit->text();
-    pkg.description = ui->descriptionEdit->document()->toHtml();
+    pkg.description = ui->descriptionEdit->document()->toPlainText();
 
     file.write(mLoader.packVescPackage(pkg));
     file.close();
@@ -200,7 +201,7 @@ void PageVescPackage::on_loadRefreshButton_clicked()
     }
 
     auto pkg = mLoader.unpackVescPackage(f.readAll());
-    ui->loadBrowser->document()->setHtml(pkg.description);
+    ui->loadBrowser->document()->setHtml(Utility::md2html(pkg.description));
 }
 
 void PageVescPackage::on_writeButton_clicked()
@@ -229,7 +230,7 @@ void PageVescPackage::on_outputRefreshButton_clicked()
     }
 
     auto pkg = mLoader.unpackVescPackage(f.readAll());
-    ui->descriptionEdit->document()->setHtml(pkg.description);
+    ui->descriptionEdit->document()->setPlainText(pkg.description);
     ui->nameEdit->setText(pkg.name);
 }
 
@@ -319,7 +320,7 @@ void PageVescPackage::reloadArchive()
     ui->applicationList->clear();
     ui->libraryList->clear();
 
-    for (auto p: pList) {
+    foreach (auto p, pList) {
         auto pVal = p.value<VescPackage>();
         QListWidgetItem *item = new QListWidgetItem;
         item->setText(pVal.name);
@@ -336,7 +337,7 @@ void PageVescPackage::reloadArchive()
 void PageVescPackage::packageSelected(VescPackage pkg)
 {
     mCurrentPkg = pkg;
-    ui->storeBrowser->document()->setHtml(pkg.description);
+    ui->storeBrowser->document()->setHtml(Utility::md2html(pkg.description));
     ui->installButton->setEnabled(!pkg.isLibrary);
     if (ui->installButton->isEnabled()) {
         ui->installButton->setToolTip("");
diff --git a/pages/pagevescpackage.ui b/pages/pagevescpackage.ui
index 04c0c31b0..6a2b47ed1 100644
--- a/pages/pagevescpackage.ui
+++ b/pages/pagevescpackage.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>1408</width>
-    <height>532</height>
+    <height>555</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -44,7 +44,7 @@
          <property name="orientation">
           <enum>Qt::Vertical</enum>
          </property>
-         <widget class="QWidget" name="">
+         <widget class="QWidget" name="layoutWidget">
           <layout class="QVBoxLayout" name="verticalLayout_5">
            <property name="spacing">
             <number>2</number>
@@ -76,7 +76,7 @@
            </item>
           </layout>
          </widget>
-         <widget class="QWidget" name="">
+         <widget class="QWidget" name="layoutWidget2">
           <layout class="QVBoxLayout" name="verticalLayout_6">
            <property name="spacing">
             <number>2</number>
@@ -208,7 +208,7 @@
         </widget>
        </item>
        <item>
-        <widget class="QTextBrowser" name="loadBrowser"/>
+        <widget class="VTextBrowser" name="loadBrowser"/>
        </item>
       </layout>
      </widget>
@@ -343,14 +343,7 @@
         </layout>
        </item>
        <item>
-        <widget class="MRichTextEdit" name="descriptionEdit" native="true">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-        </widget>
+        <widget class="QMarkdownTextEdit" name="descriptionEdit"/>
        </item>
        <item>
         <widget class="QGroupBox" name="lispBox_2">
@@ -471,21 +464,20 @@
  </widget>
  <customwidgets>
   <customwidget>
-   <class>DisplayPercentage</class>
-   <extends>QWidget</extends>
-   <header>widgets/displaypercentage.h</header>
-   <container>1</container>
+   <class>VTextBrowser</class>
+   <extends>QTextEdit</extends>
+   <header>widgets/vtextbrowser.h</header>
   </customwidget>
   <customwidget>
-   <class>MRichTextEdit</class>
+   <class>DisplayPercentage</class>
    <extends>QWidget</extends>
-   <header>widgets/mrichtextedit.h</header>
+   <header>widgets/displaypercentage.h</header>
    <container>1</container>
   </customwidget>
   <customwidget>
-   <class>VTextBrowser</class>
-   <extends>QTextEdit</extends>
-   <header>widgets/vtextbrowser.h</header>
+   <class>QMarkdownTextEdit</class>
+   <extends>QPlainTextEdit</extends>
+   <header>qmarkdowntextedit/qmarkdowntextedit.h</header>
   </customwidget>
  </customwidgets>
  <resources>
diff --git a/qmarkdowntextedit/.clang-format b/qmarkdowntextedit/.clang-format
new file mode 100644
index 000000000..232c21cb7
--- /dev/null
+++ b/qmarkdowntextedit/.clang-format
@@ -0,0 +1,157 @@
+---
+Language:        Cpp
+# BasedOnStyle:  Google
+AccessModifierOffset: -1
+AlignAfterOpenBracket: Align
+AlignConsecutiveMacros: false
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Left
+AlignOperands:   true
+AlignTrailingComments: true
+AllowAllArgumentsOnNextLine: true
+AllowAllConstructorInitializersOnNextLine: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortLambdasOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: WithoutElse
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: Yes
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:
+  AfterCaseLabel:  false
+  AfterClass:      false
+  AfterControlStatement: false
+  AfterEnum:       false
+  AfterFunction:   false
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  AfterExternBlock: false
+  BeforeCatch:     false
+  BeforeElse:      false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeInheritanceComma: false
+BreakInheritanceList: BeforeColon
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:     80
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: true
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks:   Regroup
+IncludeCategories:
+  - Regex:           '^<ext/.*\.h>'
+    Priority:        2
+  - Regex:           '^<.*\.h>'
+    Priority:        1
+  - Regex:           '^<.*'
+    Priority:        2
+  - Regex:           '.*'
+    Priority:        3
+IncludeIsMainRegex: '([-_](test|unittest))?$'
+IndentCaseLabels: true
+IndentPPDirectives: None
+IndentWidth:     4
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBinPackProtocolList: Never
+ObjCBlockIndentWidth: 4
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyBreakTemplateDeclaration: 10
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Left
+RawStringFormats:
+  - Language:        Cpp
+    Delimiters:
+      - cc
+      - CC
+      - cpp
+      - Cpp
+      - CPP
+      - 'c++'
+      - 'C++'
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+  - Language:        TextProto
+    Delimiters:
+      - pb
+      - PB
+      - proto
+      - PROTO
+    EnclosingFunctions:
+      - EqualsProto
+      - EquivToProto
+      - PARSE_PARTIAL_TEXT_PROTO
+      - PARSE_TEST_PROTO
+      - PARSE_TEXT_PROTO
+      - ParseTextOrDie
+      - ParseTextProtoOrDie
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+ReflowComments:  true
+SortIncludes:    true
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 4
+SpacesInAngles:  false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard:        Auto
+StatementMacros:
+  - Q_UNUSED
+  - QT_REQUIRE_VERSION
+TabWidth:        4
+UseTab:          Never
+...
+
diff --git a/qmarkdowntextedit/.github/FUNDING.yml b/qmarkdowntextedit/.github/FUNDING.yml
new file mode 100644
index 000000000..a374490f4
--- /dev/null
+++ b/qmarkdowntextedit/.github/FUNDING.yml
@@ -0,0 +1,12 @@
+# These are supported funding model platforms
+
+github: []
+patreon: # Replace with a single Patreon username
+open_collective: # Replace with a single Open Collective username
+ko_fi: # Replace with a single Ko-fi username
+tidelift: # Replace with a single Tidelift platform-name/package-name e.g., npm/babel
+community_bridge: # Replace with a single Community Bridge project-name e.g., cloud-foundry
+liberapay: pbek
+issuehunt: # Replace with a single IssueHunt username
+otechie: # Replace with a single Otechie username
+custom: ['https://paypal.me/pbek']
diff --git a/qmarkdowntextedit/.gitignore b/qmarkdowntextedit/.gitignore
new file mode 100644
index 000000000..8f8857dd7
--- /dev/null
+++ b/qmarkdowntextedit/.gitignore
@@ -0,0 +1,9 @@
+*.o
+*.log
+*.dSYM
+*.plist
+*.user
+.directory
+build*
+build-*
+.idea
diff --git a/qmarkdowntextedit/.travis.yml b/qmarkdowntextedit/.travis.yml
new file mode 100644
index 000000000..24fac1dfb
--- /dev/null
+++ b/qmarkdowntextedit/.travis.yml
@@ -0,0 +1,60 @@
+language: cpp
+
+os:
+  - linux
+  - osx
+
+branches:
+  only:
+    - develop
+    - master
+    - testing
+
+env:
+  matrix:
+    - CONFIG=release
+    #- CONFIG=debug
+
+install:
+  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
+         lsb_release -a
+      && sudo apt-add-repository -y ppa:ubuntu-toolchain-r/test
+      && sudo apt-get -qq update
+      && sudo apt-get -qq install g++ libc6 qt5-default qt5-qmake
+      && export CXX="g++"
+      && export CC="gcc"
+      ;
+    else
+         brew update > /dev/null
+      && brew install qt5
+      && chmod -R 755 /usr/local/opt/qt5/*
+      ;
+    fi
+
+script:
+  - if [ "${TRAVIS_OS_NAME}" != "linux" ]; then
+         QTDIR="/usr/local/opt/qt5"
+      && PATH="$QTDIR/bin:$PATH"
+      && LDFLAGS=-L$QTDIR/lib
+      && CPPFLAGS=-I$QTDIR/include
+      ;
+    fi
+  - qmake qmarkdowntextedit.pro CONFIG+=$CONFIG
+  - make
+
+notifications:
+  email:
+    recipients:
+      - developer@bekerle.com
+    on_success: change
+    on_failure: change
+#  irc:
+#    # https://docs.travis-ci.com/user/notifications/#IRC-notification
+#    channels:
+#      - "chat.freenode.net#qownnotes"
+#    template:
+#      - "[%{commit}] %{repository} (%{branch}): %{message} | Commit message: %{commit_message} | Changes: %{compare_url} | Build details: %{build_url}"
+#    on_success: always
+#    on_failure: always
+#    use_notice: true
+#    skip_join: true
diff --git a/qmarkdowntextedit/CMakeLists.txt b/qmarkdowntextedit/CMakeLists.txt
new file mode 100644
index 000000000..a3af90318
--- /dev/null
+++ b/qmarkdowntextedit/CMakeLists.txt
@@ -0,0 +1,106 @@
+cmake_minimum_required(VERSION 3.16) # Qt requires CMake 3.16
+project(qmarkdowntextedit LANGUAGES CXX VERSION 1.0.0)
+
+#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTOUIC ON)
+set(CMAKE_AUTORCC ON)
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+
+# add option to disable test executable
+option(QMARKDOWNTEXTEDIT_EXE "Build test executable" ON)
+
+# find qt
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} OPTIONAL_COMPONENTS Quick)
+
+# needed for windows
+if(WIN32)
+    set(INTL_LDFLAGS -lintl)
+endif(WIN32)
+
+# QMarkdownTextEdit library
+set(RC_FILES
+    media.qrc
+)
+
+# Translations arent loaded so don't include them
+set(TS_FILES
+    trans/qmarkdowntextedit_de.ts
+    trans/qmarkdowntextedit_ur.ts
+    trans/qmarkdowntextedit_zh_CN.ts
+)
+
+set(QMARKDOWNTEXTEDIT_SOURCES
+    ${RC_FILES}
+    linenumberarea.h # We need to keep this here, otherwise the build fails
+    markdownhighlighter.cpp
+    qmarkdowntextedit.cpp
+    qownlanguagedata.cpp
+    qownlanguagedata.h
+    qplaintexteditsearchwidget.cpp
+    qplaintexteditsearchwidget.ui
+)
+set(QMARKDOWNTEXTEDIT_HEADERS
+    markdownhighlighter.h
+    qmarkdowntextedit.h
+    qplaintexteditsearchwidget.h
+)
+
+add_library(qmarkdowntextedit ${QMARKDOWNTEXTEDIT_SOURCES})
+set_target_properties(qmarkdowntextedit PROPERTIES
+    PUBLIC_HEADER "${QMARKDOWNTEXTEDIT_HEADERS}"
+)
+
+target_link_libraries(qmarkdowntextedit PUBLIC
+    Qt${QT_VERSION_MAJOR}::Widgets
+    ${INTL_LDFLAGS}
+)
+
+if (Qt${QT_VERSION_MAJOR}Quick_FOUND)
+    target_link_libraries(qmarkdowntextedit PUBLIC Qt${QT_VERSION_MAJOR}::Quick)
+
+    add_executable(QtQuickExample examples/qml/example.cpp examples/qml/ressources.qrc)
+    target_link_libraries(QtQuickExample PRIVATE Qt${QT_VERSION_MAJOR}::Quick qmarkdowntextedit)
+endif()
+
+# QMarkdownTextEdit executable
+if(QMARKDOWNTEXTEDIT_EXE)
+    set(SOURCE_FILES
+        main.cpp
+        mainwindow.cpp
+        mainwindow.h
+        mainwindow.ui
+    )
+
+    add_executable(qmarkdowntextedit-exe ${SOURCE_FILES})
+    set_target_properties(qmarkdowntextedit-exe PROPERTIES OUTPUT_NAME "qmarkdowntextedit")
+    target_link_libraries(qmarkdowntextedit-exe PRIVATE
+        Qt${QT_VERSION_MAJOR}::Widgets
+        ${INTL_LDFLAGS}
+        qmarkdowntextedit
+    )
+endif()
+
+include(GNUInstallDirs) # Doesn't fail on windows
+
+# Install the lib
+install(TARGETS qmarkdowntextedit
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin
+    PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+)
+
+# Add PkgConfig config file
+configure_file(qmarkdowntextedit.pc.in ${CMAKE_BINARY_DIR}/qmarkdowntextedit.pc @ONLY)
+install(FILES ${CMAKE_BINARY_DIR}/qmarkdowntextedit.pc DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/pkgconfig)
+
+# Install exe
+if(QMARKDOWNTEXTEDIT_EXE)
+    install(TARGETS qmarkdowntextedit-exe DESTINATION bin)
+endif()
diff --git a/qmarkdowntextedit/LICENSE b/qmarkdowntextedit/LICENSE
new file mode 100644
index 000000000..27fd2d49d
--- /dev/null
+++ b/qmarkdowntextedit/LICENSE
@@ -0,0 +1,8 @@
+The MIT License (MIT)
+Copyright (c) 2014-2023 Patrizio Bekerle -- <patrizio@bekerle.com>
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
\ No newline at end of file
diff --git a/qmarkdowntextedit/README.md b/qmarkdowntextedit/README.md
new file mode 100644
index 000000000..279ea1640
--- /dev/null
+++ b/qmarkdowntextedit/README.md
@@ -0,0 +1,75 @@
+# [QMarkdownTextEdit](https://github.com/pbek/qmarkdowntextedit)
+[![Build Status GitHub Actions](https://github.com/pbek/qmarkdowntextedit/workflows/Build/badge.svg?branch=develop)](https://github.com/pbek/qmarkdowntextedit/actions)
+[![Build Status Linux/OS X](https://travis-ci.org/pbek/qmarkdowntextedit.svg?branch=develop)](https://travis-ci.org/pbek/qmarkdowntextedit)
+[![Build Status Windows](https://ci.appveyor.com/api/projects/status/github/pbek/qmarkdowntextedit)](https://ci.appveyor.com/project/pbek/qmarkdowntextedit)
+
+QMarkdownTextEdit is a C++ Qt [QPlainTextEdit](http://doc.qt.io/qt-5/qplaintextedit.html) widget with [markdown](https://en.wikipedia.org/wiki/Markdown) highlighting and some other goodies.
+
+## Widget Features
+- Markdown highlighting
+- Code syntax highlighting
+- Clickable links with `Ctrl + Click`
+- Block indent with `Tab` and `Shift + Tab`
+- Duplicate text with `Ctrl + Alt + Down`
+- Searching of text with `Ctrl + F`
+    - Jump between search results with `Up` and `Down`
+    - Close search field with `Escape`
+- Replacing of text with `Ctrl + R`
+    - You can also replace text with regular expressions or whole words
+- Line numbers (Qt >= 5.5)
+- Very fast
+- And much more...
+
+## Supported Markdown Features
+Commonmark compliance is enforced where possible however we are not fully Commonmark compliant yet. Following is a list of features/extensions supported by the highlighter. Please note that this is just a plaintext editor and as such, it only does the highlighting and not rendering of the markdown to HTML.
+
+| Feature                                                                                 | Availablity                                          |
+| --------------------------------------------------------------------------------------- | ---------------------------------------------------- |
+| Bolds and Italics                                                                       | Yes                                                  |
+| Lists (Unordered/Orderered)                                                             | Yes                                                  |
+| Links and Images<br/>(Inline/Reference/Autolinks/E-mail)                                | Yes (Cannot handle nested links or complex cases yet) |
+| Heading (ATX and Setext)                                                                | Yes                                                  |
+| Codeblocks (indented and fenced)<br/> Both backtick and tilde code fences are supported | Yes (Only fenced code block has syntax highlighting) |
+| Inline code                                                                             | Yes                                                  |
+| Strikethrough                                                                           | Yes                                                  |
+| Underline                                                                               | Yes (Optional)                                       |
+| Blockquotes                                                                             | Yes                                                  |
+| Table                                                                                   | Yes                                                  |
+
+
+## Screenshot
+![Screenhot](screenshot.png)
+
+## Usage
+
+There are multiple ways to use this. You can use the editor directly, or you can subclass it or you can just use the highlighter.
+### Using the editor
+
+#### QMake
+- Include [qmarkdowntextedit.pri](https://github.com/pbek/qmarkdowntextedit/blob/develop/qmarkdowntextedit.pri) 
+  to your project like this `include (qmarkdowntextedit/qmarkdowntextedit.pri)`
+- add a normal `QPlainTextEdit` to your UI and promote it to `QMarkdownTextEdit` (base class `QPlainTextEdit`)
+
+#### CMake
+- Include [CMakeLists.txt](https://github.com/pbek/qmarkdowntextedit/blob/develop/CMakeLists.txt)
+  to your project like this `add_subdirectory(qmarkdowntextedit)`
+- add a normal `QPlainTextEdit` to your UI and promote it to `QMarkdownTextEdit` (base class `QPlainTextEdit`)
+
+
+### Using the highlighter only
+Highlighter can work with both `QPlainTextEdit` and `QTextEdit`. Example:
+```cpp
+auto doc = ui->plainTextEdit->document();
+auto *highlighter = new MarkdownHighlighter(doc);
+```
+
+## Projects using QMarkdownTextEdit
+- [QOwnNotes](https://github.com/pbek/QOwnNotes)
+- [Notes](https://github.com/nuttyartist/notes)
+- [CuteMarkEd-NG](https://github.com/Waqar144/CuteMarkEd-NG)
+
+
+## Disclaimer
+This SOFTWARE PRODUCT is provided by THE PROVIDER "as is" and "with all faults." THE PROVIDER makes no representations or warranties of any kind concerning the safety, suitability, lack of viruses, inaccuracies, typographical errors, or other harmful components of this SOFTWARE PRODUCT. 
+
+There are inherent dangers in the use of any software, and you are solely responsible for determining whether this SOFTWARE PRODUCT is compatible with your equipment and other software installed on your equipment. You are also solely responsible for the protection of your equipment and backup of your data, and THE PROVIDER will not be liable for any damages you may suffer in connection with using, modifying, or distributing this SOFTWARE PRODUCT.
diff --git a/qmarkdowntextedit/appveyor.yml b/qmarkdowntextedit/appveyor.yml
new file mode 100644
index 000000000..3fd31ccca
--- /dev/null
+++ b/qmarkdowntextedit/appveyor.yml
@@ -0,0 +1,12 @@
+# AppVeyor build configuration
+# http://www.appveyor.com/docs/build-configuration
+os: unstable
+skip_tags: true
+
+install:
+  - set QTDIR=C:\Qt\5.10.1\mingw53_32
+  - set PATH=%PATH%;%QTDIR%\bin;C:\MinGW\bin
+
+build_script:
+  - qmake qmarkdowntextedit.pro -r -spec win32-g++
+  - mingw32-make
diff --git a/qmarkdowntextedit/examples/qml/example.cpp b/qmarkdowntextedit/examples/qml/example.cpp
new file mode 100644
index 000000000..fda2bea5b
--- /dev/null
+++ b/qmarkdowntextedit/examples/qml/example.cpp
@@ -0,0 +1,24 @@
+#include <QApplication>
+#include <QQmlApplicationEngine>
+
+#include "markdownhighlighter.h"
+
+int main(int argc, char *argv[]) {
+    QApplication app(argc, argv);
+
+    qmlRegisterType<MarkdownHighlighter>("MarkdownHighlighter", 1, 0,
+                                         "MarkdownHighlighter");
+
+    QQmlApplicationEngine engine;
+
+    const QUrl url(QStringLiteral("qrc:/example.qml"));
+    QObject::connect(
+        &engine, &QQmlApplicationEngine::objectCreated, &app,
+        [url](QObject *obj, const QUrl &objUrl) {
+            if (!obj && url == objUrl) QCoreApplication::exit(-1);
+        },
+        Qt::QueuedConnection);
+    engine.load(url);
+
+    return app.exec();
+}
diff --git a/qmarkdowntextedit/examples/qml/example.qml b/qmarkdowntextedit/examples/qml/example.qml
new file mode 100644
index 000000000..c37570119
--- /dev/null
+++ b/qmarkdowntextedit/examples/qml/example.qml
@@ -0,0 +1,22 @@
+import QtQuick 2.0
+import QtQuick.Window 2.0
+import MarkdownHighlighter 1.0
+
+Window {
+    id: mainwindow
+    width: 640
+    height: 400
+    visible: true
+    title: qsTr("QtQuick Project")
+
+    TextEdit {
+        id: editor
+        text: "# Hello world!"
+        focus: true
+    }
+
+    MarkdownHighlighter {
+        id: syntaxHighlighter
+        textDocument: editor.textDocument
+    }
+}
diff --git a/qmarkdowntextedit/examples/qml/ressources.qrc b/qmarkdowntextedit/examples/qml/ressources.qrc
new file mode 100644
index 000000000..ac9418876
--- /dev/null
+++ b/qmarkdowntextedit/examples/qml/ressources.qrc
@@ -0,0 +1,5 @@
+<RCC>
+    <qresource prefix="/">
+        <file>example.qml</file>
+    </qresource>
+</RCC>
diff --git a/qmarkdowntextedit/linenumberarea.h b/qmarkdowntextedit/linenumberarea.h
new file mode 100644
index 000000000..93a26cfbc
--- /dev/null
+++ b/qmarkdowntextedit/linenumberarea.h
@@ -0,0 +1,124 @@
+#ifndef LINENUMBERAREA_H
+#define LINENUMBERAREA_H
+
+#include <QDebug>
+#include <QPainter>
+#include <QScrollBar>
+#include <QWidget>
+
+#include "qmarkdowntextedit.h"
+
+class LineNumArea final : public QWidget {
+    Q_OBJECT
+
+public:
+    explicit LineNumArea(QMarkdownTextEdit *parent)
+        : QWidget(parent),
+          textEdit(parent)
+    {
+        Q_ASSERT(parent);
+
+        _currentLineColor = QColor(QStringLiteral("#eef067"));
+        _otherLinesColor = QColor(QStringLiteral("#a6a6a6"));
+        setHidden(true);
+
+        // We always use fixed font to avoid "width" issues
+        setFont(QFontDatabase::systemFont(QFontDatabase::FixedFont));
+    }
+
+    void setCurrentLineColor(QColor color) {
+        _currentLineColor = color;
+    }
+
+    void setOtherLineColor(QColor color) {
+        _otherLinesColor = std::move(color);
+    }
+
+    int lineNumAreaWidth() const
+    {
+        if (!enabled) {
+            return 0;
+        }
+
+        int digits = 2;
+        int max = std::max(1, textEdit->blockCount());
+        while (max >= 10) {
+            max /= 10;
+            ++digits;
+        }
+
+#if QT_VERSION >= 0x050B00
+        int space = 13 + textEdit->fontMetrics().horizontalAdvance(u'9') * digits;
+#else
+        int space = 13 + textEdit->fontMetrics().width(QLatin1Char('9')) * digits;
+#endif
+
+        return space;
+    }
+
+    bool isLineNumAreaEnabled() const
+    {
+        return enabled;
+    }
+
+    void setLineNumAreaEnabled(bool e)
+    {
+        enabled = e;
+        setHidden(!e);
+    }
+
+    QSize sizeHint() const override
+    {
+        return {lineNumAreaWidth(), 0};
+    }
+
+protected:
+    void paintEvent(QPaintEvent *event) override
+    {
+        QPainter painter(this);
+
+        painter.fillRect(event->rect(), palette().color(QPalette::Active, QPalette::Window));
+
+        auto block = textEdit->firstVisibleBlock();
+        int blockNumber = block.blockNumber();
+        qreal top = textEdit->blockBoundingGeometry(block).translated(textEdit->contentOffset()).top();
+        // Maybe the top is not 0?
+        top += textEdit->viewportMargins().top();
+        qreal bottom = top;
+
+        const QPen currentLine = _currentLineColor;
+        const QPen otherLines = _otherLinesColor;
+        painter.setFont(font());
+
+        while (block.isValid() && top <= event->rect().bottom()) {
+            top = bottom;
+            bottom = top + textEdit->blockBoundingRect(block).height();
+            if (block.isVisible() && bottom >= event->rect().top()) {
+                QString number = QString::number(blockNumber + 1);
+
+                auto isCurrentLine = textEdit->textCursor().blockNumber() == blockNumber;
+                painter.setPen(isCurrentLine ? currentLine : otherLines);
+
+                painter.drawText(
+                    -5,
+                    top,
+                    sizeHint().width(),
+                    textEdit->fontMetrics().height(),
+                    Qt::AlignRight,
+                    number
+                );
+            }
+
+            block = block.next();
+            ++blockNumber;
+        }
+    }
+
+private:
+    bool enabled = false;
+    QMarkdownTextEdit *textEdit;
+    QColor _currentLineColor;
+    QColor _otherLinesColor;
+};
+
+#endif // LINENUMBERAREA_H
diff --git a/qmarkdowntextedit/main.cpp b/qmarkdowntextedit/main.cpp
new file mode 100644
index 000000000..3c3e70472
--- /dev/null
+++ b/qmarkdowntextedit/main.cpp
@@ -0,0 +1,35 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2014-2023 Patrizio Bekerle -- <patrizio@bekerle.com>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include <QApplication>
+
+#include "mainwindow.h"
+
+int main(int argc, char *argv[]) {
+    QApplication a(argc, argv);
+    MainWindow w;
+    w.show();
+
+    return a.exec();
+}
diff --git a/qmarkdowntextedit/mainwindow.cpp b/qmarkdowntextedit/mainwindow.cpp
new file mode 100644
index 000000000..c4569537f
--- /dev/null
+++ b/qmarkdowntextedit/mainwindow.cpp
@@ -0,0 +1,38 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2014-2023 Patrizio Bekerle -- <patrizio@bekerle.com>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *
+ * mainwindow.cpp
+ *
+ * Example to show the QMarkdownTextEdit widget
+ */
+
+#include "mainwindow.h"
+
+#include "ui_mainwindow.h"
+
+MainWindow::MainWindow(QWidget *parent)
+    : QMainWindow(parent), ui(new Ui::MainWindow) {
+    ui->setupUi(this);
+}
+
+MainWindow::~MainWindow() { delete ui; }
diff --git a/qmarkdowntextedit/mainwindow.h b/qmarkdowntextedit/mainwindow.h
new file mode 100644
index 000000000..6e7c2c9bc
--- /dev/null
+++ b/qmarkdowntextedit/mainwindow.h
@@ -0,0 +1,42 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2014-2023 Patrizio Bekerle -- <patrizio@bekerle.com>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#pragma once
+
+#include <QMainWindow>
+
+namespace Ui {
+class MainWindow;
+}
+
+class MainWindow : public QMainWindow {
+    Q_OBJECT
+
+   public:
+    explicit MainWindow(QWidget *parent = nullptr);
+    ~MainWindow();
+
+   private:
+    Ui::MainWindow *ui;
+};
diff --git a/qmarkdowntextedit/mainwindow.ui b/qmarkdowntextedit/mainwindow.ui
new file mode 100644
index 000000000..3ee341f50
--- /dev/null
+++ b/qmarkdowntextedit/mainwindow.ui
@@ -0,0 +1,84 @@
+<?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>
+    <width>1070</width>
+    <height>839</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string notr="true">QMarkdownTextEdit</string>
+  </property>
+  <widget class="QWidget" name="centralWidget">
+   <layout class="QGridLayout" name="gridLayout">
+    <item row="0" column="0">
+     <widget class="QMarkdownTextEdit" name="textEdit">
+      <property name="plainText">
+       <string>QMarkdownTextEdit
+==============
+
+*QMarkdownTextEdit* is a C++ Qt [QPlainTextEdit](http://doc.qt.io/qt-5/qplaintextedit.html) widget with **markdown highlighting** and some other goodies.
+
+## Features
+
+- markdown highlighting
+- syntax highlighting
+- clickable links with `Ctrl + Click`
+- ~strikedout~ text and `inline code;`
+- block indent with `Tab` and `Shift + Tab`
+- duplicate text with `Ctrl + Alt + Down`
+- searching of text with `Ctrl + F`
+    - jump between search results with `Up` and `Down`
+    - close search field with `Escape`
+- and much more...
+
+## References
+
+- [QOwnNotes - cross-platform open source plain-text file markdown note taking](https://www.qownnotes.org)
+
+## Disclaimer
+
+This SOFTWARE PRODUCT is provided by THE PROVIDER &quot;as is&quot; and &quot;with all faults.&quot; THE PROVIDER makes no representations or warranties of any kind concerning the safety, suitability, lack of viruses, inaccuracies, typographical errors, or other harmful components of this SOFTWARE PRODUCT. 
+
+There are inherent dangers in the use of any software, and you are solely responsible for determining whether this SOFTWARE PRODUCT is compatible with your equipment and other software installed on your equipment. You are also solely responsible for the protection of your equipment and backup of your data, and THE PROVIDER will not be liable for any damages you may suffer in connection with using, modifying, or distributing this SOFTWARE PRODUCT.
+</string>
+      </property>
+     </widget>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QMenuBar" name="menuBar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>1070</width>
+     <height>23</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QToolBar" name="mainToolBar">
+   <attribute name="toolBarArea">
+    <enum>TopToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+  </widget>
+  <widget class="QStatusBar" name="statusBar"/>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <customwidgets>
+  <customwidget>
+   <class>QMarkdownTextEdit</class>
+   <extends>QPlainTextEdit</extends>
+   <header location="global">qmarkdowntextedit.h</header>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/qmarkdowntextedit/markdownhighlighter.cpp b/qmarkdowntextedit/markdownhighlighter.cpp
new file mode 100644
index 000000000..26c03efef
--- /dev/null
+++ b/qmarkdowntextedit/markdownhighlighter.cpp
@@ -0,0 +1,2583 @@
+
+/*
+ * MIT License
+ *
+ * Copyright (c) 2014-2023 Patrizio Bekerle -- <patrizio@bekerle.com>
+ * Copyright (c) 2019-2021 Waqar Ahmed      -- <waqar.17a@gmail.com>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *
+ * QPlainTextEdit markdown highlighter
+ */
+
+#include "markdownhighlighter.h"
+#include "qownlanguagedata.h"
+#include "utility.h"
+#include "QCodeEditor/include/internal/QSyntaxStyle.hpp"
+
+#include <QDebug>
+#include <QRegularExpression>
+#include <QRegularExpressionMatch>
+#include <QRegularExpressionMatchIterator>
+#include <QTextDocument>
+#include <QTimer>
+#include <utility>
+
+// We enable QStringView with Qt 5.15.1
+#if QT_VERSION < QT_VERSION_CHECK(5, 15, 1)
+    #define MH_SUBSTR(pos, len) text.midRef(pos, len)
+#else
+    #define MH_SUBSTR(pos, len) QStringView(text).mid(pos, len)
+#endif
+
+QHash<QString, MarkdownHighlighter::HighlighterState>
+    MarkdownHighlighter::_langStringToEnum;
+QHash<MarkdownHighlighter::HighlighterState, QTextCharFormat>
+    MarkdownHighlighter::_formats;
+QVector<MarkdownHighlighter::HighlightingRule> MarkdownHighlighter::_highlightingRules;
+
+/**
+ * Markdown syntax highlighting
+ * @param parent
+ * @return
+ */
+MarkdownHighlighter::MarkdownHighlighter(
+    QTextDocument *parent, HighlightingOptions highlightingOptions)
+    : QSyntaxHighlighter(parent), _highlightingOptions(highlightingOptions) {
+    // _highlightingOptions = highlightingOptions;
+    _timer = new QTimer(this);
+    connect(_timer, &QTimer::timeout, this, &MarkdownHighlighter::timerTick);
+
+    _timer->start(1000);
+
+    // initialize the highlighting rules
+    initHighlightingRules();
+
+    // initialize the text formats
+    initTextFormats();
+
+    // initialize code languages
+    initCodeLangs();
+}
+
+/**
+ * Does jobs every second
+ */
+void MarkdownHighlighter::timerTick() {
+    // re-highlight all dirty blocks
+    reHighlightDirtyBlocks();
+
+    // emit a signal every second if there was some highlighting done
+    if (_highlightingFinished) {
+        _highlightingFinished = false;
+        Q_EMIT highlightingFinished();
+    }
+}
+
+/**
+ * Re-highlights all dirty blocks
+ */
+void MarkdownHighlighter::reHighlightDirtyBlocks() {
+    while (_dirtyTextBlocks.count() > 0) {
+        QTextBlock block = _dirtyTextBlocks.at(0);
+        rehighlightBlock(block);
+        _dirtyTextBlocks.removeFirst();
+    }
+}
+
+/**
+ * Clears the dirty blocks vector
+ */
+void MarkdownHighlighter::clearDirtyBlocks() {
+    _ranges.clear();
+    _dirtyTextBlocks.clear();
+}
+
+/**
+ * Adds a dirty block to the list if it doesn't already exist
+ *
+ * @param block
+ */
+void MarkdownHighlighter::addDirtyBlock(const QTextBlock &block) {
+    if (!_dirtyTextBlocks.contains(block)) {
+        _dirtyTextBlocks.append(block);
+    }
+}
+
+/**
+ * Initializes the highlighting rules
+ *
+ * regexp tester:
+ * https://regex101.com
+ *
+ * other examples:
+ * /usr/share/kde4/apps/katepart/syntax/markdown.xml
+ */
+void MarkdownHighlighter::initHighlightingRules() {
+    // highlight block quotes
+    {
+        HighlightingRule rule(HighlighterState::BlockQuote);
+        rule.pattern = QRegularExpression(
+            _highlightingOptions.testFlag(
+                HighlightingOption::FullyHighlightedBlockQuote)
+                ? QStringLiteral("^\\s*(>\\s*.+)")
+                : QStringLiteral("^\\s*(>\\s*)+"));
+        rule.shouldContain = QStringLiteral("> ");
+        _highlightingRules.append(rule);
+    }
+
+    // highlight tables without starting |
+    // we drop that for now, it's far too messy to deal with
+    //    rule = HighlightingRule();
+    //    rule.pattern = QRegularExpression("^.+? \\| .+? \\| .+$");
+    //    rule.state = HighlighterState::Table;
+    //    _highlightingRulesPre.append(rule);
+    // highlight trailing spaces
+    {
+        HighlightingRule rule(HighlighterState::TrailingSpace);
+        rule.pattern = QRegularExpression(QStringLiteral("( +)$"));
+        rule.shouldContain = QStringLiteral("  ");
+        rule.capturingGroup = 1;
+        _highlightingRules.append(rule);
+    }
+
+    // highlight inline comments
+    {
+        // highlight comments for R Markdown for academic papers
+        HighlightingRule rule(HighlighterState::Comment);
+        rule.pattern =
+            QRegularExpression(QStringLiteral(R"(^\[.+?\]: # \(.+?\)$)"));
+        rule.shouldContain = QStringLiteral("]: # (");
+        _highlightingRules.append(rule);
+    }
+
+    // highlight tables with starting |
+    {
+        HighlightingRule rule(HighlighterState::Table);
+        rule.shouldContain = QStringLiteral("|");
+        rule.pattern = QRegularExpression(QStringLiteral("^\\|.+?\\|$"));
+        _highlightingRules.append(rule);
+    }
+}
+
+/**
+ * Initializes the text formats
+ *
+ * @param defaultFontSize
+ */
+void MarkdownHighlighter::initTextFormats(int defaultFontSize) {
+    QTextCharFormat format;
+
+    QSyntaxStyle *sstyle;
+    if (Utility::isDarkMode()) {
+        sstyle = QSyntaxStyle::darkStyle();
+    } else {
+        sstyle = QSyntaxStyle::defaultStyle();
+    }
+
+    // set character formats for headlines
+    format = QTextCharFormat();
+    format.setForeground(Utility::getAppQColor("normalText"));
+    format.setFontWeight(QFont::Bold);
+    format.setFontPointSize(defaultFontSize * 1.6);
+    _formats[H1] = format;
+    format.setFontPointSize(defaultFontSize * 1.5);
+    _formats[H2] = format;
+    format.setFontPointSize(defaultFontSize * 1.4);
+    _formats[H3] = format;
+    format.setFontPointSize(defaultFontSize * 1.3);
+    _formats[H4] = format;
+    format.setFontPointSize(defaultFontSize * 1.2);
+    _formats[H5] = format;
+    format.setFontPointSize(defaultFontSize * 1.1);
+    _formats[H6] = format;
+    format.setFontPointSize(defaultFontSize);
+
+    // set character format for horizontal rulers
+    format = QTextCharFormat();
+    format.setForeground(Utility::getAppQColor("lightText"));
+    format.setBackground(Utility::getAppQColor("lightestBackground"));
+    _formats[HorizontalRuler] = std::move(format);
+
+    // set character format for lists
+    format = QTextCharFormat();
+    format.setForeground(Utility::getAppQColor("tertiary1"));
+    _formats[List] = format;
+
+    // set character format for checkbox
+    format = QTextCharFormat();
+    format.setForeground(Utility::getAppQColor("tertiary2"));
+    _formats[CheckBoxUnChecked] = std::move(format);
+    // set character format for checked checkbox
+    format = QTextCharFormat();
+    format.setForeground(Utility::getAppQColor("tertiary1"));
+    _formats[CheckBoxChecked] = std::move(format);
+
+    // set character format for links
+    format = QTextCharFormat();
+    format.setForeground(Utility::getAppQColor("lightAccent"));
+    format.setFontUnderline(true);
+    _formats[Link] = std::move(format);
+
+    // set character format for images
+    format = QTextCharFormat();
+    format.setForeground(Utility::getAppQColor("green"));
+    format.setBackground(Utility::getAppQColor("midAccent"));
+    _formats[Image] = std::move(format);
+
+    // set character format for code blocks
+    format = QTextCharFormat();
+    format.setFont(QFontDatabase::systemFont(QFontDatabase::FixedFont));
+    // format.setBackground(QColor(220, 220, 220));
+    _formats[CodeBlock] = format;
+    _formats[InlineCodeBlock] = format;
+
+    // set character format for italic
+    format = QTextCharFormat();
+    format.setFontWeight(QFont::StyleItalic);
+    format.setFontItalic(true);
+    _formats[Italic] = std::move(format);
+
+    // set character format for underline
+    format = QTextCharFormat();
+    format.setFontUnderline(true);
+    _formats[StUnderline] = std::move(format);
+
+    // set character format for bold
+    format = QTextCharFormat();
+    format.setFontWeight(QFont::Bold);
+    _formats[Bold] = std::move(format);
+
+    // set character format for comments
+    format = QTextCharFormat();
+    format.setForeground(sstyle->getFormat("Comment").foreground().color());
+    _formats[Comment] = std::move(format);
+
+    // set character format for masked syntax
+    format = QTextCharFormat();
+    format.setForeground(Utility::getAppQColor("lightText"));
+    _formats[MaskedSyntax] = std::move(format);
+
+    // set character format for tables
+    format = QTextCharFormat();
+    format.setFont(QFontDatabase::systemFont(QFontDatabase::FixedFont));
+    format.setForeground(Utility::getAppQColor("lightAccent"));
+    _formats[Table] = std::move(format);
+
+    // set character format for block quotes
+    format = QTextCharFormat();
+    format.setForeground(sstyle->getFormat("Label").foreground().color());
+    _formats[BlockQuote] = std::move(format);
+
+    format = QTextCharFormat();
+    _formats[HeadlineEnd] = std::move(format);
+    _formats[NoState] = std::move(format);
+
+    // set character format for trailing spaces
+    format.setBackground(Utility::getAppQColor("red"));
+    _formats[TrailingSpace] = std::move(format);
+
+    /****************************************
+     * Formats for syntax highlighting
+     ***************************************/
+
+    format = QTextCharFormat();
+    format.setFont(QFontDatabase::systemFont(QFontDatabase::FixedFont));
+    format.setForeground(sstyle->getFormat("Keyword").foreground().color());
+    _formats[CodeKeyWord] = std::move(format);
+
+    format = QTextCharFormat();
+    format.setFont(QFontDatabase::systemFont(QFontDatabase::FixedFont));
+    format.setForeground(sstyle->getFormat("String").foreground().color());
+    _formats[CodeString] = std::move(format);
+
+    format = QTextCharFormat();
+    format.setFont(QFontDatabase::systemFont(QFontDatabase::FixedFont));
+    format.setForeground(sstyle->getFormat("Comment").foreground().color());
+    _formats[CodeComment] = std::move(format);
+
+    format = QTextCharFormat();
+    format.setFont(QFontDatabase::systemFont(QFontDatabase::FixedFont));
+    format.setForeground(sstyle->getFormat("Type").foreground().color());
+    _formats[CodeType] = std::move(format);
+
+    format = QTextCharFormat();
+    format.setFont(QFontDatabase::systemFont(QFontDatabase::FixedFont));
+    format.setForeground(sstyle->getFormat("VirtualMethod").foreground().color());
+    _formats[CodeOther] = std::move(format);
+
+    format = QTextCharFormat();
+    format.setFont(QFontDatabase::systemFont(QFontDatabase::FixedFont));
+    format.setForeground(sstyle->getFormat("Number").foreground().color());
+    _formats[CodeNumLiteral] = std::move(format);
+
+    format = QTextCharFormat();
+    format.setFont(QFontDatabase::systemFont(QFontDatabase::FixedFont));
+    format.setForeground(sstyle->getFormat("PrimitiveType").foreground().color());
+    _formats[CodeBuiltIn] = std::move(format);
+}
+
+/**
+ * @brief initializes the langStringToEnum
+ */
+void MarkdownHighlighter::initCodeLangs() {
+    MarkdownHighlighter::_langStringToEnum =
+        QHash<QString, MarkdownHighlighter::HighlighterState>{
+            {QLatin1String("bash"), MarkdownHighlighter::CodeBash},
+            {QLatin1String("c"), MarkdownHighlighter::CodeC},
+            {QLatin1String("cpp"), MarkdownHighlighter::CodeCpp},
+            {QLatin1String("cxx"), MarkdownHighlighter::CodeCpp},
+            {QLatin1String("c++"), MarkdownHighlighter::CodeCpp},
+            {QLatin1String("c#"), MarkdownHighlighter::CodeCSharp},
+            {QLatin1String("cmake"), MarkdownHighlighter::CodeCMake},
+            {QLatin1String("csharp"), MarkdownHighlighter::CodeCSharp},
+            {QLatin1String("css"), MarkdownHighlighter::CodeCSS},
+            {QLatin1String("go"), MarkdownHighlighter::CodeGo},
+            {QLatin1String("html"), MarkdownHighlighter::CodeXML},
+            {QLatin1String("ini"), MarkdownHighlighter::CodeINI},
+            {QLatin1String("java"), MarkdownHighlighter::CodeJava},
+            {QLatin1String("javascript"), MarkdownHighlighter::CodeJava},
+            {QLatin1String("js"), MarkdownHighlighter::CodeJs},
+            {QLatin1String("json"), MarkdownHighlighter::CodeJSON},
+            {QLatin1String("make"), MarkdownHighlighter::CodeMake},
+            {QLatin1String("nix"), MarkdownHighlighter::CodeNix},
+            {QLatin1String("php"), MarkdownHighlighter::CodePHP},
+            {QLatin1String("py"), MarkdownHighlighter::CodePython},
+            {QLatin1String("python"), MarkdownHighlighter::CodePython},
+            {QLatin1String("qml"), MarkdownHighlighter::CodeQML},
+            {QLatin1String("rust"), MarkdownHighlighter::CodeRust},
+            {QLatin1String("sh"), MarkdownHighlighter::CodeBash},
+            {QLatin1String("sql"), MarkdownHighlighter::CodeSQL},
+            {QLatin1String("taggerscript"),
+             MarkdownHighlighter::CodeTaggerScript},
+            {QLatin1String("ts"), MarkdownHighlighter::CodeTypeScript},
+            {QLatin1String("typescript"), MarkdownHighlighter::CodeTypeScript},
+            {QLatin1String("v"), MarkdownHighlighter::CodeV},
+            {QLatin1String("vex"), MarkdownHighlighter::CodeVex},
+            {QLatin1String("xml"), MarkdownHighlighter::CodeXML},
+            {QLatin1String("yml"), MarkdownHighlighter::CodeYAML},
+            {QLatin1String("yaml"), MarkdownHighlighter::CodeYAML},
+            {QLatin1String("forth"), MarkdownHighlighter::CodeForth}};
+}
+
+/**
+ * Sets the text formats
+ *
+ * @param formats
+ */
+void MarkdownHighlighter::setTextFormats(
+    QHash<HighlighterState, QTextCharFormat> formats) {
+    _formats = std::move(formats);
+}
+
+/**
+ * Sets a text format
+ *
+ * @param formats
+ */
+void MarkdownHighlighter::setTextFormat(HighlighterState state,
+                                        QTextCharFormat format) {
+    _formats[state] = std::move(format);
+}
+
+/**
+ * Does the markdown highlighting
+ *
+ * @param text
+ */
+void MarkdownHighlighter::highlightBlock(const QString &text) {
+    if (currentBlockState() == HeadlineEnd) {
+        currentBlock().previous().setUserState(NoState);
+        addDirtyBlock(currentBlock().previous());
+    }
+    setCurrentBlockState(HighlighterState::NoState);
+    currentBlock().setUserState(HighlighterState::NoState);
+
+    highlightMarkdown(text);
+    _highlightingFinished = true;
+}
+
+void MarkdownHighlighter::highlightMarkdown(const QString &text) {
+    const bool isBlockCodeBlock = isCodeBlock(previousBlockState()) ||
+                                  text.startsWith(QLatin1String("```")) ||
+                                  text.startsWith(QLatin1String("~~~"));
+
+    if (!text.isEmpty() && !isBlockCodeBlock) {
+        highlightAdditionalRules(_highlightingRules, text);
+
+        highlightThematicBreak(text);
+
+        // needs to be called after the horizontal ruler highlighting
+        highlightHeadline(text);
+
+        highlightIndentedCodeBlock(text);
+
+        highlightLists(text);
+
+        highlightInlineRules(text);
+    }
+
+    highlightCommentBlock(text);
+    if (isBlockCodeBlock) highlightCodeFence(text);
+    highlightFrontmatterBlock(text);
+}
+
+/**
+ * @brief gets indentation(spaces) of text
+ * @param text
+ * @return 1, if 1 space, 2 if 2 spaces, 3 if 3 spaces. Otherwise 0
+ */
+int getIndentation(const QString &text) {
+    int spaces = 0;
+    // no more than 3 spaces
+    while (spaces < 4 && spaces < text.length() &&
+           text.at(spaces) == QLatin1Char(' '))
+        ++spaces;
+    return spaces;
+}
+
+/**
+ * Highlight headlines
+ *
+ * @param text
+ */
+void MarkdownHighlighter::highlightHeadline(const QString &text) {
+    // three spaces indentation is allowed in headings
+    const int spacesOffset = getIndentation(text);
+
+    if (spacesOffset >= text.length() || spacesOffset == 4) return;
+
+    const bool headingFound = text.at(spacesOffset) == QLatin1Char('#');
+
+    if (headingFound) {
+        int headingLevel = 0;
+        int i = spacesOffset;
+        if (i >= text.length()) return;
+        while (i < text.length() && text.at(i) == QLatin1Char('#') &&
+               i < (spacesOffset + 6))
+            ++i;
+
+        if (i < text.length() && text.at(i) == QLatin1Char(' '))
+            headingLevel = i - spacesOffset;
+
+        if (headingLevel > 0) {
+            const auto state =
+                HighlighterState(HighlighterState::H1 + headingLevel - 1);
+
+            // Set styling of the "#"s to "masked syntax", but with the size of the heading
+            auto maskedFormat = _formats[MaskedSyntax];
+            maskedFormat.setFontPointSize(_formats[state].fontPointSize());
+            setFormat(0, headingLevel, maskedFormat);
+
+            // Set the styling of the rest of the heading
+            setFormat(headingLevel + 1, text.length() - 1 - headingLevel, _formats[state]);
+
+            setCurrentBlockState(state);
+            return;
+        }
+    }
+
+    auto hasOnlyHeadChars = [](const QString &txt, const QChar c,
+                               int spaces) -> bool {
+        if (txt.isEmpty()) return false;
+        for (int i = spaces; i < txt.length(); ++i) {
+            if (txt.at(i) != c) return false;
+        }
+        return true;
+    };
+
+    // take care of ==== and ---- headlines
+    const QString prev = currentBlock().previous().text();
+    auto prevSpaces = getIndentation(prev);
+
+    if (text.at(spacesOffset) == QLatin1Char('=') && prevSpaces < 4) {
+        const bool pattern1 =
+            !prev.isEmpty() && hasOnlyHeadChars(text, QLatin1Char('='), spacesOffset);
+        if (pattern1) {
+            highlightSubHeadline(text, H1);
+            return;
+        }
+    } else if (text.at(spacesOffset) == QLatin1Char('-') && prevSpaces < 4) {
+        const bool pattern2 =
+            !prev.isEmpty() && hasOnlyHeadChars(text, QLatin1Char('-'), spacesOffset);
+        if (pattern2) {
+            highlightSubHeadline(text, H2);
+            return;
+        }
+    }
+
+    const QString nextBlockText = currentBlock().next().text();
+    if (nextBlockText.isEmpty()) return;
+    const int nextSpaces = getIndentation(nextBlockText);
+
+    if (nextSpaces >= nextBlockText.length()) return;
+
+    if (nextBlockText.at(nextSpaces) == QLatin1Char('=') && nextSpaces < 4) {
+        const bool nextHasEqualChars =
+            hasOnlyHeadChars(nextBlockText, QLatin1Char('='), nextSpaces);
+        if (nextHasEqualChars) {
+            setFormat(0, text.length(), _formats[HighlighterState::H1]);
+            setCurrentBlockState(HighlighterState::H1);
+        }
+    } else if (nextBlockText.at(nextSpaces) == QLatin1Char('-') &&
+               nextSpaces < 4) {
+        const bool nextHasMinusChars =
+            hasOnlyHeadChars(nextBlockText, QLatin1Char('-'), nextSpaces);
+        if (nextHasMinusChars) {
+            setFormat(0, text.length(), _formats[HighlighterState::H2]);
+            setCurrentBlockState(HighlighterState::H2);
+        }
+    }
+}
+
+void MarkdownHighlighter::highlightSubHeadline(const QString &text,
+                                               HighlighterState state) {
+    const QTextCharFormat &maskedFormat =
+        _formats[HighlighterState::MaskedSyntax];
+    QTextBlock previousBlock = currentBlock().previous();
+
+    // we check for both H1/H2 so that if the user changes his mind, and changes
+    // === to ---, changes be reflected immediately
+    if (previousBlockState() == H1 || previousBlockState() == H2 ||
+        previousBlockState() == NoState) {
+        QTextCharFormat currentMaskedFormat = maskedFormat;
+        // set the font size from the current rule's font format
+        currentMaskedFormat.setFontPointSize(_formats[state].fontPointSize());
+
+        setFormat(0, text.length(), currentMaskedFormat);
+        setCurrentBlockState(HeadlineEnd);
+
+        // we want to re-highlight the previous block
+        // this must not be done directly, but with a queue, otherwise it
+        // will crash
+        // setting the character format of the previous text, because this
+        // causes text to be formatted the same way when writing after
+        // the text
+        if (previousBlockState() != state) {
+            addDirtyBlock(previousBlock);
+            previousBlock.setUserState(state);
+        }
+    }
+}
+
+/**
+ * @brief highlight code blocks with four spaces or tabs in front of them
+ * and no list character after that
+ * @param text
+ */
+void MarkdownHighlighter::highlightIndentedCodeBlock(const QString &text) {
+    if (text.isEmpty() || (!text.startsWith(QLatin1String("    ")) &&
+                           !text.startsWith(QLatin1Char('\t'))))
+        return;
+
+    const QString prevTrimmed =  currentBlock().previous().text().trimmed();
+    // previous line must be empty according to CommonMark except if it is a
+    // heading https://spec.commonmark.org/0.29/#indented-code-block
+    if (!prevTrimmed.isEmpty() && previousBlockState() != CodeBlockIndented &&
+        !isHeading(previousBlockState()) && previousBlockState() != HeadlineEnd)
+        return;
+
+    const QString trimmed = text.trimmed();
+
+    // should not be in a list
+    if (trimmed.startsWith(QLatin1String("- ")) ||
+        trimmed.startsWith(QLatin1String("+ ")) ||
+        trimmed.startsWith(QLatin1String("* ")) ||
+        (trimmed.length() >= 1 && trimmed.at(0).isNumber()))
+        return;
+
+    setCurrentBlockState(CodeBlockIndented);
+    setFormat(0, text.length(), _formats[CodeBlock]);
+}
+
+void MarkdownHighlighter::highlightCodeFence(const QString &text) {
+    // already in tilde block
+    if ((previousBlockState() == CodeBlockTilde ||
+         previousBlockState() == CodeBlockTildeComment ||
+         previousBlockState() >= CodeCpp + tildeOffset)) {
+        highlightCodeBlock(text, QStringLiteral("~~~"));
+        // start of a tilde block
+    } else if ((previousBlockState() != CodeBlock &&
+                previousBlockState() < CodeCpp) &&
+               text.startsWith(QLatin1String("~~~"))) {
+        highlightCodeBlock(text, QStringLiteral("~~~"));
+    } else {
+        // back tick block
+        highlightCodeBlock(text);
+    }
+}
+
+/**
+ * Highlight multi-line code blocks
+ *
+ * @param text
+ */
+void MarkdownHighlighter::highlightCodeBlock(const QString &text,
+                                             const QString &opener) {
+    if (text.startsWith(opener)) {
+        // if someone decides to put these on the same line
+        // interpret it as inline code, not code block
+        if (text.endsWith(QLatin1String("```")) && text.length() > 3) {
+            setFormat(3, text.length() - 3,
+                      _formats[HighlighterState::InlineCodeBlock]);
+            setFormat(0, 3, _formats[HighlighterState::MaskedSyntax]);
+            setFormat(text.length() - 3, 3,
+                      _formats[HighlighterState::MaskedSyntax]);
+            return;
+        }
+        if ((previousBlockState() != CodeBlock &&
+             previousBlockState() != CodeBlockTilde) &&
+            (previousBlockState() != CodeBlockComment &&
+             previousBlockState() != CodeBlockTildeComment) &&
+            previousBlockState() < CodeCpp) {
+            const QString &lang = text.mid(3, text.length()).toLower();
+            HighlighterState progLang = _langStringToEnum.value(lang);
+
+            if (progLang >= CodeCpp) {
+                const int state = text.startsWith(QLatin1String("```"))
+                                      ? progLang
+                                      : progLang + tildeOffset;
+                setCurrentBlockState(state);
+            } else {
+                const int state =
+                    opener == QLatin1String("```") ? CodeBlock : CodeBlockTilde;
+                setCurrentBlockState(state);
+            }
+        } else if (isCodeBlock(previousBlockState())) {
+            const int state = opener == QLatin1String("```")
+                                  ? CodeBlockEnd
+                                  : CodeBlockTildeEnd;
+            setCurrentBlockState(state);
+        }
+
+        // set the font size from the current rule's font format
+        QTextCharFormat &maskedFormat = _formats[MaskedSyntax];
+        maskedFormat.setFontPointSize(_formats[CodeBlock].fontPointSize());
+
+        setFormat(0, text.length(), maskedFormat);
+    } else if (isCodeBlock(previousBlockState())) {
+        setCurrentBlockState(previousBlockState());
+        highlightSyntax(text);
+    }
+}
+
+/**
+ * @brief Does the code syntax highlighting
+ * @param text
+ */
+void MarkdownHighlighter::highlightSyntax(const QString &text) {
+    if (text.isEmpty()) return;
+
+    const auto textLen = text.length();
+
+    QChar comment;
+    bool isCSS = false;
+    bool isYAML = false;
+    bool isMake = false;
+    bool isForth = false;
+
+    QMultiHash<char, QLatin1String> keywords{};
+    QMultiHash<char, QLatin1String> others{};
+    QMultiHash<char, QLatin1String> types{};
+    QMultiHash<char, QLatin1String> builtin{};
+    QMultiHash<char, QLatin1String> literals{};
+
+    // apply the default code block format first
+    setFormat(0, textLen, _formats[CodeBlock]);
+
+    switch (currentBlockState()) {
+        case HighlighterState::CodeCpp:
+        case HighlighterState::CodeCpp + tildeOffset:
+        case HighlighterState::CodeCppComment:
+        case HighlighterState::CodeCppComment + tildeOffset:
+            loadCppData(types, keywords, builtin, literals, others);
+            break;
+        case HighlighterState::CodeJs:
+        case HighlighterState::CodeJs + tildeOffset:
+        case HighlighterState::CodeJsComment:
+        case HighlighterState::CodeJsComment + tildeOffset:
+            loadJSData(types, keywords, builtin, literals, others);
+            break;
+        case HighlighterState::CodeC:
+        case HighlighterState::CodeC + tildeOffset:
+        case HighlighterState::CodeCComment:
+        case HighlighterState::CodeCComment + tildeOffset:
+            loadCppData(types, keywords, builtin, literals, others);
+            break;
+        case HighlighterState::CodeBash:
+        case HighlighterState::CodeBash + tildeOffset:
+            loadShellData(types, keywords, builtin, literals, others);
+            comment = QLatin1Char('#');
+            break;
+        case HighlighterState::CodePHP:
+        case HighlighterState::CodePHP + tildeOffset:
+        case HighlighterState::CodePHPComment:
+        case HighlighterState::CodePHPComment + tildeOffset:
+            loadPHPData(types, keywords, builtin, literals, others);
+            break;
+        case HighlighterState::CodeQML:
+        case HighlighterState::CodeQML + tildeOffset:
+        case HighlighterState::CodeQMLComment:
+        case HighlighterState::CodeQMLComment + tildeOffset:
+            loadQMLData(types, keywords, builtin, literals, others);
+            break;
+        case HighlighterState::CodePython:
+        case HighlighterState::CodePython + tildeOffset:
+            loadPythonData(types, keywords, builtin, literals, others);
+            comment = QLatin1Char('#');
+            break;
+        case HighlighterState::CodeRust:
+        case HighlighterState::CodeRust + tildeOffset:
+        case HighlighterState::CodeRustComment:
+        case HighlighterState::CodeRustComment + tildeOffset:
+            loadRustData(types, keywords, builtin, literals, others);
+            break;
+        case HighlighterState::CodeJava:
+        case HighlighterState::CodeJava + tildeOffset:
+        case HighlighterState::CodeJavaComment:
+        case HighlighterState::CodeJavaComment + tildeOffset:
+            loadJavaData(types, keywords, builtin, literals, others);
+            break;
+        case HighlighterState::CodeCSharp:
+        case HighlighterState::CodeCSharp + tildeOffset:
+        case HighlighterState::CodeCSharpComment:
+        case HighlighterState::CodeCSharpComment + tildeOffset:
+            loadCSharpData(types, keywords, builtin, literals, others);
+            break;
+        case HighlighterState::CodeGo:
+        case HighlighterState::CodeGo + tildeOffset:
+        case HighlighterState::CodeGoComment:
+        case HighlighterState::CodeGoComment + tildeOffset:
+            loadGoData(types, keywords, builtin, literals, others);
+            break;
+        case HighlighterState::CodeV:
+        case HighlighterState::CodeV + tildeOffset:
+        case HighlighterState::CodeVComment:
+        case HighlighterState::CodeVComment + tildeOffset:
+            loadVData(types, keywords, builtin, literals, others);
+            break;
+        case HighlighterState::CodeSQL:
+        case HighlighterState::CodeSQL + tildeOffset:
+            loadSQLData(types, keywords, builtin, literals, others);
+            break;
+        case HighlighterState::CodeJSON:
+        case HighlighterState::CodeJSON + tildeOffset:
+            loadJSONData(types, keywords, builtin, literals, others);
+            break;
+        case HighlighterState::CodeXML:
+        case HighlighterState::CodeXML + tildeOffset:
+            xmlHighlighter(text);
+            return;
+        case HighlighterState::CodeCSS:
+        case HighlighterState::CodeCSS + tildeOffset:
+        case HighlighterState::CodeCSSComment:
+        case HighlighterState::CodeCSSComment + tildeOffset:
+            isCSS = true;
+            loadCSSData(types, keywords, builtin, literals, others);
+            break;
+        case HighlighterState::CodeTypeScript:
+        case HighlighterState::CodeTypeScript + tildeOffset:
+        case HighlighterState::CodeTypeScriptComment:
+        case HighlighterState::CodeTypeScriptComment + tildeOffset:
+            loadTypescriptData(types, keywords, builtin, literals, others);
+            break;
+        case HighlighterState::CodeYAML:
+        case HighlighterState::CodeYAML + tildeOffset:
+            isYAML = true;
+            comment = QLatin1Char('#');
+            loadYAMLData(types, keywords, builtin, literals, others);
+            break;
+        case HighlighterState::CodeINI:
+        case HighlighterState::CodeINI + tildeOffset:
+            iniHighlighter(text);
+            return;
+        case HighlighterState::CodeTaggerScript:
+        case HighlighterState::CodeTaggerScript + tildeOffset:
+            taggerScriptHighlighter(text);
+            return;
+        case HighlighterState::CodeVex:
+        case HighlighterState::CodeVex + tildeOffset:
+        case HighlighterState::CodeVexComment:
+        case HighlighterState::CodeVexComment + tildeOffset:
+            loadVEXData(types, keywords, builtin, literals, others);
+            break;
+        case HighlighterState::CodeCMake:
+        case HighlighterState::CodeCMake + tildeOffset:
+            loadCMakeData(types, keywords, builtin, literals, others);
+            comment = QLatin1Char('#');
+            break;
+        case HighlighterState::CodeMake:
+        case HighlighterState::CodeMake + tildeOffset:
+            isMake = true;
+            loadMakeData(types, keywords, builtin, literals, others);
+            comment = QLatin1Char('#');
+            break;
+        case HighlighterState::CodeNix:
+        case HighlighterState::CodeNix + tildeOffset:
+            loadNixData(types, keywords, builtin, literals, others);
+            comment = QLatin1Char('#');
+            break;
+        case HighlighterState::CodeForth:
+        case HighlighterState::CodeForth + tildeOffset:
+        case HighlighterState::CodeForthComment:
+        case HighlighterState::CodeForthComment + tildeOffset:
+            isForth = true;
+            loadForthData(types, keywords, builtin, literals, others);
+            break;
+        default:
+            setFormat(0, textLen, _formats[CodeBlock]);
+            return;
+    }
+
+    auto applyCodeFormat =
+        [this](int i, const QMultiHash<char, QLatin1String> &data,
+               const QString &text, const QTextCharFormat &fmt) -> int {
+        // check if we are at the beginning OR if this is the start of a word
+        if (i == 0 || (!text.at(i - 1).isLetterOrNumber() &&
+                       text.at(i-1) != QLatin1Char('_'))) {
+            const char c = text.at(i).toLatin1();
+            auto it = data.find(c);
+            for (; it != data.end() && it.key() == c; ++it) {
+                // we have a word match check
+                // 1. if we are at the end
+                // 2. if we have a complete word
+                const QLatin1String &word = it.value();
+                if (word == MH_SUBSTR(i, word.size()) &&
+                    (i + word.size() == text.length() ||
+                     (!text.at(i + word.size()).isLetterOrNumber() &&
+                      text.at(i + word.size()) != QLatin1Char('_')))) {
+                    setFormat(i, word.size(), fmt);
+                    i += word.size();
+                }
+            }
+        }
+        return i;
+    };
+
+    const QTextCharFormat &formatType = _formats[CodeType];
+    const QTextCharFormat &formatKeyword = _formats[CodeKeyWord];
+    const QTextCharFormat &formatComment = _formats[CodeComment];
+    const QTextCharFormat &formatNumLit = _formats[CodeNumLiteral];
+    const QTextCharFormat &formatBuiltIn = _formats[CodeBuiltIn];
+    const QTextCharFormat &formatOther = _formats[CodeOther];
+
+    for (int i = 0; i < textLen; ++i) {
+        if (currentBlockState() != -1 && currentBlockState() % 2 != 0)
+            goto Comment;
+
+        while (i < textLen && !text[i].isLetter()) {
+            if (text[i].isSpace()) {
+                ++i;
+                // make sure we don't cross the bound
+                if (i == textLen) break;
+                if (text[i].isLetter()) break;
+                continue;
+            }
+            // inline comment
+            if (comment.isNull() && text[i] == QLatin1Char('/')) {
+                if ((i + 1) < textLen) {
+                    if (text[i + 1] == QLatin1Char('/')) {
+                        setFormat(i, textLen, formatComment);
+                        return;
+                    } else if (text[i + 1] == QLatin1Char('*')) {
+                    Comment:
+                        int next = text.indexOf(QLatin1String("*/"), i);
+                        if (next == -1) {
+                            // we didn't find a comment end.
+                            // Check if we are already in a comment block
+                            if (currentBlockState() % 2 == 0)
+                                setCurrentBlockState(currentBlockState() + 1);
+                            setFormat(i, textLen, formatComment);
+                            return;
+                        } else {
+                            // we found a comment end
+                            // mark this block as code if it was previously
+                            // comment. First check if the comment ended on the
+                            // same line. if modulo 2 is not equal to zero, it
+                            // means we are in a comment, -1 will set this
+                            // block's state as language
+                            if (currentBlockState() % 2 != 0) {
+                                setCurrentBlockState(currentBlockState() - 1);
+                            }
+                            next += 2;
+                            setFormat(i, next - i, formatComment);
+                            i = next;
+                            if (i >= textLen) return;
+                        }
+                    }
+                }
+            } else if (text[i] == comment) {
+                setFormat(i, textLen, formatComment);
+                i = textLen;
+                break;
+                // integer literal
+            } else if (text[i].isNumber()) {
+                i = highlightNumericLiterals(text, i);
+                // string literals
+            } else if (text[i] == QLatin1Char('\"') ||
+                       text[i] == QLatin1Char('\'')) {
+                i = highlightStringLiterals(text.at(i), text, i);
+            }
+            if (i >= textLen) {
+                break;
+            }
+            ++i;
+        }
+
+        const int pos = i;
+
+        if (i == textLen || !text[i].isLetter()) continue;
+
+        /* Highlight Types */
+        i = applyCodeFormat(i, types, text, formatType);
+        /************************************************
+         next letter is usually a space, in that case
+         going forward is useless, so continue;
+         ************************************************/
+        if (i == textLen || !text[i].isLetter()) continue;
+
+        /* Highlight Keywords */
+        i = applyCodeFormat(i, keywords, text, formatKeyword);
+        if (i == textLen || !text[i].isLetter()) continue;
+
+        /* Highlight Literals (true/false/NULL,nullptr) */
+        i = applyCodeFormat(i, literals, text, formatNumLit);
+        if (i == textLen || !text[i].isLetter()) continue;
+
+        /* Highlight Builtin library stuff */
+        i = applyCodeFormat(i, builtin, text, formatBuiltIn);
+        if (i == textLen || !text[i].isLetter()) continue;
+
+        /* Highlight other stuff (preprocessor etc.) */
+        if (i == 0 || !text.at(i - 1).isLetter()) {
+            const char c = text.at(i).toLatin1();
+            auto it = others.find(c);
+            for (; it != others.end() && it.key() == c; ++it) {
+                const QLatin1String &word = it.value();
+                if (word == MH_SUBSTR(i, word.size()) &&
+                    (i + word.size() == text.length() ||
+                     !text.at(i + word.size()).isLetter())) {
+                    currentBlockState() == CodeCpp ||
+                            currentBlockState() == CodeC
+                        ? setFormat(i - 1, word.size() + 1, formatOther)
+                        : setFormat(i, word.size(), formatOther);
+                    i += word.size();
+                }
+            }
+        }
+
+        // we were unable to find any match, lets skip this word
+        if (pos == i) {
+            int cnt = i;
+            while (cnt < textLen) {
+                if (!text[cnt].isLetter()) break;
+                ++cnt;
+            }
+            i = cnt - 1;
+        }
+    }
+
+    /***********************
+    **** POST PROCESSORS ***
+    ***********************/
+
+    if (isCSS) cssHighlighter(text);
+    if (isYAML) ymlHighlighter(text);
+    if (isMake) makeHighlighter(text);
+    if (isForth) forthHighlighter(text);
+}
+
+/**
+ * @brief Highlight string literals in code
+ * @param strType str type i.e., ' or "
+ * @param text the text being scanned
+ * @param i pos of i in loop
+ * @return pos of i after the string
+ */
+int MarkdownHighlighter::highlightStringLiterals(QChar strType,
+                                                 const QString &text, int i) {
+    const auto& strFormat = _formats[CodeString];
+    setFormat(i, 1, strFormat);
+    ++i;
+
+    while (i < text.length()) {
+        // look for string end
+        // make sure it's not an escape seq
+        if (text.at(i) == strType && text.at(i - 1) != QLatin1Char('\\')) {
+            setFormat(i, 1, strFormat);
+            ++i;
+            break;
+        }
+        // look for escape sequence
+        if (text.at(i) == QLatin1Char('\\') && (i + 1) < text.length()) {
+            int len = 0;
+            switch (text.at(i + 1).toLatin1()) {
+                case 'a':
+                case 'b':
+                case 'e':
+                case 'f':
+                case 'n':
+                case 'r':
+                case 't':
+                case 'v':
+                case '\'':
+                case '"':
+                case '\\':
+                case '\?':
+                    // 2 because we have to highlight \ as well as the following
+                    // char
+                    len = 2;
+                    break;
+                // octal esc sequence \123
+                case '0':
+                case '1':
+                case '2':
+                case '3':
+                case '4':
+                case '5':
+                case '6':
+                case '7': {
+                    if (i + 4 <= text.length()) {
+                        if (!isOctal(text.at(i + 2).toLatin1())) {
+                            break;
+                        }
+                        if (!isOctal(text.at(i + 3).toLatin1())) {
+                            break;
+                        }
+                        len = 4;
+                    }
+                    break;
+                }
+                // hex numbers \xFA
+                case 'x': {
+                    if (i + 3 <= text.length()) {
+                        if (!isHex(text.at(i + 2).toLatin1())) {
+                            break;
+                        }
+                        if (!isHex(text.at(i + 3).toLatin1())) {
+                            break;
+                        }
+                        len = 4;
+                    }
+                    break;
+                }
+                // TODO: implement Unicode code point escaping
+                default:
+                    break;
+            }
+
+            // if len is zero, that means this wasn't an esc seq
+            // increment i so that we skip this backslash
+            if (len == 0) {
+                setFormat(i, 1, strFormat);
+                ++i;
+                continue;
+            }
+
+            setFormat(i, len, _formats[CodeNumLiteral]);
+            i += len;
+            continue;
+        }
+        setFormat(i, 1, strFormat);
+        ++i;
+    }
+    return i - 1;
+}
+
+/**
+ * @brief Highlight numeric literals in code
+ * @param text the text being scanned
+ * @param i pos of i in loop
+ * @return pos of i after the number
+ *
+ * @details it doesn't highlight the following yet:
+ *  - 1000'0000
+ */
+int MarkdownHighlighter::highlightNumericLiterals(const QString &text, int i) {
+    bool isPrefixAllowed = false;
+    if (i == 0) {
+        isPrefixAllowed = true;
+    } else {
+        // these values are allowed before a number
+        switch (text.at(i - 1).toLatin1()) {
+            // CSS number
+            case ':':
+                if (currentBlockState() == CodeCSS) {
+                    isPrefixAllowed = true;
+                }
+                break;
+            case '[':
+            case '(':
+            case '{':
+            case ' ':
+            case ',':
+            case '=':
+            case '+':
+            case '-':
+            case '*':
+            case '/':
+            case '%':
+            case '<':
+            case '>':
+                isPrefixAllowed = true;
+                break;
+        }
+    }
+
+    if (!isPrefixAllowed) return i;
+
+    const int start = i;
+
+    if ((i + 1) >= text.length()) {
+        setFormat(i, 1, _formats[CodeNumLiteral]);
+        return ++i;
+    }
+
+    ++i;
+    // hex numbers highlighting (only if there's a preceding zero)
+    bool isCurrentHex = false;
+    if (text.at(i) == QChar('x') && text.at(i - 1) == QChar('0')) {
+        isCurrentHex = true;
+        ++i;
+    }
+
+    while (i < text.length()) {
+        if (!text.at(i).isNumber() && text.at(i) != QChar('.') &&
+            text.at(i) != QChar('e') &&
+            !(isCurrentHex && isHex(text.at(i).toLatin1())))
+            break;
+        ++i;
+    }
+
+    bool isPostfixAllowed = false;
+    if (i == text.length()) {
+        // cant have e at the end
+        if (isCurrentHex || text.at(i - 1) != QChar('e')) {
+            isPostfixAllowed = true;
+        }
+    } else {
+        // these values are allowed after a number
+        switch (text.at(i).toLatin1()) {
+            case ']':
+            case ')':
+            case '}':
+            case ' ':
+            case ',':
+            case '=':
+            case '+':
+            case '-':
+            case '*':
+            case '/':
+            case '%':
+            case '>':
+            case '<':
+            case ';':
+                isPostfixAllowed = true;
+                break;
+            // for 100u, 1.0F
+            case 'p':
+                if (currentBlockState() == CodeCSS) {
+                    if (i + 1 < text.length() && text.at(i + 1) == QChar('x')) {
+                        if (i + 2 == text.length() ||
+                            !text.at(i + 2).isLetterOrNumber()) {
+                            isPostfixAllowed = true;
+                        }
+                    }
+                }
+                break;
+            case 'e':
+                if (currentBlockState() == CodeCSS) {
+                    if (i + 1 < text.length() && text.at(i + 1) == QChar('m')) {
+                        if (i + 2 == text.length() ||
+                            !text.at(i + 2).isLetterOrNumber()) {
+                            isPostfixAllowed = true;
+                        }
+                    }
+                }
+                break;
+            case 'u':
+            case 'l':
+            case 'f':
+            case 'U':
+            case 'L':
+            case 'F':
+                if (i + 1 == text.length() ||
+                    !text.at(i + 1).isLetterOrNumber()) {
+                    isPostfixAllowed = true;
+                    ++i;
+                }
+                break;
+        }
+    }
+    if (isPostfixAllowed) {
+        int end = i--;
+        setFormat(start, end - start, _formats[CodeNumLiteral]);
+    }
+    // decrement so that the index is at the last number, not after it
+    return i;
+}
+
+/**
+ * @brief The Tagger Script highlighter
+ * @param text
+ * @details his function is responsible for taggerscript highlighting.
+ * It highlights anything between a (inclusive) '&' and a (exclusive) '(' as a
+ * function. An exception is the '$noop()'function, which get highlighted as a
+ * comment.
+ *
+ * It has basic error detection when there is an unlcosed %Metadata Variable%
+ */
+void MarkdownHighlighter::taggerScriptHighlighter(const QString &text) {
+    if (text.isEmpty()) return;
+    const auto textLen = text.length();
+
+    for (int i = 0; i < textLen; ++i) {
+        // highlight functions, unless it's a comment function
+        if (text.at(i) == QChar('$') &&
+            MH_SUBSTR(i, 5) != QLatin1String("$noop")) {
+            const int next = text.indexOf(QChar('('), i);
+            if (next == -1) break;
+            setFormat(i, next - i, _formats[CodeKeyWord]);
+            i = next;
+        }
+
+        // highlight variables
+        if (text.at(i) == QChar('%')) {
+            const int next = text.indexOf(QChar('%'), i + 1);
+            const int start = i;
+            i++;
+            if (next != -1) {
+                setFormat(start, next - start + 1, _formats[CodeType]);
+            } else {
+                // error highlighting
+                QTextCharFormat errorFormat = _formats[NoState];
+                errorFormat.setUnderlineColor(Qt::red);
+                errorFormat.setUnderlineStyle(QTextCharFormat::WaveUnderline);
+                setFormat(start, 1, errorFormat);
+            }
+        }
+
+        // highlight comments
+        if (MH_SUBSTR(i, 5) == QLatin1String("$noop")) {
+            const int next = text.indexOf(QChar(')'), i);
+            if (next == -1) break;
+            setFormat(i, next - i + 1, _formats[CodeComment]);
+            i = next;
+        }
+
+        // highlight escape chars
+        if (text.at(i) == QChar('\\')) {
+            setFormat(i, 2, _formats[CodeOther]);
+            i++;
+        }
+    }
+}
+
+/**
+ * @brief The YAML highlighter
+ * @param text
+ * @details This function post processes a line after the main syntax
+ * highlighter has run for additional highlighting. It does these things
+ *
+ * If the current line is a comment, skip it
+ *
+ * Highlight all the words that have a colon after them as 'keyword' except:
+ * If the word is a string, skip it.
+ * If the colon is in between a path, skip it (C:\)
+ *
+ * Once the colon is found, the function will skip every character except 'h'
+ *
+ * If an h letter is found, check the next 4/5 letters for http/https and
+ * highlight them as a link (underlined)
+ */
+void MarkdownHighlighter::ymlHighlighter(const QString &text) {
+    if (text.isEmpty()) return;
+    const auto textLen = text.length();
+    bool colonNotFound = false;
+
+    // if this is a comment don't do anything and just return
+    if (text.trimmed().at(0) == QChar('#')) return;
+
+    for (int i = 0; i < textLen; ++i) {
+        if (!text.at(i).isLetter()) continue;
+
+        if (colonNotFound && text.at(i) != QChar('h')) continue;
+
+        // we found a string literal, skip it
+        if (i != 0 && text.at(i - 1) == QChar('"')) {
+            const int next = text.indexOf(QChar('"'), i);
+            if (next == -1) break;
+            i = next;
+            continue;
+        }
+
+        if (i != 0 && text.at(i - 1) == QChar('\'')) {
+            const int next = text.indexOf(QChar('\''), i);
+            if (next == -1) break;
+            i = next;
+            continue;
+        }
+
+        const int colon = text.indexOf(QChar(':'), i);
+
+        // if colon isn't found, we set this true
+        if (colon == -1) colonNotFound = true;
+
+        if (!colonNotFound) {
+            // if the line ends here, format and return
+            if (colon + 1 == textLen) {
+                setFormat(i, colon - i, _formats[CodeKeyWord]);
+                return;
+            }
+            // colon is found, check if it isn't some path or something else
+            if (!(text.at(colon + 1) == QChar('\\') &&
+                  text.at(colon + 1) == QChar('/'))) {
+                setFormat(i, colon - i, _formats[CodeKeyWord]);
+            }
+        }
+
+        // underlined links
+        if (text.at(i) == QChar('h')) {
+            if (MH_SUBSTR(i, 4) == QLatin1String("http")) {
+                int space = text.indexOf(QChar(' '), i);
+                if (space == -1) space = textLen;
+                QTextCharFormat f = _formats[CodeString];
+                f.setUnderlineStyle(QTextCharFormat::SingleUnderline);
+                setFormat(i, space - i, f);
+                i = space;
+            }
+        }
+    }
+}
+
+/**
+ * @brief The INI highlighter
+ * @param text The text being highlighted
+ * @details This function is responsible for ini highlighting.
+ * It has basic error detection when
+ * (1) You opened a section but didn't close with bracket e.g [Section
+ * (2) You wrote an option but it didn't have an '='
+ * Such errors will be marked with a dotted red underline
+ *
+ * It has comment highlighting support. Everything after a ';' will
+ * be highlighted till the end of the line.
+ *
+ * An option value pair will be highlighted regardless of space. Example:
+ * Option 1 = value
+ * In this, 'Option 1' will be highlighted completely and not just '1'.
+ * I am not sure about its correctness but for now its like this.
+ *
+ * The loop is unrolled frequently upon a match. Before adding anything
+ * new be sure to test in debug mode and apply bound checking as required.
+ */
+void MarkdownHighlighter::iniHighlighter(const QString &text) {
+    if (text.isEmpty()) return;
+    const auto textLen = text.length();
+
+    for (int i = 0; i < textLen; ++i) {
+        // start of a [section]
+        if (text.at(i) == QChar('[')) {
+            QTextCharFormat sectionFormat = _formats[CodeType];
+            int sectionEnd = text.indexOf(QChar(']'), i);
+            // if an end bracket isn't found, we apply red underline to show
+            // error
+            if (sectionEnd == -1) {
+                sectionFormat.setUnderlineStyle(QTextCharFormat::DotLine);
+                sectionFormat.setUnderlineColor(Qt::red);
+                sectionEnd = textLen;
+            }
+            sectionEnd++;
+            setFormat(i, sectionEnd - i, sectionFormat);
+            i = sectionEnd;
+            if (i >= textLen) break;
+        }
+
+        // comment ';'
+        else if (text.at(i) == QChar(';')) {
+            setFormat(i, textLen - i, _formats[CodeComment]);
+            i = textLen;
+            break;
+        }
+
+        // key-val
+        else if (text.at(i).isLetter()) {
+            QTextCharFormat format = _formats[CodeKeyWord];
+            int equalsPos = text.indexOf(QChar('='), i);
+            if (equalsPos == -1) {
+                format.setUnderlineColor(Qt::red);
+                format.setUnderlineStyle(QTextCharFormat::DotLine);
+                equalsPos = textLen;
+            }
+            setFormat(i, equalsPos - i, format);
+            i = equalsPos - 1;
+            if (i >= textLen) break;
+        }
+        // skip everything after '=' (except comment)
+        else if (text.at(i) == QChar('=')) {
+            const int findComment = text.indexOf(QChar(';'), i);
+            if (findComment == -1) break;
+            i = findComment - 1;
+        }
+    }
+}
+
+void MarkdownHighlighter::cssHighlighter(const QString &text) {
+    if (text.isEmpty()) return;
+    const auto textLen = text.length();
+    for (int i = 0; i < textLen; ++i) {
+        if (text[i] == QLatin1Char('.') || text[i] == QLatin1Char('#')) {
+            if (i + 1 >= textLen) return;
+            if (text[i + 1].isSpace() || text[i + 1].isNumber()) continue;
+            int space = text.indexOf(QLatin1Char(' '), i);
+            if (space < 0) {
+                space = text.indexOf(QLatin1Char('{'), i);
+                if (space < 0) {
+                    space = textLen;
+                }
+            }
+            setFormat(i, space - i, _formats[CodeKeyWord]);
+            i = space;
+        } else if (text[i] == QLatin1Char('c')) {
+            if (MH_SUBSTR(i, 5) == QLatin1String("color")) {
+                i += 5;
+                const int colon = text.indexOf(QLatin1Char(':'), i);
+                if (colon < 0) continue;
+                i = colon;
+                ++i;
+                while (i < textLen) {
+                    if (!text[i].isSpace()) break;
+                    ++i;
+                }
+                int semicolon = text.indexOf(QLatin1Char(';'), i);
+                if (semicolon < 0) semicolon = textLen;
+                const QString color = text.mid(i, semicolon - i);
+                QColor c(color);
+                if (color.startsWith(QLatin1String("rgb"))) {
+                    const int t = text.indexOf(QLatin1Char('('), i);
+                    const int rPos = text.indexOf(QLatin1Char(','), t);
+                    const int gPos = text.indexOf(QLatin1Char(','), rPos + 1);
+                    const int bPos = text.indexOf(QLatin1Char(')'), gPos);
+                    if (rPos > -1 && gPos > -1 && bPos > -1) {
+                        const QString r = text.mid(t + 1, rPos - (t + 1));
+                        const QString g = text.mid(rPos + 1, gPos - (rPos + 1));
+                        const QString b = text.mid(gPos + 1, bPos - (gPos + 1));
+                        c.setRgb(r.toInt(), g.toInt(), b.toInt());
+                    } else {
+                        c = _formats[HighlighterState::NoState]
+                                .background()
+                                .color();
+                    }
+                }
+
+                if (!c.isValid()) {
+                    continue;
+                }
+
+                int lightness{};
+                QColor foreground;
+                // really dark
+                if (c.lightness() <= 20) {
+                    foreground = Qt::white;
+                } else if (c.lightness() > 20 && c.lightness() <= 51) {
+                    foreground = QColor(204, 204, 204);
+                } else if (c.lightness() > 51 && c.lightness() <= 110) {
+                    foreground = QColor(187, 187, 187);
+                } else if (c.lightness() > 127) {
+                    lightness = c.lightness() + 100;
+                    foreground = c.darker(lightness);
+                } else {
+                    lightness = c.lightness() + 100;
+                    foreground = c.lighter(lightness);
+                }
+
+                QTextCharFormat f = _formats[CodeBlock];
+                f.setBackground(c);
+                f.setForeground(foreground);
+                // clear prev format
+                setFormat(i, semicolon - i, QTextCharFormat());
+                setFormat(i, semicolon - i, f);
+                i = semicolon;
+            }
+        }
+    }
+}
+
+void MarkdownHighlighter::xmlHighlighter(const QString &text) {
+    if (text.isEmpty()) return;
+    const auto textLen = text.length();
+
+    setFormat(0, textLen, _formats[CodeBlock]);
+
+    for (int i = 0; i < textLen; ++i) {
+        if (i + 1 < textLen && text[i] == QLatin1Char('<') &&
+            text[i + 1] != QLatin1Char('!')) {
+            const int found = text.indexOf(QLatin1Char('>'), i);
+            if (found > 0) {
+                ++i;
+                if (text[i] == QLatin1Char('/')) ++i;
+                setFormat(i, found - i, _formats[CodeKeyWord]);
+            }
+        }
+
+        if (text[i] == QLatin1Char('=')) {
+            int lastSpace = text.lastIndexOf(QLatin1Char(' '), i);
+            if (lastSpace == i - 1)
+                lastSpace = text.lastIndexOf(QLatin1Char(' '), i - 2);
+            if (lastSpace > 0) {
+                setFormat(lastSpace, i - lastSpace, _formats[CodeBuiltIn]);
+            }
+        }
+
+        if (text[i] == QLatin1Char('\"')) {
+            const int pos = i;
+            int cnt = 1;
+            ++i;
+            // bound check
+            if ((i + 1) >= textLen) return;
+            while (i < textLen) {
+                if (text[i] == QLatin1Char('\"')) {
+                    ++cnt;
+                    ++i;
+                    break;
+                }
+                ++i;
+                ++cnt;
+                // bound check
+                if ((i + 1) >= textLen) {
+                    ++cnt;
+                    break;
+                }
+            }
+            setFormat(pos, cnt, _formats[CodeString]);
+        }
+    }
+}
+
+void MarkdownHighlighter::makeHighlighter(const QString &text) {
+    const int colonPos = text.indexOf(QLatin1Char(':'));
+    if (colonPos == -1) return;
+    setFormat(0, colonPos, _formats[CodeBuiltIn]);
+}
+
+/**
+ * @brief The Forth highlighter
+ * @param text
+ * @details This function performs filtering of Forth code and high lights
+ * the specific details.
+ * 1. It highlights the "\ " comments
+ * 2. It highlights the "( " comments
+ */
+void MarkdownHighlighter::forthHighlighter(const QString &text) {
+    if (text.isEmpty()) return;
+
+    const auto textLen = text.length();
+
+    // Default Format
+    setFormat(0, textLen, _formats[CodeBlock]);
+
+    for (int i = 0; i < textLen; ++i) {
+        // 1, It highlights the "\ " comments
+        if (i + 1 <= textLen && text[i] == QLatin1Char('\\') &&
+            text[i + 1] == QLatin1Char(' ')) {
+            // The full line is commented
+            setFormat(i + 1, textLen - 1, _formats[CodeComment]);
+            break;
+        }
+        // 2. It highlights the "( " comments
+        else if (i + 1 <= textLen && text[i] == QLatin1Char('(') &&
+                 text[i + 1] == QLatin1Char(' ')) {
+            // Find the End bracket
+            int lastBracket = text.lastIndexOf(QLatin1Char(')'), i);
+            // Can't Handle wrong Format
+            if (lastBracket <= 0) return;
+            // ' )' at the end of the comment
+            if (lastBracket <= textLen &&
+                text[lastBracket] == QLatin1Char(' ')) {
+                setFormat(i, lastBracket, _formats[CodeComment]);
+            }
+        }
+    }
+}
+
+/**
+ * Highlight multi-line frontmatter blocks
+ *
+ * @param text
+ */
+void MarkdownHighlighter::highlightFrontmatterBlock(const QString &text) {
+    if (text == QLatin1String("---")) {
+        const bool foundEnd =
+            previousBlockState() == HighlighterState::FrontmatterBlock;
+
+        // return if the frontmatter block was already highlighted in previous
+        // blocks, there just can be one frontmatter block
+        if (!foundEnd && document()->firstBlock() != currentBlock()) {
+            return;
+        }
+
+        setCurrentBlockState(foundEnd ? HighlighterState::FrontmatterBlockEnd
+                                      : HighlighterState::FrontmatterBlock);
+
+        QTextCharFormat &maskedFormat =
+            _formats[HighlighterState::MaskedSyntax];
+        setFormat(0, text.length(), maskedFormat);
+    } else if (previousBlockState() == HighlighterState::FrontmatterBlock) {
+        setCurrentBlockState(HighlighterState::FrontmatterBlock);
+        setFormat(0, text.length(), _formats[HighlighterState::MaskedSyntax]);
+    }
+}
+
+/**
+ * Highlight multi-line comments
+ *
+ * @param text
+ */
+void MarkdownHighlighter::highlightCommentBlock(const QString &text) {
+    if (text.startsWith(QLatin1String("    ")) ||
+        text.startsWith(QLatin1Char('\t')))
+        return;
+
+    const QString &trimmedText = text.trimmed();
+    const QString startText(QStringLiteral("<!--"));
+    const QString endText(QStringLiteral("-->"));
+
+    // we will skip this case because that is an inline comment and causes
+    // troubles here
+    if (trimmedText.startsWith(startText) && trimmedText.contains(endText)) {
+        return;
+    }
+
+    if (!trimmedText.startsWith(startText) && trimmedText.contains(startText))
+        return;
+
+    const bool isComment =
+        trimmedText.startsWith(startText) ||
+        (!trimmedText.endsWith(endText) && previousBlockState() == Comment);
+    const bool isCommentEnd =
+        trimmedText.endsWith(endText) && previousBlockState() == Comment;
+    const bool highlight = isComment || isCommentEnd;
+
+    if (isComment) setCurrentBlockState(Comment);
+    if (highlight) setFormat(0, text.length(), _formats[Comment]);
+}
+
+/**
+ * @brief Highlights thematic breaks i.e., horizontal ruler <hr/>
+ * @param text
+ */
+void MarkdownHighlighter::highlightThematicBreak(const QString &text) {
+    int i = 0;
+    for (; i < 4 && i < text.length(); ++i) {
+        if (text.at(i) != QLatin1Char(' '))
+            break;
+    }
+
+    const QString sText = text.mid(i);
+    if (sText.isEmpty() || i == 4 || text.startsWith(QLatin1Char('\t')))
+        return;
+
+    const char c = sText.at(0).toLatin1();
+    if (c != '-' && c != '_' && c != '*')
+        return;
+
+    int len = 0;
+    bool hasSameChars = true;
+    for (int i = 0; i < sText.length(); ++i) {
+        if (c != sText.at(i) && sText.at(i) != QLatin1Char(' ')) {
+            hasSameChars = false;
+            break;
+        }
+        if (sText.at(i) != QLatin1Char(' ')) ++len;
+    }
+    if (len < 3) return;
+
+    if (hasSameChars)
+        setFormat(0, text.length(), _formats[HorizontalRuler]);
+}
+
+void MarkdownHighlighter::highlightCheckbox(const QString &text, int curPos)
+{
+    if (curPos + 4 >= text.length())
+        return;
+
+    const bool hasOpeningBracket = text.at(curPos + 2) == QLatin1Char('[');
+    const bool hasClosingBracket = text.at(curPos + 4) == QLatin1Char(']');
+    const QChar midChar = text.at(curPos + 3);
+    const bool hasXorSpace = midChar == QLatin1Char(' ') || midChar == QLatin1Char('x') || midChar == QLatin1Char('X');
+    const bool hasDash = midChar == QLatin1Char('-');
+
+    if (hasOpeningBracket && hasClosingBracket && (hasXorSpace || hasDash)) {
+        const int start = curPos + 2;
+        constexpr int length = 3;
+
+        const auto fmt = hasXorSpace ?
+         (midChar == QLatin1Char(' ') ? CheckBoxUnChecked : CheckBoxChecked) :
+         MaskedSyntax;
+
+        setFormat(start, length, _formats[fmt]);
+    }
+}
+
+static bool isBeginningOfList(QChar front)
+{
+    return front == QLatin1Char('-') || front == QLatin1Char('+') ||
+           front == QLatin1Char('*') || front.isNumber();
+}
+
+/**
+ * @brief Highlight lists in markdown
+ * @param text - current text block
+ */
+void MarkdownHighlighter::highlightLists(const QString &text) {
+    int spaces = 0;
+    // Skip any spaces in the beginning
+    while (spaces < text.length() && text.at(spaces).isSpace()) ++spaces;
+
+    // return if we reached the end
+    if (spaces >= text.length())
+        return;
+
+    const QChar front = text.at(spaces);
+    // check for start of list
+    if (!isBeginningOfList(front)) {
+        return;
+    }
+
+    const int curPos = spaces;
+
+    // Ordered List
+    if (front.isNumber()) {
+        int number = curPos;
+        // move forward till first non-number char
+        while (number < text.length() && text.at(number).isNumber()) ++number;
+
+        // reached end?
+        if (number + 1 >= text.length()) return;
+
+        // there should be a '.' or ')' after a number
+        if ((text.at(number) == QLatin1Char('.') ||
+             text.at(number) == QLatin1Char(')')) &&
+            (text.at(number + 1) == QLatin1Char(' '))) {
+            setCurrentBlockState(List);
+        setFormat(curPos, number - curPos + 1, _formats[List]);
+
+            // highlight checkbox if any
+            highlightCheckbox(text, number);
+        }
+
+        return;
+    }
+
+    // if its just a '-' etc, no highlighting
+    if (curPos + 1 >= text.length()) return;
+
+    // check for a space after it
+    if (text.at(curPos + 1) != QLatin1Char(' '))
+        return;
+
+    // check if we are in checkbox list
+    highlightCheckbox(text, curPos);
+
+    /* Unordered List */
+    setCurrentBlockState(List);
+    setFormat(curPos, 1, _formats[List]);
+}
+
+/**
+ * Format italics, bolds and links in headings(h1-h6)
+ *
+ * @param format The format that is being applied
+ * @param match The regex match
+ * @param capturedGroup The captured group
+ */
+void MarkdownHighlighter::setHeadingStyles(HighlighterState rule,
+                                           const QRegularExpressionMatch &match,
+                                           const int capturedGroup) {
+    auto state = static_cast<HighlighterState>(currentBlockState());
+    const QTextCharFormat &f = _formats[state];
+
+    if (rule == HighlighterState::Link) {
+        auto linkFmt = _formats[Link];
+        linkFmt.setFontPointSize(f.fontPointSize());
+        if (capturedGroup == 1) {
+            setFormat(match.capturedStart(capturedGroup),
+                      match.capturedLength(capturedGroup), linkFmt);
+        }
+        return;
+    }
+}
+
+/**
+ * Highlights the rules from the _highlightingRules list
+ *
+ * @param text
+ */
+void MarkdownHighlighter::highlightAdditionalRules(
+    const QVector<HighlightingRule> &rules, const QString &text) {
+    const auto &maskedFormat = _formats[HighlighterState::MaskedSyntax];
+
+    for (const HighlightingRule &rule : rules) {
+        // continue if another current block state was already set if
+        // disableIfCurrentStateIsSet is set
+        if (currentBlockState() != NoState) continue;
+
+        const bool contains = text.contains(rule.shouldContain);
+        if (!contains) continue;
+
+        auto iterator = rule.pattern.globalMatch(text);
+        const uint8_t capturingGroup = rule.capturingGroup;
+        const uint8_t maskedGroup = rule.maskedGroup;
+        const QTextCharFormat &format = _formats[rule.state];
+
+        // find and format all occurrences
+        while (iterator.hasNext()) {
+            QRegularExpressionMatch match = iterator.next();
+
+            // if there is a capturingGroup set then first highlight
+            // everything as MaskedSyntax and highlight capturingGroup
+            // with the real format
+            if (capturingGroup > 0) {
+                QTextCharFormat currentMaskedFormat = maskedFormat;
+                // set the font size from the current rule's font format
+                if (format.fontPointSize() > 0) {
+                    currentMaskedFormat.setFontPointSize(
+                        format.fontPointSize());
+                }
+
+                if (isHeading(currentBlockState())) {
+                    // setHeadingStyles(format, match, maskedGroup);
+
+                } else {
+                    setFormat(match.capturedStart(maskedGroup),
+                              match.capturedLength(maskedGroup),
+                              currentMaskedFormat);
+                }
+            }
+            if (isHeading(currentBlockState())) {
+                setHeadingStyles(rule.state, match, capturingGroup);
+
+            } else {
+                setFormat(match.capturedStart(capturingGroup),
+                          match.capturedLength(capturingGroup), format);
+            }
+        }
+    }
+}
+
+/**
+ * @brief helper function to check if we are in a link while highlighting inline
+ * rules
+ * @param pos
+ * @param range
+ */
+int isInLinkRange(int pos, QVector<QPair<int, int>> &range) {
+    int j = 0;
+    for (const auto &i : range) {
+        if (pos >= i.first && pos <= i.second) {
+            // return the length of the range so that we can skip it
+            const int len = i.second - i.first;
+            range.remove(j);
+            return len;
+        }
+        ++j;
+    }
+    return -1;
+}
+
+/**
+ * @brief highlight inline rules aka Emphasis, bolds, inline code spans,
+ * underlines, strikethrough, links, and images.
+ */
+void MarkdownHighlighter::highlightInlineRules(const QString &text) {
+    bool isEmStrongDone = false;
+
+    for (int i = 0; i < text.length(); ++i) {
+        QChar currentChar = text.at(i);
+
+        if (currentChar == QLatin1Char('`') ||
+            currentChar == QLatin1Char('~')) {
+            i = highlightInlineSpans(text, i, currentChar);
+        } else if (currentChar == QLatin1Char('<') &&
+                   MH_SUBSTR(i, 4) == QLatin1String("<!--")) {
+            i = highlightInlineComment(text, i);
+        } else if (!isEmStrongDone && (currentChar == QLatin1Char('*') ||
+                                       currentChar == QLatin1Char('_'))) {
+            highlightEmAndStrong(text, i);
+            isEmStrongDone = true;
+        } else {
+            i = highlightLinkOrImage(text, i);
+        }
+    }
+}
+
+// Helper function for MarkdownHighlighter::highlightLinkOrImage
+bool isLink(const QString &text) {
+    static const QLatin1String supportedSchemes[] = {
+        QLatin1String("http://"),  QLatin1String("https://"),
+        QLatin1String("file://"),  QLatin1String("www."),
+        QLatin1String("ftp://"),   QLatin1String("mailto:"),
+        QLatin1String("tel:"),     QLatin1String("sms:"),
+        QLatin1String("smsto:"),   QLatin1String("data:"),
+        QLatin1String("irc://"),   QLatin1String("gopher://"),
+        QLatin1String("spotify:"), QLatin1String("steam:"),
+        QLatin1String("bitcoin:"), QLatin1String("magnet:"),
+        QLatin1String("ed2k://"),  QLatin1String("news:"),
+        QLatin1String("ssh://"),   QLatin1String("note://")};
+
+    for (const QLatin1String &scheme : supportedSchemes) {
+        if (text.startsWith(scheme)) {
+            return true;
+        }
+    }
+
+    return false;
+}
+
+bool isValidEmail(const QString &email) {
+    // Check for a single '@' character
+    int atIndex = email.indexOf('@');
+    if (atIndex == -1) return false;
+
+    // Check for at least one character before and after '@'
+    if (atIndex == 0 || atIndex == email.length() - 1) return false;
+
+    // Split email into local part and domain
+    QString localPart = email.left(atIndex);
+    QString domain = email.mid(atIndex + 1);
+
+    // Check local part for validity (e.g., no consecutive dots)
+    if (localPart.isEmpty() || localPart.contains("..")) return false;
+
+    // Check domain for validity (e.g., at least one dot)
+    if (domain.isEmpty() || domain.indexOf('.') == -1) return false;
+
+    return true;
+}
+
+void MarkdownHighlighter::formatAndMaskRemaining(
+    int formatBegin, int formatLength, int beginningText, int endText,
+    const QTextCharFormat &format) {
+    int afterFormat = formatBegin + formatLength;
+
+    auto maskedSyntax = _formats[MaskedSyntax];
+    maskedSyntax.setFontPointSize(
+        QSyntaxHighlighter::format(beginningText).fontPointSize());
+
+    // highlight before the link
+    setFormat(beginningText, formatBegin - beginningText, maskedSyntax);
+
+    // highlight the link if we are not in a heading
+    if (!isHeading(currentBlockState())) {
+        setFormat(formatBegin, formatLength, format);
+    }
+
+    // highlight after the link
+    maskedSyntax.setFontPointSize(
+        QSyntaxHighlighter::format(afterFormat).fontPointSize());
+    setFormat(afterFormat, endText - afterFormat, maskedSyntax);
+
+    _ranges[currentBlock().blockNumber()].append(
+        InlineRange(beginningText, formatBegin, RangeType::Link));
+    _ranges[currentBlock().blockNumber()].append(
+        InlineRange(afterFormat, endText, RangeType::Link));
+}
+
+/**
+ * @brief This function highlights images and links in Markdown text.
+ *
+ * @param text The input Markdown text.
+ * @param startIndex The starting index from where to begin processing.
+ * @return The index where processing should continue.
+ */
+int MarkdownHighlighter::highlightLinkOrImage(const QString &text,
+                                              int startIndex) {
+    clearRangesForBlock(currentBlock().blockNumber(), RangeType::Link);
+
+    // Get the character at the starting index
+    QChar startChar = text.at(startIndex);
+
+    // If it starts with '<', it indicates a link, or an email
+    // enclosed in angle brackets
+    if (startChar == QLatin1Char('<')) {
+        // Find the closing '>' character to identify the end of the link
+        int closingChar = text.indexOf(QLatin1Char('>'), startIndex);
+        if (closingChar == -1) return startIndex;
+
+        // Extract the content between '<' and '>'
+        QString linkContent =
+            text.mid(startIndex + 1, closingChar - startIndex - 1);
+
+        // Check if it's a valid link or email
+        if (!isLink(linkContent) && !isValidEmail(linkContent) &&
+            !linkContent.contains(QLatin1Char('.')))
+            return startIndex;
+
+        // Apply formatting to highlight the link
+        formatAndMaskRemaining(startIndex + 1, closingChar - startIndex - 1,
+                               startIndex, closingChar + 1, _formats[Link]);
+
+        return closingChar;
+    }
+    // Highlight http and www links
+    else if (startChar != QLatin1Char('[')) {
+        int space = text.indexOf(QLatin1Char(' '), startIndex);
+        if (space == -1) space = text.length();
+
+        // Allow to highlight the href in HTML tags
+        if (MH_SUBSTR(startIndex, 6) == QLatin1String("href=\"")) {
+            int hrefEnd = text.indexOf(QLatin1Char('"'), startIndex + 6);
+            if (hrefEnd == -1) return space;
+
+            _ranges[currentBlock().blockNumber()].append(
+                InlineRange(startIndex + 6, hrefEnd, RangeType::Link));
+            setFormat(startIndex + 6, hrefEnd - startIndex - 6, _formats[Link]);
+            return hrefEnd;
+        }
+
+        QString link = text.mid(startIndex, space - startIndex - 1);
+        if (!isLink(link)) return startIndex;
+
+        auto linkLength = link.length();
+
+        _ranges[currentBlock().blockNumber()].append(
+            InlineRange(startIndex, startIndex + linkLength, RangeType::Link));
+        setFormat(startIndex, linkLength + 1, _formats[Link]);
+        return space;
+    }
+
+    // Find the index of the closing ']' character to identify the end of link
+    // or image text.
+    int endIndex = text.indexOf(QLatin1Char(']'), startIndex);
+
+    // If endIndex is not found or at the end of the text, the link is invalid
+    if (endIndex == -1 || endIndex == text.size() - 1) return startIndex;
+
+    // If there is an '!' preceding the starting character, it's an image
+    if (startIndex != 0 && text.at(startIndex - 1) == QLatin1Char('!')) {
+        // Find the index of the closing ')' character after the image link
+        int closingIndex = text.indexOf(QLatin1Char(')'), endIndex);
+        if (closingIndex == -1) return startIndex;
+        ++closingIndex;
+
+        // Apply formatting to highlight the image.
+        formatAndMaskRemaining(startIndex + 1, endIndex - startIndex - 1,
+                               startIndex - 1, closingIndex, _formats[Image]);
+        return closingIndex;
+    }
+    // If the character after the closing ']' is '(', it's a regular link
+    else if (text.at(endIndex + 1) == QLatin1Char('(')) {
+        // Find the index of the closing ')' character after the link
+        int closingParenIndex = text.indexOf(QLatin1Char(')'), endIndex);
+        if (closingParenIndex == -1) return startIndex;
+        ++closingParenIndex;
+
+        // If the substring starting from the current index matches "[![",
+        // It's a image with link
+        if (MH_SUBSTR(startIndex, 3) == QLatin1String("[![")) {
+            // Apply formatting to highlight the image alt text (inside the
+            // first ']')
+            int altEndIndex = text.indexOf(QLatin1Char(']'), endIndex + 1);
+            if (altEndIndex == -1) return startIndex;
+
+            // Find the last `)` (href) [![Image alt](Image src)](Link href)
+            int hrefIndex = text.indexOf(QLatin1Char(')'), altEndIndex);
+            if (hrefIndex == -1) return startIndex;
+            ++hrefIndex;
+
+            formatAndMaskRemaining(startIndex + 3, endIndex - startIndex - 3,
+                                   startIndex, hrefIndex, _formats[Link]);
+
+            return hrefIndex;
+        }
+
+        // Apply formatting to highlight the link
+        formatAndMaskRemaining(startIndex + 1, endIndex - startIndex - 1,
+                               startIndex, closingParenIndex, _formats[Link]);
+        return closingParenIndex;
+    }
+    // Reference links
+    else if (text.at(endIndex + 1) == QLatin1Char('[')) {
+        // Image with reference
+        int origIndex = startIndex;
+        if (text.at(startIndex + 1) == QLatin1Char('!')) {
+            startIndex = text.indexOf(QLatin1Char('['), startIndex + 1);
+            if (startIndex == -1) return origIndex;
+        }
+
+        int closingChar = text.indexOf(QLatin1Char(']'), endIndex + 1);
+        if (closingChar == -1) return startIndex;
+        ++closingChar;
+
+        formatAndMaskRemaining(startIndex + 1, endIndex - startIndex - 1,
+                               origIndex, closingChar, _formats[Link]);
+        return closingChar;
+    }
+    // If the character after the closing ']' is ':', it's a reference link
+    // reference
+    else if (text.at(endIndex + 1) == QLatin1Char(':')) {
+        formatAndMaskRemaining(0, 0, startIndex, endIndex + 1, {});
+        return endIndex + 1;
+    }
+
+    return startIndex;    // If none of the conditions are met, continue
+                          // processing from the same index
+}
+
+/** @brief highlight inline code spans -> `code` and highlight strikethroughs
+ *
+ * ---- TESTS ----
+`foo`
+-> <code>foo</code>
+`` foo ` bar ``
+-> <code>foo ` bar</code>
+` `` `
+-> <code>``</code>
+`foo\`bar`
+-><code>foo\</code>bar`
+``foo`bar``
+-><code>foo`bar</code>
+` foo `` bar `
+<code>foo `` bar</code>
+*/
+int MarkdownHighlighter::highlightInlineSpans(const QString &text,
+                                              int currentPos, const QChar c) {
+    //clear code span ranges for this block
+    clearRangesForBlock(currentBlock().blockNumber(), RangeType::CodeSpan);
+
+    int i = currentPos;
+    // found a backtick
+    int len = 0;
+    int pos = i;
+
+    if (i != 0 && text.at(i - 1) == QChar('\\')) return currentPos;
+
+    // keep moving forward in backtick sequence;
+    while (pos < text.length() && text.at(pos) == c) {
+        ++len;
+        ++pos;
+    }
+
+    const QString seq = text.mid(i, len);
+    const int start = i;
+    i += len;
+    const int next = text.indexOf(seq, i);
+    if (next == -1) {
+        return currentPos;
+    }
+    if (next + len < text.length() && text.at(next + len) == c) return currentPos;
+
+    //get existing format if any
+    //we want to append to the existing format, not overwrite it
+    QTextCharFormat fmt = QSyntaxHighlighter::format(start + 1);
+    QTextCharFormat inlineFmt;
+
+    //select appropriate format for current text
+    if (c != QLatin1Char('~'))
+        inlineFmt = _formats[InlineCodeBlock];
+
+
+    //make sure we don't change font size / existing formatting
+    if (fmt.fontPointSize() > 0)
+        inlineFmt.setFontPointSize(fmt.fontPointSize());
+
+    if (c == QLatin1Char('~'))
+    {
+        inlineFmt.setFontStrikeOut(true);
+        //we don't want these properties for "inline code span"
+        inlineFmt.setFontItalic(fmt.fontItalic());
+        inlineFmt.setFontWeight(fmt.fontWeight());
+        inlineFmt.setFontUnderline(fmt.fontUnderline());
+        inlineFmt.setUnderlineStyle(fmt.underlineStyle());
+    }
+
+    if (c == QLatin1Char('`')) {
+        _ranges[currentBlock().blockNumber()].append(InlineRange(start, next, RangeType::CodeSpan));
+    }
+
+    //format the text
+    setFormat(start + len, next - (start + len), inlineFmt);
+
+    // format backticks as masked
+    setFormat(start, len, _formats[MaskedSyntax]);
+    setFormat(next, len, _formats[MaskedSyntax]);
+
+    i = next + len;
+    return i;
+}
+
+/**
+ * @brief highlight inline comments in markdown <!-- comment -->
+ * @param text
+ * @param pos
+ * @return position after the comment
+ */
+int MarkdownHighlighter::highlightInlineComment(const QString &text, int pos) {
+    const int start = pos;
+    pos += 4;
+
+    if (pos >= text.length()) return pos;
+
+    int commentEnd = text.indexOf(QLatin1String("-->"), pos);
+    if (commentEnd == -1) return pos;
+
+    commentEnd += 3;
+    setFormat(start, commentEnd - start, _formats[Comment]);
+    return commentEnd - 1;
+}
+
+/****************************************
+ * EM and Strong Parsing + Highlighting *
+ ****************************************/
+
+struct Delimiter {
+    int pos;
+    int len;
+    int end;
+    int jump;
+    bool open;
+    bool close;
+    char marker;
+};
+
+inline bool isMDAsciiPunct(const int ch) noexcept {
+    return (ch >= 33 && ch <= 47) || (ch >= 58 && ch <= 64) ||
+           (ch >= 91 && ch <= 96) || (ch >= 123 && ch <= 126);
+}
+
+/**
+ * @brief scans a chain of '*' or '_'
+ * @param text: current text block
+ * @param start: current position in the text
+ * @param canSplitWord: is Underscore
+ * @return length, canOpen, canClose
+ * @details Helper function for Em and strong highlighting
+ */
+QPair<int, QPair<bool, bool>> scanDelims(const QString &text, const int start,
+                                         const bool canSplitWord) {
+    int pos = start;
+    const int textLen = text.length();
+    const QChar marker = text.at(start);
+    bool leftFlanking = true;
+    bool rightFlanking = true;
+
+    const QChar lastChar = start > 0 ? text.at(start - 1) : QChar('\0');
+
+    while (pos < textLen && text.at(pos) == marker) ++pos;
+    const int length = pos - start;
+
+    const QChar nextChar = pos + 1 < textLen ? text.at(pos) : QChar('\0');
+
+    const bool isLastPunct =
+        isMDAsciiPunct(lastChar.toLatin1()) || lastChar.isPunct();
+    const bool isNextPunct =
+        isMDAsciiPunct(nextChar.toLatin1()) || nextChar.isPunct();
+    // treat line end and start as whitespace
+    const bool isLastWhiteSpace = lastChar.isNull() ? true : lastChar.isSpace();
+    const bool isNextWhiteSpace = nextChar.isNull() ? true : nextChar.isSpace();
+
+    if (isNextWhiteSpace) {
+        leftFlanking = false;
+    } else if (isNextPunct) {
+        if (!(isLastWhiteSpace || isLastPunct)) leftFlanking = false;
+    }
+
+    if (isLastWhiteSpace) {
+        rightFlanking = false;
+    } else if (isLastPunct) {
+        if (!(isNextWhiteSpace || isNextPunct)) rightFlanking = false;
+    }
+
+    //    qDebug () << isNextWhiteSpace << marker;
+    //    qDebug () << text << leftFlanking << rightFlanking << lastChar <<
+    //    nextChar;
+
+    const bool canOpen = canSplitWord
+                             ? leftFlanking
+                             : leftFlanking && (!rightFlanking || isLastPunct);
+    const bool canClose = canSplitWord
+                              ? rightFlanking
+                              : rightFlanking && (!leftFlanking || isNextPunct);
+
+    return QPair<int, QPair<bool, bool>>{length, {canOpen, canClose}};
+}
+
+int collectEmDelims(const QString &text, int curPos,
+                    QVector<Delimiter> &delims) {
+    const char marker = text.at(curPos).toLatin1();
+    const auto result = scanDelims(text, curPos, marker == '*');
+    const int length = result.first;
+    const bool canOpen = result.second.first;
+    const bool canClose = result.second.second;
+    for (int i = 0; i < length; ++i) {
+        const Delimiter d = {curPos + i, length,   -1,    i,
+                             canOpen,    canClose, marker};
+        delims.append(d);
+    }
+    return curPos + length;
+}
+
+void balancePairs(QVector<Delimiter> &delims) {
+    for (int i = 0; i < delims.length(); ++i) {
+        const auto &lastDelim = delims.at(i);
+
+        if (!lastDelim.close) continue;
+
+        int j = i - lastDelim.jump - 1;
+
+        while (j >= 0) {
+            const auto &curDelim = delims.at(j);
+            if (curDelim.open && curDelim.marker == lastDelim.marker &&
+                curDelim.end < 0) {
+                const bool oddMatch = (curDelim.close || lastDelim.open) &&
+                                      curDelim.len != -1 &&
+                                      lastDelim.len != -1 &&
+                                      (curDelim.len + lastDelim.len) % 3 == 0;
+                if (!oddMatch) {
+                    delims[i].jump = i - j;
+                    delims[i].open = false;
+                    delims[j].end = i;
+                    delims[j].jump = 0;
+                    break;
+                }
+            }
+            j -= curDelim.jump + 1;
+        }
+    }
+}
+
+void MarkdownHighlighter::clearRangesForBlock(int blockNumber, RangeType type)
+{
+    if (!_ranges.value(blockNumber).isEmpty()) {
+        auto& rangeList = _ranges[currentBlock().blockNumber()];
+        rangeList.erase(std::remove_if(rangeList.begin(), rangeList.end(),
+                                       [type](const InlineRange& range) {
+           return range.type == type;
+        }), rangeList.end());
+    }
+}
+
+QPair<int,int>
+MarkdownHighlighter::findPositionInRanges(MarkdownHighlighter::RangeType type,
+                                     int blockNum, int pos) const {
+    const QVector<InlineRange> rangeList = _ranges.value(blockNum);
+    auto it = std::find_if(rangeList.cbegin(), rangeList.cend(),
+                                     [pos, type](const InlineRange& range){
+        if ((pos == range.begin || pos == range.end) && range.type == type)
+            return true;
+        return false;
+    });
+    if (it == rangeList.cend())
+        return {-1, -1};
+    return { it->begin, it->end };
+}
+
+bool MarkdownHighlighter::isPosInACodeSpan(int blockNumber, int position) const
+{
+    const QVector<InlineRange> rangeList = _ranges.value(blockNumber);
+    return std::find_if(rangeList.cbegin(), rangeList.cend(),
+                                     [position](const InlineRange& range){
+        if (position > range.begin && position < range.end && range.type == RangeType::CodeSpan)
+            return true;
+        return false;
+    }) != rangeList.cend();
+}
+
+bool MarkdownHighlighter::isPosInALink(int blockNumber, int position) const {
+    const QVector<InlineRange> rangeList = _ranges.value(blockNumber);
+    return std::find_if(rangeList.cbegin(), rangeList.cend(),
+                        [position](const InlineRange &range) {
+                            return position > range.begin &&
+                                   position < range.end &&
+                                   range.type == RangeType::Link;
+                        }) != rangeList.cend();
+}
+
+QPair<int, int> MarkdownHighlighter::getSpanRange(MarkdownHighlighter::RangeType rangeType, int blockNumber, int position) const
+{
+    const QVector<InlineRange> rangeList = _ranges.value(blockNumber);
+    const auto it = std::find_if(rangeList.cbegin(), rangeList.cend(),
+                                     [position, rangeType](const InlineRange& range){
+        if (position > range.begin && position < range.end && range.type == rangeType)
+            return true;
+        return false;
+    });
+
+    if (it == rangeList.cend()) {
+        return QPair<int, int>(-1, -1);
+    } else {
+        return QPair<int, int>(it->begin, it->end);
+    }
+}
+
+/**
+ * @brief highlights Em/Strong in text editor
+ */
+void MarkdownHighlighter::highlightEmAndStrong(const QString &text,
+                                               const int pos) {
+    clearRangesForBlock(currentBlock().blockNumber(), RangeType::Emphasis);
+
+    // 1. collect all em/strong delimiters
+    QVector<Delimiter> delims;
+    for (int i = pos; i < text.length(); ++i) {
+        if (text.at(i) != QLatin1Char('_') && text.at(i) != QLatin1Char('*'))
+            continue;
+
+        bool isInCodeSpan = isPosInACodeSpan(currentBlock().blockNumber(), i);
+        if (isInCodeSpan)
+            continue;
+
+        i = collectEmDelims(text, i, delims);
+        --i;
+    }
+
+    // 2. Balance pairs
+    balancePairs(delims);
+
+    // start,length -> helper for applying masking later
+    QVector<QPair<int, int>> masked;
+    masked.reserve(delims.size() / 2);
+
+    // 3. final processing & highlighting
+    for (int i = delims.length() - 1; i >= 0; --i) {
+        const auto &startDelim = delims.at(i);
+        if (startDelim.marker != QLatin1Char('_') &&
+            startDelim.marker != QLatin1Char('*'))
+            continue;
+        if (startDelim.end == -1) continue;
+
+        const auto &endDelim = delims.at(startDelim.end);
+        auto state = static_cast<HighlighterState>(currentBlockState());
+
+        const bool isStrong =
+            i > 0 && delims.at(i - 1).end == startDelim.end + 1 &&
+            delims.at(i - 1).pos == startDelim.pos - 1 &&
+            delims.at(startDelim.end + 1).pos == endDelim.pos + 1 &&
+            delims.at(i - 1).marker == startDelim.marker;
+        if (isStrong) {
+            //            qDebug () << "St: " << startDelim.pos << endDelim.pos;
+            //            qDebug () << "St Txt: "<< text.mid(startDelim.pos,
+            //            endDelim.pos - startDelim.pos);
+            int k = startDelim.pos;
+            while (text.at(k) == startDelim.marker)
+                ++k;    // look for first letter after the delim chain
+            // per character highlighting
+            const int boldLen = endDelim.pos - startDelim.pos;
+            const bool underline = _highlightingOptions.testFlag(Underline) &&
+                                   startDelim.marker == QLatin1Char('_');
+            while (k != (startDelim.pos + boldLen)) {
+                QTextCharFormat fmt = QSyntaxHighlighter::format(k);
+#if QT_VERSION < QT_VERSION_CHECK(5, 13, 0)
+                fmt.setFontFamily(_formats[Bold].fontFamily());
+#else
+                const QStringList fontFamilies = _formats[Bold].fontFamilies().toStringList();
+                if (!fontFamilies.isEmpty())
+                    fmt.setFontFamilies(fontFamilies);
+#endif
+
+                if (_formats[state].fontPointSize() > 0)
+                    fmt.setFontPointSize(_formats[state].fontPointSize());
+
+                // if we are in plain text, use the format's specified color
+                if (fmt.foreground() == QTextCharFormat().foreground())
+                    fmt.setForeground(_formats[Bold].foreground());
+                if (underline) {
+                    fmt.setForeground(_formats[StUnderline].foreground());
+                    fmt.setFont(_formats[StUnderline].font());
+                    fmt.setFontUnderline(_formats[StUnderline].fontUnderline());
+                } else if (_formats[Bold].font().bold())
+                    fmt.setFontWeight(QFont::Bold);
+                setFormat(k, 1, fmt);
+                ++k;
+            }
+            masked.append({startDelim.pos - 1, 2});
+            masked.append({endDelim.pos, 2});
+
+            int block = currentBlock().blockNumber();
+            _ranges[block].append(InlineRange(
+                                      startDelim.pos,
+                                      endDelim.pos + 1,
+                                      RangeType::Emphasis
+                                      ));
+            _ranges[block].append(InlineRange(
+                                      startDelim.pos - 1,
+                                      endDelim.pos,
+                                      RangeType::Emphasis
+                                      ));
+            --i;
+        } else {
+            //            qDebug () << "Em: " << startDelim.pos << endDelim.pos;
+            //            qDebug () << "Em Txt: " << text.mid(startDelim.pos,
+            //            endDelim.pos - startDelim.pos);
+            int k = startDelim.pos;
+            while (text.at(k) == startDelim.marker) ++k;
+            const bool underline = _highlightingOptions.testFlag(Underline) &&
+                                   startDelim.marker == QLatin1Char('_');
+            const int itLen = endDelim.pos - startDelim.pos;
+            while (k != (startDelim.pos + itLen)) {
+                QTextCharFormat fmt = QSyntaxHighlighter::format(k);
+
+#if QT_VERSION < QT_VERSION_CHECK(5, 13, 0)
+                fmt.setFontFamily(_formats[Italic].fontFamily());
+#else
+                const QStringList fontFamilies = _formats[Italic].fontFamilies().toStringList();
+                if (!fontFamilies.isEmpty())
+                    fmt.setFontFamilies(fontFamilies);
+#endif
+
+                if (_formats[state].fontPointSize() > 0)
+                    fmt.setFontPointSize(_formats[state].fontPointSize());
+
+                if (fmt.foreground() == QTextCharFormat().foreground())
+                    fmt.setForeground(_formats[Italic].foreground());
+
+                if (underline)
+                    fmt.setFontUnderline(_formats[StUnderline].fontUnderline());
+                else
+                    fmt.setFontItalic(_formats[Italic].fontItalic());
+                setFormat(k, 1, fmt);
+                ++k;
+            }
+            masked.append({startDelim.pos, 1});
+            masked.append({endDelim.pos, 1});
+
+            int block = currentBlock().blockNumber();
+            _ranges[block].append(InlineRange(
+                                      startDelim.pos,
+                                      endDelim.pos,
+                                      RangeType::Emphasis
+                                      ));
+        }
+    }
+
+    // 4. Apply masked syntax
+    for (int i = 0; i < masked.length(); ++i) {
+        QTextCharFormat maskedFmt = _formats[MaskedSyntax];
+        auto state = static_cast<HighlighterState>(currentBlockState());
+        if (_formats[state].fontPointSize() > 0)
+            maskedFmt.setFontPointSize(_formats[state].fontPointSize());
+        setFormat(masked.at(i).first, masked.at(i).second, maskedFmt);
+    }
+}
+
+void MarkdownHighlighter::setHighlightingOptions(
+    const HighlightingOptions options) {
+    _highlightingOptions = options;
+}
+
+#undef MH_SUBSTR
diff --git a/qmarkdowntextedit/markdownhighlighter.h b/qmarkdowntextedit/markdownhighlighter.h
new file mode 100644
index 000000000..02ae1464a
--- /dev/null
+++ b/qmarkdowntextedit/markdownhighlighter.h
@@ -0,0 +1,353 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2014-2023 Patrizio Bekerle -- <patrizio@bekerle.com>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *
+ * QPlainTextEdit markdown highlighter
+ */
+
+#pragma once
+
+#include <QRegularExpression>
+#include <QSyntaxHighlighter>
+#include <QTextCharFormat>
+
+#ifdef QT_QUICK_LIB
+#include <QQuickTextDocument>
+#endif
+
+QT_BEGIN_NAMESPACE
+class QTextDocument;
+
+QT_END_NAMESPACE
+
+class MarkdownHighlighter : public QSyntaxHighlighter {
+    Q_OBJECT
+
+#ifdef QT_QUICK_LIB
+    Q_PROPERTY(QQuickTextDocument *textDocument READ textDocument WRITE
+                   setTextDocument NOTIFY textDocumentChanged)
+
+    QQuickTextDocument *m_quickDocument = nullptr;
+
+   signals:
+    void textDocumentChanged();
+
+   public:
+    inline QQuickTextDocument *textDocument() const { return m_quickDocument; };
+    void setTextDocument(QQuickTextDocument *textDocument) {
+        if (!textDocument) return;
+        m_quickDocument = textDocument;
+        setDocument(m_quickDocument->textDocument());
+        Q_EMIT textDocumentChanged();
+    };
+#endif
+
+   public:
+    enum HighlightingOption {
+        None = 0,
+        FullyHighlightedBlockQuote = 0x01,
+        Underline = 0x02
+    };
+    Q_DECLARE_FLAGS(HighlightingOptions, HighlightingOption)
+
+    MarkdownHighlighter(
+        QTextDocument *parent = nullptr,
+        HighlightingOptions highlightingOptions = HighlightingOption::None);
+
+    static inline QColor codeBlockBackgroundColor() {
+        const QBrush brush = _formats[CodeBlock].background();
+
+        if (!brush.isOpaque()) {
+            return QColor(Qt::transparent);
+        }
+
+        return brush.color();
+    }
+
+    static constexpr inline bool isOctal(const char c) {
+        return (c >= '0' && c <= '7');
+    }
+    static constexpr inline bool isHex(const char c) {
+        return (c >= '0' && c <= '9') || (c >= 'a' && c <= 'f') ||
+               (c >= 'A' && c <= 'F');
+    }
+    static constexpr inline bool isCodeBlock(const int state) {
+        return state == MarkdownHighlighter::CodeBlock ||
+               state == MarkdownHighlighter::CodeBlockTilde ||
+               state == MarkdownHighlighter::CodeBlockComment ||
+               state == MarkdownHighlighter::CodeBlockTildeComment ||
+               state >= MarkdownHighlighter::CodeCpp;
+    }
+    static constexpr inline bool isCodeBlockEnd(const int state) {
+        return state == MarkdownHighlighter::CodeBlockEnd ||
+               state == MarkdownHighlighter::CodeBlockTildeEnd;
+    }
+    static constexpr inline bool isHeading(const int state) {
+        return state >= H1 && state <= H6;
+    }
+
+    enum class RangeType { CodeSpan, Emphasis, Link };
+
+    QPair<int, int> findPositionInRanges(MarkdownHighlighter::RangeType type, int blockNum, int pos) const;
+    bool isPosInACodeSpan(int blockNumber, int position) const;
+    bool isPosInALink(int blockNumber, int position) const;
+    QPair<int, int> getSpanRange(RangeType rangeType, int blockNumber, int position) const;
+
+    // we used some predefined numbers here to be compatible with
+    // the peg-markdown parser
+    enum HighlighterState {
+        NoState = -1,
+        Link = 0,
+        Image = 3,
+        CodeBlock,
+        CodeBlockComment,
+        Italic = 7,
+        Bold,
+        List,
+        Comment = 11,
+        H1,
+        H2,
+        H3,
+        H4,
+        H5,
+        H6,
+        BlockQuote,
+        HorizontalRuler = 21,
+        Table,
+        InlineCodeBlock,
+        MaskedSyntax,
+        CurrentLineBackgroundColor,
+        BrokenLink,
+        FrontmatterBlock,
+        TrailingSpace,
+        CheckBoxUnChecked,
+        CheckBoxChecked,
+        StUnderline,
+
+        // code highlighting
+        CodeKeyWord = 1000,
+        CodeString = 1001,
+        CodeComment = 1002,
+        CodeType = 1003,
+        CodeOther = 1004,
+        CodeNumLiteral = 1005,
+        CodeBuiltIn = 1006,
+
+        // internal
+        CodeBlockIndented = 96,
+        CodeBlockTildeEnd = 97,
+        CodeBlockTilde = 98,
+        CodeBlockTildeComment,
+        CodeBlockEnd = 100,
+        HeadlineEnd,
+        FrontmatterBlockEnd,
+
+        // languages
+        /*********
+         * When adding a language make sure that its value is a multiple of 2
+         * This is because we use the next number as comment for that language
+         * In case the language doesn't support multiline comments in the
+         * traditional C++ sense, leave the next value empty. Otherwise mark the
+         * next value as comment for that language. e.g CodeCpp = 200
+         * CodeCppComment = 201
+         */
+        CodeCpp = 200,
+        CodeCppComment = 201,
+        CodeJs = 202,
+        CodeJsComment = 203,
+        CodeC = 204,
+        CodeCComment = 205,
+        CodeBash = 206,
+        CodePHP = 208,
+        CodePHPComment = 209,
+        CodeQML = 210,
+        CodeQMLComment = 211,
+        CodePython = 212,
+        CodeRust = 214,
+        CodeRustComment = 215,
+        CodeJava = 216,
+        CodeJavaComment = 217,
+        CodeCSharp = 218,
+        CodeCSharpComment = 219,
+        CodeGo = 220,
+        CodeGoComment = 221,
+        CodeV = 222,
+        CodeVComment = 223,
+        CodeSQL = 224,
+        CodeJSON = 226,
+        CodeXML = 228,
+        CodeCSS = 230,
+        CodeCSSComment = 231,
+        CodeTypeScript = 232,
+        CodeTypeScriptComment = 233,
+        CodeYAML = 234,
+        CodeINI = 236,
+        CodeTaggerScript = 238,
+        CodeVex = 240,
+        CodeVexComment = 241,
+        CodeCMake = 242,
+        CodeMake = 244,
+        CodeNix = 246,
+        CodeForth = 248,
+        CodeForthComment = 249
+    };
+    Q_ENUM(HighlighterState)
+
+    static void setTextFormats(
+        QHash<HighlighterState, QTextCharFormat> formats);
+    static void setTextFormat(HighlighterState state, QTextCharFormat format);
+    void clearDirtyBlocks();
+    void setHighlightingOptions(const HighlightingOptions options);
+    void initHighlightingRules();
+
+   Q_SIGNALS:
+    void highlightingFinished();
+
+   protected Q_SLOTS:
+    void timerTick();
+
+   protected:
+    struct HighlightingRule {
+        explicit HighlightingRule(const HighlighterState state_)
+            : state(state_) {}
+        HighlightingRule() = default;
+
+        QRegularExpression pattern;
+        QString shouldContain;
+        HighlighterState state = NoState;
+        uint8_t capturingGroup = 0;
+        uint8_t maskedGroup = 0;
+    };
+    struct InlineRange {
+        int begin;
+        int end;
+        RangeType type;
+        InlineRange() = default;
+        InlineRange(int begin_, int end_, RangeType type_) :
+            begin{begin_}, end{end_}, type{type_}
+        {}
+    };
+
+
+    void highlightBlock(const QString &text) override;
+
+    static void initTextFormats(int defaultFontSize = 12);
+
+    static void initCodeLangs();
+
+    void highlightMarkdown(const QString &text);
+
+    void formatAndMaskRemaining(int formatBegin, int formatLength,
+                                int beginningText, int endText,
+                                const QTextCharFormat &format);
+
+    /******************************
+     *  BLOCK LEVEL FUNCTIONS
+     ******************************/
+
+    void highlightHeadline(const QString &text);
+
+    void highlightSubHeadline(const QString &text, HighlighterState state);
+
+    void highlightAdditionalRules(const QVector<HighlightingRule> &rules,
+                                  const QString &text);
+
+    void highlightFrontmatterBlock(const QString &text);
+
+    void highlightCommentBlock(const QString &text);
+
+    void highlightThematicBreak(const QString &text);
+
+    void highlightLists(const QString &text);
+
+    void highlightCheckbox(const QString &text, int curPos);
+
+    /******************************
+     *  INLINE FUNCTIONS
+     ******************************/
+
+    void highlightInlineRules(const QString &text);
+
+    int highlightInlineSpans(const QString &text,
+                                               int currentPos, const QChar c);
+
+    void highlightEmAndStrong(const QString &text, const int pos);
+
+    Q_REQUIRED_RESULT int highlightInlineComment(const QString &text, int pos);
+
+    int highlightLinkOrImage(const QString &text, int startIndex);
+
+    void setHeadingStyles(MarkdownHighlighter::HighlighterState rule,
+                          const QRegularExpressionMatch &match,
+                          const int capturedGroup);
+
+    /******************************
+     *  CODE HIGHLIGHTING FUNCTIONS
+     ******************************/
+
+    void highlightIndentedCodeBlock(const QString &text);
+
+    void highlightCodeFence(const QString &text);
+
+    void highlightCodeBlock(const QString &text,
+                            const QString &opener = QStringLiteral("```"));
+
+    void highlightSyntax(const QString &text);
+
+    Q_REQUIRED_RESULT int highlightNumericLiterals(const QString &text, int i);
+
+    Q_REQUIRED_RESULT int highlightStringLiterals(QChar strType,
+                                                  const QString &text, int i);
+
+    void ymlHighlighter(const QString &text);
+
+    void iniHighlighter(const QString &text);
+
+    void cssHighlighter(const QString &text);
+
+    void xmlHighlighter(const QString &text);
+
+    void makeHighlighter(const QString &text);
+
+    void forthHighlighter(const QString &text);
+
+    void taggerScriptHighlighter(const QString &text);
+
+    void addDirtyBlock(const QTextBlock &block);
+
+    void reHighlightDirtyBlocks();
+
+    void clearRangesForBlock(int blockNumber, RangeType type);
+
+    bool _highlightingFinished;
+    HighlightingOptions _highlightingOptions;
+    QTimer *_timer;
+    QVector<QTextBlock> _dirtyTextBlocks;
+    QVector<QPair<int,int>> _linkRanges;
+
+    QHash<int, QVector<InlineRange>> _ranges;
+
+    static QVector<HighlightingRule> _highlightingRules;
+    static QHash<HighlighterState, QTextCharFormat> _formats;
+    static QHash<QString, HighlighterState> _langStringToEnum;
+    static constexpr int tildeOffset = 300;
+};
diff --git a/qmarkdowntextedit/media.qrc b/qmarkdowntextedit/media.qrc
new file mode 100644
index 000000000..0346de9df
--- /dev/null
+++ b/qmarkdowntextedit/media.qrc
@@ -0,0 +1,9 @@
+<RCC>
+    <qresource prefix="/">
+        <file>media/window-close.svg</file>
+        <file>media/go-top.svg</file>
+        <file>media/go-bottom.svg</file>
+        <file>media/edit-find-replace.svg</file>
+        <file>media/format-text-superscript.svg</file>
+    </qresource>
+</RCC>
diff --git a/qmarkdowntextedit/media/edit-find-replace.svg b/qmarkdowntextedit/media/edit-find-replace.svg
new file mode 100644
index 000000000..1193301fa
--- /dev/null
+++ b/qmarkdowntextedit/media/edit-find-replace.svg
@@ -0,0 +1 @@
+<svg viewBox="0 0 24 24" xmlns="http://www.w3.org/2000/svg"><path d="M10 4c-3.324 0-6 2.676-6 6s2.676 6 6 6a5.976 5.976 0 0 0 3.875-1.418L19.293 20l.707-.707-5.418-5.418A5.976 5.976 0 0 0 16 10c0-3.324-2.676-6-6-6zm0 1a4.99 4.99 0 0 1 5 5 4.99 4.99 0 0 1-5 5 4.99 4.99 0 0 1-5-5 4.99 4.99 0 0 1 5-5zM5 18a1 1 0 1 0 0 2 1 1 0 1 0 0-2zm4 0a1 1 0 1 0 0 2 1 1 0 1 0 0-2zm4 0a1 1 0 1 0 0 2 1 1 0 1 0 0-2z" fill="#4d4d4d"/></svg>
\ No newline at end of file
diff --git a/qmarkdowntextedit/media/format-text-superscript.svg b/qmarkdowntextedit/media/format-text-superscript.svg
new file mode 100644
index 000000000..c9d239c39
--- /dev/null
+++ b/qmarkdowntextedit/media/format-text-superscript.svg
@@ -0,0 +1 @@
+<svg viewBox="0 0 24 24" xmlns="http://www.w3.org/2000/svg"><a transform="translate(1 1)"><path d="M14 3v6h3a1.996 1.996 0 0 0 .828-3.816c.106-.206.172-.435.172-.684 0-.831-.669-1.5-1.5-1.5H15zm1 1h1.5a.5.5 0 1 1 0 1H15zM8.217 5 3 19h1.688l1.668-4.43h5.563L13.451 19h1.689L10.21 5zM15 6h2a1 1 0 1 1 0 2h-2zm-5.768.611 2.129 6.674H6.873z" fill="#4d4d4d"/></a></svg>
\ No newline at end of file
diff --git a/qmarkdowntextedit/media/go-bottom.svg b/qmarkdowntextedit/media/go-bottom.svg
new file mode 100644
index 000000000..42de59cf9
--- /dev/null
+++ b/qmarkdowntextedit/media/go-bottom.svg
@@ -0,0 +1 @@
+<svg fill="#4d4d4d" height="24" width="24" xmlns="http://www.w3.org/2000/svg"><path d="M4.707 6 4 6.707l6.125 6.125L12 14.707l1.875-1.875L20 6.707 19.293 6l-6.125 6.125L12 13.293l-1.168-1.168zM4 17h16v1H4z"/></svg>
\ No newline at end of file
diff --git a/qmarkdowntextedit/media/go-top.svg b/qmarkdowntextedit/media/go-top.svg
new file mode 100644
index 000000000..98d91cfc7
--- /dev/null
+++ b/qmarkdowntextedit/media/go-top.svg
@@ -0,0 +1 @@
+<svg fill="#4d4d4d" height="24" width="24" xmlns="http://www.w3.org/2000/svg"><path d="M4.707 18 4 17.293l6.125-6.125L12 9.293l1.875 1.875L20 17.293l-.707.707-6.125-6.125L12 10.707l-1.168 1.168zM4 7h16V6H4z"/></svg>
\ No newline at end of file
diff --git a/qmarkdowntextedit/media/window-close.svg b/qmarkdowntextedit/media/window-close.svg
new file mode 100644
index 000000000..c7e44ecc4
--- /dev/null
+++ b/qmarkdowntextedit/media/window-close.svg
@@ -0,0 +1 @@
+<svg height="24" width="24" xmlns="http://www.w3.org/2000/svg"><path d="M12 4a8 8 0 1 0 0 16 8 8 0 1 0 0-16zM8.707 8 12 11.293 15.293 8l.707.707L12.707 12 16 15.293l-.707.707L12 12.707 8.707 16 8 15.293 11.293 12 8 8.707z" fill="#da4453"/></svg>
\ No newline at end of file
diff --git a/qmarkdowntextedit/old_screenshot.png b/qmarkdowntextedit/old_screenshot.png
new file mode 100644
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diff --git a/qmarkdowntextedit/qmarkdowntextedit-app.pro b/qmarkdowntextedit/qmarkdowntextedit-app.pro
new file mode 100644
index 000000000..9d82f8dc0
--- /dev/null
+++ b/qmarkdowntextedit/qmarkdowntextedit-app.pro
@@ -0,0 +1,17 @@
+TARGET   = QMarkdownTextedit
+TEMPLATE = app
+QT += core gui widgets
+CONFIG += c++11
+
+SOURCES = main.cpp mainwindow.cpp
+HEADERS = mainwindow.h
+FORMS   = mainwindow.ui
+
+LIBS += -lQMarkdownTextedit -L$$OUT_PWD
+
+win32: LIBS +=  -L$$OUT_PWD/release -L$$OUT_PWD/debug
+
+target.path = $$[QT_INSTALL_BINS]
+
+INSTALLS += target
+
diff --git a/qmarkdowntextedit/qmarkdowntextedit-headers.pri b/qmarkdowntextedit/qmarkdowntextedit-headers.pri
new file mode 100644
index 000000000..68ec123fc
--- /dev/null
+++ b/qmarkdowntextedit/qmarkdowntextedit-headers.pri
@@ -0,0 +1,8 @@
+INCLUDEPATH += $$PWD/
+
+HEADERS += \
+    $$PWD/linenumberarea.h \
+    $$PWD/markdownhighlighter.h \
+    $$PWD/qmarkdowntextedit.h \
+    $$PWD/qownlanguagedata.h \
+    $$PWD/qplaintexteditsearchwidget.h
diff --git a/qmarkdowntextedit/qmarkdowntextedit-lib.pro b/qmarkdowntextedit/qmarkdowntextedit-lib.pro
new file mode 100644
index 000000000..b37bcda8e
--- /dev/null
+++ b/qmarkdowntextedit/qmarkdowntextedit-lib.pro
@@ -0,0 +1,34 @@
+TARGET = QMarkdownTextedit
+TEMPLATE = lib
+QT += core gui widgets
+CONFIG += c++11 create_prl no_install_prl create_pc
+
+include(qmarkdowntextedit.pri)
+
+TRANSLATIONS += trans/qmarkdowntextedit_de.ts \
+                trans/qmarkdowntextedit_zh_CN.ts \
+                trans/qmarkdowntextedit_es.ts
+
+isEmpty(PREFIX):PREFIX=$$[QT_INSTALL_PREFIX]
+isEmpty(LIBDIR):LIBDIR=$$[QT_INSTALL_LIBS]
+isEmpty(HEADERDIR):HEADERDIR=$${PREFIX}/include/$$TARGET/
+isEmpty(DSRDIR):DSRDIR=$${PREFIX}/share/$$TARGET
+
+target.path = $${LIBDIR}
+
+headers.files = $$HEADERS
+headers.path = $${HEADERDIR}
+
+license.files = LICENSE
+license.path = $${DSRDIR}/licenses/
+
+trans.files = trans/*.qm
+trans.path = $${DSRDIR}/translations/
+
+QMAKE_PKGCONFIG_NAME = QMarkdownTextedit
+QMAKE_PKGCONFIG_DESCRIPTION = C++ Qt QPlainTextEdit widget with markdown highlighting and some other goodies
+QMAKE_PKGCONFIG_INCDIR = $${headers.path}
+QMAKE_PKGCONFIG_LIBDIR = $${LIBDIR}
+QMAKE_PKGCONFIG_DESTDIR = pkgconfig
+
+INSTALLS += target license headers trans
diff --git a/qmarkdowntextedit/qmarkdowntextedit-sources.pri b/qmarkdowntextedit/qmarkdowntextedit-sources.pri
new file mode 100644
index 000000000..43d5fac31
--- /dev/null
+++ b/qmarkdowntextedit/qmarkdowntextedit-sources.pri
@@ -0,0 +1,15 @@
+INCLUDEPATH += $$PWD/
+
+QT       += gui
+greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
+
+SOURCES += \
+    $$PWD/markdownhighlighter.cpp \
+    $$PWD/qmarkdowntextedit.cpp \
+    $$PWD/qownlanguagedata.cpp \
+    $$PWD/qplaintexteditsearchwidget.cpp
+
+RESOURCES += \
+    $$PWD/media.qrc
+
+FORMS += $$PWD/qplaintexteditsearchwidget.ui
diff --git a/qmarkdowntextedit/qmarkdowntextedit.cpp b/qmarkdowntextedit/qmarkdowntextedit.cpp
new file mode 100644
index 000000000..b93bec8d8
--- /dev/null
+++ b/qmarkdowntextedit/qmarkdowntextedit.cpp
@@ -0,0 +1,1881 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2014-2023 Patrizio Bekerle -- <patrizio@bekerle.com>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include "qmarkdowntextedit.h"
+
+#include <QClipboard>
+#include <QDebug>
+#include <QDesktopServices>
+#include <QDir>
+#include <QGuiApplication>
+#include <QKeyEvent>
+#include <QLayout>
+#include <QPainter>
+#include <QPainterPath>
+#include <QRegularExpression>
+#include <QRegularExpressionMatch>
+#include <QRegularExpressionMatchIterator>
+#include <QScrollBar>
+#include <QSettings>
+#include <QTextBlock>
+#include <QTimer>
+#include <QWheelEvent>
+#include <utility>
+
+#include "linenumberarea.h"
+#include "markdownhighlighter.h"
+
+static const QByteArray _openingCharacters = QByteArrayLiteral("([{<*\"'_~");
+static const QByteArray _closingCharacters = QByteArrayLiteral(")]}>*\"'_~");
+
+QMarkdownTextEdit::QMarkdownTextEdit(QWidget *parent, bool initHighlighter)
+    : QPlainTextEdit(parent) {
+    installEventFilter(this);
+    viewport()->installEventFilter(this);
+    _autoTextOptions = AutoTextOption::BracketClosing;
+
+    _lineNumArea = new LineNumArea(this);
+    updateLineNumberAreaWidth(0);
+
+    // markdown highlighting is enabled by default
+    _highlightingEnabled = initHighlighter;
+    if (initHighlighter) {
+        _highlighter = new MarkdownHighlighter(document());
+    }
+
+    QFont font = this->font();
+
+    // set the tab stop to the width of 4 spaces in the editor
+    constexpr int tabStop = 4;
+    QFontMetrics metrics(font);
+
+#if QT_VERSION < QT_VERSION_CHECK(5, 11, 0)
+    setTabStopWidth(tabStop * metrics.width(' '));
+#else
+    setTabStopDistance(tabStop * metrics.horizontalAdvance(QLatin1Char(' ')));
+#endif
+
+    // add shortcuts for duplicating text
+    //    new QShortcut( QKeySequence( "Ctrl+D" ), this, SLOT( duplicateText() )
+    //    ); new QShortcut( QKeySequence( "Ctrl+Alt+Down" ), this, SLOT(
+    //    duplicateText() ) );
+
+    // add a layout to the widget
+    auto *layout = new QVBoxLayout(this);
+    layout->setContentsMargins(0, 0, 0, 0);
+    layout->addStretch();
+    this->setLayout(layout);
+
+    // add the hidden search widget
+    _searchWidget = new QPlainTextEditSearchWidget(this);
+    this->layout()->addWidget(_searchWidget);
+
+    connect(this, &QPlainTextEdit::textChanged, this,
+            &QMarkdownTextEdit::adjustRightMargin);
+    connect(this, &QPlainTextEdit::cursorPositionChanged, this,
+            &QMarkdownTextEdit::centerTheCursor);
+    connect(verticalScrollBar(), &QScrollBar::valueChanged, this, [this](int) {
+        _lineNumArea->update();
+    });
+    connect(this, &QPlainTextEdit::cursorPositionChanged, this, [this]() {
+        _lineNumArea->update();
+
+        auto oldArea = blockBoundingGeometry(_textCursor.block()).translated(contentOffset());
+        _textCursor = textCursor();
+        auto newArea = blockBoundingGeometry(_textCursor.block()).translated(contentOffset());
+        auto areaToUpdate = oldArea | newArea;
+        viewport()->update(areaToUpdate.toRect());
+    });
+    connect(document(), &QTextDocument::blockCountChanged,
+            this, &QMarkdownTextEdit::updateLineNumberAreaWidth);
+    connect(this, &QPlainTextEdit::updateRequest,
+            this, &QMarkdownTextEdit::updateLineNumberArea);
+
+    updateSettings();
+
+    // workaround for disabled signals up initialization
+    QTimer::singleShot(300, this, &QMarkdownTextEdit::adjustRightMargin);
+}
+
+void QMarkdownTextEdit::setLineNumbersCurrentLineColor(QColor color) {
+    _lineNumArea->setCurrentLineColor(std::move(color));
+}
+
+void QMarkdownTextEdit::setLineNumbersOtherLineColor(QColor color) {
+    _lineNumArea->setOtherLineColor(std::move(color));
+}
+
+void QMarkdownTextEdit::setSearchWidgetDebounceDelay(uint debounceDelay)
+{
+    _debounceDelay = debounceDelay;
+    searchWidget()->setDebounceDelay(_debounceDelay);
+}
+
+void QMarkdownTextEdit::setHighlightCurrentLine(bool set)
+{
+    _highlightCurrentLine = set;
+}
+
+bool QMarkdownTextEdit::highlightCurrentLine()
+{
+    return _highlightCurrentLine;
+}
+
+void QMarkdownTextEdit::setCurrentLineHighlightColor(const QColor &color)
+{
+    _currentLineHighlightColor = color;
+}
+
+QColor QMarkdownTextEdit::currentLineHighlightColor()
+{
+    return _currentLineHighlightColor;
+}
+
+/**
+ * Enables or disables the markdown highlighting
+ *
+ * @param enabled
+ */
+void QMarkdownTextEdit::setHighlightingEnabled(bool enabled) {
+    if (_highlightingEnabled == enabled || _highlighter == nullptr) {
+        return;
+    }
+
+    _highlightingEnabled = enabled;
+    _highlighter->setDocument(enabled ? document() : Q_NULLPTR);
+
+    if (enabled) {
+        _highlighter->rehighlight();
+    }
+}
+
+/**
+ * @brief Returns if highlighting is enabled
+ * @return Returns true if highlighting is enabled, otherwise false
+ */
+bool QMarkdownTextEdit::highlightingEnabled() const {
+    return _highlightingEnabled && _highlighter != nullptr;
+}
+
+/**
+ * Leave a little space on the right side if the document is too long, so
+ * that the search buttons don't get visually blocked by the scroll bar
+ */
+void QMarkdownTextEdit::adjustRightMargin() {
+    QMargins margins = layout()->contentsMargins();
+    const int rightMargin =
+        document()->size().height() > viewport()->size().height() ? 24 : 0;
+    margins.setRight(rightMargin);
+    layout()->setContentsMargins(margins);
+}
+
+bool QMarkdownTextEdit::eventFilter(QObject *obj, QEvent *event) {
+    // qDebug() << event->type();
+    if (event->type() == QEvent::HoverMove) {
+        auto *mouseEvent = static_cast<QMouseEvent *>(event);
+
+        QWidget *viewPort = this->viewport();
+        // toggle cursor when control key has been pressed or released
+        viewPort->setCursor(
+            mouseEvent->modifiers().testFlag(Qt::ControlModifier)
+                ? Qt::PointingHandCursor
+                : Qt::IBeamCursor);
+    } else if (event->type() == QEvent::KeyPress) {
+        auto *keyEvent = static_cast<QKeyEvent *>(event);
+
+        // set cursor to pointing hand if control key was pressed
+        if (keyEvent->modifiers().testFlag(Qt::ControlModifier)) {
+            QWidget *viewPort = this->viewport();
+            viewPort->setCursor(Qt::PointingHandCursor);
+        }
+
+        // disallow keys if text edit hasn't focus
+        if (!this->hasFocus()) {
+            return true;
+        }
+
+        if ((keyEvent->key() == Qt::Key_Escape) && _searchWidget->isVisible()) {
+            _searchWidget->deactivate();
+            return true;
+        } else if ((keyEvent->key() == Qt::Key_Tab) ||
+                   (keyEvent->key() == Qt::Key_Backtab)) {
+            // handle entered tab and reverse tab keys
+            return handleTabEntered(keyEvent->key() == Qt::Key_Backtab);
+        } else if ((keyEvent->key() == Qt::Key_F) &&
+                   keyEvent->modifiers().testFlag(Qt::ControlModifier)) {
+            _searchWidget->activate();
+            return true;
+        } else if ((keyEvent->key() == Qt::Key_R) &&
+                   keyEvent->modifiers().testFlag(Qt::ControlModifier)) {
+            _searchWidget->activateReplace();
+            return true;
+            //        } else if (keyEvent->key() == Qt::Key_Delete) {
+        } else if (keyEvent->key() == Qt::Key_Backspace) {
+            return handleBackspaceEntered();
+        } else if (keyEvent->key() == Qt::Key_Asterisk) {
+            return handleBracketClosing(QLatin1Char('*'));
+        } else if (keyEvent->key() == Qt::Key_QuoteDbl) {
+            return quotationMarkCheck(QLatin1Char('"'));
+            // apostrophe bracket closing is temporary disabled because
+            // apostrophes are used in different contexts
+            //        } else if (keyEvent->key() == Qt::Key_Apostrophe) {
+            //            return handleBracketClosing("'");
+            // underline bracket closing is temporary disabled because
+            // underlines are used in different contexts
+            //        } else if (keyEvent->key() == Qt::Key_Underscore) {
+            //            return handleBracketClosing("_");
+        } else if (keyEvent->key() == Qt::Key_QuoteLeft) {
+            return quotationMarkCheck(QLatin1Char('`'));
+        } else if (keyEvent->key() == Qt::Key_AsciiTilde) {
+            return handleBracketClosing(QLatin1Char('~'));
+#ifdef Q_OS_MAC
+        } else if (keyEvent->modifiers().testFlag(Qt::AltModifier) &&
+                   keyEvent->key() == Qt::Key_ParenLeft) {
+            // bracket closing for US keyboard on macOS
+            return handleBracketClosing(QLatin1Char('{'), QLatin1Char('}'));
+#endif
+        } else if (keyEvent->key() == Qt::Key_ParenLeft) {
+            return handleBracketClosing(QLatin1Char('('), QLatin1Char(')'));
+        } else if (keyEvent->key() == Qt::Key_BraceLeft) {
+            return handleBracketClosing(QLatin1Char('{'), QLatin1Char('}'));
+        } else if (keyEvent->key() == Qt::Key_BracketLeft) {
+            return handleBracketClosing(QLatin1Char('['), QLatin1Char(']'));
+        } else if (keyEvent->key() == Qt::Key_Less) {
+            return handleBracketClosing(QLatin1Char('<'), QLatin1Char('>'));
+#ifdef Q_OS_MAC
+        } else if (keyEvent->modifiers().testFlag(Qt::AltModifier) &&
+                   keyEvent->key() == Qt::Key_ParenRight) {
+            // bracket closing for US keyboard on macOS
+            return bracketClosingCheck(QLatin1Char('{'), QLatin1Char('}'));
+#endif
+        } else if (keyEvent->key() == Qt::Key_ParenRight) {
+            return bracketClosingCheck(QLatin1Char('('), QLatin1Char(')'));
+        } else if (keyEvent->key() == Qt::Key_BraceRight) {
+            return bracketClosingCheck(QLatin1Char('{'), QLatin1Char('}'));
+        } else if (keyEvent->key() == Qt::Key_BracketRight) {
+            return bracketClosingCheck(QLatin1Char('['), QLatin1Char(']'));
+        } else if (keyEvent->key() == Qt::Key_Greater) {
+            return bracketClosingCheck(QLatin1Char('<'), QLatin1Char('>'));
+        } else if ((keyEvent->key() == Qt::Key_Return || keyEvent->key() == Qt::Key_Enter) &&
+                   keyEvent->modifiers().testFlag(Qt::ShiftModifier)) {
+            QTextCursor cursor = this->textCursor();
+            cursor.insertText("  \n");
+            return true;
+        } else if ((keyEvent->key() == Qt::Key_Return || keyEvent->key() == Qt::Key_Enter) &&
+                   keyEvent->modifiers().testFlag(Qt::ControlModifier)) {
+            QTextCursor cursor = this->textCursor();
+            cursor.movePosition(QTextCursor::EndOfBlock);
+            cursor.insertText(QStringLiteral("\n"));
+            setTextCursor(cursor);
+            return true;
+        } else if (keyEvent == QKeySequence::Copy ||
+                   keyEvent == QKeySequence::Cut) {
+            QTextCursor cursor = this->textCursor();
+            if (!cursor.hasSelection()) {
+                QString text;
+                if (cursor.block().length() <= 1)    // no content
+                    text = "\n";
+                else {
+                    // cursor.select(QTextCursor::BlockUnderCursor); //
+                    // negative, it will include the previous paragraph
+                    // separator
+                    cursor.movePosition(QTextCursor::StartOfBlock);
+                    cursor.movePosition(QTextCursor::EndOfBlock,
+                                        QTextCursor::KeepAnchor);
+                    text = cursor.selectedText();
+                    if (!cursor.atEnd()) {
+                        text += "\n";
+                        // this is the paragraph separator
+                        cursor.movePosition(QTextCursor::NextCharacter,
+                                            QTextCursor::KeepAnchor, 1);
+                    }
+                }
+                if (keyEvent == QKeySequence::Cut) {
+                    if (!cursor.atEnd() && text == "\n")
+                        cursor.deletePreviousChar();
+                    else
+                        cursor.removeSelectedText();
+                    cursor.movePosition(QTextCursor::StartOfBlock);
+                    setTextCursor(cursor);
+                }
+                qApp->clipboard()->setText(text);
+                return true;
+            }
+        } else if ((keyEvent->key() == Qt::Key_Down) &&
+                   keyEvent->modifiers().testFlag(Qt::ControlModifier) &&
+                   keyEvent->modifiers().testFlag(Qt::AltModifier)) {
+            // duplicate text with `Ctrl + Alt + Down`
+            duplicateText();
+            return true;
+#ifndef Q_OS_MAC
+        } else if ((keyEvent->key() == Qt::Key_Down) &&
+                   keyEvent->modifiers().testFlag(Qt::ControlModifier) &&
+                   !keyEvent->modifiers().testFlag(Qt::ShiftModifier)) {
+            // scroll the page down
+            auto *scrollBar = verticalScrollBar();
+            scrollBar->setSliderPosition(scrollBar->sliderPosition() + 1);
+            return true;
+        } else if ((keyEvent->key() == Qt::Key_Up) &&
+                   keyEvent->modifiers().testFlag(Qt::ControlModifier) &&
+                   !keyEvent->modifiers().testFlag(Qt::ShiftModifier)) {
+            // scroll the page up
+            auto *scrollBar = verticalScrollBar();
+            scrollBar->setSliderPosition(scrollBar->sliderPosition() - 1);
+            return true;
+#endif
+        } else if ((keyEvent->key() == Qt::Key_Down) &&
+                   keyEvent->modifiers().testFlag(Qt::NoModifier)) {
+            // if you are in the last line and press cursor down the cursor will
+            // jump to the end of the line
+            QTextCursor cursor = textCursor();
+            if (cursor.position() >= document()->lastBlock().position()) {
+                cursor.movePosition(QTextCursor::EndOfLine);
+
+                // check if we are really in the last line, not only in
+                // the last block
+                if (cursor.atBlockEnd()) {
+                    setTextCursor(cursor);
+                }
+            }
+            return QPlainTextEdit::eventFilter(obj, event);
+        } else if ((keyEvent->key() == Qt::Key_Up) &&
+                   keyEvent->modifiers().testFlag(Qt::NoModifier)) {
+            // if you are in the first line and press cursor up the cursor will
+            // jump to the start of the line
+            QTextCursor cursor = textCursor();
+            QTextBlock block = document()->firstBlock();
+            int endOfFirstLinePos = block.position() + block.length();
+
+            if (cursor.position() <= endOfFirstLinePos) {
+                cursor.movePosition(QTextCursor::StartOfLine);
+
+                // check if we are really in the first line, not only in
+                // the first block
+                if (cursor.atBlockStart()) {
+                    setTextCursor(cursor);
+                }
+            }
+            return QPlainTextEdit::eventFilter(obj, event);
+        } else if (keyEvent->key() == Qt::Key_Return || keyEvent->key() == Qt::Key_Enter) {
+            return handleReturnEntered();
+        } else if ((keyEvent->key() == Qt::Key_F3)) {
+            _searchWidget->doSearch(
+                !keyEvent->modifiers().testFlag(Qt::ShiftModifier));
+            return true;
+        } else if ((keyEvent->key() == Qt::Key_Z) &&
+                   (keyEvent->modifiers().testFlag(Qt::ControlModifier)) &&
+                   !(keyEvent->modifiers().testFlag(Qt::ShiftModifier))) {
+            undo();
+            return true;
+        } else if ((keyEvent->key() == Qt::Key_Down) &&
+                   (keyEvent->modifiers().testFlag(Qt::ControlModifier)) &&
+                   (keyEvent->modifiers().testFlag(Qt::ShiftModifier))) {
+            moveTextUpDown(false);
+            return true;
+        } else if ((keyEvent->key() == Qt::Key_Up) &&
+                   (keyEvent->modifiers().testFlag(Qt::ControlModifier)) &&
+                   (keyEvent->modifiers().testFlag(Qt::ShiftModifier))) {
+            moveTextUpDown(true);
+            return true;
+#ifdef Q_OS_MAC
+        // https://github.com/pbek/QOwnNotes/issues/1593
+        // https://github.com/pbek/QOwnNotes/issues/2643
+        } else if (keyEvent->key() == Qt::Key_Home) {
+            QTextCursor cursor = textCursor();
+            // Meta is Control on macOS
+            cursor.movePosition(
+                keyEvent->modifiers().testFlag(Qt::MetaModifier) ?
+                    QTextCursor::Start : QTextCursor::StartOfLine,
+                keyEvent->modifiers().testFlag(Qt::ShiftModifier) ?
+                    QTextCursor::KeepAnchor : QTextCursor::MoveAnchor);
+            this->setTextCursor(cursor);
+            return true;
+        } else if (keyEvent->key() == Qt::Key_End) {
+            QTextCursor cursor = textCursor();
+            // Meta is Control on macOS
+            cursor.movePosition(
+                keyEvent->modifiers().testFlag(Qt::MetaModifier) ?
+                    QTextCursor::End : QTextCursor::EndOfLine,
+                keyEvent->modifiers().testFlag(Qt::ShiftModifier) ?
+                    QTextCursor::KeepAnchor : QTextCursor::MoveAnchor);
+            this->setTextCursor(cursor);
+            return true;
+#endif
+        }
+
+        return QPlainTextEdit::eventFilter(obj, event);
+    } else if (event->type() == QEvent::KeyRelease) {
+        auto *keyEvent = static_cast<QKeyEvent *>(event);
+
+        // reset cursor if control key was released
+        if (keyEvent->key() == Qt::Key_Control) {
+            resetMouseCursor();
+        }
+
+        return QPlainTextEdit::eventFilter(obj, event);
+    } else if (event->type() == QEvent::MouseButtonRelease) {
+        _mouseButtonDown = false;
+        auto *mouseEvent = static_cast<QMouseEvent *>(event);
+
+        // track `Ctrl + Click` in the text edit
+        if ((obj == this->viewport()) &&
+            (mouseEvent->button() == Qt::LeftButton) &&
+            (QGuiApplication::keyboardModifiers() == Qt::ExtraButton24)) {
+            // open the link (if any) at the current position
+            // in the noteTextEdit
+            openLinkAtCursorPosition();
+            return true;
+        }
+    } else if (event->type() == QEvent::MouseButtonPress) {
+        _mouseButtonDown = true;
+    } else if (event->type() == QEvent::MouseButtonDblClick) {
+        _mouseButtonDown = true;
+    } else if (event->type() == QEvent::Wheel) {
+        auto *wheel = dynamic_cast<QWheelEvent*>(event);
+
+        // emit zoom signals
+        if (wheel->modifiers() == Qt::ControlModifier) {
+            if (wheel->angleDelta().y() > 0) {
+                Q_EMIT zoomIn();
+            } else {
+                Q_EMIT zoomOut();
+            }
+
+            return true;
+        }
+    }
+
+    return QPlainTextEdit::eventFilter(obj, event);
+}
+
+void QMarkdownTextEdit::centerTheCursor() {
+    if (_mouseButtonDown || !_centerCursor) {
+        return;
+    }
+
+    // centers the cursor every time, but not on the top and bottom
+    // bottom is done by setCenterOnScroll() in updateSettings()
+    centerCursor();
+
+    /*
+        QRect cursor = cursorRect();
+        QRect vp = viewport()->rect();
+
+        qDebug() << __func__ << " - 'cursor.top': " << cursor.top();
+        qDebug() << __func__ << " - 'cursor.bottom': " << cursor.bottom();
+        qDebug() << __func__ << " - 'vp': " << vp.bottom();
+
+        int bottom = 0;
+        int top = 0;
+
+        qDebug() << __func__ << " - 'viewportMargins().top()': "
+                 << viewportMargins().top();
+
+        qDebug() << __func__ << " - 'viewportMargins().bottom()': "
+                 << viewportMargins().bottom();
+
+        int vpBottom = viewportMargins().top() + viewportMargins().bottom() +
+    vp.bottom(); int vpCenter = vpBottom / 2; int cBottom = cursor.bottom() +
+    viewportMargins().top();
+
+        qDebug() << __func__ << " - 'vpBottom': " << vpBottom;
+        qDebug() << __func__ << " - 'vpCenter': " << vpCenter;
+        qDebug() << __func__ << " - 'cBottom': " << cBottom;
+
+
+        if (cBottom >= vpCenter) {
+            bottom = cBottom + viewportMargins().top() / 2 +
+    viewportMargins().bottom() / 2 - (vp.bottom() / 2);
+    //        bottom = cBottom - (vp.bottom() / 2);
+    //        bottom *= 1.5;
+        }
+
+    //    setStyleSheet(QString("QPlainTextEdit {padding-bottom:
+    %1px;}").arg(QString::number(bottom)));
+
+    //    if (cursor.top() < (vp.bottom() / 2)) {
+    //        top = (vp.bottom() / 2) - cursor.top() + viewportMargins().top() /
+    2 + viewportMargins().bottom() / 2;
+    ////        top *= -1;
+    ////        bottom *= 1.5;
+    //    }
+        qDebug() << __func__ << " - 'top': " << top;
+        qDebug() << __func__ << " - 'bottom': " << bottom;
+        setViewportMargins(0,top,0, bottom);
+
+
+    //    QScrollBar* scrollbar = verticalScrollBar();
+    //
+    //    qDebug() << __func__ << " - 'scrollbar->value();': " <<
+    scrollbar->value();;
+    //    qDebug() << __func__ << " - 'scrollbar->maximum();': "
+    //             << scrollbar->maximum();;
+
+
+    //    scrollbar->setValue(scrollbar->value() - offset.y());
+    //
+    //    setViewportMargins
+
+    //    setViewportMargins(0, 0, 0, bottom);
+    */
+}
+
+/*
+ * Handle the undo event ourselves
+ * Retains the selected text as selected after undo if
+ * bracket closing was used otherwise performs normal undo
+ */
+void QMarkdownTextEdit::undo() {
+    QTextCursor cursor = textCursor();
+    // if no text selected, call undo
+    if (!cursor.hasSelection()) {
+        QPlainTextEdit::undo();
+        return;
+    }
+
+    // if text is selected and bracket closing was used
+    // we retain our selection
+    if (_handleBracketClosingUsed) {
+        // get the selection
+        int selectionEnd = cursor.selectionEnd();
+        int selectionStart = cursor.selectionStart();
+        // call undo
+        QPlainTextEdit::undo();
+        // select again
+        cursor.setPosition(selectionStart - 1);
+        cursor.setPosition(selectionEnd - 1, QTextCursor::KeepAnchor);
+        this->setTextCursor(cursor);
+        _handleBracketClosingUsed = false;
+    } else {
+        // if text was selected but bracket closing wasn't used
+        // do normal undo
+        QPlainTextEdit::undo();
+        return;
+    }
+}
+
+void QMarkdownTextEdit::moveTextUpDown(bool up) {
+    QTextCursor cursor = textCursor();
+    QTextCursor move = cursor;
+
+    move.setVisualNavigation(false);
+
+    move.beginEditBlock();    // open an edit block to keep undo operations sane
+    bool hasSelection = cursor.hasSelection();
+
+    if (hasSelection) {
+        // if there's a selection inside the block, we select the whole block
+        move.setPosition(cursor.selectionStart());
+        move.movePosition(QTextCursor::StartOfBlock);
+        move.setPosition(cursor.selectionEnd(), QTextCursor::KeepAnchor);
+        move.movePosition(
+            move.atBlockStart() ? QTextCursor::Left : QTextCursor::EndOfBlock,
+            QTextCursor::KeepAnchor);
+    } else {
+        move.movePosition(QTextCursor::StartOfBlock);
+        move.movePosition(QTextCursor::EndOfBlock, QTextCursor::KeepAnchor);
+    }
+
+    // get the text of the current block
+    QString text = move.selectedText();
+
+    move.movePosition(QTextCursor::Right, QTextCursor::KeepAnchor);
+    move.removeSelectedText();
+
+    if (up) {    // up key
+        move.movePosition(QTextCursor::PreviousBlock);
+        move.insertBlock();
+        move.movePosition(QTextCursor::Left);
+    } else {    // down key
+        move.movePosition(QTextCursor::EndOfBlock);
+        if (move.atBlockStart()) {    // empty block
+            move.movePosition(QTextCursor::NextBlock);
+            move.insertBlock();
+            move.movePosition(QTextCursor::Left);
+        } else {
+            move.insertBlock();
+        }
+    }
+
+    int start = move.position();
+    move.clearSelection();
+    move.insertText(text);
+    int end = move.position();
+
+    // reselect
+    if (hasSelection) {
+        move.setPosition(end);
+        move.setPosition(start, QTextCursor::KeepAnchor);
+    } else {
+        move.setPosition(start);
+    }
+
+    move.endEditBlock();
+
+    setTextCursor(move);
+}
+
+void QMarkdownTextEdit::setLineNumberEnabled(bool enabled)
+{
+    _lineNumArea->setLineNumAreaEnabled(enabled);
+    updateLineNumberAreaWidth(0);
+}
+
+/**
+ * Resets the cursor to Qt::IBeamCursor
+ */
+void QMarkdownTextEdit::resetMouseCursor() const {
+    QWidget *viewPort = viewport();
+    viewPort->setCursor(Qt::IBeamCursor);
+}
+
+/**
+ * Resets the cursor to Qt::IBeamCursor if the widget looses the focus
+ */
+void QMarkdownTextEdit::focusOutEvent(QFocusEvent *event) {
+    resetMouseCursor();
+    QPlainTextEdit::focusOutEvent(event);
+}
+
+/**
+ * Enters a closing character after an opening character if needed
+ *
+ * @param openingCharacter
+ * @param closingCharacter
+ * @return
+ */
+bool QMarkdownTextEdit::handleBracketClosing(const QChar openingCharacter,
+                                             QChar closingCharacter) {
+    // check if bracket closing or read-only are enabled
+    if (!(_autoTextOptions & AutoTextOption::BracketClosing) || isReadOnly()) {
+        return false;
+    }
+
+    QTextCursor cursor = textCursor();
+
+    if (closingCharacter.isNull()) {
+        closingCharacter = openingCharacter;
+    }
+
+    const QString selectedText = cursor.selectedText();
+
+    // When user currently has text selected, we prepend the openingCharacter
+    // and append the closingCharacter. E.g. 'text' -> '(text)'. We keep the
+    // current selectedText selected.
+    if (!selectedText.isEmpty()) {
+        // Insert. The selectedText is overwritten.
+        const QString newText =
+            openingCharacter + selectedText + closingCharacter;
+        cursor.insertText(newText);
+
+        // Re-select the selectedText.
+        const int selectionEnd = cursor.position() - 1;
+        const int selectionStart = selectionEnd - selectedText.length();
+
+        cursor.setPosition(selectionStart);
+        cursor.setPosition(selectionEnd, QTextCursor::KeepAnchor);
+        this->setTextCursor(cursor);
+        _handleBracketClosingUsed = true;
+        return true;
+    }
+
+    // get the current text from the block (inserted character not included)
+    // Remove whitespace at start of string (e.g. in multilevel-lists).
+    const QString text = cursor.block().text().remove(QRegularExpression("^\\s+"));
+
+    const int pib = cursor.positionInBlock();
+    bool isPreviousAsterisk = pib > 0 && pib < text.length() && text.at(pib - 1) == '*';
+    bool isNextAsterisk = pib < text.length() && text.at(pib) == '*';
+    bool isMaybeBold = isPreviousAsterisk && isNextAsterisk;
+    if (pib < text.length() && !isMaybeBold && !text.at(pib).isSpace()) {
+        return false;
+    }
+
+    // Default positions to move the cursor back.
+    int cursorSubtract = 1;
+    // Special handling for `*` opening character, as this could be:
+    // - start of a list (or sublist);
+    // - start of a bold text;
+    if (openingCharacter == QLatin1Char('*')) {
+        // don't auto complete in code block
+        bool isInCode =
+            MarkdownHighlighter::isCodeBlock(cursor.block().userState());
+        // we only do auto completion if there is a space before the cursor pos
+        bool hasSpaceOrAsteriskBefore = !text.isEmpty() && pib > 0 && pib < text.size() &&
+                                        (text.at(pib - 1).isSpace() ||
+                                         text.at(pib - 1) == QLatin1Char('*'));
+        // This could be the start of a list, don't autocomplete.
+        bool isEmpty = text.isEmpty();
+
+        if (isInCode || !hasSpaceOrAsteriskBefore || isEmpty) {
+            return false;
+        }
+
+        // bold
+        if (isPreviousAsterisk && isNextAsterisk) {
+            cursorSubtract = 1;
+        }
+
+        // User wants: '**'.
+        // Not the start of a list, probably bold text. We autocomplete with
+        // extra closingCharacter and cursorSubtract to 'catchup'.
+        if (text == QLatin1String("*")) {
+            cursor.insertText(QStringLiteral("*"));
+            cursorSubtract = 2;
+        }
+    }
+
+    // Auto completion for ``` pair
+    if (openingCharacter == QLatin1Char('`')) {
+#if QT_VERSION < QT_VERSION_CHECK(5, 12, 0)
+        if (QRegExp(QStringLiteral("[^`]*``")).exactMatch(text)) {
+#else
+        if (QRegularExpression(QRegularExpression::anchoredPattern(QStringLiteral("[^`]*``"))).match(text).hasMatch()) {
+#endif
+            cursor.insertText(QStringLiteral("``"));
+            cursorSubtract = 3;
+        }
+    }
+
+    // don't auto complete in code block
+    if (openingCharacter == QLatin1Char('<') &&
+        MarkdownHighlighter::isCodeBlock(cursor.block().userState())) {
+        return false;
+    }
+
+    cursor.beginEditBlock();
+    cursor.insertText(openingCharacter);
+    cursor.insertText(closingCharacter);
+    cursor.setPosition(cursor.position() - cursorSubtract);
+    cursor.endEditBlock();
+
+    setTextCursor(cursor);
+    return true;
+}
+
+/**
+ * Checks if the closing character should be output or not
+ *
+ * @param openingCharacter
+ * @param closingCharacter
+ * @return
+ */
+bool QMarkdownTextEdit::bracketClosingCheck(const QChar openingCharacter,
+                                            QChar closingCharacter) {
+    // check if bracket closing or read-only are enabled
+    if (!(_autoTextOptions & AutoTextOption::BracketClosing) || isReadOnly()) {
+        return false;
+    }
+
+    if (closingCharacter.isNull()) {
+        closingCharacter = openingCharacter;
+    }
+
+    QTextCursor cursor = textCursor();
+    const int positionInBlock = cursor.positionInBlock();
+
+    // get the current text from the block
+    const QString text = cursor.block().text();
+    const int textLength = text.length();
+
+    // if we are at the end of the line we just want to enter the character
+    if (positionInBlock >= textLength) {
+        return false;
+    }
+
+    const QChar currentChar = text.at(positionInBlock);
+
+    //    if (closingCharacter == openingCharacter) {
+
+    //    }
+
+    qDebug() << __func__ << " - 'currentChar': " << currentChar;
+
+    // if the current character is not the closing character we just want to
+    // enter the character
+    if (currentChar != closingCharacter) {
+        return false;
+    }
+
+    const QString leftText = text.left(positionInBlock);
+    const int openingCharacterCount = leftText.count(openingCharacter);
+    const int closingCharacterCount = leftText.count(closingCharacter);
+
+    // if there were enough opening characters just enter the character
+    if (openingCharacterCount < (closingCharacterCount + 1)) {
+        return false;
+    }
+
+    // move the cursor to the right and don't enter the character
+    cursor.movePosition(QTextCursor::Right);
+    setTextCursor(cursor);
+    return true;
+}
+
+/**
+ * Checks if the closing character should be output or not or if a closing
+ * character after an opening character if needed
+ *
+ * @param quotationCharacter
+ * @return
+ */
+bool QMarkdownTextEdit::quotationMarkCheck(const QChar quotationCharacter) {
+    // check if bracket closing or read-only are enabled
+    if (!(_autoTextOptions & AutoTextOption::BracketClosing) || isReadOnly()) {
+        return false;
+    }
+
+    QTextCursor cursor = textCursor();
+    const int positionInBlock = cursor.positionInBlock();
+
+    // get the current text from the block
+    const QString text = cursor.block().text();
+    const int textLength = text.length();
+
+    // if last char is not space, we are at word end, no autocompletion
+    const bool isBacktick = quotationCharacter == '`';
+    if (!isBacktick && positionInBlock != 0 &&
+        !text.at(positionInBlock - 1).isSpace()) {
+        return false;
+    }
+
+    // if we are at the end of the line we just want to enter the character
+    if (positionInBlock >= textLength) {
+        return handleBracketClosing(quotationCharacter);
+    }
+
+    const QChar currentChar = text.at(positionInBlock);
+
+    // if the current character is not the quotation character we just want to
+    // enter the character
+    if (currentChar != quotationCharacter) {
+        return handleBracketClosing(quotationCharacter);
+    }
+
+    // move the cursor to the right and don't enter the character
+    cursor.movePosition(QTextCursor::Right);
+    setTextCursor(cursor);
+    return true;
+}
+
+/***********************************
+ * helper methods for char removal
+ * Rules for (') and ("):
+ * if [sp]" -> opener (sp = space)
+ * if "[sp] -> closer
+ ***********************************/
+bool isQuotOpener(int position, const QString &text) {
+    if (position == 0) return true;
+    const int prevCharPos = position - 1;
+    return text.at(prevCharPos).isSpace();
+}
+bool isQuotCloser(int position, const QString &text) {
+    const int nextCharPos = position + 1;
+    if (nextCharPos >= text.length()) return true;
+    return text.at(nextCharPos).isSpace();
+}
+
+/**
+ * Handles removing of matching brackets and other markdown characters
+ * Only works with backspace to remove text
+ *
+ * @return
+ */
+bool QMarkdownTextEdit::handleBackspaceEntered() {
+    if (!(_autoTextOptions & AutoTextOption::BracketRemoval) || isReadOnly()) {
+        return false;
+    }
+
+    QTextCursor cursor = textCursor();
+
+    // return if some text was selected
+    if (!cursor.selectedText().isEmpty()) {
+        return false;
+    }
+
+    int position = cursor.position();
+    const int positionInBlock = cursor.positionInBlock();
+    int block = cursor.block().blockNumber();
+
+    if (_highlighter)
+        if (_highlighter->isPosInACodeSpan(block, positionInBlock - 1))
+            return false;
+
+    // return if backspace was pressed at the beginning of a block
+    if (positionInBlock == 0) {
+        return false;
+    }
+
+    // get the current text from the block
+    const QString text = cursor.block().text();
+
+    char charToRemove{};
+
+    // current char
+    const char charInFront = text.at(positionInBlock - 1).toLatin1();
+
+    if (charInFront == '*')
+        return handleCharRemoval(MarkdownHighlighter::RangeType::Emphasis,
+                                 block, positionInBlock - 1);
+    else if (charInFront == '`')
+        return handleCharRemoval(MarkdownHighlighter::RangeType::CodeSpan,
+                                 block, positionInBlock - 1);
+
+    //handle removal of ", ', and brackets
+
+    // is it opener?
+    int pos = _openingCharacters.indexOf(charInFront);
+    // for " and '
+    bool isOpener = false;
+    bool isCloser = false;
+    if (pos == 5 || pos == 6) {
+        isOpener = isQuotOpener(positionInBlock - 1, text);
+    } else {
+        isOpener = pos != -1;
+    }
+    if (isOpener) {
+        charToRemove = _closingCharacters.at(pos);
+    } else {
+        // is it closer?
+        pos = _closingCharacters.indexOf(charInFront);
+        if (pos == 5 || pos == 6)
+            isCloser = isQuotCloser(positionInBlock - 1, text);
+        else
+            isCloser = pos != -1;
+        if (isCloser)
+            charToRemove = _openingCharacters.at(pos);
+        else
+            return false;
+    }
+
+    int charToRemoveIndex = -1;
+    if (isOpener) {
+        bool closer = true;
+        charToRemoveIndex = text.indexOf(charToRemove, positionInBlock);
+        if (charToRemoveIndex == -1) return false;
+        if (pos == 5 || pos == 6)
+            closer = isQuotCloser(charToRemoveIndex, text);
+        if (!closer) return false;
+        cursor.setPosition(position + (charToRemoveIndex - positionInBlock));
+        cursor.deleteChar();
+    } else if (isCloser) {
+        charToRemoveIndex = text.lastIndexOf(charToRemove, positionInBlock - 2);
+        if (charToRemoveIndex == -1) return false;
+        bool opener = true;
+        if (pos == 5 || pos == 6)
+            opener = isQuotOpener(charToRemoveIndex, text);
+        if (!opener) return false;
+        const int pos = position - (positionInBlock - charToRemoveIndex);
+        cursor.setPosition(pos);
+        cursor.deleteChar();
+        position -= 1;
+    } else {
+        charToRemoveIndex = text.lastIndexOf(charToRemove, positionInBlock - 2);
+        if (charToRemoveIndex == -1) return false;
+        const int pos = position - (positionInBlock - charToRemoveIndex);
+        cursor.setPosition(pos);
+        cursor.deleteChar();
+        position -= 1;
+    }
+
+    // moving the cursor back to the old position so the previous character
+    // can be removed
+    cursor.setPosition(position);
+    setTextCursor(cursor);
+    return false;
+}
+
+bool QMarkdownTextEdit::handleCharRemoval(MarkdownHighlighter::RangeType type,
+                                          int block, int position)
+{
+    if (!_highlighter)
+        return false;
+
+    auto range = _highlighter->findPositionInRanges(type, block, position);
+    if (range == QPair<int, int>{-1, -1})
+        return false;
+
+    int charToRemovePos = range.first;
+    if (position == range.first)
+        charToRemovePos = range.second;
+
+    QTextCursor cursor = textCursor();
+    auto gpos = cursor.position();
+
+    if (charToRemovePos > position) {
+        cursor.setPosition(gpos + (charToRemovePos - (position + 1)));
+    } else {
+        cursor.setPosition(gpos - (position - charToRemovePos + 1));
+        gpos--;
+    }
+
+    cursor.deleteChar();
+    cursor.setPosition(gpos);
+    setTextCursor(cursor);
+    return false;
+}
+
+void QMarkdownTextEdit::updateLineNumAreaGeometry()
+{
+    const auto contentsRect = this->contentsRect();
+    const QRect newGeometry = {contentsRect.left(), contentsRect.top(),
+                               _lineNumArea->sizeHint().width(), contentsRect.height()};
+    auto oldGeometry = _lineNumArea->geometry();
+    if (newGeometry != oldGeometry) {
+        _lineNumArea->setGeometry(newGeometry);
+    }
+}
+
+void QMarkdownTextEdit::resizeEvent(QResizeEvent *event)
+{
+    QPlainTextEdit::resizeEvent(event);
+    updateLineNumAreaGeometry();
+}
+
+/**
+ * Increases (or decreases) the indention of the selected text
+ * (if there is a text selected) in the noteTextEdit
+ * @return
+ */
+bool QMarkdownTextEdit::increaseSelectedTextIndention(
+    bool reverse, const QString &indentCharacters) {
+    QTextCursor cursor = this->textCursor();
+    QString selectedText = cursor.selectedText();
+
+    if (!selectedText.isEmpty()) {
+        // Start the selection at start of the first block of the selection
+        int end = cursor.selectionEnd();
+        cursor.setPosition(cursor.selectionStart());
+        cursor.movePosition(QTextCursor::StartOfBlock, QTextCursor::MoveAnchor);
+        cursor.setPosition(end, QTextCursor::KeepAnchor);
+        this->setTextCursor(cursor);
+        selectedText = cursor.selectedText();
+
+        // we need this strange newline character we are getting in the
+        // selected text for newlines
+        const QString newLine =
+            QString::fromUtf8(QByteArray::fromHex(QByteArrayLiteral("e280a9")));
+        QString newText;
+
+        if (reverse) {
+            // un-indent text
+
+            //          QSettings settings;
+            const int indentSize = indentCharacters == QStringLiteral("\t")
+                                       ? 4
+                                       : indentCharacters.length();
+
+            // remove leading \t or spaces in following lines
+            newText = selectedText.replace(
+                QRegularExpression(newLine + QStringLiteral("(\\t| {1,") +
+                                   QString::number(indentSize) +
+                                   QStringLiteral("})")),
+                QStringLiteral("\n"));
+
+            // remove leading \t or spaces in first line
+            newText.remove(QRegularExpression(QStringLiteral("^(\\t| {1,") +
+                                              QString::number(indentSize) +
+                                              QStringLiteral("})")));
+        } else {
+            // replace trailing new line to prevent an indent of the line after
+            // the selection
+            newText = selectedText.replace(
+                QRegularExpression(QRegularExpression::escape(newLine) +
+                                   QStringLiteral("$")),
+                QStringLiteral("\n"));
+
+            // indent text
+            newText.replace(newLine, QStringLiteral("\n") + indentCharacters)
+                .prepend(indentCharacters);
+
+            // remove trailing \t
+            newText.remove(QRegularExpression(QStringLiteral("\\t$")));
+        }
+
+        // insert the new text
+        cursor.insertText(newText);
+
+        // update the selection to the new text
+        cursor.setPosition(cursor.position() - newText.size(),
+                           QTextCursor::KeepAnchor);
+        this->setTextCursor(cursor);
+
+        return true;
+    } else if (reverse) {
+        const int indentSize = indentCharacters.length();
+
+        // do the check as often as we have characters to un-indent
+        for (int i = 1; i <= indentSize; i++) {
+            // if nothing was selected but we want to reverse the indention
+            // check if there is a \t in front or after the cursor and remove it
+            // if so
+            const int position = cursor.position();
+
+            if (!cursor.atStart()) {
+                // get character in front of cursor
+                cursor.setPosition(position - 1, QTextCursor::KeepAnchor);
+            }
+
+            // check for \t or space in front of cursor
+            QRegularExpression re(QStringLiteral("[\\t ]"));
+            QRegularExpressionMatch match = re.match(cursor.selectedText());
+
+            if (!match.hasMatch()) {
+                // (select to) check for \t or space after the cursor
+                cursor.setPosition(position);
+
+                if (!cursor.atEnd()) {
+                    cursor.setPosition(position + 1, QTextCursor::KeepAnchor);
+                }
+            }
+
+            match = re.match(cursor.selectedText());
+
+            if (match.hasMatch()) {
+                cursor.removeSelectedText();
+            }
+
+            cursor = this->textCursor();
+        }
+
+        return true;
+    }
+
+    // else just insert indentCharacters
+    cursor.insertText(indentCharacters);
+
+    return true;
+}
+
+/**
+ * @brief Opens the link (if any) at the current cursor position
+ */
+bool QMarkdownTextEdit::openLinkAtCursorPosition() {
+    QTextCursor cursor = this->textCursor();
+    const int clickedPosition = cursor.position();
+
+    // select the text in the clicked block and find out on
+    // which position we clicked
+    cursor.movePosition(QTextCursor::StartOfBlock);
+    const int positionFromStart = clickedPosition - cursor.position();
+    cursor.movePosition(QTextCursor::EndOfBlock, QTextCursor::KeepAnchor);
+
+    const QString selectedText = cursor.selectedText();
+
+    // find out which url in the selected text was clicked
+    const QString urlString =
+        getMarkdownUrlAtPosition(selectedText, positionFromStart);
+    const QUrl url = QUrl(urlString);
+    const bool isRelativeFileUrl =
+        urlString.startsWith(QLatin1String("file://.."));
+    const bool isLegacyAttachmentUrl =
+        urlString.startsWith(QLatin1String("file://attachments"));
+
+    qDebug() << __func__ << " - 'emit urlClicked( urlString )': " << urlString;
+
+    Q_EMIT urlClicked(urlString);
+
+    if ((url.isValid() && isValidUrl(urlString)) || isRelativeFileUrl ||
+        isLegacyAttachmentUrl) {
+        // ignore some schemata
+        if (!(_ignoredClickUrlSchemata.contains(url.scheme()) ||
+              isRelativeFileUrl || isLegacyAttachmentUrl)) {
+            // open the url
+            openUrl(urlString);
+        }
+
+        return true;
+    }
+
+    return false;
+}
+
+/**
+ * Checks if urlString is a valid url
+ *
+ * @param urlString
+ * @return
+ */
+bool QMarkdownTextEdit::isValidUrl(const QString &urlString) {
+    const QRegularExpressionMatch match =
+        QRegularExpression(R"(^\w+:\/\/.+)").match(urlString);
+    return match.hasMatch();
+}
+
+/**
+ * Handles clicked urls
+ *
+ * examples:
+ * - <https://www.qownnotes.org> opens the webpage
+ * - <file:///path/to/my/file/QOwnNotes.pdf> opens the file
+ *   "/path/to/my/file/QOwnNotes.pdf" if the operating system supports that
+ *  handler
+ */
+void QMarkdownTextEdit::openUrl(const QString &urlString) {
+    qDebug() << "QMarkdownTextEdit " << __func__
+             << " - 'urlString': " << urlString;
+
+    QDesktopServices::openUrl(QUrl(urlString));
+}
+
+/**
+ * @brief Returns the highlighter instance
+ * @return
+ */
+MarkdownHighlighter *QMarkdownTextEdit::highlighter() { return _highlighter; }
+
+/**
+ * @brief Returns the searchWidget instance
+ * @return
+ */
+QPlainTextEditSearchWidget *QMarkdownTextEdit::searchWidget() {
+    return _searchWidget;
+}
+
+/**
+ * @brief Sets url schemata that will be ignored when clicked on
+ * @param urlSchemes
+ */
+void QMarkdownTextEdit::setIgnoredClickUrlSchemata(
+    QStringList ignoredUrlSchemata) {
+    _ignoredClickUrlSchemata = std::move(ignoredUrlSchemata);
+}
+
+/**
+ * @brief Returns a map of parsed markdown urls with their link texts as key
+ *
+ * @param text
+ * @return parsed urls
+ */
+QMap<QString, QString> QMarkdownTextEdit::parseMarkdownUrlsFromText(
+    const QString &text) {
+    QMap<QString, QString> urlMap;
+    QRegularExpression regex;
+    QRegularExpressionMatchIterator iterator;
+
+    // match urls like this: <http://mylink>
+    //    re = QRegularExpression("(<(.+?:\\/\\/.+?)>)");
+    regex = QRegularExpression(QStringLiteral("(<(.+?)>)"));
+    iterator = regex.globalMatch(text);
+    while (iterator.hasNext()) {
+        QRegularExpressionMatch match = iterator.next();
+        QString linkText = match.captured(1);
+        QString url = match.captured(2);
+        urlMap[linkText] = url;
+    }
+
+    // match urls like this: [this url](http://mylink)
+    //    QRegularExpression re("(\\[.*?\\]\\((.+?:\\/\\/.+?)\\))");
+    regex = QRegularExpression(R"((\[.*?\]\((.+?)\)))");
+    iterator = regex.globalMatch(text);
+    while (iterator.hasNext()) {
+        QRegularExpressionMatch match = iterator.next();
+        QString linkText = match.captured(1);
+        QString url = match.captured(2);
+        urlMap[linkText] = url;
+    }
+
+    // match urls like this: http://mylink
+    regex = QRegularExpression(R"(\b\w+?:\/\/[^\s]+[^\s>\)])");
+    iterator = regex.globalMatch(text);
+    while (iterator.hasNext()) {
+        QRegularExpressionMatch match = iterator.next();
+        QString url = match.captured(0);
+        urlMap[url] = url;
+    }
+
+    // match urls like this: www.github.com
+    regex = QRegularExpression(R"(\bwww\.[^\s]+\.[^\s]+\b)");
+    iterator = regex.globalMatch(text);
+    while (iterator.hasNext()) {
+        QRegularExpressionMatch match = iterator.next();
+        QString url = match.captured(0);
+        urlMap[url] = QStringLiteral("http://") + url;
+    }
+
+    // match reference urls like this: [this url][1] with this later:
+    // [1]: http://domain
+    regex = QRegularExpression(R"((\[.*?\]\[(.+?)\]))");
+    iterator = regex.globalMatch(text);
+    while (iterator.hasNext()) {
+        QRegularExpressionMatch match = iterator.next();
+        QString linkText = match.captured(1);
+        QString referenceId = match.captured(2);
+
+        // search for the referenced url in the whole text edit
+        //        QRegularExpression refRegExp(
+        //                "\\[" + QRegularExpression::escape(referenceId) +
+        //                        "\\]: (.+?:\\/\\/.+)");
+        QRegularExpression refRegExp(QStringLiteral("\\[") +
+                                     QRegularExpression::escape(referenceId) +
+                                     QStringLiteral("\\]: (.+)"));
+        QRegularExpressionMatch urlMatch = refRegExp.match(toPlainText());
+
+        if (urlMatch.hasMatch()) {
+            QString url = urlMatch.captured(1);
+            urlMap[linkText] = url;
+        }
+    }
+
+    return urlMap;
+}
+
+/**
+ * @brief Returns the markdown url at position
+ * @param text
+ * @param position
+ * @return url string
+ */
+QString QMarkdownTextEdit::getMarkdownUrlAtPosition(const QString &text,
+                                                    int position) {
+    QString url;
+
+    // get a map of parsed markdown urls with their link texts as key
+    const QMap<QString, QString> urlMap = parseMarkdownUrlsFromText(text);
+    QMap<QString, QString>::const_iterator i = urlMap.constBegin();
+    for (; i != urlMap.constEnd(); ++i) {
+        const QString &linkText = i.key();
+        const QString &urlString = i.value();
+
+        const int foundPositionStart = text.indexOf(linkText);
+
+        if (foundPositionStart >= 0) {
+            // calculate end position of found linkText
+            const int foundPositionEnd = foundPositionStart + linkText.size();
+
+            // check if position is in found string range
+            if ((position >= foundPositionStart) &&
+                (position <= foundPositionEnd)) {
+                url = urlString;
+                break;
+            }
+        }
+    }
+
+    return url;
+}
+
+/**
+ * @brief Duplicates the text in the text edit
+ */
+void QMarkdownTextEdit::duplicateText() {
+    QTextCursor cursor = this->textCursor();
+    QString selectedText = cursor.selectedText();
+
+    // duplicate line if no text was selected
+    if (selectedText.isEmpty()) {
+        const int position = cursor.position();
+
+        // select the whole line
+        cursor.movePosition(QTextCursor::StartOfBlock);
+        cursor.movePosition(QTextCursor::EndOfBlock, QTextCursor::KeepAnchor);
+
+        const int positionDiff = cursor.position() - position;
+        selectedText = "\n" + cursor.selectedText();
+
+        // insert text with new line at end of the selected line
+        cursor.setPosition(cursor.selectionEnd());
+        cursor.insertText(selectedText);
+
+        // set the position to same position it was in the duplicated line
+        cursor.setPosition(cursor.position() - positionDiff);
+    } else {
+        // duplicate selected text
+        cursor.setPosition(cursor.selectionEnd());
+        const int selectionStart = cursor.position();
+
+        // insert selected text
+        cursor.insertText(selectedText);
+        const int selectionEnd = cursor.position();
+
+        // select the inserted text
+        cursor.setPosition(selectionStart);
+        cursor.setPosition(selectionEnd, QTextCursor::KeepAnchor);
+    }
+
+    this->setTextCursor(cursor);
+}
+
+void QMarkdownTextEdit::setText(const QString &text) { setPlainText(text); }
+
+void QMarkdownTextEdit::setPlainText(const QString &text) {
+    // clear the dirty blocks vector to increase performance and prevent
+    // a possible crash in QSyntaxHighlighter::rehighlightBlock
+    if (_highlighter)
+        _highlighter->clearDirtyBlocks();
+
+    QPlainTextEdit::setPlainText(text);
+    adjustRightMargin();
+}
+
+/**
+ * Uses another widget as parent for the search widget
+ */
+void QMarkdownTextEdit::initSearchFrame(QWidget *searchFrame, bool darkMode) {
+    _searchFrame = searchFrame;
+
+    // remove the search widget from our layout
+    layout()->removeWidget(_searchWidget);
+
+    QLayout *layout = _searchFrame->layout();
+
+    // create a grid layout for the frame and add the search widget to it
+    if (layout == nullptr) {
+        layout = new QVBoxLayout(_searchFrame);
+        layout->setSpacing(0);
+        layout->setContentsMargins(0, 0, 0, 0);
+    }
+
+    _searchWidget->setDarkMode(darkMode);
+    layout->addWidget(_searchWidget);
+    _searchFrame->setLayout(layout);
+}
+
+/**
+ * Hides the text edit and the search widget
+ */
+void QMarkdownTextEdit::hide() {
+    _searchWidget->hide();
+    QWidget::hide();
+}
+
+/**
+ * Handles an entered return key
+ */
+bool QMarkdownTextEdit::handleReturnEntered() {
+    if (isReadOnly()) {
+        return true;
+    }
+
+    QTextCursor cursor = this->textCursor();
+    const int position = cursor.position();
+
+    cursor.movePosition(QTextCursor::StartOfBlock, QTextCursor::KeepAnchor);
+    const QString currentLineText = cursor.selectedText();
+
+    // if return is pressed and there is just an unordered list symbol then we
+    // want to remove the list symbol Valid listCharacters: '+ ', '-' , '* ', '+
+    // [ ] ', '+ [x] ', '- [ ] ', '- [-] ', '- [x] ', '* [ ] ', '* [x] '.
+    QRegularExpression regex(R"(^(\s*)([+|\-|\*] \[(x|-| |)\]|[+\-\*])(\s+)$)");
+    QRegularExpressionMatchIterator iterator =
+        regex.globalMatch(currentLineText);
+    if (iterator.hasNext()) {
+        cursor.removeSelectedText();
+        return true;
+    }
+
+    // if return is pressed and there is just an ordered list symbol then we
+    // want to remove the list symbol
+    regex = QRegularExpression(R"(^(\s*)(\d+[\.|\)])(\s+)$)");
+    iterator = regex.globalMatch(currentLineText);
+    if (iterator.hasNext()) {
+        qDebug() << cursor.selectedText();
+        cursor.removeSelectedText();
+        return true;
+    }
+
+    // Check if we are in an unordered list.
+    // We are in a list when we have '* ', '- ' or '+ ', possibly with preceding
+    // whitespace. If e.g. user has entered '**text**' and pressed enter - we
+    // don't want to do more list-stuff.
+    QString currentLine = currentLineText.trimmed();
+    QChar char0;
+    QChar char1;
+    if (currentLine.length() >= 1)
+        char0 = currentLine.at(0);
+    if (currentLine.length() >= 2)
+        char1 = currentLine.at(1);
+    const bool inList =
+        ((char0 == QLatin1Char('*') || char0 == QLatin1Char('-') ||
+          char0 == QLatin1Char('+')) &&
+         char1 == QLatin1Char(' '));
+
+    if (inList) {
+        // if the current line starts with a list character (possibly after
+        // whitespaces) add the whitespaces at the next line too
+        // Valid listCharacters: '+ ', '-' , '* ', '+ [ ] ', '+ [x] ', '- [ ] ',
+        // '- [x] ', '- [-] ', '* [ ] ', '* [x] '.
+        regex =
+            QRegularExpression(R"(^(\s*)([+|\-|\*] \[(x|-| |)\]|[+\-\*])(\s+))");
+        iterator = regex.globalMatch(currentLineText);
+        if (iterator.hasNext()) {
+            const QRegularExpressionMatch match = iterator.next();
+            const QString whitespaces = match.captured(1);
+            QString listCharacter = match.captured(2);
+            const QString whitespaceCharacter = match.captured(4);
+
+            // start new checkbox list item with an unchecked checkbox
+            iterator = QRegularExpression(R"(^([+|\-|\*]) \[(x| |)\])")
+                           .globalMatch(listCharacter);
+            if (iterator.hasNext()) {
+                const QRegularExpressionMatch match = iterator.next();
+                const QString realListCharacter = match.captured(1);
+                listCharacter = realListCharacter + QStringLiteral(" [ ]");
+            }
+
+            cursor.setPosition(position);
+            cursor.insertText("\n" + whitespaces + listCharacter +
+                              whitespaceCharacter);
+
+            // scroll to the cursor if we are at the bottom of the document
+            ensureCursorVisible();
+            return true;
+        }
+    }
+
+    // check for ordered lists and increment the list number in the next line
+    regex = QRegularExpression(R"(^(\s*)(\d+)([\.|\)])(\s+))");
+    iterator = regex.globalMatch(currentLineText);
+    if (iterator.hasNext()) {
+        const QRegularExpressionMatch match = iterator.next();
+        const QString whitespaces = match.captured(1);
+        const uint listNumber = match.captured(2).toUInt();
+        const QString listMarker = match.captured(3);
+        const QString whitespaceCharacter = match.captured(4);
+
+        cursor.setPosition(position);
+        cursor.insertText("\n" + whitespaces + QString::number(listNumber + 1) +
+                          listMarker + whitespaceCharacter);
+
+        // scroll to the cursor if we are at the bottom of the document
+        ensureCursorVisible();
+        return true;
+    }
+
+    // intent next line with same whitespaces as in current line
+    regex = QRegularExpression(R"(^(\s+))");
+    iterator = regex.globalMatch(currentLineText);
+    if (iterator.hasNext()) {
+        const QRegularExpressionMatch match = iterator.next();
+        const QString whitespaces = match.captured(1);
+
+        cursor.setPosition(position);
+        cursor.insertText("\n" + whitespaces);
+
+        // scroll to the cursor if we are at the bottom of the document
+        ensureCursorVisible();
+        return true;
+    }
+
+    return false;
+}
+
+/**
+ * Handles entered tab or reverse tab keys
+ */
+bool QMarkdownTextEdit::handleTabEntered(bool reverse,
+                                         const QString &indentCharacters) {
+    if (isReadOnly()) {
+        return true;
+    }
+
+    QTextCursor cursor = this->textCursor();
+
+    // only check for lists if we haven't a text selected
+    if (cursor.selectedText().isEmpty()) {
+        cursor.movePosition(QTextCursor::StartOfBlock, QTextCursor::KeepAnchor);
+        const QString currentLineText = cursor.selectedText();
+
+        // check if we want to indent or un-indent an ordered list
+        // Valid listCharacters: '+ ', '-' , '* ', '+ [ ] ', '+ [x] ', '- [ ] ',
+        // '- [x] ', '- [-] ', '* [ ] ', '* [x] '.
+        QRegularExpression re(R"(^(\s*)([+|\-|\*] \[(x|-| )\]|[+\-\*])(\s+)$)");
+        QRegularExpressionMatchIterator i = re.globalMatch(currentLineText);
+
+        if (i.hasNext()) {
+            QRegularExpressionMatch match = i.next();
+            QString whitespaces = match.captured(1);
+            const QString listCharacter = match.captured(2);
+            const QString whitespaceCharacter = match.captured(4);
+
+            // add or remove one tabulator key
+            if (reverse) {
+                // remove one set of indentCharacters or a tabulator
+                whitespaces.remove(QRegularExpression(
+                    QStringLiteral("^(\\t|") +
+                    QRegularExpression::escape(indentCharacters) +
+                    QStringLiteral(")")));
+
+            } else {
+                whitespaces += indentCharacters;
+            }
+
+            cursor.insertText(whitespaces + listCharacter +
+                              whitespaceCharacter);
+            return true;
+        }
+
+        // check if we want to indent or un-indent an ordered list
+        re = QRegularExpression(R"(^(\s*)(\d+)([\.|\)])(\s+)$)");
+        i = re.globalMatch(currentLineText);
+
+        if (i.hasNext()) {
+            const QRegularExpressionMatch match = i.next();
+            QString whitespaces = match.captured(1);
+            const QString listCharacter = match.captured(2);
+            const QString listMarker = match.captured(3);
+            const QString whitespaceCharacter = match.captured(4);
+
+            // add or remove one tabulator key
+            if (reverse) {
+                whitespaces.chop(1);
+            } else {
+                whitespaces += indentCharacters;
+            }
+
+            cursor.insertText(whitespaces + listCharacter + listMarker +
+                              whitespaceCharacter);
+            return true;
+        }
+    }
+
+    // check if we want to indent the whole text
+    return increaseSelectedTextIndention(reverse, indentCharacters);
+}
+
+/**
+ * Sets the auto text options
+ */
+void QMarkdownTextEdit::setAutoTextOptions(AutoTextOptions options) {
+    _autoTextOptions = options;
+}
+
+void QMarkdownTextEdit::updateLineNumberArea(const QRect rect, int dy)
+{
+    if (dy)
+        _lineNumArea->scroll(0, dy);
+    else
+        _lineNumArea->update(0, rect.y(), _lineNumArea->sizeHint().width(), rect.height());
+
+    updateLineNumAreaGeometry();
+
+    if (rect.contains(viewport()->rect())) {
+        updateLineNumberAreaWidth(0);
+    }
+}
+
+void QMarkdownTextEdit::updateLineNumberAreaWidth(int)
+{
+    QSignalBlocker blocker(this);
+    const auto oldMargins = viewportMargins();
+    const int width = _lineNumArea->isLineNumAreaEnabled() ?
+           _lineNumArea->sizeHint().width() + _lineNumberLeftMarginOffset :
+           oldMargins.left();
+    const auto newMargins = QMargins{width, oldMargins.top(), oldMargins.right(), oldMargins.bottom()};
+
+    if (newMargins != oldMargins) {
+        setViewportMargins(newMargins);
+    }
+}
+
+/**
+ * @param e
+ * @details This does two things
+ * 1. Overrides QPlainTextEdit::paintEvent to fix the RTL bug of QPlainTextEdit
+ * 2. Paints a rectangle around code block fences [Code taken from
+ * ghostwriter(which in turn is based on QPlaintextEdit::paintEvent() with
+ * modifications and minor improvements for our use
+ */
+void QMarkdownTextEdit::paintEvent(QPaintEvent *e) {
+    QTextBlock block = firstVisibleBlock();
+
+    QPainter painter(viewport());
+    const QRect viewportRect = viewport()->rect();
+    // painter.fillRect(viewportRect, Qt::transparent);
+    bool firstVisible = true;
+    QPointF offset(contentOffset());
+    QRectF blockAreaRect;    // Code or block quote rect.
+    bool inBlockArea = false;
+
+    bool clipTop = false;
+    bool drawBlock = false;
+    qreal dy = 0.0;
+    bool done = false;
+
+    const QColor &color = MarkdownHighlighter::codeBlockBackgroundColor();
+    const int cornerRadius = 5;
+
+    while (block.isValid() && !done) {
+        const QRectF r = blockBoundingRect(block).translated(offset);
+        const int state = block.userState();
+
+        if (!inBlockArea && MarkdownHighlighter::isCodeBlock(state)) {
+            // skip the backticks
+            if (!block.text().startsWith(QLatin1String("```")) &&
+                !block.text().startsWith(QLatin1String("~~~"))) {
+                blockAreaRect = r;
+                dy = 0.0;
+                inBlockArea = true;
+            }
+
+            // If this is the first visible block within the viewport
+            // and if the previous block is part of the text block area,
+            // then the rectangle to draw for the block area will have
+            // its top clipped by the viewport and will need to be
+            // drawn specially.
+            const int prevBlockState = block.previous().userState();
+            if (firstVisible &&
+                MarkdownHighlighter::isCodeBlock(prevBlockState)) {
+                clipTop = true;
+            }
+        }
+        // Else if the block ends a text block area...
+        else if (inBlockArea && MarkdownHighlighter::isCodeBlockEnd(state)) {
+            drawBlock = true;
+            inBlockArea = false;
+            blockAreaRect.setHeight(dy);
+        }
+        // If the block is at the end of the document and ends a text
+        // block area...
+        //
+        if (inBlockArea && block == this->document()->lastBlock()) {
+            drawBlock = true;
+            inBlockArea = false;
+            dy += r.height();
+            blockAreaRect.setHeight(dy);
+        }
+        offset.ry() += r.height();
+        dy += r.height();
+
+        // If this is the last text block visible within the viewport...
+        if (offset.y() > viewportRect.height()) {
+            if (inBlockArea) {
+                blockAreaRect.setHeight(dy);
+                drawBlock = true;
+            }
+
+            // Finished drawing.
+            done = true;
+        }
+        // If this is the last text block visible within the viewport...
+        if (offset.y() > viewportRect.height()) {
+            if (inBlockArea) {
+                blockAreaRect.setHeight(dy);
+                drawBlock = true;
+            }
+            // Finished drawing.
+            done = true;
+        }
+
+        if (drawBlock) {
+            painter.setCompositionMode(QPainter::CompositionMode_SourceOver);
+            painter.setPen(Qt::NoPen);
+            painter.setBrush(QBrush(color));
+
+            // If the first visible block is "clipped" such that the previous
+            // block is part of the text block area, then only draw a rectangle
+            // with the bottom corners rounded, and with the top corners square
+            // to reflect that the first visible block is part of a larger block
+            // of text.
+            //
+            if (clipTop) {
+                QPainterPath path;
+                path.setFillRule(Qt::WindingFill);
+                path.addRoundedRect(blockAreaRect, cornerRadius, cornerRadius);
+                qreal adjustedHeight = blockAreaRect.height() / 2;
+                path.addRect(blockAreaRect.adjusted(0, 0, 0, -adjustedHeight));
+                painter.drawPath(path.simplified());
+                clipTop = false;
+            }
+            // Else draw the entire rectangle with all corners rounded.
+            else {
+                painter.drawRoundedRect(blockAreaRect, cornerRadius,
+                                        cornerRadius);
+            }
+
+            drawBlock = false;
+        }
+
+        // this fixes the RTL bug of QPlainTextEdit
+        // https://bugreports.qt.io/browse/QTBUG-7516
+        if (block.text().isRightToLeft()) {
+            QTextLayout *layout = block.layout();
+            // opt = document()->defaultTextOption();
+            QTextOption opt = QTextOption(Qt::AlignRight);
+            opt.setTextDirection(Qt::RightToLeft);
+            layout->setTextOption(opt);
+        }
+
+        // Current line highlight
+        QTextCursor cursor = textCursor();
+        if (highlightCurrentLine() && cursor.block() == block) {
+            QTextLine line = block.layout()->lineForTextPosition(cursor.positionInBlock());
+            QRectF lineRect = line.rect();
+            lineRect.moveTop(lineRect.top() + r.top());
+            lineRect.setLeft(0.);
+            lineRect.setRight(viewportRect.width());
+            painter.fillRect(lineRect.toAlignedRect(), currentLineHighlightColor());
+        }
+
+        block = block.next();
+        firstVisible = false;
+    }
+
+    painter.end();
+    QPlainTextEdit::paintEvent(e);
+}
+
+/**
+ * Overrides QPlainTextEdit::setReadOnly to fix a problem with Chinese and
+ * Japanese input methods
+ *
+ * @param ro
+ */
+void QMarkdownTextEdit::setReadOnly(bool ro) {
+    QPlainTextEdit::setReadOnly(ro);
+
+    // attempted to fix a problem with Chinese and Japanese input methods
+    // @see https://github.com/pbek/QOwnNotes/issues/976
+    setAttribute(Qt::WA_InputMethodEnabled, !isReadOnly());
+}
+
+void QMarkdownTextEdit::doSearch(
+    QString &searchText, QPlainTextEditSearchWidget::SearchMode searchMode) {
+    _searchWidget->setSearchText(searchText);
+    _searchWidget->setSearchMode(searchMode);
+    _searchWidget->doSearchCount();
+    _searchWidget->activate(false);
+}
+
+void QMarkdownTextEdit::hideSearchWidget(bool reset) {
+    _searchWidget->deactivate();
+
+    if (reset) {
+        _searchWidget->reset();
+    }
+}
+
+void QMarkdownTextEdit::updateSettings() {
+    // if true: centers the screen if cursor reaches bottom (but not top)
+    searchWidget()->setDebounceDelay(_debounceDelay);
+    setCenterOnScroll(_centerCursor);
+}
+
+void QMarkdownTextEdit::setLineNumberLeftMarginOffset(int offset) {
+    _lineNumberLeftMarginOffset = offset;
+}
+
+QMargins QMarkdownTextEdit::viewportMargins() {
+    return QPlainTextEdit::viewportMargins();
+}
diff --git a/qmarkdowntextedit/qmarkdowntextedit.h b/qmarkdowntextedit/qmarkdowntextedit.h
new file mode 100644
index 000000000..0501a353b
--- /dev/null
+++ b/qmarkdowntextedit/qmarkdowntextedit.h
@@ -0,0 +1,146 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2014-2023 Patrizio Bekerle -- <patrizio@bekerle.com>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#pragma once
+
+#include <QEvent>
+#include <QPlainTextEdit>
+
+#include "markdownhighlighter.h"
+#include "qplaintexteditsearchwidget.h"
+
+class LineNumArea;
+
+class QMarkdownTextEdit : public QPlainTextEdit {
+    Q_OBJECT
+    Q_PROPERTY(
+        bool highlighting READ highlightingEnabled WRITE setHighlightingEnabled)
+
+    friend class LineNumArea;
+
+   public:
+    enum AutoTextOption {
+        None = 0x0000,
+
+        // inserts closing characters for brackets and markdown characters
+        BracketClosing = 0x0001,
+
+        // removes matching brackets and markdown characters
+        BracketRemoval = 0x0002
+    };
+
+    Q_DECLARE_FLAGS(AutoTextOptions, AutoTextOption)
+
+    explicit QMarkdownTextEdit(QWidget *parent = nullptr,
+                               bool initHighlighter = true);
+    MarkdownHighlighter *highlighter();
+    QPlainTextEditSearchWidget *searchWidget();
+    void setIgnoredClickUrlSchemata(QStringList ignoredUrlSchemata);
+    virtual void openUrl(const QString &urlString);
+    QString getMarkdownUrlAtPosition(const QString &text, int position);
+    void initSearchFrame(QWidget *searchFrame, bool darkMode = false);
+    void setAutoTextOptions(AutoTextOptions options);
+    static bool isValidUrl(const QString &urlString);
+    void resetMouseCursor() const;
+    void setReadOnly(bool ro);
+    void doSearch(QString &searchText,
+                  QPlainTextEditSearchWidget::SearchMode searchMode =
+                      QPlainTextEditSearchWidget::SearchMode::PlainTextMode);
+    void hideSearchWidget(bool reset);
+    void updateSettings();
+    void setLineNumbersCurrentLineColor(QColor color);
+    void setLineNumbersOtherLineColor(QColor color);
+    void setSearchWidgetDebounceDelay(uint debounceDelay);
+
+    void setHighlightingEnabled(bool enabled);
+    [[nodiscard]] bool highlightingEnabled() const;
+
+    void setHighlightCurrentLine(bool set);
+    bool highlightCurrentLine();
+
+    void setCurrentLineHighlightColor(const QColor &c);
+    QColor currentLineHighlightColor();
+
+   public Q_SLOTS:
+    void duplicateText();
+    void setText(const QString &text);
+    void setPlainText(const QString &text);
+    void adjustRightMargin();
+    void hide();
+    bool openLinkAtCursorPosition();
+    bool handleBackspaceEntered();
+    void centerTheCursor();
+    void undo();
+    void moveTextUpDown(bool up);
+    void setLineNumberEnabled(bool enabled);
+
+   protected:
+    QTextCursor _textCursor;
+    MarkdownHighlighter *_highlighter = nullptr;
+    bool _highlightingEnabled;
+    QStringList _ignoredClickUrlSchemata;
+    QPlainTextEditSearchWidget *_searchWidget;
+    QWidget *_searchFrame;
+    AutoTextOptions _autoTextOptions;
+    bool _mouseButtonDown = false;
+    bool _centerCursor = false;
+    bool _highlightCurrentLine = false;
+    QColor _currentLineHighlightColor = QColor();
+    uint _debounceDelay = 0;
+
+    bool eventFilter(QObject *obj, QEvent *event) override;
+    QMargins viewportMargins();
+    bool increaseSelectedTextIndention(
+        bool reverse,
+        const QString &indentCharacters = QChar::fromLatin1('\t'));
+    bool handleTabEntered(bool reverse, const QString &indentCharacters =
+                                            QChar::fromLatin1('\t'));
+    QMap<QString, QString> parseMarkdownUrlsFromText(const QString &text);
+    bool handleReturnEntered();
+    bool handleBracketClosing(const QChar openingCharacter,
+                              QChar closingCharacter = QChar());
+    bool bracketClosingCheck(const QChar openingCharacter,
+                             QChar closingCharacter);
+    bool quotationMarkCheck(const QChar quotationCharacter);
+    void focusOutEvent(QFocusEvent *event) override;
+    void paintEvent(QPaintEvent *e) override;
+    bool handleCharRemoval(MarkdownHighlighter::RangeType type, int block, int position);
+    void resizeEvent(QResizeEvent *event) override;
+    void setLineNumberLeftMarginOffset(int offset);
+    int _lineNumberLeftMarginOffset = 0;
+    LineNumArea *lineNumberArea()
+    {
+        return _lineNumArea;
+    }
+    void updateLineNumAreaGeometry();
+    void updateLineNumberArea(const QRect rect, int dy);
+    Q_SLOT void updateLineNumberAreaWidth(int);
+    bool _handleBracketClosingUsed;
+    LineNumArea *_lineNumArea;
+
+   Q_SIGNALS:
+    void urlClicked(QString url);
+    void zoomIn();
+    void zoomOut();
+};
diff --git a/qmarkdowntextedit/qmarkdowntextedit.pc.in b/qmarkdowntextedit/qmarkdowntextedit.pc.in
new file mode 100644
index 000000000..b616d6528
--- /dev/null
+++ b/qmarkdowntextedit/qmarkdowntextedit.pc.in
@@ -0,0 +1,12 @@
+prefix=@CMAKE_INSTALL_PREFIX@
+exec_prefix=@CMAKE_INSTALL_PREFIX@
+libdir=${exec_prefix}/@CMAKE_INSTALL_LIBDIR@
+includedir=${prefix}/@CMAKE_INSTALL_INCLUDEDIR@/
+
+Name: @PROJECT_NAME@
+Description: @PROJECT_DESCRIPTION@
+Version: @PROJECT_VERSION@
+
+Requires:
+Libs: -L${libdir} -lqmarkdowntextedit
+Cflags: -I${includedir}
diff --git a/qmarkdowntextedit/qmarkdowntextedit.pri b/qmarkdowntextedit/qmarkdowntextedit.pri
new file mode 100644
index 000000000..77112d3e1
--- /dev/null
+++ b/qmarkdowntextedit/qmarkdowntextedit.pri
@@ -0,0 +1,4 @@
+INCLUDEPATH += $$PWD/
+
+include($$PWD/qmarkdowntextedit-headers.pri)
+include($$PWD/qmarkdowntextedit-sources.pri)
diff --git a/qmarkdowntextedit/qmarkdowntextedit.pro b/qmarkdowntextedit/qmarkdowntextedit.pro
new file mode 100644
index 000000000..929c719ed
--- /dev/null
+++ b/qmarkdowntextedit/qmarkdowntextedit.pro
@@ -0,0 +1,5 @@
+TEMPLATE = subdirs
+SUBDIRS = app lib
+app.file = qmarkdowntextedit-app.pro
+lib.file = qmarkdowntextedit-lib.pro
+app.depends = lib
diff --git a/qmarkdowntextedit/qownlanguagedata.cpp b/qmarkdowntextedit/qownlanguagedata.cpp
new file mode 100644
index 000000000..0d044c5bc
--- /dev/null
+++ b/qmarkdowntextedit/qownlanguagedata.cpp
@@ -0,0 +1,5740 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2019-2021 Waqar Ahmed -- <waqar.17a@gmail.com>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include "qownlanguagedata.h"
+
+#include <QLatin1String>
+#include <QMultiHash>
+/* ------------------------
+ * TEMPLATE FOR LANG DATA
+ * -------------------------
+ *
+ * loadXXXData, where XXX is the language
+ * keywords are the language keywords e.g, const
+ * types are built-in types i.e, int, char, var
+ * literals are words like, true false
+ * builtin are the library functions
+ * other can contain any other thing, for e.g, in cpp it contains the
+ preprocessor
+
+    xxx_keywords = {
+    };
+
+    xxx_types = {
+    };
+
+    xxx_literals = {
+    };
+
+    xxx_builtin = {
+    };
+
+    xxx_other = {
+    };
+
+*/
+
+/**********************************************************/
+/* C/C++ Data *********************************************/
+/**********************************************************/
+
+static bool cppDataInitialized = false;
+static QMultiHash<char, QLatin1String> cpp_keywords;
+static QMultiHash<char, QLatin1String> cpp_types;
+static QMultiHash<char, QLatin1String> cpp_builtin;
+static QMultiHash<char, QLatin1String> cpp_literals;
+static QMultiHash<char, QLatin1String> cpp_other;
+void initCppData() {
+    cpp_keywords = QMultiHash<char, QLatin1String>{
+        {('a'), QLatin1String("alignas")},
+        {('a'), QLatin1String("alignof")},
+        {('a'), QLatin1String("and")},
+        {('a'), QLatin1String("and_eq")},
+        {('a'), QLatin1String("asm")},
+        {('b'), QLatin1String("bit_and")},
+        {('b'), QLatin1String("bit_or")},
+        {('b'), QLatin1String("break")},
+        {('c'), QLatin1String("case")},
+        {('c'), QLatin1String("catch")},
+        {('c'), QLatin1String("compl")},
+        {('c'), QLatin1String("concept")},
+        {('c'), QLatin1String("const")},
+        {('c'), QLatin1String("constinit")},
+        {('c'), QLatin1String("constexpr")},
+        {('c'), QLatin1String("consteval")},
+        {('c'), QLatin1String("const_cast")},
+        {('c'), QLatin1String("continue")},
+        {('c'), QLatin1String("co_await")},
+        {('c'), QLatin1String("co_return")},
+        {('c'), QLatin1String("co_yield")},
+        {('d'), QLatin1String("decltype")},
+        {('d'), QLatin1String("default")},
+        {('d'), QLatin1String("delete")},
+        {('d'), QLatin1String("do")},
+        {('d'), QLatin1String("dynamic_cast")},
+        {('e'), QLatin1String("else")},
+        {('e'), QLatin1String("explicit")},
+        {('e'), QLatin1String("export")},
+        {('e'), QLatin1String("extern")},
+        {('f'), QLatin1String("for")},
+        {('f'), QLatin1String("friend")},
+        {('g'), QLatin1String("goto")},
+        {('i'), QLatin1String("if")},
+        {('i'), QLatin1String("inline")},
+        {('m'), QLatin1String("mutable")},
+        {('n'), QLatin1String("new")},
+        {('n'), QLatin1String("not")},
+        {('n'), QLatin1String("not_eq")},
+        {('n'), QLatin1String("noexcept")},
+        {('o'), QLatin1String("or")},
+        {('o'), QLatin1String("or_eq")},
+        {('o'), QLatin1String("operator")},
+        {('p'), QLatin1String("private")},
+        {('p'), QLatin1String("protected")},
+        {('p'), QLatin1String("public")},
+        {('r'), QLatin1String("register")},
+        {('r'), QLatin1String("reinterpret_cast")},
+        {('r'), QLatin1String("requires")},
+        {('r'), QLatin1String("return")},
+        {('s'), QLatin1String("signal")},
+        {('s'), QLatin1String("sizeof")},
+        {('s'), QLatin1String("slot")},
+        {('s'), QLatin1String("static")},
+        {('s'), QLatin1String("static_assert")},
+        {('s'), QLatin1String("static_cast")},
+        {('s'), QLatin1String("switch")},
+        {('t'), QLatin1String("template")},
+        {('t'), QLatin1String("this")},
+        {('t'), QLatin1String("thread_local")},
+        {('t'), QLatin1String("throw")},
+        {('t'), QLatin1String("try")},
+        {('t'), QLatin1String("typeid")},
+        {('t'), QLatin1String("typedef")},
+        {('t'), QLatin1String("typename")},
+        {('u'), QLatin1String("using")},
+        {('v'), QLatin1String("volatile")},
+        {('w'), QLatin1String("while")},
+        {('x'), QLatin1String("xor")},
+        {('x'), QLatin1String("xor_eq")}};
+
+    cpp_types = {
+        {('a'), QLatin1String("auto")},
+        {('b'), QLatin1String("bool")},
+        {('c'), QLatin1String("char")},
+        {('c'), QLatin1String("char8_t")},
+        {('c'), QLatin1String("char16_t")},
+        {('c'), QLatin1String("char32_t")},
+        {('c'), QLatin1String("class")},
+        {('d'), QLatin1String("double")},
+        {('e'), QLatin1String("enum")},
+        {('f'), QLatin1String("float")},
+        {('i'), QLatin1String("int")},
+        {('i'), QLatin1String("int8_t")},
+        {('i'), QLatin1String("int16_t")},
+        {('i'), QLatin1String("int32_t")},
+        {('i'), QLatin1String("int64_t")},
+        {('i'), QLatin1String("int_fast8_t")},
+        {('i'), QLatin1String("int_fast16_t")},
+        {('i'), QLatin1String("int_fast32_t")},
+        {('i'), QLatin1String("int_fast64_t")},
+        {('i'), QLatin1String("intmax_t")},
+        {('i'), QLatin1String("intptr_t")},
+        {('l'), QLatin1String("long")},
+        {('n'), QLatin1String("namespace")},
+        {('Q'), QLatin1String("QHash")},
+        {('Q'), QLatin1String("QList")},
+        {('Q'), QLatin1String("QMap")},
+        {('Q'), QLatin1String("QString")},
+        {('Q'), QLatin1String("QVector")},
+        {('s'), QLatin1String("short")},
+        {('s'), QLatin1String("size_t")},
+        {('s'), QLatin1String("signed")},
+        {('s'), QLatin1String("struct")},
+        {('s'), QLatin1String("ssize_t")},
+        {('u'), QLatin1String("uint8_t")},
+        {('u'), QLatin1String("uint16_t")},
+        {('u'), QLatin1String("uint32_t")},
+        {('u'), QLatin1String("uint64_t")},
+        {('u'), QLatin1String("uint_fast8_t")},
+        {('u'), QLatin1String("uint_fast16_t")},
+        {('u'), QLatin1String("uint_fast32_t")},
+        {('u'), QLatin1String("uint_fast64_t")},
+        {('u'), QLatin1String("uint_least8_t")},
+        {('u'), QLatin1String("uint_least16_t")},
+        {('u'), QLatin1String("uint_least32_t")},
+        {('u'), QLatin1String("uint_least64_t")},
+        {('u'), QLatin1String("uintmax_t")},
+        {('u'), QLatin1String("uintptr_t")},
+        {('u'), QLatin1String("unsigned")},
+        {('u'), QLatin1String("union")},
+        {('v'), QLatin1String("void")},
+        {('w'), QLatin1String("wchar_t")}};
+
+    cpp_literals = {{('f'), QLatin1String("false")},
+                    {('n'), QLatin1String("nullptr")},
+                    {('N'), QLatin1String("NULL")},
+                    {('t'), QLatin1String("true")}};
+
+    cpp_builtin = {{('s'), QLatin1String("std")},
+                   {('s'), QLatin1String("string")},
+                   {('s'), QLatin1String("string_view")},
+                   {('w'), QLatin1String("wstring")},
+                   {('c'), QLatin1String("cin")},
+                   {('c'), QLatin1String("cout")},
+                   {('c'), QLatin1String("cerr")},
+                   {('c'), QLatin1String("clog")},
+                   {('s'), QLatin1String("stdin")},
+                   {('s'), QLatin1String("stdout")},
+                   {('s'), QLatin1String("stderr")},
+                   {('s'), QLatin1String("stringstream")},
+                   {('i'), QLatin1String("istringstream")},
+                   {('o'), QLatin1String("ostringstream")},
+                   {('a'), QLatin1String("auto_ptr")},
+                   {('d'), QLatin1String("deque")},
+                   {('l'), QLatin1String("list")},
+                   {('q'), QLatin1String("queue")},
+                   {('s'), QLatin1String("stack")},
+                   {('v'), QLatin1String("vector")},
+                   {('m'), QLatin1String("map")},
+                   {('s'), QLatin1String("set")},
+                   {('b'), QLatin1String("bitset")},
+                   {('m'), QLatin1String("multiset")},
+                   {('m'), QLatin1String("multimap")},
+                   {('u'), QLatin1String("unordered_set")},
+                   {('u'), QLatin1String("unordered_map")},
+                   {('u'), QLatin1String("unordered_multiset")},
+                   {('u'), QLatin1String("unordered_multimap")},
+                   {('a'), QLatin1String("array")},
+                   {('s'), QLatin1String("shared_ptr")},
+                   {('a'), QLatin1String("abort")},
+                   {('t'), QLatin1String("terminate")},
+                   {('a'), QLatin1String("abs")},
+                   {('a'), QLatin1String("acos")},
+                   {('a'), QLatin1String("asin")},
+                   {('a'), QLatin1String("atan2")},
+                   {('a'), QLatin1String("atan")},
+                   {('c'), QLatin1String("calloc")},
+                   {('c'), QLatin1String("ceil")},
+                   {('c'), QLatin1String("cosh")},
+                   {('c'), QLatin1String("cos")},
+                   {('e'), QLatin1String("exit")},
+                   {('e'), QLatin1String("exp")},
+                   {('f'), QLatin1String("fabs")},
+                   {('f'), QLatin1String("floor")},
+                   {('f'), QLatin1String("fmod")},
+                   {('f'), QLatin1String("fprintf")},
+                   {('f'), QLatin1String("fputs")},
+                   {('f'), QLatin1String("free")},
+                   {('f'), QLatin1String("frexp")},
+                   {('f'), QLatin1String("fscanf")},
+                   {('f'), QLatin1String("future")},
+                   {('i'), QLatin1String("isalnum")},
+                   {('i'), QLatin1String("isalpha")},
+                   {('i'), QLatin1String("iscntrl")},
+                   {('i'), QLatin1String("isdigit")},
+                   {('i'), QLatin1String("isgraph")},
+                   {('i'), QLatin1String("islower")},
+                   {('i'), QLatin1String("isprint")},
+                   {('i'), QLatin1String("ispunct")},
+                   {('i'), QLatin1String("isspace")},
+                   {('i'), QLatin1String("isupper")},
+                   {('i'), QLatin1String("isxdigit")},
+                   {('t'), QLatin1String("tolower")},
+                   {('t'), QLatin1String("toupper")},
+                   {('l'), QLatin1String("labs")},
+                   {('l'), QLatin1String("ldexp")},
+                   {('l'), QLatin1String("log10")},
+                   {('l'), QLatin1String("log")},
+                   {('m'), QLatin1String("malloc")},
+                   {('r'), QLatin1String("realloc")},
+                   {('m'), QLatin1String("main")},
+                   {('m'), QLatin1String("memchr")},
+                   {('m'), QLatin1String("memcmp")},
+                   {('m'), QLatin1String("memcpy")},
+                   {('m'), QLatin1String("memset")},
+                   {('m'), QLatin1String("modf")},
+                   {('p'), QLatin1String("pow")},
+                   {('p'), QLatin1String("printf")},
+                   {('p'), QLatin1String("putchar")},
+                   {('p'), QLatin1String("puts")},
+                   {('s'), QLatin1String("scanf")},
+                   {('s'), QLatin1String("sinh")},
+                   {('s'), QLatin1String("sin")},
+                   {('s'), QLatin1String("snprintf")},
+                   {('s'), QLatin1String("sprintf")},
+                   {('s'), QLatin1String("sqrt")},
+                   {('s'), QLatin1String("sscanf")},
+                   {('s'), QLatin1String("strcat")},
+                   {('s'), QLatin1String("strchr")},
+                   {('s'), QLatin1String("strcmp")},
+                   {('s'), QLatin1String("strcpy")},
+                   {('s'), QLatin1String("strcspn")},
+                   {('s'), QLatin1String("strlen")},
+                   {('s'), QLatin1String("strncat")},
+                   {('s'), QLatin1String("strncmp")},
+                   {('s'), QLatin1String("strncpy")},
+                   {('s'), QLatin1String("strpbrk")},
+                   {('s'), QLatin1String("strrchr")},
+                   {('s'), QLatin1String("strspn")},
+                   {('s'), QLatin1String("strstr")},
+                   {('t'), QLatin1String("tanh")},
+                   {('t'), QLatin1String("tan")},
+                   {('v'), QLatin1String("vfprintf")},
+                   {('v'), QLatin1String("vprintf")},
+                   {('v'), QLatin1String("vsprintf")},
+                   {('e'), QLatin1String("endl")},
+                   {('i'), QLatin1String("initializer_list")},
+                   {('u'), QLatin1String("unique_ptr")},
+                   {('c'), QLatin1String("complex")},
+                   {('i'), QLatin1String("imaginary")}};
+
+    cpp_other = {
+        {('d'), QLatin1String("define")},  {('e'), QLatin1String("else")},
+        {('e'), QLatin1String("elif")},    {('e'), QLatin1String("endif")},
+        {('e'), QLatin1String("error")},   {('i'), QLatin1String("if")},
+        {('i'), QLatin1String("ifdef")},   {('i'), QLatin1String("ifndef")},
+        {('i'), QLatin1String("include")}, {('l'), QLatin1String("line")},
+        {('p'), QLatin1String("pragma")},  {('P'), QLatin1String("_Pragma")},
+        {('u'), QLatin1String("undef")},   {('w'), QLatin1String("warning")}};
+}
+void loadCppData(QMultiHash<char, QLatin1String> &typess,
+                 QMultiHash<char, QLatin1String> &keywordss,
+                 QMultiHash<char, QLatin1String> &builtins,
+                 QMultiHash<char, QLatin1String> &literalss,
+                 QMultiHash<char, QLatin1String> &others) {
+    if (!cppDataInitialized) {
+        initCppData();
+        cppDataInitialized = true;
+    }
+
+    typess = cpp_types;
+    keywordss = cpp_keywords;
+    builtins = cpp_builtin;
+    literalss = cpp_literals;
+    others = cpp_other;
+}
+
+/**********************************************************/
+/* Shell Data *********************************************/
+/**********************************************************/
+
+static bool shellDataInitialized = false;
+static QMultiHash<char, QLatin1String> shell_keywords;
+static QMultiHash<char, QLatin1String> shell_types;
+static QMultiHash<char, QLatin1String> shell_literals;
+static QMultiHash<char, QLatin1String> shell_builtin;
+static QMultiHash<char, QLatin1String> shell_other;
+void initShellData() {
+    shell_keywords = {
+        {('i'), QLatin1String("if")},      {('t'), QLatin1String("then")},
+        {('e'), QLatin1String("else")},    {('e'), QLatin1String("elif")},
+        {('f'), QLatin1String("fi")},      {('f'), QLatin1String("for")},
+        {('w'), QLatin1String("while")},   {('i'), QLatin1String("in")},
+        {('d'), QLatin1String("do")},      {('d'), QLatin1String("done")},
+        {('c'), QLatin1String("case")},    {('e'), QLatin1String("esac")},
+        {('f'), QLatin1String("function")}};
+
+    shell_types = {};
+
+    shell_literals = {{('f'), QLatin1String("false")},
+                      {('t'), QLatin1String("true")}};
+
+    shell_builtin = {{('b'), QLatin1String("break")},
+                     {('c'), QLatin1String("cd")},
+                     {('c'), QLatin1String("continue")},
+                     {('e'), QLatin1String("eval")},
+                     {('e'), QLatin1String("exec")},
+                     {('e'), QLatin1String("exit")},
+                     {('e'), QLatin1String("export")},
+                     {('g'), QLatin1String("getopts")},
+                     {('h'), QLatin1String("hash")},
+                     {('p'), QLatin1String("pwd")},
+                     {('r'), QLatin1String("readonly")},
+                     {('r'), QLatin1String("return")},
+                     {('s'), QLatin1String("shift")},
+                     {('t'), QLatin1String("test")},
+                     {('t'), QLatin1String("timestrap")},
+                     {('u'), QLatin1String("umask")},
+                     {('u'), QLatin1String("unset")},
+                     {('B'), QLatin1String("Bash")},
+                     {('a'), QLatin1String("alias")},
+                     {('b'), QLatin1String("bind")},
+                     {('b'), QLatin1String("builtin")},
+                     {('c'), QLatin1String("caller")},
+                     {('c'), QLatin1String("command")},
+                     {('d'), QLatin1String("declare")},
+                     {('e'), QLatin1String("echo")},
+                     {('e'), QLatin1String("enable")},
+                     {('h'), QLatin1String("help")},
+                     {('l'), QLatin1String("let")},
+                     {('l'), QLatin1String("local")},
+                     {('l'), QLatin1String("logout")},
+                     {('m'), QLatin1String("mapfile")},
+                     {('p'), QLatin1String("printfread")},
+                     {('r'), QLatin1String("readarray")},
+                     {('s'), QLatin1String("source")},
+                     {('t'), QLatin1String("type")},
+                     {('t'), QLatin1String("typeset")},
+                     {('u'), QLatin1String("ulimit")},
+                     {('u'), QLatin1String("unalias")},
+                     {('m'), QLatin1String("modifiers")},
+                     {('s'), QLatin1String("set")},
+                     {('s'), QLatin1String("shopt")},
+                     {('a'), QLatin1String("autoload")},
+                     {('b'), QLatin1String("bg")},
+                     {('b'), QLatin1String("bindkey")},
+                     {('b'), QLatin1String("bye")},
+                     {('c'), QLatin1String("cap")},
+                     {('c'), QLatin1String("chdir")},
+                     {('c'), QLatin1String("clone")},
+                     {('c'), QLatin1String("comparguments")},
+                     {('c'), QLatin1String("compcall")},
+                     {('c'), QLatin1String("compctl")},
+                     {('c'), QLatin1String("compdescribe")},
+                     {('c'), QLatin1String("compfilescompgroups")},
+                     {('c'), QLatin1String("compquote")},
+                     {('c'), QLatin1String("comptags")},
+                     {('c'), QLatin1String("comptry")},
+                     {('c'), QLatin1String("compvalues")},
+                     {('d'), QLatin1String("dirs")},
+                     {('d'), QLatin1String("disable")},
+                     {('d'), QLatin1String("disown")},
+                     {('e'), QLatin1String("echotc")},
+                     {('e'), QLatin1String("echoti")},
+                     {('e'), QLatin1String("emulatefc")},
+                     {('f'), QLatin1String("fg")},
+                     {('f'), QLatin1String("float")},
+                     {('f'), QLatin1String("functions")},
+                     {('g'), QLatin1String("getcap")},
+                     {('g'), QLatin1String("getln")},
+                     {('h'), QLatin1String("history")},
+                     {('i'), QLatin1String("integer")},
+                     {('j'), QLatin1String("jobs")},
+                     {('k'), QLatin1String("kill")},
+                     {('l'), QLatin1String("limit")},
+                     {('l'), QLatin1String("log")},
+                     {('n'), QLatin1String("noglob")},
+                     {('p'), QLatin1String("popd")},
+                     {('p'), QLatin1String("printpushd")},
+                     {('p'), QLatin1String("pushln")},
+                     {('r'), QLatin1String("rehash")},
+                     {('s'), QLatin1String("sched")},
+                     {('s'), QLatin1String("setcap")},
+                     {('s'), QLatin1String("setopt")},
+                     {('s'), QLatin1String("stat")},
+                     {('s'), QLatin1String("suspend")},
+                     {('t'), QLatin1String("ttyctl")},
+                     {('u'), QLatin1String("unfunction")},
+                     {('u'), QLatin1String("unhash")},
+                     {('u'), QLatin1String("unlimitunsetopt")},
+                     {('v'), QLatin1String("vared")},
+                     {('w'), QLatin1String("wait")},
+                     {('w'), QLatin1String("whence")},
+                     {('w'), QLatin1String("where")},
+                     {('w'), QLatin1String("which")},
+                     {('z'), QLatin1String("zcompile")},
+                     {('z'), QLatin1String("zformat")},
+                     {('z'), QLatin1String("zftp")},
+                     {('z'), QLatin1String("zle")},
+                     {('z'), QLatin1String("zmodload")},
+                     {('z'), QLatin1String("zparseopts")},
+                     {('z'), QLatin1String("zprof")},
+                     {('z'), QLatin1String("zpty")},
+                     {('z'), QLatin1String("zregexparse")},
+                     {('z'), QLatin1String("zsocket")},
+                     {('z'), QLatin1String("zstyle")},
+                     {('z'), QLatin1String("ztcp")},
+                     {('g'), QLatin1String("git")},
+                     {('r'), QLatin1String("rm")},
+                     {('s'), QLatin1String("sudo")},
+                     {('f'), QLatin1String("fdisk")},
+                     {('a'), QLatin1String("apt")},
+                     {('s'), QLatin1String("snap")},
+                     {('f'), QLatin1String("flatpak")},
+                     {('s'), QLatin1String("snapcraft")},
+                     {('y'), QLatin1String("yaourt")},
+                     {('n'), QLatin1String("nmcli")},
+                     {('p'), QLatin1String("pacman")},
+                     {('p'), QLatin1String("pamac")},
+                     {('f'), QLatin1String("fsck")},
+                     {('m'), QLatin1String("mount")},
+                     {('m'), QLatin1String("mkdir")},
+                     {('m'), QLatin1String("mkswap")},
+                     {('s'), QLatin1String("sleep")},
+                     {('l'), QLatin1String("ls")},
+                     {('w'), QLatin1String("wget")},
+                     {('k'), QLatin1String("kill")},
+                     {('k'), QLatin1String("killall")},
+                     {('g'), QLatin1String("gdb")},
+                     {('Q'), QLatin1String("QOwnNotes")},
+                     {('q'), QLatin1String("qownnotes")},
+                     {('d'), QLatin1String("docker")},
+                     {('o'), QLatin1String("openssl")},
+                     {('p'), QLatin1String("php")},
+                     {('p'), QLatin1String("python")},
+                     {('p'), QLatin1String("perl")},
+                     {('g'), QLatin1String("go")},
+                     {('c'), QLatin1String("curl")}};
+
+    shell_other = {};
+}
+
+void loadShellData(QMultiHash<char, QLatin1String> &types,
+                   QMultiHash<char, QLatin1String> &keywords,
+                   QMultiHash<char, QLatin1String> &builtin,
+                   QMultiHash<char, QLatin1String> &literals,
+                   QMultiHash<char, QLatin1String> &other) {
+    if (!shellDataInitialized) {
+        initShellData();
+        shellDataInitialized = true;
+    }
+    types = shell_types;
+    keywords = shell_keywords;
+    builtin = shell_builtin;
+    literals = shell_literals;
+    other = shell_other;
+}
+
+/**********************************************************/
+/* JS Data *********************************************/
+/**********************************************************/
+static bool JSDataInitialized = false;
+static QMultiHash<char, QLatin1String> js_keywords;
+static QMultiHash<char, QLatin1String> js_types;
+static QMultiHash<char, QLatin1String> js_literals;
+static QMultiHash<char, QLatin1String> js_builtin;
+static QMultiHash<char, QLatin1String> js_other;
+void initJSData() {
+    js_keywords = {{('i'), QLatin1String("in")},
+                   {('o'), QLatin1String("of")},
+                   {('i'), QLatin1String("if")},
+                   {('f'), QLatin1String("for")},
+                   {('w'), QLatin1String("while")},
+                   {('f'), QLatin1String("finally")},
+                   {('n'), QLatin1String("new")},
+                   {('f'), QLatin1String("function")},
+                   {('d'), QLatin1String("do")},
+                   {('r'), QLatin1String("return")},
+                   {('v'), QLatin1String("void")},
+                   {('e'), QLatin1String("else")},
+                   {('b'), QLatin1String("break")},
+                   {('c'), QLatin1String("catch")},
+                   {('i'), QLatin1String("instanceof")},
+                   {('w'), QLatin1String("with")},
+                   {('t'), QLatin1String("throw")},
+                   {('c'), QLatin1String("case")},
+                   {('d'), QLatin1String("default")},
+                   {('t'), QLatin1String("try")},
+                   {('t'), QLatin1String("this")},
+                   {('s'), QLatin1String("switch")},
+                   {('c'), QLatin1String("continue")},
+                   {('t'), QLatin1String("typeof")},
+                   {('d'), QLatin1String("delete")},
+                   {('l'), QLatin1String("let")},
+                   {('y'), QLatin1String("yield")},
+                   {('c'), QLatin1String("const")},
+                   {('e'), QLatin1String("export")},
+                   {('s'), QLatin1String("super")},
+                   {('d'), QLatin1String("debugger")},
+                   {('a'), QLatin1String("as")},
+                   {('a'), QLatin1String("async")},
+                   {('a'), QLatin1String("await")},
+                   {('s'), QLatin1String("static")},
+                   {('i'), QLatin1String("import")},
+                   {('f'), QLatin1String("from")},
+                   {('a'), QLatin1String("as")}};
+
+    js_types = {
+        {('v'), QLatin1String("var")},   {('c'), QLatin1String("class")},
+        {('b'), QLatin1String("byte")},  {('e'), QLatin1String("enum")},
+        {('f'), QLatin1String("float")}, {('s'), QLatin1String("short")},
+        {('l'), QLatin1String("long")},  {('i'), QLatin1String("int")},
+        {('v'), QLatin1String("void")},  {('b'), QLatin1String("boolean")},
+        {('d'), QLatin1String("double")}};
+
+    js_literals = {
+        {('f'), QLatin1String("false")}, {('n'), QLatin1String("null")},
+        {('t'), QLatin1String("true")},  {('u'), QLatin1String("undefined")},
+        {('N'), QLatin1String("NaN")},   {('I'), QLatin1String("Infinity")}};
+
+    js_builtin = {{('e'), QLatin1String("eval")},
+                  {('i'), QLatin1String("isFinite")},
+                  {('i'), QLatin1String("isNaN")},
+                  {('p'), QLatin1String("parseFloat")},
+                  {('p'), QLatin1String("parseInt")},
+                  {('d'), QLatin1String("decodeURI")},
+                  {('d'), QLatin1String("decodeURIComponent")},
+                  {('e'), QLatin1String("encodeURI")},
+                  {('e'), QLatin1String("encodeURIComponent")},
+                  {('e'), QLatin1String("escape")},
+                  {('u'), QLatin1String("unescape")},
+                  {('O'), QLatin1String("Object")},
+                  {('F'), QLatin1String("Function")},
+                  {('B'), QLatin1String("Boolean")},
+                  {('E'), QLatin1String("Error")},
+                  {('E'), QLatin1String("EvalError")},
+                  {('I'), QLatin1String("InternalError")},
+                  {('R'), QLatin1String("RangeError")},
+                  {('R'), QLatin1String("ReferenceError")},
+                  {('S'), QLatin1String("StopIteration")},
+                  {('S'), QLatin1String("SyntaxError")},
+                  {('T'), QLatin1String("TypeError")},
+                  {('U'), QLatin1String("URIError")},
+                  {('N'), QLatin1String("Number")},
+                  {('M'), QLatin1String("Math")},
+                  {('D'), QLatin1String("Date")},
+                  {('S'), QLatin1String("String")},
+                  {('R'), QLatin1String("RegExp")},
+                  {('A'), QLatin1String("Array")},
+                  {('F'), QLatin1String("Float32Array")},
+                  {('F'), QLatin1String("Float64Array")},
+                  {('I'), QLatin1String("Int16Array")},
+                  {('I'), QLatin1String("Int32Array")},
+                  {('I'), QLatin1String("Int8Array")},
+                  {('U'), QLatin1String("Uint16Array")},
+                  {('U'), QLatin1String("Uint32Array")},
+                  {('U'), QLatin1String("Uint8Array")},
+                  {('U'), QLatin1String("Uint8ClampedArray")},
+                  {('A'), QLatin1String("ArrayBuffer")},
+                  {('D'), QLatin1String("DataView")},
+                  {('J'), QLatin1String("JSON")},
+                  {('I'), QLatin1String("Intl")},
+                  {('a'), QLatin1String("arguments")},
+                  {('r'), QLatin1String("require")},
+                  {('m'), QLatin1String("module")},
+                  {('c'), QLatin1String("console")},
+                  {('w'), QLatin1String("window")},
+                  {('d'), QLatin1String("document")},
+                  {('S'), QLatin1String("Symbol")},
+                  {('S'), QLatin1String("Set")},
+                  {('M'), QLatin1String("Map")},
+                  {('W'), QLatin1String("WeakSet")},
+                  {('W'), QLatin1String("WeakMap")},
+                  {('P'), QLatin1String("Proxy")},
+                  {('R'), QLatin1String("Reflect")},
+                  {('P'), QLatin1String("Promise")}};
+
+    js_other = {};
+}
+
+void loadJSData(QMultiHash<char, QLatin1String> &types,
+                QMultiHash<char, QLatin1String> &keywords,
+                QMultiHash<char, QLatin1String> &builtin,
+                QMultiHash<char, QLatin1String> &literals,
+                QMultiHash<char, QLatin1String> &other) {
+    if (!JSDataInitialized) {
+        initJSData();
+        JSDataInitialized = true;
+    }
+    types = js_types;
+    keywords = js_keywords;
+    builtin = js_builtin;
+    literals = js_literals;
+    other = js_other;
+}
+
+/**********************************************************/
+/* Nix Data ***********************************************/
+/**********************************************************/
+static bool NixDataInitialized = false;
+static QMultiHash<char, QLatin1String> nix_keywords;
+static QMultiHash<char, QLatin1String> nix_types;
+static QMultiHash<char, QLatin1String> nix_literals;
+static QMultiHash<char, QLatin1String> nix_builtin;
+static QMultiHash<char, QLatin1String> nix_other;
+
+// also see https://github.com/KDE/syntax-highlighting/blob/master/data/syntax/nix.xml
+void initNixData() {
+    nix_keywords = {{('i'), QLatin1String("in")},
+                    {('a'), QLatin1String("assert")},
+                    {('k'), QLatin1String("keywords")},
+                    {('r'), QLatin1String("rec")},
+                    {('a'), QLatin1String("and")},
+                    {('o'), QLatin1String("or")},
+                    {('o'), QLatin1String("of")},
+                    {('i'), QLatin1String("if")},
+                    {('f'), QLatin1String("for")},
+                    {('w'), QLatin1String("while")},
+                    {('d'), QLatin1String("do")},
+                    {('r'), QLatin1String("return")},
+                    {('e'), QLatin1String("else")},
+                    {('b'), QLatin1String("break")},
+                    {('w'), QLatin1String("with")},
+                    {('c'), QLatin1String("case")},
+                    {('c'), QLatin1String("continue")},
+                    {('d'), QLatin1String("delete")},
+                    {('l'), QLatin1String("let")},
+                    {('e'), QLatin1String("export")},
+                    {('a'), QLatin1String("as")},
+                    {('i'), QLatin1String("import")},
+                    {('f'), QLatin1String("from")},
+                    {('a'), QLatin1String("as")}};
+
+    nix_types = {};
+
+    nix_literals = {
+        {('f'), QLatin1String("false")}, {('n'), QLatin1String("null")},
+        {('t'), QLatin1String("true")},  {('u'), QLatin1String("undefined")},
+        {('N'), QLatin1String("NaN")},   {('I'), QLatin1String("Infinity")}};
+
+    nix_builtin = {{('a'), QLatin1String("abort")},
+           {('b'), QLatin1String("baseNameOf")},
+           {('d'), QLatin1String("derivation")},
+           {('d'), QLatin1String("dirOf")},
+           {('f'), QLatin1String("fetchTarball")},
+           {('f'), QLatin1String("fetchFromGitHub")},
+           {('i'), QLatin1String("import")},
+           {('i'), QLatin1String("isNull")},
+           {('m'), QLatin1String("map")},
+           {('r'), QLatin1String("removeAttrs")},
+           {('t'), QLatin1String("throw")},
+           {('t'), QLatin1String("toString")}};
+
+    nix_other = {
+        {('b'), QLatin1String("builtins")},
+        {('c'), QLatin1String("config")},
+        {('p'), QLatin1String("pkgs")},
+        {('i'), QLatin1String("inputs")},
+        {('x'), QLatin1String("xdg")},
+        {('e'), QLatin1String("environment")},
+    };
+}
+
+void loadNixData(QMultiHash<char, QLatin1String> &types,
+                 QMultiHash<char, QLatin1String> &keywords,
+                 QMultiHash<char, QLatin1String> &builtin,
+                 QMultiHash<char, QLatin1String> &literals,
+                 QMultiHash<char, QLatin1String> &other) {
+    if (!NixDataInitialized) {
+        initNixData();
+        NixDataInitialized = true;
+    }
+    types = nix_types;
+    keywords = nix_keywords;
+    builtin = nix_builtin;
+    literals = nix_literals;
+    other = nix_other;
+}
+
+/**********************************************************/
+/* PHP Data *********************************************/
+/**********************************************************/
+static bool PHPDataInitialized = false;
+static QMultiHash<char, QLatin1String> php_keywords;
+static QMultiHash<char, QLatin1String> php_types;
+static QMultiHash<char, QLatin1String> php_literals;
+static QMultiHash<char, QLatin1String> php_builtin;
+static QMultiHash<char, QLatin1String> php_other;
+void initPHPData() {
+    php_keywords = {{('a'), QLatin1String("and")},
+                    {('l'), QLatin1String("list")},
+                    {('a'), QLatin1String("abstract")},
+                    {('g'), QLatin1String("global")},
+                    {('p'), QLatin1String("private")},
+                    {('e'), QLatin1String("echo")},
+                    {('i'), QLatin1String("interface")},
+                    {('a'), QLatin1String("as")},
+                    {('s'), QLatin1String("static")},
+                    {('e'), QLatin1String("endswitch")},
+                    {('i'), QLatin1String("if")},
+                    {('e'), QLatin1String("endwhile")},
+                    {('o'), QLatin1String("or")},
+                    {('c'), QLatin1String("const")},
+                    {('f'), QLatin1String("for")},
+                    {('e'), QLatin1String("endforeach")},
+                    {('s'), QLatin1String("self")},
+                    {('w'), QLatin1String("while")},
+                    {('i'), QLatin1String("isset")},
+                    {('p'), QLatin1String("public")},
+                    {('p'), QLatin1String("protected")},
+                    {('e'), QLatin1String("exit")},
+                    {('f'), QLatin1String("foreach")},
+                    {('t'), QLatin1String("throw")},
+                    {('e'), QLatin1String("elseif")},
+                    {('e'), QLatin1String("empty")},
+                    {('d'), QLatin1String("do")},
+                    {('x'), QLatin1String("xor")},
+                    {('r'), QLatin1String("return")},
+                    {('p'), QLatin1String("parent")},
+                    {('c'), QLatin1String("clone")},
+                    {('u'), QLatin1String("use")},
+                    {('e'), QLatin1String("else")},
+                    {('b'), QLatin1String("break")},
+                    {('p'), QLatin1String("print")},
+                    {('e'), QLatin1String("eval")},
+                    {('n'), QLatin1String("new")},
+                    {('c'), QLatin1String("catch")},
+                    {('c'), QLatin1String("case")},
+                    {('e'), QLatin1String("exception")},
+                    {('d'), QLatin1String("default")},
+                    {('d'), QLatin1String("die")},
+                    {('e'), QLatin1String("enddeclare")},
+                    {('f'), QLatin1String("final")},
+                    {('t'), QLatin1String("try")},
+                    {('s'), QLatin1String("switch")},
+                    {('c'), QLatin1String("continue")},
+                    {('e'), QLatin1String("endfor")},
+                    {('e'), QLatin1String("endif")},
+                    {('d'), QLatin1String("declare")},
+                    {('u'), QLatin1String("unset")},
+                    {('t'), QLatin1String("trait")},
+                    {('g'), QLatin1String("goto")},
+                    {('i'), QLatin1String("instanceof")},
+                    {('i'), QLatin1String("insteadof")},
+                    {('y'), QLatin1String("yield")},
+                    {('f'), QLatin1String("finally")}};
+
+    php_types = {{('v'), QLatin1String("var")},
+                 {('c'), QLatin1String("class")},
+                 {('e'), QLatin1String("enum")},
+                 {('a'), QLatin1String("array")}};
+
+    php_literals = {{('f'), QLatin1String("false")},
+                    {('t'), QLatin1String("true")},
+                    {('n'), QLatin1String("null")}};
+
+    php_builtin = {
+
+    };
+
+    php_other = {{('i'), QLatin1String("include_once")},
+                 {('i'), QLatin1String("include")},
+                 {('_'), QLatin1String("__FILE__")},
+                 {('r'), QLatin1String("require")},
+                 {('r'), QLatin1String("require_once")},
+                 {('_'), QLatin1String("__CLASS__")},
+                 {('_'), QLatin1String("__LINE__")},
+                 {('_'), QLatin1String("__METHOD__")},
+                 {('_'), QLatin1String("__FUNCTION__")},
+                 {('_'), QLatin1String("__DIR__")},
+                 {('_'), QLatin1String("__NAMESPACE__")},
+
+                 {('S'), QLatin1String("SERVER")},
+                 {('G'), QLatin1String("GET")},
+                 {('P'), QLatin1String("POST")},
+                 {('F'), QLatin1String("FILES")},
+                 {('R'), QLatin1String("REQUEST")},
+                 {('S'), QLatin1String("SESSION")},
+                 {('E'), QLatin1String("ENV")},
+                 {('C'), QLatin1String("COOKIE")},
+                 {('G'), QLatin1String("GLOBALS")},
+                 {('H'), QLatin1String("HTTP_RAW_POST_DATA")},
+                 {('a'), QLatin1String("argc")},
+                 {('a'), QLatin1String("argv")},
+                 {('p'), QLatin1String("php_errormsg")},
+                 {('h'), QLatin1String("http_response_header")}};
+}
+void loadPHPData(QMultiHash<char, QLatin1String> &types,
+                 QMultiHash<char, QLatin1String> &keywords,
+                 QMultiHash<char, QLatin1String> &builtin,
+                 QMultiHash<char, QLatin1String> &literals,
+                 QMultiHash<char, QLatin1String> &other) {
+    if (!PHPDataInitialized) {
+        initPHPData();
+        PHPDataInitialized = true;
+    }
+    types = php_types;
+    keywords = php_keywords;
+    builtin = php_builtin;
+    literals = php_literals;
+    other = php_other;
+}
+
+/**********************************************************/
+/* QML Data *********************************************/
+/**********************************************************/
+static bool QMLDataInitialized = false;
+static QMultiHash<char, QLatin1String> qml_keywords;
+static QMultiHash<char, QLatin1String> qml_types;
+static QMultiHash<char, QLatin1String> qml_literals;
+static QMultiHash<char, QLatin1String> qml_builtin;
+static QMultiHash<char, QLatin1String> qml_other;
+
+void initQMLData() {
+    qml_keywords = {{('d'), QLatin1String("default")},
+                    {('p'), QLatin1String("property")},
+                    {('i'), QLatin1String("int")},
+                    {('v'), QLatin1String("var")},
+                    {('s'), QLatin1String("string")},
+                    {('f'), QLatin1String("function")},
+                    {('r'), QLatin1String("readonly")},
+                    {('M'), QLatin1String("MouseArea")},
+                    {('d'), QLatin1String("delegate")},
+                    {('i'), QLatin1String("if")},
+                    {('e'), QLatin1String("else")},
+
+                    {('e'), QLatin1String("eval")},
+                    {('i'), QLatin1String("isFinite")},
+                    {('i'), QLatin1String("isNaN")},
+                    {('p'), QLatin1String("parseFloat")},
+                    {('p'), QLatin1String("parseInt")},
+                    {('d'), QLatin1String("decodeURI")},
+                    {('d'), QLatin1String("decodeURIComponent")},
+                    {('e'), QLatin1String("encodeURI")},
+                    {('e'), QLatin1String("encodeURIComponent")},
+                    {('e'), QLatin1String("escape")},
+                    {('u'), QLatin1String("unescape")},
+                    {('O'), QLatin1String("Object")},
+                    {('E'), QLatin1String("Error")},
+                    {('E'), QLatin1String("EvalError")},
+                    {('I'), QLatin1String("InternalError")},
+                    {('R'), QLatin1String("RangeError")},
+                    {('R'), QLatin1String("ReferenceError")},
+                    {('S'), QLatin1String("StopIteration")},
+                    {('S'), QLatin1String("SyntaxError")},
+                    {('T'), QLatin1String("TypeError")},
+                    {('U'), QLatin1String("URIError")},
+                    {('N'), QLatin1String("Number")},
+                    {('M'), QLatin1String("Math")},
+                    {('D'), QLatin1String("Date")},
+                    {('S'), QLatin1String("String")},
+                    {('R'), QLatin1String("RegExp")},
+                    {('A'), QLatin1String("Array")},
+                    {('F'), QLatin1String("Float32Array")},
+                    {('F'), QLatin1String("Float64Array")},
+                    {('I'), QLatin1String("Int16Array")},
+                    {('I'), QLatin1String("Int32Array")},
+                    {('I'), QLatin1String("Int8Array")},
+                    {('U'), QLatin1String("Uint16Array")},
+                    {('U'), QLatin1String("Uint32Array")},
+                    {('U'), QLatin1String("Uint8Array")},
+                    {('U'), QLatin1String("Uint8ClampedArray")},
+                    {('A'), QLatin1String("ArrayBuffer")},
+                    {('D'), QLatin1String("DataView")},
+                    {('J'), QLatin1String("JSON")},
+                    {('I'), QLatin1String("Intl")},
+                    {('a'), QLatin1String("arguments")},
+                    {('m'), QLatin1String("module")},
+                    {('c'), QLatin1String("console")},
+                    {('w'), QLatin1String("window")},
+                    {('d'), QLatin1String("document")},
+                    {('S'), QLatin1String("Symbol")},
+                    {('S'), QLatin1String("Set")},
+                    {('M'), QLatin1String("Map")},
+                    {('W'), QLatin1String("WeakSet")},
+                    {('W'), QLatin1String("WeakMap")},
+                    {('P'), QLatin1String("Proxy")},
+                    {('R'), QLatin1String("Reflect")},
+                    {('B'), QLatin1String("Behavior")},
+                    {('c'), QLatin1String("color")},
+                    {('c'), QLatin1String("coordinate")},
+                    {('d'), QLatin1String("date")},
+                    {('e'), QLatin1String("enumeration")},
+                    {('f'), QLatin1String("font")},
+                    {('g'), QLatin1String("geocircle")},
+                    {('g'), QLatin1String("georectangle")},
+                    {('g'), QLatin1String("geoshape")},
+                    {('l'), QLatin1String("list")},
+                    {('m'), QLatin1String("matrix4x4")},
+                    {('p'), QLatin1String("parent")},
+                    {('p'), QLatin1String("point")},
+                    {('q'), QLatin1String("quaternion")},
+                    {('r'), QLatin1String("real")},
+                    {('s'), QLatin1String("size")},
+                    {('s'), QLatin1String("string")},
+                    {('v'), QLatin1String("variant")},
+                    {('v'), QLatin1String("vector2d")},
+                    {('v'), QLatin1String("vector3d")},
+                    {('v'), QLatin1String("vector4d")},
+                    {('P'), QLatin1String("Promise")}};
+
+    qml_types = {
+        {('R'), QLatin1String("Rectangle")},
+        {('T'), QLatin1String("Text")},
+        {('c'), QLatin1String("color")},
+        {('I'), QLatin1String("Item")},
+        {('u'), QLatin1String("url")},
+        {('C'), QLatin1String("Component")},
+        {('B'), QLatin1String("Button")},
+        {('T'), QLatin1String("TextInput")},
+        {('L'), QLatin1String("ListView")},
+
+    };
+
+    qml_literals = {{('f'), QLatin1String("false")},
+                    {('t'), QLatin1String("true")}};
+
+    qml_builtin = {
+
+    };
+
+    qml_other = {{('i'), QLatin1String("import")}};
+}
+void loadQMLData(QMultiHash<char, QLatin1String> &types,
+                 QMultiHash<char, QLatin1String> &keywords,
+                 QMultiHash<char, QLatin1String> &builtin,
+                 QMultiHash<char, QLatin1String> &literals,
+                 QMultiHash<char, QLatin1String> &other) {
+    if (!QMLDataInitialized) {
+        initQMLData();
+        QMLDataInitialized = true;
+    }
+    types = qml_types;
+    keywords = qml_keywords;
+    builtin = qml_builtin;
+    literals = qml_literals;
+    other = qml_other;
+}
+
+/**********************************************************/
+/* Python Data *********************************************/
+/**********************************************************/
+static bool PyDataInitialized = false;
+static QMultiHash<char, QLatin1String> py_keywords;
+static QMultiHash<char, QLatin1String> py_types;
+static QMultiHash<char, QLatin1String> py_literals;
+static QMultiHash<char, QLatin1String> py_builtin;
+static QMultiHash<char, QLatin1String> py_other;
+
+void initPyData() {
+    py_keywords = {
+        {('a'), QLatin1String("and")},      {('e'), QLatin1String("elif")},
+        {('i'), QLatin1String("is")},       {('g'), QLatin1String("global")},
+        {('a'), QLatin1String("as")},       {('i'), QLatin1String("in")},
+        {('i'), QLatin1String("if")},       {('f'), QLatin1String("from")},
+        {('r'), QLatin1String("raise")},    {('f'), QLatin1String("for")},
+        {('e'), QLatin1String("except")},   {('f'), QLatin1String("finally")},
+        {('p'), QLatin1String("print")},    {('p'), QLatin1String("pass")},
+        {('r'), QLatin1String("return")},   {('e'), QLatin1String("exec")},
+        {('e'), QLatin1String("else")},     {('b'), QLatin1String("break")},
+        {('n'), QLatin1String("not")},      {('w'), QLatin1String("with")},
+        {('c'), QLatin1String("class")},    {('a'), QLatin1String("assert")},
+        {('y'), QLatin1String("yield")},    {('t'), QLatin1String("try")},
+        {('w'), QLatin1String("while")},    {('c'), QLatin1String("continue")},
+        {('d'), QLatin1String("del")},      {('o'), QLatin1String("or")},
+        {('d'), QLatin1String("def")},      {('l'), QLatin1String("lambda")},
+        {('a'), QLatin1String("async")},    {('a'), QLatin1String("await")},
+        {('n'), QLatin1String("nonlocal")},
+    };
+
+    py_types = {
+
+    };
+
+    py_literals = {{('F'), QLatin1String("False")},
+                   {('T'), QLatin1String("True")},
+                   {('N'), QLatin1String("None")}};
+
+    py_builtin = {{('_'), QLatin1String("__import__")},
+                  {('a'), QLatin1String("abs")},
+                  {('a'), QLatin1String("all")},
+                  {('a'), QLatin1String("any")},
+                  {('a'), QLatin1String("apply")},
+                  {('a'), QLatin1String("ascii")},
+                  {('b'), QLatin1String("basestring")},
+                  {('b'), QLatin1String("bin")},
+                  {('b'), QLatin1String("bool")},
+                  {('b'), QLatin1String("buffer")},
+                  {('b'), QLatin1String("bytearray")},
+                  {('b'), QLatin1String("bytes")},
+                  {('c'), QLatin1String("callable")},
+                  {('c'), QLatin1String("chr")},
+                  {('c'), QLatin1String("classmethod")},
+                  {('c'), QLatin1String("cmp")},
+                  {('c'), QLatin1String("coerce")},
+                  {('c'), QLatin1String("compile")},
+                  {('c'), QLatin1String("complex")},
+                  {('d'), QLatin1String("delattr")},
+                  {('d'), QLatin1String("dict")},
+                  {('d'), QLatin1String("dir")},
+                  {('d'), QLatin1String("divmod")},
+                  {('e'), QLatin1String("enumerate")},
+                  {('e'), QLatin1String("eval")},
+                  {('e'), QLatin1String("execfile")},
+                  {('f'), QLatin1String("file")},
+                  {('f'), QLatin1String("filter")},
+                  {('f'), QLatin1String("float")},
+                  {('f'), QLatin1String("format")},
+                  {('f'), QLatin1String("frozenset")},
+                  {('g'), QLatin1String("getattr")},
+                  {('g'), QLatin1String("globals")},
+                  {('h'), QLatin1String("hasattr")},
+                  {('h'), QLatin1String("hash")},
+                  {('h'), QLatin1String("help")},
+                  {('h'), QLatin1String("hex")},
+                  {('i'), QLatin1String("id")},
+                  {('i'), QLatin1String("input")},
+                  {('i'), QLatin1String("int")},
+                  {('i'), QLatin1String("intern")},
+                  {('i'), QLatin1String("isinstance")},
+                  {('i'), QLatin1String("issubclass")},
+                  {('i'), QLatin1String("iter")},
+                  {('l'), QLatin1String("len")},
+                  {('l'), QLatin1String("list")},
+                  {('l'), QLatin1String("locals")},
+                  {('l'), QLatin1String("long")},
+                  {('m'), QLatin1String("map")},
+                  {('m'), QLatin1String("max")},
+                  {('m'), QLatin1String("memoryview")},
+                  {('m'), QLatin1String("min")},
+                  {('n'), QLatin1String("next")},
+                  {('o'), QLatin1String("object")},
+                  {('o'), QLatin1String("oct")},
+                  {('o'), QLatin1String("open")},
+                  {('o'), QLatin1String("ord")},
+                  {('p'), QLatin1String("pow")},
+                  {('p'), QLatin1String("property")},
+                  {('r'), QLatin1String("range")},
+                  {('r'), QLatin1String("raw_input")},
+                  {('r'), QLatin1String("reduce")},
+                  {('r'), QLatin1String("reload")},
+                  {('r'), QLatin1String("repr")},
+                  {('r'), QLatin1String("reversed")},
+                  {('r'), QLatin1String("round")},
+                  {('s'), QLatin1String("set")},
+                  {('s'), QLatin1String("setattr")},
+                  {('s'), QLatin1String("slice")},
+                  {('s'), QLatin1String("sorted")},
+                  {('s'), QLatin1String("staticmethod")},
+                  {('s'), QLatin1String("str")},
+                  {('s'), QLatin1String("sum")},
+                  {('s'), QLatin1String("super")},
+                  {('t'), QLatin1String("tuple")},
+                  {('t'), QLatin1String("type")},
+                  {('u'), QLatin1String("unichr")},
+                  {('u'), QLatin1String("unicode")},
+                  {('v'), QLatin1String("vars")},
+                  {('x'), QLatin1String("xrange")},
+                  {('z'), QLatin1String("zip")}};
+
+    py_other = {{('i'), QLatin1String("import")}};
+}
+void loadPythonData(QMultiHash<char, QLatin1String> &types,
+                    QMultiHash<char, QLatin1String> &keywords,
+                    QMultiHash<char, QLatin1String> &builtin,
+                    QMultiHash<char, QLatin1String> &literals,
+                    QMultiHash<char, QLatin1String> &other) {
+    if (!PyDataInitialized) {
+        initPyData();
+        PyDataInitialized = true;
+    }
+    types = py_types;
+    keywords = py_keywords;
+    builtin = py_builtin;
+    literals = py_literals;
+    other = py_other;
+}
+
+/********************************************************/
+/***   Rust DATA      ***********************************/
+/********************************************************/
+static bool rustDataInitialized = false;
+static QMultiHash<char, QLatin1String> rust_keywords;
+static QMultiHash<char, QLatin1String> rust_types;
+static QMultiHash<char, QLatin1String> rust_literals;
+static QMultiHash<char, QLatin1String> rust_builtin;
+static QMultiHash<char, QLatin1String> rust_other;
+void initRustData() {
+    rust_keywords = {
+        {('a'), QLatin1String("abstract")}, {('a'), QLatin1String("alignof")},
+        {('a'), QLatin1String("as")},       {('a'), QLatin1String("async")},
+        {('a'), QLatin1String("await")},    {('b'), QLatin1String("be")},
+        {('b'), QLatin1String("box")},      {('b'), QLatin1String("break")},
+        {('c'), QLatin1String("const")},    {('c'), QLatin1String("continue")},
+        {('c'), QLatin1String("crate")},    {('d'), QLatin1String("do")},
+        {('d'), QLatin1String("dyn")},      {('e'), QLatin1String("else")},
+        {('e'), QLatin1String("extern")},   {('f'), QLatin1String("final")},
+        {('f'), QLatin1String("fn")},       {('f'), QLatin1String("for")},
+        {('i'), QLatin1String("if")},       {('i'), QLatin1String("impl")},
+        {('i'), QLatin1String("in")},       {('l'), QLatin1String("let")},
+        {('l'), QLatin1String("loop")},     {('m'), QLatin1String("match")},
+        {('m'), QLatin1String("mod")},      {('m'), QLatin1String("move")},
+        {('m'), QLatin1String("mut")},      {('o'), QLatin1String("offsetof")},
+        {('o'), QLatin1String("once")},     {('o'), QLatin1String("override")},
+        {('p'), QLatin1String("priv")},     {('p'), QLatin1String("pub")},
+        {('p'), QLatin1String("pure")},     {('r'), QLatin1String("ref")},
+        {('r'), QLatin1String("return")},   {('s'), QLatin1String("sizeof")},
+        {('s'), QLatin1String("static")},   {('s'), QLatin1String("self")},
+        {('S'), QLatin1String("Self")},     {('s'), QLatin1String("super")},
+        {('t'), QLatin1String("trait")},    {('t'), QLatin1String("type")},
+        {('t'), QLatin1String("typeof")},   {('u'), QLatin1String("unsafe")},
+        {('u'), QLatin1String("unsized")},  {('u'), QLatin1String("use")},
+        {('v'), QLatin1String("virtual")},  {('w'), QLatin1String("where")},
+        {('w'), QLatin1String("while")},    {('y'), QLatin1String("yield")},
+    };
+
+    rust_types = {
+        {('u'), QLatin1String("union")},  {('e'), QLatin1String("enum")},
+        {('s'), QLatin1String("struct")},
+
+        {('i'), QLatin1String("i8")},     {('i'), QLatin1String("i16")},
+        {('i'), QLatin1String("i32")},    {('i'), QLatin1String("i64")},
+        {('i'), QLatin1String("i128")},   {('i'), QLatin1String("isize")},
+        {('u'), QLatin1String("u8")},     {('u'), QLatin1String("u16")},
+        {('u'), QLatin1String("u32")},    {('u'), QLatin1String("u64")},
+        {('u'), QLatin1String("u128")},   {('u'), QLatin1String("usize")},
+        {('f'), QLatin1String("f32")},    {('f'), QLatin1String("f64")},
+        {('s'), QLatin1String("str")},    {('c'), QLatin1String("char")},
+        {('b'), QLatin1String("bool")},   {('B'), QLatin1String("Box")},
+        {('O'), QLatin1String("Option")}, {('R'), QLatin1String("Result")},
+        {('S'), QLatin1String("String")}, {('V'), QLatin1String("Vec")}};
+
+    rust_literals = {{('f'), QLatin1String("false")},
+                     {('t'), QLatin1String("true")}};
+
+    rust_builtin = {
+
+    };
+
+    rust_other = {{('a'), QLatin1String("assert!")},
+                  {('a'), QLatin1String("assert_eq!")},
+                  {('b'), QLatin1String("bitflags!")},
+                  {('b'), QLatin1String("bytes!")},
+                  {('c'), QLatin1String("cfg!")},
+                  {('c'), QLatin1String("col!")},
+                  {('c'), QLatin1String("concat!")},
+                  {('c'), QLatin1String("concat_idents!")},
+                  {('d'), QLatin1String("debug_assert!")},
+                  {('d'), QLatin1String("debug_assert_eq!")},
+                  {('e'), QLatin1String("env!")},
+                  {('p'), QLatin1String("panic!")},
+                  {('f'), QLatin1String("file!")},
+                  {('f'), QLatin1String("format!")},
+                  {('f'), QLatin1String("format_args!")},
+                  {('i'), QLatin1String("include_bin!")},
+                  {('i'), QLatin1String("include_str!")},
+                  {('l'), QLatin1String("line!")},
+                  {('l'), QLatin1String("local_data_key!")},
+                  {('m'), QLatin1String("module_path!")},
+                  {('o'), QLatin1String("option_env!")},
+                  {('p'), QLatin1String("print!")},
+                  {('p'), QLatin1String("println!")},
+                  {('s'), QLatin1String("select!")},
+                  {('s'), QLatin1String("stringify!")},
+                  {('t'), QLatin1String("try!")},
+                  {('u'), QLatin1String("unimplemented!")},
+                  {('u'), QLatin1String("unreachable!")},
+                  {('v'), QLatin1String("vec!")},
+                  {('w'), QLatin1String("write!")},
+                  {('w'), QLatin1String("writeln!")},
+                  {('m'), QLatin1String("macro_rules!")},
+                  {('a'), QLatin1String("assert_ne!")},
+                  {('d'), QLatin1String("debug_assert_ne!")}};
+}
+void loadRustData(QMultiHash<char, QLatin1String> &types,
+                  QMultiHash<char, QLatin1String> &keywords,
+                  QMultiHash<char, QLatin1String> &builtin,
+                  QMultiHash<char, QLatin1String> &literals,
+                  QMultiHash<char, QLatin1String> &other) {
+    if (!rustDataInitialized) {
+        initRustData();
+        rustDataInitialized = true;
+    }
+    types = rust_types;
+    keywords = rust_keywords;
+    builtin = rust_builtin;
+    literals = rust_literals;
+    other = rust_other;
+}
+
+/********************************************************/
+/***   Java DATA      ***********************************/
+/********************************************************/
+static bool javaDataInitialized = false;
+static QMultiHash<char, QLatin1String> java_keywords;
+static QMultiHash<char, QLatin1String> java_types;
+static QMultiHash<char, QLatin1String> java_literals;
+static QMultiHash<char, QLatin1String> java_builtin;
+static QMultiHash<char, QLatin1String> java_other;
+void initJavaData() {
+    java_keywords = {{('a'), QLatin1String("abstract")},
+                     {('a'), QLatin1String("assert")},
+                     {('b'), QLatin1String("break")},
+                     {('c'), QLatin1String("case")},
+                     {('c'), QLatin1String("catch")},
+                     {('c'), QLatin1String("const")},
+                     {('c'), QLatin1String("continue")},
+                     {('d'), QLatin1String("default")},
+                     {('d'), QLatin1String("do")},
+                     {('e'), QLatin1String("else")},
+                     {('e'), QLatin1String("exports")},
+                     {('e'), QLatin1String("extends")},
+                     {('f'), QLatin1String("final")},
+                     {('f'), QLatin1String("finally")},
+                     {('f'), QLatin1String("for")},
+                     {('g'), QLatin1String("goto")},
+                     {('i'), QLatin1String("if")},
+                     {('i'), QLatin1String("implements")},
+                     {('i'), QLatin1String("import")},
+                     {('i'), QLatin1String("instanceof")},
+                     {('i'), QLatin1String("interface")},
+                     {('l'), QLatin1String("long")},
+                     {('m'), QLatin1String("module")},
+                     {('n'), QLatin1String("native")},
+                     {('n'), QLatin1String("new")},
+                     {('n'), QLatin1String("null")},
+                     {('o'), QLatin1String("open")},
+                     {('o'), QLatin1String("opens")},
+                     {('p'), QLatin1String("package")},
+                     {('p'), QLatin1String("private")},
+                     {('p'), QLatin1String("protected")},
+                     {('p'), QLatin1String("provides")},
+                     {('p'), QLatin1String("public")},
+                     {('r'), QLatin1String("requires")},
+                     {('r'), QLatin1String("return")},
+                     {('s'), QLatin1String("static")},
+                     {('s'), QLatin1String("strictfp")},
+                     {('s'), QLatin1String("super")},
+                     {('s'), QLatin1String("switch")},
+                     {('s'), QLatin1String("synchronized")},
+                     {('t'), QLatin1String("this")},
+                     {('t'), QLatin1String("throw")},
+                     {('t'), QLatin1String("throws")},
+                     {('t'), QLatin1String("to")},
+                     {('t'), QLatin1String("transient")},
+                     {('t'), QLatin1String("transitive")},
+                     {('t'), QLatin1String("try")},
+                     {('u'), QLatin1String("uses")},
+                     {('v'), QLatin1String("var")},
+                     {('v'), QLatin1String("volatile")},
+                     {('w'), QLatin1String("while")},
+                     {('w'), QLatin1String("with")},
+                     {('y'), QLatin1String("yield")}};
+
+    java_types = {
+        {('v'), QLatin1String("void")},    {('f'), QLatin1String("float")},
+        {('b'), QLatin1String("boolean")}, {('b'), QLatin1String("byte")},
+        {('i'), QLatin1String("int")},     {('c'), QLatin1String("char")},
+        {('c'), QLatin1String("class")},   {('d'), QLatin1String("double")},
+        {('e'), QLatin1String("enum")},    {('s'), QLatin1String("short")},
+
+    };
+
+    java_literals = {{('f'), QLatin1String("false")},
+                     {('t'), QLatin1String("true")}};
+
+    java_builtin = {
+
+    };
+
+    java_other = {
+
+    };
+}
+void loadJavaData(QMultiHash<char, QLatin1String> &types,
+                  QMultiHash<char, QLatin1String> &keywords,
+                  QMultiHash<char, QLatin1String> &builtin,
+                  QMultiHash<char, QLatin1String> &literals,
+                  QMultiHash<char, QLatin1String> &other) {
+    if (!javaDataInitialized) {
+        initJavaData();
+        javaDataInitialized = true;
+    }
+    types = java_types;
+    keywords = java_keywords;
+    builtin = java_builtin;
+    literals = java_literals;
+    other = java_other;
+}
+
+/********************************************************/
+/***   C# DATA      *************************************/
+/********************************************************/
+static bool csharpDataInitialized = false;
+static QMultiHash<char, QLatin1String> csharp_keywords;
+static QMultiHash<char, QLatin1String> csharp_types;
+static QMultiHash<char, QLatin1String> csharp_literals;
+static QMultiHash<char, QLatin1String> csharp_builtin;
+static QMultiHash<char, QLatin1String> csharp_other;
+void initCSharpData() {
+    csharp_keywords = {{('a'), QLatin1String("abstract")},
+                       {('a'), QLatin1String("add")},
+                       {('a'), QLatin1String("alias")},
+                       {('a'), QLatin1String("as")},
+                       {('a'), QLatin1String("ascending")},
+                       {('a'), QLatin1String("async")},
+                       {('a'), QLatin1String("await")},
+                       {('b'), QLatin1String("base")},
+                       {('b'), QLatin1String("break")},
+                       {('c'), QLatin1String("case")},
+                       {('c'), QLatin1String("catch")},
+                       {('c'), QLatin1String("checked")},
+                       {('c'), QLatin1String("const")},
+                       {('c'), QLatin1String("continue")},
+                       {('d'), QLatin1String("decimal")},
+                       {('d'), QLatin1String("default")},
+                       {('d'), QLatin1String("delegate")},
+                       {('d'), QLatin1String("descending")},
+                       {('d'), QLatin1String("do")},
+                       {('d'), QLatin1String("dynamic")},
+                       {('e'), QLatin1String("else")},
+                       {('e'), QLatin1String("event")},
+                       {('e'), QLatin1String("explicit")},
+                       {('e'), QLatin1String("extern")},
+                       {('f'), QLatin1String("finally")},
+                       {('f'), QLatin1String("fixed")},
+                       {('f'), QLatin1String("for")},
+                       {('f'), QLatin1String("foreach")},
+                       {('f'), QLatin1String("from")},
+                       {('g'), QLatin1String("get")},
+                       {('g'), QLatin1String("global")},
+                       {('g'), QLatin1String("goto")},
+                       {('g'), QLatin1String("group")},
+                       {('i'), QLatin1String("if")},
+                       {('i'), QLatin1String("implicit")},
+                       {('i'), QLatin1String("in")},
+                       {('i'), QLatin1String("interface")},
+                       {('i'), QLatin1String("internal")},
+                       {('i'), QLatin1String("into")},
+                       {('i'), QLatin1String("is")},
+                       {('j'), QLatin1String("join")},
+                       {('l'), QLatin1String("let")},
+                       {('l'), QLatin1String("lock")},
+                       {('l'), QLatin1String("long")},
+                       {('n'), QLatin1String("namespace")},
+                       {('n'), QLatin1String("new")},
+                       {('o'), QLatin1String("object")},
+                       {('o'), QLatin1String("operator")},
+                       {('o'), QLatin1String("orderby")},
+                       {('o'), QLatin1String("out")},
+                       {('o'), QLatin1String("override")},
+                       {('p'), QLatin1String("params")},
+                       {('p'), QLatin1String("partial")},
+                       {('p'), QLatin1String("private")},
+                       {('p'), QLatin1String("protected")},
+                       {('p'), QLatin1String("public")},
+                       {('r'), QLatin1String("readonly")},
+                       {('r'), QLatin1String("ref")},
+                       {('r'), QLatin1String("remove")},
+                       {('r'), QLatin1String("return")},
+                       {('s'), QLatin1String("sealed")},
+                       {('s'), QLatin1String("select")},
+                       {('s'), QLatin1String("set")},
+                       {('s'), QLatin1String("sizeof")},
+                       {('s'), QLatin1String("stackalloc")},
+                       {('s'), QLatin1String("static")},
+                       {('s'), QLatin1String("switch")},
+                       {('t'), QLatin1String("this")},
+                       {('t'), QLatin1String("throw")},
+                       {('t'), QLatin1String("try")},
+                       {('t'), QLatin1String("typeof")},
+                       {('u'), QLatin1String("unchecked")},
+                       {('u'), QLatin1String("unsafe")},
+                       {('u'), QLatin1String("using")},
+                       {('v'), QLatin1String("value")},
+                       {('v'), QLatin1String("virtual")},
+                       {('v'), QLatin1String("volatile")},
+                       {('w'), QLatin1String("where")},
+                       {('w'), QLatin1String("while")},
+                       {('y'), QLatin1String("yield")}};
+
+    csharp_types = {
+        {('b'), QLatin1String("bool")},   {('b'), QLatin1String("byte")},
+        {('c'), QLatin1String("char")},   {('c'), QLatin1String("class")},
+        {('d'), QLatin1String("double")}, {('e'), QLatin1String("enum")},
+        {('f'), QLatin1String("float")},  {('i'), QLatin1String("int")},
+        {('s'), QLatin1String("sbyte")},  {('s'), QLatin1String("short")},
+        {('s'), QLatin1String("string")}, {('s'), QLatin1String("struct")},
+        {('u'), QLatin1String("uint")},   {('u'), QLatin1String("ulong")},
+        {('u'), QLatin1String("ushort")}, {('v'), QLatin1String("var")},
+        {('v'), QLatin1String("void")},
+    };
+
+    csharp_literals = {{('f'), QLatin1String("false")},
+                       {('t'), QLatin1String("true")},
+                       {('n'), QLatin1String("null")}};
+
+    csharp_builtin = {
+
+    };
+
+    csharp_other = {
+        {('d'), QLatin1String("define")},    {('e'), QLatin1String("elif")},
+        {('e'), QLatin1String("else")},      {('e'), QLatin1String("endif")},
+        {('e'), QLatin1String("endregion")}, {('e'), QLatin1String("error")},
+        {('i'), QLatin1String("if")},        {('l'), QLatin1String("line")},
+        {('p'), QLatin1String("pragma")},    {('r'), QLatin1String("region")},
+        {('u'), QLatin1String("undef")},     {('w'), QLatin1String("warning")}};
+}
+void loadCSharpData(QMultiHash<char, QLatin1String> &types,
+                    QMultiHash<char, QLatin1String> &keywords,
+                    QMultiHash<char, QLatin1String> &builtin,
+                    QMultiHash<char, QLatin1String> &literals,
+                    QMultiHash<char, QLatin1String> &other) {
+    if (!csharpDataInitialized) {
+        initCSharpData();
+        csharpDataInitialized = true;
+    }
+    types = csharp_types;
+    keywords = csharp_keywords;
+    builtin = csharp_builtin;
+    literals = csharp_literals;
+    other = csharp_other;
+}
+
+/********************************************************/
+/***   Go DATA      *************************************/
+/********************************************************/
+static bool goDataInitialized = false;
+static QMultiHash<char, QLatin1String> go_keywords;
+static QMultiHash<char, QLatin1String> go_types;
+static QMultiHash<char, QLatin1String> go_literals;
+static QMultiHash<char, QLatin1String> go_builtin;
+static QMultiHash<char, QLatin1String> go_other;
+void initGoData() {
+    go_keywords = {
+        {('b'), QLatin1String("break")},
+        {('c'), QLatin1String("case")},
+        {('c'), QLatin1String("chan")},
+        {('c'), QLatin1String("const")},
+        {('c'), QLatin1String("continue")},
+        {('d'), QLatin1String("default")},
+        {('d'), QLatin1String("defer")},
+        {('e'), QLatin1String("else")},
+        {('f'), QLatin1String("fallthrough")},
+        {('f'), QLatin1String("for")},
+        {('f'), QLatin1String("func")},
+        {('g'), QLatin1String("go")},
+        {('t'), QLatin1String("to")},
+        {('i'), QLatin1String("if")},
+        {('i'), QLatin1String("import")},
+        {('i'), QLatin1String("interface")},
+        {('p'), QLatin1String("package")},
+        {('r'), QLatin1String("range")},
+        {('r'), QLatin1String("return")},
+        {('s'), QLatin1String("select")},
+        {('s'), QLatin1String("struct")},
+        {('s'), QLatin1String("switch")},
+        {('t'), QLatin1String("type")},
+    };
+
+    go_types = {{('m'), QLatin1String("map")},
+                {('s'), QLatin1String("struct")},
+                {('v'), QLatin1String("var")},
+                {('b'), QLatin1String("bool")},
+                {('b'), QLatin1String("byte")},
+                {('c'), QLatin1String("complex64")},
+                {('c'), QLatin1String("complex128")},
+                {('f'), QLatin1String("float32")},
+                {('f'), QLatin1String("float64")},
+                {('i'), QLatin1String("int8")},
+                {('i'), QLatin1String("int16")},
+                {('i'), QLatin1String("int32")},
+                {('i'), QLatin1String("int64")},
+                {('s'), QLatin1String("string")},
+                {('u'), QLatin1String("uint8")},
+                {('u'), QLatin1String("uint16")},
+                {('u'), QLatin1String("uint32")},
+                {('u'), QLatin1String("uint64")},
+                {('i'), QLatin1String("int")},
+                {('u'), QLatin1String("uint")},
+                {('u'), QLatin1String("uintptr")},
+                {('r'), QLatin1String("rune")}};
+
+    go_literals = {{('f'), QLatin1String("false")},
+                   {('t'), QLatin1String("true")},
+                   {('n'), QLatin1String("nil")},
+                   {('i'), QLatin1String("iota")}};
+
+    go_builtin = {
+        {('a'), QLatin1String("append")}, {('c'), QLatin1String("cap")},
+        {('c'), QLatin1String("close")},  {('c'), QLatin1String("complex")},
+        {('c'), QLatin1String("copy")},   {('i'), QLatin1String("imag")},
+        {('l'), QLatin1String("len")},    {('m'), QLatin1String("make")},
+        {('n'), QLatin1String("new")},    {('p'), QLatin1String("panic")},
+        {('p'), QLatin1String("print")},  {('p'), QLatin1String("println")},
+        {('r'), QLatin1String("real")},   {('r'), QLatin1String("recover")},
+        {('d'), QLatin1String("delete")}};
+
+    go_other = {
+
+    };
+}
+void loadGoData(QMultiHash<char, QLatin1String> &types,
+                QMultiHash<char, QLatin1String> &keywords,
+                QMultiHash<char, QLatin1String> &builtin,
+                QMultiHash<char, QLatin1String> &literals,
+                QMultiHash<char, QLatin1String> &other) {
+    if (!goDataInitialized) {
+        initGoData();
+        goDataInitialized = true;
+    }
+    types = go_types;
+    keywords = go_keywords;
+    builtin = go_builtin;
+    literals = go_literals;
+    other = go_other;
+}
+
+/********************************************************/
+/***   V DATA      **************************************/
+/********************************************************/
+static bool vDataInitialized = false;
+static QMultiHash<char, QLatin1String> v_keywords;
+static QMultiHash<char, QLatin1String> v_types;
+static QMultiHash<char, QLatin1String> v_literals;
+static QMultiHash<char, QLatin1String> v_builtin;
+static QMultiHash<char, QLatin1String> v_other;
+void initVData() {
+    v_keywords = {
+        {('b'), QLatin1String("break")},    {('c'), QLatin1String("const")},
+        {('c'), QLatin1String("continue")}, {('d'), QLatin1String("defer")},
+        {('e'), QLatin1String("else")},     {('f'), QLatin1String("for")},
+        {('f'), QLatin1String("fn")},       {('g'), QLatin1String("go")},
+        {('g'), QLatin1String("goto")},     {('i'), QLatin1String("if")},
+        {('i'), QLatin1String("import")},   {('i'), QLatin1String("interface")},
+        {('r'), QLatin1String("return")},   {('s'), QLatin1String("struct")},
+        {('s'), QLatin1String("switch")},   {('t'), QLatin1String("type")},
+        {('p'), QLatin1String("pub")},      {('o'), QLatin1String("or")},
+        {('n'), QLatin1String("none")}};
+
+    v_types = {
+        {('m'), QLatin1String("map")},     {('s'), QLatin1String("struct")},
+        {('b'), QLatin1String("bool")},    {('b'), QLatin1String("byte")},
+        {('f'), QLatin1String("f32")},     {('f'), QLatin1String("f64")},
+        {('i'), QLatin1String("i8")},      {('i'), QLatin1String("i16")},
+        {('i'), QLatin1String("int")},     {('i'), QLatin1String("i64")},
+        {('i'), QLatin1String("i128")},    {('s'), QLatin1String("string")},
+        {('u'), QLatin1String("u16")},     {('u'), QLatin1String("u32")},
+        {('u'), QLatin1String("u64")},     {('u'), QLatin1String("u128")},
+        {('u'), QLatin1String("byteptr")}, {('u'), QLatin1String("voidptr")},
+        {('r'), QLatin1String("rune")}};
+
+    v_literals = {
+        {('f'), QLatin1String("false")},
+        {('t'), QLatin1String("true")},
+    };
+
+    v_builtin = {};
+
+    v_other = {
+
+    };
+}
+void loadVData(QMultiHash<char, QLatin1String> &types,
+               QMultiHash<char, QLatin1String> &keywords,
+               QMultiHash<char, QLatin1String> &builtin,
+               QMultiHash<char, QLatin1String> &literals,
+               QMultiHash<char, QLatin1String> &other) {
+    if (!vDataInitialized) {
+        initVData();
+        vDataInitialized = true;
+    }
+    types = v_types;
+    keywords = v_keywords;
+    builtin = v_builtin;
+    literals = v_literals;
+    other = v_other;
+}
+
+/********************************************************/
+/***   SQL DATA      ************************************/
+/********************************************************/
+static bool sqlDataInitialized = false;
+static QMultiHash<char, QLatin1String> sql_keywords;
+static QMultiHash<char, QLatin1String> sql_types;
+static QMultiHash<char, QLatin1String> sql_literals;
+static QMultiHash<char, QLatin1String> sql_builtin;
+static QMultiHash<char, QLatin1String> sql_other;
+void initSQLData() {
+    sql_keywords = {{('A'), QLatin1String("ACTION")},
+                    {('A'), QLatin1String("ADD")},
+                    {('A'), QLatin1String("AFTER")},
+                    {('A'), QLatin1String("ALGORITHM")},
+                    {('A'), QLatin1String("ALL")},
+                    {('A'), QLatin1String("ALTER")},
+                    {('A'), QLatin1String("ANALYZE")},
+                    {('A'), QLatin1String("ANY")},
+                    {('A'), QLatin1String("APPLY")},
+                    {('A'), QLatin1String("AS")},
+                    {('A'), QLatin1String("ASC")},
+                    {('A'), QLatin1String("AUTHORIZATION")},
+                    {('A'), QLatin1String("AUTO_INCREMENT")},
+                    {('B'), QLatin1String("BACKUP")},
+                    {('B'), QLatin1String("BDB")},
+                    {('B'), QLatin1String("BEGIN")},
+                    {('B'), QLatin1String("BERKELEYDB")},
+                    {('B'), QLatin1String("BIGINT")},
+                    {('B'), QLatin1String("BINARY")},
+                    {('B'), QLatin1String("BIT")},
+                    {('B'), QLatin1String("BLOB")},
+                    {('B'), QLatin1String("BOOL")},
+                    {('B'), QLatin1String("BOOLEAN")},
+                    {('B'), QLatin1String("BREAK")},
+                    {('B'), QLatin1String("BROWSE")},
+                    {('B'), QLatin1String("BTREE")},
+                    {('B'), QLatin1String("BULK")},
+                    {('B'), QLatin1String("BY")},
+                    {('C'), QLatin1String("CALL")},
+                    {('C'), QLatin1String("CASCADED")},
+                    {('C'), QLatin1String("CASE")},
+                    {('C'), QLatin1String("CHAIN")},
+                    {('C'), QLatin1String("CHARACTER")},
+                    {('S'), QLatin1String("SET")},
+                    {('C'), QLatin1String("CHECKPOINT")},
+                    {('C'), QLatin1String("CLOSE")},
+                    {('C'), QLatin1String("CLUSTERED")},
+                    {('C'), QLatin1String("COALESCE")},
+                    {('C'), QLatin1String("COLLATE")},
+                    {('C'), QLatin1String("COLUMNS")},
+                    {('C'), QLatin1String("COMMENT")},
+                    {('C'), QLatin1String("COMMITTED")},
+                    {('C'), QLatin1String("COMPUTE")},
+                    {('C'), QLatin1String("CONNECT")},
+                    {('C'), QLatin1String("CONSISTENT")},
+                    {('C'), QLatin1String("CONSTRAINT")},
+                    {('C'), QLatin1String("CONTAINSTABLE")},
+                    {('C'), QLatin1String("CONTINUE")},
+                    {('C'), QLatin1String("CONVERT")},
+                    {('C'), QLatin1String("CREATE")},
+                    {('C'), QLatin1String("CROSS")},
+                    {('C'), QLatin1String("CURRENT_DATE")},
+                    {('_'), QLatin1String("_TIME")},
+                    {('_'), QLatin1String("_TIMESTAMP")},
+                    {('_'), QLatin1String("_USER")},
+                    {('C'), QLatin1String("CURSOR")},
+                    {('C'), QLatin1String("CYCLE")},
+                    {('D'), QLatin1String("DATABASES")},
+                    {('D'), QLatin1String("DATETIME")},
+                    {('D'), QLatin1String("DAY")},
+                    {('D'), QLatin1String("DBCC")},
+                    {('D'), QLatin1String("DEALLOCATE")},
+                    {('D'), QLatin1String("DEC")},
+                    {('D'), QLatin1String("DECIMAL")},
+                    {('D'), QLatin1String("DECLARE")},
+                    {('D'), QLatin1String("DEFAULT")},
+                    {('D'), QLatin1String("DEFINER")},
+                    {('D'), QLatin1String("DELAYED")},
+                    {('D'), QLatin1String("DELETE")},
+                    {('D'), QLatin1String("DELIMITERS")},
+                    {('D'), QLatin1String("DENY")},
+                    {('D'), QLatin1String("DESC")},
+                    {('D'), QLatin1String("DESCRIBE")},
+                    {('D'), QLatin1String("DETERMINISTIC")},
+                    {('D'), QLatin1String("DISABLE")},
+                    {('D'), QLatin1String("DISCARD")},
+                    {('D'), QLatin1String("DISK")},
+                    {('D'), QLatin1String("DISTINCT")},
+                    {('D'), QLatin1String("DISTINCTROW")},
+                    {('D'), QLatin1String("DISTRIBUTED")},
+                    {('D'), QLatin1String("DO")},
+                    {('D'), QLatin1String("DOUBLE")},
+                    {('D'), QLatin1String("DROP")},
+                    {('D'), QLatin1String("DUMMY")},
+                    {('D'), QLatin1String("DUMPFILE")},
+                    {('D'), QLatin1String("DUPLICATE")},
+                    {('E'), QLatin1String("ELSEIF")},
+                    {('E'), QLatin1String("ENABLE")},
+                    {('E'), QLatin1String("ENCLOSED")},
+                    {('E'), QLatin1String("END")},
+                    {('E'), QLatin1String("ENGINE")},
+                    {('E'), QLatin1String("ENUM")},
+                    {('E'), QLatin1String("ERRLVL")},
+                    {('E'), QLatin1String("ERRORS")},
+                    {('E'), QLatin1String("ESCAPED")},
+                    {('E'), QLatin1String("EXCEPT")},
+                    {('E'), QLatin1String("EXECUTE")},
+                    {('E'), QLatin1String("EXISTS")},
+                    {('E'), QLatin1String("EXIT")},
+                    {('E'), QLatin1String("EXPLAIN")},
+                    {('E'), QLatin1String("EXTENDED")},
+                    {('F'), QLatin1String("FETCH")},
+                    {('F'), QLatin1String("FIELDS")},
+                    {('F'), QLatin1String("FILE")},
+                    {('F'), QLatin1String("FILLFACTOR")},
+                    {('F'), QLatin1String("FIRST")},
+                    {('F'), QLatin1String("FIXED")},
+                    {('F'), QLatin1String("FLOAT")},
+                    {('F'), QLatin1String("FOLLOWING")},
+                    {('F'), QLatin1String("FOR")},
+                    {('E'), QLatin1String("EACH")},
+                    {('R'), QLatin1String("ROW")},
+                    {('F'), QLatin1String("FORCE")},
+                    {('F'), QLatin1String("FOREIGN")},
+                    {('F'), QLatin1String("FREETEXTTABLE")},
+                    {('F'), QLatin1String("FROM")},
+                    {('F'), QLatin1String("FULL")},
+                    {('F'), QLatin1String("FUNCTION")},
+                    {('G'), QLatin1String("GEOMETRYCOLLECTION")},
+                    {('G'), QLatin1String("GLOBAL")},
+                    {('G'), QLatin1String("GOTO")},
+                    {('G'), QLatin1String("GRANT")},
+                    {('G'), QLatin1String("GROUP")},
+                    {('H'), QLatin1String("HANDLER")},
+                    {('H'), QLatin1String("HASH")},
+                    {('H'), QLatin1String("HAVING")},
+                    {('H'), QLatin1String("HOLDLOCK")},
+                    {('H'), QLatin1String("HOUR")},
+                    {('I'), QLatin1String("IDENTITY_INSERT")},
+                    {('C'), QLatin1String("COL")},
+                    {('I'), QLatin1String("IF")},
+                    {('I'), QLatin1String("IGNORE")},
+                    {('I'), QLatin1String("IMPORT")},
+                    {('I'), QLatin1String("INDEX")},
+                    {('I'), QLatin1String("INFILE")},
+                    {('I'), QLatin1String("INNER")},
+                    {('I'), QLatin1String("INNODB")},
+                    {('I'), QLatin1String("INOUT")},
+                    {('I'), QLatin1String("INSERT")},
+                    {('I'), QLatin1String("INT")},
+                    {('I'), QLatin1String("INTEGER")},
+                    {('I'), QLatin1String("INTERSECT")},
+                    {('I'), QLatin1String("INTERVAL")},
+                    {('I'), QLatin1String("INTO")},
+                    {('I'), QLatin1String("INVOKER")},
+                    {('I'), QLatin1String("ISOLATION")},
+                    {('I'), QLatin1String("ITERATE")},
+                    {('J'), QLatin1String("JOIN")},
+                    {('K'), QLatin1String("KEYS")},
+                    {('K'), QLatin1String("KILL")},
+                    {('L'), QLatin1String("LANGUAGE")},
+                    {('L'), QLatin1String("LAST")},
+                    {('L'), QLatin1String("LEAVE")},
+                    {('L'), QLatin1String("LEFT")},
+                    {('L'), QLatin1String("LEVEL")},
+                    {('L'), QLatin1String("LIMIT")},
+                    {('L'), QLatin1String("LINENO")},
+                    {('L'), QLatin1String("LINES")},
+                    {('L'), QLatin1String("LINESTRING")},
+                    {('L'), QLatin1String("LOAD")},
+                    {('L'), QLatin1String("LOCAL")},
+                    {('L'), QLatin1String("LOCK")},
+                    {('L'), QLatin1String("LONGBLOB")},
+                    {('T'), QLatin1String("TEXT")},
+                    {('L'), QLatin1String("LOOP")},
+                    {('M'), QLatin1String("MATCHED")},
+                    {('M'), QLatin1String("MEDIUMBLOB")},
+                    {('I'), QLatin1String("INT")},
+                    {('T'), QLatin1String("TEXT")},
+                    {('M'), QLatin1String("MERGE")},
+                    {('M'), QLatin1String("MIDDLEINT")},
+                    {('M'), QLatin1String("MINUTE")},
+                    {('M'), QLatin1String("MODE")},
+                    {('M'), QLatin1String("MODIFIES")},
+                    {('M'), QLatin1String("MODIFY")},
+                    {('M'), QLatin1String("MONTH")},
+                    {('M'), QLatin1String("MULTILINESTRING")},
+                    {('P'), QLatin1String("POINT")},
+                    {('P'), QLatin1String("POLYGON")},
+                    {('N'), QLatin1String("NATIONAL")},
+                    {('N'), QLatin1String("NATURAL")},
+                    {('N'), QLatin1String("NCHAR")},
+                    {('N'), QLatin1String("NEXT")},
+                    {('N'), QLatin1String("NO")},
+                    {('N'), QLatin1String("NONCLUSTERED")},
+                    {('N'), QLatin1String("NULLIF")},
+                    {('N'), QLatin1String("NUMERIC")},
+                    {('O'), QLatin1String("OFF")},
+                    {('O'), QLatin1String("OFFSETS")},
+                    {('O'), QLatin1String("ON")},
+                    {('O'), QLatin1String("OPENDATASOURCE")},
+                    {('Q'), QLatin1String("QUERY")},
+                    {('R'), QLatin1String("ROWSET")},
+                    {('O'), QLatin1String("OPTIMIZE")},
+                    {('O'), QLatin1String("OPTIONALLY")},
+                    {('O'), QLatin1String("ORDER")},
+                    {('O'), QLatin1String("OUTER")},
+                    {('F'), QLatin1String("FILE")},
+                    {('O'), QLatin1String("OVER")},
+                    {('P'), QLatin1String("PARTIAL")},
+                    {('P'), QLatin1String("PARTITION")},
+                    {('P'), QLatin1String("PERCENT")},
+                    {('P'), QLatin1String("PIVOT")},
+                    {('P'), QLatin1String("PLAN")},
+                    {('P'), QLatin1String("POINT")},
+                    {('P'), QLatin1String("POLYGON")},
+                    {('P'), QLatin1String("PRECEDING")},
+                    {('P'), QLatin1String("PRECISION")},
+                    {('P'), QLatin1String("PREPARE")},
+                    {('P'), QLatin1String("PREV")},
+                    {('P'), QLatin1String("PRIMARY")},
+                    {('P'), QLatin1String("PRINT")},
+                    {('P'), QLatin1String("PRIVILEGES")},
+                    {('P'), QLatin1String("PROCEDURE")},
+                    {('P'), QLatin1String("PUBLIC")},
+                    {('P'), QLatin1String("PURGE")},
+                    {('Q'), QLatin1String("QUICK")},
+                    {('R'), QLatin1String("RAISERROR")},
+                    {('R'), QLatin1String("READS")},
+                    {('R'), QLatin1String("REAL")},
+                    {('R'), QLatin1String("RECONFIGURE")},
+                    {('R'), QLatin1String("REFERENCES")},
+                    {('R'), QLatin1String("RELEASE")},
+                    {('R'), QLatin1String("RENAME")},
+                    {('R'), QLatin1String("REPEATABLE")},
+                    {('R'), QLatin1String("REPLACE")},
+                    {('R'), QLatin1String("REPLICATION")},
+                    {('R'), QLatin1String("REQUIRE")},
+                    {('R'), QLatin1String("RESIGNAL")},
+                    {('R'), QLatin1String("RESTORE")},
+                    {('R'), QLatin1String("RESTRICT")},
+                    {('R'), QLatin1String("RETURNS")},
+                    {('R'), QLatin1String("REVOKE")},
+                    {('R'), QLatin1String("RIGHT")},
+                    {('R'), QLatin1String("ROLLBACK")},
+                    {('R'), QLatin1String("ROUTINE")},
+                    {('R'), QLatin1String("ROWCOUNT")},
+                    {('G'), QLatin1String("GUIDCOL")},
+                    {('R'), QLatin1String("RTREE")},
+                    {('R'), QLatin1String("RULE")},
+                    {('S'), QLatin1String("SAVEPOINT")},
+                    {('S'), QLatin1String("SCHEMA")},
+                    {('S'), QLatin1String("SECOND")},
+                    {('S'), QLatin1String("SELECT")},
+                    {('S'), QLatin1String("SERIALIZABLE")},
+                    {('S'), QLatin1String("SESSION_USER")},
+                    {('S'), QLatin1String("SETUSER")},
+                    {('S'), QLatin1String("SHARE")},
+                    {('S'), QLatin1String("SHOW")},
+                    {('S'), QLatin1String("SHUTDOWN")},
+                    {('S'), QLatin1String("SIMPLE")},
+                    {('S'), QLatin1String("SMALLINT")},
+                    {('S'), QLatin1String("SNAPSHOT")},
+                    {('S'), QLatin1String("SOME")},
+                    {('S'), QLatin1String("SONAME")},
+                    {('S'), QLatin1String("SQL")},
+                    {('S'), QLatin1String("STARTING")},
+                    {('S'), QLatin1String("STATISTICS")},
+                    {('S'), QLatin1String("STATUS")},
+                    {('S'), QLatin1String("STRIPED")},
+                    {('S'), QLatin1String("SYSTEM_USER")},
+                    {('T'), QLatin1String("TABLES")},
+                    {('T'), QLatin1String("TABLESPACE")},
+                    {('T'), QLatin1String("TEMPORARY")},
+                    {('T'), QLatin1String("TABLE")},
+                    {('T'), QLatin1String("TERMINATED")},
+                    {('T'), QLatin1String("TEXTSIZE")},
+                    {('T'), QLatin1String("THEN")},
+                    {('T'), QLatin1String("TIMESTAMP")},
+                    {('T'), QLatin1String("TINYBLOB")},
+                    {('I'), QLatin1String("INT")},
+                    {('T'), QLatin1String("TEXT")},
+                    {('T'), QLatin1String("TOP")},
+                    {('T'), QLatin1String("TRANSACTIONS")},
+                    {('T'), QLatin1String("TRIGGER")},
+                    {('T'), QLatin1String("TRUNCATE")},
+                    {('T'), QLatin1String("TSEQUAL")},
+                    {('T'), QLatin1String("TYPES")},
+                    {('U'), QLatin1String("UNBOUNDED")},
+                    {('U'), QLatin1String("UNCOMMITTED")},
+                    {('U'), QLatin1String("UNDEFINED")},
+                    {('U'), QLatin1String("UNION")},
+                    {('U'), QLatin1String("UNIQUE")},
+                    {('U'), QLatin1String("UNLOCK")},
+                    {('U'), QLatin1String("UNPIVOT")},
+                    {('U'), QLatin1String("UNSIGNED")},
+                    {('U'), QLatin1String("UPDATETEXT")},
+                    {('U'), QLatin1String("USAGE")},
+                    {('U'), QLatin1String("USE")},
+                    {('U'), QLatin1String("USER")},
+                    {('U'), QLatin1String("USING")},
+                    {('V'), QLatin1String("VALUES")},
+                    {('V'), QLatin1String("VARBINARY")},
+                    {('C'), QLatin1String("CHAR")},
+                    {('C'), QLatin1String("CHARACTER")},
+                    {('Y'), QLatin1String("YING")},
+                    {('V'), QLatin1String("VIEW")},
+                    {('W'), QLatin1String("WAITFOR")},
+                    {('W'), QLatin1String("WARNINGS")},
+                    {('W'), QLatin1String("WHEN")},
+                    {('W'), QLatin1String("WHERE")},
+                    {('W'), QLatin1String("WHILE")},
+                    {('W'), QLatin1String("WITH")},
+                    {('R'), QLatin1String("ROLLUP")},
+                    {('I'), QLatin1String("IN")},
+                    {('W'), QLatin1String("WORK")},
+                    {('W'), QLatin1String("WRITETEXT")},
+                    {('Y'), QLatin1String("YEAR")}};
+
+    sql_types = {
+
+    };
+
+    sql_literals = {
+        {('A'), QLatin1String("TRUE")},
+        {('F'), QLatin1String("FALSE")},
+        {('N'), QLatin1String("NULL")},
+    };
+
+    sql_builtin = {
+        {('A'), QLatin1String("AVG")},   {('C'), QLatin1String("COUNT")},
+        {('F'), QLatin1String("FIRST")}, {('F'), QLatin1String("FORMAT")},
+        {('L'), QLatin1String("LAST")},  {('L'), QLatin1String("LCASE")},
+        {('L'), QLatin1String("LEN")},   {('M'), QLatin1String("MAX")},
+        {('M'), QLatin1String("MID")},   {('M'), QLatin1String("MIN")},
+        {('M'), QLatin1String("MOD")},   {('N'), QLatin1String("NOW")},
+        {('R'), QLatin1String("ROUND")}, {('S'), QLatin1String("SUM")},
+        {('U'), QLatin1String("UCASE")}};
+
+    sql_other = {
+
+    };
+}
+void loadSQLData(QMultiHash<char, QLatin1String> &types,
+                 QMultiHash<char, QLatin1String> &keywords,
+                 QMultiHash<char, QLatin1String> &builtin,
+                 QMultiHash<char, QLatin1String> &literals,
+                 QMultiHash<char, QLatin1String> &other) {
+    if (!sqlDataInitialized) {
+        initSQLData();
+        sqlDataInitialized = true;
+    }
+    types = sql_types;
+    keywords = sql_keywords;
+    builtin = sql_builtin;
+    literals = sql_literals;
+    other = sql_other;
+}
+
+/********************************************************/
+/***   JSON DATA      ***********************************/
+/********************************************************/
+static bool jsonDataInitialized = false;
+static QMultiHash<char, QLatin1String> json_keywords;
+static QMultiHash<char, QLatin1String> json_types;
+static QMultiHash<char, QLatin1String> json_literals;
+static QMultiHash<char, QLatin1String> json_builtin;
+static QMultiHash<char, QLatin1String> json_other;
+void initJSONData() {
+    json_keywords = {};
+
+    json_types = {};
+
+    json_literals = {{('f'), QLatin1String("false")},
+                     {('t'), QLatin1String("true")},
+                     {('n'), QLatin1String("null")}};
+
+    json_builtin = {};
+
+    json_other = {};
+}
+void loadJSONData(QMultiHash<char, QLatin1String> &types,
+                  QMultiHash<char, QLatin1String> &keywords,
+                  QMultiHash<char, QLatin1String> &builtin,
+                  QMultiHash<char, QLatin1String> &literals,
+                  QMultiHash<char, QLatin1String> &other) {
+    if (!jsonDataInitialized) {
+        initJSONData();
+        jsonDataInitialized = true;
+    }
+    types = json_types;
+    keywords = json_keywords;
+    builtin = json_builtin;
+    literals = json_literals;
+    other = json_other;
+}
+
+/********************************************************/
+/***   CSS DATA      ***********************************/
+/********************************************************/
+static bool cssDataInitialized = false;
+static QMultiHash<char, QLatin1String> css_keywords;
+static QMultiHash<char, QLatin1String> css_types;
+static QMultiHash<char, QLatin1String> css_literals;
+static QMultiHash<char, QLatin1String> css_builtin;
+static QMultiHash<char, QLatin1String> css_other;
+void initCSSData() {
+    css_keywords = {{'i', QLatin1String("important")},
+                    {'p', QLatin1String("px")},
+                    {'e', QLatin1String("em")}};
+
+    css_types = {{'a', QLatin1String("align")},
+                 {'c', QLatin1String("content")},
+                 {'i', QLatin1String("items")},
+                 {'s', QLatin1String("self")},
+                 {'a', QLatin1String("all")},
+                 {'a', QLatin1String("animation")},
+                 {'d', QLatin1String("delay")},
+                 {'d', QLatin1String("direction")},
+                 {'d', QLatin1String("duration")},
+                 {'f', QLatin1String("fill")},
+                 {'m', QLatin1String("mode")},
+                 {'i', QLatin1String("iteration")},
+                 {'c', QLatin1String("count")},
+                 {'n', QLatin1String("name")},
+                 {'p', QLatin1String("play")},
+                 {'s', QLatin1String("state")},
+                 {'t', QLatin1String("timing")},
+                 {'f', QLatin1String("function")},
+                 {'a', QLatin1String("azimuth")},
+                 {'b', QLatin1String("backface")},
+                 {'v', QLatin1String("visibility")},
+                 {'a', QLatin1String("attachment")},
+                 {'b', QLatin1String("blend")},
+                 {'m', QLatin1String("mode")},
+                 {'c', QLatin1String("clip")},
+                 {'c', QLatin1String("color")},
+                 {'i', QLatin1String("image")},
+                 {'o', QLatin1String("origin")},
+                 {'p', QLatin1String("position")},
+                 {'r', QLatin1String("repeat")},
+                 {'s', QLatin1String("size")},
+                 {'b', QLatin1String("background")},
+                 {'b', QLatin1String("bleed")},
+                 {'c', QLatin1String("color")},
+                 {'r', QLatin1String("radius")},
+                 {'r', QLatin1String("radius")},
+                 {'s', QLatin1String("style")},
+                 {'w', QLatin1String("width")},
+                 {'b', QLatin1String("bottom")},
+                 {'c', QLatin1String("collapse")},
+                 {'c', QLatin1String("color")},
+                 {'i', QLatin1String("image")},
+                 {'o', QLatin1String("outset")},
+                 {'r', QLatin1String("repeat")},
+                 {'s', QLatin1String("source")},
+                 {'s', QLatin1String("slice")},
+                 {'w', QLatin1String("width")},
+                 {'c', QLatin1String("color")},
+                 {'s', QLatin1String("style")},
+                 {'w', QLatin1String("width")},
+                 {'l', QLatin1String("left")},
+                 {'r', QLatin1String("radius")},
+                 {'c', QLatin1String("color")},
+                 {'s', QLatin1String("style")},
+                 {'w', QLatin1String("width")},
+                 {'r', QLatin1String("right")},
+                 {'s', QLatin1String("spacing")},
+                 {'s', QLatin1String("style")},
+                 {'c', QLatin1String("color")},
+                 {'l', QLatin1String("left")},
+                 {'r', QLatin1String("radius")},
+                 {'r', QLatin1String("radius")},
+                 {'s', QLatin1String("style")},
+                 {'w', QLatin1String("width")},
+                 {'t', QLatin1String("top")},
+                 {'w', QLatin1String("width")},
+                 {'b', QLatin1String("border")},
+                 {'b', QLatin1String("bottom")},
+                 {'b', QLatin1String("break")},
+                 {'b', QLatin1String("box")},
+                 {'s', QLatin1String("shadow")},
+                 {'b', QLatin1String("box")},
+                 {'s', QLatin1String("sizing")},
+                 {'a', QLatin1String("after")},
+                 {'b', QLatin1String("before")},
+                 {'b', QLatin1String("break")},
+                 {'i', QLatin1String("inside")},
+                 {'c', QLatin1String("caption")},
+                 {'s', QLatin1String("side")},
+                 {'c', QLatin1String("caret")},
+                 {'c', QLatin1String("color")},
+                 {'c', QLatin1String("clear")},
+                 {'c', QLatin1String("clip")},
+                 {'c', QLatin1String("color")},
+                 {'c', QLatin1String("columns")},
+                 {'c', QLatin1String("column")},
+                 {'c', QLatin1String("count")},
+                 {'f', QLatin1String("fill")},
+                 {'g', QLatin1String("gap")},
+                 {'r', QLatin1String("rule")},
+                 {'c', QLatin1String("color")},
+                 {'s', QLatin1String("style")},
+                 {'w', QLatin1String("width")},
+                 {'s', QLatin1String("span")},
+                 {'w', QLatin1String("width")},
+                 {'c', QLatin1String("content")},
+                 {'i', QLatin1String("increment")},
+                 {'c', QLatin1String("counter")},
+                 {'r', QLatin1String("reset")},
+                 {'a', QLatin1String("after")},
+                 {'b', QLatin1String("before")},
+                 {'c', QLatin1String("cue")},
+                 {'c', QLatin1String("cursor")},
+                 {'d', QLatin1String("direction")},
+                 {'d', QLatin1String("display")},
+                 {'e', QLatin1String("elevation")},
+                 {'e', QLatin1String("empty")},
+                 {'c', QLatin1String("cells")},
+                 {'f', QLatin1String("filter")},
+                 {'f', QLatin1String("flex")},
+                 {'b', QLatin1String("basis")},
+                 {'d', QLatin1String("direction")},
+                 {'f', QLatin1String("feature")},
+                 {'s', QLatin1String("settings")},
+                 {'f', QLatin1String("flex")},
+                 {'f', QLatin1String("flow")},
+                 {'g', QLatin1String("grow")},
+                 {'s', QLatin1String("shrink")},
+                 {'w', QLatin1String("wrap")},
+                 {'f', QLatin1String("float")},
+                 {'f', QLatin1String("family")},
+                 {'k', QLatin1String("kerning")},
+                 {'l', QLatin1String("language")},
+                 {'o', QLatin1String("override")},
+                 {'a', QLatin1String("adjust")},
+                 {'s', QLatin1String("size")},
+                 {'s', QLatin1String("stretch")},
+                 {'s', QLatin1String("style")},
+                 {'s', QLatin1String("synthesis")},
+                 {'v', QLatin1String("variant")},
+                 {'a', QLatin1String("alternates")},
+                 {'c', QLatin1String("caps")},
+                 {'e', QLatin1String("east")},
+                 {'a', QLatin1String("asian")},
+                 {'l', QLatin1String("ligatures")},
+                 {'n', QLatin1String("numeric")},
+                 {'p', QLatin1String("position")},
+                 {'w', QLatin1String("weight")},
+                 {'f', QLatin1String("font")},
+                 {'a', QLatin1String("area")},
+                 {'a', QLatin1String("auto")},
+                 {'c', QLatin1String("columns")},
+                 {'f', QLatin1String("flow")},
+                 {'r', QLatin1String("rows")},
+                 {'e', QLatin1String("end")},
+                 {'g', QLatin1String("gap")},
+                 {'s', QLatin1String("start")},
+                 {'c', QLatin1String("column")},
+                 {'g', QLatin1String("gap")},
+                 {'e', QLatin1String("end")},
+                 {'g', QLatin1String("gap")},
+                 {'s', QLatin1String("start")},
+                 {'r', QLatin1String("row")},
+                 {'a', QLatin1String("areas")},
+                 {'c', QLatin1String("columns")},
+                 {'r', QLatin1String("rows")},
+                 {'t', QLatin1String("template")},
+                 {'g', QLatin1String("grid")},
+                 {'h', QLatin1String("hanging")},
+                 {'p', QLatin1String("punctuation")},
+                 {'h', QLatin1String("height")},
+                 {'h', QLatin1String("hyphens")},
+                 {'i', QLatin1String("isolation")},
+                 {'j', QLatin1String("justify")},
+                 {'c', QLatin1String("content")},
+                 {'i', QLatin1String("items")},
+                 {'s', QLatin1String("self")},
+                 {'l', QLatin1String("leftimage")},
+                 {'l', QLatin1String("letter")},
+                 {'s', QLatin1String("spacing")},
+                 {'b', QLatin1String("break")},
+                 {'l', QLatin1String("line")},
+                 {'s', QLatin1String("style")},
+                 {'i', QLatin1String("image")},
+                 {'s', QLatin1String("style")},
+                 {'p', QLatin1String("position")},
+                 {'t', QLatin1String("type")},
+                 {'l', QLatin1String("list")},
+                 {'s', QLatin1String("style")},
+                 {'b', QLatin1String("bottom")},
+                 {'l', QLatin1String("left")},
+                 {'r', QLatin1String("right")},
+                 {'t', QLatin1String("top")},
+                 {'m', QLatin1String("margin")},
+                 {'m', QLatin1String("marker")},
+                 {'o', QLatin1String("offset")},
+                 {'m', QLatin1String("marks")},
+                 {'m', QLatin1String("max")},
+                 {'h', QLatin1String("height")},
+                 {'w', QLatin1String("width")},
+                 {'m', QLatin1String("min")},
+                 {'m', QLatin1String("mix")},
+                 {'b', QLatin1String("blend")},
+                 {'m', QLatin1String("mode")},
+                 {'n', QLatin1String("nav")},
+                 {'u', QLatin1String("up")},
+                 {'d', QLatin1String("down")},
+                 {'l', QLatin1String("left")},
+                 {'r', QLatin1String("right")},
+                 {'o', QLatin1String("opacity")},
+                 {'o', QLatin1String("order")},
+                 {'o', QLatin1String("orphans")},
+                 {'c', QLatin1String("color")},
+                 {'o', QLatin1String("offset")},
+                 {'s', QLatin1String("style")},
+                 {'w', QLatin1String("width")},
+                 {'o', QLatin1String("outline")},
+                 {'w', QLatin1String("wrap")},
+                 {'o', QLatin1String("overflow")},
+                 {'b', QLatin1String("bottom")},
+                 {'l', QLatin1String("left")},
+                 {'r', QLatin1String("right")},
+                 {'t', QLatin1String("top")},
+                 {'p', QLatin1String("padding")},
+                 {'b', QLatin1String("break")},
+                 {'a', QLatin1String("after")},
+                 {'b', QLatin1String("before")},
+                 {'i', QLatin1String("inside")},
+                 {'p', QLatin1String("page")},
+                 {'a', QLatin1String("after")},
+                 {'b', QLatin1String("before")},
+                 {'p', QLatin1String("pause")},
+                 {'p', QLatin1String("perspective")},
+                 {'o', QLatin1String("origin")},
+                 {'r', QLatin1String("range")},
+                 {'p', QLatin1String("pitch")},
+                 {'c', QLatin1String("content")},
+                 {'i', QLatin1String("items")},
+                 {'p', QLatin1String("place")},
+                 {'s', QLatin1String("self")},
+                 {'p', QLatin1String("play")},
+                 {'d', QLatin1String("during")},
+                 {'p', QLatin1String("position")},
+                 {'q', QLatin1String("quotes")},
+                 {'r', QLatin1String("resize")},
+                 {'r', QLatin1String("rest")},
+                 {'a', QLatin1String("after")},
+                 {'b', QLatin1String("before")},
+                 {'r', QLatin1String("rest")},
+                 {'r', QLatin1String("richness")},
+                 {'r', QLatin1String("right")},
+                 {'s', QLatin1String("size")},
+                 {'h', QLatin1String("header")},
+                 {'n', QLatin1String("numeral")},
+                 {'s', QLatin1String("speak")},
+                 {'p', QLatin1String("punctuation")},
+                 {'s', QLatin1String("speak")},
+                 {'s', QLatin1String("speech")},
+                 {'r', QLatin1String("rate")},
+                 {'s', QLatin1String("stress")},
+                 {'t', QLatin1String("tab")},
+                 {'s', QLatin1String("size")},
+                 {'t', QLatin1String("table")},
+                 {'l', QLatin1String("layout")},
+                 {'t', QLatin1String("text")},
+                 {'a', QLatin1String("align")},
+                 {'l', QLatin1String("last")},
+                 {'d', QLatin1String("decoration")},
+                 {'c', QLatin1String("color")},
+                 {'l', QLatin1String("line")},
+                 {'s', QLatin1String("skip")},
+                 {'s', QLatin1String("style")},
+                 {'i', QLatin1String("indent")},
+                 {'o', QLatin1String("overflow")},
+                 {'s', QLatin1String("shadow")},
+                 {'t', QLatin1String("transform")},
+                 {'u', QLatin1String("underline")},
+                 {'p', QLatin1String("position")},
+                 {'t', QLatin1String("top")},
+                 {'t', QLatin1String("transform")},
+                 {'o', QLatin1String("origin")},
+                 {'s', QLatin1String("style")},
+                 {'t', QLatin1String("transition")},
+                 {'d', QLatin1String("delay")},
+                 {'d', QLatin1String("duration")},
+                 {'p', QLatin1String("property")},
+                 {'t', QLatin1String("timing")},
+                 {'f', QLatin1String("function")},
+                 {'u', QLatin1String("unicode")},
+                 {'b', QLatin1String("bidi")},
+                 {'v', QLatin1String("vertical")},
+                 {'a', QLatin1String("align")},
+                 {'v', QLatin1String("visibility")},
+                 {'b', QLatin1String("balance")},
+                 {'d', QLatin1String("duration")},
+                 {'f', QLatin1String("family")},
+                 {'p', QLatin1String("pitch")},
+                 {'r', QLatin1String("range")},
+                 {'r', QLatin1String("rate")},
+                 {'s', QLatin1String("stress")},
+                 {'v', QLatin1String("volume")},
+                 {'v', QLatin1String("voice")},
+                 {'v', QLatin1String("volume")},
+                 {'w', QLatin1String("white")},
+                 {'s', QLatin1String("space")},
+                 {'w', QLatin1String("widows")},
+                 {'w', QLatin1String("width")},
+                 {'w', QLatin1String("will")},
+                 {'c', QLatin1String("change")},
+                 {'w', QLatin1String("word")},
+                 {'b', QLatin1String("break")},
+                 {'s', QLatin1String("spacing")},
+                 {'w', QLatin1String("wrap")},
+                 {'x', QLatin1String("x")},
+                 {'y', QLatin1String("y")},
+                 {'z', QLatin1String("z")},
+                 {'i', QLatin1String("index")},
+                 {'r', QLatin1String("rgb")},
+                 {'s', QLatin1String("sans")},
+                 {'s', QLatin1String("serif")},
+                 {'n', QLatin1String("normal")}};
+
+    css_literals = {};
+
+    css_builtin = {};
+
+    css_other = {};
+}
+void loadCSSData(QMultiHash<char, QLatin1String> &types,
+                 QMultiHash<char, QLatin1String> &keywords,
+                 QMultiHash<char, QLatin1String> &builtin,
+                 QMultiHash<char, QLatin1String> &literals,
+                 QMultiHash<char, QLatin1String> &other) {
+    if (!cssDataInitialized) {
+        initCSSData();
+        cssDataInitialized = true;
+    }
+    types = css_types;
+    keywords = css_keywords;
+    builtin = css_builtin;
+    literals = css_literals;
+    other = css_other;
+}
+
+/********************************************************/
+/***   Typescript DATA  *********************************/
+/********************************************************/
+static bool typescriptDataInitialized = false;
+static QMultiHash<char, QLatin1String> typescript_keywords;
+static QMultiHash<char, QLatin1String> typescript_types;
+static QMultiHash<char, QLatin1String> typescript_literals;
+static QMultiHash<char, QLatin1String> typescript_builtin;
+static QMultiHash<char, QLatin1String> typescript_other;
+void initTypescriptData() {
+    typescript_keywords = {
+        {'i', QLatin1String("in")},         {'i', QLatin1String("if")},
+        {'f', QLatin1String("for")},        {'w', QLatin1String("while")},
+        {'f', QLatin1String("finally")},    {'n', QLatin1String("new")},
+        {'f', QLatin1String("function")},   {'d', QLatin1String("do")},
+        {'r', QLatin1String("return")},     {'v', QLatin1String("void")},
+        {'e', QLatin1String("else")},       {'b', QLatin1String("break")},
+        {'c', QLatin1String("catch")},      {'i', QLatin1String("instanceof")},
+        {'w', QLatin1String("with")},       {'t', QLatin1String("throw")},
+        {'c', QLatin1String("case")},       {'d', QLatin1String("default")},
+        {'t', QLatin1String("try")},        {'t', QLatin1String("this")},
+        {'s', QLatin1String("switch")},     {'c', QLatin1String("continue")},
+        {'t', QLatin1String("typeof")},     {'d', QLatin1String("delete")},
+        {'l', QLatin1String("let")},        {'y', QLatin1String("yield")},
+        {'c', QLatin1String("const")},      {'p', QLatin1String("public")},
+        {'p', QLatin1String("private")},    {'p', QLatin1String("protected")},
+        {'g', QLatin1String("get")},        {'s', QLatin1String("set")},
+        {'s', QLatin1String("super")},      {'s', QLatin1String("static")},
+        {'i', QLatin1String("implements")}, {'e', QLatin1String("export")},
+        {'i', QLatin1String("import")},     {'d', QLatin1String("declare")},
+        {'t', QLatin1String("type")},       {'n', QLatin1String("namespace")},
+        {'a', QLatin1String("abstract")},   {'a', QLatin1String("as")},
+        {'f', QLatin1String("from")},       {'e', QLatin1String("extends")},
+        {'a', QLatin1String("async")},      {'a', QLatin1String("await")}};
+
+    typescript_types = {{'v', QLatin1String("var")},
+                        {'c', QLatin1String("class")},
+                        {'e', QLatin1String("enum")}};
+
+    typescript_literals = {
+        {('f'), QLatin1String("false")}, {('n'), QLatin1String("null")},
+        {('t'), QLatin1String("true")},  {('u'), QLatin1String("undefined")},
+        {('N'), QLatin1String("NaN")},   {('I'), QLatin1String("Infinity")}};
+
+    typescript_builtin = {{'e', QLatin1String("eval")},
+                          {'i', QLatin1String("isFinite")},
+                          {'i', QLatin1String("isNaN")},
+                          {'p', QLatin1String("parseFloat")},
+                          {'p', QLatin1String("parseInt")},
+                          {'d', QLatin1String("decodeURI")},
+                          {'d', QLatin1String("decodeURIComponent")},
+                          {'e', QLatin1String("encodeURI")},
+                          {'e', QLatin1String("encodeURIComponent")},
+                          {'e', QLatin1String("escape")},
+                          {'u', QLatin1String("unescape")},
+                          {'O', QLatin1String("Object")},
+                          {'F', QLatin1String("Function")},
+                          {'B', QLatin1String("Boolean")},
+                          {'E', QLatin1String("Error")},
+                          {'E', QLatin1String("EvalError")},
+                          {'I', QLatin1String("InternalError")},
+                          {'R', QLatin1String("RangeError")},
+                          {'R', QLatin1String("ReferenceError")},
+                          {'S', QLatin1String("StopIteration")},
+                          {'S', QLatin1String("SyntaxError")},
+                          {'T', QLatin1String("TypeError")},
+                          {'U', QLatin1String("URIError")},
+                          {'N', QLatin1String("Number")},
+                          {'M', QLatin1String("Math")},
+                          {'D', QLatin1String("Date")},
+                          {'S', QLatin1String("String")},
+                          {'R', QLatin1String("RegExp")},
+                          {'A', QLatin1String("Array")},
+                          {'F', QLatin1String("Float32Array")},
+                          {'F', QLatin1String("Float64Array")},
+                          {'I', QLatin1String("Int16Array")},
+                          {'I', QLatin1String("Int32Array")},
+                          {'I', QLatin1String("Int8Array")},
+                          {'U', QLatin1String("Uint16Array")},
+                          {'U', QLatin1String("Uint32Array")},
+                          {'U', QLatin1String("Uint8Array")},
+                          {'U', QLatin1String("Uint8ClampedArray")},
+                          {'A', QLatin1String("ArrayBuffer")},
+                          {'D', QLatin1String("DataView")},
+                          {'J', QLatin1String("JSON")},
+                          {'I', QLatin1String("Intl")},
+                          {'a', QLatin1String("arguments")},
+                          {'r', QLatin1String("require")},
+                          {'m', QLatin1String("module")},
+                          {'c', QLatin1String("console")},
+                          {'w', QLatin1String("window")},
+                          {'d', QLatin1String("document")},
+                          {'a', QLatin1String("any")},
+                          {'n', QLatin1String("number")},
+                          {'b', QLatin1String("boolean")},
+                          {'s', QLatin1String("string")},
+                          {'v', QLatin1String("void")},
+                          {'P', QLatin1String("Promise")}};
+
+    typescript_other = {};
+}
+void loadTypescriptData(QMultiHash<char, QLatin1String> &types,
+                        QMultiHash<char, QLatin1String> &keywords,
+                        QMultiHash<char, QLatin1String> &builtin,
+                        QMultiHash<char, QLatin1String> &literals,
+                        QMultiHash<char, QLatin1String> &other) {
+    if (!typescriptDataInitialized) {
+        initTypescriptData();
+        typescriptDataInitialized = true;
+    }
+    types = typescript_types;
+    keywords = typescript_keywords;
+    builtin = typescript_builtin;
+    literals = typescript_literals;
+    other = typescript_other;
+}
+
+/********************************************************/
+/***   YAML DATA  ***************************************/
+/********************************************************/
+static bool YAMLDataInitialized = false;
+static QMultiHash<char, QLatin1String> YAML_keywords;
+static QMultiHash<char, QLatin1String> YAML_types;
+static QMultiHash<char, QLatin1String> YAML_literals;
+static QMultiHash<char, QLatin1String> YAML_builtin;
+static QMultiHash<char, QLatin1String> YAML_other;
+void initYAMLData() {
+    YAML_keywords = {};
+    YAML_types = {};
+    YAML_literals = {
+        {('f'), QLatin1String("false")},
+        {('t'), QLatin1String("true")},
+        {('n'), QLatin1String("null")},
+    };
+
+    YAML_builtin = {};
+    YAML_other = {};
+}
+void loadYAMLData(QMultiHash<char, QLatin1String> &types,
+                  QMultiHash<char, QLatin1String> &keywords,
+                  QMultiHash<char, QLatin1String> &builtin,
+                  QMultiHash<char, QLatin1String> &literals,
+                  QMultiHash<char, QLatin1String> &other) {
+    if (!YAMLDataInitialized) {
+        initYAMLData();
+        YAMLDataInitialized = true;
+    }
+    types = YAML_types;
+    keywords = YAML_keywords;
+    builtin = YAML_builtin;
+    literals = YAML_literals;
+    other = YAML_other;
+}
+
+/********************************************************/
+/***   VEX DATA   ***************************************/
+/********************************************************/
+static bool vexDataInitialized = false;
+static QMultiHash<char, QLatin1String> vex_keywords;
+static QMultiHash<char, QLatin1String> vex_types;
+static QMultiHash<char, QLatin1String> vex_literals;
+static QMultiHash<char, QLatin1String> vex_builtin;
+static QMultiHash<char, QLatin1String> vex_other;
+void initVEXData() {
+    vex_keywords = {
+        {'b', QLatin1String("break")},       {'c', QLatin1String("continue")},
+        {'d', QLatin1String("do")},          {'e', QLatin1String("else")},
+        {'f', QLatin1String("for")},         {'f', QLatin1String("foreach")},
+        {'f', QLatin1String("forpoints")},   {'f', QLatin1String("function")},
+        {'g', QLatin1String("gather")},      {'i', QLatin1String("if")},
+        {'i', QLatin1String("illuminance")}, {'r', QLatin1String("return")},
+        {'w', QLatin1String("while")}};
+    vex_types = {
+        {'b', QLatin1String("bsdf")},    {'c', QLatin1String("char")},
+        {'c', QLatin1String("color")},   {'f', QLatin1String("float")},
+        {'i', QLatin1String("int")},     {'i', QLatin1String("integer")},
+        {'m', QLatin1String("matrix")},  {'m', QLatin1String("matrix2")},
+        {'m', QLatin1String("matrix3")}, {'m', QLatin1String("matrix4")},
+        {'n', QLatin1String("normal")},  {'p', QLatin1String("point")},
+        {'s', QLatin1String("string")},  {'s', QLatin1String("struct")},
+        {'t', QLatin1String("typedef")}, {'u', QLatin1String("union")},
+        {'v', QLatin1String("vector")},  {'v', QLatin1String("vector2")},
+        {'v', QLatin1String("vector4")}, {'v', QLatin1String("void")},
+    };
+    vex_literals = {
+        {('f'), QLatin1String("false")},
+        {('t'), QLatin1String("true")},
+        {('n'), QLatin1String("null")},
+    };
+
+    vex_builtin = {{'D', QLatin1String("Du")},
+                   {'D', QLatin1String("Dv")},
+                   {'D', QLatin1String("Dw")},
+                   {'a', QLatin1String("abs")},
+                   {'a', QLatin1String("accessframe")},
+                   {'a', QLatin1String("acos")},
+                   {'a', QLatin1String("addattrib")},
+                   {'a', QLatin1String("addattribute")},
+                   {'a', QLatin1String("adddetailattrib")},
+                   {'a', QLatin1String("addgroup")},
+                   {'a', QLatin1String("addpoint")},
+                   {'a', QLatin1String("addpointattrib")},
+                   {'a', QLatin1String("addprim")},
+                   {'a', QLatin1String("addprimattrib")},
+                   {'a', QLatin1String("addvariablename")},
+                   {'a', QLatin1String("addvertex")},
+                   {'a', QLatin1String("addvertexattrib")},
+                   {'a', QLatin1String("addvisualizer")},
+                   {'a', QLatin1String("agentaddclip")},
+                   {'a', QLatin1String("agentclipcatalog")},
+                   {'a', QLatin1String("agentclipchannel")},
+                   {'a', QLatin1String("agentcliplength")},
+                   {'a', QLatin1String("agentclipnames")},
+                   {'a', QLatin1String("agentclipsample")},
+                   {'a', QLatin1String("agentclipsamplelocal")},
+                   {'a', QLatin1String("agentclipsamplerate")},
+                   {'a', QLatin1String("agentclipsampleworld")},
+                   {'a', QLatin1String("agentcliptimes")},
+                   {'a', QLatin1String("agentclipweights")},
+                   {'a', QLatin1String("agentcollisionlayer")},
+                   {'a', QLatin1String("agentcurrentlayer")},
+                   {'a', QLatin1String("agentlayerbindings")},
+                   {'a', QLatin1String("agentlayers")},
+                   {'a', QLatin1String("agentlayershapes")},
+                   {'a', QLatin1String("agentlocaltransform")},
+                   {'a', QLatin1String("agentlocaltransforms")},
+                   {'a', QLatin1String("agentrigchildren")},
+                   {'a', QLatin1String("agentrigfind")},
+                   {'a', QLatin1String("agentrigparent")},
+                   {'a', QLatin1String("agenttransformcount")},
+                   {'a', QLatin1String("agenttransformnames")},
+                   {'a', QLatin1String("agenttransformtolocal")},
+                   {'a', QLatin1String("agenttransformtoworld")},
+                   {'a', QLatin1String("agentworldtransform")},
+                   {'a', QLatin1String("agentworldtransforms")},
+                   {'a', QLatin1String("albedo")},
+                   {'a', QLatin1String("alphaname")},
+                   {'a', QLatin1String("ambient")},
+                   {'a', QLatin1String("anoise")},
+                   {'a', QLatin1String("append")},
+                   {'a', QLatin1String("area")},
+                   {'a', QLatin1String("argsort")},
+                   {'a', QLatin1String("array")},
+                   {'a', QLatin1String("ashikhmin")},
+                   {'a', QLatin1String("asin")},
+                   {'a', QLatin1String("assert_enabled")},
+                   {'a', QLatin1String("assign")},
+                   {'a', QLatin1String("atan")},
+                   {'a', QLatin1String("atan2")},
+                   {'a', QLatin1String("atof")},
+                   {'a', QLatin1String("atoi")},
+                   {'a', QLatin1String("atten")},
+                   {'a', QLatin1String("attrib")},
+                   {'a', QLatin1String("attribclass")},
+                   {'a', QLatin1String("attribsize")},
+                   {'a', QLatin1String("attribtype")},
+                   {'a', QLatin1String("attribtypeinfo")},
+                   {'a', QLatin1String("avg")},
+                   {'b', QLatin1String("binput")},
+                   {'b', QLatin1String("blackbody")},
+                   {'b', QLatin1String("blinn")},
+                   {'b', QLatin1String("blinnBRDF")},
+                   {'b', QLatin1String("bouncelabel")},
+                   {'b', QLatin1String("bouncemask")},
+                   {'b', QLatin1String("bumpmap")},
+                   {'b', QLatin1String("bumpmapA")},
+                   {'b', QLatin1String("bumpmapB")},
+                   {'b', QLatin1String("bumpmapG")},
+                   {'b', QLatin1String("bumpmapL")},
+                   {'b', QLatin1String("bumpmapR")},
+                   {'b', QLatin1String("bumpname")},
+                   {'c', QLatin1String("cbrt")},
+                   {'c', QLatin1String("ceil")},
+                   {'c', QLatin1String("ch")},
+                   {'c', QLatin1String("ch3")},
+                   {'c', QLatin1String("ch4")},
+                   {'c', QLatin1String("chend")},
+                   {'c', QLatin1String("chendf")},
+                   {'c', QLatin1String("chendt")},
+                   {'c', QLatin1String("chf")},
+                   {'c', QLatin1String("chi")},
+                   {'c', QLatin1String("chinput")},
+                   {'c', QLatin1String("chname")},
+                   {'c', QLatin1String("chnumchan")},
+                   {'c', QLatin1String("chp")},
+                   {'c', QLatin1String("chr")},
+                   {'c', QLatin1String("chramp")},
+                   {'c', QLatin1String("chrate")},
+                   {'c', QLatin1String("chs")},
+                   {'c', QLatin1String("chsraw")},
+                   {'c', QLatin1String("chstart")},
+                   {'c', QLatin1String("chstartf")},
+                   {'c', QLatin1String("chstartt")},
+                   {'c', QLatin1String("chv")},
+                   {'c', QLatin1String("cinput")},
+                   {'c', QLatin1String("ckspline")},
+                   {'c', QLatin1String("clamp")},
+                   {'c', QLatin1String("clip")},
+                   {'c', QLatin1String("colormap")},
+                   {'c', QLatin1String("colorname")},
+                   {'c', QLatin1String("computenormal")},
+                   {'c', QLatin1String("concat")},
+                   {'c', QLatin1String("cone")},
+                   {'c', QLatin1String("cos")},
+                   {'c', QLatin1String("cosh")},
+                   {'c', QLatin1String("cracktransform")},
+                   {'c', QLatin1String("cross")},
+                   {'c', QLatin1String("cspline")},
+                   {'c', QLatin1String("ctransform")},
+                   {'c', QLatin1String("curlnoise")},
+                   {'c', QLatin1String("curlnoise2d")},
+                   {'c', QLatin1String("curlxnoise")},
+                   {'c', QLatin1String("curlxnoise2d")},
+                   {'c', QLatin1String("cvex_bsdf")},
+                   {'d', QLatin1String("degrees")},
+                   {'d', QLatin1String("depthmap")},
+                   {'d', QLatin1String("depthname")},
+                   {'d', QLatin1String("detail")},
+                   {'d', QLatin1String("detailattrib")},
+                   {'d', QLatin1String("detailattribsize")},
+                   {'d', QLatin1String("detailattribtype")},
+                   {'d', QLatin1String("detailattribtypeinfo")},
+                   {'d', QLatin1String("detailintrinsic")},
+                   {'d', QLatin1String("determinant")},
+                   {'d', QLatin1String("diffuse")},
+                   {'d', QLatin1String("diffuseBRDF")},
+                   {'d', QLatin1String("dihedral")},
+                   {'d', QLatin1String("dimport")},
+                   {'d', QLatin1String("distance")},
+                   {'d', QLatin1String("distance2")},
+                   {'d', QLatin1String("dot")},
+                   {'d', QLatin1String("dsmpixel")},
+                   {'e', QLatin1String("eigenvalues")},
+                   {'e', QLatin1String("endswith")},
+                   {'e', QLatin1String("environment")},
+                   {'e', QLatin1String("erf")},
+                   {'e', QLatin1String("erf_inv")},
+                   {'e', QLatin1String("erfc")},
+                   {'e', QLatin1String("error")},
+                   {'e', QLatin1String("eulertoquaternion")},
+                   {'e', QLatin1String("eval_bsdf")},
+                   {'e', QLatin1String("exp")},
+                   {'e', QLatin1String("expand_udim")},
+                   {'e', QLatin1String("expandpointgroup")},
+                   {'e', QLatin1String("expandprimgroup")},
+                   {'f', QLatin1String("fastshadow")},
+                   {'f', QLatin1String("filamentsample")},
+                   {'f', QLatin1String("file_stat")},
+                   {'f', QLatin1String("filtershadow")},
+                   {'f', QLatin1String("filterstep")},
+                   {'f', QLatin1String("find")},
+                   {'f', QLatin1String("findattribval")},
+                   {'f', QLatin1String("findattribvalcount")},
+                   {'f', QLatin1String("finput")},
+                   {'f', QLatin1String("fit")},
+                   {'f', QLatin1String("fit01")},
+                   {'f', QLatin1String("fit10")},
+                   {'f', QLatin1String("fit11")},
+                   {'f', QLatin1String("floor")},
+                   {'f', QLatin1String("flownoise")},
+                   {'f', QLatin1String("flowpnoise")},
+                   {'f', QLatin1String("frac")},
+                   {'f', QLatin1String("fresnel")},
+                   {'f', QLatin1String("fromNDC")},
+                   {'f', QLatin1String("frontface")},
+                   {'f', QLatin1String("fuzzify")},
+                   {'f', QLatin1String("fuzzy_and")},
+                   {'f', QLatin1String("fuzzy_defuzz_centroid")},
+                   {'f', QLatin1String("fuzzy_nand")},
+                   {'f', QLatin1String("fuzzy_nor")},
+                   {'f', QLatin1String("fuzzy_not")},
+                   {'f', QLatin1String("fuzzy_nxor")},
+                   {'f', QLatin1String("fuzzy_or")},
+                   {'f', QLatin1String("fuzzy_xor")},
+                   {'g', QLatin1String("geoself")},
+                   {'g', QLatin1String("getattrib")},
+                   {'g', QLatin1String("getattribute")},
+                   {'g', QLatin1String("getbbox")},
+                   {'g', QLatin1String("getblurP")},
+                   {'g', QLatin1String("getbounces")},
+                   {'g', QLatin1String("getbounds")},
+                   {'g', QLatin1String("getcomp")},
+                   {'g', QLatin1String("getcomponents")},
+                   {'g', QLatin1String("getderiv")},
+                   {'g', QLatin1String("getfogname")},
+                   {'g', QLatin1String("getglobalraylevel")},
+                   {'g', QLatin1String("getlight")},
+                   {'g', QLatin1String("getlightid")},
+                   {'g', QLatin1String("getlightname")},
+                   {'g', QLatin1String("getlights")},
+                   {'g', QLatin1String("getlightscope")},
+                   {'g', QLatin1String("getmaterial")},
+                   {'g', QLatin1String("getobjectname")},
+                   {'g', QLatin1String("getphotonlight")},
+                   {'g', QLatin1String("getpointbbox")},
+                   {'g', QLatin1String("getprimid")},
+                   {'g', QLatin1String("getptextureid")},
+                   {'g', QLatin1String("getraylevel")},
+                   {'g', QLatin1String("getrayweight")},
+                   {'g', QLatin1String("getsamplestore")},
+                   {'g', QLatin1String("getscope")},
+                   {'g', QLatin1String("getsmoothP")},
+                   {'g', QLatin1String("getspace")},
+                   {'g', QLatin1String("getuvobjects")},
+                   {'g', QLatin1String("getuvtangents")},
+                   {'g', QLatin1String("gradient")},
+                   {'h', QLatin1String("hair")},
+                   {'h', QLatin1String("hasattrib")},
+                   {'h', QLatin1String("hasdetailattrib")},
+                   {'h', QLatin1String("haslight")},
+                   {'h', QLatin1String("hasplane")},
+                   {'h', QLatin1String("haspointattrib")},
+                   {'h', QLatin1String("hasprimattrib")},
+                   {'h', QLatin1String("hasvertexattrib")},
+                   {'h', QLatin1String("hedge_dstpoint")},
+                   {'h', QLatin1String("hedge_dstvertex")},
+                   {'h', QLatin1String("hedge_equivcount")},
+                   {'h', QLatin1String("hedge_isequiv")},
+                   {'h', QLatin1String("hedge_isprimary")},
+                   {'h', QLatin1String("hedge_isvalid")},
+                   {'h', QLatin1String("hedge_next")},
+                   {'h', QLatin1String("hedge_nextequiv")},
+                   {'h', QLatin1String("hedge_postdstpoint")},
+                   {'h', QLatin1String("hedge_postdstvertex")},
+                   {'h', QLatin1String("hedge_presrcpoint")},
+                   {'h', QLatin1String("hedge_presrcvertex")},
+                   {'h', QLatin1String("hedge_prev")},
+                   {'h', QLatin1String("hedge_prim")},
+                   {'h', QLatin1String("hedge_primary")},
+                   {'h', QLatin1String("hedge_srcpoint")},
+                   {'h', QLatin1String("hedge_srcvertex")},
+                   {'h', QLatin1String("henyeygreenstein")},
+                   {'h', QLatin1String("hscript_noise")},
+                   {'h', QLatin1String("hscript_rand")},
+                   {'h', QLatin1String("hscript_snoise")},
+                   {'h', QLatin1String("hscript_sturb")},
+                   {'h', QLatin1String("hscript_turb")},
+                   {'h', QLatin1String("hsvtorgb")},
+                   {'i', QLatin1String("iaspect")},
+                   {'i', QLatin1String("ichname")},
+                   {'i', QLatin1String("ident")},
+                   {'i', QLatin1String("idtopoint")},
+                   {'i', QLatin1String("idtoprim")},
+                   {'i', QLatin1String("iend")},
+                   {'i', QLatin1String("iendtime")},
+                   {'i', QLatin1String("ihasplane")},
+                   {'i', QLatin1String("import")},
+                   {'i', QLatin1String("ingroup")},
+                   {'i', QLatin1String("inpointgroup")},
+                   {'i', QLatin1String("inprimgroup")},
+                   {'i', QLatin1String("insert")},
+                   {'i', QLatin1String("instance")},
+                   {'i', QLatin1String("interpolate")},
+                   {'i', QLatin1String("intersect")},
+                   {'i', QLatin1String("intersect_all")},
+                   {'i', QLatin1String("intersect_lights")},
+                   {'i', QLatin1String("inumplanes")},
+                   {'i', QLatin1String("invert")},
+                   {'i', QLatin1String("invertexgroup")},
+                   {'i', QLatin1String("iplaneindex")},
+                   {'i', QLatin1String("iplanename")},
+                   {'i', QLatin1String("iplanesize")},
+                   {'i', QLatin1String("irate")},
+                   {'i', QLatin1String("irradiance")},
+                   {'i', QLatin1String("isalpha")},
+                   {'i', QLatin1String("isbound")},
+                   {'i', QLatin1String("isconnected")},
+                   {'i', QLatin1String("isdigit")},
+                   {'i', QLatin1String("isfinite")},
+                   {'i', QLatin1String("isfogray")},
+                   {'i', QLatin1String("isframes")},
+                   {'i', QLatin1String("isnan")},
+                   {'i', QLatin1String("isotropic")},
+                   {'i', QLatin1String("israytracing")},
+                   {'i', QLatin1String("issamples")},
+                   {'i', QLatin1String("isseconds")},
+                   {'i', QLatin1String("isshadowray")},
+                   {'i', QLatin1String("istart")},
+                   {'i', QLatin1String("istarttime")},
+                   {'i', QLatin1String("isuvrendering")},
+                   {'i', QLatin1String("isvalidindex")},
+                   {'i', QLatin1String("isvarying")},
+                   {'i', QLatin1String("itoa")},
+                   {'i', QLatin1String("ixres")},
+                   {'i', QLatin1String("iyres")},
+                   {'j', QLatin1String("join")},
+                   {'k', QLatin1String("kspline")},
+                   {'l', QLatin1String("len")},
+                   {'l', QLatin1String("length")},
+                   {'l', QLatin1String("length2")},
+                   {'l', QLatin1String("lerp")},
+                   {'l', QLatin1String("lightid")},
+                   {'l', QLatin1String("limit_sample_space")},
+                   {'l', QLatin1String("limport")},
+                   {'l', QLatin1String("lkspline")},
+                   {'l', QLatin1String("log")},
+                   {'l', QLatin1String("log10")},
+                   {'l', QLatin1String("lookat")},
+                   {'l', QLatin1String("lspline")},
+                   {'l', QLatin1String("lstrip")},
+                   {'l', QLatin1String("luminance")},
+                   {'l', QLatin1String("lumname")},
+                   {'m', QLatin1String("makebasis")},
+                   {'m', QLatin1String("maketransform")},
+                   {'m', QLatin1String("maskname")},
+                   {'m', QLatin1String("match")},
+                   {'m', QLatin1String("matchvex_blinn")},
+                   {'m', QLatin1String("matchvex_specular")},
+                   {'m', QLatin1String("mattrib")},
+                   {'m', QLatin1String("max")},
+                   {'m', QLatin1String("mdensity")},
+                   {'m', QLatin1String("metaimport")},
+                   {'m', QLatin1String("metamarch")},
+                   {'m', QLatin1String("metanext")},
+                   {'m', QLatin1String("metastart")},
+                   {'m', QLatin1String("metaweight")},
+                   {'m', QLatin1String("min")},
+                   {'m', QLatin1String("minpos")},
+                   {'m', QLatin1String("mspace")},
+                   {'n', QLatin1String("nametopoint")},
+                   {'n', QLatin1String("nametoprim")},
+                   {'n', QLatin1String("nbouncetypes")},
+                   {'n', QLatin1String("nearpoint")},
+                   {'n', QLatin1String("nearpoints")},
+                   {'n', QLatin1String("neighbour")},
+                   {'n', QLatin1String("neighbourcount")},
+                   {'n', QLatin1String("neighbours")},
+                   {'n', QLatin1String("newgroup")},
+                   {'n', QLatin1String("newsampler")},
+                   {'n', QLatin1String("nextsample")},
+                   {'n', QLatin1String("ninput")},
+                   {'n', QLatin1String("noise")},
+                   {'n', QLatin1String("noised")},
+                   {'n', QLatin1String("normal_bsdf")},
+                   {'n', QLatin1String("normalize")},
+                   {'n', QLatin1String("normalname")},
+                   {'n', QLatin1String("npoints")},
+                   {'n', QLatin1String("npointsgroup")},
+                   {'n', QLatin1String("nprimitives")},
+                   {'n', QLatin1String("nprimitivesgroup")},
+                   {'n', QLatin1String("nrandom")},
+                   {'n', QLatin1String("ntransform")},
+                   {'n', QLatin1String("nuniqueval")},
+                   {'n', QLatin1String("nvertices")},
+                   {'n', QLatin1String("nverticesgroup")},
+                   {'o', QLatin1String("occlusion")},
+                   {'o', QLatin1String("onoise")},
+                   {'o', QLatin1String("opdigits")},
+                   {'o', QLatin1String("opend")},
+                   {'o', QLatin1String("opfullpath")},
+                   {'o', QLatin1String("opstart")},
+                   {'o', QLatin1String("optransform")},
+                   {'o', QLatin1String("ord")},
+                   {'o', QLatin1String("osd_facecount")},
+                   {'o', QLatin1String("osd_firstpatch")},
+                   {'o', QLatin1String("osd_limitsurface")},
+                   {'o', QLatin1String("osd_limitsurfacevertex")},
+                   {'o', QLatin1String("osd_patchcount")},
+                   {'o', QLatin1String("osd_patches")},
+                   {'o', QLatin1String("outerproduct")},
+                   {'o', QLatin1String("ow_nspace")},
+                   {'o', QLatin1String("ow_space")},
+                   {'o', QLatin1String("ow_vspace")},
+                   {'p', QLatin1String("pack_inttosafefloat")},
+                   {'p', QLatin1String("pathtrace")},
+                   {'p', QLatin1String("pcclose")},
+                   {'p', QLatin1String("pcconvex")},
+                   {'p', QLatin1String("pcexport")},
+                   {'p', QLatin1String("pcfarthest")},
+                   {'p', QLatin1String("pcfilter")},
+                   {'p', QLatin1String("pcfind")},
+                   {'p', QLatin1String("pcfind_radius")},
+                   {'p', QLatin1String("pcgenerate")},
+                   {'p', QLatin1String("pcimport")},
+                   {'p', QLatin1String("pcimportbyidx3")},
+                   {'p', QLatin1String("pcimportbyidx4")},
+                   {'p', QLatin1String("pcimportbyidxf")},
+                   {'p', QLatin1String("pcimportbyidxi")},
+                   {'p', QLatin1String("pcimportbyidxp")},
+                   {'p', QLatin1String("pcimportbyidxs")},
+                   {'p', QLatin1String("pcimportbyidxv")},
+                   {'p', QLatin1String("pciterate")},
+                   {'p', QLatin1String("pcnumfound")},
+                   {'p', QLatin1String("pcopen")},
+                   {'p', QLatin1String("pcopenlod")},
+                   {'p', QLatin1String("pcsampleleaf")},
+                   {'p', QLatin1String("pcsize")},
+                   {'p', QLatin1String("pcunshaded")},
+                   {'p', QLatin1String("pcwrite")},
+                   {'p', QLatin1String("pgfind")},
+                   {'p', QLatin1String("phong")},
+                   {'p', QLatin1String("phongBRDF")},
+                   {'p', QLatin1String("phonglobe")},
+                   {'p', QLatin1String("photonmap")},
+                   {'p', QLatin1String("planeindex")},
+                   {'p', QLatin1String("planename")},
+                   {'p', QLatin1String("planesize")},
+                   {'p', QLatin1String("pluralize")},
+                   {'p', QLatin1String("pnoise")},
+                   {'p', QLatin1String("point")},
+                   {'p', QLatin1String("pointattrib")},
+                   {'p', QLatin1String("pointattribsize")},
+                   {'p', QLatin1String("pointattribtype")},
+                   {'p', QLatin1String("pointattribtypeinfo")},
+                   {'p', QLatin1String("pointedge")},
+                   {'p', QLatin1String("pointhedge")},
+                   {'p', QLatin1String("pointhedgenext")},
+                   {'p', QLatin1String("pointname")},
+                   {'p', QLatin1String("pointprims")},
+                   {'p', QLatin1String("pointvertex")},
+                   {'p', QLatin1String("pointvertices")},
+                   {'p', QLatin1String("polardecomp")},
+                   {'p', QLatin1String("pop")},
+                   {'p', QLatin1String("pow")},
+                   {'p', QLatin1String("prim")},
+                   {'p', QLatin1String("prim_attribute")},
+                   {'p', QLatin1String("prim_normal")},
+                   {'p', QLatin1String("primattrib")},
+                   {'p', QLatin1String("primattribsize")},
+                   {'p', QLatin1String("primattribtype")},
+                   {'p', QLatin1String("primattribtypeinfo")},
+                   {'p', QLatin1String("primhedge")},
+                   {'p', QLatin1String("primintrinsic")},
+                   {'p', QLatin1String("primpoint")},
+                   {'p', QLatin1String("primpoints")},
+                   {'p', QLatin1String("primuv")},
+                   {'p', QLatin1String("primvertex")},
+                   {'p', QLatin1String("primvertexcount")},
+                   {'p', QLatin1String("primvertices")},
+                   {'p', QLatin1String("print_once")},
+                   {'p', QLatin1String("printf")},
+                   {'p', QLatin1String("product")},
+                   {'p', QLatin1String("ptexture")},
+                   {'p', QLatin1String("ptlined")},
+                   {'p', QLatin1String("ptransform")},
+                   {'p', QLatin1String("push")},
+                   {'q', QLatin1String("qconvert")},
+                   {'q', QLatin1String("qdistance")},
+                   {'q', QLatin1String("qinvert")},
+                   {'q', QLatin1String("qmultiply")},
+                   {'q', QLatin1String("qrotate")},
+                   {'q', QLatin1String("quaternion")},
+                   {'r', QLatin1String("radians")},
+                   {'r', QLatin1String("rand")},
+                   {'r', QLatin1String("random")},
+                   {'r', QLatin1String("random_fhash")},
+                   {'r', QLatin1String("random_ihash")},
+                   {'r', QLatin1String("random_shash")},
+                   {'r', QLatin1String("random_sobol")},
+                   {'r', QLatin1String("rawbumpmap")},
+                   {'r', QLatin1String("rawbumpmapA")},
+                   {'r', QLatin1String("rawbumpmapB")},
+                   {'r', QLatin1String("rawbumpmapG")},
+                   {'r', QLatin1String("rawbumpmapL")},
+                   {'r', QLatin1String("rawbumpmapR")},
+                   {'r', QLatin1String("rawcolormap")},
+                   {'r', QLatin1String("rayhittest")},
+                   {'r', QLatin1String("rayimport")},
+                   {'r', QLatin1String("re_find")},
+                   {'r', QLatin1String("re_findall")},
+                   {'r', QLatin1String("re_match")},
+                   {'r', QLatin1String("re_replace")},
+                   {'r', QLatin1String("re_split")},
+                   {'r', QLatin1String("reflect")},
+                   {'r', QLatin1String("reflectlight")},
+                   {'r', QLatin1String("refract")},
+                   {'r', QLatin1String("refractlight")},
+                   {'r', QLatin1String("relativepath")},
+                   {'r', QLatin1String("relbbox")},
+                   {'r', QLatin1String("relpointbbox")},
+                   {'r', QLatin1String("removegroup")},
+                   {'r', QLatin1String("removeindex")},
+                   {'r', QLatin1String("removepoint")},
+                   {'r', QLatin1String("removeprim")},
+                   {'r', QLatin1String("removevalue")},
+                   {'r', QLatin1String("renderstate")},
+                   {'r', QLatin1String("reorder")},
+                   {'r', QLatin1String("resample_linear")},
+                   {'r', QLatin1String("resize")},
+                   {'r', QLatin1String("resolvemissedray")},
+                   {'r', QLatin1String("reverse")},
+                   {'r', QLatin1String("rgbtohsv")},
+                   {'r', QLatin1String("rgbtoxyz")},
+                   {'r', QLatin1String("rint")},
+                   {'r', QLatin1String("rotate")},
+                   {'r', QLatin1String("rotate_x_to")},
+                   {'r', QLatin1String("rstrip")},
+                   {'s', QLatin1String("sample_bsdf")},
+                   {'s', QLatin1String("sample_cauchy")},
+                   {'s', QLatin1String("sample_circle_arc")},
+                   {'s', QLatin1String("sample_circle_edge_uniform")},
+                   {'s', QLatin1String("sample_circle_slice")},
+                   {'s', QLatin1String("sample_circle_uniform")},
+                   {'s', QLatin1String("sample_direction_cone")},
+                   {'s', QLatin1String("sample_direction_uniform")},
+                   {'s', QLatin1String("sample_discrete")},
+                   {'s', QLatin1String("sample_exponential")},
+                   {'s', QLatin1String("sample_geometry")},
+                   {'s', QLatin1String("sample_hemisphere")},
+                   {'s', QLatin1String("sample_hypersphere_cone")},
+                   {'s', QLatin1String("sample_hypersphere_uniform")},
+                   {'s', QLatin1String("sample_light")},
+                   {'s', QLatin1String("sample_lognormal")},
+                   {'s', QLatin1String("sample_lognormal_by_median")},
+                   {'s', QLatin1String("sample_normal")},
+                   {'s', QLatin1String("sample_orientation_cone")},
+                   {'s', QLatin1String("sample_orientation_uniform")},
+                   {'s', QLatin1String("sample_photon")},
+                   {'s', QLatin1String("sample_sphere_cone")},
+                   {'s', QLatin1String("sample_sphere_uniform")},
+                   {'s', QLatin1String("sampledisk")},
+                   {'s', QLatin1String("scale")},
+                   {'s', QLatin1String("select")},
+                   {'s', QLatin1String("sensor_panorama_create")},
+                   {'s', QLatin1String("sensor_panorama_getcolor")},
+                   {'s', QLatin1String("sensor_panorama_getcone")},
+                   {'s', QLatin1String("sensor_panorama_getdepth")},
+                   {'s', QLatin1String("sensor_save")},
+                   {'s', QLatin1String("serialize")},
+                   {'s', QLatin1String("set")},
+                   {'s', QLatin1String("setagentclipnames")},
+                   {'s', QLatin1String("setagentcliptimes")},
+                   {'s', QLatin1String("setagentclipweights")},
+                   {'s', QLatin1String("setagentcollisionlayer")},
+                   {'s', QLatin1String("setagentcurrentlayer")},
+                   {'s', QLatin1String("setagentlocaltransform")},
+                   {'s', QLatin1String("setagentlocaltransforms")},
+                   {'s', QLatin1String("setagentworldtransform")},
+                   {'s', QLatin1String("setagentworldtransforms")},
+                   {'s', QLatin1String("setattrib")},
+                   {'s', QLatin1String("setattribtypeinfo")},
+                   {'s', QLatin1String("setcomp")},
+                   {'s', QLatin1String("setcurrentlight")},
+                   {'s', QLatin1String("setdetailattrib")},
+                   {'s', QLatin1String("setpointattrib")},
+                   {'s', QLatin1String("setpointgroup")},
+                   {'s', QLatin1String("setprimattrib")},
+                   {'s', QLatin1String("setprimgroup")},
+                   {'s', QLatin1String("setprimintrinsic")},
+                   {'s', QLatin1String("setprimvertex")},
+                   {'s', QLatin1String("setsamplestore")},
+                   {'s', QLatin1String("setvertexattrib")},
+                   {'s', QLatin1String("setvertexgroup")},
+                   {'s', QLatin1String("setvertexpoint")},
+                   {'s', QLatin1String("shadow")},
+                   {'s', QLatin1String("shadow_light")},
+                   {'s', QLatin1String("shadowmap")},
+                   {'s', QLatin1String("shimport")},
+                   {'s', QLatin1String("shl")},
+                   {'s', QLatin1String("shr")},
+                   {'s', QLatin1String("shrz")},
+                   {'s', QLatin1String("sign")},
+                   {'s', QLatin1String("simport")},
+                   {'s', QLatin1String("sin")},
+                   {'s', QLatin1String("sinh")},
+                   {'s', QLatin1String("sleep")},
+                   {'s', QLatin1String("slerp")},
+                   {'s', QLatin1String("slice")},
+                   {'s', QLatin1String("slideframe")},
+                   {'s', QLatin1String("smooth")},
+                   {'s', QLatin1String("smoothrotation")},
+                   {'s', QLatin1String("snoise")},
+                   {'s', QLatin1String("solvecubic")},
+                   {'s', QLatin1String("solvepoly")},
+                   {'s', QLatin1String("solvequadratic")},
+                   {'s', QLatin1String("sort")},
+                   {'s', QLatin1String("specular")},
+                   {'s', QLatin1String("specularBRDF")},
+                   {'s', QLatin1String("spline")},
+                   {'s', QLatin1String("split")},
+                   {'s', QLatin1String("splitpath")},
+                   {'s', QLatin1String("sprintf")},
+                   {'s', QLatin1String("sqrt")},
+                   {'s', QLatin1String("startswith")},
+                   {'s', QLatin1String("storelightexport")},
+                   {'s', QLatin1String("strip")},
+                   {'s', QLatin1String("strlen")},
+                   {'s', QLatin1String("sum")},
+                   {'s', QLatin1String("switch")},
+                   {'s', QLatin1String("swizzle")},
+                   {'t', QLatin1String("tan")},
+                   {'t', QLatin1String("tanh")},
+                   {'t', QLatin1String("tet_adjacent")},
+                   {'t', QLatin1String("tet_faceindex")},
+                   {'t', QLatin1String("teximport")},
+                   {'t', QLatin1String("texprintf")},
+                   {'t', QLatin1String("texture")},
+                   {'t', QLatin1String("texture3d")},
+                   {'t', QLatin1String("texture3dBox")},
+                   {'t', QLatin1String("titlecase")},
+                   {'t', QLatin1String("toNDC")},
+                   {'t', QLatin1String("tolower")},
+                   {'t', QLatin1String("toupper")},
+                   {'t', QLatin1String("trace")},
+                   {'t', QLatin1String("translate")},
+                   {'t', QLatin1String("translucent")},
+                   {'t', QLatin1String("transpose")},
+                   {'t', QLatin1String("trunc")},
+                   {'t', QLatin1String("tw_nspace")},
+                   {'t', QLatin1String("tw_space")},
+                   {'t', QLatin1String("tw_vspace")},
+                   {'u', QLatin1String("uniqueval")},
+                   {'u', QLatin1String("unpack_intfromsafefloat")},
+                   {'u', QLatin1String("unserialize")},
+                   {'u', QLatin1String("upush")},
+                   {'u', QLatin1String("uvunwrap")},
+                   {'v', QLatin1String("variance")},
+                   {'v', QLatin1String("velocityname")},
+                   {'v', QLatin1String("vertex")},
+                   {'v', QLatin1String("vertexattrib")},
+                   {'v', QLatin1String("vertexattribsize")},
+                   {'v', QLatin1String("vertexattribtype")},
+                   {'v', QLatin1String("vertexattribtypeinfo")},
+                   {'v', QLatin1String("vertexhedge")},
+                   {'v', QLatin1String("vertexindex")},
+                   {'v', QLatin1String("vertexnext")},
+                   {'v', QLatin1String("vertexpoint")},
+                   {'v', QLatin1String("vertexprev")},
+                   {'v', QLatin1String("vertexprim")},
+                   {'v', QLatin1String("vertexprimindex")},
+                   {'v', QLatin1String("vnoise")},
+                   {'v', QLatin1String("volume")},
+                   {'v', QLatin1String("volumegradient")},
+                   {'v', QLatin1String("volumeindex")},
+                   {'v', QLatin1String("volumeindexorigin")},
+                   {'v', QLatin1String("volumeindextopos")},
+                   {'v', QLatin1String("volumeindexv")},
+                   {'v', QLatin1String("volumepostoindex")},
+                   {'v', QLatin1String("volumeres")},
+                   {'v', QLatin1String("volumesample")},
+                   {'v', QLatin1String("volumesamplev")},
+                   {'v', QLatin1String("vtransform")},
+                   {'w', QLatin1String("warning")},
+                   {'w', QLatin1String("wireblinn")},
+                   {'w', QLatin1String("wirediffuse")},
+                   {'w', QLatin1String("wnoise")},
+                   {'w', QLatin1String("wo_nspace")},
+                   {'w', QLatin1String("wo_space")},
+                   {'w', QLatin1String("wo_vspace")},
+                   {'w', QLatin1String("writepixel")},
+                   {'w', QLatin1String("wt_nspace")},
+                   {'w', QLatin1String("wt_space")},
+                   {'w', QLatin1String("wt_vspace")},
+                   {'x', QLatin1String("xnoise")},
+                   {'x', QLatin1String("xnoised")},
+                   {'x', QLatin1String("xyzdist")},
+                   {'x', QLatin1String("xyztorgb")}};
+    vex_other = {
+        {('d'), QLatin1String("define")},  {('e'), QLatin1String("else")},
+        {('e'), QLatin1String("endif")},   {('i'), QLatin1String("if")},
+        {('i'), QLatin1String("ifdef")},   {('i'), QLatin1String("ifndef")},
+        {('i'), QLatin1String("include")}, {('p'), QLatin1String("pragma")},
+        {('u'), QLatin1String("undef")},
+    };
+}
+void loadVEXData(QMultiHash<char, QLatin1String> &types,
+                 QMultiHash<char, QLatin1String> &keywords,
+                 QMultiHash<char, QLatin1String> &builtin,
+                 QMultiHash<char, QLatin1String> &literals,
+                 QMultiHash<char, QLatin1String> &other) {
+    if (!vexDataInitialized) {
+        initVEXData();
+        vexDataInitialized = true;
+    }
+    types = vex_types;
+    keywords = vex_keywords;
+    builtin = vex_builtin;
+    literals = vex_literals;
+    other = vex_other;
+}
+
+/********************************************************/
+/***   CMAKE DATA   ***************************************/
+/********************************************************/
+static bool cmakeDataInitialized = false;
+static QMultiHash<char, QLatin1String> cmake_keywords;
+static QMultiHash<char, QLatin1String> cmake_types;
+static QMultiHash<char, QLatin1String> cmake_literals;
+static QMultiHash<char, QLatin1String> cmake_builtin;
+static QMultiHash<char, QLatin1String> cmake_other;
+void initCMakeData() {
+    cmake_keywords = {{'b', QLatin1String("break")},
+                      {'c', QLatin1String("cmake_host_system_information")},
+                      {'c', QLatin1String("cmake_minimum_required")},
+                      {'c', QLatin1String("cmake_parse_arguments")},
+                      {'c', QLatin1String("cmake_policy")},
+                      {'c', QLatin1String("configure_file")},
+                      {'c', QLatin1String("continue")},
+                      {'e', QLatin1String("elseif")},
+                      {'e', QLatin1String("else")},
+                      {'e', QLatin1String("endforeach")},
+                      {'e', QLatin1String("endfunction")},
+                      {'e', QLatin1String("endif")},
+                      {'e', QLatin1String("endmacro")},
+                      {'e', QLatin1String("endwhile")},
+                      {'e', QLatin1String("execute_process")},
+                      {'f', QLatin1String("file")},
+                      {'f', QLatin1String("find_file")},
+                      {'f', QLatin1String("find_library")},
+                      {'f', QLatin1String("find_package")},
+                      {'f', QLatin1String("find_path")},
+                      {'f', QLatin1String("find_program")},
+                      {'f', QLatin1String("foreach")},
+                      {'f', QLatin1String("function")},
+                      {'g', QLatin1String("get_cmake_property")},
+                      {'g', QLatin1String("get_directory_property")},
+                      {'g', QLatin1String("get_filename_component")},
+                      {'g', QLatin1String("get_property")},
+                      {'i', QLatin1String("if")},
+                      {'i', QLatin1String("include")},
+                      {'i', QLatin1String("include_guard")},
+                      {'l', QLatin1String("list")},
+                      {'m', QLatin1String("macro")},
+                      {'m', QLatin1String("mark_as_advanced")},
+                      {'m', QLatin1String("math")},
+                      {'m', QLatin1String("message")},
+                      {'o', QLatin1String("option")},
+                      {'r', QLatin1String("return")},
+                      {'s', QLatin1String("separate_arguments")},
+                      {'s', QLatin1String("set_directory_properties")},
+                      {'s', QLatin1String("set")},
+                      {'s', QLatin1String("set_property")},
+                      {'s', QLatin1String("site_name")},
+                      {'s', QLatin1String("string")},
+                      {'u', QLatin1String("unset")},
+                      {'v', QLatin1String("variable_watch")},
+                      {'w', QLatin1String("while")},
+                      {'a', QLatin1String("add_compile_definitions")},
+                      {'a', QLatin1String("add_compile_options")},
+                      {'A', QLatin1String("ADD_COMPILE_OPTIONS")},
+                      {'a', QLatin1String("add_custom_command")},
+                      {'a', QLatin1String("add_custom_target")},
+                      {'a', QLatin1String("add_definitions")},
+                      {'a', QLatin1String("add_dependencies")},
+                      {'a', QLatin1String("add_executable")},
+                      {'a', QLatin1String("add_library")},
+                      {'a', QLatin1String("add_link_options")},
+                      {'a', QLatin1String("add_subdirectory")},
+                      {'a', QLatin1String("add_test")},
+                      {'a', QLatin1String("aux_source_directory")},
+                      {'b', QLatin1String("build_command")},
+                      {'c', QLatin1String("create_test_sourcelist")},
+                      {'d', QLatin1String("define_property")},
+                      {'e', QLatin1String("enable_language")},
+                      {'e', QLatin1String("enable_testing")},
+                      {'e', QLatin1String("export")},
+                      {'f', QLatin1String("fltk_wrap_ui")},
+                      {'g', QLatin1String("get_source_file_property")},
+                      {'g', QLatin1String("get_target_property")},
+                      {'g', QLatin1String("get_test_property")},
+                      {'i', QLatin1String("include_directories")},
+                      {'i', QLatin1String("include_external_msproject")},
+                      {'i', QLatin1String("include_regular_expression")},
+                      {'i', QLatin1String("install")},
+                      {'l', QLatin1String("link_directories")},
+                      {'l', QLatin1String("link_libraries")},
+                      {'l', QLatin1String("load_cache")},
+                      {'p', QLatin1String("project")},
+                      {'q', QLatin1String("qt_wrap_cpp")},
+                      {'q', QLatin1String("qt_wrap_ui")},
+                      {'r', QLatin1String("remove_definitions")},
+                      {'s', QLatin1String("set_source_files_properties")},
+                      {'s', QLatin1String("set_target_properties")},
+                      {'s', QLatin1String("set_tests_properties")},
+                      {'s', QLatin1String("source_group")},
+                      {'t', QLatin1String("target_compile_definitions")},
+                      {'t', QLatin1String("target_compile_features")},
+                      {'t', QLatin1String("target_compile_options")},
+                      {'t', QLatin1String("target_include_directories")},
+                      {'t', QLatin1String("target_link_directories")},
+                      {'t', QLatin1String("target_link_libraries")},
+                      {'t', QLatin1String("target_link_options")},
+                      {'t', QLatin1String("target_sources")},
+                      {'t', QLatin1String("try_compile")},
+                      {'t', QLatin1String("try_run")},
+                      {'c', QLatin1String("ctest_build")},
+                      {'c', QLatin1String("ctest_configure")},
+                      {'c', QLatin1String("ctest_coverage")},
+                      {'c', QLatin1String("ctest_empty_binary_directory")},
+                      {'c', QLatin1String("ctest_memcheck")},
+                      {'c', QLatin1String("ctest_read_custom_files")},
+                      {'c', QLatin1String("ctest_run_script")},
+                      {'c', QLatin1String("ctest_sleep")},
+                      {'c', QLatin1String("ctest_start")},
+                      {'c', QLatin1String("ctest_submit")},
+                      {'c', QLatin1String("ctest_test")},
+                      {'c', QLatin1String("ctest_update")},
+                      {'c', QLatin1String("ctest_upload")},
+                      {'b', QLatin1String("build_name")},
+                      {'e', QLatin1String("exec_program")},
+                      {'e', QLatin1String("export_library_dependencies")},
+                      {'i', QLatin1String("install_files")},
+                      {'i', QLatin1String("install_programs")},
+                      {'i', QLatin1String("install_targets")},
+                      {'l', QLatin1String("load_command")},
+                      {'m', QLatin1String("make_directory")},
+                      {'o', QLatin1String("output_required_files")},
+                      {'r', QLatin1String("remove")},
+                      {'s', QLatin1String("subdir_depends")},
+                      {'s', QLatin1String("subdirs")},
+                      {'u', QLatin1String("use_mangled_mesa")},
+                      {'u', QLatin1String("utility_source")},
+                      {'v', QLatin1String("variable_requires")},
+                      {'w', QLatin1String("write_file")},
+                      {'q', QLatin1String("qt5_use_modules")},
+                      {'q', QLatin1String("qt5_use_package")},
+                      {'q', QLatin1String("qt5_wrap_cpp")},
+                      {'a', QLatin1String("and")},
+                      {'o', QLatin1String("or")},
+                      {'n', QLatin1String("not")},
+                      {'c', QLatin1String("command")},
+                      {'p', QLatin1String("policy")},
+                      {'t', QLatin1String("target")},
+                      {'t', QLatin1String("test")},
+                      {'e', QLatin1String("exists")},
+                      {'i', QLatin1String("is_newer_than")},
+                      {'i', QLatin1String("is_directory")},
+                      {'i', QLatin1String("is_symlink")},
+                      {'i', QLatin1String("is_absolute")},
+                      {'m', QLatin1String("matches")},
+                      {'l', QLatin1String("less")},
+                      {'g', QLatin1String("greater")},
+                      {'e', QLatin1String("equal")},
+                      {'l', QLatin1String("less_equal")},
+                      {'g', QLatin1String("greater_equal")},
+                      {'s', QLatin1String("strless")},
+                      {'s', QLatin1String("strgreater")},
+                      {'s', QLatin1String("strequal")},
+                      {'s', QLatin1String("strless_equal")},
+                      {'s', QLatin1String("strgreater_equal")},
+                      {'v', QLatin1String("version_less")},
+                      {'v', QLatin1String("version_greater")},
+                      {'v', QLatin1String("version_equal")},
+                      {'v', QLatin1String("version_less_equal")},
+                      {'v', QLatin1String("version_greater_equal")},
+                      {'i', QLatin1String("in_list")},
+                      {'d', QLatin1String("defined")}};
+    cmake_types = {};
+    cmake_literals = {
+        {'o', QLatin1String("on")},   {'o', QLatin1String("off")},
+        {'O', QLatin1String("ON")},   {'O', QLatin1String("OFF")},
+        {'t', QLatin1String("true")}, {'f', QLatin1String("false")},
+        {'T', QLatin1String("TRUE")}, {'F', QLatin1String("FALSE")}};
+    cmake_builtin = {
+        {'A', QLatin1String("ALLOW_DUPLICATE_CUSTOM_TARGETS")},
+        {'A', QLatin1String("AUTOGEN_TARGETS_FOLDER")},
+        {'A', QLatin1String("AUTOMOC_TARGETS_FOLDER")},
+        {'D', QLatin1String("DEBUG_CONFIGURATIONS")},
+        {'D', QLatin1String("DISABLED_FEATURES")},
+        {'E', QLatin1String("ENABLED_FEATURES")},
+        {'E', QLatin1String("ENABLED_LANGUAGES")},
+        {'F', QLatin1String("FIND_LIBRARY_USE_LIB64_PATHS")},
+        {'F', QLatin1String("FIND_LIBRARY_USE_OPENBSD_VERSIONING")},
+        {'G', QLatin1String("GLOBAL_DEPENDS_DEBUG_MODE")},
+        {'G', QLatin1String("GLOBAL_DEPENDS_NO_CYCLES")},
+        {'I', QLatin1String("IN_TRY_COMPILE")},
+        {'P', QLatin1String("PACKAGES_FOUND")},
+        {'P', QLatin1String("PACKAGES_NOT_FOUND")},
+        {'J', QLatin1String("JOB_POOLS")},
+        {'P', QLatin1String("PREDEFINED_TARGETS_FOLDER")},
+        {'E', QLatin1String("ECLIPSE_EXTRA_NATURES")},
+        {'R', QLatin1String("REPORT_UNDEFINED_PROPERTIES")},
+        {'R', QLatin1String("RULE_LAUNCH_COMPILE")},
+        {'R', QLatin1String("RULE_LAUNCH_CUSTOM")},
+        {'R', QLatin1String("RULE_LAUNCH_LINK")},
+        {'R', QLatin1String("RULE_MESSAGES")},
+        {'T', QLatin1String("TARGET_ARCHIVES_MAY_BE_SHARED_LIBS")},
+        {'T', QLatin1String("TARGET_SUPPORTS_SHARED_LIBS")},
+        {'U', QLatin1String("USE_FOLDERS")},
+        {'A', QLatin1String("ADDITIONAL_MAKE_CLEAN_FILES")},
+        {'C', QLatin1String("CACHE_VARIABLES")},
+        {'C', QLatin1String("CLEAN_NO_CUSTOM")},
+        {'C', QLatin1String("CMAKE_CONFIGURE_DEPENDS")},
+        {'C', QLatin1String("COMPILE_DEFINITIONS")},
+        {'C', QLatin1String("COMPILE_OPTIONS")},
+        {'D', QLatin1String("DEFINITIONS")},
+        {'E', QLatin1String("EXCLUDE_FROM_ALL")},
+        {'I', QLatin1String("IMPLICIT_DEPENDS_INCLUDE_TRANSFORM")},
+        {'I', QLatin1String("INCLUDE_DIRECTORIES")},
+        {'I', QLatin1String("INCLUDE_REGULAR_EXPRESSION")},
+        {'I', QLatin1String("INTERPROCEDURAL_OPTIMIZATION")},
+        {'L', QLatin1String("LINK_DIRECTORIES")},
+        {'L', QLatin1String("LISTFILE_STACK")},
+        {'M', QLatin1String("MACROS")},
+        {'P', QLatin1String("PARENT_DIRECTORY")},
+        {'R', QLatin1String("RULE_LAUNCH_COMPILE")},
+        {'R', QLatin1String("RULE_LAUNCH_CUSTOM")},
+        {'R', QLatin1String("RULE_LAUNCH_LINK")},
+        {'T', QLatin1String("TEST_INCLUDE_FILE")},
+        {'V', QLatin1String("VARIABLES")},
+        {'A', QLatin1String("ALIASED_TARGET")},
+        {'A', QLatin1String("ARCHIVE_OUTPUT_DIRECTORY")},
+        {'A', QLatin1String("ARCHIVE_OUTPUT_NAME")},
+        {'A', QLatin1String("AUTOGEN_TARGET_DEPENDS")},
+        {'A', QLatin1String("AUTOMOC_MOC_OPTIONS")},
+        {'A', QLatin1String("AUTOMOC")},
+        {'A', QLatin1String("AUTOUIC")},
+        {'A', QLatin1String("AUTOUIC_OPTIONS")},
+        {'A', QLatin1String("AUTORCC")},
+        {'A', QLatin1String("AUTORCC_OPTIONS")},
+        {'B', QLatin1String("BUILD_WITH_INSTALL_RPATH")},
+        {'B', QLatin1String("BUNDLE_EXTENSION")},
+        {'B', QLatin1String("BUNDLE")},
+        {'C', QLatin1String("COMPATIBLE_INTERFACE_BOOL")},
+        {'C', QLatin1String("COMPATIBLE_INTERFACE_NUMBER_MAX")},
+        {'C', QLatin1String("COMPATIBLE_INTERFACE_NUMBER_MIN")},
+        {'C', QLatin1String("COMPATIBLE_INTERFACE_STRING")},
+        {'C', QLatin1String("COMPILE_DEFINITIONS")},
+        {'C', QLatin1String("COMPILE_FLAGS")},
+        {'C', QLatin1String("COMPILE_OPTIONS")},
+        {'D', QLatin1String("DEBUG_POSTFIX")},
+        {'D', QLatin1String("DEFINE_SYMBOL")},
+        {'E', QLatin1String("EchoString")},
+        {'E', QLatin1String("ENABLE_EXPORTS")},
+        {'E', QLatin1String("EXCLUDE_FROM_ALL")},
+        {'E', QLatin1String("EXCLUDE_FROM_DEFAULT_BUILD")},
+        {'E', QLatin1String("EXPORT_NAME")},
+        {'F', QLatin1String("FOLDER")},
+        {'F', QLatin1String("Fortran_FORMAT")},
+        {'F', QLatin1String("Fortran_MODULE_DIRECTORY")},
+        {'F', QLatin1String("FRAMEWORK")},
+        {'G', QLatin1String("GENERATOR_FILE_NAME")},
+        {'G', QLatin1String("GNUtoMS")},
+        {'H', QLatin1String("HAS_CXX")},
+        {'I', QLatin1String("IMPLICIT_DEPENDS_INCLUDE_TRANSFORM")},
+        {'I', QLatin1String("IMPORTED_CONFIGURATIONS")},
+        {'I', QLatin1String("IMPORTED_IMPLIB")},
+        {'I', QLatin1String("IMPORTED_LINK_DEPENDENT_LIBRARIES")},
+        {'I', QLatin1String("IMPORTED_LINK_INTERFACE_LANGUAGES")},
+        {'I', QLatin1String("IMPORTED_LINK_INTERFACE_LIBRARIES")},
+        {'I', QLatin1String("IMPORTED_LINK_INTERFACE_MULTIPLICITY")},
+        {'I', QLatin1String("IMPORTED_LOCATION")},
+        {'I', QLatin1String("IMPORTED_NO_SONAME")},
+        {'I', QLatin1String("IMPORTED")},
+        {'I', QLatin1String("IMPORTED_SONAME")},
+        {'I', QLatin1String("IMPORT_PREFIX")},
+        {'I', QLatin1String("IMPORT_SUFFIX")},
+        {'I', QLatin1String("INCLUDE_DIRECTORIES")},
+        {'I', QLatin1String("INSTALL_NAME_DIR")},
+        {'I', QLatin1String("INSTALL_RPATH")},
+        {'I', QLatin1String("INSTALL_RPATH_USE_LINK_PATH")},
+        {'I', QLatin1String("INTERFACE_AUTOUIC_OPTIONS")},
+        {'I', QLatin1String("INTERFACE_COMPILE_DEFINITIONS")},
+        {'I', QLatin1String("INTERFACE_COMPILE_OPTIONS")},
+        {'I', QLatin1String("INTERFACE_INCLUDE_DIRECTORIES")},
+        {'I', QLatin1String("INTERFACE_LINK_LIBRARIES")},
+        {'I', QLatin1String("INTERFACE_POSITION_INDEPENDENT_CODE")},
+        {'I', QLatin1String("INTERFACE_SYSTEM_INCLUDE_DIRECTORIES")},
+        {'I', QLatin1String("INTERPROCEDURAL_OPTIMIZATION")},
+        {'J', QLatin1String("JOB_POOL_COMPILE")},
+        {'J', QLatin1String("JOB_POOL_LINK")},
+        {'L', QLatin1String("LABELS")},
+        {'L', QLatin1String("LIBRARY_OUTPUT_DIRECTORY")},
+        {'L', QLatin1String("LIBRARY_OUTPUT_NAME")},
+        {'L', QLatin1String("LINK_DEPENDS_NO_SHARED")},
+        {'L', QLatin1String("LINK_DEPENDS")},
+        {'L', QLatin1String("LINKER_LANGUAGE")},
+        {'L', QLatin1String("LINK_FLAGS")},
+        {'L', QLatin1String("LINK_INTERFACE_LIBRARIES")},
+        {'L', QLatin1String("LINK_INTERFACE_MULTIPLICITY")},
+        {'L', QLatin1String("LINK_LIBRARIES")},
+        {'L', QLatin1String("LINK_SEARCH_END_STATIC")},
+        {'L', QLatin1String("LINK_SEARCH_START_STATIC")},
+        {'L', QLatin1String("LOCATION")},
+        {'M', QLatin1String("MACOSX_BUNDLE_INFO_PLIST")},
+        {'M', QLatin1String("MACOSX_BUNDLE")},
+        {'M', QLatin1String("MACOSX_FRAMEWORK_INFO_PLIST")},
+        {'M', QLatin1String("MACOSX_RPATH")},
+        //        {'N', QLatin1String("NAME")},
+        {'N', QLatin1String("NO_SONAME")},
+        {'N', QLatin1String("NO_SYSTEM_FROM_IMPORTED")},
+        {'O', QLatin1String("OSX_ARCHITECTURES")},
+        {'O', QLatin1String("OUTPUT_NAME")},
+        {'P', QLatin1String("PDB_NAME")},
+        {'P', QLatin1String("PDB_OUTPUT_DIRECTORY")},
+        {'P', QLatin1String("POSITION_INDEPENDENT_CODE")},
+        {'P', QLatin1String("POST_INSTALL_SCRIPT")},
+        {'P', QLatin1String("PREFIX")},
+        {'P', QLatin1String("PROPERTY")},
+        {'P', QLatin1String("PRE_INSTALL_SCRIPT")},
+        {'P', QLatin1String("PRIVATE_HEADER")},
+        {'P', QLatin1String("PROJECT_LABEL")},
+        {'P', QLatin1String("PUBLIC_HEADER")},
+        {'R', QLatin1String("RESOURCE")},
+        {'R', QLatin1String("RULE_LAUNCH_COMPILE")},
+        {'R', QLatin1String("RULE_LAUNCH_CUSTOM")},
+        {'R', QLatin1String("RULE_LAUNCH_LINK")},
+        {'R', QLatin1String("RUNTIME_OUTPUT_DIRECTORY")},
+        {'R', QLatin1String("RUNTIME_OUTPUT_NAME")},
+        {'S', QLatin1String("SKIP_BUILD_RPATH")},
+        {'S', QLatin1String("SOURCES")},
+        {'S', QLatin1String("SOVERSION")},
+        {'S', QLatin1String("STATIC_LIBRARY_FLAGS")},
+        {'S', QLatin1String("SUFFIX")},
+        {'T', QLatin1String("TARGET")},
+        {'T', QLatin1String("TYPE")},
+        {'V', QLatin1String("VERSION")},
+        {'V', QLatin1String("VISIBILITY_INLINES_HIDDEN")},
+        {'V', QLatin1String("VS_DOTNET_REFERENCES")},
+        {'V', QLatin1String("VS_DOTNET_TARGET_FRAMEWORK_VERSION")},
+        {'V', QLatin1String("VS_GLOBAL_KEYWORD")},
+        {'V', QLatin1String("VS_GLOBAL_PROJECT_TYPES")},
+        {'V', QLatin1String("VS_GLOBAL_ROOTNAMESPACE")},
+        {'V', QLatin1String("VS_KEYWORD")},
+        {'V', QLatin1String("VS_SCC_AUXPATH")},
+        {'V', QLatin1String("VS_SCC_LOCALPATH")},
+        {'V', QLatin1String("VS_SCC_PROJECTNAME")},
+        {'V', QLatin1String("VS_SCC_PROVIDER")},
+        {'V', QLatin1String("VS_WINRT_EXTENSIONS")},
+        {'V', QLatin1String("VS_WINRT_REFERENCES")},
+        {'W', QLatin1String("WIN32_EXECUTABLE")},
+        {'A', QLatin1String("ATTACHED_FILES_ON_FAIL")},
+        {'A', QLatin1String("ATTACHED_FILES")},
+        {'C', QLatin1String("COST")},
+        {'D', QLatin1String("DEPENDS")},
+        {'E', QLatin1String("ENVIRONMENT")},
+        {'F', QLatin1String("FAIL_REGULAR_EXPRESSION")},
+        {'L', QLatin1String("LABELS")},
+        {'M', QLatin1String("MEASUREMENT")},
+        {'P', QLatin1String("PASS_REGULAR_EXPRESSION")},
+        {'P', QLatin1String("PROCESSORS")},
+        {'R', QLatin1String("REQUIRED_FILES")},
+        {'R', QLatin1String("RESOURCE_LOCK")},
+        {'R', QLatin1String("RUN_SERIAL")},
+        {'S', QLatin1String("SKIP_RETURN_CODE")},
+        {'T', QLatin1String("TIMEOUT")},
+        {'W', QLatin1String("WILL_FAIL")},
+        {'W', QLatin1String("WORKING_DIRECTORY")},
+        {'A', QLatin1String("ABSTRACT")},
+        {'A', QLatin1String("AUTOUIC_OPTIONS")},
+        {'A', QLatin1String("AUTORCC_OPTIONS")},
+        {'C', QLatin1String("COMPILE_DEFINITIONS")},
+        {'C', QLatin1String("COMPILE_FLAGS")},
+        {'E', QLatin1String("EXTERNAL_OBJECT")},
+        {'F', QLatin1String("Fortran_FORMAT")},
+        {'G', QLatin1String("GENERATED")},
+        {'H', QLatin1String("HEADER_FILE_ONLY")},
+        {'K', QLatin1String("KEEP_EXTENSION")},
+        {'L', QLatin1String("LABELS")},
+        //        {'L', QLatin1String("LANGUAGE")},
+        {'L', QLatin1String("LOCATION")},
+        {'M', QLatin1String("MACOSX_PACKAGE_LOCATION")},
+        {'O', QLatin1String("OBJECT_DEPENDS")},
+        {'O', QLatin1String("OBJECT_OUTPUTS")},
+        {'S', QLatin1String("SYMBOLIC")},
+        {'W', QLatin1String("WRAP_EXCLUDE")},
+        {'A', QLatin1String("ADVANCED")},
+        {'H', QLatin1String("HELPSTRING")},
+        {'M', QLatin1String("MODIFIED")},
+        {'S', QLatin1String("STRINGS")},
+        {'T', QLatin1String("TYPE")},
+        {'V', QLatin1String("VALUE")}};
+    cmake_other = {
+        {'C', QLatin1String("CMAKE_ARGC")},
+        {'C', QLatin1String("CMAKE_ARGV0")},
+        {'C', QLatin1String("CMAKE_AR")},
+        {'C', QLatin1String("CMAKE_BINARY_DIR")},
+        {'C', QLatin1String("CMAKE_BUILD_TOOL")},
+        {'C', QLatin1String("CMAKE_CACHEFILE_DIR")},
+        {'C', QLatin1String("CMAKE_CACHE_MAJOR_VERSION")},
+        {'C', QLatin1String("CMAKE_CACHE_MINOR_VERSION")},
+        {'C', QLatin1String("CMAKE_CACHE_PATCH_VERSION")},
+        {'C', QLatin1String("CMAKE_CFG_INTDIR")},
+        {'C', QLatin1String("CMAKE_COMMAND")},
+        {'C', QLatin1String("CMAKE_CROSSCOMPILING")},
+        {'C', QLatin1String("CMAKE_CTEST_COMMAND")},
+        {'C', QLatin1String("CMAKE_CURRENT_BINARY_DIR")},
+        {'C', QLatin1String("CMAKE_CURRENT_LIST_DIR")},
+        {'C', QLatin1String("CMAKE_CURRENT_LIST_FILE")},
+        {'C', QLatin1String("CMAKE_CURRENT_LIST_LINE")},
+        {'C', QLatin1String("CMAKE_CURRENT_SOURCE_DIR")},
+        {'C', QLatin1String("CMAKE_DL_LIBS")},
+        {'C', QLatin1String("CMAKE_EDIT_COMMAND")},
+        {'C', QLatin1String("CMAKE_EXECUTABLE_SUFFIX")},
+        {'C', QLatin1String("CMAKE_EXTRA_GENERATOR")},
+        {'C', QLatin1String("CMAKE_EXTRA_SHARED_LIBRARY_SUFFIXES")},
+        {'C', QLatin1String("CMAKE_GENERATOR")},
+        {'C', QLatin1String("CMAKE_GENERATOR_TOOLSET")},
+        {'C', QLatin1String("CMAKE_HOME_DIRECTORY")},
+        {'C', QLatin1String("CMAKE_IMPORT_LIBRARY_PREFIX")},
+        {'C', QLatin1String("CMAKE_IMPORT_LIBRARY_SUFFIX")},
+        {'C', QLatin1String("CMAKE_JOB_POOL_COMPILE")},
+        {'C', QLatin1String("CMAKE_JOB_POOL_LINK")},
+        {'C', QLatin1String("CMAKE_LINK_LIBRARY_SUFFIX")},
+        {'C', QLatin1String("CMAKE_MAJOR_VERSION")},
+        {'C', QLatin1String("CMAKE_MAKE_PROGRAM")},
+        {'C', QLatin1String("CMAKE_MINIMUM_REQUIRED_VERSION")},
+        {'C', QLatin1String("CMAKE_MINOR_VERSION")},
+        {'C', QLatin1String("CMAKE_PARENT_LIST_FILE")},
+        {'C', QLatin1String("CMAKE_PATCH_VERSION")},
+        {'C', QLatin1String("CMAKE_PROJECT_NAME")},
+        {'C', QLatin1String("CMAKE_RANLIB")},
+        {'C', QLatin1String("CMAKE_ROOT")},
+        {'C', QLatin1String("CMAKE_SCRIPT_MODE_FILE")},
+        {'C', QLatin1String("CMAKE_SHARED_LIBRARY_PREFIX")},
+        {'C', QLatin1String("CMAKE_SHARED_LIBRARY_SUFFIX")},
+        {'C', QLatin1String("CMAKE_SHARED_MODULE_PREFIX")},
+        {'C', QLatin1String("CMAKE_SHARED_MODULE_SUFFIX")},
+        {'C', QLatin1String("CMAKE_SIZEOF_VOID_P")},
+        {'C', QLatin1String("CMAKE_SKIP_INSTALL_RULES")},
+        {'C', QLatin1String("CMAKE_SKIP_RPATH")},
+        {'C', QLatin1String("CMAKE_SOURCE_DIR")},
+        {'C', QLatin1String("CMAKE_STANDARD_LIBRARIES")},
+        {'C', QLatin1String("CMAKE_STATIC_LIBRARY_PREFIX")},
+        {'C', QLatin1String("CMAKE_STATIC_LIBRARY_SUFFIX")},
+        {'C', QLatin1String("CMAKE_TOOLCHAIN_FILE")},
+        {'C', QLatin1String("CMAKE_TWEAK_VERSION")},
+        {'C', QLatin1String("CMAKE_VERBOSE_MAKEFILE")},
+        {'C', QLatin1String("CMAKE_VERSION")},
+        {'C', QLatin1String("CMAKE_VS_DEVENV_COMMAND")},
+        {'C', QLatin1String("CMAKE_VS_INTEL_Fortran_PROJECT_VERSION")},
+        {'C', QLatin1String("CMAKE_VS_MSBUILD_COMMAND")},
+        {'C', QLatin1String("CMAKE_VS_MSDEV_COMMAND")},
+        {'C', QLatin1String("CMAKE_VS_PLATFORM_TOOLSET")},
+        {'C', QLatin1String("CMAKE_XCODE_PLATFORM_TOOLSET")},
+        {'P', QLatin1String("PROJECT_BINARY_DIR")},
+        //        {'P', QLatin1String("PROJECT_NAME")},
+        {'P', QLatin1String("PROJECT_SOURCE_DIR")},
+        {'P', QLatin1String("PROJECT_VERSION")},
+        {'P', QLatin1String("PROJECT_VERSION_MAJOR")},
+        {'P', QLatin1String("PROJECT_VERSION_MINOR")},
+        {'P', QLatin1String("PROJECT_VERSION_PATCH")},
+        {'P', QLatin1String("PROJECT_VERSION_TWEAK")},
+        {'B', QLatin1String("BUILD_SHARED_LIBS")},
+        {'C', QLatin1String("CMAKE_ABSOLUTE_DESTINATION_FILES")},
+        {'C', QLatin1String("CMAKE_APPBUNDLE_PATH")},
+        {'C', QLatin1String("CMAKE_AUTOMOC_RELAXED_MODE")},
+        {'C', QLatin1String("CMAKE_BACKWARDS_COMPATIBILITY")},
+        {'C', QLatin1String("CMAKE_BUILD_TYPE")},
+        {'C', QLatin1String("CMAKE_COLOR_MAKEFILE")},
+        {'C', QLatin1String("CMAKE_CONFIGURATION_TYPES")},
+        {'C', QLatin1String("CMAKE_DEBUG_TARGET_PROPERTIES")},
+        {'C', QLatin1String("CMAKE_ERROR_DEPRECATED")},
+        {'C', QLatin1String("CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION")},
+        {'C', QLatin1String("CMAKE_SYSROOT")},
+        {'C', QLatin1String("CMAKE_FIND_LIBRARY_PREFIXES")},
+        {'C', QLatin1String("CMAKE_FIND_LIBRARY_SUFFIXES")},
+        {'C', QLatin1String("CMAKE_FIND_NO_INSTALL_PREFIX")},
+        {'C', QLatin1String("CMAKE_FIND_PACKAGE_WARN_NO_MODULE")},
+        {'C', QLatin1String("CMAKE_FIND_ROOT_PATH")},
+        {'C', QLatin1String("CMAKE_FIND_ROOT_PATH_MODE_INCLUDE")},
+        {'C', QLatin1String("CMAKE_FIND_ROOT_PATH_MODE_LIBRARY")},
+        {'C', QLatin1String("CMAKE_FIND_ROOT_PATH_MODE_PACKAGE")},
+        {'C', QLatin1String("CMAKE_FIND_ROOT_PATH_MODE_PROGRAM")},
+        {'C', QLatin1String("CMAKE_FRAMEWORK_PATH")},
+        {'C', QLatin1String("CMAKE_IGNORE_PATH")},
+        {'C', QLatin1String("CMAKE_INCLUDE_PATH")},
+        {'C', QLatin1String("CMAKE_INCLUDE_DIRECTORIES_BEFORE")},
+        {'C', QLatin1String("CMAKE_INCLUDE_DIRECTORIES_PROJECT_BEFORE")},
+        {'C', QLatin1String("CMAKE_INSTALL_DEFAULT_COMPONENT_NAME")},
+        {'C', QLatin1String("CMAKE_INSTALL_PREFIX")},
+        {'C', QLatin1String("CMAKE_LIBRARY_PATH")},
+        {'C', QLatin1String("CMAKE_MFC_FLAG")},
+        {'C', QLatin1String("CMAKE_MODULE_PATH")},
+        {'C', QLatin1String("CMAKE_NOT_USING_CONFIG_FLAGS")},
+        {'C', QLatin1String("CMAKE_PREFIX_PATH")},
+        {'C', QLatin1String("CMAKE_PROGRAM_PATH")},
+        {'C', QLatin1String("CMAKE_SKIP_INSTALL_ALL_DEPENDENCY")},
+        {'C', QLatin1String("CMAKE_STAGING_PREFIX")},
+        {'C', QLatin1String("CMAKE_SYSTEM_IGNORE_PATH")},
+        {'C', QLatin1String("CMAKE_SYSTEM_INCLUDE_PATH")},
+        {'C', QLatin1String("CMAKE_SYSTEM_LIBRARY_PATH")},
+        {'C', QLatin1String("CMAKE_SYSTEM_PREFIX_PATH")},
+        {'C', QLatin1String("CMAKE_SYSTEM_PROGRAM_PATH")},
+        {'C', QLatin1String("CMAKE_USER_MAKE_RULES_OVERRIDE")},
+        {'C', QLatin1String("CMAKE_WARN_DEPRECATED")},
+        {'C', QLatin1String("CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION")},
+        {'A', QLatin1String("APPLE")},
+        {'B', QLatin1String("BORLAND")},
+        {'C', QLatin1String("CMAKE_CL_64")},
+        {'C', QLatin1String("CMAKE_COMPILER_2005")},
+        {'C', QLatin1String("CMAKE_HOST_APPLE")},
+        {'C', QLatin1String("CMAKE_HOST_SYSTEM_NAME")},
+        {'C', QLatin1String("CMAKE_HOST_SYSTEM_PROCESSOR")},
+        {'C', QLatin1String("CMAKE_HOST_SYSTEM")},
+        {'C', QLatin1String("CMAKE_HOST_SYSTEM_VERSION")},
+        {'C', QLatin1String("CMAKE_HOST_UNIX")},
+        {'C', QLatin1String("CMAKE_HOST_WIN32")},
+        {'C', QLatin1String("CMAKE_LIBRARY_ARCHITECTURE_REGEX")},
+        {'C', QLatin1String("CMAKE_LIBRARY_ARCHITECTURE")},
+        {'C', QLatin1String("CMAKE_OBJECT_PATH_MAX")},
+        {'C', QLatin1String("CMAKE_SYSTEM_NAME")},
+        {'C', QLatin1String("CMAKE_SYSTEM_PROCESSOR")},
+        {'C', QLatin1String("CMAKE_SYSTEM")},
+        {'C', QLatin1String("CMAKE_SYSTEM_VERSION")},
+        {'C', QLatin1String("CYGWIN")},
+        {'E', QLatin1String("ENV")},
+        {'M', QLatin1String("MSVC10")},
+        {'M', QLatin1String("MSVC11")},
+        {'M', QLatin1String("MSVC12")},
+        {'M', QLatin1String("MSVC60")},
+        {'M', QLatin1String("MSVC70")},
+        {'M', QLatin1String("MSVC71")},
+        {'M', QLatin1String("MSVC80")},
+        {'M', QLatin1String("MSVC90")},
+        {'M', QLatin1String("MSVC_IDE")},
+        {'M', QLatin1String("MSVC")},
+        {'M', QLatin1String("MSVC_VERSION")},
+        {'U', QLatin1String("UNIX")},
+        {'W', QLatin1String("WIN32")},
+        {'X', QLatin1String("XCODE_VERSION")},
+        {'C', QLatin1String("CMAKE_ARCHIVE_OUTPUT_DIRECTORY")},
+        {'C', QLatin1String("CMAKE_AUTOMOC_MOC_OPTIONS")},
+        {'C', QLatin1String("CMAKE_AUTOMOC")},
+        {'C', QLatin1String("CMAKE_AUTORCC")},
+        {'C', QLatin1String("CMAKE_AUTORCC_OPTIONS")},
+        {'C', QLatin1String("CMAKE_AUTOUIC")},
+        {'C', QLatin1String("CMAKE_AUTOUIC_OPTIONS")},
+        {'C', QLatin1String("CMAKE_BUILD_WITH_INSTALL_RPATH")},
+        {'C', QLatin1String("CMAKE_DEBUG_POSTFIX")},
+        {'C', QLatin1String("CMAKE_EXE_LINKER_FLAGS")},
+        {'C', QLatin1String("CMAKE_Fortran_FORMAT")},
+        {'C', QLatin1String("CMAKE_Fortran_MODULE_DIRECTORY")},
+        {'C', QLatin1String("CMAKE_GNUtoMS")},
+        {'C', QLatin1String("CMAKE_INCLUDE_CURRENT_DIR_IN_INTERFACE")},
+        {'C', QLatin1String("CMAKE_INCLUDE_CURRENT_DIR")},
+        {'C', QLatin1String("CMAKE_INSTALL_NAME_DIR")},
+        {'C', QLatin1String("CMAKE_INSTALL_RPATH")},
+        {'C', QLatin1String("CMAKE_INSTALL_RPATH_USE_LINK_PATH")},
+        {'C', QLatin1String("CMAKE_LIBRARY_OUTPUT_DIRECTORY")},
+        {'C', QLatin1String("CMAKE_LIBRARY_PATH_FLAG")},
+        {'C', QLatin1String("CMAKE_LINK_DEF_FILE_FLAG")},
+        {'C', QLatin1String("CMAKE_LINK_DEPENDS_NO_SHARED")},
+        {'C', QLatin1String("CMAKE_LINK_INTERFACE_LIBRARIES")},
+        {'C', QLatin1String("CMAKE_LINK_LIBRARY_FILE_FLAG")},
+        {'C', QLatin1String("CMAKE_LINK_LIBRARY_FLAG")},
+        {'C', QLatin1String("CMAKE_MACOSX_BUNDLE")},
+        {'C', QLatin1String("CMAKE_MACOSX_RPATH")},
+        {'C', QLatin1String("CMAKE_MODULE_LINKER_FLAGS")},
+        {'C', QLatin1String("CMAKE_NO_BUILTIN_CHRPATH")},
+        {'C', QLatin1String("CMAKE_NO_SYSTEM_FROM_IMPORTED")},
+        {'C', QLatin1String("CMAKE_OSX_ARCHITECTURES")},
+        {'C', QLatin1String("CMAKE_OSX_DEPLOYMENT_TARGET")},
+        {'C', QLatin1String("CMAKE_OSX_SYSROOT")},
+        {'C', QLatin1String("CMAKE_PDB_OUTPUT_DIRECTORY")},
+        {'C', QLatin1String("CMAKE_POSITION_INDEPENDENT_CODE")},
+        {'C', QLatin1String("CMAKE_RUNTIME_OUTPUT_DIRECTORY")},
+        {'C', QLatin1String("CMAKE_SHARED_LINKER_FLAGS")},
+        {'C', QLatin1String("CMAKE_SKIP_BUILD_RPATH")},
+        {'C', QLatin1String("CMAKE_SKIP_INSTALL_RPATH")},
+        {'C', QLatin1String("CMAKE_STATIC_LINKER_FLAGS")},
+        {'C', QLatin1String("CMAKE_TRY_COMPILE_CONFIGURATION")},
+        {'C', QLatin1String("CMAKE_USE_RELATIVE_PATHS")},
+        {'C', QLatin1String("CMAKE_VISIBILITY_INLINES_HIDDEN")},
+        {'C', QLatin1String("CMAKE_WIN32_EXECUTABLE")},
+        {'E', QLatin1String("EXECUTABLE_OUTPUT_PATH")},
+        {'L', QLatin1String("LIBRARY_OUTPUT_PATH")},
+        {'C', QLatin1String("CMAKE_Fortran_MODDIR_DEFAULT")},
+        {'C', QLatin1String("CMAKE_Fortran_MODDIR_FLAG")},
+        {'C', QLatin1String("CMAKE_Fortran_MODOUT_FLAG")},
+        {'C', QLatin1String("CMAKE_INTERNAL_PLATFORM_ABI")},
+        {'C', QLatin1String("CPACK_ABSOLUTE_DESTINATION_FILES")},
+        {'C', QLatin1String("CPACK_COMPONENT_INCLUDE_TOPLEVEL_DIRECTORY")},
+        {'C', QLatin1String("CPACK_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION")},
+        {'C', QLatin1String("CPACK_INCLUDE_TOPLEVEL_DIRECTORY")},
+        {'C', QLatin1String("CPACK_INSTALL_SCRIPT")},
+        {'C', QLatin1String("CPACK_PACKAGING_INSTALL_PREFIX")},
+        {'C', QLatin1String("CPACK_SET_DESTDIR")},
+        {'C', QLatin1String("CPACK_WARN_ON_ABSOLUTE_INSTALL_DESTINATION")}};
+}
+
+void loadCMakeData(QMultiHash<char, QLatin1String> &types,
+                   QMultiHash<char, QLatin1String> &keywords,
+                   QMultiHash<char, QLatin1String> &builtin,
+                   QMultiHash<char, QLatin1String> &literals,
+                   QMultiHash<char, QLatin1String> &other) {
+    if (!cmakeDataInitialized) {
+        initCMakeData();
+        cmakeDataInitialized = true;
+    }
+    types = cmake_types;
+    keywords = cmake_keywords;
+    builtin = cmake_builtin;
+    literals = cmake_literals;
+    other = cmake_other;
+}
+
+/********************************************************/
+/***   MAKE DATA   **************************************/
+/********************************************************/
+static bool makeDataInitialized = false;
+static QMultiHash<char, QLatin1String> make_keywords;
+static QMultiHash<char, QLatin1String> make_types;
+static QMultiHash<char, QLatin1String> make_literals;
+static QMultiHash<char, QLatin1String> make_builtin;
+static QMultiHash<char, QLatin1String> make_other;
+void initMakeData() {
+    make_keywords = {
+        {'i', QLatin1String("include")},  {'d', QLatin1String("define")},
+        {'e', QLatin1String("else")},     {'e', QLatin1String("endef")},
+        {'e', QLatin1String("endif")},    {'e', QLatin1String("export")},
+        {'i', QLatin1String("ifn?def")},  {'i', QLatin1String("ifn?eq")},
+        {'i', QLatin1String("include")},  {'o', QLatin1String("override")},
+        {'p', QLatin1String("private")},  {'s', QLatin1String("sinclude")},
+        {'u', QLatin1String("undefine")}, {'u', QLatin1String("unexport")},
+        {'v', QLatin1String("vpath")}};
+    make_types = {
+        {'a', QLatin1String("addsuffix")},  {'a', QLatin1String("abspath")},
+        {'a', QLatin1String("and")},        {'a', QLatin1String("ar")},
+        {'b', QLatin1String("basename")},   {'c', QLatin1String("call")},
+        {'d', QLatin1String("dir")},        {'e', QLatin1String("error")},
+        {'e', QLatin1String("eval")},       {'f', QLatin1String("file")},
+        {'f', QLatin1String("filter")},     {'f', QLatin1String("find")},
+        {'f', QLatin1String("findstring")}, {'f', QLatin1String("firstword")},
+        {'f', QLatin1String("flavor")},     {'f', QLatin1String("foreach")},
+        {'g', QLatin1String("guile")},      {'i', QLatin1String("if")},
+        {'i', QLatin1String("info")},       {'i', QLatin1String("install")},
+        {'j', QLatin1String("join")},       {'l', QLatin1String("lastword")},
+        {'l', QLatin1String("load")},       {'n', QLatin1String("notdir")},
+        {'o', QLatin1String("or")},         {'o', QLatin1String("origin")},
+        {'p', QLatin1String("patsubst")},   {'r', QLatin1String("ranlib")},
+        {'r', QLatin1String("realpath")},   {'r', QLatin1String("rm")},
+        {'s', QLatin1String("shell")},      {'s', QLatin1String("sort")},
+        {'s', QLatin1String("strip")},      {'s', QLatin1String("subst")},
+        {'s', QLatin1String("suffix")},     {'v', QLatin1String("value")},
+        {'w', QLatin1String("warning")},    {'w', QLatin1String("wildcard")},
+        {'w', QLatin1String("word")}};
+    make_literals = {
+        {'t', QLatin1String("true")},
+        {'f', QLatin1String("false")},
+    };
+    make_builtin = {};
+    make_other = {
+        {'C', QLatin1String("CFLAGS")},
+        {'L', QLatin1String("LIBS")},
+        {'P', QLatin1String("PREFIX")},
+    };
+}
+
+void loadMakeData(QMultiHash<char, QLatin1String> &types,
+                  QMultiHash<char, QLatin1String> &keywords,
+                  QMultiHash<char, QLatin1String> &builtin,
+                  QMultiHash<char, QLatin1String> &literals,
+                  QMultiHash<char, QLatin1String> &other) {
+    if (!makeDataInitialized) {
+        initMakeData();
+        makeDataInitialized = true;
+    }
+    types = make_types;
+    keywords = make_keywords;
+    builtin = make_builtin;
+    literals = make_literals;
+    other = make_other;
+}
+
+/********************************************************/
+/***   Forth DATA   *************************************/
+/********************************************************/
+static bool forthDataInitialized = false;
+static QMultiHash<char, QLatin1String> forth_keywords;
+static QMultiHash<char, QLatin1String> forth_types;
+static QMultiHash<char, QLatin1String> forth_builtin;
+static QMultiHash<char, QLatin1String> forth_literals;
+static QMultiHash<char, QLatin1String> forth_other;
+void initForthData() {
+    forth_keywords = {
+        {('d'), QLatin1String("disasm")},
+        {('d'), QLatin1String("disassembler")},
+        {('b'), QLatin1String("base-addr")},
+        {('s'), QLatin1String("show-name")},
+        {('d'), QLatin1String("default-32bit")},
+        {('d'), QLatin1String("default-16bit")},
+        {('d'), QLatin1String("default-16bit?")},
+        {('c'), QLatin1String("col")},
+        {('w'), QLatin1String("w@")},
+        {('('), QLatin1String("(D.)")},
+        {('M'), QLatin1String("MAXCOUNTED")},
+        {('S'), QLatin1String("SPCS")},
+        {('S'), QLatin1String("SPCS-MAX")},
+        {('m'), QLatin1String("maxstring")},
+        {('d'), QLatin1String("dffield:")},
+        {('s'), QLatin1String("sffield:")},
+        {('f'), QLatin1String("ffield:")},
+        {('2'), QLatin1String("2field:")},
+        {('f'), QLatin1String("field:")},
+        {('c'), QLatin1String("cfield:")},
+        {('e'), QLatin1String("end-structure")},
+        {('b'), QLatin1String("begin-structure")},
+        {('+'), QLatin1String("+field")},
+        {('i'), QLatin1String("init-libcc")},
+        {('e'), QLatin1String("end-c-library")},
+        {('c'), QLatin1String("c-library")},
+        {('c'), QLatin1String("c-library-name")},
+        {('c'), QLatin1String("c-library-incomplete")},
+        {('c'), QLatin1String("clear-libs")},
+        {('c'), QLatin1String("c-function")},
+        {('c'), QLatin1String("c-function-rt")},
+        {('c'), QLatin1String("c-function-ft")},
+        {('l'), QLatin1String("link-wrapper-function")},
+        {('c'), QLatin1String("compile-wrapper-function1")},
+        {('c'), QLatin1String("compile-wrapper-function")},
+        {('.'), QLatin1String(".lib-error")},
+        {('c'), QLatin1String("c-source-file-execute")},
+        {('n'), QLatin1String("notype-execute")},
+        {('c'), QLatin1String("c-source-file")},
+        {('i'), QLatin1String("init-c-source-file")},
+        {('l'), QLatin1String("lib-handle")},
+        {('c'), QLatin1String("c-tmp-library-name")},
+        {('c'), QLatin1String("c-named-library-name")},
+        {('c'), QLatin1String("c-library-name-create")},
+        {('c'), QLatin1String("c-library-name-setup")},
+        {('o'), QLatin1String("open-wrappers")},
+        {('p'), QLatin1String("prepend-dirname")},
+        {('l'), QLatin1String("libcc-tmp-dir")},
+        {('l'), QLatin1String("libcc-named-dir")},
+        {('g'), QLatin1String("gen-filename")},
+        {('b'), QLatin1String("basename")},
+        {('d'), QLatin1String("dirname")},
+        {('s'), QLatin1String("scan-back")},
+        {('g'), QLatin1String("gen-wrapper-function")},
+        {('w'), QLatin1String("wrapper-function-name")},
+        {('g'), QLatin1String("gen-wrapped-stmt")},
+        {('g'), QLatin1String("gen-wrapped-types")},
+        {('g'), QLatin1String("gen-wrapped-func")},
+        {('g'), QLatin1String("gen-wrapped-r")},
+        {('g'), QLatin1String("gen-wrapped-d")},
+        {('g'), QLatin1String("gen-wrapped-a")},
+        {('g'), QLatin1String("gen-wrapped-n")},
+        {('g'), QLatin1String("gen-wrapped-void")},
+        {('g'), QLatin1String("gen-wrapped-call")},
+        {('g'), QLatin1String("gen-par")},
+        {('g'), QLatin1String("gen-par-types")},
+        {('g'), QLatin1String("gen-par-void")},
+        {('g'), QLatin1String("gen-par-func")},
+        {('g'), QLatin1String("gen-par-r")},
+        {('g'), QLatin1String("gen-par-d")},
+        {('g'), QLatin1String("gen-par-a")},
+        {('g'), QLatin1String("gen-par-n")},
+        {('c'), QLatin1String("count-stacks")},
+        {('c'), QLatin1String("count-stacks-types")},
+        {('c'), QLatin1String("count-stacks-void")},
+        {('c'), QLatin1String("count-stacks-func")},
+        {('c'), QLatin1String("count-stacks-r")},
+        {('c'), QLatin1String("count-stacks-d")},
+        {('c'), QLatin1String("count-stacks-a")},
+        {('c'), QLatin1String("count-stacks-n")},
+        {('t'), QLatin1String("type-letter")},
+        {('p'), QLatin1String("parse-function-types")},
+        {('p'), QLatin1String("parse-libcc-type")},
+        {('l'), QLatin1String("libcc-types")},
+        {('\\'), QLatin1String("\\c")},
+        {('s'), QLatin1String("save-c-prefix-line")},
+        {('p'), QLatin1String("print-c-prefix-lines")},
+        {('p'), QLatin1String("print-c-prefix-line")},
+        {('c'), QLatin1String("c-prefix-lines-end")},
+        {('c'), QLatin1String("c-prefix-lines")},
+        {('c'), QLatin1String("c-prefix%")},
+        {('c'), QLatin1String("c-prefix-chars")},
+        {('c'), QLatin1String("c-prefix-count")},
+        {('a'), QLatin1String("append-l")},
+        {('a'), QLatin1String("add-lib")},
+        {('c'), QLatin1String("c-libs")},
+        {('c'), QLatin1String("c-lib%")},
+        {('c'), QLatin1String("c-lib-string")},
+        {('l'), QLatin1String("list-map")},
+        {('l'), QLatin1String("list-append")},
+        {('l'), QLatin1String("list-insert")},
+        {('l'), QLatin1String("list%")},
+        {('l'), QLatin1String("list-payload")},
+        {('l'), QLatin1String("list-next")},
+        {('a'), QLatin1String("append")},
+        {('s'), QLatin1String("s+")},
+        {('f'), QLatin1String("front-char")},
+        {('f'), QLatin1String("front-string")},
+        {('c'), QLatin1String("const+")},
+        {('.'), QLatin1String(".nb")},
+        {('r'), QLatin1String("replace-rpath")},
+        {('l'), QLatin1String("libcc-path")},
+        {('l'), QLatin1String("libcc-named-dir-v")},
+        {('l'), QLatin1String("lib-modulename")},
+        {('l'), QLatin1String("lib-filename")},
+        {('l'), QLatin1String("lib-handle-addr")},
+        {('c'), QLatin1String("c-source-file-id")},
+        {('c'), QLatin1String("cff%")},
+        {('c'), QLatin1String("cff-ptypes")},
+        {('c'), QLatin1String("cff-np")},
+        {('c'), QLatin1String("cff-rtype")},
+        {('c'), QLatin1String("cff-lha")},
+        {('c'), QLatin1String("cff-deferred")},
+        {('c'), QLatin1String("cff-cfr")},
+        {('m'), QLatin1String("mkdir-parents")},
+        {('d'), QLatin1String("disasm-gdb")},
+        {('a'), QLatin1String("append-extend-string")},
+        {('e'), QLatin1String("end-code")},
+        {(';'), QLatin1String(";code")},
+        {('('), QLatin1String("(;code)")},
+        {('c'), QLatin1String("code")},
+        {('i'), QLatin1String("init-asm")},
+        {('a'), QLatin1String("assembler")},
+        {('b'), QLatin1String("break\"")},
+        {('('), QLatin1String("(break\")")},
+        {('b'), QLatin1String("break:")},
+        {('('), QLatin1String("(break:)")},
+        {('b'), QLatin1String("break:,")},
+        {('d'), QLatin1String("dbg")},
+        {('('), QLatin1String("(debug)")},
+        {('('), QLatin1String("(_debug)")},
+        {('D'), QLatin1String("D-KEY")},
+        {('U'), QLatin1String("Unnest")},
+        {('N'), QLatin1String("Nesting")},
+        {('n'), QLatin1String("nestXT")},
+        {('n'), QLatin1String("nestXT-checkSpecial")},
+        {('B'), QLatin1String("Body")},
+        {('r'), QLatin1String("restore-bp")},
+        {('s'), QLatin1String("set-bp")},
+        {('D'), QLatin1String("DT")},
+        {('B'), QLatin1String("BP")},
+        {('b'), QLatin1String("breaker")},
+        {('b'), QLatin1String("breaker-size")},
+        {('D'), QLatin1String("DebugLoop")},
+        {('j'), QLatin1String("jump")},
+        {('g'), QLatin1String("get-next")},
+        {('d'), QLatin1String("disp-step")},
+        {('L'), QLatin1String("Leave-D")},
+        {('N'), QLatin1String("NoFine")},
+        {('d'), QLatin1String("d.s")},
+        {('.'), QLatin1String(".n")},
+        {('s'), QLatin1String("scanword")},
+        {('r'), QLatin1String("restore-see-flags")},
+        {('s'), QLatin1String("save-see-flags")},
+        {('d'), QLatin1String("dbg-ip")},
+        {('s'), QLatin1String("see-code")},
+        {('s'), QLatin1String("see-code-range")},
+        {('s'), QLatin1String("see-code-next-inline")},
+        {('s'), QLatin1String("simple-see")},
+        {('s'), QLatin1String("simple-see-range")},
+        {('s'), QLatin1String("simple-see-word")},
+        {('p'), QLatin1String("print-backtrace")},
+        {('p'), QLatin1String("print-bt-entry")},
+        {('b'), QLatin1String("backtrace-return-stack")},
+        {('i'), QLatin1String("init-backtrace")},
+        {('b'), QLatin1String("backtrace-rs-buffer")},
+        {('a'), QLatin1String("adjust-buffer")},
+        {('i'), QLatin1String("init-buffer")},
+        {('b'), QLatin1String("buffer%")},
+        {('b'), QLatin1String("buffer-maxlength")},
+        {('b'), QLatin1String("buffer-address")},
+        {('b'), QLatin1String("buffer-length")},
+        {('b'), QLatin1String("buffer-descriptor")},
+        {('c'), QLatin1String("c-extend1")},
+        {('c'), QLatin1String("c-lp+!#")},
+        {('c'), QLatin1String("c-laddr#")},
+        {('c'), QLatin1String("c-f@local#")},
+        {('c'), QLatin1String("c-flit")},
+        {('c'), QLatin1String("c-@local#")},
+        {('c'), QLatin1String("c-branch-lp+!#")},
+        {('c'), QLatin1String("c-?branch-lp+!#")},
+        {('c'), QLatin1String("c-loop-lp+!#")},
+        {('s'), QLatin1String("see")},
+        {('n'), QLatin1String("name-see")},
+        {('('), QLatin1String("(.immediate)")},
+        {('('), QLatin1String("(xt-see-xt)")},
+        {('x'), QLatin1String("xt-see")},
+        {('s'), QLatin1String("seefield")},
+        {('s'), QLatin1String("seecol")},
+        {('s'), QLatin1String("seedoes")},
+        {('s'), QLatin1String("see-threaded")},
+        {('s'), QLatin1String("seedefer")},
+        {('s'), QLatin1String("seevalue")},
+        {('s'), QLatin1String("seecon")},
+        {('s'), QLatin1String("seeuser")},
+        {('s'), QLatin1String("seevar")},
+        {('s'), QLatin1String("seecode")},
+        {('n'), QLatin1String("next-prim")},
+        {('n'), QLatin1String("next-head")},
+        {('d'), QLatin1String("discode")},
+        {('.'), QLatin1String(".defname")},
+        {('x'), QLatin1String("xt-see-xt")},
+        {('m'), QLatin1String("makepass")},
+        {('c'), QLatin1String("c-init")},
+        {('a'), QLatin1String("analyse")},
+        {('B'), QLatin1String("BranchTo?")},
+        {('D'), QLatin1String("DoTable")},
+        {('c'), QLatin1String("c-extender")},
+        {('C'), QLatin1String("C-Table")},
+        {('c'), QLatin1String("c-(compile)")},
+        {('c'), QLatin1String("c-does>")},
+        {('c'), QLatin1String("c-abort\"")},
+        {('c'), QLatin1String("c-exit")},
+        {('c'), QLatin1String("c-?do")},
+        {('c'), QLatin1String("c-do")},
+        {('c'), QLatin1String("c-loop")},
+        {('c'), QLatin1String("c-for")},
+        {('c'), QLatin1String("c-?branch")},
+        {('D'), QLatin1String("DebugBranch")},
+        {('c'), QLatin1String("c-branch")},
+        {('R'), QLatin1String("RepeatCheck")},
+        {('F'), QLatin1String("Forward?")},
+        {('c'), QLatin1String("c-string?")},
+        {('c'), QLatin1String("c-c\"")},
+        {('.'), QLatin1String(".name-without")},
+        {('c'), QLatin1String("c-lit+")},
+        {('c'), QLatin1String("c-lit")},
+        {('c'), QLatin1String("c-callxt")},
+        {('c'), QLatin1String("c-call")},
+        {('.'), QLatin1String(".word")},
+        {('b'), QLatin1String("back?")},
+        {('D'), QLatin1String("Debug?")},
+        {('D'), QLatin1String("Display?")},
+        {('S'), QLatin1String("Scan?")},
+        {('D'), QLatin1String("DebugMode")},
+        {('D'), QLatin1String("DisplayMode")},
+        {('S'), QLatin1String("ScanMode")},
+        {('C'), QLatin1String("C-Pass")},
+        {('N'), QLatin1String("NoOutput")},
+        {('B'), QLatin1String("Branch!")},
+        {('T'), QLatin1String("Type!")},
+        {(','), QLatin1String(",Branch")},
+        {('C'), QLatin1String("CheckWhile")},
+        {('M'), QLatin1String("MyBranch")},
+        {('C'), QLatin1String("CheckEnd")},
+        {('M'), QLatin1String("MoreBranchAddr?")},
+        {('B'), QLatin1String("BranchAddr?")},
+        {('('), QLatin1String("(BranchAddr?)")},
+        {('F'), QLatin1String("FirstBranch")},
+        {('M'), QLatin1String("MaxTable")},
+        {('B'), QLatin1String("BranchTable")},
+        {('S'), QLatin1String("SearchPointer")},
+        {('B'), QLatin1String("BranchPointer")},
+        {('B'), QLatin1String("Branches")},
+        {('C'), QLatin1String("C-Stop")},
+        {('L'), QLatin1String("LeaveCode")},
+        {('D'), QLatin1String("Disable")},
+        {('W'), QLatin1String("WhileCode2")},
+        {('A'), QLatin1String("AheadCode")},
+        {('E'), QLatin1String("ElseCode")},
+        {('U'), QLatin1String("UntilCode")},
+        {('A'), QLatin1String("AgainCode")},
+        {('R'), QLatin1String("RepeatCode")},
+        {('.'), QLatin1String(".struc")},
+        {('c'), QLatin1String("c-\\type")},
+        {('('), QLatin1String("(.string)")},
+        {('.'), QLatin1String(".string")},
+        {('c'), QLatin1String("cemit")},
+        {('c'), QLatin1String("ctype")},
+        {('w'), QLatin1String("warp?")},
+        {('('), QLatin1String("(nl)")},
+        {('n'), QLatin1String("nl")},
+        {('n'), QLatin1String("nlcount")},
+        {('u'), QLatin1String("uppercase")},
+        {('n'), QLatin1String("nlflag")},
+        {('l'), QLatin1String("level-")},
+        {('l'), QLatin1String("level+")},
+        {('F'), QLatin1String("Format")},
+        {('L'), QLatin1String("Level")},
+        {('Y'), QLatin1String("YPos")},
+        {('X'), QLatin1String("XPos")},
+        {('C'), QLatin1String("C-Clearline")},
+        {('C'), QLatin1String("C-Highlight")},
+        {('C'), QLatin1String("C-Formated")},
+        {('C'), QLatin1String("C-Output")},
+        {('.'), QLatin1String(".\"")},
+        {('s'), QLatin1String("s\"")},
+        {('\\'), QLatin1String("\\\"-parse")},
+        {('\\'), QLatin1String("\\-escape")},
+        {('\\'), QLatin1String("\\-escape-table")},
+        {('p'), QLatin1String("parse-num")},
+        {('p'), QLatin1String("parse-num-x")},
+        {('c'), QLatin1String("char/")},
+        {('e'), QLatin1String("ekey?")},
+        {('e'), QLatin1String("ekey>fkey")},
+        {('e'), QLatin1String("ekey>char")},
+        {('e'), QLatin1String("ekey")},
+        {('c'), QLatin1String("clear-ekey-buffer")},
+        {('e'), QLatin1String("esc-sequence")},
+        {('e'), QLatin1String("esc-prefix")},
+        {('e'), QLatin1String("ekey-buffered")},
+        {('e'), QLatin1String("ekey-buffer")},
+        {('e'), QLatin1String("esc-sequences")},
+        {('u'), QLatin1String("unkeys")},
+        {('u'), QLatin1String("unkey")},
+        {('c'), QLatin1String("char-append-buffer")},
+        {('k'), QLatin1String("key-buffered")},
+        {('k'), QLatin1String("key-buffer")},
+        {('s'), QLatin1String("s-k12")},
+        {('s'), QLatin1String("s-k11")},
+        {('s'), QLatin1String("s-k10")},
+        {('s'), QLatin1String("s-k9")},
+        {('s'), QLatin1String("s-k8")},
+        {('s'), QLatin1String("s-k7")},
+        {('s'), QLatin1String("s-k6")},
+        {('s'), QLatin1String("s-k5")},
+        {('s'), QLatin1String("s-k4")},
+        {('s'), QLatin1String("s-k3")},
+        {('s'), QLatin1String("s-k2")},
+        {('s'), QLatin1String("s-k1")},
+        {('k'), QLatin1String("k12")},
+        {('k'), QLatin1String("k11")},
+        {('k'), QLatin1String("k10")},
+        {('k'), QLatin1String("k9")},
+        {('k'), QLatin1String("k8")},
+        {('k'), QLatin1String("k7")},
+        {('k'), QLatin1String("k6")},
+        {('k'), QLatin1String("k5")},
+        {('k'), QLatin1String("k4")},
+        {('k'), QLatin1String("k3")},
+        {('k'), QLatin1String("k2")},
+        {('k'), QLatin1String("k1")},
+        {('k'), QLatin1String("k-f12")},
+        {('k'), QLatin1String("k-f11")},
+        {('k'), QLatin1String("k-f10")},
+        {('k'), QLatin1String("k-f9")},
+        {('k'), QLatin1String("k-f8")},
+        {('k'), QLatin1String("k-f7")},
+        {('k'), QLatin1String("k-f6")},
+        {('k'), QLatin1String("k-f5")},
+        {('k'), QLatin1String("k-f4")},
+        {('k'), QLatin1String("k-f3")},
+        {('k'), QLatin1String("k-f2")},
+        {('k'), QLatin1String("k-f1")},
+        {('k'), QLatin1String("k-delete")},
+        {('k'), QLatin1String("k-insert")},
+        {('k'), QLatin1String("k-next")},
+        {('k'), QLatin1String("k-prior")},
+        {('k'), QLatin1String("k-end")},
+        {('k'), QLatin1String("k-home")},
+        {('k'), QLatin1String("k-down")},
+        {('k'), QLatin1String("k-up")},
+        {('k'), QLatin1String("k-right")},
+        {('k'), QLatin1String("k-left")},
+        {('k'), QLatin1String("k-alt-mask")},
+        {('k'), QLatin1String("k-ctrl-mask")},
+        {('k'), QLatin1String("k-shift-mask")},
+        {('k'), QLatin1String("keycode")},
+        {('t'), QLatin1String("table")},
+        {('t'), QLatin1String("tablesearch-map")},
+        {('t'), QLatin1String("table-find")},
+        {('s'), QLatin1String("savesystem")},
+        {('d'), QLatin1String("dump-fi")},
+        {('u'), QLatin1String("update-image-included-files")},
+        {('d'), QLatin1String("delete-prefix")},
+        {('s'), QLatin1String("save-mem-dict")},
+        {('<'), QLatin1String("<compilation")},
+        {('c'), QLatin1String("compilation>")},
+        {('('), QLatin1String("(compilation>1)")},
+        {('<'), QLatin1String("<interpretation")},
+        {('i'), QLatin1String("interpretation>")},
+        {('('), QLatin1String("(interpretation>1)")},
+        {('f'), QLatin1String("fix-does-code")},
+        {('c'), QLatin1String("create-interpret/compile")},
+        {('n'), QLatin1String("no-interpretation-does-code")},
+        {('n'), QLatin1String("no-compilation-does-code")},
+        {('b'), QLatin1String("bye")},
+        {('b'), QLatin1String("block-included")},
+        {('-'), QLatin1String("-->")},
+        {('+'), QLatin1String("+thru")},
+        {('+'), QLatin1String("+load")},
+        {('t'), QLatin1String("thru")},
+        {('l'), QLatin1String("load")},
+        {('b'), QLatin1String("block-input")},
+        {('l'), QLatin1String("list")},
+        {('u'), QLatin1String("updated?")},
+        {('s'), QLatin1String("scr")},
+        {('b'), QLatin1String("buffer")},
+        {('b'), QLatin1String("block")},
+        {('g'), QLatin1String("get-buffer")},
+        {('f'), QLatin1String("flush")},
+        {('e'), QLatin1String("empty-buffers")},
+        {('s'), QLatin1String("save-buffers")},
+        {('e'), QLatin1String("empty-buffer")},
+        {('s'), QLatin1String("save-buffer")},
+        {('u'), QLatin1String("update")},
+        {('b'), QLatin1String("block-position")},
+        {('g'), QLatin1String("get-block-fid")},
+        {('u'), QLatin1String("use")},
+        {('o'), QLatin1String("open-blocks")},
+        {('f'), QLatin1String("flush-blocks")},
+        {('b'), QLatin1String("block-cold")},
+        {('o'), QLatin1String("offset")},
+        {('b'), QLatin1String("block-offset")},
+        {('b'), QLatin1String("block-fid")},
+        {('b'), QLatin1String("block-limit")},
+        {('b'), QLatin1String("buffers")},
+        {('l'), QLatin1String("last-block")},
+        {('b'), QLatin1String("block-buffers")},
+        {('b'), QLatin1String("buffer-struct")},
+        {('n'), QLatin1String("next-buffer")},
+        {('b'), QLatin1String("block-buffer")},
+        {('b'), QLatin1String("buffer-dirty")},
+        {('b'), QLatin1String("buffer-fid")},
+        {('b'), QLatin1String("buffer-block")},
+        {(')'), QLatin1String(")")},
+        {('('), QLatin1String("(end-assert)")},
+        {('a'), QLatin1String("assert(")},
+        {('a'), QLatin1String("assert3(")},
+        {('a'), QLatin1String("assert2(")},
+        {('a'), QLatin1String("assert1(")},
+        {('a'), QLatin1String("assert0(")},
+        {('a'), QLatin1String("assertn")},
+        {('a'), QLatin1String("assert-level")},
+        {('~'), QLatin1String("~~")},
+        {('.'), QLatin1String(".debugline-stderr")},
+        {('('), QLatin1String("(.debugline)")},
+        {('.'), QLatin1String(".debugline")},
+        {('p'), QLatin1String("printdebugdata")},
+        {('.'), QLatin1String(".sourcepos")},
+        {('c'), QLatin1String("compile-sourcepos")},
+        {('c'), QLatin1String("current-sourcepos")},
+        {('s'), QLatin1String("str>loadfilename#")},
+        {('l'), QLatin1String("loadfilename#>str")},
+        {('v'), QLatin1String("vt100-decode")},
+        {('t'), QLatin1String("tcode")},
+        {('t'), QLatin1String("trans:")},
+        {('t'), QLatin1String("transcode")},
+        {('t'), QLatin1String("translate")},
+        {('h'), QLatin1String("history-cold")},
+        {('g'), QLatin1String("get-history")},
+        {('x'), QLatin1String("xchar-history")},
+        {('x'), QLatin1String("xtab-expand")},
+        {('i'), QLatin1String("insert")},
+        {('x'), QLatin1String("xkill-expand")},
+        {('('), QLatin1String("(xenter)")},
+        {('x'), QLatin1String("xclear-tib")},
+        {('x'), QLatin1String("xclear-line")},
+        {('x'), QLatin1String("xend-pos")},
+        {('x'), QLatin1String("xfirst-pos")},
+        {('x'), QLatin1String("xeof")},
+        {('<'), QLatin1String("<xdel>")},
+        {('?'), QLatin1String("?xdel")},
+        {('('), QLatin1String("(xdel)")},
+        {('x'), QLatin1String("xforw")},
+        {('x'), QLatin1String("xback")},
+        {('('), QLatin1String("(xins)")},
+        {('<'), QLatin1String("<xins>")},
+        {('x'), QLatin1String("xretype")},
+        {('.'), QLatin1String(".all")},
+        {('.'), QLatin1String(".rest")},
+        {('x'), QLatin1String("xback-restore")},
+        {('x'), QLatin1String("xcur-correct")},
+        {('a'), QLatin1String("at-deltaxy")},
+        {('#'), QLatin1String("#esc")},
+        {('k'), QLatin1String("kill-prefix")},
+        {('t'), QLatin1String("tib-full?")},
+        {('s'), QLatin1String("search-prefix")},
+        {('p'), QLatin1String("prefix-string")},
+        {('p'), QLatin1String("prefix-off")},
+        {('s'), QLatin1String("search-voc")},
+        {('w'), QLatin1String("word-lex")},
+        {('c'), QLatin1String("capscomp")},
+        {('s'), QLatin1String("sgn")},
+        {('p'), QLatin1String("prefix-found")},
+        {('e'), QLatin1String("extract-word")},
+        {('('), QLatin1String("(enter)")},
+        {('p'), QLatin1String("prev-line")},
+        {('f'), QLatin1String("find-prev-line")},
+        {('n'), QLatin1String("next-line")},
+        {('g'), QLatin1String("get-line")},
+        {('h'), QLatin1String("hist-setpos")},
+        {('h'), QLatin1String("hist-pos")},
+        {('c'), QLatin1String("clear-line")},
+        {('l'), QLatin1String("linew-off")},
+        {('s'), QLatin1String("screenw")},
+        {('l'), QLatin1String("linew")},
+        {('c'), QLatin1String("cur-correct")},
+        {('b'), QLatin1String("back-restore")},
+        {('h'), QLatin1String("history-file")},
+        {('f'), QLatin1String("force-open")},
+        {('e'), QLatin1String("end^")},
+        {('b'), QLatin1String("backward^")},
+        {('f'), QLatin1String("forward^")},
+        {('h'), QLatin1String("history")},
+        {('b'), QLatin1String("bindkey")},
+        {('>'), QLatin1String(">string")},
+        {('c'), QLatin1String("ctrl")},
+        {('c'), QLatin1String("ctrl-i")},
+        {('u'), QLatin1String("utf-8-cold")},
+        {('s'), QLatin1String("set-encoding-utf-8")},
+        {('u'), QLatin1String("u8width")},
+        {('-'), QLatin1String("-u8trailing-garbage")},
+        {('u'), QLatin1String("u8addrlen")},
+        {('u'), QLatin1String("u8!+?")},
+        {('u'), QLatin1String("u8@")},
+        {('u'), QLatin1String("u8\\string-")},
+        {('+'), QLatin1String("+u8/string")},
+        {('u'), QLatin1String("u8emit")},
+        {('u'), QLatin1String("u8key")},
+        {('c'), QLatin1String("check-xy")},
+        {('u'), QLatin1String("u8<<")},
+        {('u'), QLatin1String("u8>>")},
+        {('u'), QLatin1String("u8!+")},
+        {('u'), QLatin1String("u8@+")},
+        {('u'), QLatin1String("u8len")},
+        {('m'), QLatin1String("max-single-byte")},
+        {('U'), QLatin1String("UTF-8-err")},
+        {('O'), QLatin1String("O-PNT@")},
+        {('O'), QLatin1String("O-DEINIT")},
+        {('O'), QLatin1String("O-INIT")},
+        {('T'), QLatin1String("TypeXT")},
+        {('E'), QLatin1String("EmitXT")},
+        {('O'), QLatin1String("O-EMIT")},
+        {('O'), QLatin1String("O-TYPE")},
+        {('O'), QLatin1String("O-PNT")},
+        {('O'), QLatin1String("O-Buffer")},
+        {('p'), QLatin1String("page")},
+        {('a'), QLatin1String("at-xy")},
+        {('E'), QLatin1String("ESC[")},
+        {(';'), QLatin1String(";pn")},
+        {('p'), QLatin1String("pn")},
+        {('W'), QLatin1String("WordInfo")},
+        {('I'), QLatin1String("InfoTable")},
+        {('C'), QLatin1String("Com#")},
+        {('S'), QLatin1String("Str#")},
+        {('A'), QLatin1String("Ali#")},
+        {('U'), QLatin1String("Use#")},
+        {('C'), QLatin1String("Col#")},
+        {('D'), QLatin1String("Def#")},
+        {('D'), QLatin1String("Doe#")},
+        {('V'), QLatin1String("Val#")},
+        {('V'), QLatin1String("Var#")},
+        {('C'), QLatin1String("Con#")},
+        {('P'), QLatin1String("Pri#")},
+        {('p'), QLatin1String("prim?")},
+        {('x'), QLatin1String("xtprim?")},
+        {('c'), QLatin1String("colon?")},
+        {('d'), QLatin1String("defered?")},
+        {('d'), QLatin1String("does?")},
+        {('u'), QLatin1String("user?")},
+        {('c'), QLatin1String("con?")},
+        {('v'), QLatin1String("var?")},
+        {('a'), QLatin1String("alias?")},
+        {('>'), QLatin1String(">head")},
+        {('>'), QLatin1String(">name")},
+        {('t'), QLatin1String("threaded>name")},
+        {('l'), QLatin1String("look")},
+        {('p'), QLatin1String("prim>name")},
+        {('P'), QLatin1String("PrimStart")},
+        {('t'), QLatin1String("threaded>xt")},
+        {('s'), QLatin1String("search-name")},
+        {('x'), QLatin1String("xt>threaded")},
+        {('b'), QLatin1String("base-execute")},
+        {('i'), QLatin1String("infile-execute")},
+        {('o'), QLatin1String("outfile-execute")},
+        {('l'), QLatin1String("l@")},
+        {('w'), QLatin1String("w@")},
+        {('/'), QLatin1String("/l")},
+        {('/'), QLatin1String("/w")},
+        {('t'), QLatin1String("typewhite")},
+        {('w'), QLatin1String("what's")},
+        {('a'), QLatin1String("action-of")},
+        {('f'), QLatin1String("f.s")},
+        {('f'), QLatin1String("f.rdp")},
+        {('f'), QLatin1String("f>str-rdp")},
+        {('f'), QLatin1String("f>buf-rdp")},
+        {('f'), QLatin1String("f>buf-rdp-try")},
+        {('p'), QLatin1String("push-right")},
+        {(']'), QLatin1String("]]")},
+        {('p'), QLatin1String("postponer1")},
+        {('['), QLatin1String("[[")},
+        {('c'), QLatin1String("compile-compile-2literal")},
+        {('c'), QLatin1String("compile-2literal")},
+        {('c'), QLatin1String("compile-compile-literal")},
+        {('c'), QLatin1String("compile-literal")},
+        {('s'), QLatin1String("slurp-fid")},
+        {('s'), QLatin1String("slurp-file")},
+        {('c'), QLatin1String("const-does>")},
+        {('('), QLatin1String("(const-does>)")},
+        {('c'), QLatin1String("compile-fliterals")},
+        {('c'), QLatin1String("compile-literals")},
+        {('i'), QLatin1String("in-return-stack?")},
+        {(']'), QLatin1String("]L")},
+        {('s'), QLatin1String("sh")},
+        {('s'), QLatin1String("system")},
+        {('$'), QLatin1String("$?")},
+        {('d'), QLatin1String("dmax")},
+        {('d'), QLatin1String("dmin")},
+        {('?'), QLatin1String("?CSP")},
+        {('!'), QLatin1String("!CSP")},
+        {('C'), QLatin1String("CSP")},
+        {('n'), QLatin1String("needs")},
+        {('l'), QLatin1String("locals|")},
+        {('T'), QLatin1String("TO")},
+        {('d'), QLatin1String("definer!")},
+        {('>'), QLatin1String(">definer")},
+        {('('), QLatin1String("(local)")},
+        {('('), QLatin1String("(exit-like)")},
+        {('('), QLatin1String("(until-like)")},
+        {('('), QLatin1String("(again-like)")},
+        {('('), QLatin1String("(begin-like)")},
+        {('('), QLatin1String("(then-like)")},
+        {('l'), QLatin1String("locals-;-hook")},
+        {('l'), QLatin1String("locals-:-hook")},
+        {('e'), QLatin1String("endscope")},
+        {('a'), QLatin1String("adjust-locals-list")},
+        {('s'), QLatin1String("scope")},
+        {('{'), QLatin1String("{")},
+        {('o'), QLatin1String("old-dpp")},
+        {('n'), QLatin1String("new-locals-wl")},
+        {('n'), QLatin1String("new-locals-map")},
+        {('n'), QLatin1String("new-locals-reveal")},
+        {('n'), QLatin1String("new-locals-find")},
+        {('s'), QLatin1String("some-wlocal")},
+        {('s'), QLatin1String("some-flocal")},
+        {('s'), QLatin1String("some-dlocal")},
+        {('s'), QLatin1String("some-clocal")},
+        {('l'), QLatin1String("locals-types")},
+        {('l'), QLatin1String("lp-offset,")},
+        {('l'), QLatin1String("lp-offset")},
+        {('c'), QLatin1String("create-local")},
+        {('c'), QLatin1String("compile-pushlocal-c")},
+        {('c'), QLatin1String("compile-pushlocal-d")},
+        {('c'), QLatin1String("compile-pushlocal-f")},
+        {('c'), QLatin1String("check-begin")},
+        {('s'), QLatin1String("set-locals-size-list")},
+        {('l'), QLatin1String("list-size")},
+        {('s'), QLatin1String("sub-list?")},
+        {('c'), QLatin1String("common-list")},
+        {('c'), QLatin1String("compile-pushlocal-w")},
+        {('a'), QLatin1String("alignlp-f")},
+        {('a'), QLatin1String("alignlp-w")},
+        {('l'), QLatin1String("locals-dp")},
+        {('l'), QLatin1String("locals-buffer")},
+        {('l'), QLatin1String("locals")},
+        {('a'), QLatin1String("adjust-locals-size")},
+        {('c'), QLatin1String("compile-lp+!")},
+        {('c'), QLatin1String("compile-f@local")},
+        {('c'), QLatin1String("compile-@local")},
+        {('F'), QLatin1String("FMOD")},
+        {('F'), QLatin1String("FTRUNC")},
+        {('f'), QLatin1String("f~")},
+        {('f'), QLatin1String("f~rel")},
+        {('f'), QLatin1String("f~abs")},
+        {('1'), QLatin1String("1/f")},
+        {('f'), QLatin1String("f2/")},
+        {('f'), QLatin1String("f2*")},
+        {('p'), QLatin1String("pi")},
+        {('f'), QLatin1String("fvariable")},
+        {('s'), QLatin1String("sfnumber")},
+        {('f'), QLatin1String("fs.")},
+        {('f'), QLatin1String("fe.")},
+        {('f'), QLatin1String("f.")},
+        {('f'), QLatin1String("f$")},
+        {('-'), QLatin1String("-zeros")},
+        {('z'), QLatin1String("zeros")},
+        {('s'), QLatin1String("scratch")},
+        {('s'), QLatin1String("set-precision")},
+        {('p'), QLatin1String("precision")},
+        {('F'), QLatin1String("FLiteral")},
+        {('f'), QLatin1String("fdepth")},
+        {('f'), QLatin1String("fconstant")},
+        {('f'), QLatin1String("f,")},
+        {('d'), QLatin1String("dfloat+")},
+        {('s'), QLatin1String("sfloat+")},
+        {('d'), QLatin1String("dfalign")},
+        {('s'), QLatin1String("sfalign")},
+        {('.'), QLatin1String(".words")},
+        {('h'), QLatin1String("hash-cold")},
+        {('m'), QLatin1String("make-hash")},
+        {('('), QLatin1String("(hashsearch-map)")},
+        {('h'), QLatin1String("hashdouble")},
+        {('('), QLatin1String("(rehash)")},
+        {('r'), QLatin1String("rehashall")},
+        {('c'), QLatin1String("clearhash")},
+        {('a'), QLatin1String("addall")},
+        {('i'), QLatin1String("inithash")},
+        {('h'), QLatin1String("hash-reveal")},
+        {('('), QLatin1String("(reveal")},
+        {('l'), QLatin1String("lastlink!")},
+        {('h'), QLatin1String("hash-find")},
+        {('b'), QLatin1String("bucket")},
+        {('N'), QLatin1String("NewFix")},
+        {('D'), QLatin1String("DelFix")},
+        {('h'), QLatin1String("hash-alloc")},
+        {('h'), QLatin1String("hashsearch-map")},
+        {('H'), QLatin1String("HashTable")},
+        {('H'), QLatin1String("HashPop")},
+        {('H'), QLatin1String("HashIndex")},
+        {('H'), QLatin1String("HashPointer")},
+        {('r'), QLatin1String("revealed")},
+        {('i'), QLatin1String("insRule")},
+        {('h'), QLatin1String("hash")},
+        {('H'), QLatin1String("Hashlen")},
+        {('h'), QLatin1String("hashbits")},
+        {('r'), QLatin1String("reserve-mem")},
+        {('m'), QLatin1String("marker")},
+        {('m'), QLatin1String("marker!")},
+        {('m'), QLatin1String("marker,")},
+        {('i'), QLatin1String("included-files-mark")},
+        {('e'), QLatin1String("expect")},
+        {('s'), QLatin1String("span")},
+        {('s'), QLatin1String("search")},
+        {('b'), QLatin1String("blank")},
+        {('e'), QLatin1String("erase")},
+        {('c'), QLatin1String("convert")},
+        {('['), QLatin1String("[compile]")},
+        {('C'), QLatin1String("C\"")},
+        {('e'), QLatin1String("endcase")},
+        {('e'), QLatin1String("endof")},
+        {('o'), QLatin1String("of")},
+        {('c'), QLatin1String("case")},
+        {('m'), QLatin1String("m*/")},
+        {('d'), QLatin1String("d>s")},
+        {('.'), QLatin1String(".(")},
+        {('b'), QLatin1String("broken-pipe-error")},
+        {('e'), QLatin1String("exception")},
+        {('n'), QLatin1String("next-exception")},
+        {('e'), QLatin1String("errstring")},
+        {('l'), QLatin1String("linked")},
+        {('i'), QLatin1String("include-ffi.h-string")},
+        {('l'), QLatin1String("libffi-present")},
+        {('f'), QLatin1String("ffcall-present")},
+        {('l'), QLatin1String("libtool-flags")},
+        {('l'), QLatin1String("libtool-cc")},
+        {('l'), QLatin1String("libtool-command")},
+        {('h'), QLatin1String("has?")},
+        {('$'), QLatin1String("$has?")},
+        {('e'), QLatin1String("e?")},
+        {('e'), QLatin1String("environment?")},
+        {('e'), QLatin1String("environment-wordlist")},
+        {('e'), QLatin1String("environment")},
+        {('v'), QLatin1String("vocs")},
+        {('o'), QLatin1String("order")},
+        {('.'), QLatin1String(".voc")},
+        {('.'), QLatin1String(".name")},
+        {('.'), QLatin1String(".id")},
+        {('i'), QLatin1String("id.")},
+        {('s'), QLatin1String("seal")},
+        {('s'), QLatin1String("set-order")},
+        {('g'), QLatin1String("get-order")},
+        {('i'), QLatin1String("init-vp")},
+        {('u'), QLatin1String("update-image-order")},
+        {('O'), QLatin1String("Only")},
+        {('R'), QLatin1String("Root")},
+        {('F'), QLatin1String("Forth")},
+        {('v'), QLatin1String("vocsearch")},
+        {('('), QLatin1String("(localsvocfind)")},
+        {('l'), QLatin1String("locals-wordlist")},
+        {('('), QLatin1String("(vocfind)")},
+        {('p'), QLatin1String("previous")},
+        {('a'), QLatin1String("also")},
+        {('>'), QLatin1String(">order")},
+        {('c'), QLatin1String("check-maxvp")},
+        {('V'), QLatin1String("Vocabulary")},
+        {('w'), QLatin1String("wordlist")},
+        {('m'), QLatin1String("mappedwordlist")},
+        {('s'), QLatin1String("slowvoc")},
+        {('d'), QLatin1String("definitions")},
+        {('v'), QLatin1String("vp!")},
+        {('s'), QLatin1String("set-current")},
+        {('g'), QLatin1String("get-current")},
+        {('v'), QLatin1String("vp")},
+        {('m'), QLatin1String("maxvp-limit")},
+        {('m'), QLatin1String("maxvp")},
+        {('%'), QLatin1String("%alloc")},
+        {('%'), QLatin1String("%allocate")},
+        {('%'), QLatin1String("%allot")},
+        {('%'), QLatin1String("%align")},
+        {('%'), QLatin1String("%size")},
+        {('%'), QLatin1String("%alignment")},
+        {('d'), QLatin1String("double%")},
+        {('s'), QLatin1String("sfloat%")},
+        {('d'), QLatin1String("dfloat%")},
+        {('f'), QLatin1String("float%")},
+        {('c'), QLatin1String("char%")},
+        {('c'), QLatin1String("cell%")},
+        {('s'), QLatin1String("struct")},
+        {('e'), QLatin1String("end-struct")},
+        {('f'), QLatin1String("field")},
+        {('c'), QLatin1String("create-field")},
+        {('f'), QLatin1String("field,")},
+        {('d'), QLatin1String("dozerofield")},
+        {('n'), QLatin1String("nalign")},
+        {('n'), QLatin1String("naligned")},
+        {('e'), QLatin1String("endtry-iferror")},
+        {('e'), QLatin1String("endtry")},
+        {('r'), QLatin1String("restore")},
+        {('i'), QLatin1String("iferror")},
+        {('h'), QLatin1String("handler-intro,")},
+        {('('), QLatin1String("(endtry)")},
+        {('t'), QLatin1String("try")},
+        {('('), QLatin1String("(try)")},
+        {('n'), QLatin1String("nothrow")},
+        {('f'), QLatin1String("first-throw")},
+        {('s'), QLatin1String("store-backtrace")},
+        {('d'), QLatin1String("dodoes:")},
+        {('d'), QLatin1String("dofield:")},
+        {('d'), QLatin1String("dodefer:")},
+        {('d'), QLatin1String("douser:")},
+        {('d'), QLatin1String("dovar:")},
+        {('d'), QLatin1String("docol:")},
+        {('d'), QLatin1String("dovalue:")},
+        {('d'), QLatin1String("docon:")},
+        {('v'), QLatin1String("vlist")},
+        {('w'), QLatin1String("words")},
+        {('w'), QLatin1String("wordlist-words")},
+        {('c'), QLatin1String("cols")},
+        {('r'), QLatin1String("rows")},
+        {('?'), QLatin1String("?")},
+        {('d'), QLatin1String("dump")},
+        {('.'), QLatin1String(".line")},
+        {('.'), QLatin1String(".chars")},
+        {('.'), QLatin1String(".4")},
+        {('/'), QLatin1String("/dump")},
+        {('.'), QLatin1String(".s")},
+        {('m'), QLatin1String("maxdepth-.s")},
+        {('['), QLatin1String("[WHILE]")},
+        {('['), QLatin1String("[AGAIN]")},
+        {('['), QLatin1String("[REPEAT]")},
+        {('['), QLatin1String("[UNTIL]")},
+        {('['), QLatin1String("[BEGIN]")},
+        {('['), QLatin1String("[I]")},
+        {('['), QLatin1String("[NEXT]")},
+        {('['), QLatin1String("[FOR]")},
+        {('['), QLatin1String("[LOOP]")},
+        {('['), QLatin1String("[+LOOP]")},
+        {('['), QLatin1String("[?DO]")},
+        {('['), QLatin1String("[DO]")},
+        {('('), QLatin1String("(i)")},
+        {('['), QLatin1String("[ENDIF]")},
+        {('['), QLatin1String("[THEN]")},
+        {('['), QLatin1String("[ELSE]")},
+        {('['), QLatin1String("[IFUNDEF]")},
+        {('['), QLatin1String("[IFDEF]")},
+        {('['), QLatin1String("[IF]")},
+        {('['), QLatin1String("[undefined]")},
+        {('d'), QLatin1String("defined")},
+        {('['), QLatin1String("[defined]")},
+        {('?'), QLatin1String("?if")},
+        {('['), QLatin1String("[struct]-voc")},
+        {('['), QLatin1String("[struct]-search")},
+        {('s'), QLatin1String("scanIF")},
+        {('>'), QLatin1String(">exec")},
+        {('d'), QLatin1String("dummy")},
+        {('c'), QLatin1String("countif")},
+        {('.'), QLatin1String(".\"")},
+        {('S'), QLatin1String("S\"")},
+        {('a'), QLatin1String("abort\"")},
+        {('S'), QLatin1String("SLiteral")},
+        {('C'), QLatin1String("CLiteral")},
+        {('?'), QLatin1String("?EXIT")},
+        {('E'), QLatin1String("EXIT")},
+        {('e'), QLatin1String("exit-like")},
+        {('N'), QLatin1String("NEXT")},
+        {('S'), QLatin1String("S+LOOP")},
+        {('-'), QLatin1String("-LOOP")},
+        {('+'), QLatin1String("+LOOP")},
+        {('L'), QLatin1String("LOOP")},
+        {('l'), QLatin1String("loop-like")},
+        {('F'), QLatin1String("FOR")},
+        {('U'), QLatin1String("U-DO")},
+        {('-'), QLatin1String("-DO")},
+        {('U'), QLatin1String("U+DO")},
+        {('+'), QLatin1String("+DO")},
+        {('?'), QLatin1String("?DO")},
+        {('?'), QLatin1String("?do-like")},
+        {('D'), QLatin1String("DO")},
+        {('?'), QLatin1String("?LEAVE")},
+        {('L'), QLatin1String("LEAVE")},
+        {('D'), QLatin1String("DONE")},
+        {('l'), QLatin1String("leave>")},
+        {('>'), QLatin1String(">leave")},
+        {('c'), QLatin1String("clear-leave-stack")},
+        {('l'), QLatin1String("leave-sp")},
+        {('l'), QLatin1String("leave-stack")},
+        {('l'), QLatin1String("leave-stack-size")},
+        {('R'), QLatin1String("REPEAT")},
+        {('W'), QLatin1String("WHILE")},
+        {('U'), QLatin1String("UNTIL")},
+        {('u'), QLatin1String("until-like")},
+        {('A'), QLatin1String("AGAIN")},
+        {('a'), QLatin1String("again-like")},
+        {('B'), QLatin1String("BEGIN")},
+        {('b'), QLatin1String("begin-like")},
+        {('E'), QLatin1String("ELSE")},
+        {('E'), QLatin1String("ENDIF")},
+        {('T'), QLatin1String("THEN")},
+        {('c'), QLatin1String("cs>addr")},
+        {('t'), QLatin1String("then-like")},
+        {('?'), QLatin1String("?DUP-0=-IF")},
+        {('?'), QLatin1String("?DUP-IF")},
+        {('I'), QLatin1String("IF")},
+        {('A'), QLatin1String("AHEAD")},
+        {('Y'), QLatin1String("YET")},
+        {('B'), QLatin1String("BUT")},
+        {('<'), QLatin1String("<resolve")},
+        {('>'), QLatin1String(">resolve")},
+        {('>'), QLatin1String(">mark")},
+        {('s'), QLatin1String("sys?")},
+        {('?'), QLatin1String("?struc")},
+        {('o'), QLatin1String("other-control-flow")},
+        {('c'), QLatin1String("cs-push-orig")},
+        {('c'), QLatin1String("cs-push-part")},
+        {('C'), QLatin1String("CS-ROLL")},
+        {('C'), QLatin1String("CS-PICK")},
+        {('c'), QLatin1String("cs-item-size")},
+        {('c'), QLatin1String("cs-item?")},
+        {('n'), QLatin1String("non-orig?")},
+        {('s'), QLatin1String("scope?")},
+        {('d'), QLatin1String("do-dest?")},
+        {('d'), QLatin1String("dest?")},
+        {('o'), QLatin1String("orig?")},
+        {('d'), QLatin1String("def?")},
+        {('s'), QLatin1String("scopestart")},
+        {('d'), QLatin1String("do-dest")},
+        {('d'), QLatin1String("dest")},
+        {('d'), QLatin1String("dead-orig")},
+        {('l'), QLatin1String("live-orig")},
+        {('A'), QLatin1String("ASSUME-LIVE")},
+        {('U'), QLatin1String("UNREACHABLE")},
+        {('b'), QLatin1String("backedge-locals")},
+        {('d'), QLatin1String("dead-code")},
+        {('l'), QLatin1String("locals-list")},
+        {('.'), QLatin1String(".included")},
+        {('.'), QLatin1String(".strings")},
+        {('r'), QLatin1String("require")},
+        {('i'), QLatin1String("include")},
+        {('r'), QLatin1String("required")},
+        {('i'), QLatin1String("included")},
+        {('i'), QLatin1String("included1")},
+        {('a'), QLatin1String("add-included-file")},
+        {('i'), QLatin1String("included?")},
+        {('i'), QLatin1String("init-included-files")},
+        {('s'), QLatin1String("sourceline#")},
+        {('s'), QLatin1String("sourcefilename")},
+        {('i'), QLatin1String("image-included-files")},
+        {('i'), QLatin1String("included-files")},
+        {('o'), QLatin1String("open-fpath-file")},
+        {('o'), QLatin1String("open-path-file")},
+        {('c'), QLatin1String("check-path")},
+        {('o'), QLatin1String("open-ofile")},
+        {('r'), QLatin1String("reworkdir")},
+        {('c'), QLatin1String("compact-filename")},
+        {('s'), QLatin1String("skip-..-prefixes")},
+        {('p'), QLatin1String("preserve-root")},
+        {('d'), QLatin1String("del-./s")},
+        {('d'), QLatin1String("del-string")},
+        {('e'), QLatin1String("expandtopic")},
+        {('r'), QLatin1String("remove~+")},
+        {('e'), QLatin1String("extractpath")},
+        {('n'), QLatin1String("need/")},
+        {('p'), QLatin1String("pathsep?")},
+        {('t'), QLatin1String("tfile")},
+        {('o'), QLatin1String("ofile")},
+        {('a'), QLatin1String("absolut-path?")},
+        {('.'), QLatin1String(".fpath")},
+        {('.'), QLatin1String(".path")},
+        {('p'), QLatin1String("previous-path")},
+        {('n'), QLatin1String("next-path")},
+        {('p'), QLatin1String("path>string")},
+        {('f'), QLatin1String("fpath=")},
+        {('p'), QLatin1String("path=")},
+        {('f'), QLatin1String("fpath+")},
+        {('p'), QLatin1String("path+")},
+        {('o'), QLatin1String("only-path")},
+        {('c'), QLatin1String("clear-path")},
+        {('a'), QLatin1String("also-path")},
+        {('o'), QLatin1String("os-cold")},
+        {('m'), QLatin1String("make-path")},
+        {('f'), QLatin1String("fpath")},
+        {('+'), QLatin1String("+place")},
+        {('p'), QLatin1String("path-allot")},
+        {('('), QLatin1String("(")},
+        {('w'), QLatin1String("write-line")},
+        {('b'), QLatin1String("bin")},
+        {('r'), QLatin1String("r/o")},
+        {('r'), QLatin1String("r/w")},
+        {('w'), QLatin1String("w/o")},
+        {('o'), QLatin1String("os-boot")},
+        {('('), QLatin1String("(process-args)")},
+        {('p'), QLatin1String("process-option")},
+        {('a'), QLatin1String("args-evaluate")},
+        {('a'), QLatin1String("args-required")},
+        {('a'), QLatin1String("args-required1")},
+        {('o'), QLatin1String("os-execute-parsing")},
+        {('n'), QLatin1String("next-arg")},
+        {('s'), QLatin1String("shift-args")},
+        {('s'), QLatin1String("script?")},
+        {('a'), QLatin1String("argc")},
+        {('a'), QLatin1String("argv")},
+        {('p'), QLatin1String("pathdirs")},
+        {('p'), QLatin1String("pathstring")},
+        {('#'), QLatin1String("#!")},
+        {('a'), QLatin1String("arg")},
+        {('c'), QLatin1String("cstring>sstring")},
+        {('s'), QLatin1String("set-encoding-fixed-width")},
+        {('c'), QLatin1String("c-size")},
+        {('c'), QLatin1String("c!+?")},
+        {('s'), QLatin1String("string-")},
+        {('+'), QLatin1String("+string")},
+        {('c'), QLatin1String("char-")},
+        {('x'), QLatin1String("xhold")},
+        {('x'), QLatin1String("x@+/string")},
+        {('-'), QLatin1String("-trailing-garbage")},
+        {('x'), QLatin1String("x-width")},
+        {('x'), QLatin1String("x-size")},
+        {('x'), QLatin1String("xc-size")},
+        {('x'), QLatin1String("xc@+")},
+        {('x'), QLatin1String("xc!+?")},
+        {('x'), QLatin1String("xc@")},
+        {('x'), QLatin1String("x\\string-")},
+        {('+'), QLatin1String("+x/string")},
+        {('x'), QLatin1String("xchar-")},
+        {('x'), QLatin1String("xchar+")},
+        {('x'), QLatin1String("xkey")},
+        {('x'), QLatin1String("xemit")},
+        {('l'), QLatin1String("license")},
+        {('i'), QLatin1String("include-file")},
+        {('e'), QLatin1String("execute-parsing-file")},
+        {('e'), QLatin1String("execute-parsing-named-file")},
+        {('r'), QLatin1String("read-loop")},
+        {('l'), QLatin1String("line-end-hook")},
+        {('q'), QLatin1String("query")},
+        {('c'), QLatin1String("clear-tibstack")},
+        {('e'), QLatin1String("evaluate")},
+        {('e'), QLatin1String("execute-parsing")},
+        {('e'), QLatin1String("execute-parsing-wrapper")},
+        {('c'), QLatin1String("create-input")},
+        {('r'), QLatin1String("restore-input")},
+        {('s'), QLatin1String("save-input")},
+        {('p'), QLatin1String("pop-file")},
+        {('p'), QLatin1String("push-file")},
+        {('e'), QLatin1String("expand-tib")},
+        {('n'), QLatin1String("new-tib")},
+        {('f'), QLatin1String("file-input")},
+        {('r'), QLatin1String("read-line")},
+        {('e'), QLatin1String("evaluate-input")},
+        {('t'), QLatin1String("terminal-input")},
+        {('i'), QLatin1String("input-start-line")},
+        {('i'), QLatin1String("input-lexeme!")},
+        {('t'), QLatin1String("tib+")},
+        {('t'), QLatin1String("tib")},
+        {('l'), QLatin1String("loadfilename")},
+        {('#'), QLatin1String("#fill-bytes")},
+        {('b'), QLatin1String("blk")},
+        {('l'), QLatin1String("loadfile")},
+        {('l'), QLatin1String("loadline")},
+        {('o'), QLatin1String("old-input")},
+        {('m'), QLatin1String("max#tib")},
+        {('#'), QLatin1String("#tib")},
+        {('i'), QLatin1String("input-lexeme")},
+        {('>'), QLatin1String(">in")},
+        {('('), QLatin1String("(restore-input)")},
+        {('('), QLatin1String("(save-input)")},
+        {('s'), QLatin1String("source-id")},
+        {('r'), QLatin1String("refill")},
+        {('s'), QLatin1String("source")},
+        {('i'), QLatin1String("input-var")},
+        {('i'), QLatin1String("input-method")},
+        {('a'), QLatin1String("accept")},
+        {('e'), QLatin1String("edit-line")},
+        {('d'), QLatin1String("decode")},
+        {('e'), QLatin1String("everyline")},
+        {('e'), QLatin1String("everychar")},
+        {('i'), QLatin1String("insert-char")},
+        {('c'), QLatin1String("ctrlkeys")},
+        {('('), QLatin1String("(ret)")},
+        {('('), QLatin1String("(bs)")},
+        {('('), QLatin1String("(ins)")},
+        {('r'), QLatin1String("recursive")},
+        {('r'), QLatin1String("rehash")},
+        {('r'), QLatin1String("reveal")},
+        {('c'), QLatin1String("check-shadow")},
+        {('('), QLatin1String("(reveal)")},
+        {('w'), QLatin1String("warnings")},
+        {('l'), QLatin1String("last?")},
+        {(';'), QLatin1String(";")},
+        {(':'), QLatin1String(":noname")},
+        {(':'), QLatin1String(":")},
+        {('('), QLatin1String("(:noname)")},
+        {('d'), QLatin1String("defstart")},
+        {(';'), QLatin1String(";-hook")},
+        {(':'), QLatin1String(":-hook")},
+        {('i'), QLatin1String("interpret/compile?")},
+        {('T'), QLatin1String("TO")},
+        {('I'), QLatin1String("IS")},
+        {('['), QLatin1String("[IS]")},
+        {('<'), QLatin1String("<IS>")},
+        {('d'), QLatin1String("defer!")},
+        {('D'), QLatin1String("DOES>")},
+        {('D'), QLatin1String("Defers")},
+        {('d'), QLatin1String("defer@")},
+        {('D'), QLatin1String("Defer")},
+        {('d'), QLatin1String("defer-default")},
+        {('i'), QLatin1String("interpret/compile:")},
+        {('i'), QLatin1String("interpret/compile-struct")},
+        {('i'), QLatin1String("interpret/compile-comp")},
+        {('i'), QLatin1String("interpret/compile-int")},
+        {('('), QLatin1String("(Field)")},
+        {('2'), QLatin1String("2Constant")},
+        {('A'), QLatin1String("AValue")},
+        {('V'), QLatin1String("Value")},
+        {('A'), QLatin1String("AConstant")},
+        {('C'), QLatin1String("Constant")},
+        {('('), QLatin1String("(Value)")},
+        {('('), QLatin1String("(Constant)")},
+        {('A'), QLatin1String("AUser")},
+        {('U'), QLatin1String("User")},
+        {('u'), QLatin1String("uallot")},
+        {('2'), QLatin1String("2Variable")},
+        {('A'), QLatin1String("AVariable")},
+        {('V'), QLatin1String("Variable")},
+        {('C'), QLatin1String("Create")},
+        {('A'), QLatin1String("Alias")},
+        {('c'), QLatin1String("compile-only")},
+        {('r'), QLatin1String("restrict")},
+        {('i'), QLatin1String("immediate")},
+        {('l'), QLatin1String("lastflags")},
+        {('c'), QLatin1String("ctoggle")},
+        {('c'), QLatin1String("creset")},
+        {('c'), QLatin1String("cset")},
+        {(','), QLatin1String(",\"")},
+        {('m'), QLatin1String("mem,")},
+        {('S'), QLatin1String("S,")},
+        {(']'), QLatin1String("]")},
+        {('['), QLatin1String("[")},
+        {('c'), QLatin1String("compiler1")},
+        {('r'), QLatin1String("recurse")},
+        {('P'), QLatin1String("POSTPONE")},
+        {('p'), QLatin1String("postpone,")},
+        {('['), QLatin1String("[COMP']")},
+        {('C'), QLatin1String("COMP'")},
+        {('['), QLatin1String("[']")},
+        {('['), QLatin1String("[(')]")},
+        {('n'), QLatin1String("name>comp")},
+        {('('), QLatin1String("(compile)")},
+        {('d'), QLatin1String("dodoes,")},
+        {('('), QLatin1String("(does>2)")},
+        {('('), QLatin1String("(does>)")},
+        {('!'), QLatin1String("!does")},
+        {('c'), QLatin1String("compile-to-prims,")},
+        {('p'), QLatin1String("peephole-compile,")},
+        {('b'), QLatin1String("basic-block-end")},
+        {('c'), QLatin1String("compile,")},
+        {('c'), QLatin1String("cfa,")},
+        {('['), QLatin1String("[char]")},
+        {('c'), QLatin1String("char")},
+        {('c'), QLatin1String("char@")},
+        {('A'), QLatin1String("ALiteral")},
+        {('2'), QLatin1String("2Literal")},
+        {('L'), QLatin1String("Literal")},
+        {('l'), QLatin1String("latest")},
+        {('l'), QLatin1String("lastxt")},
+        {('l'), QLatin1String("latestxt")},
+        {('n'), QLatin1String("noname")},
+        {('n'), QLatin1String("noname-header")},
+        {('n'), QLatin1String("nextname")},
+        {('n'), QLatin1String("nextname-header")},
+        {('n'), QLatin1String("nextname-string")},
+        {('i'), QLatin1String("input-stream")},
+        {('i'), QLatin1String("input-stream-header")},
+        {('h'), QLatin1String("header,")},
+        {('l'), QLatin1String("longstring,")},
+        {('s'), QLatin1String("string,")},
+        {('h'), QLatin1String("header")},
+        {('('), QLatin1String("(header)")},
+        {('c'), QLatin1String("const")},
+        {('A'), QLatin1String("A,")},
+        {('c'), QLatin1String("cfalign")},
+        {('m'), QLatin1String("maxalign")},
+        {('f'), QLatin1String("falign")},
+        {('a'), QLatin1String("align")},
+        {('2'), QLatin1String("2,")},
+        {(','), QLatin1String(",")},
+        {('c'), QLatin1String("c,")},
+        {('a'), QLatin1String("allot")},
+        {('b'), QLatin1String("bye")},
+        {('b'), QLatin1String("boot")},
+        {('c'), QLatin1String("cold")},
+        {('\''), QLatin1String("'cold")},
+        {('p'), QLatin1String("process-args")},
+        {('b'), QLatin1String("bootmessage")},
+        {('('), QLatin1String("(bootmessage)")},
+        {('q'), QLatin1String("quit")},
+        {('('), QLatin1String("(DoError)")},
+        {('.'), QLatin1String(".error-frame")},
+        {('.'), QLatin1String(".error-line")},
+        {('p'), QLatin1String("part-type")},
+        {('m'), QLatin1String("mark-end")},
+        {('m'), QLatin1String("mark-start")},
+        {('u'), QLatin1String("umin")},
+        {('.'), QLatin1String(".error-string")},
+        {('d'), QLatin1String("dobacktrace")},
+        {('D'), QLatin1String("DOERROR")},
+        {('-'), QLatin1String("-trailing")},
+        {('h'), QLatin1String("hex.")},
+        {('d'), QLatin1String("dec.r")},
+        {('d'), QLatin1String("dec.")},
+        {('i'), QLatin1String("input-error-data")},
+        {('>'), QLatin1String(">error")},
+        {('e'), QLatin1String("error>")},
+        {('e'), QLatin1String("error-stack")},
+        {('/'), QLatin1String("/error")},
+        {('m'), QLatin1String("max-errors")},
+        {('('), QLatin1String("(quit)")},
+        {('p'), QLatin1String("prompt")},
+        {('.'), QLatin1String(".status")},
+        {('\''), QLatin1String("'quit")},
+        {('e'), QLatin1String("extend-mem")},
+        {('f'), QLatin1String("free-mem-var")},
+        {('s'), QLatin1String("save-mem")},
+        {('i'), QLatin1String("interpreter1")},
+        {('i'), QLatin1String("interpret")},
+        {('i'), QLatin1String("interpret1")},
+        {('b'), QLatin1String("before-word")},
+        {('n'), QLatin1String("no.extensions")},
+        {('i'), QLatin1String("interpreter-notfound1")},
+        {('c'), QLatin1String("compiler-notfound1")},
+        {('n'), QLatin1String("name")},
+        {('p'), QLatin1String("parse-word")},
+        {('p'), QLatin1String("parse-name")},
+        {('p'), QLatin1String("parser")},
+        {('p'), QLatin1String("parser1")},
+        {('\''), QLatin1String("'")},
+        {('('), QLatin1String("(')")},
+        {('f'), QLatin1String("find")},
+        {('s'), QLatin1String("sfind")},
+        {('/'), QLatin1String("/does-handler")},
+        {('d'), QLatin1String("does-handler!")},
+        {('d'), QLatin1String("does-code!")},
+        {('c'), QLatin1String("code-address!")},
+        {('f'), QLatin1String("flashc!")},
+        {('f'), QLatin1String("flash!")},
+        {('>'), QLatin1String(">does-code")},
+        {('>'), QLatin1String(">code-address")},
+        {('b'), QLatin1String("body>")},
+        {('>'), QLatin1String(">body")},
+        {('>'), QLatin1String(">head-noprim")},
+        {('h'), QLatin1String("head?")},
+        {('?'), QLatin1String("???")},
+        {('('), QLatin1String("(name>intn)")},
+        {('('), QLatin1String("(name>comp)")},
+        {('n'), QLatin1String("name?int")},
+        {('n'), QLatin1String("name>int")},
+        {('('), QLatin1String("(name>x)")},
+        {('('), QLatin1String("((name>))")},
+        {('n'), QLatin1String("name>string")},
+        {('('), QLatin1String("(x>int)")},
+        {('('), QLatin1String("(cfa>int)")},
+        {('c'), QLatin1String("compile-only-error")},
+        {('t'), QLatin1String("ticking-compile-only-error")},
+        {('f'), QLatin1String("flag-sign")},
+        {('l'), QLatin1String("lcount-mask")},
+        {('r'), QLatin1String("restrict-mask")},
+        {('i'), QLatin1String("immediate-mask")},
+        {('a'), QLatin1String("alias-mask")},
+        {('f'), QLatin1String("find-name")},
+        {('s'), QLatin1String("search-wordlist")},
+        {('('), QLatin1String("(search-wordlist)")},
+        {('c'), QLatin1String("context")},
+        {('v'), QLatin1String("voclink")},
+        {('c'), QLatin1String("current")},
+        {('l'), QLatin1String("lookup")},
+        {('f'), QLatin1String("forth-wordlist")},
+        {('f'), QLatin1String("f83search")},
+        {('i'), QLatin1String("initvoc")},
+        {('f'), QLatin1String("f83find")},
+        {('w'), QLatin1String("wordlist-struct")},
+        {('w'), QLatin1String("wordlist-extend")},
+        {('w'), QLatin1String("wordlist-link")},
+        {('w'), QLatin1String("wordlist-id")},
+        {('w'), QLatin1String("wordlist-map")},
+        {('w'), QLatin1String("wordlist-map-struct")},
+        {('h'), QLatin1String("hash-method")},
+        {('r'), QLatin1String("rehash-method")},
+        {('r'), QLatin1String("reveal-method")},
+        {('f'), QLatin1String("find-method")},
+        {('\\'), QLatin1String("\\G")},
+        {('\\'), QLatin1String("\\")},
+        {('('), QLatin1String("(")},
+        {('n'), QLatin1String("number")},
+        {('n'), QLatin1String("number?")},
+        {('s'), QLatin1String("snumber?")},
+        {('s'), QLatin1String("s>number")},
+        {('s'), QLatin1String("s>number?")},
+        {('s'), QLatin1String("s>unumber?")},
+        {('s'), QLatin1String("s'>unumber?")},
+        {('?'), QLatin1String("?dnegate")},
+        {('s'), QLatin1String("sign?")},
+        {('g'), QLatin1String("getbase")},
+        {('b'), QLatin1String("bases")},
+        {('n'), QLatin1String("name-too-long?")},
+        {('n'), QLatin1String("name-too-short?")},
+        {('('), QLatin1String("(name)")},
+        {('p'), QLatin1String("parse")},
+        {('w'), QLatin1String("word")},
+        {('s'), QLatin1String("sword")},
+        {('('), QLatin1String("(word)")},
+        {('v'), QLatin1String("version-string")},
+        {('.'), QLatin1String(".error")},
+        {('>'), QLatin1String(">stderr")},
+        {('E'), QLatin1String("ErrLink")},
+        {('u'), QLatin1String("u.")},
+        {('.'), QLatin1String(".")},
+        {('u'), QLatin1String("ud.")},
+        {('d'), QLatin1String("d.")},
+        {('u'), QLatin1String("u.r")},
+        {('.'), QLatin1String(".r")},
+        {('u'), QLatin1String("ud.r")},
+        {('d'), QLatin1String("d.r")},
+        {('#'), QLatin1String("#s")},
+        {('#'), QLatin1String("#")},
+        {('s'), QLatin1String("sign")},
+        {('#'), QLatin1String("#>>")},
+        {('<'), QLatin1String("<<#")},
+        {('#'), QLatin1String("#>")},
+        {('<'), QLatin1String("<#")},
+        {('h'), QLatin1String("hold")},
+        {('p'), QLatin1String("pad")},
+        {('b'), QLatin1String("backspaces")},
+        {('s'), QLatin1String("spaces")},
+        {('s'), QLatin1String("space")},
+        {('c'), QLatin1String("cr")},
+        {('b'), QLatin1String("bell")},
+        {('#'), QLatin1String("#lf")},
+        {('#'), QLatin1String("#ff")},
+        {('#'), QLatin1String("#cr")},
+        {('#'), QLatin1String("#del")},
+        {('#'), QLatin1String("#tab")},
+        {('#'), QLatin1String("#bs")},
+        {('#'), QLatin1String("#bell")},
+        {('#'), QLatin1String("#eof")},
+        {('('), QLatin1String("(S\")")},
+        {('('), QLatin1String("(.\")")},
+        {('k'), QLatin1String("key?")},
+        {('k'), QLatin1String("key")},
+        {('e'), QLatin1String("emit")},
+        {('t'), QLatin1String("type")},
+        {('('), QLatin1String("(key?)")},
+        {('('), QLatin1String("(key)")},
+        {('('), QLatin1String("(emit)")},
+        {('('), QLatin1String("(type)")},
+        {('i'), QLatin1String("infile-id")},
+        {('o'), QLatin1String("outfile-id")},
+        {('h'), QLatin1String("hex")},
+        {('d'), QLatin1String("decimal")},
+        {('"'), QLatin1String("\"lit")},
+        {('c'), QLatin1String("clearstacks")},
+        {('c'), QLatin1String("clearstack")},
+        {('d'), QLatin1String("depth")},
+        {('?'), QLatin1String("?stack")},
+        {('a'), QLatin1String("abort")},
+        {('('), QLatin1String("(abort\")")},
+        {('c'), QLatin1String("c(abort\")")},
+        {('t'), QLatin1String("throw")},
+        {('c'), QLatin1String("catch")},
+        {('l'), QLatin1String("lp@")},
+        {('u'), QLatin1String("ud/mod")},
+        {('s'), QLatin1String("s>d")},
+        {('>'), QLatin1String(">number")},
+        {('a'), QLatin1String("accumulate")},
+        {('d'), QLatin1String("digit?")},
+        {('s'), QLatin1String("skip")},
+        {('s'), QLatin1String("scan")},
+        {('b'), QLatin1String("bounds")},
+        {('p'), QLatin1String("place")},
+        {('r'), QLatin1String("roll")},
+        {('d'), QLatin1String("dabs")},
+        {('o'), QLatin1String("off")},
+        {('o'), QLatin1String("on")},
+        {('h'), QLatin1String("here")},
+        {('d'), QLatin1String("dp")},
+        {('i'), QLatin1String("in-dictionary?")},
+        {('u'), QLatin1String("unused")},
+        {('u'), QLatin1String("usable-dictionary-end")},
+        {('d'), QLatin1String("dictionary-end")},
+        {('A'), QLatin1String("A!")},
+        {('c'), QLatin1String("chars")},
+        {('c'), QLatin1String("cfaligned")},
+        {('m'), QLatin1String("maxaligned")},
+        {('r'), QLatin1String("r@")},
+        {('N'), QLatin1String("NIL")},
+        {('s'), QLatin1String("str<")},
+        {('s'), QLatin1String("string-prefix?")},
+        {('s'), QLatin1String("str=")},
+        {('l'), QLatin1String("locals-size")},
+        {('m'), QLatin1String("max-name-length")},
+        {('L'), QLatin1String("Last")},
+        {('L'), QLatin1String("LastCFA")},
+        {('d'), QLatin1String("dpp")},
+        {('n'), QLatin1String("normal-dp")},
+        {('s'), QLatin1String("state")},
+        {('d'), QLatin1String("dpl")},
+        {('b'), QLatin1String("base")},
+        {('i'), QLatin1String("includefilename")},
+        {('c'), QLatin1String("current-input")},
+        {('"'), QLatin1String("\"error")},
+        {('e'), QLatin1String("errorhandler")},
+        {('b'), QLatin1String("backtrace-rp0")},
+        {('h'), QLatin1String("handler")},
+        {('l'), QLatin1String("lp0")},
+        {('f'), QLatin1String("fp0")},
+        {('r'), QLatin1String("rp0")},
+        {('s'), QLatin1String("sp0")},
+        {('s'), QLatin1String("save-task")},
+        {('p'), QLatin1String("prev-task")},
+        {('n'), QLatin1String("next-task")},
+        {('u'), QLatin1String("udp")},
+        {('m'), QLatin1String("main-task")},
+        {('d'), QLatin1String("def#tib")},
+        {('p'), QLatin1String("pad-minsize")},
+        {('h'), QLatin1String("holdend")},
+        {('h'), QLatin1String("holdptr")},
+        {('h'), QLatin1String("holdbuf-end")},
+        {('h'), QLatin1String("holdbuf")},
+        {('w'), QLatin1String("word-pno-size")},
+        {('c'), QLatin1String("chars/block")},
+        {('l'), QLatin1String("l/s")},
+        {('c'), QLatin1String("c/l")},
+        {('/'), QLatin1String("/line")},
+        {('b'), QLatin1String("bl")},
+        {('f'), QLatin1String("float")},
+        {('c'), QLatin1String("cell")},
+        {('f'), QLatin1String("false")},
+        {('t'), QLatin1String("true")},
+        {('f'), QLatin1String("forthstart")},
+        {('i'), QLatin1String("image-header")},
+        {('t'), QLatin1String("tag-offsets")},
+        {('c'), QLatin1String("call2")},
+        {('s'), QLatin1String("set-next-code")},
+        {('d'), QLatin1String("decompile-prim")},
+        {('f'), QLatin1String("forget-dyncode")},
+        {('f'), QLatin1String("finish-code")},
+        {('c'), QLatin1String("compile-prim1")},
+        {('l'), QLatin1String("lib-error")},
+        {('l'), QLatin1String("l!")},
+        {('s'), QLatin1String("sl@")},
+        {('u'), QLatin1String("ul@")},
+        {('w'), QLatin1String("w!")},
+        {('s'), QLatin1String("sw@")},
+        {('u'), QLatin1String("uw@")},
+        {('w'), QLatin1String("wcall")},
+        {('l'), QLatin1String("lib-sym")},
+        {('o'), QLatin1String("open-lib")},
+        {('f'), QLatin1String("fpick")},
+        {('f'), QLatin1String("f>l")},
+        {('>'), QLatin1String(">l")},
+        {('l'), QLatin1String("lp!")},
+        {('l'), QLatin1String("lp+2")},
+        {('l'), QLatin1String("lp+")},
+        {('l'), QLatin1String("lp-")},
+        {('l'), QLatin1String("lp+!#")},
+        {('l'), QLatin1String("laddr#")},
+        {('f'), QLatin1String("f@local1")},
+        {('f'), QLatin1String("f@local0")},
+        {('f'), QLatin1String("f@local#")},
+        {('@'), QLatin1String("@local3")},
+        {('@'), QLatin1String("@local2")},
+        {('@'), QLatin1String("@local1")},
+        {('@'), QLatin1String("@local0")},
+        {('@'), QLatin1String("@local#")},
+        {('f'), QLatin1String("faxpy")},
+        {('v'), QLatin1String("v*")},
+        {('d'), QLatin1String("dfaligned")},
+        {('s'), QLatin1String("sfaligned")},
+        {('d'), QLatin1String("dfloats")},
+        {('s'), QLatin1String("sfloats")},
+        {('f'), QLatin1String("fatanh")},
+        {('f'), QLatin1String("facosh")},
+        {('f'), QLatin1String("fasinh")},
+        {('f'), QLatin1String("ftanh")},
+        {('f'), QLatin1String("fcosh")},
+        {('f'), QLatin1String("fsinh")},
+        {('f'), QLatin1String("ftan")},
+        {('f'), QLatin1String("fsqrt")},
+        {('f'), QLatin1String("fsincos")},
+        {('f'), QLatin1String("fsin")},
+        {('f'), QLatin1String("falog")},
+        {('f'), QLatin1String("flog")},
+        {('f'), QLatin1String("flnp1")},
+        {('f'), QLatin1String("fln")},
+        {('f'), QLatin1String("fexpm1")},
+        {('f'), QLatin1String("fexp")},
+        {('f'), QLatin1String("fcos")},
+        {('f'), QLatin1String("fatan2")},
+        {('f'), QLatin1String("fatan")},
+        {('f'), QLatin1String("fasin")},
+        {('f'), QLatin1String("facos")},
+        {('f'), QLatin1String("fabs")},
+        {('>'), QLatin1String(">float")},
+        {('r'), QLatin1String("represent")},
+        {('f'), QLatin1String("fmin")},
+        {('f'), QLatin1String("fmax")},
+        {('f'), QLatin1String("fround")},
+        {('f'), QLatin1String("floor")},
+        {('f'), QLatin1String("floats")},
+        {('f'), QLatin1String("float+")},
+        {('f'), QLatin1String("ftuck")},
+        {('f'), QLatin1String("fnip")},
+        {('f'), QLatin1String("frot")},
+        {('f'), QLatin1String("fover")},
+        {('f'), QLatin1String("fswap")},
+        {('f'), QLatin1String("fdup")},
+        {('f'), QLatin1String("fdrop")},
+        {('f'), QLatin1String("fnegate")},
+        {('f'), QLatin1String("f**2")},
+        {('f'), QLatin1String("fm*/")},
+        {('f'), QLatin1String("fm/")},
+        {('f'), QLatin1String("fm*")},
+        {('f'), QLatin1String("f**")},
+        {('f'), QLatin1String("f/")},
+        {('f'), QLatin1String("f*")},
+        {('f'), QLatin1String("f-")},
+        {('f'), QLatin1String("f+")},
+        {('s'), QLatin1String("sf!")},
+        {('s'), QLatin1String("sf@")},
+        {('d'), QLatin1String("df!")},
+        {('d'), QLatin1String("df@")},
+        {('f'), QLatin1String("f@")},
+        {('f'), QLatin1String("f!")},
+        {('f'), QLatin1String("f>s")},
+        {('f'), QLatin1String("f>d")},
+        {('d'), QLatin1String("d>f")},
+        {('s'), QLatin1String("s>f")},
+        {('f'), QLatin1String("f0>=")},
+        {('f'), QLatin1String("f0<=")},
+        {('f'), QLatin1String("f0>")},
+        {('f'), QLatin1String("f0<")},
+        {('f'), QLatin1String("f0<>")},
+        {('f'), QLatin1String("f0=")},
+        {('f'), QLatin1String("f>=")},
+        {('f'), QLatin1String("f<=")},
+        {('f'), QLatin1String("f>")},
+        {('f'), QLatin1String("f<")},
+        {('f'), QLatin1String("f<>")},
+        {('f'), QLatin1String("f=")},
+        {('c'), QLatin1String("cputime")},
+        {('u'), QLatin1String("utime")},
+        {('n'), QLatin1String("newline")},
+        {('='), QLatin1String("=mkdir")},
+        {('g'), QLatin1String("get-dir")},
+        {('s'), QLatin1String("set-dir")},
+        {('f'), QLatin1String("filename-match")},
+        {('c'), QLatin1String("close-dir")},
+        {('r'), QLatin1String("read-dir")},
+        {('o'), QLatin1String("open-dir")},
+        {('f'), QLatin1String("file-eof?")},
+        {('f'), QLatin1String("file-status")},
+        {('f'), QLatin1String("flush-file")},
+        {('e'), QLatin1String("emit-file")},
+        {('w'), QLatin1String("write-file")},
+        {('('), QLatin1String("(read-line)")},
+        {('r'), QLatin1String("read-file")},
+        {('r'), QLatin1String("resize-file")},
+        {('f'), QLatin1String("file-size")},
+        {('r'), QLatin1String("reposition-file")},
+        {('f'), QLatin1String("file-position")},
+        {('r'), QLatin1String("rename-file")},
+        {('d'), QLatin1String("delete-file")},
+        {('c'), QLatin1String("create-file")},
+        {('o'), QLatin1String("open-file")},
+        {('c'), QLatin1String("close-file")},
+        {('c'), QLatin1String("call-c")},
+        {('s'), QLatin1String("strsignal")},
+        {('s'), QLatin1String("strerror")},
+        {('r'), QLatin1String("resize")},
+        {('f'), QLatin1String("free")},
+        {('a'), QLatin1String("allocate")},
+        {('m'), QLatin1String("ms")},
+        {('t'), QLatin1String("time&date")},
+        {('c'), QLatin1String("close-pipe")},
+        {('o'), QLatin1String("open-pipe")},
+        {('g'), QLatin1String("getenv")},
+        {('('), QLatin1String("(system)")},
+        {('('), QLatin1String("(bye)")},
+        {('f'), QLatin1String("flush-icache")},
+        {('w'), QLatin1String("wcwidth")},
+        {('f'), QLatin1String("form")},
+        {('s'), QLatin1String("stderr")},
+        {('s'), QLatin1String("stdout")},
+        {('s'), QLatin1String("stdin")},
+        {('k'), QLatin1String("key?-file")},
+        {('k'), QLatin1String("key-file")},
+        {('t'), QLatin1String("threading-method")},
+        {('f'), QLatin1String("faligned")},
+        {('a'), QLatin1String("aligned")},
+        {('('), QLatin1String("(parse-white)")},
+        {('('), QLatin1String("(hashkey1)")},
+        {('('), QLatin1String("(tablelfind)")},
+        {('('), QLatin1String("(hashlfind)")},
+        {('('), QLatin1String("(listlfind)")},
+        {('c'), QLatin1String("count")},
+        {('('), QLatin1String("(chars)")},
+        {('c'), QLatin1String("char+")},
+        {('c'), QLatin1String("cells")},
+        {('c'), QLatin1String("cell+")},
+        {('2'), QLatin1String("2@")},
+        {('2'), QLatin1String("2!")},
+        {('c'), QLatin1String("c!")},
+        {('c'), QLatin1String("c@")},
+        {('+'), QLatin1String("+!")},
+        {('!'), QLatin1String("!")},
+        {('l'), QLatin1String("lit@")},
+        {('@'), QLatin1String("@")},
+        {('2'), QLatin1String("2tuck")},
+        {('2'), QLatin1String("2nip")},
+        {('2'), QLatin1String("2rot")},
+        {('2'), QLatin1String("2swap")},
+        {('2'), QLatin1String("2over")},
+        {('2'), QLatin1String("2dup")},
+        {('2'), QLatin1String("2drop")},
+        {('p'), QLatin1String("pick")},
+        {('?'), QLatin1String("?dup")},
+        {('t'), QLatin1String("tuck")},
+        {('n'), QLatin1String("nip")},
+        {('-'), QLatin1String("-rot")},
+        {('r'), QLatin1String("rot")},
+        {('d'), QLatin1String("dup")},
+        {('s'), QLatin1String("swap")},
+        {('d'), QLatin1String("drop")},
+        {('o'), QLatin1String("over")},
+        {('2'), QLatin1String("2rdrop")},
+        {('2'), QLatin1String("2r@")},
+        {('2'), QLatin1String("2r>")},
+        {('2'), QLatin1String("2>r")},
+        {('r'), QLatin1String("rdrop")},
+        {('r'), QLatin1String("r>")},
+        {('>'), QLatin1String(">r")},
+        {('f'), QLatin1String("fp!")},
+        {('f'), QLatin1String("fp@")},
+        {('r'), QLatin1String("rp!")},
+        {('r'), QLatin1String("rp@")},
+        {('s'), QLatin1String("sp!")},
+        {('s'), QLatin1String("sp@")},
+        {('u'), QLatin1String("up!")},
+        {('u'), QLatin1String("useraddr")},
+        {('w'), QLatin1String("within")},
+        {('d'), QLatin1String("du>=")},
+        {('d'), QLatin1String("du<=")},
+        {('d'), QLatin1String("du>")},
+        {('d'), QLatin1String("du<")},
+        {('d'), QLatin1String("du<>")},
+        {('d'), QLatin1String("du=")},
+        {('d'), QLatin1String("d0>=")},
+        {('d'), QLatin1String("d0<=")},
+        {('d'), QLatin1String("d0>")},
+        {('d'), QLatin1String("d0<")},
+        {('d'), QLatin1String("d0<>")},
+        {('d'), QLatin1String("d0=")},
+        {('d'), QLatin1String("d>=")},
+        {('d'), QLatin1String("d<=")},
+        {('d'), QLatin1String("d>")},
+        {('d'), QLatin1String("d<")},
+        {('d'), QLatin1String("d<>")},
+        {('d'), QLatin1String("d=")},
+        {('u'), QLatin1String("u>=")},
+        {('u'), QLatin1String("u<=")},
+        {('u'), QLatin1String("u>")},
+        {('u'), QLatin1String("u<")},
+        {('u'), QLatin1String("u<>")},
+        {('u'), QLatin1String("u=")},
+        {('>'), QLatin1String(">=")},
+        {('<'), QLatin1String("<=")},
+        {('>'), QLatin1String(">")},
+        {('<'), QLatin1String("<")},
+        {('<'), QLatin1String("<>")},
+        {('='), QLatin1String("=")},
+        {('0'), QLatin1String("0>=")},
+        {('0'), QLatin1String("0<=")},
+        {('0'), QLatin1String("0>")},
+        {('0'), QLatin1String("0<")},
+        {('0'), QLatin1String("0<>")},
+        {('0'), QLatin1String("0=")},
+        {('l'), QLatin1String("lshift")},
+        {('r'), QLatin1String("rshift")},
+        {('i'), QLatin1String("invert")},
+        {('x'), QLatin1String("xor")},
+        {('o'), QLatin1String("or")},
+        {('a'), QLatin1String("and")},
+        {('d'), QLatin1String("d2/")},
+        {('d'), QLatin1String("d2*")},
+        {('d'), QLatin1String("dnegate")},
+        {('d'), QLatin1String("d-")},
+        {('d'), QLatin1String("d+")},
+        {('m'), QLatin1String("m+")},
+        {('u'), QLatin1String("um/mod")},
+        {('u'), QLatin1String("um*")},
+        {('m'), QLatin1String("m*")},
+        {('s'), QLatin1String("sm/rem")},
+        {('f'), QLatin1String("fm/mod")},
+        {('2'), QLatin1String("2/")},
+        {('2'), QLatin1String("2*")},
+        {('*'), QLatin1String("*/")},
+        {('*'), QLatin1String("*/mod")},
+        {('/'), QLatin1String("/mod")},
+        {('m'), QLatin1String("mod")},
+        {('/'), QLatin1String("/")},
+        {('*'), QLatin1String("*")},
+        {('a'), QLatin1String("abs")},
+        {('m'), QLatin1String("min")},
+        {('m'), QLatin1String("max")},
+        {('1'), QLatin1String("1-")},
+        {('1'), QLatin1String("1+")},
+        {('n'), QLatin1String("negate")},
+        {('-'), QLatin1String("-")},
+        {('u'), QLatin1String("under+")},
+        {('l'), QLatin1String("lit+")},
+        {('+'), QLatin1String("+")},
+        {('l'), QLatin1String("lit")},
+        {('/'), QLatin1String("/string")},
+        {('c'), QLatin1String("capscompare")},
+        {('t'), QLatin1String("toupper")},
+        {('c'), QLatin1String("compare")},
+        {('f'), QLatin1String("fill")},
+        {('c'), QLatin1String("cmove>")},
+        {('c'), QLatin1String("cmove")},
+        {('m'), QLatin1String("move")},
+        {('k'), QLatin1String("k")},
+        {('j'), QLatin1String("j")},
+        {('i'), QLatin1String("i'")},
+        {('i'), QLatin1String("i")},
+        {('('), QLatin1String("(u-do)")},
+        {('('), QLatin1String("(-do)")},
+        {('('), QLatin1String("(u+do)")},
+        {('('), QLatin1String("(+do)")},
+        {('('), QLatin1String("(?do)")},
+        {('('), QLatin1String("(do)")},
+        {('('), QLatin1String("(for)")},
+        {('('), QLatin1String("(s+loop)-lp+!#")},
+        {('('), QLatin1String("(s+loop)")},
+        {('('), QLatin1String("(-loop)-lp+!#")},
+        {('('), QLatin1String("(-loop)")},
+        {('('), QLatin1String("(+loop)-lp+!#")},
+        {('('), QLatin1String("(+loop)")},
+        {('('), QLatin1String("(loop)-lp+!#")},
+        {('('), QLatin1String("(loop)")},
+        {('('), QLatin1String("(next)-lp+!#")},
+        {('('), QLatin1String("(next)")},
+        {('?'), QLatin1String("?dup-0=-?branch")},
+        {('?'), QLatin1String("?dup-?branch")},
+        {('?'), QLatin1String("?branch-lp+!#")},
+        {('?'), QLatin1String("?branch")},
+        {('b'), QLatin1String("branch")},
+        {('b'), QLatin1String("branch-lp+!#")},
+        {('d'), QLatin1String("does-exec")},
+        {('l'), QLatin1String("lit-perform")},
+        {('u'), QLatin1String("unloop")},
+        {(';'), QLatin1String(";s")},
+        {('p'), QLatin1String("perform")},
+        {('e'), QLatin1String("execute")},
+        {('c'), QLatin1String("call")},
+        {('n'), QLatin1String("noop")},
+    };
+
+    forth_types = {};
+
+    forth_literals = {};
+
+    forth_builtin = {};
+
+    forth_other = {};
+}
+void loadForthData(QMultiHash<char, QLatin1String> &types,
+                   QMultiHash<char, QLatin1String> &keywords,
+                   QMultiHash<char, QLatin1String> &builtin,
+                   QMultiHash<char, QLatin1String> &literals,
+                   QMultiHash<char, QLatin1String> &other) {
+    if (!forthDataInitialized) {
+        initForthData();
+        forthDataInitialized = true;
+    }
+    types = forth_types;
+    keywords = forth_keywords;
+    builtin = forth_builtin;
+    literals = forth_literals;
+    other = forth_other;
+}
diff --git a/qmarkdowntextedit/qownlanguagedata.h b/qmarkdowntextedit/qownlanguagedata.h
new file mode 100644
index 000000000..cb7faa353
--- /dev/null
+++ b/qmarkdowntextedit/qownlanguagedata.h
@@ -0,0 +1,245 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2019-2021 Waqar Ahmed -- <waqar.17a@gmail.com>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#ifndef QOWNLANGUAGEDATA_H
+#define QOWNLANGUAGEDATA_H
+
+#include <QMultiHash>
+
+/* ------------------------
+ * TEMPLATE FOR LANG DATA
+ * -------------------------
+ *
+ * loadXXXData, where XXX is the language
+ * keywords are the language keywords e.g, const
+ * types are built-in types i.e, int, char, var
+ * literals are words like, true false
+ * builtin are the library functions
+ * other can contain any other thing, for e.g, in cpp it contains the
+ preprocessor
+
+    static const QMultiHash<char, QLatin1String> xxx_keywords = {
+    };
+
+    static const QMultiHash<char, QLatin1String> xxx_types = {
+    };
+
+    static const QMultiHash<char, QLatin1String> xxx_literals = {
+    };
+
+    static const QMultiHash<char, QLatin1String> xxx_builtin = {
+    };
+
+    static const QMultiHash<char, QLatin1String> xxx_other = {
+    };
+
+*/
+
+/**********************************************************/
+/* C/C++ Data *********************************************/
+/**********************************************************/
+void loadCppData(QMultiHash<char, QLatin1String> &typess,
+                 QMultiHash<char, QLatin1String> &keywordss,
+                 QMultiHash<char, QLatin1String> &builtins,
+                 QMultiHash<char, QLatin1String> &literalss,
+                 QMultiHash<char, QLatin1String> &others);
+
+/**********************************************************/
+/* Shell Data *********************************************/
+/**********************************************************/
+void loadShellData(QMultiHash<char, QLatin1String> &types,
+                   QMultiHash<char, QLatin1String> &keywords,
+                   QMultiHash<char, QLatin1String> &builtin,
+                   QMultiHash<char, QLatin1String> &literals,
+                   QMultiHash<char, QLatin1String> &other);
+
+/**********************************************************/
+/* JS Data *********************************************/
+/**********************************************************/
+void loadJSData(QMultiHash<char, QLatin1String> &types,
+                QMultiHash<char, QLatin1String> &keywords,
+                QMultiHash<char, QLatin1String> &builtin,
+                QMultiHash<char, QLatin1String> &literals,
+                QMultiHash<char, QLatin1String> &other);
+
+/**********************************************************/
+/* JS Data *********************************************/
+/**********************************************************/
+void loadNixData(QMultiHash<char, QLatin1String> &types,
+                QMultiHash<char, QLatin1String> &keywords,
+                QMultiHash<char, QLatin1String> &builtin,
+                QMultiHash<char, QLatin1String> &literals,
+                QMultiHash<char, QLatin1String> &other);
+
+/**********************************************************/
+/* PHP Data *********************************************/
+/**********************************************************/
+void loadPHPData(QMultiHash<char, QLatin1String> &types,
+                 QMultiHash<char, QLatin1String> &keywords,
+                 QMultiHash<char, QLatin1String> &builtin,
+                 QMultiHash<char, QLatin1String> &literals,
+                 QMultiHash<char, QLatin1String> &other);
+
+/**********************************************************/
+/* QML Data *********************************************/
+/**********************************************************/
+void loadQMLData(QMultiHash<char, QLatin1String> &types,
+                 QMultiHash<char, QLatin1String> &keywords,
+                 QMultiHash<char, QLatin1String> &builtin,
+                 QMultiHash<char, QLatin1String> &literals,
+                 QMultiHash<char, QLatin1String> &other);
+
+/**********************************************************/
+/* Python Data *********************************************/
+/**********************************************************/
+void loadPythonData(QMultiHash<char, QLatin1String> &types,
+                    QMultiHash<char, QLatin1String> &keywords,
+                    QMultiHash<char, QLatin1String> &builtin,
+                    QMultiHash<char, QLatin1String> &literals,
+                    QMultiHash<char, QLatin1String> &other);
+
+/********************************************************/
+/***   Rust DATA      ***********************************/
+/********************************************************/
+void loadRustData(QMultiHash<char, QLatin1String> &types,
+                  QMultiHash<char, QLatin1String> &keywords,
+                  QMultiHash<char, QLatin1String> &builtin,
+                  QMultiHash<char, QLatin1String> &literals,
+                  QMultiHash<char, QLatin1String> &other);
+
+/********************************************************/
+/***   Java DATA      ***********************************/
+/********************************************************/
+void loadJavaData(QMultiHash<char, QLatin1String> &types,
+                  QMultiHash<char, QLatin1String> &keywords,
+                  QMultiHash<char, QLatin1String> &builtin,
+                  QMultiHash<char, QLatin1String> &literals,
+                  QMultiHash<char, QLatin1String> &other);
+
+/********************************************************/
+/***   C# DATA      *************************************/
+/********************************************************/
+void loadCSharpData(QMultiHash<char, QLatin1String> &types,
+                    QMultiHash<char, QLatin1String> &keywords,
+                    QMultiHash<char, QLatin1String> &builtin,
+                    QMultiHash<char, QLatin1String> &literals,
+                    QMultiHash<char, QLatin1String> &other);
+
+/********************************************************/
+/***   Go DATA      *************************************/
+/********************************************************/
+void loadGoData(QMultiHash<char, QLatin1String> &types,
+                QMultiHash<char, QLatin1String> &keywords,
+                QMultiHash<char, QLatin1String> &builtin,
+                QMultiHash<char, QLatin1String> &literals,
+                QMultiHash<char, QLatin1String> &other);
+
+/********************************************************/
+/***   V DATA      **************************************/
+/********************************************************/
+void loadVData(QMultiHash<char, QLatin1String> &types,
+               QMultiHash<char, QLatin1String> &keywords,
+               QMultiHash<char, QLatin1String> &builtin,
+               QMultiHash<char, QLatin1String> &literals,
+               QMultiHash<char, QLatin1String> &other);
+
+/********************************************************/
+/***   SQL DATA      ************************************/
+/********************************************************/
+void loadSQLData(QMultiHash<char, QLatin1String> &types,
+                 QMultiHash<char, QLatin1String> &keywords,
+                 QMultiHash<char, QLatin1String> &builtin,
+                 QMultiHash<char, QLatin1String> &literals,
+                 QMultiHash<char, QLatin1String> &other);
+
+/********************************************************/
+/***   JSON DATA      ***********************************/
+/********************************************************/
+void loadJSONData(QMultiHash<char, QLatin1String> &types,
+                  QMultiHash<char, QLatin1String> &keywords,
+                  QMultiHash<char, QLatin1String> &builtin,
+                  QMultiHash<char, QLatin1String> &literals,
+                  QMultiHash<char, QLatin1String> &other);
+
+/********************************************************/
+/***   CSS DATA      ***********************************/
+/********************************************************/
+void loadCSSData(QMultiHash<char, QLatin1String> &types,
+                 QMultiHash<char, QLatin1String> &keywords,
+                 QMultiHash<char, QLatin1String> &builtin,
+                 QMultiHash<char, QLatin1String> &literals,
+                 QMultiHash<char, QLatin1String> &other);
+
+/********************************************************/
+/***   Typescript DATA  *********************************/
+/********************************************************/
+void loadTypescriptData(QMultiHash<char, QLatin1String> &types,
+                        QMultiHash<char, QLatin1String> &keywords,
+                        QMultiHash<char, QLatin1String> &builtin,
+                        QMultiHash<char, QLatin1String> &literals,
+                        QMultiHash<char, QLatin1String> &other);
+
+/********************************************************/
+/***   YAML DATA  ***************************************/
+/********************************************************/
+void loadYAMLData(QMultiHash<char, QLatin1String> &types,
+                  QMultiHash<char, QLatin1String> &keywords,
+                  QMultiHash<char, QLatin1String> &builtin,
+                  QMultiHash<char, QLatin1String> &literals,
+                  QMultiHash<char, QLatin1String> &other);
+
+/********************************************************/
+/***   VEX DATA  ****************************************/
+/********************************************************/
+void loadVEXData(QMultiHash<char, QLatin1String> &types,
+                 QMultiHash<char, QLatin1String> &keywords,
+                 QMultiHash<char, QLatin1String> &builtin,
+                 QMultiHash<char, QLatin1String> &literals,
+                 QMultiHash<char, QLatin1String> &other);
+
+/********************************************************/
+/***   CMake DATA  **************************************/
+/********************************************************/
+void loadCMakeData(QMultiHash<char, QLatin1String> &types,
+                   QMultiHash<char, QLatin1String> &keywords,
+                   QMultiHash<char, QLatin1String> &builtin,
+                   QMultiHash<char, QLatin1String> &literals,
+                   QMultiHash<char, QLatin1String> &other);
+
+/********************************************************/
+/***   Make DATA  ***************************************/
+/********************************************************/
+void loadMakeData(QMultiHash<char, QLatin1String> &types,
+                  QMultiHash<char, QLatin1String> &keywords,
+                  QMultiHash<char, QLatin1String> &builtin,
+                  QMultiHash<char, QLatin1String> &literals,
+                  QMultiHash<char, QLatin1String> &other);
+/********************************************************/
+/***   Forth DATA  **************************************/
+/********************************************************/
+void loadForthData(QMultiHash<char, QLatin1String> &types,
+                   QMultiHash<char, QLatin1String> &keywords,
+                   QMultiHash<char, QLatin1String> &builtin,
+                   QMultiHash<char, QLatin1String> &literals,
+                   QMultiHash<char, QLatin1String> &other);
+#endif
diff --git a/qmarkdowntextedit/qplaintexteditsearchwidget.cpp b/qmarkdowntextedit/qplaintexteditsearchwidget.cpp
new file mode 100644
index 000000000..06e32e27e
--- /dev/null
+++ b/qmarkdowntextedit/qplaintexteditsearchwidget.cpp
@@ -0,0 +1,500 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2014-2023 Patrizio Bekerle -- <patrizio@bekerle.com>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include "qplaintexteditsearchwidget.h"
+
+#include <QDebug>
+#include <QEvent>
+#include <QKeyEvent>
+
+#include "ui_qplaintexteditsearchwidget.h"
+
+QPlainTextEditSearchWidget::QPlainTextEditSearchWidget(QPlainTextEdit *parent)
+    : QWidget(parent),
+      ui(new Ui::QPlainTextEditSearchWidget),
+      selectionColor(0, 180, 0, 100) {
+    ui->setupUi(this);
+    _textEdit = parent;
+    _darkMode = false;
+    hide();
+    ui->searchCountLabel->setStyleSheet(QStringLiteral("* {color: grey}"));
+    // hiding will leave a open space in the horizontal layout
+    ui->searchCountLabel->setEnabled(false);
+    _currentSearchResult = 0;
+    _searchResultCount = 0;
+
+    connect(ui->closeButton, &QPushButton::clicked, this,
+            &QPlainTextEditSearchWidget::deactivate);
+    connect(ui->searchLineEdit, &QLineEdit::textChanged, this,
+            &QPlainTextEditSearchWidget::searchLineEditTextChanged);
+    connect(ui->searchDownButton, &QPushButton::clicked, this,
+            &QPlainTextEditSearchWidget::doSearchDown);
+    connect(ui->searchUpButton, &QPushButton::clicked, this,
+            &QPlainTextEditSearchWidget::doSearchUp);
+    connect(ui->replaceToggleButton, &QPushButton::toggled, this,
+            &QPlainTextEditSearchWidget::setReplaceMode);
+    connect(ui->replaceButton, &QPushButton::clicked, this,
+            &QPlainTextEditSearchWidget::doReplace);
+    connect(ui->replaceAllButton, &QPushButton::clicked, this,
+            &QPlainTextEditSearchWidget::doReplaceAll);
+
+    connect(&_debounceTimer, &QTimer::timeout,
+            this, &QPlainTextEditSearchWidget::performSearch);
+
+    installEventFilter(this);
+    ui->searchLineEdit->installEventFilter(this);
+    ui->replaceLineEdit->installEventFilter(this);
+
+#ifdef Q_OS_MAC
+    // set the spacing to 8 for OS X
+    layout()->setSpacing(8);
+    ui->buttonFrame->layout()->setSpacing(9);
+
+    // set the margin to 0 for the top buttons for OS X
+    QString buttonStyle = QStringLiteral("QPushButton {margin: 0}");
+    ui->closeButton->setStyleSheet(buttonStyle);
+    ui->searchDownButton->setStyleSheet(buttonStyle);
+    ui->searchUpButton->setStyleSheet(buttonStyle);
+    ui->replaceToggleButton->setStyleSheet(buttonStyle);
+    ui->matchCaseSensitiveButton->setStyleSheet(buttonStyle);
+#endif
+}
+
+QPlainTextEditSearchWidget::~QPlainTextEditSearchWidget() { delete ui; }
+
+void QPlainTextEditSearchWidget::activate() { activate(true); }
+
+void QPlainTextEditSearchWidget::activateReplace() {
+    // replacing is prohibited if the text edit is readonly
+    if (_textEdit->isReadOnly()) {
+        return;
+    }
+
+    ui->searchLineEdit->setText(_textEdit->textCursor().selectedText());
+    ui->searchLineEdit->selectAll();
+    activate();
+    setReplaceMode(true);
+}
+
+void QPlainTextEditSearchWidget::deactivate() {
+    stopDebounce();
+
+    hide();
+
+    // Clear the search extra selections when closing the search bar
+    clearSearchExtraSelections();
+
+    _textEdit->setFocus();
+}
+
+void QPlainTextEditSearchWidget::setReplaceMode(bool enabled) {
+    ui->replaceToggleButton->setChecked(enabled);
+    ui->replaceLabel->setVisible(enabled);
+    ui->replaceLineEdit->setVisible(enabled);
+    ui->modeLabel->setVisible(enabled);
+    ui->buttonFrame->setVisible(enabled);
+    ui->matchCaseSensitiveButton->setVisible(enabled);
+}
+
+bool QPlainTextEditSearchWidget::eventFilter(QObject *obj, QEvent *event) {
+    if (event->type() == QEvent::KeyPress) {
+        auto *keyEvent = static_cast<QKeyEvent *>(event);
+
+        if (keyEvent->key() == Qt::Key_Escape) {
+            deactivate();
+            return true;
+        } else if ((!_debounceTimer.isActive() &&
+                    keyEvent->modifiers().testFlag(Qt::ShiftModifier) &&
+                    (keyEvent->key() == Qt::Key_Return)) ||
+                    (keyEvent->key() == Qt::Key_Up)) {
+            doSearchUp();
+            return true;
+        } else if (!_debounceTimer.isActive() &&
+                    ((keyEvent->key() == Qt::Key_Return) ||
+                     (keyEvent->key() == Qt::Key_Down))) {
+            doSearchDown();
+            return true;
+        } else if (!_debounceTimer.isActive() && keyEvent->key() == Qt::Key_F3) {
+            doSearch(!keyEvent->modifiers().testFlag(Qt::ShiftModifier));
+            return true;
+        }
+
+        //        if ((obj == ui->replaceLineEdit) && (keyEvent->key() ==
+        //        Qt::Key_Tab)
+        //                && ui->replaceToggleButton->isChecked()) {
+        //            ui->replaceLineEdit->setFocus();
+        //        }
+
+        return false;
+    }
+
+    return QWidget::eventFilter(obj, event);
+}
+
+void QPlainTextEditSearchWidget::searchLineEditTextChanged(
+    const QString &arg1) {
+    _searchTerm = arg1;
+
+    if (_debounceTimer.interval() != 0 && !_searchTerm.isEmpty()) {
+        _debounceTimer.start();
+        ui->searchDownButton->setEnabled(false);
+        ui->searchUpButton->setEnabled(false);
+    } else {
+        performSearch();
+    }
+}
+
+void QPlainTextEditSearchWidget::performSearch()
+{
+    doSearchCount();
+    updateSearchExtraSelections();
+    doSearchDown();
+}
+
+void QPlainTextEditSearchWidget::clearSearchExtraSelections() {
+    _searchExtraSelections.clear();
+    setSearchExtraSelections();
+}
+
+void QPlainTextEditSearchWidget::updateSearchExtraSelections() {
+    _searchExtraSelections.clear();
+    const auto textCursor = _textEdit->textCursor();
+    _textEdit->moveCursor(QTextCursor::Start);
+    const QColor color = selectionColor;
+    QTextCharFormat extraFmt;
+    extraFmt.setBackground(color);
+    int findCounter = 0;
+    const int searchMode = ui->modeComboBox->currentIndex();
+
+    while (doSearch(true, false, false)) {
+        findCounter++;
+
+        // prevent infinite loops from regular expression searches like "$", "^" or "\b"
+        if (searchMode == RegularExpressionMode && findCounter >= 10000) {
+            break;
+        }
+
+        QTextEdit::ExtraSelection extra = QTextEdit::ExtraSelection();
+        extra.format = extraFmt;
+
+        extra.cursor = _textEdit->textCursor();
+        _searchExtraSelections.append(extra);
+    }
+
+    _textEdit->setTextCursor(textCursor);
+    this->setSearchExtraSelections();
+}
+
+void QPlainTextEditSearchWidget::setSearchExtraSelections() const {
+    this->_textEdit->setExtraSelections(this->_searchExtraSelections);
+}
+
+void QPlainTextEditSearchWidget::stopDebounce()
+{
+    _debounceTimer.stop();
+    ui->searchDownButton->setEnabled(true);
+    ui->searchUpButton->setEnabled(true);
+}
+
+void QPlainTextEditSearchWidget::doSearchUp() { doSearch(false); }
+
+void QPlainTextEditSearchWidget::doSearchDown() { doSearch(true); }
+
+bool QPlainTextEditSearchWidget::doReplace(bool forAll) {
+    if (_textEdit->isReadOnly()) {
+        return false;
+    }
+
+    QTextCursor cursor = _textEdit->textCursor();
+
+    if (!forAll && cursor.selectedText().isEmpty()) {
+        return false;
+    }
+
+    const int searchMode = ui->modeComboBox->currentIndex();
+    if (searchMode == RegularExpressionMode) {
+        QString text = cursor.selectedText();
+        text.replace(QRegularExpression(ui->searchLineEdit->text()),
+                     ui->replaceLineEdit->text());
+        cursor.insertText(text);
+    } else {
+        cursor.insertText(ui->replaceLineEdit->text());
+    }
+
+    if (!forAll) {
+        const int position = cursor.position();
+
+        if (!doSearch(true)) {
+            // restore the last cursor position if text wasn't found any more
+            cursor.setPosition(position);
+            _textEdit->setTextCursor(cursor);
+        }
+    }
+
+    return true;
+}
+
+void QPlainTextEditSearchWidget::doReplaceAll() {
+    if (_textEdit->isReadOnly()) {
+        return;
+    }
+
+    // start at the top
+    _textEdit->moveCursor(QTextCursor::Start);
+
+    // replace until everything to the bottom is replaced
+    while (doSearch(true, false) && doReplace(true)) {
+    }
+}
+
+/**
+ * @brief Searches for text in the text edit
+ * @returns true if found
+ */
+bool QPlainTextEditSearchWidget::doSearch(bool searchDown,
+                                          bool allowRestartAtTop,
+                                          bool updateUI) {
+    if (_debounceTimer.isActive()) {
+        stopDebounce();
+    }
+
+    const QString text = ui->searchLineEdit->text();
+
+    if (text.isEmpty()) {
+        if (updateUI) {
+            ui->searchLineEdit->setStyleSheet(QLatin1String(""));
+        }
+
+        return false;
+    }
+
+    const int searchMode = ui->modeComboBox->currentIndex();
+    const bool caseSensitive = ui->matchCaseSensitiveButton->isChecked();
+
+    QFlags<QTextDocument::FindFlag> options =
+        searchDown ? QTextDocument::FindFlag(0) : QTextDocument::FindBackward;
+    if (searchMode == WholeWordsMode) {
+        options |= QTextDocument::FindWholeWords;
+    }
+
+    if (caseSensitive) {
+        options |= QTextDocument::FindCaseSensitively;
+    }
+
+    // block signal to reduce too many signals being fired and too many updates
+    _textEdit->blockSignals(true);
+
+    bool found =
+        searchMode == RegularExpressionMode
+            ?
+#if (QT_VERSION >= QT_VERSION_CHECK(5, 13, 0))
+            _textEdit->find(
+                QRegularExpression(
+                    text, caseSensitive
+                              ? QRegularExpression::NoPatternOption
+                              : QRegularExpression::CaseInsensitiveOption),
+                options)
+            :
+#else
+            _textEdit->find(QRegExp(text, caseSensitive ? Qt::CaseSensitive
+                                                        : Qt::CaseInsensitive),
+                            options)
+            :
+#endif
+            _textEdit->find(text, options);
+
+    _textEdit->blockSignals(false);
+
+    if (found) {
+        const int result =
+            searchDown ? ++_currentSearchResult : --_currentSearchResult;
+        _currentSearchResult = std::min(result, _searchResultCount);
+
+        updateSearchCountLabelText();
+    }
+
+    // start at the top (or bottom) if not found
+    if (!found && allowRestartAtTop) {
+        _textEdit->moveCursor(searchDown ? QTextCursor::Start
+                                         : QTextCursor::End);
+        found =
+            searchMode == RegularExpressionMode
+                ?
+#if (QT_VERSION >= QT_VERSION_CHECK(5, 13, 0))
+                _textEdit->find(
+                    QRegularExpression(
+                        text, caseSensitive
+                                  ? QRegularExpression::NoPatternOption
+                                  : QRegularExpression::CaseInsensitiveOption),
+                    options)
+                :
+#else
+                _textEdit->find(
+                    QRegExp(text, caseSensitive ? Qt::CaseSensitive
+                                                : Qt::CaseInsensitive),
+                    options)
+                :
+#endif
+                _textEdit->find(text, options);
+
+        if (found && updateUI) {
+            _currentSearchResult = searchDown ? 1 : _searchResultCount;
+            updateSearchCountLabelText();
+        }
+    }
+
+    if (updateUI) {
+        const QRect rect = _textEdit->cursorRect();
+        QMargins margins = _textEdit->layout()->contentsMargins();
+        const int searchWidgetHotArea = _textEdit->height() - this->height();
+        const int marginBottom =
+            (rect.y() > searchWidgetHotArea) ? (this->height() + 10) : 0;
+
+        // move the search box a bit up if we would block the search result
+        if (margins.bottom() != marginBottom) {
+            margins.setBottom(marginBottom);
+            _textEdit->layout()->setContentsMargins(margins);
+        }
+
+        // add a background color according if we found the text or not
+        const QString bgColorCode =
+            _darkMode
+                ? (found ? QStringLiteral("#135a13")
+                         : QStringLiteral("#8d2b36"))
+                : found ? QStringLiteral("#D5FAE2") : QStringLiteral("#FAE9EB");
+        const QString fgColorCode =
+            _darkMode ? QStringLiteral("#cccccc") : QStringLiteral("#404040");
+
+        ui->searchLineEdit->setStyleSheet(
+            QStringLiteral("* { background: ") + bgColorCode +
+            QStringLiteral("; color: ") + fgColorCode + QStringLiteral("; }"));
+
+        // restore the search extra selections after the find command
+        this->setSearchExtraSelections();
+    }
+
+    return found;
+}
+
+/**
+ * @brief Counts the search results
+ */
+void QPlainTextEditSearchWidget::doSearchCount() {
+    // Note that we are moving the anchor, so the search will start from the top
+    // again! Alternative: Restore cursor position afterward, but then we will
+    // not know
+    //              at what _currentSearchResult we currently are
+    _textEdit->moveCursor(QTextCursor::Start, QTextCursor::MoveAnchor);
+
+    bool found;
+    _searchResultCount = 0;
+    _currentSearchResult = 0;
+    const int searchMode = ui->modeComboBox->currentIndex();
+
+    do {
+        found = doSearch(true, false, false);
+        if (found) {
+            _searchResultCount++;
+        }
+
+        // prevent infinite loops from regular expression searches like "$", "^" or "\b"
+        if (searchMode == RegularExpressionMode && _searchResultCount >= 10000) {
+            break;
+        }
+    } while (found);
+
+    updateSearchCountLabelText();
+}
+
+void QPlainTextEditSearchWidget::setDarkMode(bool enabled) {
+    _darkMode = enabled;
+}
+
+void QPlainTextEditSearchWidget::setSearchText(const QString &searchText) {
+    ui->searchLineEdit->setText(searchText);
+}
+
+void QPlainTextEditSearchWidget::setSearchMode(SearchMode searchMode) {
+    ui->modeComboBox->setCurrentIndex(searchMode);
+}
+
+void QPlainTextEditSearchWidget::setDebounceDelay(uint debounceDelay)
+{
+    _debounceTimer.setInterval(static_cast<int>(debounceDelay));
+}
+
+void QPlainTextEditSearchWidget::activate(bool focus) {
+    setReplaceMode(ui->modeComboBox->currentIndex() !=
+                   SearchMode::PlainTextMode);
+    show();
+
+    // preset the selected text as search text if there is any and there is no
+    // other search text
+    const QString selectedText = _textEdit->textCursor().selectedText();
+    if (!selectedText.isEmpty() && ui->searchLineEdit->text().isEmpty()) {
+        ui->searchLineEdit->setText(selectedText);
+    }
+
+    if (focus) {
+        ui->searchLineEdit->setFocus();
+    }
+
+    ui->searchLineEdit->selectAll();
+    updateSearchExtraSelections();
+    doSearchDown();
+}
+
+void QPlainTextEditSearchWidget::reset() {
+    ui->searchLineEdit->clear();
+    setSearchMode(SearchMode::PlainTextMode);
+    setReplaceMode(false);
+    ui->searchCountLabel->setEnabled(false);
+}
+
+void QPlainTextEditSearchWidget::updateSearchCountLabelText() {
+    ui->searchCountLabel->setEnabled(true);
+    ui->searchCountLabel->setText(QStringLiteral("%1/%2").arg(
+        _currentSearchResult == 0 ? QChar('-')
+                                  : QString::number(_currentSearchResult),
+        _searchResultCount == 0 ? QChar('-')
+                                : QString::number(_searchResultCount)));
+}
+
+void QPlainTextEditSearchWidget::setSearchSelectionColor(const QColor &color) {
+    selectionColor = color;
+}
+
+void QPlainTextEditSearchWidget::on_modeComboBox_currentIndexChanged(
+    int index) {
+    Q_UNUSED(index)
+    doSearchCount();
+    doSearchDown();
+}
+
+void QPlainTextEditSearchWidget::on_matchCaseSensitiveButton_toggled(
+    bool checked) {
+    Q_UNUSED(checked)
+    doSearchCount();
+    doSearchDown();
+}
diff --git a/qmarkdowntextedit/qplaintexteditsearchwidget.h b/qmarkdowntextedit/qplaintexteditsearchwidget.h
new file mode 100644
index 000000000..71dd5d7ec
--- /dev/null
+++ b/qmarkdowntextedit/qplaintexteditsearchwidget.h
@@ -0,0 +1,90 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2014-2023 Patrizio Bekerle -- <patrizio@bekerle.com>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#pragma once
+
+#include <QPlainTextEdit>
+#include <QTimer>
+#include <QWidget>
+
+namespace Ui {
+class QPlainTextEditSearchWidget;
+}
+
+class QPlainTextEditSearchWidget : public QWidget {
+    Q_OBJECT
+
+   public:
+    enum SearchMode { PlainTextMode, WholeWordsMode, RegularExpressionMode };
+
+    explicit QPlainTextEditSearchWidget(QPlainTextEdit *parent = nullptr);
+    bool doSearch(bool searchDown = true, bool allowRestartAtTop = true,
+                  bool updateUI = true);
+    void setDarkMode(bool enabled);
+    ~QPlainTextEditSearchWidget();
+
+    void setSearchText(const QString &searchText);
+    void setSearchMode(SearchMode searchMode);
+    void setDebounceDelay(uint debounceDelay);
+    void activate(bool focus);
+    void clearSearchExtraSelections();
+    void updateSearchExtraSelections();
+
+   private:
+    Ui::QPlainTextEditSearchWidget *ui;
+    int _searchResultCount;
+    int _currentSearchResult;
+    QList<QTextEdit::ExtraSelection> _searchExtraSelections;
+    QColor selectionColor;
+    QTimer _debounceTimer;
+    QString _searchTerm;
+    void setSearchExtraSelections() const;
+    void stopDebounce();
+
+   protected:
+    QPlainTextEdit *_textEdit;
+    bool _darkMode;
+    bool eventFilter(QObject *obj, QEvent *event) override;
+
+   public Q_SLOTS:
+    void activate();
+    void deactivate();
+    void doSearchDown();
+    void doSearchUp();
+    void setReplaceMode(bool enabled);
+    void activateReplace();
+    bool doReplace(bool forAll = false);
+    void doReplaceAll();
+    void reset();
+    void doSearchCount();
+
+   protected Q_SLOTS:
+    void searchLineEditTextChanged(const QString &arg1);
+    void performSearch();
+    void updateSearchCountLabelText();
+    void setSearchSelectionColor(const QColor &color);
+   private Q_SLOTS:
+    void on_modeComboBox_currentIndexChanged(int index);
+    void on_matchCaseSensitiveButton_toggled(bool checked);
+};
diff --git a/qmarkdowntextedit/qplaintexteditsearchwidget.ui b/qmarkdowntextedit/qplaintexteditsearchwidget.ui
new file mode 100644
index 000000000..78ccb1dc2
--- /dev/null
+++ b/qmarkdowntextedit/qplaintexteditsearchwidget.ui
@@ -0,0 +1,266 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QPlainTextEditSearchWidget</class>
+ <widget class="QWidget" name="QPlainTextEditSearchWidget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>836</width>
+    <height>142</height>
+   </rect>
+  </property>
+  <property name="autoFillBackground">
+   <bool>true</bool>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <property name="leftMargin">
+    <number>0</number>
+   </property>
+   <property name="topMargin">
+    <number>0</number>
+   </property>
+   <property name="rightMargin">
+    <number>0</number>
+   </property>
+   <property name="bottomMargin">
+    <number>0</number>
+   </property>
+   <item row="0" column="3">
+    <widget class="QLineEdit" name="searchLineEdit">
+     <property name="placeholderText">
+      <string>Find in text</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="3" colspan="2">
+    <widget class="QLineEdit" name="replaceLineEdit">
+     <property name="placeholderText">
+      <string>Replace with</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="4">
+    <widget class="QLabel" name="searchCountLabel">
+     <property name="text">
+      <string notr="true">-/-</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="1">
+    <widget class="QLabel" name="searchLabel">
+     <property name="text">
+      <string>Find:</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="6">
+    <widget class="QPushButton" name="searchUpButton">
+     <property name="toolTip">
+      <string>Search backward</string>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+     <property name="icon">
+      <iconset theme="go-top" resource="media.qrc">
+       <normaloff>:/media/go-top.svg</normaloff>:/media/go-top.svg</iconset>
+     </property>
+     <property name="flat">
+      <bool>true</bool>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="0" colspan="2">
+    <widget class="QLabel" name="replaceLabel">
+     <property name="text">
+      <string>Replace:</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="0">
+    <widget class="QPushButton" name="closeButton">
+     <property name="toolTip">
+      <string>Close search</string>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+     <property name="icon">
+      <iconset theme="window-close" resource="media.qrc">
+       <normaloff>:/media/window-close.svg</normaloff>:/media/window-close.svg</iconset>
+     </property>
+     <property name="flat">
+      <bool>true</bool>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="7">
+    <widget class="QPushButton" name="replaceToggleButton">
+     <property name="toolTip">
+      <string>Advanced search / replace text</string>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+     <property name="icon">
+      <iconset theme="edit-find-replace" resource="media.qrc">
+       <normaloff>:/media/edit-find-replace.svg</normaloff>:/media/edit-find-replace.svg</iconset>
+     </property>
+     <property name="checkable">
+      <bool>true</bool>
+     </property>
+     <property name="flat">
+      <bool>true</bool>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="5">
+    <widget class="QPushButton" name="searchDownButton">
+     <property name="toolTip">
+      <string>Search forward</string>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+     <property name="icon">
+      <iconset theme="go-bottom" resource="media.qrc">
+       <normaloff>:/media/go-bottom.svg</normaloff>:/media/go-bottom.svg</iconset>
+     </property>
+     <property name="flat">
+      <bool>true</bool>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="5">
+    <widget class="QPushButton" name="matchCaseSensitiveButton">
+     <property name="toolTip">
+      <string>Match case sensitive</string>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+     <property name="icon">
+      <iconset theme="format-text-superscript" resource="media.qrc">
+       <normaloff>:/media/format-text-superscript.svg</normaloff>:/media/format-text-superscript.svg</iconset>
+     </property>
+     <property name="checkable">
+      <bool>true</bool>
+     </property>
+     <property name="flat">
+      <bool>true</bool>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0" colspan="2">
+    <widget class="QLabel" name="modeLabel">
+     <property name="text">
+      <string>Mode:</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="3" colspan="2">
+    <widget class="QFrame" name="buttonFrame">
+     <property name="frameShape">
+      <enum>QFrame::NoFrame</enum>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout">
+      <property name="leftMargin">
+       <number>0</number>
+      </property>
+      <property name="topMargin">
+       <number>0</number>
+      </property>
+      <property name="rightMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <item>
+       <widget class="QComboBox" name="modeComboBox">
+        <item>
+         <property name="text">
+          <string>Plain text</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>Whole words</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>Regular expression</string>
+         </property>
+        </item>
+       </widget>
+      </item>
+      <item>
+       <spacer name="horizontalSpacer">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>40</width>
+          <height>20</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item>
+       <widget class="QPushButton" name="replaceButton">
+        <property name="toolTip">
+         <string>Replace one text occurrence</string>
+        </property>
+        <property name="text">
+         <string>Replace</string>
+        </property>
+        <property name="flat">
+         <bool>false</bool>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="replaceAllButton">
+        <property name="toolTip">
+         <string>Replace all text occurrences</string>
+        </property>
+        <property name="text">
+         <string>Replace all</string>
+        </property>
+        <property name="flat">
+         <bool>false</bool>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <tabstops>
+  <tabstop>searchLineEdit</tabstop>
+  <tabstop>replaceLineEdit</tabstop>
+  <tabstop>replaceButton</tabstop>
+  <tabstop>replaceAllButton</tabstop>
+  <tabstop>searchDownButton</tabstop>
+  <tabstop>searchUpButton</tabstop>
+  <tabstop>replaceToggleButton</tabstop>
+  <tabstop>closeButton</tabstop>
+ </tabstops>
+ <resources>
+  <include location="media.qrc"/>
+ </resources>
+ <connections/>
+</ui>
diff --git a/qmarkdowntextedit/screenshot.png b/qmarkdowntextedit/screenshot.png
new file mode 100644
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diff --git a/qmarkdowntextedit/scripts/clang-format-project.sh b/qmarkdowntextedit/scripts/clang-format-project.sh
new file mode 100644
index 000000000..c2086d331
--- /dev/null
+++ b/qmarkdowntextedit/scripts/clang-format-project.sh
@@ -0,0 +1,28 @@
+#!/bin/bash
+#
+# A tool to run clang-format on the entire project
+#
+# Some inspirations were taken from https://github.com/eklitzke/clang-format-all
+
+# Variable that will hold the name of the clang-format command
+FMT=""
+
+# Some distros just call it clang-format. Others (e.g. Ubuntu) are insistent
+# that the version number be part of the command. We prefer clang-format if
+# that's present, otherwise we work backwards from highest version to lowest
+# version.
+for clangfmt in clang-format{,-{4,3}.{9,8,7,6,5,4,3,2,1,0}}; do
+    if which "$clangfmt" &>/dev/null; then
+        FMT="$clangfmt"
+        break
+    fi
+done
+
+# Check if we found a working clang-format
+if [ -z "$FMT" ]; then
+    echo "failed to find clang-format"
+    exit 1
+fi
+
+$FMT -i *.cpp
+$FMT -i *.h
diff --git a/qmarkdowntextedit/trans/qmarkdowntextedit_de.qm b/qmarkdowntextedit/trans/qmarkdowntextedit_de.qm
new file mode 100644
index 0000000000000000000000000000000000000000..675cf2c3f722bdbd5b539f396620e00a2ceedfa2
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/qmarkdowntextedit/trans/qmarkdowntextedit_de.ts b/qmarkdowntextedit/trans/qmarkdowntextedit_de.ts
new file mode 100644
index 000000000..134f5aa51
--- /dev/null
+++ b/qmarkdowntextedit/trans/qmarkdowntextedit_de.ts
@@ -0,0 +1,57 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.0" language="de_DE">
+<context>
+    <name>QPlainTextEditSearchWidget</name>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="62"/>
+        <source>close search</source>
+        <translation>Suche schließen</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="52"/>
+        <source>Find:</source>
+        <translation>Finden:</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="32"/>
+        <source>replace text</source>
+        <translation>Text ersetzen</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="79"/>
+        <source>find in text</source>
+        <translation>im Text finden</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="86"/>
+        <source>search forward</source>
+        <translation>vorwärts suchen</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="103"/>
+        <source>search backward</source>
+        <translation>rückwärts suchen</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="120"/>
+        <source>replace with</source>
+        <translation>ersetzen mit</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="127"/>
+        <source>Replace:</source>
+        <translation>Ersetzen:</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="168"/>
+        <source>Replace</source>
+        <translation>Ersetzen</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="178"/>
+        <source>Replace All</source>
+        <translation>Alle ersetzen</translation>
+    </message>
+</context>
+</TS>
diff --git a/qmarkdowntextedit/trans/qmarkdowntextedit_es.qm b/qmarkdowntextedit/trans/qmarkdowntextedit_es.qm
new file mode 100644
index 0000000000000000000000000000000000000000..ea421e563080702943550a8335ff968a66d6b08c
GIT binary patch
literal 1871
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literal 0
HcmV?d00001

diff --git a/qmarkdowntextedit/trans/qmarkdowntextedit_es.ts b/qmarkdowntextedit/trans/qmarkdowntextedit_es.ts
new file mode 100644
index 000000000..d6a15b683
--- /dev/null
+++ b/qmarkdowntextedit/trans/qmarkdowntextedit_es.ts
@@ -0,0 +1,92 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="es_ES">
+<context>
+    <name>QPlainTextEditSearchWidget</name>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="32"/>
+        <source>Find in text</source>
+        <translation>Buscar en el texto</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="39"/>
+        <source>Replace with</source>
+        <translation>Reemplazar por</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="53"/>
+        <source>Find:</source>
+        <translation>Buscar:</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="63"/>
+        <source>Search backward</source>
+        <translation>Buscar hacia atrás</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="80"/>
+        <source>Replace:</source>
+        <translation>Reemplazar:</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="90"/>
+        <source>Close search</source>
+        <translation>Cerrar búsqueda</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="107"/>
+        <source>Advanced search / replace text</source>
+        <translation>Búsqueda avanzada / reemplazar texto</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="127"/>
+        <source>Search forward</source>
+        <translation>Buscar hacia adelante</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="144"/>
+        <source>Match case sensitive</source>
+        <translation>Distingue mayúsculas y minúsculas</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="164"/>
+        <source>Mode:</source>
+        <translation>Modo:</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="193"/>
+        <source>Plain text</source>
+        <translation>Texto plano</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="198"/>
+        <source>Whole words</source>
+        <translation>Palabras enteras</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="203"/>
+        <source>Regular expression</source>
+        <translation>Expresión regular</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="224"/>
+        <source>Replace one text occurrence</source>
+        <translation>Reemplazar una ocurrencia del texto</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="227"/>
+        <source>Replace</source>
+        <translation>Reemplazar</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="237"/>
+        <source>Replace all text occurrences</source>
+        <translation>Reemplazar todas las ocurrencias del texto</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="240"/>
+        <source>Replace all</source>
+        <translation>Reemplazar todo</translation>
+    </message>
+</context>
+</TS>
diff --git a/qmarkdowntextedit/trans/qmarkdowntextedit_ur.qm b/qmarkdowntextedit/trans/qmarkdowntextedit_ur.qm
new file mode 100644
index 0000000000000000000000000000000000000000..ce02ba8f4a61400aa582e15ea0b3ab44c55d42a9
GIT binary patch
literal 913
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literal 0
HcmV?d00001

diff --git a/qmarkdowntextedit/trans/qmarkdowntextedit_ur.ts b/qmarkdowntextedit/trans/qmarkdowntextedit_ur.ts
new file mode 100644
index 000000000..0f90b57aa
--- /dev/null
+++ b/qmarkdowntextedit/trans/qmarkdowntextedit_ur.ts
@@ -0,0 +1,57 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="ur_PK">
+<context>
+    <name>QPlainTextEditSearchWidget</name>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="62"/>
+        <source>close search</source>
+        <translation>تلاش بند کریں</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="52"/>
+        <source>Find:</source>
+        <translation>تلاش:</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="32"/>
+        <source>replace text</source>
+        <translation>ٹیکصٹ بدلیں</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="79"/>
+        <source>find in text</source>
+        <translation>متن میں تلاش کریں</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="86"/>
+        <source>search forward</source>
+        <translation>آگے تلاش کریں</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="103"/>
+        <source>search backward</source>
+        <translation>پیچھے تلاش کریں</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="120"/>
+        <source>replace with</source>
+        <translation>بدلیں اس سے</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="127"/>
+        <source>Replace:</source>
+        <translation>بدلیں:</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="168"/>
+        <source>Replace</source>
+        <translation>بدلیں</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="178"/>
+        <source>Replace All</source>
+        <translation>تمام کو بدل دیں</translation>
+    </message>
+</context>
+</TS>
diff --git a/qmarkdowntextedit/trans/qmarkdowntextedit_zh_CN.qm b/qmarkdowntextedit/trans/qmarkdowntextedit_zh_CN.qm
new file mode 100644
index 0000000000000000000000000000000000000000..bea6b74c4217afff4b527df29874d822f041c956
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/qmarkdowntextedit/trans/qmarkdowntextedit_zh_CN.ts b/qmarkdowntextedit/trans/qmarkdowntextedit_zh_CN.ts
new file mode 100644
index 000000000..b9eb4b7ce
--- /dev/null
+++ b/qmarkdowntextedit/trans/qmarkdowntextedit_zh_CN.ts
@@ -0,0 +1,92 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="zh_CN">
+<context>
+    <name>QPlainTextEditSearchWidget</name>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="32"/>
+        <source>Find in text</source>
+        <translation>在文本中查找</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="39"/>
+        <source>Replace with</source>
+        <translation>替换为</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="53"/>
+        <source>Find:</source>
+        <translation>查找</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="63"/>
+        <source>Search backward</source>
+        <translation>上一个匹配项</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="80"/>
+        <source>Replace:</source>
+        <translation>替换</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="90"/>
+        <source>Close search</source>
+        <translation>关闭搜索框</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="107"/>
+        <source>Advanced search / replace text</source>
+        <translation>高级搜索/替换</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="127"/>
+        <source>Search forward</source>
+        <translation>下一个匹配项</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="144"/>
+        <source>Match case sensitive</source>
+        <translation>区分大小写</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="164"/>
+        <source>Mode:</source>
+        <translation>模式</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="193"/>
+        <source>Plain text</source>
+        <translation>字符匹配</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="198"/>
+        <source>Whole words</source>
+        <translation>全字匹配</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="203"/>
+        <source>Regular expression</source>
+        <translation>正则表达式</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="224"/>
+        <source>Replace one text occurrence</source>
+        <translation>替换第一个匹配的文本</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="227"/>
+        <source>Replace</source>
+        <translation>替换</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="237"/>
+        <source>Replace all text occurrences</source>
+        <translation>替换所有匹配的文本</translation>
+    </message>
+    <message>
+        <location filename="../qplaintexteditsearchwidget.ui" line="240"/>
+        <source>Replace all</source>
+        <translation>全部替换</translation>
+    </message>
+</context>
+</TS>
diff --git a/utility.cpp b/utility.cpp
index e926a97ae..7999e46a9 100755
--- a/utility.cpp
+++ b/utility.cpp
@@ -38,6 +38,8 @@
 #include <QDirIterator>
 #include <QPixmapCache>
 
+#include "maddy/parser.h"
+
 #ifdef Q_OS_ANDROID
 #include <QtAndroid>
 #include <QAndroidJniObject>
@@ -2299,6 +2301,49 @@ QPixmap Utility::getIcon(QString path)
     return pm;
 }
 
+bool Utility::downloadUrlEventloop(QString path, QString dest)
+{
+    bool res = false;
+
+    QUrl url(path);
+
+    if (!url.isValid()) {
+        return res;
+    }
+
+    QNetworkAccessManager manager;
+    QNetworkRequest request(url);
+    QNetworkReply *reply = manager.get(request);
+
+    QEventLoop loop;
+    connect(reply, SIGNAL(finished()), &loop, SLOT(quit()));
+    loop.exec();
+
+    if (reply->error() == QNetworkReply::NoError) {
+        QFile file(dest);
+        if (file.open(QIODevice::WriteOnly)) {
+            file.write(reply->readAll());
+            file.close();
+            res = true;
+        }
+    }
+
+    reply->abort();
+    reply->deleteLater();
+
+    return res;
+}
+
+QString Utility::md2html(QString md)
+{
+    std::shared_ptr<maddy::ParserConfig> config = std::make_shared<maddy::ParserConfig>();
+    config->enabledParsers = maddy::types::ALL;
+    std::shared_ptr<maddy::Parser> parser = std::make_shared<maddy::Parser>(config);
+
+    std::stringstream markdownInput(md.toStdString());
+    return QString::fromStdString(parser->Parse(markdownInput));
+}
+
 void Utility::setDarkMode(bool isDarkSetting)
 {
     isDark = isDarkSetting;
diff --git a/utility.h b/utility.h
index 6863ab8b9..649225f46 100644
--- a/utility.h
+++ b/utility.h
@@ -139,6 +139,10 @@ class Utility : public QObject
 
     static QPixmap getIcon(QString path);
 
+    Q_INVOKABLE static bool downloadUrlEventloop(QString path, QString dest);
+
+    Q_INVOKABLE static QString md2html(QString md);
+
 signals:
 
 public slots:
diff --git a/vesc_tool.pro b/vesc_tool.pro
index 6f6050501..3539330b1 100644
--- a/vesc_tool.pro
+++ b/vesc_tool.pro
@@ -266,6 +266,8 @@ include(heatshrink/heatshrink.pri)
 include(QCodeEditor/qcodeeditor.pri)
 include(esp32/esp32.pri)
 include(display_tool/display_tool.pri)
+include(qmarkdowntextedit/qmarkdowntextedit.pri)
+include(maddy/maddy.pri)
 
 RESOURCES += res.qrc \
     res_custom_module.qrc \

From 93ccd17471a0ee2aa466a4f52c12b646370a4951 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 13 Nov 2023 15:49:54 +0100
Subject: [PATCH 544/559] Clear image cache when reloading archive

---
 codeloader.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/codeloader.cpp b/codeloader.cpp
index f4e0eb72c..7429da253 100644
--- a/codeloader.cpp
+++ b/codeloader.cpp
@@ -901,6 +901,10 @@ bool CodeLoader::downloadPackageArchive()
             file.close();
             res = true;
         }
+
+        // Remove image cache
+        QString cacheLoc = QStandardPaths::writableLocation(QStandardPaths::CacheLocation);
+        QDir(cacheLoc + "/img/").removeRecursively();
     }
 
     reply->abort();

From 2c56551f78cc920f438b5f8d410e0690b6d625ed Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 13 Nov 2023 20:37:55 +0100
Subject: [PATCH 545/559] Use included monospace-font for code blocks

---
 maddy/codeblockparser.h | 27 +++++++++++----------------
 1 file changed, 11 insertions(+), 16 deletions(-)

diff --git a/maddy/codeblockparser.h b/maddy/codeblockparser.h
index 05ccb8880..29241c8f3 100644
--- a/maddy/codeblockparser.h
+++ b/maddy/codeblockparser.h
@@ -108,29 +108,24 @@ class CodeBlockParser : public BlockParser
     parseBlock(std::string& line) override
     {
         QString style = QString("\"background: %1; margin-left:12px; color:%2;\"").
-                arg(Utility::getAppHexColor("lightBackground")).
-                arg(Utility::getAppHexColor("lightText"));
-
-        if (line == "```")
-        {
-            if (!this->isStarted)
-            {
-                line = "<pre style=" + style.toStdString() + "><code>\n";
+                arg(Utility::getAppHexColor("lightBackground"), Utility::getAppHexColor("lightText"));
+
+        if (line == "```") {
+            if (!this->isStarted) {
+                line = "<pre style=" + style.toStdString() +
+                        "><span style=\"font-family:'DejaVu Sans Mono';\"<code>\n";
                 this->isStarted = true;
                 this->isFinished = false;
                 return;
-            }
-            else
-            {
-                line = "</code></pre>";
+            } else {
+                line = "</span></code></pre>";
                 this->isFinished = true;
                 this->isStarted = false;
                 return;
             }
-        }
-        else if (!this->isStarted && line.substr(0, 3) == "```")
-        {
-            line = "<pre style=" + style.toStdString() + " class=\"" + line.substr(3) + "\"><code>\n";
+        } else if (!this->isStarted && line.substr(0, 3) == "```") {
+            line = "<pre style=" + style.toStdString() + " class=\"" +
+                    line.substr(3) + "\"><span style=\"font-family:'DejaVu Sans Mono';\"<code>\n";
             this->isStarted = true;
             this->isFinished = false;
             return;

From 820f5e9d0706d9fc3de0fe4b64ce76debeee0761 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 14 Nov 2023 09:50:09 +0100
Subject: [PATCH 546/559] Made it more clear when a file is replaced and when
 the editor content is replaced

---
 pages/pagevescpackage.cpp | 28 ++++++++++++++++++++++------
 1 file changed, 22 insertions(+), 6 deletions(-)

diff --git a/pages/pagevescpackage.cpp b/pages/pagevescpackage.cpp
index f0944dcb9..dc9f50fb0 100644
--- a/pages/pagevescpackage.cpp
+++ b/pages/pagevescpackage.cpp
@@ -127,9 +127,27 @@ void PageVescPackage::on_chooseOutputButton_clicked()
             filename += ".vescpkg";
         }
 
-        ui->outputEdit->setText(filename);
-        on_outputRefreshButton_clicked();
-        on_saveButton_clicked();
+        if (QFile::exists(filename)) {
+            if (ui->descriptionEdit->toPlainText().size() > 10) {
+                QMessageBox::StandardButton reply =
+                        QMessageBox::warning(this,
+                                             tr("Replace Content"),
+                                             tr("Opening an existing package will replace the content "
+                                                "in the editor. Do you want to continue?"),
+                                             QMessageBox::Ok | QMessageBox::Cancel);
+
+                if (reply == QMessageBox::Ok) {
+                    ui->outputEdit->setText(filename);
+                    on_outputRefreshButton_clicked();
+                }
+            } else {
+                ui->outputEdit->setText(filename);
+                on_outputRefreshButton_clicked();
+            }
+        } else {
+            ui->outputEdit->setText(filename);
+            on_saveButton_clicked();
+        }
     }
 }
 
@@ -188,9 +206,7 @@ void PageVescPackage::on_saveButton_clicked()
     file.write(mLoader.packVescPackage(pkg));
     file.close();
 
-    mVesc->emitMessageDialog(tr("Save Package"),
-                             tr("Package Saved"),
-                             true, false);
+    mVesc->emitStatusMessage(tr("Package Saved"), true);
 }
 
 void PageVescPackage::on_loadRefreshButton_clicked()

From 73528f2f0e04190cd1260f821074a6aac98d46d7 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 14 Nov 2023 10:08:11 +0100
Subject: [PATCH 547/559] Use included monospace font

---
 qmarkdowntextedit/markdownhighlighter.cpp | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/qmarkdowntextedit/markdownhighlighter.cpp b/qmarkdowntextedit/markdownhighlighter.cpp
index 26c03efef..ac5741509 100644
--- a/qmarkdowntextedit/markdownhighlighter.cpp
+++ b/qmarkdowntextedit/markdownhighlighter.cpp
@@ -243,7 +243,7 @@ void MarkdownHighlighter::initTextFormats(int defaultFontSize) {
 
     // set character format for code blocks
     format = QTextCharFormat();
-    format.setFont(QFontDatabase::systemFont(QFontDatabase::FixedFont));
+    format.setFont(QFont("DejaVu Sans Mono"));
     // format.setBackground(QColor(220, 220, 220));
     _formats[CodeBlock] = format;
     _formats[InlineCodeBlock] = format;
@@ -276,7 +276,7 @@ void MarkdownHighlighter::initTextFormats(int defaultFontSize) {
 
     // set character format for tables
     format = QTextCharFormat();
-    format.setFont(QFontDatabase::systemFont(QFontDatabase::FixedFont));
+    format.setFont(QFont("DejaVu Sans Mono"));
     format.setForeground(Utility::getAppQColor("lightAccent"));
     _formats[Table] = std::move(format);
 
@@ -298,37 +298,37 @@ void MarkdownHighlighter::initTextFormats(int defaultFontSize) {
      ***************************************/
 
     format = QTextCharFormat();
-    format.setFont(QFontDatabase::systemFont(QFontDatabase::FixedFont));
+    format.setFont(QFont("DejaVu Sans Mono"));
     format.setForeground(sstyle->getFormat("Keyword").foreground().color());
     _formats[CodeKeyWord] = std::move(format);
 
     format = QTextCharFormat();
-    format.setFont(QFontDatabase::systemFont(QFontDatabase::FixedFont));
+    format.setFont(QFont("DejaVu Sans Mono"));
     format.setForeground(sstyle->getFormat("String").foreground().color());
     _formats[CodeString] = std::move(format);
 
     format = QTextCharFormat();
-    format.setFont(QFontDatabase::systemFont(QFontDatabase::FixedFont));
+    format.setFont(QFont("DejaVu Sans Mono"));
     format.setForeground(sstyle->getFormat("Comment").foreground().color());
     _formats[CodeComment] = std::move(format);
 
     format = QTextCharFormat();
-    format.setFont(QFontDatabase::systemFont(QFontDatabase::FixedFont));
+    format.setFont(QFont("DejaVu Sans Mono"));
     format.setForeground(sstyle->getFormat("Type").foreground().color());
     _formats[CodeType] = std::move(format);
 
     format = QTextCharFormat();
-    format.setFont(QFontDatabase::systemFont(QFontDatabase::FixedFont));
+    format.setFont(QFont("DejaVu Sans Mono"));
     format.setForeground(sstyle->getFormat("VirtualMethod").foreground().color());
     _formats[CodeOther] = std::move(format);
 
     format = QTextCharFormat();
-    format.setFont(QFontDatabase::systemFont(QFontDatabase::FixedFont));
+    format.setFont(QFont("DejaVu Sans Mono"));
     format.setForeground(sstyle->getFormat("Number").foreground().color());
     _formats[CodeNumLiteral] = std::move(format);
 
     format = QTextCharFormat();
-    format.setFont(QFontDatabase::systemFont(QFontDatabase::FixedFont));
+    format.setFont(QFont("DejaVu Sans Mono"));
     format.setForeground(sstyle->getFormat("PrimitiveType").foreground().color());
     _formats[CodeBuiltIn] = std::move(format);
 }

From 1275db4797792d5962239b89562ec100eaebf4bf Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 14 Nov 2023 13:08:53 +0100
Subject: [PATCH 548/559] Support for opening old packages where the text is
 stored as html

---
 pages/pagevescpackage.cpp | 19 +++++++++++++++++--
 1 file changed, 17 insertions(+), 2 deletions(-)

diff --git a/pages/pagevescpackage.cpp b/pages/pagevescpackage.cpp
index dc9f50fb0..950d3cdb8 100644
--- a/pages/pagevescpackage.cpp
+++ b/pages/pagevescpackage.cpp
@@ -217,7 +217,13 @@ void PageVescPackage::on_loadRefreshButton_clicked()
     }
 
     auto pkg = mLoader.unpackVescPackage(f.readAll());
-    ui->loadBrowser->document()->setHtml(Utility::md2html(pkg.description));
+
+    QString line1 = QTextStream(&pkg.description).readLine();
+    if (line1.contains("<!DOCTYPE HTML PUBLIC", Qt::CaseInsensitive)) {
+        ui->loadBrowser->document()->setHtml(pkg.description);
+    } else {
+        ui->loadBrowser->document()->setHtml(Utility::md2html(pkg.description));
+    }
 }
 
 void PageVescPackage::on_writeButton_clicked()
@@ -246,7 +252,16 @@ void PageVescPackage::on_outputRefreshButton_clicked()
     }
 
     auto pkg = mLoader.unpackVescPackage(f.readAll());
-    ui->descriptionEdit->document()->setPlainText(pkg.description);
+
+    QString line1 = QTextStream(&pkg.description).readLine();
+    if (line1.contains("<!DOCTYPE HTML PUBLIC", Qt::CaseInsensitive)) {
+        ui->descriptionEdit->document()->setHtml(pkg.description);
+        QString md = ui->descriptionEdit->document()->toMarkdown();
+        ui->descriptionEdit->document()->setPlainText(md);
+    } else {
+        ui->descriptionEdit->document()->setPlainText(pkg.description);
+    }
+
     ui->nameEdit->setText(pkg.name);
 }
 

From 4cb8182e53e972e35227a177ce64c0314f45f604 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 14 Nov 2023 13:27:41 +0100
Subject: [PATCH 549/559] Added markdown preview to package creator

---
 pages/pagevescpackage.cpp | 19 +++++++++++++++++++
 pages/pagevescpackage.h   |  3 +++
 pages/pagevescpackage.ui  | 14 +++++++++++++-
 3 files changed, 35 insertions(+), 1 deletion(-)

diff --git a/pages/pagevescpackage.cpp b/pages/pagevescpackage.cpp
index 950d3cdb8..b31efbe0e 100644
--- a/pages/pagevescpackage.cpp
+++ b/pages/pagevescpackage.cpp
@@ -57,6 +57,23 @@ PageVescPackage::PageVescPackage(QWidget *parent) :
     on_outputRefreshButton_clicked();
 
     reloadArchive();
+
+    mDescriptionUpdated = true;
+    connect(ui->descriptionEdit, &QMarkdownTextEdit::textChanged, [this]() {
+        mDescriptionUpdated = true;
+    });
+
+    mPreviewTimer = new QTimer(this);
+    mPreviewTimer->start(500);
+    connect(mPreviewTimer, &QTimer::timeout, [this]() {
+        if (mDescriptionUpdated) {
+            mDescriptionUpdated = false;
+            auto posOld = ui->descriptionBrowser->verticalScrollBar()->value();
+            ui->descriptionBrowser->setHtml(
+                        Utility::md2html(ui->descriptionEdit->document()->toPlainText()));
+            ui->descriptionBrowser->verticalScrollBar()->setValue(posOld);
+        }
+    });
 }
 
 PageVescPackage::~PageVescPackage()
@@ -262,6 +279,8 @@ void PageVescPackage::on_outputRefreshButton_clicked()
         ui->descriptionEdit->document()->setPlainText(pkg.description);
     }
 
+    mDescriptionUpdated = true;
+
     ui->nameEdit->setText(pkg.name);
 }
 
diff --git a/pages/pagevescpackage.h b/pages/pagevescpackage.h
index aad7ef42e..d7a31c0c3 100644
--- a/pages/pagevescpackage.h
+++ b/pages/pagevescpackage.h
@@ -22,6 +22,7 @@
 
 #include <QWidget>
 #include <QListWidgetItem>
+#include <QTimer>
 #include "vescinterface.h"
 #include "codeloader.h"
 
@@ -61,6 +62,8 @@ private slots:
     VescInterface *mVesc;
     CodeLoader mLoader;
     VescPackage mCurrentPkg;
+    bool mDescriptionUpdated;
+    QTimer *mPreviewTimer;
 
     void reloadArchive();
     void packageSelected(VescPackage pkg);
diff --git a/pages/pagevescpackage.ui b/pages/pagevescpackage.ui
index 6a2b47ed1..6610dffec 100644
--- a/pages/pagevescpackage.ui
+++ b/pages/pagevescpackage.ui
@@ -343,7 +343,19 @@
         </layout>
        </item>
        <item>
-        <widget class="QMarkdownTextEdit" name="descriptionEdit"/>
+        <widget class="QSplitter" name="splitter_2">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Expanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+         <widget class="QMarkdownTextEdit" name="descriptionEdit"/>
+         <widget class="VTextBrowser" name="descriptionBrowser"/>
+        </widget>
        </item>
        <item>
         <widget class="QGroupBox" name="lispBox_2">

From 0de08d19769ef3ad33440f76f62693c4ca436c5b Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 15 Nov 2023 15:52:38 +0100
Subject: [PATCH 550/559] Fix crash when opening some logs with bad format

---
 pages/pageloganalysis.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index 3668e5fc1..1cd5865b0 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -1164,6 +1164,9 @@ void PageLogAnalysis::openLog(QByteArray data)
             QStringList tokens = in.readLine().split(";");
             QVector<double> entry;
             for (int i = 0;i < tokens.size();i++) {
+                if (i >= entryLastData.size()) {
+                   break;
+                }
                 if (!tokens.at(i).isEmpty()) {
                     entryLastData[i] = tokens.at(i).toDouble();
                 }

From 46daf4e8ab2949740dcdd523e549d6f6fe28c30b Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 16 Nov 2023 13:23:20 +0100
Subject: [PATCH 551/559] Fixed warning

---
 pages/pageloganalysis.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pages/pageloganalysis.cpp b/pages/pageloganalysis.cpp
index 1cd5865b0..e4ac2dd03 100644
--- a/pages/pageloganalysis.cpp
+++ b/pages/pageloganalysis.cpp
@@ -1188,7 +1188,7 @@ void PageLogAnalysis::openLog(QByteArray data)
             return;
         }
 
-        for (auto e: mLogHeader) {
+        foreach (auto e, mLogHeader) {
             addDataItem(e.name, !e.isTimeStamp, e.scaleStep, e.scaleMax);
         }
 

From 077c5ca43a61f88872001c58b12cce33e2c9d454 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Wed, 22 Nov 2023 15:04:02 +0100
Subject: [PATCH 552/559] Updated some lbm-examples

---
 QCodeEditor/resources/languages/lisp.xml |   2 +
 res/Lisp/Examples/aux_out.lisp           |  10 +-
 res/Lisp/Examples/balance.lisp           | 146 +++++++++++------------
 res/Lisp/Examples/can_js.lisp            |  50 ++++----
 res/Lisp/Examples/can_pos_follow.lisp    |  21 ++--
 5 files changed, 109 insertions(+), 120 deletions(-)

diff --git a/QCodeEditor/resources/languages/lisp.xml b/QCodeEditor/resources/languages/lisp.xml
index 028c1294a..9bca7cfa0 100644
--- a/QCodeEditor/resources/languages/lisp.xml
+++ b/QCodeEditor/resources/languages/lisp.xml
@@ -19,6 +19,7 @@
 <name>if</name>
 <name>cond</name>
 <name>match</name>
+<name>loop</name>
 <name>loopfor</name>
 <name>loopwhile</name>
 <name>looprange</name>
@@ -136,6 +137,7 @@
 <name>append</name>
 <name>mod</name>
 <name>print</name>
+<name>puts</name>
 <name>range</name>
 <name>length</name>
 <name>shl</name>
diff --git a/res/Lisp/Examples/aux_out.lisp b/res/Lisp/Examples/aux_out.lisp
index 576b1441e..d7e129066 100644
--- a/res/Lisp/Examples/aux_out.lisp
+++ b/res/Lisp/Examples/aux_out.lisp
@@ -1,15 +1,13 @@
-(defun set-auxtime (port state time)
-    (progn
+(defun set-auxtime (port state time) {
         (set-aux port state)
         (sleep time)
-))
+})
 
-(loopwhile t
-    (progn
+(loopwhile t {
         (set-auxtime 1 1 1.5)
         (set-auxtime 1 0 0.5)
         (set-auxtime 2 1 1.5)
         (set-auxtime 2 0 0.5)
         (sleep 1.0)
-))
+})
 
diff --git a/res/Lisp/Examples/balance.lisp b/res/Lisp/Examples/balance.lisp
index 9182f6f25..e0558ad2d 100644
--- a/res/Lisp/Examples/balance.lisp
+++ b/res/Lisp/Examples/balance.lisp
@@ -4,78 +4,74 @@
 
 (defun #pos-x ()
     (* 0.5 (+
-        (progn (select-motor 1) (get-dist))
-        (progn (select-motor 2) (get-dist))
+            {(select-motor 1) (get-dist)}
+            {(select-motor 2) (get-dist)}
 )))
 
-(defun #set-output (left right)
-    (progn
+(defun #set-output (left right) {
         (select-motor 1)
         (set-current-rel right)
         (select-motor 2)
         (set-current-rel left)
         (timeout-reset)
-))
+})
 
 (defun #speed-x ()
     (* 0.5 (+
-        (progn (select-motor 1) (get-speed))
-        (progn (select-motor 2) (get-speed))
+            {(select-motor 1) (get-speed)}
+            {(select-motor 2) (get-speed)}
 )))
 
-(define #yaw-set (rad2deg (ix (get-imu-rpy) 2)))
-(define #pos-set (#pos-x))
+(def #yaw-set (rad2deg (ix (get-imu-rpy) 2)))
+(def #pos-set (#pos-x))
 
-(define #pitch-set 0)
-(define #was-running 0)
+(def #pitch-set 0)
+(def #was-running 0)
 
-(define #kp 0.014)
-(define #kd 0.0016)
+(def #kp 0.014)
+(def #kd 0.0016)
 
-(define #p-kp 50.0)
-(define #p-kd -33.0)
+(def #p-kp 50.0)
+(def #p-kd -33.0)
 
-(define #y-kp 0.003)
-(define #y-kd 0.0003)
+(def #y-kp 0.003)
+(def #y-kd 0.0003)
 
-(define #enable-pos 1)
-(define #enable-yaw 1)
+(def #enable-pos 1)
+(def #enable-yaw 1)
 
 ; This is received from the QML-program which acts as a remote control for the robot
-(defun proc-data (data)
-    (progn
-        (define #enable-pos (bufget-u8 data 4))
-        (define #enable-yaw (bufget-u8 data 5))
+(defun proc-data (data) {
+        (setq #enable-pos (bufget-u8 data 4))
+        (setq #enable-yaw (bufget-u8 data 5))
         
-        (if (= #enable-pos 1)
-            (progn
-                (define #pos-set (+ #pos-set (* (bufget-u8 data 0) 0.002)))
-                (define #pos-set (- #pos-set (* (bufget-u8 data 1) 0.002)))
-        ) nil)
+        (if (= #enable-pos 1) {
+                (def #pos-set (+ #pos-set (* (bufget-u8 data 0) 0.002)))
+                (def #pos-set (- #pos-set (* (bufget-u8 data 1) 0.002)))
+        })
         
-        (if (= #enable-yaw 1)
-            (progn
-                (define #yaw-set (- #yaw-set (* (bufget-u8 data 2) 0.5)))
-                (define #yaw-set (+ #yaw-set (* (bufget-u8 data 3) 0.5)))
-        ) nil)
+        (if (= #enable-yaw 1) {
+                (def #yaw-set (- #yaw-set (* (bufget-u8 data 2) 0.5)))
+                (def #yaw-set (+ #yaw-set (* (bufget-u8 data 3) 0.5)))
+        })
         
-        (if (> #yaw-set 360) (define #yaw-set (- #yaw-set 360)) nil)
-        (if (< #yaw-set 0) (define #yaw-set (+ #yaw-set 360)) nil)
-))
+        (if (> #yaw-set 360) (def #yaw-set (- #yaw-set 360)) nil)
+        (if (< #yaw-set 0) (def #yaw-set (+ #yaw-set 360)) nil)
+})
 
 (defun event-handler ()
-    (progn
-        (recv ((event-data-rx . (? data)) (proc-data data))
-              (_ nil))
-        (event-handler)
-))
+    (loopwhile t
+        (recv
+            ((event-data-rx . (? data)) (proc-data data))
+            (_ nil)
+)))
 
 (event-register-handler (spawn event-handler))
 (event-enable 'event-data-rx)
 
-(define #t-last (systime))
-(define #it-rate 0)
-(define #it-rate-filter 0)
+(def #t-last (systime))
+(def #it-rate 0)
+(def #it-rate-filter 0)
 (defun #filter (val sample)
     (- val (* 0.01 (- val sample)))
 )
@@ -83,47 +79,45 @@
 ; Sleep after boot to wait for IMU to settle
 (if (< (secs-since 0) 5) (sleep 5) nil)
 
-(loopwhile t
-    (progn
-        (define #pitch (rad2deg (ix (get-imu-rpy) 1)))
-        (define #yaw (rad2deg (ix (get-imu-rpy) 2)))
-        (define #pitch-rate (ix (get-imu-gyro) 1))
-        (define #yaw-rate (ix (get-imu-gyro) 2))
-        (define #pos (+ (#pos-x) (* #pitch 0.00122))) ; Includes pitch compensation
-        (define #speed (#speed-x))
-
+(loopwhile t {
+        (def #pitch (rad2deg (ix (get-imu-rpy) 1)))
+        (def #yaw (rad2deg (ix (get-imu-rpy) 2)))
+        (def #pitch-rate (ix (get-imu-gyro) 1))
+        (def #yaw-rate (ix (get-imu-gyro) 2))
+        (def #pos (+ (#pos-x) (* #pitch 0.00122))) ; Includes pitch compensation
+        (def #speed (#speed-x))
+        
         ; Loop rate measurement
-        (define #it-rate (/ 1.0 (secs-since #t-last)))
-        (define #t-last (systime))
-        (define #it-rate-filter (#filter #it-rate-filter #it-rate))
-                
+        (def #it-rate (/ 1.0 (secs-since #t-last)))
+        (def #t-last (systime))
+        (def #it-rate-filter (#filter #it-rate-filter #it-rate))
+        
         (if (< (#abs #pitch) (if (= #was-running 1) 45 10))
-            (progn
-                (define #was-running 1)
+            {
+                (def #was-running 1)
                 
-                (if (= #enable-pos 0) (define #pos-set #pos) nil)
-                (if (= #enable-yaw 0) (define #yaw-set #yaw) nil)
+                (if (= #enable-pos 0) (def #pos-set #pos) nil)
+                (if (= #enable-yaw 0) (def #yaw-set #yaw) nil)
                 
-                (define #pos-err (- #pos-set #pos))
-                (define #pitch-set (+ (* #pos-err #p-kp) (* #speed #p-kd)))
+                (def #pos-err (- #pos-set #pos))
+                (def #pitch-set (+ (* #pos-err #p-kp) (* #speed #p-kd)))
                 
-                (define #yaw-err (- #yaw-set #yaw))
-                (if (> #yaw-err 180) (define #yaw-err (- #yaw-err 360)) nil)
-                (if (< #yaw-err -180) (define #yaw-err (+ #yaw-err 360)) nil)
+                (def #yaw-err (- #yaw-set #yaw))
+                (if (> #yaw-err 180) (def #yaw-err (- #yaw-err 360)) nil)
+                (if (< #yaw-err -180) (def #yaw-err (+ #yaw-err 360)) nil)
                 
-                (define #yaw-out (+ (* #yaw-err #y-kp) (* #yaw-rate #y-kd)))
-                (define #ctrl-out (+ (* #kp (- #pitch #pitch-set)) (* #kd #pitch-rate)))
+                (def #yaw-out (+ (* #yaw-err #y-kp) (* #yaw-rate #y-kd)))
+                (def #ctrl-out (+ (* #kp (- #pitch #pitch-set)) (* #kd #pitch-rate)))
                 
                 (#set-output (+ #ctrl-out #yaw-out) (- #ctrl-out #yaw-out))
-            )
-            
-            (progn
-                (define #was-running 0)
+            }
+            { ; else
+                (def #was-running 0)
                 (#set-output 0 0)
-                (define #pos-set #pos)
-                (define #yaw-set #yaw)
-            )
+                (def #pos-set #pos)
+                (def #yaw-set #yaw)
+            }
         )
         
         (yield 1) ; Run as fast as possible
-))
+})
diff --git a/res/Lisp/Examples/can_js.lisp b/res/Lisp/Examples/can_js.lisp
index 08a56f6dc..77510aca5 100644
--- a/res/Lisp/Examples/can_js.lisp
+++ b/res/Lisp/Examples/can_js.lisp
@@ -16,8 +16,7 @@
 
 ; Handler for EID CAN-frames
 (defun proc-eid (id data)
-    (if (= id 0x18ff03f1u32)
-        (progn
+    (if (= id 0x18ff03f1u32) {
             (def can-cnt (+ can-cnt 1))
             
             ; Note: the axes are 10 bits in the datasheet, but they change in
@@ -25,24 +24,24 @@
             ; why they don't use just 7 bits for that.
             
             (def x-axis (* 0.001
-                (* (if (= (bits-dec-int (bufget-u8 data 0) 2 1) 0) 1.0 -1.0)
-                (+ (bits-dec-int (bufget-u8 data 0) 6 2) (* 4 (bufget-u8 data 1))
+                    (* (if (= (bits-dec-int (bufget-u8 data 0) 2 1) 0) 1.0 -1.0)
+                        (+ (bits-dec-int (bufget-u8 data 0) 6 2) (* 4 (bufget-u8 data 1))
             ))))
             
             (def y-axis (* 0.001
-                (* (if (= (bits-dec-int (bufget-u8 data 2) 2 1) 0) 1.0 -1.0)
-                (+ (bits-dec-int (bufget-u8 data 2) 6 2) (* 4 (bufget-u8 data 3))
+                    (* (if (= (bits-dec-int (bufget-u8 data 2) 2 1) 0) 1.0 -1.0)
+                        (+ (bits-dec-int (bufget-u8 data 2) 6 2) (* 4 (bufget-u8 data 3))
             ))))
-                        
+            
             ; Decode the buttons that are currently pressed
             (def btn-lst (list
-                (bits-dec-int (bufget-u8 data 5) 6 2)
-                (bits-dec-int (bufget-u8 data 5) 4 2)
-                (bits-dec-int (bufget-u8 data 5) 2 2)
-                (bits-dec-int (bufget-u8 data 5) 0 2)
-                (bits-dec-int (bufget-u8 data 6) 6 2)
-                (bits-dec-int (bufget-u8 data 6) 4 2)
-                (bits-dec-int (bufget-u8 data 6) 2 2)
+                    (bits-dec-int (bufget-u8 data 5) 6 2)
+                    (bits-dec-int (bufget-u8 data 5) 4 2)
+                    (bits-dec-int (bufget-u8 data 5) 2 2)
+                    (bits-dec-int (bufget-u8 data 5) 0 2)
+                    (bits-dec-int (bufget-u8 data 6) 6 2)
+                    (bits-dec-int (bufget-u8 data 6) 4 2)
+                    (bits-dec-int (bufget-u8 data 6) 2 2)
             ))
             
             ; Save memory by freeing data when done. This can be omitted as GC
@@ -52,17 +51,16 @@
             
 ;            (set-duty y-axis)
 ;            (timeout-reset)
-        )
-        nil
-))
+}))
 
 ; This function waits for events from the C code and calls the
 ; handlers for them when the events arrive.
 (defun event-handler ()
     (loopwhile t
-        (recv ((event-can-eid (? id) . (? data)) (proc-eid id data))
-              (_ nil))
-))
+        (recv
+            ((event-can-eid (? id) . (? data)) (proc-eid id data))
+            (_ nil)
+)))
 
 ; Set LEDs in button.
 ; 0: off, 1: on, 2: slow blink, 3: med blink, 4: fast blink
@@ -70,11 +68,10 @@
 ; l: Left LED
 ; c: Center LED
 ; r: Right LED
-(defun set-btn-leds (btn l c r)
-    (progn
+(defun set-btn-leds (btn l c r) {
         (def msg (list btn (bits-enc-int l 4 c 4) r))
         (can-send-eid id-send msg)
-))
+})
 
 ; Spawn the event handler thread and pass the ID it returns to C
 (event-register-handler (spawn 150 event-handler))
@@ -84,13 +81,12 @@
 
 (def btn-now 1)
 
-(loopwhile t
-    (progn 
+(loopwhile t {
         (set-btn-leds btn-now 1 4 1)
-        (yield 1500000)
+        (sleep 1.5)
         (set-btn-leds btn-now 0 0 0)
         
         (def btn-now (+ btn-now 1))
         (if (= btn-now 6) (def btn-now 7)) ; Index 6 is missing, so skip it
         (if (> btn-now 7) (def btn-now 1))
-))
+})
diff --git a/res/Lisp/Examples/can_pos_follow.lisp b/res/Lisp/Examples/can_pos_follow.lisp
index a92770493..2e84dd5f6 100644
--- a/res/Lisp/Examples/can_pos_follow.lisp
+++ b/res/Lisp/Examples/can_pos_follow.lisp
@@ -1,12 +1,11 @@
-(define itcnt 0)
+(def itcnt 0)
 
-(loopwhile t
-   (progn
-     (define itcnt (+ itcnt 1))
-     (canset-pos 124 (get-encoder))
-     (define canc (canget-current-dir 124))
-     (set-servo (- 0.5 (* 0.02 canc)))
-     (set-brake (* 0.5 canc))
-     (timeout-reset)
-     (sleep 0.002)
-))
+(loopwhile t {
+        (setq itcnt (+ itcnt 1))
+        (canset-pos 124 (get-encoder))
+        (def canc (canget-current-dir 124))
+        (set-servo (- 0.5 (* 0.02 canc)))
+        (set-brake (* 0.5 canc))
+        (timeout-reset)
+        (sleep 0.002)
+})

From 9ef31fbd4b5ac760caba0a8a194b4cb172235641 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 23 Nov 2023 18:43:09 +0100
Subject: [PATCH 553/559] Added stm32g4 swdprog support

---
 main.cpp                                        |   2 +-
 mobile/fwhelper.cpp                             |   4 +++-
 pages/pagefirmware.cpp                          |   4 +++-
 pages/pageswdprog.cpp                           |  16 +++++++++++++++-
 .../{ => stm32g431}/stm32g431.bin               | Bin
 .../str-dcdc/vesc_default.bin                   | Bin 0 -> 38292 bytes
 res_custom_module.qrc                           |   3 ++-
 7 files changed, 24 insertions(+), 5 deletions(-)
 rename res/bootloaders_custom_module/{ => stm32g431}/stm32g431.bin (100%)
 create mode 100755 res/firmwares_custom_module/str-dcdc/vesc_default.bin

diff --git a/main.cpp b/main.cpp
index fdf808849..83c68bda8 100755
--- a/main.cpp
+++ b/main.cpp
@@ -1251,7 +1251,7 @@ int main(int argc, char *argv[])
                             if (params.hw == "hm1") {
                                 path = "://res/bootloaders_bms/generic.bin";
                             } else {
-                                path = "://res/bootloaders_custom_module/stm32g431.bin";
+                                path = "://res/bootloaders_custom_module/stm32g431/stm32g431.bin";
                             }
                         }
                         break;
diff --git a/mobile/fwhelper.cpp b/mobile/fwhelper.cpp
index 330de241f..f3317610a 100644
--- a/mobile/fwhelper.cpp
+++ b/mobile/fwhelper.cpp
@@ -59,6 +59,8 @@ QVariantMap FwHelper::getHardwares(FW_RX_PARAMS params, QString hw)
         hws.insert(params.hw, "://res/firmwares_esp/ESP32-C3/VESC Express");
     } else if (params.hw == "Devkit C3") {
         hws.insert(params.hw, "://res/firmwares_esp/ESP32-C3/DevKitM-1");
+    } else if (params.hw == "Devkit C3") {
+        hws.insert(params.hw, "://res/firmwares_custom_module/str-dcdc");
     }
 
     return hws;
@@ -105,7 +107,7 @@ QVariantMap FwHelper::getBootloaders(FW_RX_PARAMS params, QString hw)
             if (params.hw == "hm1") {
                 blDir = "://res/bootloaders_bms";
             } else {
-                blDir = "://res/bootloaders_custom_module";
+                blDir = "://res/bootloaders_custom_module/stm32g431";
             }
         }
         break;
diff --git a/pages/pagefirmware.cpp b/pages/pagefirmware.cpp
index bcc2743fe..f37c6608c 100755
--- a/pages/pagefirmware.cpp
+++ b/pages/pagefirmware.cpp
@@ -246,6 +246,8 @@ void PageFirmware::updateHwList(FW_RX_PARAMS params)
         extraPath = "://res/firmwares_esp/ESP32-C3/VESC Express";
     } else if (params.hw == "Devkit C3") {
         extraPath = "://res/firmwares_esp/ESP32-C3/DevKitM-1";
+    } else if (params.hw == "STR-DCDC") {
+        extraPath = "://res/firmwares_custom_module/str-dcdc";
     }
 
     if (!extraPath.isEmpty()) {
@@ -356,7 +358,7 @@ void PageFirmware::updateBlList(FW_RX_PARAMS params)
             if (params.hw == "hm1") {
                 blDir = "://res/bootloaders_bms";
             } else {
-                blDir = "://res/bootloaders_custom_module";
+                blDir = "://res/bootloaders_custom_module/stm32g431";
             }
         }
         break;
diff --git a/pages/pageswdprog.cpp b/pages/pageswdprog.cpp
index cdbc12eca..734ff213e 100644
--- a/pages/pageswdprog.cpp
+++ b/pages/pageswdprog.cpp
@@ -64,7 +64,7 @@ PageSwdProg::PageSwdProg(QWidget *parent) :
     if (set.contains("pageswdprog/lastcustomfile3")) {
         ui->fw3Edit->setText(set.value("pageswdprog/lastcustomfile3").toString());
     }
-    if (set.contains("pageswdprog/lastcustomfil4e")) {
+    if (set.contains("pageswdprog/lastcustomfile4")) {
         ui->fw4Edit->setText(set.value("pageswdprog/lastcustomfile4").toString());
     }
 
@@ -498,6 +498,15 @@ void PageSwdProg::bmConnRes(int res)
     } else if (res == 10) {
         ui->targetLabel->setText("STM32L47x");
         mFlashOffset = 0x08000000;
+    } else if (res == 11) {
+        ui->targetLabel->setText("STM32G43");
+        mFlashOffset = 0x08000000;
+    } else if (res == 12) {
+        ui->targetLabel->setText("STM32G47");
+        mFlashOffset = 0x08000000;
+    } else if (res == 13) {
+        ui->targetLabel->setText("STM32G49");
+        mFlashOffset = 0x08000000;
     }
 
     switch (res) {
@@ -574,6 +583,11 @@ void PageSwdProg::bmConnRes(int res)
                  "://res/bootloaders_bms/generic.bin", 0x3E000);
         break;
 
+    case 11:
+        addSwdFw("VESC DCDC",
+                 "://res/firmwares_custom_module/str-dcdc/vesc_default.bin", 0,
+                 "://res/bootloaders_custom_module/stm32g431/stm32g431.bin", 0x1E000);
+
     default:
         break;
     }
diff --git a/res/bootloaders_custom_module/stm32g431.bin b/res/bootloaders_custom_module/stm32g431/stm32g431.bin
similarity index 100%
rename from res/bootloaders_custom_module/stm32g431.bin
rename to res/bootloaders_custom_module/stm32g431/stm32g431.bin
diff --git a/res/firmwares_custom_module/str-dcdc/vesc_default.bin b/res/firmwares_custom_module/str-dcdc/vesc_default.bin
new file mode 100755
index 0000000000000000000000000000000000000000..2b6645dabce33421290c28fd781ce8f364d0a15e
GIT binary patch
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V>%VDs|0i4jBZ2>~BtY8V{{lf6mB0W1

literal 0
HcmV?d00001

diff --git a/res_custom_module.qrc b/res_custom_module.qrc
index 65fb24c0f..2c5dbf999 100644
--- a/res_custom_module.qrc
+++ b/res_custom_module.qrc
@@ -1,5 +1,6 @@
 <RCC>
     <qresource prefix="/">
-        <file>res/bootloaders_custom_module/stm32g431.bin</file>
+        <file>res/bootloaders_custom_module/stm32g431/stm32g431.bin</file>
+        <file>res/firmwares_custom_module/str-dcdc/vesc_default.bin</file>
     </qresource>
 </RCC>

From 0198fddb1f50eb01affbb2884e9981153700ae7f Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 24 Nov 2023 09:44:05 +0100
Subject: [PATCH 554/559] Fixed typos

---
 mobile/fwhelper.cpp   | 2 +-
 pages/pageswdprog.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/mobile/fwhelper.cpp b/mobile/fwhelper.cpp
index f3317610a..4b69ff939 100644
--- a/mobile/fwhelper.cpp
+++ b/mobile/fwhelper.cpp
@@ -59,7 +59,7 @@ QVariantMap FwHelper::getHardwares(FW_RX_PARAMS params, QString hw)
         hws.insert(params.hw, "://res/firmwares_esp/ESP32-C3/VESC Express");
     } else if (params.hw == "Devkit C3") {
         hws.insert(params.hw, "://res/firmwares_esp/ESP32-C3/DevKitM-1");
-    } else if (params.hw == "Devkit C3") {
+    } else if (params.hw == "STR-DCDC") {
         hws.insert(params.hw, "://res/firmwares_custom_module/str-dcdc");
     }
 
diff --git a/pages/pageswdprog.cpp b/pages/pageswdprog.cpp
index 734ff213e..e61312984 100644
--- a/pages/pageswdprog.cpp
+++ b/pages/pageswdprog.cpp
@@ -584,7 +584,7 @@ void PageSwdProg::bmConnRes(int res)
         break;
 
     case 11:
-        addSwdFw("VESC DCDC",
+        addSwdFw("STR-DCDC",
                  "://res/firmwares_custom_module/str-dcdc/vesc_default.bin", 0,
                  "://res/bootloaders_custom_module/stm32g431/stm32g431.bin", 0x1E000);
 

From 69477e7a7f5cc3486c8be0a865f03f8eee169232 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sat, 25 Nov 2023 20:42:27 +0100
Subject: [PATCH 555/559] Added voltage sweep mode to motor comparison tool

---
 pages/pagemotorcomparison.cpp | 66 +++++++++++++++++++++++++++++++---
 pages/pagemotorcomparison.h   | 20 +++++++++--
 pages/pagemotorcomparison.ui  | 67 +++++++++++++++++++++++++----------
 3 files changed, 127 insertions(+), 26 deletions(-)

diff --git a/pages/pagemotorcomparison.cpp b/pages/pagemotorcomparison.cpp
index 59f4bf4d3..373825c0f 100644
--- a/pages/pagemotorcomparison.cpp
+++ b/pages/pagemotorcomparison.cpp
@@ -201,6 +201,10 @@ PageMotorComparison::PageMotorComparison(QWidget *parent) :
             [this]() { settingChanged(); });
     connect(ui->testModeRpmPowerButton, &QRadioButton::toggled,
             [this]() { settingChanged(); });
+    connect(ui->testModeExpButton, &QRadioButton::toggled,
+            [this]() { settingChanged(); });
+    connect(ui->testModeVbusButton, &QRadioButton::toggled,
+            [this]() { settingChanged(); });
 
     connect(ui->testLiveUpdateBox, &QCheckBox::toggled,
             [this](bool checked) { (void)checked; settingChanged(); });
@@ -393,11 +397,20 @@ void PageMotorComparison::setVesc(VescInterface *vesc)
 
 void PageMotorComparison::settingChanged()
 {
-    ui->testTorqueBox->setEnabled(ui->testModeTorqueButton->isChecked() || ui->testModeRpmButton->isChecked());
-    ui->testPowerBox->setEnabled(ui->testModeRpmPowerButton->isChecked() || ui->testModeExpButton->isChecked());
-    ui->testRpmStartBox->setEnabled(ui->testModeRpmPowerButton->isChecked() || ui->testModeExpButton->isChecked());
+    ui->testTorqueBox->setEnabled(ui->testModeTorqueButton->isChecked() ||
+                                  ui->testModeRpmButton->isChecked() ||
+                                  ui->testModeVbusButton->isChecked());
+    ui->testPowerBox->setEnabled(ui->testModeRpmPowerButton->isChecked() ||
+                                 ui->testModeExpButton->isChecked());
+    ui->testRpmStartBox->setEnabled(ui->testModeRpmPowerButton->isChecked() ||
+                                    ui->testModeExpButton->isChecked());
+    ui->testRpmBox->setEnabled(ui->testModeRpmPowerButton->isChecked() ||
+                               ui->testModeExpButton->isChecked() ||
+                               ui->testModeRpmButton->isChecked() ||
+                               ui->testModeTorqueButton->isChecked());
     ui->testExpBox->setEnabled(ui->testModeExpButton->isChecked());
     ui->testExpBaseTorqueBox->setEnabled(ui->testModeExpButton->isChecked());
+    ui->testVbusBox->setEnabled(ui->testModeVbusButton->isChecked());
 
     if (ui->tabWidget->currentIndex() == 1) {
         setQmlMotorParams();
@@ -542,7 +555,7 @@ void PageMotorComparison::updateDataAndPlot(double posx, double yMin, double yMa
             md.configure(&mM2Config, getParamsUi(2));
             md.update(posx, torque);
             updateTable(md, ui->m2PlotTable);
-        } else {
+        } else if (ui->testModeExpButton->isChecked()) {
             double rpm_start = ui->testRpmStartBox->value();
             double rps = posx * 2.0 * M_PI / 60.0;
             double prop_exp = ui->testExpBox->value();
@@ -560,6 +573,14 @@ void PageMotorComparison::updateDataAndPlot(double posx, double yMin, double yMa
             md.configure(&mM2Config, getParamsUi(2));
             md.update(posx, torque);
             updateTable(md, ui->m2PlotTable);
+        } else if (ui->testModeVbusButton->isChecked()) {
+            MotorData md;
+            md.configure(&mM1Config, getParamsUi(1));
+            md.updateTorqueVBus(posx, ui->testVbusBox->value());
+            updateTable(md, ui->m1PlotTable);
+            md.configure(&mM2Config, getParamsUi(2));
+            md.updateTorqueVBus(posx, ui->testVbusBox->value());
+            updateTable(md, ui->m2PlotTable);
         }
     }
 }
@@ -932,6 +953,37 @@ void PageMotorComparison::on_testRunButton_clicked()
         updateGraphs(xAxis, yAxes, names);
     };
 
+    auto plotVbusSweep = [this, updateData, updateGraphs, plotPoints](QTableWidget *table,
+            ConfigParams &config, MotorDataParams param) {
+        double torque = fabs(ui->testTorqueBox->value());
+        double vbus = ui->testVbusBox->value();
+
+        QVector<double> xAxis;
+        QVector<QVector<double> > yAxes;
+        QVector<QString> names;
+
+        double torque_start = -torque;
+        if (!ui->testNegativeBox->isChecked()) {
+            torque_start = torque / plotPoints;
+        }
+
+        for (double t = torque_start;t < torque;t += (torque / plotPoints)) {
+            MotorData md;
+            md.configure(&config, param);
+            md.updateTorqueVBus(t, vbus);
+            xAxis.append(t);
+            updateData(md, table, yAxes, names);
+
+            if (md.rpm_motor_shaft >= param.maxRpm) {
+                mVesc->emitMessageDialog("Max RPM", "Maximum motor shaft RPM exceeded", false);
+                break;
+            }
+        }
+
+        ui->plot->xAxis->setLabel("Torque (Nm)");
+        updateGraphs(xAxis, yAxes, names);
+    };
+
     auto plotQmlSweep = [this, updateData, updateGraphs, plotPoints](QTableWidget *table,
             ConfigParams &config, MotorDataParams param, int motor) {
 
@@ -990,10 +1042,14 @@ void PageMotorComparison::on_testRunButton_clicked()
             ui->plot->clearGraphs();
             plotPowerSweep(ui->m1PlotTable, mM1Config, getParamsUi(1));
             plotPowerSweep(ui->m2PlotTable, mM2Config, getParamsUi(2));
-        } else {
+        } else if (ui->testModeExpButton->isChecked()) {
             ui->plot->clearGraphs();
             plotPropSweep(ui->m1PlotTable, mM1Config, getParamsUi(1));
             plotPropSweep(ui->m2PlotTable, mM2Config, getParamsUi(2));
+        } else if (ui->testModeVbusButton->isChecked()) {
+            ui->plot->clearGraphs();
+            plotVbusSweep(ui->m1PlotTable, mM1Config, getParamsUi(1));
+            plotVbusSweep(ui->m2PlotTable, mM2Config, getParamsUi(2));
         }
     }
 
diff --git a/pages/pagemotorcomparison.h b/pages/pagemotorcomparison.h
index 23c6eaa11..ea4284516 100644
--- a/pages/pagemotorcomparison.h
+++ b/pages/pagemotorcomparison.h
@@ -134,9 +134,23 @@ struct MotorData {
         params = prm;
     }
 
-    Q_INVOKABLE void update(double rpm, double torque) {
+    Q_INVOKABLE bool updateTorqueVBus(double torque, double vbus) {
+        double rpm_guess = 1000.0;
+
+        for (int i = 0;i < 20;i++) {
+            if (!update(rpm_guess, torque)) {
+                return false;
+            }
+
+            rpm_guess *= vbus / vbus_min;
+        }
+
+        return true;
+    }
+
+    Q_INVOKABLE bool update(double rpm, double torque) {
         if (config == nullptr) {
-            return;
+            return false;
         }
 
         // See https://www.mathworks.com/help/physmod/sps/ref/pmsm.html
@@ -214,6 +228,8 @@ struct MotorData {
 
         kv_bldc = rpm_motor_shaft / (vbus_min * (sqrt(3.0) / 2.0));
         kv_bldc_noload = (60.0 * 0.95) / (lambda * (3.0 / 2.0) * M_PI * 2.0 * pole_pairs);
+
+        return true;
     }
 
     ConfigParams *config;
diff --git a/pages/pagemotorcomparison.ui b/pages/pagemotorcomparison.ui
index be7e70918..6331861af 100644
--- a/pages/pagemotorcomparison.ui
+++ b/pages/pagemotorcomparison.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1586</width>
-    <height>946</height>
+    <width>1450</width>
+    <height>945</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -41,7 +41,7 @@
        </property>
        <widget class="QWidget" name="tab">
         <attribute name="title">
-         <string>Common</string>
+         <string>Custom</string>
         </attribute>
         <layout class="QVBoxLayout" name="verticalLayout_5">
          <property name="spacing">
@@ -61,6 +61,26 @@
          </property>
          <item>
           <layout class="QGridLayout" name="gridLayout_4">
+           <item row="1" column="0">
+            <widget class="QRadioButton" name="testModeRpmPowerButton">
+             <property name="toolTip">
+              <string>Sweep from the start RPM to the end RPM at the set Power.</string>
+             </property>
+             <property name="text">
+              <string>RPM/Power</string>
+             </property>
+            </widget>
+           </item>
+           <item row="1" column="1">
+            <widget class="QRadioButton" name="testModeExpButton">
+             <property name="toolTip">
+              <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Torque + RPM Exponential mode. Sweep from 0 to end RPM and use the base torque + exponent on the RPM to derive the power requirement. The test will be scaled such that the specified power is at the full RPM. The power for the base torque will be required in addition to that.&lt;/p&gt;&lt;p&gt;Propellers and impellers in air and water usually just have the exponent while traction vehicles have a base torque from the rolling resistance + an exponent from wind resistance.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+             </property>
+             <property name="text">
+              <string>Exp</string>
+             </property>
+            </widget>
+           </item>
            <item row="0" column="0">
             <widget class="QRadioButton" name="testModeTorqueButton">
              <property name="toolTip">
@@ -87,23 +107,13 @@
              </property>
             </widget>
            </item>
-           <item row="1" column="0">
-            <widget class="QRadioButton" name="testModeRpmPowerButton">
-             <property name="toolTip">
-              <string>Sweep from the start RPM to the end RPM at the set Power.</string>
-             </property>
-             <property name="text">
-              <string>RPM/Power</string>
-             </property>
-            </widget>
-           </item>
-           <item row="1" column="1">
-            <widget class="QRadioButton" name="testModeExpButton">
+           <item row="0" column="2">
+            <widget class="QRadioButton" name="testModeVbusButton">
              <property name="toolTip">
-              <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Torque + RPM Exponential mode. Sweep from 0 to end RPM and use the base torque + exponent on the RPM to derive the power requirement. The test will be scaled such that the specified power is at the full RPM. The power for the base torque will be required in addition to that.&lt;/p&gt;&lt;p&gt;Propellers and impellers in air and water usually just have the exponent while traction vehicles have a base torque from the rolling resistance + an exponent from wind resistance.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+              <string>Torque sweep while keeping the bus voltage constant.</string>
              </property>
              <property name="text">
-              <string>Torque + Exp</string>
+              <string>Vbus</string>
              </property>
             </widget>
            </item>
@@ -273,13 +283,32 @@
              </property>
             </widget>
            </item>
-           <item row="3" column="0" colspan="2">
+           <item row="3" column="0">
             <widget class="QCheckBox" name="testNegativeBox">
              <property name="toolTip">
               <string>Include negative RPM and Torque in tests.</string>
              </property>
              <property name="text">
-              <string>Include Negative</string>
+              <string>Negative</string>
+             </property>
+            </widget>
+           </item>
+           <item row="3" column="1">
+            <widget class="QDoubleSpinBox" name="testVbusBox">
+             <property name="enabled">
+              <bool>false</bool>
+             </property>
+             <property name="suffix">
+              <string> V</string>
+             </property>
+             <property name="decimals">
+              <number>1</number>
+             </property>
+             <property name="maximum">
+              <double>9999.000000000000000</double>
+             </property>
+             <property name="value">
+              <double>48.000000000000000</double>
              </property>
             </widget>
            </item>

From fea33684fd639e3e8224e1a0c8dca03cb318b215 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 26 Nov 2023 13:20:20 +0100
Subject: [PATCH 556/559] Update motor comarison tool using timer to avoid lag
 when a log of settings change at once

---
 pages/pagemotorcomparison.cpp | 56 +++++++++++++++++++++--------------
 pages/pagemotorcomparison.h   |  3 ++
 2 files changed, 37 insertions(+), 22 deletions(-)

diff --git a/pages/pagemotorcomparison.cpp b/pages/pagemotorcomparison.cpp
index 373825c0f..a59bd1f15 100644
--- a/pages/pagemotorcomparison.cpp
+++ b/pages/pagemotorcomparison.cpp
@@ -322,6 +322,39 @@ PageMotorComparison::PageMotorComparison(QWidget *parent) :
         addDataItem(name, ui->m2PlotTable, hasScale);
     };
 
+    mSettingUpdateRequired = false;
+    mSettingUpdateTimer = new QTimer(this);
+    mSettingUpdateTimer->start(20);
+
+    connect(mSettingUpdateTimer, &QTimer::timeout, [this]() {
+        if (mSettingUpdateRequired) {
+            ui->testTorqueBox->setEnabled(ui->testModeTorqueButton->isChecked() ||
+                                          ui->testModeRpmButton->isChecked() ||
+                                          ui->testModeVbusButton->isChecked());
+            ui->testPowerBox->setEnabled(ui->testModeRpmPowerButton->isChecked() ||
+                                         ui->testModeExpButton->isChecked());
+            ui->testRpmStartBox->setEnabled(ui->testModeRpmPowerButton->isChecked() ||
+                                            ui->testModeExpButton->isChecked());
+            ui->testRpmBox->setEnabled(ui->testModeRpmPowerButton->isChecked() ||
+                                       ui->testModeExpButton->isChecked() ||
+                                       ui->testModeRpmButton->isChecked() ||
+                                       ui->testModeTorqueButton->isChecked());
+            ui->testExpBox->setEnabled(ui->testModeExpButton->isChecked());
+            ui->testExpBaseTorqueBox->setEnabled(ui->testModeExpButton->isChecked());
+            ui->testVbusBox->setEnabled(ui->testModeVbusButton->isChecked());
+
+            if (ui->tabWidget->currentIndex() == 1) {
+                setQmlMotorParams();
+            }
+
+            if (ui->testLiveUpdateBox->isChecked()) {
+                on_testRunButton_clicked();
+            }
+
+            mSettingUpdateRequired = false;
+        }
+    });
+
     addDataItemBoth("Efficiency");
     addDataItemBoth("Mot Loss Tot");
     addDataItemBoth("Mot Loss Res");
@@ -397,28 +430,7 @@ void PageMotorComparison::setVesc(VescInterface *vesc)
 
 void PageMotorComparison::settingChanged()
 {
-    ui->testTorqueBox->setEnabled(ui->testModeTorqueButton->isChecked() ||
-                                  ui->testModeRpmButton->isChecked() ||
-                                  ui->testModeVbusButton->isChecked());
-    ui->testPowerBox->setEnabled(ui->testModeRpmPowerButton->isChecked() ||
-                                 ui->testModeExpButton->isChecked());
-    ui->testRpmStartBox->setEnabled(ui->testModeRpmPowerButton->isChecked() ||
-                                    ui->testModeExpButton->isChecked());
-    ui->testRpmBox->setEnabled(ui->testModeRpmPowerButton->isChecked() ||
-                               ui->testModeExpButton->isChecked() ||
-                               ui->testModeRpmButton->isChecked() ||
-                               ui->testModeTorqueButton->isChecked());
-    ui->testExpBox->setEnabled(ui->testModeExpButton->isChecked());
-    ui->testExpBaseTorqueBox->setEnabled(ui->testModeExpButton->isChecked());
-    ui->testVbusBox->setEnabled(ui->testModeVbusButton->isChecked());
-
-    if (ui->tabWidget->currentIndex() == 1) {
-        setQmlMotorParams();
-    }
-
-    if (ui->testLiveUpdateBox->isChecked()) {
-        on_testRunButton_clicked();
-    }
+    mSettingUpdateRequired = true;
 }
 
 bool PageMotorComparison::reloadConfigs()
diff --git a/pages/pagemotorcomparison.h b/pages/pagemotorcomparison.h
index ea4284516..702a9c8cd 100644
--- a/pages/pagemotorcomparison.h
+++ b/pages/pagemotorcomparison.h
@@ -22,6 +22,7 @@
 
 #include <QWidget>
 #include <QPair>
+#include <QTimer>
 #include "vescinterface.h"
 #include "configparams.h"
 #include "widgets/qcustomplot.h"
@@ -352,6 +353,8 @@ private slots:
     QPair<double, double> mVerticalLineYLast;
     bool mRunDone;
     Utility mUtil;
+    QTimer *mSettingUpdateTimer;
+    bool mSettingUpdateRequired;
 
     bool mQmlXNameOk;
     bool mQmlXMinOk;

From 0154d62bb9954af7a0678a0fecd8ad64066ddb45 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Mon, 27 Nov 2023 10:19:45 +0100
Subject: [PATCH 557/559] Update graphs when voltage box value changes

---
 pages/pagemotorcomparison.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/pages/pagemotorcomparison.cpp b/pages/pagemotorcomparison.cpp
index a59bd1f15..662637714 100644
--- a/pages/pagemotorcomparison.cpp
+++ b/pages/pagemotorcomparison.cpp
@@ -225,6 +225,8 @@ PageMotorComparison::PageMotorComparison(QWidget *parent) :
             [this](double value) { (void)value; settingChanged(); });
     connect(ui->testExpBaseTorqueBox, QOverload<double>::of(&QDoubleSpinBox::valueChanged),
             [this](double value) { (void)value; settingChanged(); });
+    connect(ui->testVbusBox, QOverload<double>::of(&QDoubleSpinBox::valueChanged),
+            [this](double value) { (void)value; settingChanged(); });
     connect(ui->pointsBox, QOverload<double>::of(&QDoubleSpinBox::valueChanged),
             [this](double value) { (void)value; settingChanged(); });
 

From ecc25c405672b28414d1def78e4bbc904aa24470 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 28 Nov 2023 20:31:19 +0100
Subject: [PATCH 558/559] Added VBUS-limited torque sweep with adaptive field
 weakening to comparison tool

---
 pages/pagemotorcomparison.cpp | 55 +++++++++++++++++++++++++++++++++--
 pages/pagemotorcomparison.h   | 50 +++++++++++++++++++++++++++++--
 pages/pagemotorcomparison.ui  | 16 ++++++++--
 3 files changed, 112 insertions(+), 9 deletions(-)

diff --git a/pages/pagemotorcomparison.cpp b/pages/pagemotorcomparison.cpp
index 662637714..3ab31a0fa 100644
--- a/pages/pagemotorcomparison.cpp
+++ b/pages/pagemotorcomparison.cpp
@@ -205,6 +205,8 @@ PageMotorComparison::PageMotorComparison(QWidget *parent) :
             [this]() { settingChanged(); });
     connect(ui->testModeVbusButton, &QRadioButton::toggled,
             [this]() { settingChanged(); });
+    connect(ui->testModeVBFWButton, &QRadioButton::toggled,
+            [this]() { settingChanged(); });
 
     connect(ui->testLiveUpdateBox, &QCheckBox::toggled,
             [this](bool checked) { (void)checked; settingChanged(); });
@@ -332,7 +334,8 @@ PageMotorComparison::PageMotorComparison(QWidget *parent) :
         if (mSettingUpdateRequired) {
             ui->testTorqueBox->setEnabled(ui->testModeTorqueButton->isChecked() ||
                                           ui->testModeRpmButton->isChecked() ||
-                                          ui->testModeVbusButton->isChecked());
+                                          ui->testModeVbusButton->isChecked() ||
+                                          ui->testModeVBFWButton->isChecked());
             ui->testPowerBox->setEnabled(ui->testModeRpmPowerButton->isChecked() ||
                                          ui->testModeExpButton->isChecked());
             ui->testRpmStartBox->setEnabled(ui->testModeRpmPowerButton->isChecked() ||
@@ -340,10 +343,12 @@ PageMotorComparison::PageMotorComparison(QWidget *parent) :
             ui->testRpmBox->setEnabled(ui->testModeRpmPowerButton->isChecked() ||
                                        ui->testModeExpButton->isChecked() ||
                                        ui->testModeRpmButton->isChecked() ||
-                                       ui->testModeTorqueButton->isChecked());
+                                       ui->testModeTorqueButton->isChecked() ||
+                                       ui->testModeVBFWButton->isChecked());
             ui->testExpBox->setEnabled(ui->testModeExpButton->isChecked());
             ui->testExpBaseTorqueBox->setEnabled(ui->testModeExpButton->isChecked());
-            ui->testVbusBox->setEnabled(ui->testModeVbusButton->isChecked());
+            ui->testVbusBox->setEnabled(ui->testModeVbusButton->isChecked() ||
+                                        ui->testModeVBFWButton->isChecked());
 
             if (ui->tabWidget->currentIndex() == 1) {
                 setQmlMotorParams();
@@ -595,6 +600,14 @@ void PageMotorComparison::updateDataAndPlot(double posx, double yMin, double yMa
             md.configure(&mM2Config, getParamsUi(2));
             md.updateTorqueVBus(posx, ui->testVbusBox->value());
             updateTable(md, ui->m2PlotTable);
+        } else if (ui->testModeVBFWButton->isChecked()) {
+            MotorData md;
+            md.configure(&mM1Config, getParamsUi(1));
+            md.updateTorqueVBusFW(posx, ui->testRpmBox->value(), ui->testVbusBox->value());
+            updateTable(md, ui->m1PlotTable);
+            md.configure(&mM2Config, getParamsUi(2));
+            md.updateTorqueVBusFW(posx, ui->testRpmBox->value(), ui->testVbusBox->value());
+            updateTable(md, ui->m2PlotTable);
         }
     }
 }
@@ -998,6 +1011,38 @@ void PageMotorComparison::on_testRunButton_clicked()
         updateGraphs(xAxis, yAxes, names);
     };
 
+    auto plotVBFWSweep = [this, updateData, updateGraphs, plotPoints](QTableWidget *table,
+            ConfigParams &config, MotorDataParams param) {
+        double torque = fabs(ui->testTorqueBox->value());
+        double vbus = ui->testVbusBox->value();
+        double rpm = ui->testRpmBox->value();
+
+        QVector<double> xAxis;
+        QVector<QVector<double> > yAxes;
+        QVector<QString> names;
+
+        double torque_start = -torque;
+        if (!ui->testNegativeBox->isChecked()) {
+            torque_start = torque / plotPoints;
+        }
+
+        for (double t = torque_start;t < torque;t += (torque / plotPoints)) {
+            MotorData md;
+            md.configure(&config, param);
+            md.updateTorqueVBusFW(t, rpm, vbus);
+            xAxis.append(t);
+            updateData(md, table, yAxes, names);
+
+            if (md.rpm_motor_shaft >= param.maxRpm) {
+                mVesc->emitMessageDialog("Max RPM", "Maximum motor shaft RPM exceeded", false);
+                break;
+            }
+        }
+
+        ui->plot->xAxis->setLabel("Torque (Nm)");
+        updateGraphs(xAxis, yAxes, names);
+    };
+
     auto plotQmlSweep = [this, updateData, updateGraphs, plotPoints](QTableWidget *table,
             ConfigParams &config, MotorDataParams param, int motor) {
 
@@ -1064,6 +1109,10 @@ void PageMotorComparison::on_testRunButton_clicked()
             ui->plot->clearGraphs();
             plotVbusSweep(ui->m1PlotTable, mM1Config, getParamsUi(1));
             plotVbusSweep(ui->m2PlotTable, mM2Config, getParamsUi(2));
+        } else if (ui->testModeVBFWButton->isChecked()) {
+            ui->plot->clearGraphs();
+            plotVBFWSweep(ui->m1PlotTable, mM1Config, getParamsUi(1));
+            plotVBFWSweep(ui->m2PlotTable, mM2Config, getParamsUi(2));
         }
     }
 
diff --git a/pages/pagemotorcomparison.h b/pages/pagemotorcomparison.h
index 702a9c8cd..55db4b3d6 100644
--- a/pages/pagemotorcomparison.h
+++ b/pages/pagemotorcomparison.h
@@ -135,9 +135,53 @@ struct MotorData {
         params = prm;
     }
 
-    Q_INVOKABLE bool updateTorqueVBus(double torque, double vbus) {
-        double rpm_guess = 1000.0;
+    Q_INVOKABLE bool updateTorqueVBusFW(double torque, double rpm, double vbus) {
+        double fw_max = params.fwCurrent;
+        params.fwCurrent = 0.0;
 
+        if (!update(rpm, torque)) {
+            params.fwCurrent = fw_max;
+            return false;
+        }
+
+        if (vbus_min < vbus) {
+            params.fwCurrent = fw_max;
+            return true;
+        }
+
+        double vbus_lower = vbus_min;
+        params.fwCurrent = fw_max;
+        update(rpm, torque);
+        double vbus_upper = vbus_min;
+
+        if (vbus_upper > vbus) {
+            return updateTorqueVBus(torque, vbus);
+        }
+
+        params.fwCurrent = Utility::map(vbus, vbus_lower, vbus_upper, 0.0, fw_max);
+
+        for (int j = 0;j < 20;j++) {
+            if (!update(rpm, torque)) {
+                params.fwCurrent = fw_max;
+                return false;
+            }
+
+            params.fwCurrent *= vbus_min / vbus;
+
+            if (params.fwCurrent > fw_max) {
+                params.fwCurrent = fw_max;
+            }
+
+            if (params.fwCurrent < 0.0) {
+                params.fwCurrent = 0.0;
+            }
+        }
+
+        params.fwCurrent = fw_max;
+        return true;
+    }
+
+    Q_INVOKABLE bool updateTorqueVBus(double torque, double vbus, double rpm_guess = 1000.0) {
         for (int i = 0;i < 20;i++) {
             if (!update(rpm_guess, torque)) {
                 return false;
@@ -187,7 +231,7 @@ struct MotorData {
         // Iterate taking motor saliency into account to get the current that produces the desired torque
         double torque_motor_shaft_updated = torque_motor_shaft;
         double iq_adj = 0.0;
-        for (int i = 0;i < 50;i++) {
+        for (int i = 0;i < 30;i++) {
             iq -= 0.2 * iq * (torque_motor_shaft_updated - torque_motor_shaft) /
                     (SIGN(torque_motor_shaft_updated) * fmax(fabs(torque_motor_shaft_updated), 1.0));
             iq += iq_adj;
diff --git a/pages/pagemotorcomparison.ui b/pages/pagemotorcomparison.ui
index 6331861af..76c3552b9 100644
--- a/pages/pagemotorcomparison.ui
+++ b/pages/pagemotorcomparison.ui
@@ -113,7 +113,17 @@
               <string>Torque sweep while keeping the bus voltage constant.</string>
              </property>
              <property name="text">
-              <string>Vbus</string>
+              <string>VBus</string>
+             </property>
+            </widget>
+           </item>
+           <item row="1" column="2">
+            <widget class="QRadioButton" name="testModeVBFWButton">
+             <property name="toolTip">
+              <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Torque-sweep at fixed RPM and limited bus voltage. Uses field weakening according to the duty in the configuration and the current in the FW-box.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+             </property>
+             <property name="text">
+              <string>VB+FW</string>
              </property>
             </widget>
            </item>
@@ -450,14 +460,14 @@
           <item>
            <widget class="QLineEdit" name="compAEdit">
             <property name="text">
-             <string>A</string>
+             <string>Motor A</string>
             </property>
            </widget>
           </item>
           <item>
            <widget class="QLineEdit" name="compBEdit">
             <property name="text">
-             <string>B</string>
+             <string>Motor B</string>
             </property>
            </widget>
           </item>

From 44f5af0c8f84e024417205d0455067ca874858d5 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 28 Nov 2023 20:39:31 +0100
Subject: [PATCH 559/559] Made ERPM and kmh plottable

---
 pages/pagemotorcomparison.cpp | 14 ++++++++++++--
 pages/pagemotorcomparison.h   |  2 +-
 pages/pagemotorcomparison.ui  |  2 +-
 3 files changed, 14 insertions(+), 4 deletions(-)

diff --git a/pages/pagemotorcomparison.cpp b/pages/pagemotorcomparison.cpp
index 3ab31a0fa..d17cd7a52 100644
--- a/pages/pagemotorcomparison.cpp
+++ b/pages/pagemotorcomparison.cpp
@@ -384,8 +384,8 @@ PageMotorComparison::PageMotorComparison(QWidget *parent) :
     addDataItemBoth("ExtraVal2");
     addDataItemBoth("ExtraVal3");
     addDataItemBoth("ExtraVal4");
-    addDataItemBoth("ERPM", false);
-    addDataItemBoth("km/h", false);
+    addDataItemBoth("ERPM");
+    addDataItemBoth("km/h");
     addDataItemBoth("mph", false);
     addDataItemBoth("wh/km", false);
     addDataItemBoth("wh/mi", false);
@@ -777,6 +777,16 @@ void PageMotorComparison::on_testRunButton_clicked()
                 yAxes[rowInd].append(md.extraVal4 * rowScale);
                 names.append(namePrefix + QString("(Unit * %1)").arg(rowScale));
                 rowInd++; break;
+            case 22:
+                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
+                yAxes[rowInd].append(md.erpm * rowScale);
+                names.append(namePrefix + QString("(Unit * %1)").arg(rowScale));
+                rowInd++; break;
+            case 23:
+                if (yAxes.size() <= rowInd) yAxes.append(QVector<double>());
+                yAxes[rowInd].append(md.km_h * rowScale);
+                names.append(namePrefix + QString("(Unit * %1)").arg(rowScale));
+                rowInd++; break;
             default:
                 break;
             }
diff --git a/pages/pagemotorcomparison.h b/pages/pagemotorcomparison.h
index 55db4b3d6..db3803ddb 100644
--- a/pages/pagemotorcomparison.h
+++ b/pages/pagemotorcomparison.h
@@ -160,7 +160,7 @@ struct MotorData {
 
         params.fwCurrent = Utility::map(vbus, vbus_lower, vbus_upper, 0.0, fw_max);
 
-        for (int j = 0;j < 20;j++) {
+        for (int i = 0;i < 20;i++) {
             if (!update(rpm, torque)) {
                 params.fwCurrent = fw_max;
                 return false;
diff --git a/pages/pagemotorcomparison.ui b/pages/pagemotorcomparison.ui
index 76c3552b9..e9daff544 100644
--- a/pages/pagemotorcomparison.ui
+++ b/pages/pagemotorcomparison.ui
@@ -120,7 +120,7 @@
            <item row="1" column="2">
             <widget class="QRadioButton" name="testModeVBFWButton">
              <property name="toolTip">
-              <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Torque-sweep at fixed RPM and limited bus voltage. Uses field weakening according to the duty in the configuration and the current in the FW-box.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+              <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Torque-sweep at fixed RPM and limited bus voltage. Uses field weakening according to the current in the FW-box.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
              </property>
              <property name="text">
               <string>VB+FW</string>