<root>
<document scada='1' panel2DSCADA='0' panel3DSCADA='0' panelPropsSCADA='0' panelConsoleSCADA='0' panelDataRecorderSCADA='0' panel2DCount='1' panel2DSCADA_0='6' playbackSCADA='0' ShouldAutoStartSCADA='0' ShouldLockCameraSCADA='0' ShouldBundleSCADA='1' SCADAProgramTitle='' buildnumber='0' schema='103' license='1,66718025,1KVTN2' title='Blank PC' description='A blank PC App Developer project suitable for creating apps that run on the PC' fcversion='655618' target='SCADA.SCADA.GENERIC' >
	<config data='' clkspd='100000000' simspd='0' usewdt='0' constif='0' Use3V3='0' />
	<plugins >
		<dll_models enabled='1' />
	</plugins>
	<supplement use='0' head='' body='' />
	<debug />
	<traces />
	<ghost >
		<FK2 >
			<data name='FK2D0' port='4294967295' pin='4294967295' />
			<data name='FK2D1' port='4294967295' pin='4294967295' />
			<data name='FK2D2' port='4294967295' pin='4294967295' />
			<data name='FK2D3' port='4294967295' pin='4294967295' />
			<data name='FK2D4' port='4294967295' pin='4294967295' />
			<data name='FK2D5' port='4294967295' pin='4294967295' />
			<data name='FK2D6' port='4294967295' pin='4294967295' />
			<data name='FK2D7' port='4294967295' pin='4294967295' />
			<data name='FK2D8' port='4294967295' pin='4294967295' />
			<data name='FK2D9' port='4294967295' pin='4294967295' />
			<data name='FK2D10' port='4294967295' pin='4294967295' />
			<data name='FK2D11' port='4294967295' pin='4294967295' />
			<data name='FK2D12' port='4294967295' pin='4294967295' />
			<data name='FK2D13' port='4294967295' pin='4294967295' />
			<data name='FK2D14' port='4294967295' pin='4294967295' />
			<data name='FK2D15' port='4294967295' pin='4294967295' />
			<data name='FK2A0' port='4294967295' pin='4294967295' />
			<data name='FK2A1' port='4294967295' pin='4294967295' />
			<data name='FK2A2' port='4294967295' pin='4294967295' />
			<data name='FK2A3' port='4294967295' pin='4294967295' />
			<data name='FK2A4' port='4294967295' pin='4294967295' />
			<data name='FK2A5' port='4294967295' pin='4294967295' />
		</FK2>
		<ICD >
			<data name='AnalogPrescaleValue' value='19' />
			<data name='DigitalSampleRate' value='100000' />
			<data name='BreakpointCount' value='8' />
			<data name='CallStackDepthCount' value='8' />
			<data name='ClockPort' value='4095' />
			<data name='ClockPin' value='0' />
			<data name='DataPort' value='4095' />
			<data name='DataPin' value='0' />
			<data name='UseDefaultPins' value='1' />
			<data name='WrapEnabled' value='1' />
			<data name='CommsDelayOverridden' value='0' />
			<data name='CommsDelay' value='2' />
			<data name='CalculatedCommsDelay' value='2' />
			<data name='AnalogEB2PrescaleValue' value='2' />
			<data name='DigitalEB2SampleRate' value='100000' />
		</ICD>
		<pins >
			<digital A='0' B='0' C='0' D='0' E='0' F='0' G='0' H='0' I='0' J='0' K='0' L='0' M='0' N='0' O='0' P='0' Q='0' R='0' S='0' T='0' U='0' V='0' W='0' X='0' Y='0' Z='0' />
			<analog A='0' B='0' C='0' D='0' E='0' F='0' G='0' H='0' I='0' J='0' K='0' L='0' M='0' N='0' O='0' P='0' Q='0' R='0' S='0' T='0' U='0' V='0' W='0' X='0' Y='0' Z='0' />
		</pins>
	</ghost>
	<components >
		<settings autoimg='1' center='1' unitscale='0' fixedscale='0' fixedx='1' fixedy='1' fixedz='1' headcode='0' />
		<definition guid='40df75fe-4e00-4c40-91f0-015892511e43' vstate='40' vmin='0' vmaj='1' srcleaf='' visiblename='' description='' category='' category2='' category3='' bIs2dOnly='0' bIs3dOnly='0' catenable='1' author='' manuname='' manucode='' sysinfo='0' keywords='' dynamic='1' scadaCompatible='1' embeddedCompatible='1' showmacros='1' iconpath='' />
		<component class_type='root' codename='panel' panelId='-1' x='0' y='0' z='0' xsz='1' ysz='1' zsz='1' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' scadavisible='1' interactive='1' solid='1' layer='0' poslock='0' comp2dType='0' >
			<resources />
			<properties />
			<values />
			<events />
			<apis />
			<variables >
				<variable public='0' >
					<def class_type='variable' name='All_quat_3D' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
						<array size='50' />
						<array size='5' />
					</def>
				</variable>
				<variable public='0' >
					<def class_type='variable' name='All_Channel_Quat' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
						<array size='250' />
					</def>
				</variable>
				<variable public='0' >
					<def class_type='variable' name='All_Pitch' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
						<array size='250' />
					</def>
				</variable>
				<variable public='0' >
					<def class_type='variable' name='All_Roll' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
						<array size='250' />
					</def>
				</variable>
				<variable public='0' >
					<def class_type='variable' name='false' type='b1' description='' isconst='1' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='count_z' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='All_Channel_Quat_sw' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
						<array size='250' />
					</def>
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Quat_Z' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
						<array size='250' />
					</def>
				</variable>
				<variable public='0' >
					<def class_type='variable' name='All_Yaw' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
						<array size='250' />
					</def>
				</variable>
				<variable public='0' >
					<def class_type='variable' name='All_Channel_PYR' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
						<array size='250' />
					</def>
				</variable>
				<variable public='0' >
					<def class_type='variable' name='count_chart' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='true' type='b1' description='' isconst='1' isHidden='0' isinit='1' usrinit='1' setinit='1' />
				</variable>
			</variables>
			<macros >
				<macro >
					<flowline name='Test_Gen' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<local name='pitch' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<local name='yaw' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<local name='roll' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<local name='count_move' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
						<local name='move_grad' type='f32' description='' isconst='0' isHidden='0' isinit='1' usrinit='0.0' setinit='0' />
						<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' >
							<exp exp='.move_grad = 0' />
						</command>
						<command class_type='loop' title='Loop' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' type='2' forvar='.count_move' exp='200' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' >
									<exp exp='.move_grad = .move_grad + 1.8' />
									<exp exp='.roll = .move_grad' />
								</command>
								<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' macro='Panel.Position.RotateTo' >
									<argument exp='shape1' />
									<argument exp='0' />
									<argument exp='0' />
									<argument exp='.pitch' />
									<argument exp='.yaw' />
									<argument exp='.roll' />
								</command>
								<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' macro='Panel.Position.RotateTo' >
									<argument exp='shape2' />
									<argument exp='0' />
									<argument exp='0' />
									<argument exp='.pitch' />
									<argument exp='.yaw' />
									<argument exp='.roll' />
								</command>
								<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' macro='Panel.Position.RotateTo' >
									<argument exp='shape3' />
									<argument exp='0' />
									<argument exp='0' />
									<argument exp='.pitch' />
									<argument exp='.yaw' />
									<argument exp='.roll' />
								</command>
								<command class_type='delay' title='Delay' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' exp='10' type='1' />
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Test_File' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<local name='ret_bol' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
						<local name='test_roll' type='u16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<local name='count_testfile' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<local name='All_test' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
							<array size='200' />
						</local>
						<local name='move_grad' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<command class_type='call' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' component='CSV_ReadWrite1' macro='OpenFile' >
							<return exp='.ret_bol' />
							<argument exp='&quot;quat_pitch_yaw_roll.csv&quot;' />
							<argument exp='0' />
						</command>
						<command class_type='calculation' title='' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' >
							<exp exp='.test_roll = 0' />
							<exp exp='.move_grad = 0' />
						</command>
						<command class_type='loop' title='Loop' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' type='2' exp='200' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' >
									<exp exp='.test_roll = .test_roll + 1' />
									<exp exp='.move_grad = .move_grad + 1.8' />
									<exp exp='.count_testfile = 0' />
								</command>
								<command class_type='loop' title='Loop' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' type='2' forvar='.count_testfile' exp='7' >
									<flowline >
										<command class_type='call' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' component='CSV_ReadWrite1' macro='SequentialReadNumber' >
											<return exp='.All_test[.count_testfile]' />
										</command>
										<command class_type='sim' title='Built-in Function Rot' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' macro='Panel.Position.RotateTo' >
											<argument exp='shape1' />
											<argument exp='0' />
											<argument exp='0' />
											<argument exp='.All_test[4]' />
											<argument exp='.All_test[5]' />
											<argument exp='.All_test[6]' />
										</command>
									</flowline>
								</command>
								<command class_type='sim' title='Built-in Function Blau' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' macro='Panel.Position.RotateTo' >
									<argument exp='shape2' />
									<argument exp='0' />
									<argument exp='0' />
									<argument exp='0' />
									<argument exp='0' />
									<argument exp='.move_grad' />
								</command>
								<command class_type='call' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' component='CSV_ReadWrite1' macro='NextRow' />
								<command class_type='delay' title='Delay' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' exp='100' type='1' />
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Test_Array' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<local name='QuatX' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
							<array size='250' />
						</local>
						<local name='QuatY' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
							<array size='250' />
						</local>
						<local name='QuatZ' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
							<array size='250' />
						</local>
						<local name='QuatW' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
							<array size='250' />
						</local>
						<local name='count_Ar' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
						<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' >
							<exp exp='.QuatZ[0] = 0' />
							<exp exp='.QuatZ[1] = 0.015707317' />
							<exp exp='.QuatZ[2] = 0.031410759' />
							<exp exp='.QuatZ[3] = 0.047106451' />
							<exp exp='.QuatZ[4] = 0.06279052' />
							<exp exp='.QuatZ[5] = 0.078459096' />
							<exp exp='.QuatZ[6] = 0.094108313' />
							<exp exp='.QuatZ[7] = 0.109734311' />
							<exp exp='.QuatZ[8] = 0.125333234' />
							<exp exp='.QuatZ[9] = 0.140901232' />
							<exp exp='.QuatZ[10] = 0.156434465' />
							<exp exp='' />
							<exp exp='.QuatZ[11] = 0.1719291' />
							<exp exp='.QuatZ[12] = 0.187381315' />
							<exp exp='.QuatZ[13] = 0.202787295' />
							<exp exp='.QuatZ[14] = 0.218143241' />
							<exp exp='.QuatZ[15] = 0.233445364' />
							<exp exp='.QuatZ[16] = 0.248689887' />
							<exp exp='.QuatZ[17] = 0.26387305' />
							<exp exp='.QuatZ[18] = 0.278991106' />
							<exp exp='.QuatZ[19] = 0.294040325' />
							<exp exp='.QuatZ[20] = 0.309016994' />
							<exp exp='' />
							<exp exp='.QuatZ[21] = 0.323917418' />
							<exp exp='.QuatZ[22] = 0.33873792' />
							<exp exp='.QuatZ[23] = 0.353474844' />
							<exp exp='.QuatZ[24] = 0.368124553' />
							<exp exp='.QuatZ[25] = 0.382683432' />
							<exp exp='.QuatZ[26] = 0.397147891' />
							<exp exp='.QuatZ[27] = 0.411514359' />
							<exp exp='.QuatZ[28] = 0.425779292' />
							<exp exp='.QuatZ[29] = 0.43993917' />
							<exp exp='.QuatZ[30] = 0.4539905' />
							<exp exp='' />
							<exp exp='.QuatZ[31] = 0.467929814' />
							<exp exp='.QuatZ[32] = 0.481753674' />
							<exp exp='.QuatZ[33] = 0.495458668' />
							<exp exp='.QuatZ[34] = 0.509041416' />
							<exp exp='.QuatZ[35] = 0.522498565' />
							<exp exp='.QuatZ[36] = 0.535826795' />
							<exp exp='.QuatZ[37] = 0.549022818' />
							<exp exp='.QuatZ[38] = 0.562083378' />
							<exp exp='.QuatZ[39] = 0.575005252' />
							<exp exp='.QuatZ[40] = 0.587785252' />
							<exp exp='' />
							<exp exp='.QuatZ[41] = 0.600420225' />
							<exp exp='.QuatZ[42] = 0.612907054' />
							<exp exp='.QuatZ[43] = 0.625242656' />
							<exp exp='.QuatZ[44] = 0.63742399' />
							<exp exp='.QuatZ[45] = 0.649448048' />
							<exp exp='.QuatZ[46] = 0.661311865' />
							<exp exp='.QuatZ[47] = 0.673012514' />
							<exp exp='.QuatZ[48] = 0.684547106' />
							<exp exp='.QuatZ[49] = 0.695912797' />
							<exp exp='.QuatZ[50] = 0.707106781' />
							<exp exp='' />
							<exp exp='.QuatZ[51] = 0.718126298' />
							<exp exp='.QuatZ[52] = 0.728968627' />
							<exp exp='.QuatZ[53] = 0.739631095' />
							<exp exp='.QuatZ[54] = 0.75011107' />
							<exp exp='.QuatZ[55] = 0.760405966' />
							<exp exp='.QuatZ[56] = 0.770513243' />
							<exp exp='.QuatZ[57] = 0.780430407' />
							<exp exp='.QuatZ[58] = 0.790155012' />
							<exp exp='.QuatZ[59] = 0.799684658' />
							<exp exp='.QuatZ[60] = 0.809016994' />
							<exp exp='' />
							<exp exp='.QuatZ[61] = 0.818149717' />
							<exp exp='.QuatZ[62] = 0.827080574' />
							<exp exp='.QuatZ[63] = 0.835807361' />
							<exp exp='.QuatZ[64] = 0.844327926' />
							<exp exp='.QuatZ[65] = 0.852640164' />
							<exp exp='.QuatZ[66] = 0.860742027' />
							<exp exp='.QuatZ[67] = 0.868631514' />
							<exp exp='.QuatZ[68] = 0.87630668' />
							<exp exp='.QuatZ[69] = 0.88376563' />
							<exp exp='.QuatZ[70] = 0.891006524' />
							<exp exp='' />
							<exp exp='.QuatZ[71] = 0.898027576' />
							<exp exp='.QuatZ[72] = 0.904827052' />
							<exp exp='.QuatZ[73] = 0.911403277' />
							<exp exp='.QuatZ[74] = 0.917754626' />
							<exp exp='.QuatZ[75] = 0.923879533' />
							<exp exp='.QuatZ[76] = 0.929776486' />
							<exp exp='.QuatZ[77] = 0.935444031' />
							<exp exp='.QuatZ[78] = 0.940880769' />
							<exp exp='.QuatZ[79] = 0.946085359' />
							<exp exp='.QuatZ[80] = 0.951056516' />
							<exp exp='' />
							<exp exp='.QuatZ[81] = 0.955793015' />
							<exp exp='.QuatZ[82] = 0.960293686' />
							<exp exp='.QuatZ[83] = 0.964557418' />
							<exp exp='.QuatZ[84] = 0.968583161' />
							<exp exp='.QuatZ[85] = 0.97236992' />
							<exp exp='.QuatZ[86] = 0.975916762' />
							<exp exp='.QuatZ[87] = 0.979222811' />
							<exp exp='.QuatZ[88] = 0.982287251' />
							<exp exp='.QuatZ[89] = 0.985109326' />
							<exp exp='.QuatZ[90] = 0.987688341' />
							<exp exp='' />
							<exp exp='.QuatZ[91] = 0.990023658' />
							<exp exp='.QuatZ[92] = 0.992114701' />
							<exp exp='.QuatZ[93] = 0.993960955' />
							<exp exp='.QuatZ[94] = 0.995561965' />
							<exp exp='.QuatZ[95] = 0.996917334' />
							<exp exp='.QuatZ[96] = 0.998026728' />
							<exp exp='.QuatZ[97] = 0.998889875' />
							<exp exp='.QuatZ[98] = 0.99950656' />
							<exp exp='.QuatZ[99] = 0.999876632' />
							<exp exp='.QuatZ[100] = 1' />
							<exp exp='.QuatZ[101] = 0.999876632' />
							<exp exp='' />
							<exp exp='' />
							<exp exp='.QuatZ[102] = 0.99950656' />
							<exp exp='.QuatZ[103] = 0.998889875' />
							<exp exp='.QuatZ[104] = 0.998026728' />
							<exp exp='.QuatZ[105] = 0.996917334' />
							<exp exp='.QuatZ[106] = 0.995561965' />
							<exp exp='.QuatZ[107] = 0.993960955' />
							<exp exp='.QuatZ[108] = 0.992114701' />
							<exp exp='.QuatZ[109] = 0.990023658' />
							<exp exp='.QuatZ[110] = 0.987688341' />
							<exp exp='.QuatZ[111] = 0.985109326' />
							<exp exp='.QuatZ[112] = 0.982287251' />
							<exp exp='.QuatZ[113] = 0.979222811' />
							<exp exp='.QuatZ[114] = 0.975916762' />
							<exp exp='.QuatZ[115] = 0.97236992' />
							<exp exp='.QuatZ[116] = 0.968583161' />
							<exp exp='.QuatZ[117] = 0.964557418' />
							<exp exp='.QuatZ[118] = 0.960293686' />
							<exp exp='.QuatZ[119] = 0.955793015' />
							<exp exp='.QuatZ[120] = 0.951056516' />
							<exp exp='.QuatZ[121] = 0.946085359' />
							<exp exp='.QuatZ[122] = 0.940880769' />
							<exp exp='.QuatZ[123] = 0.935444031' />
							<exp exp='.QuatZ[124] = 0.929776486' />
							<exp exp='.QuatZ[125] = 0.923879533' />
							<exp exp='.QuatZ[126] = 0.917754626' />
							<exp exp='.QuatZ[127] = 0.911403277' />
							<exp exp='.QuatZ[128] = 0.904827052' />
							<exp exp='.QuatZ[129] = 0.898027576' />
							<exp exp='.QuatZ[130] = 0.891006524' />
							<exp exp='.QuatZ[131] = 0.88376563' />
							<exp exp='.QuatZ[132] = 0.87630668' />
							<exp exp='.QuatZ[133] = 0.868631514' />
							<exp exp='.QuatZ[134] = 0.860742027' />
							<exp exp='.QuatZ[135] = 0.852640164' />
							<exp exp='.QuatZ[136] = 0.844327926' />
							<exp exp='.QuatZ[137] = 0.835807361' />
							<exp exp='.QuatZ[138] = 0.827080574' />
							<exp exp='.QuatZ[139] = 0.818149717' />
							<exp exp='.QuatZ[140] = 0.809016994' />
							<exp exp='.QuatZ[141] = 0.799684658' />
							<exp exp='.QuatZ[142] = 0.790155012' />
							<exp exp='.QuatZ[143] = 0.780430407' />
							<exp exp='.QuatZ[144] = 0.770513243' />
							<exp exp='.QuatZ[145] = 0.760405966' />
							<exp exp='.QuatZ[146] = 0.75011107' />
							<exp exp='.QuatZ[147] = 0.739631095' />
							<exp exp='.QuatZ[148] = 0.728968627' />
							<exp exp='.QuatZ[149] = 0.718126298' />
							<exp exp='.QuatZ[150] = 0.707106781' />
							<exp exp='.QuatZ[151] = 0.695912797' />
							<exp exp='.QuatZ[152] = 0.684547106' />
							<exp exp='.QuatZ[153] = 0.673012514' />
							<exp exp='.QuatZ[154] = 0.661311865' />
							<exp exp='.QuatZ[155] = 0.649448048' />
							<exp exp='.QuatZ[156] = 0.63742399' />
							<exp exp='.QuatZ[157] = 0.625242656' />
							<exp exp='.QuatZ[158] = 0.612907054' />
							<exp exp='.QuatZ[159] = 0.600420225' />
							<exp exp='.QuatZ[160] = 0.587785252' />
							<exp exp='.QuatZ[161] = 0.575005252' />
							<exp exp='.QuatZ[162] = 0.562083378' />
							<exp exp='.QuatZ[163] = 0.549022818' />
							<exp exp='.QuatZ[164] = 0.535826795' />
							<exp exp='.QuatZ[165] = 0.522498565' />
							<exp exp='.QuatZ[166] = 0.509041416' />
							<exp exp='.QuatZ[167] = 0.495458668' />
							<exp exp='.QuatZ[168] = 0.481753674' />
							<exp exp='.QuatZ[169] = 0.467929814' />
							<exp exp='.QuatZ[170] = 0.4539905' />
							<exp exp='.QuatZ[171] = 0.43993917' />
							<exp exp='.QuatZ[172] = 0.425779292' />
							<exp exp='.QuatZ[173] = 0.411514359' />
							<exp exp='.QuatZ[174] = 0.397147891' />
							<exp exp='.QuatZ[175] = 0.382683432' />
							<exp exp='.QuatZ[176] = 0.368124553' />
							<exp exp='.QuatZ[177] = 0.353474844' />
							<exp exp='.QuatZ[178] = 0.33873792' />
							<exp exp='.QuatZ[179] = 0.323917418' />
							<exp exp='.QuatZ[180] = 0.309016994' />
							<exp exp='.QuatZ[181] = 0.294040325' />
							<exp exp='.QuatZ[182] = 0.278991106' />
							<exp exp='.QuatZ[183] = 0.26387305' />
							<exp exp='.QuatZ[184] = 0.248689887' />
							<exp exp='.QuatZ[185] = 0.233445364' />
							<exp exp='.QuatZ[186] = 0.218143241' />
							<exp exp='.QuatZ[187] = 0.202787295' />
							<exp exp='.QuatZ[188] = 0.187381315' />
							<exp exp='.QuatZ[189] = 0.1719291' />
							<exp exp='.QuatZ[190] = 0.156434465' />
							<exp exp='.QuatZ[191] = 0.140901232' />
							<exp exp='.QuatZ[192] = 0.125333234' />
							<exp exp='.QuatZ[193] = 0.109734311' />
							<exp exp='.QuatZ[194] = 0.094108313' />
							<exp exp='.QuatZ[195] = 0.078459096' />
							<exp exp='.QuatZ[196] = 0.06279052' />
							<exp exp='.QuatZ[197] = 0.047106451' />
							<exp exp='.QuatZ[198] = 0.031410759' />
							<exp exp='.QuatZ[199] = 0.015707317' />
							<exp exp='' />
							<exp exp='' />
						</command>
						<command class_type='loop' title='Loop' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' type='2' forvar='.count_Ar' exp='200' >
							<flowline >
								<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' exp='.count_Ar &gt;= 100' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' >
											<exp exp='Quat_Z[.count_Ar] = .QuatZ[.count_Ar] * -1' />
										</command>
									</flowline>
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' >
											<exp exp='Quat_Z[.count_Ar] = .QuatZ[.count_Ar]' />
										</command>
									</flowline>
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='FP32_to_PYR_movment' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<param name='x' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<param name='y' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<param name='z' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<param name='count' type='u16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<local name='pitch' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<local name='roll' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<local name='yaw' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<local name='quat' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
							<array size='4' />
						</local>
						<local name='count_sum' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
						<local name='sumsq' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<local name='sx' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<local name='sy' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<local name='sz' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<local name='sw' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<local name='euler' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' >
							<array size='3' />
						</local>
						<local name='pi' type='f32' description='' isconst='0' isHidden='0' isinit='1' usrinit='3.1415927410125732421875' setinit='3.1415926536' />
						<local name='sqx' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<local name='sqy' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<local name='sqz' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<local name='count_euler' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
						<local name='n' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<local name='index' type='u16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<local name='mode' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
						<local name='move_grad' type='f32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0.0' setinit='' />
						<command class_type='comment' title='' comment='Info 1 begin' textarea='12,0,12,0' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' />
						<command class_type='comment' title='' comment='parameter =&gt; .x .y .z and .count  ' textarea='12,0,12,0' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' />
						<command class_type='calculation' title='Ok: 2024_11_17' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' >
							<exp exp='.quat[0] = .x' />
							<exp exp='.quat[1] = .y' />
							<exp exp='.quat[2] = .z' />
							<exp exp='.sumsq = 0' />
							<exp exp='' />
						</command>
						<command class_type='loop' title='ok:2024_11_17' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' type='2' forvar='.count_sum' exp='3' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' >
									<exp exp='.sumsq = .sumsq + (.quat[.count_sum]) * (.quat[.count_sum])' />
								</command>
							</flowline>
						</command>
						<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' exp='.sumsq &gt; 1' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' >
									<exp exp='.n = sqrt(.sumsq)' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' >
									<exp exp='.quat[0] = .quat[0] / .n' />
									<exp exp='.quat[1] = .quat[1] / .n' />
									<exp exp='.quat[2] = .quat[2] / .n' />
									<exp exp='.sumsq = 1.0' />
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' >
							<exp exp='.quat[3] = sqrt(1.0 - .sumsq)' />
						</command>
						<command class_type='comment' title='' comment='Info 1 end
Info 2 begin' textarea='12,0,12,0' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' />
						<command class_type='calculation' title='Ok: 2024_11_17 it&apos;s like in the doku SX= qaut1' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' >
							<exp exp='.sx = .quat[1]' />
							<exp exp='.sy = .quat[2]' />
							<exp exp='.sz = .quat[0]' />
							<exp exp='.sw = .quat[3]' />
						</command>
						<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' exp='.sw &lt; 0.0' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' >
									<exp exp='.sx = .sx * -1' />
									<exp exp='.sy = .sy * -1' />
									<exp exp='.sz = .sz * -1' />
									<exp exp='.sw = .sw * -1' />
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' >
							<exp exp='.sqx = .sx * .sx' />
							<exp exp='.sqy = .sy * .sy' />
							<exp exp='.sqz = .sz * .sz' />
							<exp exp='' />
						</command>
						<command class_type='calculation' title='ok 2024_11_19' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' >
							<exp exp='.euler[0] = -atan2(2.0 * (.sy * .sw + .sx * .sz),1.0 - 2.0 * (.sqy + .sqx)) //Yaw' />
							<exp exp='.euler[1] = -atan2(2.0 * (.sx * .sy + .sz * .sw),1.0 - 2.0 * (.sqx + .sqz)) //Roll' />
							<exp exp='.euler[2] = -asin(2.0 * (.sx * .sw - .sy * .sz)) //Pitch' />
						</command>
						<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' exp='.euler[0] &lt; 0.0' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' >
									<exp exp='.euler[0] = .euler[0] + (2.0 * .pi)' />
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='loop' title='Loop' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' type='2' forvar='.count_euler' exp='3' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' >
									<exp exp='.euler[.count_euler] = .euler[.count_euler] * 180.0 / .pi' />
								</command>
							</flowline>
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' >
							<exp exp='.pitch = .euler[0]' />
							<exp exp='.roll = .euler[1]' />
							<exp exp='.yaw = .euler[2]' />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' >
							<exp exp='All_Pitch[count_chart] = .pitch' />
							<exp exp='All_Yaw[count_chart] = .yaw' />
							<exp exp='All_Roll[count_chart] = .roll' />
						</command>
						<command class_type='sim' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' component='NumericIndicator1' macro='SetValue' >
							<argument exp='.pitch' />
						</command>
						<command class_type='sim' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' component='NumericIndicator2' macro='SetValue' >
							<argument exp='.yaw' />
						</command>
						<command class_type='sim' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' component='NumericIndicator3' macro='SetValue' >
							<argument exp='.roll' />
						</command>
						<command class_type='sim' title='Built-in Function' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' macro='Panel.Position.RotateTo' >
							<argument exp='shape4' />
							<argument exp='0' />
							<argument exp='0' />
							<argument exp='.pitch' />
							<argument exp='.yaw' />
							<argument exp='.roll' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Main' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' component='FileSCADA1' macro='Initialise' />
						<command class_type='call' title='Set the array with data' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' macro='Test_Array' />
						<command class_type='call' title='Set the shape to 0' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' macro='Set_0' />
						<command class_type='call' title='User Macro' disable='1' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' macro='Test_Gen' />
						<command class_type='call' title='User Macro' disable='1' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' macro='Test_File' />
						<command class_type='call' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' component='BaseChart1' macro='Clear' />
						<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' >
							<exp exp='count_chart = 0' />
						</command>
						<command class_type='loop' title='Loop' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' type='2' forvar='count_z' exp='200' >
							<flowline >
								<command class_type='call' title='User Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' macro='FP32_to_PYR_movment' >
									<argument exp='Quat_Z[count_z]' />
									<argument exp='Quat_Z[count_z]' />
									<argument exp='Quat_Z[count_z]' />
									<argument exp='0' />
								</command>
								<command class_type='sim' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' component='BaseChart1' macro='AddDataXY' >
									<argument exp='1' />
									<argument exp='count_z' />
									<argument exp='All_Pitch[count_chart]' />
								</command>
								<command class_type='sim' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' component='BaseChart1' macro='AddDataXY' >
									<argument exp='2' />
									<argument exp='count_z' />
									<argument exp='All_Yaw[count_chart]' />
								</command>
								<command class_type='sim' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' component='BaseChart1' macro='AddDataXY' >
									<argument exp='3' />
									<argument exp='count_z' />
									<argument exp='All_Roll[count_chart]' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='1' >
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