LibrePilot/ground/openpilotgcs/src/plugins/config/stabilization.ui

<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
 <class>StabilizationWidget</class>
 <widget class="QWidget" name="StabilizationWidget">
  <property name="geometry">
   <rect>
    <x>0</x>
    <y>0</y>
    <width>639</width>
    <height>611</height>
   </rect>
  </property>
  <property name="windowTitle">
   <string>Form</string>
  </property>
  <layout class="QVBoxLayout" name="verticalLayout_3">
   <item>
    <widget class="QGroupBox" name="groupBox">
     <property name="sizePolicy">
      <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
       <horstretch>0</horstretch>
       <verstretch>0</verstretch>
      </sizepolicy>
     </property>
     <property name="minimumSize">
      <size>
       <width>0</width>
       <height>150</height>
      </size>
     </property>
     <property name="title">
      <string>Rate Stabilization Coefficients (Inner Loop)</string>
     </property>
     <layout class="QGridLayout" name="gridLayout_3">
      <item row="0" column="2">
       <widget class="QLabel" name="label_12">
        <property name="text">
         <string>Kp</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
        </property>
       </widget>
      </item>
      <item row="0" column="3">
       <widget class="QLabel" name="label_13">
        <property name="text">
         <string>Ki</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
        </property>
       </widget>
      </item>
      <item row="0" column="4">
       <widget class="QLabel" name="label_14">
        <property name="text">
         <string>ILimit</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
        </property>
       </widget>
      </item>
      <item row="1" column="1">
       <widget class="QLabel" name="label_10">
        <property name="text">
         <string>Roll</string>
        </property>
       </widget>
      </item>
      <item row="1" column="2">
       <widget class="QDoubleSpinBox" name="rateRollKp">
        <property name="toolTip">
         <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
Then lower the value by 20% or so.</string>
        </property>
        <property name="decimals">
         <number>6</number>
        </property>
        <property name="singleStep">
         <double>0.000100000000000</double>
        </property>
       </widget>
      </item>
      <item row="1" column="3">
       <widget class="QDoubleSpinBox" name="rateRollKi">
        <property name="toolTip">
         <string>I factor for rate stabilization is usually very low or even zero.</string>
        </property>
        <property name="decimals">
         <number>6</number>
        </property>
        <property name="singleStep">
         <double>0.000100000000000</double>
        </property>
       </widget>
      </item>
      <item row="1" column="4">
       <widget class="QDoubleSpinBox" name="rateRollILimit">
        <property name="decimals">
         <number>6</number>
        </property>
        <property name="singleStep">
         <double>0.000100000000000</double>
        </property>
       </widget>
      </item>
      <item row="2" column="0">
       <widget class="QCheckBox" name="linkRateRP">
        <property name="toolTip">
         <string>If checked, the Roll and Pitch factors will be identical.
When you change one, the other is updated.</string>
        </property>
        <property name="text">
         <string>Link</string>
        </property>
       </widget>
      </item>
      <item row="2" column="1">
       <widget class="QLabel" name="label_11">
        <property name="text">
         <string>Pitch</string>
        </property>
       </widget>
      </item>
      <item row="2" column="2">
       <widget class="QDoubleSpinBox" name="ratePitchKp">
        <property name="toolTip">
         <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
Then lower the value by 20% or so.</string>
        </property>
        <property name="decimals">
         <number>6</number>
        </property>
        <property name="singleStep">
         <double>0.000100000000000</double>
        </property>
       </widget>
      </item>
      <item row="2" column="3">
       <widget class="QDoubleSpinBox" name="ratePitchKi">
        <property name="toolTip">
         <string>I factor for rate stabilization is usually very low or even zero.</string>
        </property>
        <property name="decimals">
         <number>6</number>
        </property>
        <property name="singleStep">
         <double>0.000100000000000</double>
        </property>
       </widget>
      </item>
      <item row="2" column="4">
       <widget class="QDoubleSpinBox" name="ratePitchILimit">
        <property name="decimals">
         <number>6</number>
        </property>
        <property name="singleStep">
         <double>0.000100000000000</double>
        </property>
       </widget>
      </item>
      <item row="3" column="1">
       <widget class="QLabel" name="label_15">
        <property name="text">
         <string>Yaw</string>
        </property>
       </widget>
      </item>
      <item row="3" column="2">
       <widget class="QDoubleSpinBox" name="rateYawKp">
        <property name="toolTip">
         <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
Then lower the value by 20% or so.

You can usually go for higher values for Yaw factors.</string>
        </property>
        <property name="decimals">
         <number>6</number>
        </property>
        <property name="singleStep">
         <double>0.000100000000000</double>
        </property>
       </widget>
      </item>
      <item row="3" column="3">
       <widget class="QDoubleSpinBox" name="rateYawKi">
        <property name="toolTip">
         <string>As a rule of thumb, you can set YawRate Ki at roughly the same
value as YawRate Kp.</string>
        </property>
        <property name="decimals">
         <number>6</number>
        </property>
        <property name="singleStep">
         <double>0.000100000000000</double>
        </property>
       </widget>
      </item>
      <item row="3" column="4">
       <widget class="QDoubleSpinBox" name="rateYawILimit">
        <property name="decimals">
         <number>6</number>
        </property>
        <property name="singleStep">
         <double>0.000100000000000</double>
        </property>
       </widget>
      </item>
     </layout>
    </widget>
   </item>
   <item>
    <spacer name="verticalSpacer_3">
     <property name="orientation">
      <enum>Qt::Vertical</enum>
     </property>
     <property name="sizeType">
      <enum>QSizePolicy::Fixed</enum>
     </property>
     <property name="sizeHint" stdset="0">
      <size>
       <width>20</width>
       <height>5</height>
      </size>
     </property>
    </spacer>
   </item>
   <item>
    <widget class="QGroupBox" name="groupBox_2">
     <property name="sizePolicy">
      <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
       <horstretch>0</horstretch>
       <verstretch>0</verstretch>
      </sizepolicy>
     </property>
     <property name="minimumSize">
      <size>
       <width>0</width>
       <height>150</height>
      </size>
     </property>
     <property name="title">
      <string>Attitude Stabization Coefficients (Outer Loop)</string>
     </property>
     <layout class="QGridLayout" name="gridLayout_2">
      <item row="3" column="2">
       <widget class="QDoubleSpinBox" name="rollKp">
        <property name="toolTip">
         <string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
</string>
        </property>
        <property name="decimals">
         <number>6</number>
        </property>
        <property name="singleStep">
         <double>0.100000000000000</double>
        </property>
       </widget>
      </item>
      <item row="3" column="3">
       <widget class="QDoubleSpinBox" name="rollKi">
        <property name="toolTip">
         <string>Ki can usually be almost identical to Kp.</string>
        </property>
        <property name="decimals">
         <number>6</number>
        </property>
        <property name="singleStep">
         <double>0.100000000000000</double>
        </property>
       </widget>
      </item>
      <item row="3" column="4">
       <widget class="QDoubleSpinBox" name="rollILimit">
        <property name="toolTip">
         <string>ILimit can be equal to three to four times Ki, but you can adjust
depending on whether your airframe is well balanced, and your
flying style.</string>
        </property>
        <property name="decimals">
         <number>6</number>
        </property>
        <property name="singleStep">
         <double>0.100000000000000</double>
        </property>
       </widget>
      </item>
      <item row="2" column="2">
       <widget class="QLabel" name="label_19">
        <property name="text">
         <string>Kp</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
        </property>
       </widget>
      </item>
      <item row="2" column="3">
       <widget class="QLabel" name="label_20">
        <property name="text">
         <string>Ki</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
        </property>
       </widget>
      </item>
      <item row="2" column="4">
       <widget class="QLabel" name="label_21">
        <property name="text">
         <string>ILimit</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
        </property>
       </widget>
      </item>
      <item row="7" column="4">
       <widget class="QDoubleSpinBox" name="yawILimit">
        <property name="toolTip">
         <string>ILimit can be equal to three to four times Ki, but you can adjust
depending on whether your airframe is well balanced, and your
flying style.</string>
        </property>
        <property name="decimals">
         <number>6</number>
        </property>
        <property name="singleStep">
         <double>0.100000000000000</double>
        </property>
       </widget>
      </item>
      <item row="7" column="3">
       <widget class="QDoubleSpinBox" name="yawKi">
        <property name="toolTip">
         <string>Ki can usually be almost identical to Kp.</string>
        </property>
        <property name="decimals">
         <number>6</number>
        </property>
        <property name="singleStep">
         <double>0.100000000000000</double>
        </property>
       </widget>
      </item>
      <item row="7" column="2">
       <widget class="QDoubleSpinBox" name="yawKp">
        <property name="toolTip">
         <string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
</string>
        </property>
        <property name="decimals">
         <number>6</number>
        </property>
        <property name="singleStep">
         <double>0.100000000000000</double>
        </property>
       </widget>
      </item>
      <item row="6" column="2">
       <widget class="QDoubleSpinBox" name="pitchKp">
        <property name="toolTip">
         <string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
</string>
        </property>
        <property name="decimals">
         <number>6</number>
        </property>
        <property name="singleStep">
         <double>0.100000000000000</double>
        </property>
       </widget>
      </item>
      <item row="7" column="1">
       <widget class="QLabel" name="label_18">
        <property name="text">
         <string>Yaw</string>
        </property>
       </widget>
      </item>
      <item row="6" column="1">
       <widget class="QLabel" name="label_17">
        <property name="text">
         <string>Pitch</string>
        </property>
       </widget>
      </item>
      <item row="3" column="1">
       <widget class="QLabel" name="label_16">
        <property name="text">
         <string>Roll</string>
        </property>
       </widget>
      </item>
      <item row="6" column="3">
       <widget class="QDoubleSpinBox" name="pitchKi">
        <property name="toolTip">
         <string>Ki can usually be almost identical to Kp.</string>
        </property>
        <property name="decimals">
         <number>6</number>
        </property>
        <property name="singleStep">
         <double>0.100000000000000</double>
        </property>
       </widget>
      </item>
      <item row="6" column="4">
       <widget class="QDoubleSpinBox" name="pitchILimit">
        <property name="toolTip">
         <string>ILimit can be equal to three to four times Ki, but you can adjust
depending on whether your airframe is well balanced, and your
flying style.</string>
        </property>
        <property name="decimals">
         <number>6</number>
        </property>
        <property name="singleStep">
         <double>0.100000000000000</double>
        </property>
       </widget>
      </item>
      <item row="6" column="0">
       <widget class="QCheckBox" name="linkAttitudeRP">
        <property name="toolTip">
         <string>If checked, the Roll and Pitch factors will be identical.
When you change one, the other is updated.</string>
        </property>
        <property name="text">
         <string>Link</string>
        </property>
       </widget>
      </item>
     </layout>
    </widget>
   </item>
   <item>
    <spacer name="verticalSpacer_2">
     <property name="orientation">
      <enum>Qt::Vertical</enum>
     </property>
     <property name="sizeType">
      <enum>QSizePolicy::Fixed</enum>
     </property>
     <property name="sizeHint" stdset="0">
      <size>
       <width>20</width>
       <height>5</height>
      </size>
     </property>
    </spacer>
   </item>
   <item>
    <widget class="QGroupBox" name="groupBox_3">
     <property name="sizePolicy">
      <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
       <horstretch>0</horstretch>
       <verstretch>0</verstretch>
      </sizepolicy>
     </property>
     <property name="minimumSize">
      <size>
       <width>0</width>
       <height>0</height>
      </size>
     </property>
     <property name="title">
      <string>Stick range and limits</string>
     </property>
     <layout class="QGridLayout" name="gridLayout" rowminimumheight="5,5,5,5">
      <property name="sizeConstraint">
       <enum>QLayout::SetMinAndMaxSize</enum>
      </property>
      <item row="0" column="1">
       <widget class="QLabel" name="label">
        <property name="text">
         <string>Roll</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
        </property>
       </widget>
      </item>
      <item row="0" column="2">
       <widget class="QLabel" name="label_22">
        <property name="text">
         <string>Pitch</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
        </property>
       </widget>
      </item>
      <item row="0" column="3">
       <widget class="QLabel" name="label_23">
        <property name="text">
         <string>Yaw</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
        </property>
       </widget>
      </item>
      <item row="1" column="1">
       <widget class="QSpinBox" name="rollMax">
        <property name="maximum">
         <number>180</number>
        </property>
       </widget>
      </item>
      <item row="1" column="2">
       <widget class="QSpinBox" name="pitchMax">
        <property name="maximum">
         <number>180</number>
        </property>
       </widget>
      </item>
      <item row="1" column="3">
       <widget class="QSpinBox" name="yawMax">
        <property name="maximum">
         <number>180</number>
        </property>
       </widget>
      </item>
      <item row="1" column="0">
       <widget class="QLabel" name="label_5">
        <property name="minimumSize">
         <size>
          <width>150</width>
          <height>0</height>
         </size>
        </property>
        <property name="font">
         <font>
          <weight>50</weight>
          <bold>false</bold>
         </font>
        </property>
        <property name="text">
         <string>Full stick angle (deg)</string>
        </property>
       </widget>
      </item>
      <item row="2" column="0">
       <widget class="QLabel" name="label_6">
        <property name="minimumSize">
         <size>
          <width>150</width>
          <height>0</height>
         </size>
        </property>
        <property name="font">
         <font>
          <weight>50</weight>
          <bold>false</bold>
         </font>
        </property>
        <property name="text">
         <string>Full stick rate (deg/s)</string>
        </property>
       </widget>
      </item>
      <item row="2" column="1">
       <widget class="QSpinBox" name="manualRoll">
        <property name="maximum">
         <number>300</number>
        </property>
       </widget>
      </item>
      <item row="2" column="2">
       <widget class="QSpinBox" name="manualPitch">
        <property name="maximum">
         <number>300</number>
        </property>
       </widget>
      </item>
      <item row="2" column="3">
       <widget class="QSpinBox" name="manualYaw">
        <property name="maximum">
         <number>300</number>
        </property>
       </widget>
      </item>
      <item row="3" column="0">
       <widget class="QLabel" name="label_24">
        <property name="minimumSize">
         <size>
          <width>150</width>
          <height>0</height>
         </size>
        </property>
        <property name="font">
         <font>
          <weight>50</weight>
          <bold>false</bold>
         </font>
        </property>
        <property name="toolTip">
         <string notr="true"/>
        </property>
        <property name="text">
         <string>Maximum rate in attitude mode (deg/s)</string>
        </property>
       </widget>
      </item>
      <item row="3" column="1">
       <widget class="QSpinBox" name="maximumRoll">
        <property name="maximum">
         <number>300</number>
        </property>
       </widget>
      </item>
      <item row="3" column="2">
       <widget class="QSpinBox" name="maximumPitch">
        <property name="maximum">
         <number>300</number>
        </property>
       </widget>
      </item>
      <item row="3" column="3">
       <widget class="QSpinBox" name="maximumYaw">
        <property name="maximum">
         <number>300</number>
        </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>
   <item>
    <layout class="QHBoxLayout" name="horizontalLayout_2">
     <item>
      <widget class="QCheckBox" name="realTimeUpdates">
       <property name="toolTip">
        <string>If you check this, the GCS will udpate the stabilization factors
automatically every 300ms, which will help for fast tuning.</string>
       </property>
       <property name="text">
        <string>Update in real time</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>
     <item>
      <widget class="QPushButton" name="stabilizationHelp">
       <property name="sizePolicy">
        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
         <horstretch>0</horstretch>
         <verstretch>0</verstretch>
        </sizepolicy>
       </property>
       <property name="maximumSize">
        <size>
         <width>32</width>
         <height>32</height>
        </size>
       </property>
       <property name="text">
        <string/>
       </property>
       <property name="icon">
        <iconset resource="../coreplugin/core.qrc">
         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
       </property>
       <property name="iconSize">
        <size>
         <width>32</width>
         <height>32</height>
        </size>
       </property>
       <property name="flat">
        <bool>true</bool>
       </property>
      </widget>
     </item>
     <item>
      <widget class="QPushButton" name="saveStabilizationToRAM">
       <property name="text">
        <string>Apply</string>
       </property>
      </widget>
     </item>
     <item>
      <widget class="QPushButton" name="saveStabilizationToSD">
       <property name="text">
        <string>Save</string>
       </property>
      </widget>
     </item>
    </layout>
   </item>
  </layout>
 </widget>
 <resources>
  <include location="../coreplugin/core.qrc"/>
 </resources>
 <connections/>
</ui>