From 07d5c8e4d28dd801209994a719915c5aa2a3ee94 Mon Sep 17 00:00:00 2001
From: Corvus Corax <corvuscorax@cybertrench.com>
Date: Tue, 14 Jan 2014 00:26:27 +0100
Subject: [PATCH] OP-1022 fixed the config plugin widget to represent new
 simpler settings layout

---
 flight/modules/ManualControl/manualcontrol.c  |  2 +-
 .../src/plugins/config/stabilization.ui       | 42 +++++++++++--------
 .../altitudeholdsettings.xml                  |  2 +-
 3 files changed, 26 insertions(+), 20 deletions(-)

diff --git a/flight/modules/ManualControl/manualcontrol.c b/flight/modules/ManualControl/manualcontrol.c
index dbc7ecc03..7dcfb32ea 100644
--- a/flight/modules/ManualControl/manualcontrol.c
+++ b/flight/modules/ManualControl/manualcontrol.c
@@ -850,7 +850,7 @@ static void altitudeHoldDesired(ManualControlCommandData *cmd, bool changed)
     const float DEADBAND_LOW  = 1.0f / 2 - DEADBAND / 2;
 
     // this is the max speed in m/s at the extents of throttle
-    uint8_t throttleRate;
+    float throttleRate;
     uint8_t throttleExp;
 
     static uint8_t flightMode;
diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index 61352bd2f..e4a520311 100644
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -28291,7 +28291,7 @@ border-radius: 5;</string>
                     <string notr="true"/>
                    </property>
                    <property name="text">
-                    <string>Integral</string>
+                    <string>Velocity Proportional</string>
                    </property>
                    <property name="alignment">
                     <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@@ -28316,7 +28316,7 @@ border-radius: 5;</string>
                     <string notr="true"/>
                    </property>
                    <property name="text">
-                    <string>Proportional</string>
+                    <string>Altitude Proportional</string>
                    </property>
                    <property name="alignment">
                     <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@@ -28347,7 +28347,7 @@ border-radius: 5;</string>
                     <string notr="true"/>
                    </property>
                    <property name="text">
-                    <string>Derivative</string>
+                    <string>Velocity Integral</string>
                    </property>
                    <property name="alignment">
                     <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@@ -28371,8 +28371,9 @@ border-radius: 5;</string>
                    <property name="objrelation" stdset="0">
                     <stringlist>
                      <string>objname:AltitudeHoldSettings</string>
-                     <string>fieldname:Kp</string>
-                     <string>scale:0.001</string>
+                     <string>fieldname:AltitudePI</string>
+                     <string>element:Kp</string>
+                     <string>scale:0.01</string>
                      <string>haslimits:yes</string>
                      <string>buttongroup:99</string>
                     </stringlist>
@@ -28396,8 +28397,9 @@ border-radius: 5;</string>
                    <property name="objrelation" stdset="0">
                     <stringlist>
                      <string>objname:AltitudeHoldSettings</string>
-                     <string>fieldname:Ki</string>
-                     <string>scale:0.001</string>
+                     <string>fieldname:VelocityPI</string>
+                     <string>element:Kp</string>
+                     <string>scale:0.01</string>
                      <string>haslimits:yes</string>
                      <string>buttongroup:99</string>
                     </stringlist>
@@ -28407,7 +28409,7 @@ border-radius: 5;</string>
                  <item row="3" column="2">
                   <widget class="QSlider" name="AltKdSlider">
                    <property name="maximum">
-                    <number>100</number>
+                    <number>1000</number>
                    </property>
                    <property name="value">
                     <number>50</number>
@@ -28421,8 +28423,9 @@ border-radius: 5;</string>
                    <property name="objrelation" stdset="0">
                     <stringlist>
                      <string>objname:AltitudeHoldSettings</string>
-                     <string>fieldname:Kd</string>
-                     <string>scale:0.001</string>
+                     <string>fieldname:VelocityPI</string>
+                     <string>element:Ki</string>
+                     <string>scale:0.00001</string>
                      <string>haslimits:yes</string>
                      <string>buttongroup:99</string>
                     </stringlist>
@@ -28988,7 +28991,7 @@ color: rgb(255, 255, 255);
 border-radius: 5;</string>
                    </property>
                    <property name="text">
-                    <string>Altitude</string>
+                    <string>Control Coefficients</string>
                    </property>
                    <property name="alignment">
                     <set>Qt::AlignCenter</set>
@@ -29033,8 +29036,9 @@ border-radius: 5;</string>
                    <property name="objrelation" stdset="0">
                     <stringlist>
                      <string>objname:AltitudeHoldSettings</string>
-                     <string>fieldname:Kp</string>
-                     <string>scale:0.001</string>
+                     <string>fieldname:AltitudePI</string>
+                     <string>element:Kp</string>
+                     <string>scale:0.01</string>
                      <string>haslimits:yes</string>
                      <string>buttongroup:99</string>
                     </stringlist>
@@ -29079,8 +29083,9 @@ border-radius: 5;</string>
                    <property name="objrelation" stdset="0">
                     <stringlist>
                      <string>objname:AltitudeHoldSettings</string>
-                     <string>fieldname:Ki</string>
-                     <string>scale:0.001</string>
+                     <string>fieldname:VelocityPI</string>
+                     <string>element:Kp</string>
+                     <string>scale:0.01</string>
                      <string>haslimits:yes</string>
                      <string>buttongroup:99</string>
                     </stringlist>
@@ -29117,7 +29122,7 @@ border-radius: 5;</string>
                     <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
                    </property>
                    <property name="maximum">
-                    <number>100</number>
+                    <number>1000</number>
                    </property>
                    <property name="value">
                     <number>51</number>
@@ -29125,8 +29130,9 @@ border-radius: 5;</string>
                    <property name="objrelation" stdset="0">
                     <stringlist>
                      <string>objname:AltitudeHoldSettings</string>
-                     <string>fieldname:Kd</string>
-                     <string>scale:0.001</string>
+                     <string>fieldname:VelocityPI</string>
+                     <string>element:Ki</string>
+                     <string>scale:0.00001</string>
                      <string>haslimits:yes</string>
                      <string>buttongroup:99</string>
                     </stringlist>
diff --git a/shared/uavobjectdefinition/altitudeholdsettings.xml b/shared/uavobjectdefinition/altitudeholdsettings.xml
index 8e88100f1..174468344 100644
--- a/shared/uavobjectdefinition/altitudeholdsettings.xml
+++ b/shared/uavobjectdefinition/altitudeholdsettings.xml
@@ -5,7 +5,7 @@
 	<field name="VelocityPI" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Ki,Ilimit" defaultvalue="0.2,0.0002,2.0" />
 	<field name="CutThrottleWhenZero" units="bool" type="enum" elements="1" options="False,True" defaultvalue="True" />
         <field name="ThrottleExp" units="" type="uint8" elements="1" defaultvalue="128" />
-        <field name="ThrottleRate" units="m/s" type="uint8" elements="1" defaultvalue="5" />
+        <field name="ThrottleRate" units="m/s" type="float" elements="1" defaultvalue="5" />
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>