OP-1397 Read default values for selected PID option from StabilizationSettingsBankX

ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp

@@ -28,6 +28,9 @@
 #include "configtxpidwidget.h"
 #include "txpidsettings.h"
 #include "hwsettings.h"
+#include "stabilizationsettingsbank1.h"
+#include "stabilizationsettingsbank2.h"
+#include "stabilizationsettingsbank3.h"
 #include <extensionsystem/pluginmanager.h>
 #include <coreplugin/generalsettings.h>
 
@@ -107,20 +110,127 @@ static bool isAttitudeOption(const QString & pidOption)
     return pidOption.contains("Attitude");
 }
 
+template <class StabilizationSettingsBankX>
+static float defaultValueForPidOption(const StabilizationSettingsBankX & bank, const QString & pidOption)
+{
+    if (pidOption == "Disabled") {
+        return 0.0f;
+    } else if (pidOption == "Roll Rate.Kp") {
+        return bank->getRollRatePID_Kp();
+    } else if (pidOption == "Pitch Rate.Kp") {
+        return bank->getPitchRatePID_Kp();
+    } else if (pidOption == "Roll+Pitch Rate.Kp") {
+        return bank->getRollRatePID_Kp();
+    } else if (pidOption == "Yaw Rate.Kp") {
+        return bank->getYawRatePID_Kp();
+    } else if (pidOption == "Roll Rate.Ki") {
+        return bank->getRollRatePID_Ki();
+    } else if (pidOption == "Pitch Rate.Ki") {
+        return bank->getPitchRatePID_Ki();
+    } else if (pidOption == "Roll+Pitch Rate.Ki") {
+        return bank->getRollRatePID_Ki();
+    } else if (pidOption == "Yaw Rate.Ki") {
+        return bank->getYawRatePID_Ki();
+    } else if (pidOption == "Roll Rate.Kd") {
+        return bank->getRollRatePID_Kd();
+    } else if (pidOption == "Pitch Rate.Kd") {
+        return bank->getPitchRatePID_Kd();
+    } else if (pidOption == "Roll+Pitch Rate.Kd") {
+        return bank->getRollRatePID_Kd();
+    } else if (pidOption == "Yaw Rate.Kd") {
+        return bank->getYawRatePID_Kd();
+    } else if (pidOption == "Roll Rate.ILimit") {
+        return bank->getRollRatePID_ILimit();
+    } else if (pidOption == "Pitch Rate.ILimit") {
+        return bank->getPitchRatePID_ILimit();
+    } else if (pidOption == "Roll+Pitch Rate.ILimit") {
+        return bank->getRollRatePID_ILimit();
+    } else if (pidOption == "Yaw Rate.ILimit") {
+        return bank->getYawRatePID_ILimit();
+    } else if (pidOption == "Roll Rate.Resp") {
+        return bank->getManualRate_Roll();
+    } else if (pidOption == "Pitch Rate.Resp") {
+        return bank->getManualRate_Pitch();
+    } else if (pidOption == "Roll+Pitch Rate.Resp") {
+        return bank->getManualRate_Roll();
+    } else if (pidOption == "Yaw Rate.Resp") {
+        return bank->getManualRate_Yaw();
+    } else if (pidOption == "Roll Attitude.Kp") {
+        return bank->getRollPI_Kp();
+    } else if (pidOption == "Pitch Attitude.Kp") {
+        return bank->getPitchPI_Kp();
+    } else if (pidOption == "Roll+Pitch Attitude.Kp") {
+        return bank->getRollPI_Kp();
+    } else if (pidOption == "Yaw Attitude.Kp") {
+        return bank->getYawPI_Kp();
+    } else if (pidOption == "Roll Attitude.Ki") {
+        return bank->getRollPI_Ki();
+    } else if (pidOption == "Pitch Attitude.Ki") {
+        return bank->getPitchPI_Ki();
+    } else if (pidOption == "Roll+Pitch Attitude.Ki") {
+        return bank->getRollPI_Ki();
+    } else if (pidOption == "Yaw Attitude.Ki") {
+        return bank->getYawPI_Ki();
+    } else if (pidOption == "Roll Attitude.ILimit") {
+        return bank->getRollPI_ILimit();
+    } else if (pidOption == "Pitch Attitude.ILimit") {
+        return bank->getPitchPI_ILimit();
+    } else if (pidOption == "Roll+Pitch Attitude.ILimit") {
+        return bank->getRollPI_ILimit();
+    } else if (pidOption == "Yaw Attitude.ILimit") {
+        return bank->getYawPI_ILimit();
+    } else if (pidOption == "Roll Attitude.Resp") {
+        return (float)bank->getRollMax();
+    } else if (pidOption == "Pitch Attitude.Resp") {
+        return (float)bank->getPitchMax();
+    } else if (pidOption == "Roll+Pitch Attitude.Resp") {
+        return (float)bank->getRollMax();
+    } else if (pidOption == "Yaw Attitude.Resp") {
+        return bank->getYawMax();
+    }
+
+    qDebug() << "getDefaultValueForOption: Incorrect PID option" << pidOption;
+    return 0.0f;
+}
+
+float ConfigTxPIDWidget::getDefaultValueForPidOption(const QString & pidOption)
+{
+    if (pidOption == "GyroTau") {
+        // TODO: Implement
+        return 0.0f;
+    }
+
+    uint bankNumber = m_txpid->pidBank->currentIndex() + 1;
+
+    if (bankNumber == 1) {
+        StabilizationSettingsBank1 *bank = qobject_cast<StabilizationSettingsBank1 *>(getObject(QString("StabilizationSettingsBank1")));
+        return defaultValueForPidOption(bank, pidOption);
+    } else if (bankNumber == 2) {
+        StabilizationSettingsBank2 *bank = qobject_cast<StabilizationSettingsBank2 *>(getObject(QString("StabilizationSettingsBank2")));
+        return defaultValueForPidOption(bank, pidOption);
+    } else if (bankNumber == 3) {
+        StabilizationSettingsBank3 *bank = qobject_cast<StabilizationSettingsBank3 *>(getObject(QString("StabilizationSettingsBank3")));
+        return defaultValueForPidOption(bank, pidOption);
+    } else {
+        qDebug() << "getDefaultValueForPidOption: Incorrect bank number:" << bankNumber;
+        return 0.0f;
+    }
+}
+
 void ConfigTxPIDWidget::updateSpinBoxProperties(const QString & selectedPidOption)
 {
+    QObject *PIDx = sender();
+
     QDoubleSpinBox *minPID;
     QDoubleSpinBox *maxPID;
 
-    QObject *obj = sender();
-
-    if (obj == m_txpid->PID1) {
+    if (PIDx == m_txpid->PID1) {
         minPID = m_txpid->MinPID1;
         maxPID = m_txpid->MaxPID1;
-    } else if (obj == m_txpid->PID2) {
+    } else if (PIDx == m_txpid->PID2) {
         minPID = m_txpid->MinPID2;
         maxPID = m_txpid->MaxPID2;
-    } else if (obj == m_txpid->PID3) {
+    } else if (PIDx == m_txpid->PID3) {
         minPID = m_txpid->MinPID3;
         maxPID = m_txpid->MaxPID3;
     } else {
@@ -128,6 +238,9 @@ void ConfigTxPIDWidget::updateSpinBoxProperties(const QString & selectedPidOptio
         return;
     }
 
+    // The ranges need to be setup before the values can be set,
+    // otherwise the value might be incorrectly capped.
+
     if (isResponsivenessOption(selectedPidOption)) {
         if (isAttitudeOption(selectedPidOption)) {
             // Limit to 180 degrees.
@@ -149,6 +262,11 @@ void ConfigTxPIDWidget::updateSpinBoxProperties(const QString & selectedPidOptio
         minPID->setDecimals(6);
         maxPID->setDecimals(6);
     }
+
+    float value = getDefaultValueForPidOption(selectedPidOption);
+
+    minPID->setValue(value);
+    maxPID->setValue(value);
 }
 
 void ConfigTxPIDWidget::refreshValues()

ground/openpilotgcs/src/plugins/config/configtxpidwidget.h

@@ -41,6 +41,7 @@ private:
 
 private slots:
     void updateSpinBoxProperties(const QString & selectedPidOption);
+    float getDefaultValueForPidOption(const QString & pidOption);
     void refreshValues();
     void applySettings();
     void saveSettings();