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LP-56 - Better txpid option namings, fix tabs-spaces, tooltips. headers, variable namings
This commit is contained in:
Alessio Morale
parent
3490057f69
commit
13f02e7d9d
@ -302,7 +302,7 @@ static void stabilizationInnerloopTask()
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-StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t],
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StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t]
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);
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const float acro_factors[] = {
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const float acroFactors[] = {
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stabSettings.stabBank.AcroInsanityFactor.Roll,
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stabSettings.stabBank.AcroInsanityFactor.Pitch,
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stabSettings.stabBank.AcroInsanityFactor.Yaw
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@ -310,7 +310,7 @@ static void stabilizationInnerloopTask()
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pid_scaler ascaler = create_pid_scaler(t);
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ascaler.i *= boundf(1.0f - (1.5f * fabsf(stickinput[t])), 0.0f, 1.0f); // this prevents Integral from getting too high while controlled manually
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float arate = pid_apply_setpoint(&stabSettings.innerPids[t], &ascaler, rate[t], gyro_filtered[t], dT);
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float factor = fabsf(stickinput[t]) * acro_factors[t];
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float factor = fabsf(stickinput[t]) * acroFactors[t];
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actuatorDesiredAxis[t] = factor * stickinput[t] + (1.0f - factor) * arate;
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}
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break;
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@ -383,13 +383,13 @@ static void updatePIDs(UAVObjEvent *ev)
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case TXPIDSETTINGS_PIDS_GYROTAU:
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needsUpdateStab |= update(&stab.GyroTau, value);
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break;
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case TXPIDSETTINGS_PIDS_ACROPLUSFACTORROLL:
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case TXPIDSETTINGS_PIDS_ACROROLLFACTOR:
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needsUpdateBank |= update(&bank.AcroInsanityFactor.Roll, value);
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break;
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case TXPIDSETTINGS_PIDS_ACROPLUSFACTORPITCH:
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case TXPIDSETTINGS_PIDS_ACROPITCHFACTOR:
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needsUpdateBank |= update(&bank.AcroInsanityFactor.Pitch, value);
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break;
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case TXPIDSETTINGS_PIDS_ACROPLUSFACTORROLLPITCH:
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case TXPIDSETTINGS_PIDS_ACROROLLPITCHFACTOR:
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needsUpdateBank |= update(&bank.AcroInsanityFactor.Roll, value);
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needsUpdateBank |= update(&bank.AcroInsanityFactor.Pitch, value);
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break;
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@ -2,6 +2,7 @@
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******************************************************************************
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*
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* @file configstabilizationwidget.cpp
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
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* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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@ -164,9 +164,9 @@ static bool isExpoOption(int pidOption)
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static bool isAcroPlusFactorOption(int pidOption)
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{
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switch (pidOption) {
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case TxPIDSettings::PIDS_ACROPLUSFACTORPITCH:
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case TxPIDSettings::PIDS_ACROPLUSFACTORROLL:
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case TxPIDSettings::PIDS_ACROPLUSFACTORROLLPITCH:
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case TxPIDSettings::PIDS_ACROPITCHFACTOR:
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case TxPIDSettings::PIDS_ACROROLLFACTOR:
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case TxPIDSettings::PIDS_ACROROLLPITCHFACTOR:
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return true;
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default:
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@ -300,10 +300,10 @@ static float defaultValueForPidOption(const StabilizationSettingsBankX *bank, in
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case TxPIDSettings::PIDS_YAWEXPO:
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return bank->getStickExpo_Yaw();
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case TxPIDSettings::PIDS_ACROPLUSFACTORROLL:
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case TxPIDSettings::PIDS_ACROPLUSFACTORROLLPITCH:
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case TxPIDSettings::PIDS_ACROROLLFACTOR:
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case TxPIDSettings::PIDS_ACROROLLPITCHFACTOR:
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return bank->getAcroInsanityFactor_Roll();
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case TxPIDSettings::PIDS_ACROPLUSFACTORPITCH:
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case TxPIDSettings::PIDS_ACROPITCHFACTOR:
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return bank->getAcroInsanityFactor_Pitch();
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case -1: // The PID Option field was uninitialized.
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return 0.0f;
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@ -208,7 +208,7 @@ margin-top: -1px;
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<enum>Qt::StrongFocus</enum>
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</property>
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<property name="toolTip">
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<string><html><head/><body><p>Link roll &amp; pitch sliders to move together, thus giving same value for both roll &amp; pitch when setting up a symetrical vehicle that requires both to be the same</p></body></html></string>
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<string><html><head/><body><p>Link roll &amp; pitch sliders to move together</p></body></html></string>
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</property>
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<property name="styleSheet">
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<string notr="true"/>
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@ -16,8 +16,8 @@
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<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
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<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit"/>
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<field name="AcroInsanityFactor" units="percent" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.4" limits="%BE:0.0:1.0"/>
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<field name="AcroInsanityFactor" units="percent" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.4" limits="%BE:0.0:1.0"/>
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<field name="EnablePiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
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<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
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@ -16,7 +16,7 @@
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<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
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<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
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<field name="AcroInsanityFactor" units="percent" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.4" limits="%BE:0.0:1.0"/>
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<field name="AcroInsanityFactor" units="percent" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.4" limits="%BE:0.0:1.0"/>
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<field name="EnablePiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
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@ -16,7 +16,7 @@
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<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
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<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
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<field name="AcroInsanityFactor" units="percent" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.4" limits="%BE:0.0:1.0"/>
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<field name="AcroInsanityFactor" units="percent" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.4" limits="%BE:0.0:1.0"/>
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<field name="EnablePiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
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@ -16,7 +16,7 @@
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<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
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<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
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<field name="AcroInsanityFactor" units="percent" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.4" limits="%BE:0.0:1.0"/>
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<field name="AcroInsanityFactor" units="percent" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.4" limits="%BE:0.0:1.0"/>
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<field name="EnablePiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
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@ -7,8 +7,8 @@
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elementnames="Instance1,Instance2,Instance3"
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options="Throttle,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5"
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defaultvalue="Throttle,Accessory0,Accessory1"/>
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<field name="ThrottleRange" units="%" type="float" elements="2" elementnames="Min,Max" defaultvalue="0.20,0.80"/>
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<field name="PIDs" units="option" type="enum"
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<field name="ThrottleRange" units="%" type="float" elements="2" elementnames="Min,Max" defaultvalue="0.20,0.80"/>
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<field name="PIDs" units="option" type="enum"
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elementnames="Instance1,Instance2,Instance3"
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options="Disabled,
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Roll Rate.Kp, Roll Rate.Ki, Roll Rate.Kd, Roll Rate.ILimit, Roll Rate.Resp,
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@ -20,7 +20,7 @@
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Roll+Pitch Attitude.Kp, Roll+Pitch Attitude.Ki, Roll+Pitch Attitude.ILimit, Roll+Pitch Attitude.Resp,
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Yaw Attitude.Kp, Yaw Attitude.Ki, Yaw Attitude.ILimit, Yaw Attitude.Resp,
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Roll.Expo, Pitch.Expo, Roll+Pitch.Expo, Yaw.Expo,
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GyroTau,AcroPlusFactorRollPitch,AcroPlusFactorRoll,AcroPlusFactorPitch,Altitude Pos.Kp,Altitude Velocity.Kp,Altitude Velocity.Ki,Altitude Velocity.Kd,Altitude Velocity.Beta,
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GyroTau,Acro+ Roll Factor,Acro+ Pitch Factor,Acro+ Roll+Pitch Factor,Altitude Pos.Kp,Altitude Velocity.Kp,Altitude Velocity.Ki,Altitude Velocity.Kd,Altitude Velocity.Beta,
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AccelTau, AccelKp, AccelKi"
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defaultvalue="Disabled"/>
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<field name="MinPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
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