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OP-1260 remove anti-windup, 2 PIDs, mode transition
This commit is contained in:
Cliff Geerdes
parent
8218becdac
commit
297b0d01cb
@ -85,11 +85,17 @@
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// number of flight mode switch positions
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#define NUM_FMS_POSITIONS 6
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#if 0
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// The PID_RATE_ROLL set is used by Rate mode and the rate portion of Attitude mode
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// The PID_RATE set is used by the attitude portion of Attitude mode
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// The PID_RATEA_ROLL set is used by Rattitude mode because it needs to maintain
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// - two independant rate PIDs because it does rate and attitude simultaneously
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enum { PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_RATEA_ROLL, PID_RATEA_PITCH, PID_RATEA_YAW, PID_MAX };
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#else
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// The PID_RATE_ROLL set is used by Rate mode and the rate portion of Attitude mode
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// The PID_RATE set is used by the attitude portion of Attitude mode
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enum { PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_MAX };
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#endif
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enum { RATE_P, RATE_I, RATE_D, RATE_LIMIT, RATE_OFFSET };
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enum { ATT_P, ATT_I, ATT_LIMIT, ATT_OFFSET };
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@ -109,7 +115,11 @@ struct pid pids[PID_MAX];
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int cur_flight_mode = -1;
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#if 0
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static uint8_t rattitude_anti_windup;
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#else
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static float rattitude_mode_transition_stick_position;
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#endif
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static float cruise_control_min_thrust;
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static float cruise_control_max_thrust;
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static uint8_t cruise_control_max_angle;
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@ -127,8 +137,10 @@ static void SettingsUpdatedCb(UAVObjEvent *ev);
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static void BankUpdatedCb(UAVObjEvent *ev);
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static void SettingsBankUpdatedCb(UAVObjEvent *ev);
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#if 0
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static float stab_log2f(float x);
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static float stab_powf(float x, uint8_t p);
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#endif
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/**
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* Module initialization
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@ -388,7 +400,9 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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if (reinit) {
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pids[PID_ROLL + i].iAccumulator = 0;
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pids[PID_RATE_ROLL + i].iAccumulator = 0;
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#if 0
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pids[PID_RATEA_ROLL + i].iAccumulator = 0;
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#endif
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}
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// Compute what Rate mode would give for this stick angle's rate
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@ -411,8 +425,16 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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float rateDesiredAxisAttitude;
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rateDesiredAxisAttitude = pid_apply(&pids[PID_ROLL + i], attitude_error, dT);
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rateDesiredAxisAttitude = bound(rateDesiredAxisAttitude,
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//it looks like P is degreespersecond per degree of angle error
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//so it is NOT high enough to ramp up like I thought it would
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//maybe I just need to measure the current stick angle for 179 bank angle
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#if 0
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cast_struct_to_array(stabBank.MaximumRate,
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stabBank.MaximumRate.Roll)[i]);
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#else
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cast_struct_to_array(stabBank.ManualRate,
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stabBank.ManualRate.Roll)[i]);
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#endif
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// Compute the weighted average rate desired
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// Using max() rather than sqrt() for cpu speed;
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@ -422,9 +444,44 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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// magnitude = sqrt(stabDesired.Roll*stabDesired.Roll + stabDesired.Pitch*stabDesired.Pitch);
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float magnitude;
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magnitude = fmaxf(fabsf(stabDesired.Roll), fabsf(stabDesired.Pitch));
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#if 0
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#else
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// modify magnitude to move the Att to Rate transition to the place
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// specified by the user
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// we are looking for where the stick angle == transition angle
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// and the Att rate equals the Rate rate
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// that's where Rate x (1-StickAngle) [Attitude pulling down max X Ratt proportion]
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// == Rate x StickAngle [Rate pulling up according to stick angle]
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// * StickAngle [X Ratt proportion]
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// so 1-x == x*x or x*x+x-1=0 where xE(0,1)
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// (-1+-sqrt(1+4))/2 = (-1+sqrt(5))/2
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// and quadratic formula says that is 0.618033989f
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// I tested 14.01 and came up with .61 without even remembering this number
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// I thought that moving the P,I, and maxangle terms around would change this value
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// and that I would have to take these into account, but varying
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// all P's and I's by factors of 1/2 to 2 didn't change it noticeably
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// and varying maxangle from 4 to 120 didn't either.
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// so for now I'm not taking these into account
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// while working with this, it occurred to me that Attitude mode,
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// set up with maxangle=190 would be similar to Ratt, and it is.
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#define STICK_VALUE_AT_MODE_TRANSITION 0.618033989f
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// the following assumes the transition would otherwise be at 0.618033989f
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// and that assumes that Att ramps up to max roll rate
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// when a small number of degrees off of where it should be
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// if below the transition angle (still in attitude mode)
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if (magnitude < rattitude_mode_transition_stick_position) {
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magnitude *= STICK_VALUE_AT_MODE_TRANSITION / rattitude_mode_transition_stick_position;
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} else {
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magnitude = (magnitude - rattitude_mode_transition_stick_position) * (1.0f-STICK_VALUE_AT_MODE_TRANSITION) / (1.0f - rattitude_mode_transition_stick_position) + STICK_VALUE_AT_MODE_TRANSITION;
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}
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#endif
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rateDesiredAxis[i] = (1.0f - magnitude) * rateDesiredAxisAttitude
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+ magnitude * rateDesiredAxisRate;
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#if 0
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// Compute the inner loop for both Rate mode and Attitude mode
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// actuatorDesiredAxis[i] is the weighted average of the two PIDs from the two rates
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actuatorDesiredAxis[i] =
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@ -491,6 +548,12 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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pids[PID_RATE_ROLL + i].iAccumulator *= factor;
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}
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}
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#else
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// Compute the inner loop for the averaged rate
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// actuatorDesiredAxis[i] is the weighted average
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actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
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actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f);
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#endif
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break;
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}
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@ -715,6 +778,7 @@ static float bound(float val, float range)
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}
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#if 0
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// x small (0.0 < x < .01) so interpolation of fractional part is reasonable
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static float stab_log2f(float x)
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{
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@ -748,6 +812,7 @@ static float stab_powf(float x, uint8_t p)
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return retval;
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}
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#endif
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static void SettingsBankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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@ -859,6 +924,7 @@ static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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0,
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bank.YawPI.ILimit);
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#if 0
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// Set the Rattitude roll rate PID constants
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pid_configure(&pids[PID_RATEA_ROLL],
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bank.RollRatePID.Kp,
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@ -879,6 +945,7 @@ static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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bank.YawRatePID.Ki,
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bank.YawRatePID.Kd,
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bank.YawRatePID.ILimit);
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#endif
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}
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@ -919,7 +986,12 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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cur_flight_mode = -1;
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// Rattitude flight mode anti-windup factor
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#if 0
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rattitude_anti_windup = settings.RattitudeAntiWindup;
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#else
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rattitude_mode_transition_stick_position = (float)settings.RattitudeModeTransistion / 100.0f;
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//rattitude_mode_transition_stick_position = ((float)settings.RattitudeAntiWindup) / 31.0f;
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#endif
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cruise_control_min_thrust = (float)settings.CruiseControlMinThrust / 100.0f;
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cruise_control_max_thrust = (float)settings.CruiseControlMaxThrust / 100.0f;
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@ -95,7 +95,7 @@
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<enum>QTabWidget::Rounded</enum>
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</property>
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<property name="currentIndex">
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<number>0</number>
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<number>3</number>
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</property>
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<property name="documentMode">
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<bool>false</bool>
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@ -24004,7 +24004,7 @@ border-radius: 5;</string>
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</spacer>
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</item>
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<item row="1" column="1">
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<widget class="QDoubleSpinBox" name="RattitudeAntiWindup">
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<widget class="QDoubleSpinBox" name="RattitudeModeTransistion">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
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<horstretch>0</horstretch>
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@ -24027,7 +24027,7 @@ border-radius: 5;</string>
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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>Higher values will keep larger Ki terms and limits from winding up at partial stick. Consider increasing this if you have high Ki values and limits and a sudden stick motion from one aircraft bank angle to another causes the aircraft to rotate and then slowly change rotation.</p></body></html></string>
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<string><html><head/><body><p>Percentage of full stick where the transition from Attitude to Rate occurs. This transition always occurs when the aircraft is exactly inverted (bank angle 180 degrees). Small values are dangerous because they cause flips at small stick angles. Values significantly over 100 act like attitude mode and can never flip.</p></body></html></string>
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</property>
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<property name="alignment">
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<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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@ -24039,18 +24039,18 @@ border-radius: 5;</string>
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<number>0</number>
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</property>
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<property name="minimum">
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<double>0.000000000000000</double>
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<double>25.000000000000000</double>
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</property>
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<property name="maximum">
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<double>31.000000000000000</double>
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<double>255.000000000000000</double>
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</property>
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<property name="value">
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<double>10.000000000000000</double>
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<double>80.000000000000000</double>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:StabilizationSettings</string>
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<string>fieldname:RattitudeAntiWindup</string>
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<string>fieldname:RattitudeModeTransistion</string>
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<string>haslimits:no</string>
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<string>scale:1</string>
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<string>buttongroup:15</string>
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@ -24090,7 +24090,7 @@ color: rgb(255, 255, 255);
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border-radius: 5;</string>
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</property>
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<property name="text">
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<string>Anti-Windup</string>
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<string>ModeTransition</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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@ -28,7 +28,7 @@
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<field name="WeakLevelingKp" units="(deg/s)/deg" type="float" elements="1" defaultvalue="0.1"/>
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<field name="MaxWeakLevelingRate" units="deg/s" type="uint8" elements="1" defaultvalue="5"/>
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<field name="RattitudeAntiWindup" units="" type="uint8" elements="1" defaultvalue="10"/>
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<field name="RattitudeModeTransistion" units="%" type="uint8" elements="1" defaultvalue="80"/>
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<field name="CruiseControlMinThrust" units="%" type="uint8" elements="1" defaultvalue="5"/>
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<field name="CruiseControlMaxThrust" units="%" type="uint8" elements="1" defaultvalue="90"/>
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