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Code Issues Releases Activity

Merge branch 'revo-next' into corvuscorax/new_navigation

Browse Source 
Conflicts:
	flight/Libraries/paths.c
	flight/Modules/ManualControl/manualcontrol.c
	flight/Revolution/Makefile
	shared/uavobjectdefinition/taskinfo.xml
This commit is contained in:
Corvus Corax 2012-05-30 00:51:52 +02:00
commit 298b6233ed
30 changed files with 1938 additions and 2937 deletions
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7
HISTORY.txt
View File

@ -1,5 +1,12 @@
Short summary of changes. For a complete list see the git log.
2012-05-26
Revert some UI changes that didn't work consistently between OSX and Windows.
2012-05-24
Merged the updated firmware for the PipXtreme, thanks to Brian for a lot of
work on this.
2012-05-04
Support for CC3D. This involved changes to various things such as the sensors
being split from AttitudeRaw to Accels,Gyros,Magnetometer. A single firmware

6
Makefile
View File

@ -634,6 +634,12 @@ endef
ALL_BOARDS := coptercontrol pipxtreme revolution simposix
# SimPosix only builds on Linux so drop it from the list for
# all other platforms.
ifneq ($(UNAME), Linux)
ALL_BOARDS := $(filter-out simposix, $(ALL_BOARDS))
endif
# Friendly names of each board (used to find source tree)
coptercontrol_friendly := CopterControl
pipxtreme_friendly := PipXtreme

8
flight/Libraries/paths.c
View File

@ -152,14 +152,16 @@ static void path_vector( float * start_point, float * end_point, float * cur_poi
status->error = normal[0] * diff_north + normal[1] * diff_east;
// Compute direction to correct error
status->correction_direction[0] = (status->error>0?1:-1) * -normal[0];
status->correction_direction[1] = (status->error>0?1:-1) * -normal[1];
status->correction_direction[0] = (status->error > 0) ? -normal[0] : normal[0];
status->correction_direction[1] = (status->error > 0) ? -normal[1] : normal[1];
// Now just want magnitude of error
status->error = fabs(status->error);
// Compute direction to travel
status->path_direction[0] = path_north / dist_path;
status->path_direction[1] = path_east / dist_path;
status->error = fabs(status->error);
}
/**

51
flight/Modules/Battery/battery.c
View File

@ -55,15 +55,6 @@
//
#define SAMPLE_PERIOD_MS 500
//#define ENABLE_DEBUG_MSG
#ifdef ENABLE_DEBUG_MSG
#define DEBUG_PORT PIOS_COM_GPS
#define DEBUG_MSG(format, ...) PIOS_COM_SendFormattedString(DEBUG_PORT, format, ## __VA_ARGS__)
#else
#define DEBUG_MSG(format, ...)
#endif
// Private types
// Private variables
@ -75,12 +66,10 @@ static void onTimer(UAVObjEvent* ev);
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
MODULE_INITCALL(BatteryInitialize, 0)
int32_t BatteryInitialize(void)
{
BatteryStateInitialze();
BatterySettingsInitialize();
FlightBatteryStateInitialize();
FlightBatterySettingsInitialize();
static UAVObjEvent ev;
@ -90,48 +79,23 @@ int32_t BatteryInitialize(void)
return 0;
}
MODULE_INITCALL(BatteryInitialize, 0)
static void onTimer(UAVObjEvent* ev)
{
static portTickType lastSysTime;
static bool firstRun = true;
static FlightBatteryStateData flightBatteryData;
if (firstRun) {
#ifdef ENABLE_DEBUG_MSG
PIOS_COM_ChangeBaud(DEBUG_PORT, 57600);
#endif
lastSysTime = xTaskGetTickCount();
//FlightBatteryStateGet(&flightBatteryData);
firstRun = false;
}
AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_ERROR);
portTickType thisSysTime;
FlightBatterySettingsData batterySettings;
static float dT = SAMPLE_PERIOD_MS / 1000;
float Bob;
static float dT = SAMPLE_PERIOD_MS / 1000.0;
float energyRemaining;
// Check how long since last update
thisSysTime = xTaskGetTickCount();
if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
dT = (float)(thisSysTime - lastSysTime) / (float)(portTICK_RATE_MS * 1000.0f);
//lastSysTime = thisSysTime;
FlightBatterySettingsGet(&batterySettings);
//calculate the battery parameters
flightBatteryData.Voltage = ((float)PIOS_ADC_PinGet(2)) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_VOLTAGEFACTOR]; //in Volts
flightBatteryData.Voltage = ((float)PIOS_ADC_PinGet(0)) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_VOLTAGEFACTOR]; //in Volts
flightBatteryData.Current = ((float)PIOS_ADC_PinGet(1)) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_CURRENTFACTOR]; //in Amps
Bob =dT; // FIXME: something funky happens if I don't do this... Andrew
flightBatteryData.ConsumedEnergy += (flightBatteryData.Current * 1000.0 * dT / 3600.0) ;//in mAh
flightBatteryData.ConsumedEnergy += (flightBatteryData.Current * 1000.0f * dT / 3600.0f) ;//in mAh
if (flightBatteryData.Current > flightBatteryData.PeakCurrent)flightBatteryData.PeakCurrent = flightBatteryData.Current; //in Amps
flightBatteryData.AvgCurrent=(flightBatteryData.AvgCurrent*0.8)+(flightBatteryData.Current*0.2); //in Amps
@ -162,7 +126,6 @@ Bob =dT; // FIXME: something funky happens if I don't do this... Andrew
AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_WARNING);
else AlarmsClear(SYSTEMALARMS_ALARM_BATTERY);
}
lastSysTime = thisSysTime;
FlightBatteryStateSet(&flightBatteryData);
}

4
flight/Modules/ManualControl/manualcontrol.c
View File

@ -720,6 +720,10 @@ static void altitudeHoldDesired(ManualControlCommandData * cmd, bool changed)
AltitudeHoldDesiredSet(&altitudeHoldDesired);
}
#else
// TODO: These functions should never be accessible on CC. Any configuration that
// could allow them to be called sholud already throw an error to prevent this happening
// in flight
static void updatePathDesired(ManualControlCommandData * cmd, bool changed, bool home)
{
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_ERROR);

3
flight/Modules/TxPID/txpid.c
View File

@ -275,6 +275,9 @@ static void updatePIDs(UAVObjEvent* ev)
case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT:
needsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_GYROTAU:
needsUpdate |= update(&stab.GyroTau, value);
break;
default:
PIOS_Assert(0);
}

19
flight/PiOS/Boards/STM32F4xx_Revolution.h
View File

@ -233,8 +233,25 @@ extern uint32_t pios_com_vcp_id;
//-------------------------
// ADC
// None.
// PIOS_ADC_PinGet(0) = Current sensor
// PIOS_ADC_PinGet(1) = Voltage sensor
// PIOS_ADC_PinGet(4) = VREF
// PIOS_ADC_PinGet(5) = Temperature sensor
//-------------------------
#define PIOS_DMA_PIN_CONFIG \
{ \
{GPIOC, GPIO_Pin_0, ADC_Channel_10}, \
{GPIOC, GPIO_Pin_1, ADC_Channel_11}, \
{NULL, 0, ADC_Channel_Vrefint}, /* Voltage reference */ \
{NULL, 0, ADC_Channel_TempSensor} /* Temperature sensor */ \
}
/* we have to do all this to satisfy the PIOS_ADC_MAX_SAMPLES define in pios_adc.h */
/* which is annoying because this then determines the rate at which we generate buffer turnover events */
/* the objective here is to get enough buffer space to support 100Hz averaging rate */
#define PIOS_ADC_NUM_CHANNELS 4
#define PIOS_ADC_MAX_OVERSAMPLING 2
#define PIOS_ADC_USE_ADC2 0
//-------------------------
// USB

81
flight/PiOS/STM32F4xx/pios_adc.c
View File

@ -78,9 +78,9 @@ struct pios_adc_dev {
volatile uint8_t adc_oversample;
uint8_t dma_block_size;
uint16_t dma_half_buffer_size;
int16_t fir_coeffs[PIOS_ADC_MAX_SAMPLES+1] __attribute__ ((aligned(4)));
volatile int16_t raw_data_buffer[PIOS_ADC_MAX_SAMPLES] __attribute__ ((aligned(4))); // Double buffer that DMA just used
float downsampled_buffer[PIOS_ADC_NUM_CHANNELS] __attribute__ ((aligned(4)));
// int16_t fir_coeffs[PIOS_ADC_MAX_SAMPLES+1] __attribute__ ((aligned(4)));
// volatile int16_t raw_data_buffer[PIOS_ADC_MAX_SAMPLES] __attribute__ ((aligned(4)));
// float downsampled_buffer[PIOS_ADC_NUM_CHANNELS] __attribute__ ((aligned(4)));
enum pios_adc_dev_magic magic;
};
@ -94,7 +94,6 @@ static bool PIOS_ADC_validate(struct pios_adc_dev *);
#if defined(PIOS_INCLUDE_ADC)
static void init_pins(void);
static void init_dma(void);
static void init_timer(void);
static void init_adc(void);
#endif
@ -110,17 +109,15 @@ struct adc_accumulator {
};
#if defined(PIOS_INCLUDE_ADC)
static struct dma_config config[] = PIOS_DMA_PIN_CONFIG;
static const struct dma_config config[] = PIOS_DMA_PIN_CONFIG;
#define PIOS_ADC_NUM_PINS (sizeof(config) / sizeof(config[0]))
static struct adc_accumulator accumulator[PIOS_ADC_NUM_PINS];
// Two buffers here for double buffering
static uint16_t adc_raw_buffer[2][PIOS_ADC_MAX_SAMPLES][PIOS_ADC_NUM_PINS];
#endif
#define PIOS_ADC_TIMER TIM3 /* might want this to come from the config */
#define PIOS_LOWRATE_ADC ADC1
#if defined(PIOS_INCLUDE_ADC)
static void
init_pins(void)
@ -132,6 +129,8 @@ init_pins(void)
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
for (int32_t i = 0; i < PIOS_ADC_NUM_PINS; i++) {
if (config[i].port == NULL)
continue;
GPIO_InitStructure.GPIO_Pin = config[i].pin;
GPIO_Init(config[i].port, &GPIO_InitStructure);
}
@ -166,48 +165,21 @@ init_dma(void)
DMA_DoubleBufferModeConfig(pios_adc_dev->cfg->dma.rx.channel, (uint32_t)&adc_raw_buffer[1], DMA_Memory_0);
DMA_DoubleBufferModeCmd(pios_adc_dev->cfg->dma.rx.channel, ENABLE);
DMA_ITConfig(pios_adc_dev->cfg->dma.rx.channel, DMA_IT_TC, ENABLE);
//DMA_ITConfig(pios_adc_dev->cfg->dma.rx.channel, DMA_IT_HT, ENABLE);
/* enable DMA */
DMA_Cmd(pios_adc_dev->cfg->dma.rx.channel, ENABLE);
/* Configure DMA interrupt */
NVIC_InitTypeDef NVICInit = pios_adc_dev->cfg->dma.irq.init;
NVICInit.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW;
NVICInit.NVIC_IRQChannelSubPriority = 0;
NVICInit.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVICInit);
}
static void
init_timer(void)
{
RCC_ClocksTypeDef clocks;
TIM_TimeBaseInitTypeDef TIMInit;
/* get clock info */
RCC_GetClocksFreq(&clocks);
/* reset/disable the timer */
TIM_DeInit(PIOS_ADC_TIMER);
/* configure for 1kHz auto-reload cycle */
TIM_TimeBaseStructInit(&TIMInit);
TIMInit.TIM_Prescaler = clocks.PCLK1_Frequency / 1000000; /* 1MHz base clock*/
TIMInit.TIM_CounterMode = TIM_CounterMode_Down;
TIMInit.TIM_Period = 1000; /* 1kHz conversion rate */
TIMInit.TIM_ClockDivision = TIM_CKD_DIV1; /* no additional divisor */
TIM_TimeBaseInit(PIOS_ADC_TIMER, &TIMInit);
PIOS_COM_SendFormattedString(PIOS_COM_DEBUG, "TIM_Prescaler %d\r\n",TIMInit.TIM_Prescaler);
/* configure trigger output on reload */
TIM_SelectOutputTrigger(PIOS_ADC_TIMER, TIM_TRGOSource_Update);
TIM_Cmd(PIOS_ADC_TIMER, ENABLE);
}
static void
init_adc(void)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);
ADC_DeInit();
/* turn on VREFInt in case we need it */
@ -217,7 +189,7 @@ init_adc(void)
ADC_CommonInitTypeDef ADC_CommonInitStructure;
ADC_CommonStructInit(&ADC_CommonInitStructure);
ADC_CommonInitStructure.ADC_Mode = ADC_Mode_Independent;
ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div2;
ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div8;
ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled;
ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
ADC_CommonInit(&ADC_CommonInitStructure);
@ -226,28 +198,29 @@ init_adc(void)
ADC_StructInit(&ADC_InitStructure);
ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
ADC_InitStructure.ADC_ScanConvMode = ENABLE;
ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T3_TRGO;
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_Rising;
ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfConversion = ((PIOS_ADC_NUM_PINS)/* >> 1*/);
ADC_Init(PIOS_LOWRATE_ADC, &ADC_InitStructure);
ADC_Init(pios_adc_dev->cfg->adc_dev, &ADC_InitStructure);
/* Enable PIOS_LOWRATE_ADC->DMA request */
ADC_DMACmd(PIOS_LOWRATE_ADC, ENABLE);
/* Enable DMA request */
ADC_DMACmd(pios_adc_dev->cfg->adc_dev, ENABLE);
/* Configure input scan */
for (int32_t i = 0; i < PIOS_ADC_NUM_PINS; i++) {
ADC_RegularChannelConfig(PIOS_LOWRATE_ADC,
ADC_RegularChannelConfig(pios_adc_dev->cfg->adc_dev,
config[i].channel,
i+1,
ADC_SampleTime_56Cycles); /* XXX this is totally arbitrary... */
}
ADC_DMARequestAfterLastTransferCmd(PIOS_LOWRATE_ADC, ENABLE);
ADC_DMARequestAfterLastTransferCmd(pios_adc_dev->cfg->adc_dev, ENABLE);
/* Finally start initial conversion */
ADC_Cmd(PIOS_LOWRATE_ADC, ENABLE);
ADC_Cmd(pios_adc_dev->cfg->adc_dev, ENABLE);
ADC_ContinuousModeCmd(pios_adc_dev->cfg->adc_dev, ENABLE);
ADC_SoftwareStartConv(pios_adc_dev->cfg->adc_dev);
}
#endif
@ -299,7 +272,6 @@ int32_t PIOS_ADC_Init(const struct pios_adc_cfg * cfg)
#if defined(PIOS_INCLUDE_ADC)
init_pins();
init_dma();
init_timer();
init_adc();
#endif
@ -321,16 +293,17 @@ void PIOS_ADC_Config(uint32_t oversampling)
* @return ADC pin value averaged over the set of samples since the last reading.
* @return -1 if pin doesn't exist
*/
int32_t last_conv_value;
int32_t PIOS_ADC_PinGet(uint32_t pin)
{
#if defined(PIOS_INCLUDE_ADC)
int32_t result;
/* Check if pin exists */
if (pin >= PIOS_ADC_NUM_PINS) {
return -1;
}
/* return accumulated result and clear accumulator */
result = accumulator[pin].accumulator / (accumulator[pin].count ?: 1);
accumulator[pin].accumulator = 0;
@ -432,15 +405,15 @@ void accumulate(uint16_t *buffer, uint32_t count)
// XXX should do something with this
if (pios_adc_dev->data_queue) {
static portBASE_TYPE xHigherPriorityTaskWoken;
xQueueSendFromISR(pios_adc_dev->data_queue, pios_adc_dev->downsampled_buffer, &xHigherPriorityTaskWoken);
// xQueueSendFromISR(pios_adc_dev->data_queue, pios_adc_dev->downsampled_buffer, &xHigherPriorityTaskWoken);
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
}
#endif
#endif
if(pios_adc_dev->callback_function)
pios_adc_dev->callback_function(pios_adc_dev->downsampled_buffer);
// if(pios_adc_dev->callback_function)
// pios_adc_dev->callback_function(pios_adc_dev->downsampled_buffer);
}

1
flight/PiOS/inc/pios_adc_priv.h
View File

@ -37,6 +37,7 @@
#include <fifo_buffer.h>
struct pios_adc_cfg {
ADC_TypeDef* adc_dev;
struct stm32_dma dma;
uint32_t half_flag;
uint32_t full_flag;

3
flight/Revolution/Makefile
View File

@ -50,9 +50,10 @@ FLASH_TOOL = OPENOCD
# List of modules to include
MODULES = Sensors Attitude/revolution ManualControl Stabilization Actuator
MODULES += Battery
MODULES += Altitude/revolution GPS FirmwareIAP
MODULES += AltitudeHold VtolPathFollower FixedWingPathFollower PathPlanner
MODULES += Airspeed/revolution
MODULES += AltitudeHold VtolPathFollower FixedWingPathFollower PathPlanner
MODULES += CameraStab
MODULES += OveroSync
MODULES += Telemetry

2
flight/Revolution/System/inc/pios_config.h
View File

@ -39,7 +39,7 @@
#define PIOS_INCLUDE_BL_HELPER
/* Enable/Disable PiOS Modules */
//#define PIOS_INCLUDE_ADC
#define PIOS_INCLUDE_ADC
#define PIOS_INCLUDE_DELAY
#define PIOS_INCLUDE_I2C
#define PIOS_INCLUDE_IRQ

41
flight/Revolution/System/pios_board.c
View File

@ -45,6 +45,43 @@
/**
* Sensor configurations
*/
#if defined(PIOS_INCLUDE_ADC)
#include "pios_adc_priv.h"
void PIOS_ADC_DMC_irq_handler(void);
void DMA2_Stream4_IRQHandler(void) __attribute__((alias("PIOS_ADC_DMC_irq_handler")));
struct pios_adc_cfg pios_adc_cfg = {
.adc_dev = ADC1,
.dma = {
.irq = {
.flags = (DMA_FLAG_TCIF4 | DMA_FLAG_TEIF4 | DMA_FLAG_HTIF4),
.init = {
.NVIC_IRQChannel = DMA2_Stream4_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.channel = DMA2_Stream4,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t) & ADC1->DR
},
}
},
.half_flag = DMA_IT_HTIF4,
.full_flag = DMA_IT_TCIF4,
};
void PIOS_ADC_DMC_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_ADC_DMA_Handler();
}
#endif
#if defined(PIOS_INCLUDE_HMC5883)
#include "pios_hmc5883.h"
static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = {
@ -788,6 +825,10 @@ void PIOS_Board_Init(void) {
PIOS_DELAY_WaitmS(50);
#if defined(PIOS_INCLUDE_ADC)
PIOS_ADC_Init(&pios_adc_cfg);
#endif
#if defined(PIOS_INCLUDE_HMC5883)
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
#endif

33
ground/openpilotgcs/src/plugins/config/airframe.ui
View File

@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>730</width>
<height>602</height>
<width>796</width>
<height>605</height>
</rect>
</property>
<property name="windowTitle">
@ -73,25 +73,8 @@
</item>
<item>
<widget class="QStackedWidget" name="airframesWidget">
<property name="styleSheet">
<string notr="true">#groupBox,#groupBox_2,#groupBox_3,#groupBox_6,#elevonMixBox{
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
font:bold;
}
QGroupBox::title {
subcontrol-origin: margin;
subcontrol-position: top center; /* position at the top center */
padding: 0 3px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1,
stop: 0 #FFOECE, stop: 1 #FFFFFF);
top: 5px;
}</string>
</property>
<property name="currentIndex">
<number>2</number>
<number>1</number>
</property>
<widget class="QWidget" name="fixedWing">
<property name="enabled">
@ -2801,14 +2784,14 @@ p, li { white-space: pre-wrap; }
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;table border=&quot;0&quot; style=&quot;-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;&quot;&gt;
&lt;tr&gt;
&lt;td style=&quot;border: none;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD IS DANGEROUS&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/span&gt;&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD IS DANGEROUS&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/p&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>

1729
ground/openpilotgcs/src/plugins/config/camerastabilization.ui
View File

@ -1,894 +1,835 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>CameraStabilizationWidget</class>
<widget class="QWidget" name="CameraStabilizationWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>720</width>
<height>567</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<widget class="QScrollArea" name="scrollArea">
<property name="styleSheet">
<string notr="true">#groupBox_5,#groupBox{
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
font:bold;
}
QGroupBox::title {
subcontrol-origin: margin;
subcontrol-position: top center; /* position at the top center */
padding: 0 3px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1,
stop: 0 #FFOECE, stop: 1 #FFFFFF);
top: 5px;
}</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents_2">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>702</width>
<height>484</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QCheckBox" name="enableCameraStabilization">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="text">
<string>Enable CameraStabilization module</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_7">
<property name="text">
<string>After enabling the module, you must power cycle before using and configuring.</string>
</property>
</widget>
</item>
<item>
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="groupBox_5">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="title">
<string>Basic Settings (Stabilization)</string>
</property>
<layout class="QGridLayout" name="gridLayout_9">
<item row="3" column="3">
<widget class="QSpinBox" name="yawOutputRange">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Camera yaw angle for 100% output value, deg.
This value should be tuned for particular gimbal and servo. You also
have to define channel output range using Output configuration tab.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QSpinBox" name="pitchOutputRange">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Camera pitch angle for 100% output value, deg.
This value should be tuned for particular gimbal and servo. You also
have to define channel output range using Output configuration tab.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QSpinBox" name="rollOutputRange">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Camera roll angle for 100% output value, deg.
This value should be tuned for particular gimbal and servo. You also
have to define channel output range using Output configuration tab.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QComboBox" name="yawChannel">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Yaw output channel for camera gimbal</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="2" column="2">
<widget class="QComboBox" name="pitchChannel">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Pitch output channel for camera gimbal</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="rollChannel">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Roll output channel for camera gimbal</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_42">
<property name="text">
<string>Output Channel</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_43">
<property name="text">
<string>Output Range</string>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QLabel" name="label_44">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_45">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_46">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<spacer name="verticalSpacer_4">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="groupBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>204</height>
</size>
</property>
<property name="title">
<string>Advanced Settings (Control)</string>
</property>
<layout class="QGridLayout" name="gridLayout_8">
<item row="1" column="3">
<widget class="QLabel" name="label_32">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_33">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_34">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QComboBox" name="yawInputChannel">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input channel to control camera yaw
Don't forget to map this channel using Input configuration tab.</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="2" column="2">
<widget class="QComboBox" name="pitchInputChannel">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input channel to control camera pitch
Don't forget to map this channel using Input configuration tab.</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="rollInputChannel">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input channel to control camera roll
Don't forget to map this channel using Input configuration tab.</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_35">
<property name="text">
<string>Input Channel</string>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QComboBox" name="yawStabilizationMode">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Axis stabilization mode
Attitude: camera tracks level for the axis. Input controls the deflection.
AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
</property>
<item>
<property name="text">
<string>Attitude</string>
</property>
</item>
</widget>
</item>
<item row="4" column="3">
<widget class="QSpinBox" name="yawInputRange">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum camera yaw deflection for 100% input in Attitude mode, deg.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="5" column="3">
<widget class="QSpinBox" name="yawInputRate">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum camera yaw rate for 100% input in AxisLock mode, deg/s.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
<item row="6" column="3">
<widget class="QSpinBox" name="yawResponseTime">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input low-pass filter response time for yaw axis, ms.
This option smoothes the stick input. Zero value disables LPF.</string>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>150</number>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QComboBox" name="pitchStabilizationMode">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Axis stabilization mode
Attitude: camera tracks level for the axis. Input controls the deflection.
AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
</property>
<item>
<property name="text">
<string>Attitude</string>
</property>
</item>
</widget>
</item>
<item row="4" column="2">
<widget class="QSpinBox" name="pitchInputRange">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum camera pitch deflection for 100% input in Attitude mode, deg.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QSpinBox" name="pitchInputRate">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum camera pitch rate for 100% input in AxisLock mode, deg/s.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QSpinBox" name="pitchResponseTime">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input low-pass filter response time for pitch axis, ms.
This option smoothes the stick input. Zero value disables LPF.</string>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>150</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QComboBox" name="rollStabilizationMode">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Axis stabilization mode
Attitude: camera tracks level for the axis. Input controls the deflection.
AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
</property>
<item>
<property name="text">
<string>Attitude</string>
</property>
</item>
</widget>
</item>
<item row="4" column="1">
<widget class="QSpinBox" name="rollInputRange">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum camera roll deflection for 100% input in Attitude mode, deg.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QSpinBox" name="rollInputRate">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum camera roll rate for 100% input in AxisLock mode, deg/s.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QSpinBox" name="rollResponseTime">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input low-pass filter response time for roll axis, ms.
This option smoothes the stick input. Zero value disables LPF.</string>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>150</number>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_36">
<property name="text">
<string>MaxAxisLockRate</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_37">
<property name="text">
<string>Response Time</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_38">
<property name="text">
<string>Input Rate</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_39">
<property name="text">
<string>Input Range</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_40">
<property name="text">
<string>Stabilization Mode</string>
</property>
</widget>
</item>
<item row="7" column="2" colspan="2">
<widget class="QLabel" name="label_41">
<property name="text">
<string>(the same value for Roll, Pitch, Yaw)</string>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QDoubleSpinBox" name="MaxAxisLockRate">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Stick input deadband for all axes in AxisLock mode, deg/s.
When stick input is within the MaxAxisLockRate range, camera tracks
current attitude. Otherwise it starts moving according to input with
rate depending on input value.
If you have drift in your Tx controls, you may want to increase this
value.</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="2">
<spacer name="verticalSpacer_5">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</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>
</layout>
</widget>
</widget>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="message">
<property name="text">
<string/>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="submitButtons">
<item>
<widget class="QFrame" name="frame">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</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="camerastabilizationHelp">
<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="font">
<font>
<kerning>true</kerning>
</font>
</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="shortcut">
<string>Ctrl+S</string>
</property>
<property name="default">
<bool>false</bool>
</property>
<property name="flat">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="camerastabilizationResetToDefaults">
<property name="toolTip">
<string>Load default CameraStabilization settings except output channels
Loaded settings are not applied automatically. You have to click the
Apply or Save button afterwards.</string>
</property>
<property name="text">
<string>Reset To Defaults</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="camerastabilizationSaveRAM">
<property name="toolTip">
<string>Send settings to the board but do not save to the non-volatile memory</string>
</property>
<property name="text">
<string>Apply</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="camerastabilizationSaveSD">
<property name="toolTip">
<string>Send settings to the board and save to the non-volatile memory</string>
</property>
<property name="text">
<string>Save</string>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
<tabstops>
<tabstop>enableCameraStabilization</tabstop>
<tabstop>rollChannel</tabstop>
<tabstop>pitchChannel</tabstop>
<tabstop>yawChannel</tabstop>
<tabstop>rollOutputRange</tabstop>
<tabstop>pitchOutputRange</tabstop>
<tabstop>yawOutputRange</tabstop>
<tabstop>rollInputChannel</tabstop>
<tabstop>pitchInputChannel</tabstop>
<tabstop>yawInputChannel</tabstop>
<tabstop>rollStabilizationMode</tabstop>
<tabstop>pitchStabilizationMode</tabstop>
<tabstop>yawStabilizationMode</tabstop>
<tabstop>rollInputRange</tabstop>
<tabstop>pitchInputRange</tabstop>
<tabstop>yawInputRange</tabstop>
<tabstop>rollInputRate</tabstop>
<tabstop>pitchInputRate</tabstop>
<tabstop>yawInputRate</tabstop>
<tabstop>rollResponseTime</tabstop>
<tabstop>pitchResponseTime</tabstop>
<tabstop>yawResponseTime</tabstop>
<tabstop>MaxAxisLockRate</tabstop>
<tabstop>camerastabilizationHelp</tabstop>
<tabstop>camerastabilizationResetToDefaults</tabstop>
<tabstop>camerastabilizationSaveRAM</tabstop>
<tabstop>camerastabilizationSaveSD</tabstop>
<tabstop>scrollArea</tabstop>
</tabstops>
<resources>
<include location="../coreplugin/core.qrc"/>
</resources>
<connections/>
</ui>
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>CameraStabilizationWidget</class>
<widget class="QWidget" name="CameraStabilizationWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>720</width>
<height>739</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<widget class="QScrollArea" name="scrollArea">
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents_2">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>696</width>
<height>635</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QCheckBox" name="enableCameraStabilization">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="text">
<string>Enable CameraStabilization module</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_7">
<property name="text">
<string>After enabling the module, you must power cycle before using and configuring.</string>
</property>
</widget>
</item>
<item>
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="groupBox_5">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="title">
<string>Basic Settings (Stabilization)</string>
</property>
<layout class="QGridLayout" name="gridLayout_9">
<item row="2" column="3">
<widget class="QSpinBox" name="yawOutputRange">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Camera yaw angle for 100% output value, deg.
This value should be tuned for particular gimbal and servo. You also
have to define channel output range using Output configuration tab.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QSpinBox" name="pitchOutputRange">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Camera pitch angle for 100% output value, deg.
This value should be tuned for particular gimbal and servo. You also
have to define channel output range using Output configuration tab.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QSpinBox" name="rollOutputRange">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Camera roll angle for 100% output value, deg.
This value should be tuned for particular gimbal and servo. You also
have to define channel output range using Output configuration tab.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QComboBox" name="yawChannel">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Yaw output channel for camera gimbal</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="1" column="2">
<widget class="QComboBox" name="pitchChannel">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Pitch output channel for camera gimbal</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="rollChannel">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Roll output channel for camera gimbal</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_42">
<property name="text">
<string>Output Channel</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_43">
<property name="text">
<string>Output Range</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label_44">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_45">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_46">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>204</height>
</size>
</property>
<property name="title">
<string>Advanced Settings (Control)</string>
</property>
<layout class="QGridLayout" name="gridLayout_8">
<item row="0" column="3">
<widget class="QLabel" name="label_32">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_33">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_34">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QComboBox" name="yawInputChannel">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input channel to control camera yaw
Don't forget to map this channel using Input configuration tab.</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="1" column="2">
<widget class="QComboBox" name="pitchInputChannel">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input channel to control camera pitch
Don't forget to map this channel using Input configuration tab.</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="rollInputChannel">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input channel to control camera roll
Don't forget to map this channel using Input configuration tab.</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_35">
<property name="text">
<string>Input Channel</string>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QComboBox" name="yawStabilizationMode">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Axis stabilization mode
Attitude: camera tracks level for the axis. Input controls the deflection.
AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
</property>
<item>
<property name="text">
<string>Attitude</string>
</property>
</item>
</widget>
</item>
<item row="3" column="3">
<widget class="QSpinBox" name="yawInputRange">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum camera yaw deflection for 100% input in Attitude mode, deg.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QSpinBox" name="yawInputRate">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum camera yaw rate for 100% input in AxisLock mode, deg/s.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
<item row="5" column="3">
<widget class="QSpinBox" name="yawResponseTime">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input low-pass filter response time for yaw axis, ms.
This option smoothes the stick input. Zero value disables LPF.</string>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>150</number>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QComboBox" name="pitchStabilizationMode">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Axis stabilization mode
Attitude: camera tracks level for the axis. Input controls the deflection.
AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
</property>
<item>
<property name="text">
<string>Attitude</string>
</property>
</item>
</widget>
</item>
<item row="3" column="2">
<widget class="QSpinBox" name="pitchInputRange">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum camera pitch deflection for 100% input in Attitude mode, deg.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QSpinBox" name="pitchInputRate">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum camera pitch rate for 100% input in AxisLock mode, deg/s.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QSpinBox" name="pitchResponseTime">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input low-pass filter response time for pitch axis, ms.
This option smoothes the stick input. Zero value disables LPF.</string>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>150</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="rollStabilizationMode">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Axis stabilization mode
Attitude: camera tracks level for the axis. Input controls the deflection.
AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
</property>
<item>
<property name="text">
<string>Attitude</string>
</property>
</item>
</widget>
</item>
<item row="3" column="1">
<widget class="QSpinBox" name="rollInputRange">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum camera roll deflection for 100% input in Attitude mode, deg.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QSpinBox" name="rollInputRate">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum camera roll rate for 100% input in AxisLock mode, deg/s.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QSpinBox" name="rollResponseTime">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input low-pass filter response time for roll axis, ms.
This option smoothes the stick input. Zero value disables LPF.</string>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>150</number>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_36">
<property name="text">
<string>MaxAxisLockRate</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_37">
<property name="text">
<string>Response Time</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_38">
<property name="text">
<string>Input Rate</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_39">
<property name="text">
<string>Input Range</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_40">
<property name="text">
<string>Stabilization Mode</string>
</property>
</widget>
</item>
<item row="6" column="2" colspan="2">
<widget class="QLabel" name="label_41">
<property name="text">
<string>(the same value for Roll, Pitch, Yaw)</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QDoubleSpinBox" name="MaxAxisLockRate">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Stick input deadband for all axes in AxisLock mode, deg/s.
When stick input is within the MaxAxisLockRate range, camera tracks
current attitude. Otherwise it starts moving according to input with
rate depending on input value.
If you have drift in your Tx controls, you may want to increase this
value.</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</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>
</layout>
</widget>
</widget>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="message">
<property name="text">
<string/>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="submitButtons">
<item>
<widget class="QFrame" name="frame">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</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="camerastabilizationHelp">
<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="font">
<font>
<kerning>true</kerning>
</font>
</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="shortcut">
<string>Ctrl+S</string>
</property>
<property name="default">
<bool>false</bool>
</property>
<property name="flat">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="camerastabilizationResetToDefaults">
<property name="toolTip">
<string>Load default CameraStabilization settings except output channels
Loaded settings are not applied automatically. You have to click the
Apply or Save button afterwards.</string>
</property>
<property name="text">
<string>Reset To Defaults</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="camerastabilizationSaveRAM">
<property name="toolTip">
<string>Send settings to the board but do not save to the non-volatile memory</string>
</property>
<property name="text">
<string>Apply</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="camerastabilizationSaveSD">
<property name="toolTip">
<string>Send settings to the board and save to the non-volatile memory</string>
</property>
<property name="text">
<string>Save</string>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
<tabstops>
<tabstop>enableCameraStabilization</tabstop>
<tabstop>rollChannel</tabstop>
<tabstop>pitchChannel</tabstop>
<tabstop>yawChannel</tabstop>
<tabstop>rollOutputRange</tabstop>
<tabstop>pitchOutputRange</tabstop>
<tabstop>yawOutputRange</tabstop>
<tabstop>rollInputChannel</tabstop>
<tabstop>pitchInputChannel</tabstop>
<tabstop>yawInputChannel</tabstop>
<tabstop>rollStabilizationMode</tabstop>
<tabstop>pitchStabilizationMode</tabstop>
<tabstop>yawStabilizationMode</tabstop>
<tabstop>rollInputRange</tabstop>
<tabstop>pitchInputRange</tabstop>
<tabstop>yawInputRange</tabstop>
<tabstop>rollInputRate</tabstop>
<tabstop>pitchInputRate</tabstop>
<tabstop>yawInputRate</tabstop>
<tabstop>rollResponseTime</tabstop>
<tabstop>pitchResponseTime</tabstop>
<tabstop>yawResponseTime</tabstop>
<tabstop>MaxAxisLockRate</tabstop>
<tabstop>camerastabilizationHelp</tabstop>
<tabstop>camerastabilizationResetToDefaults</tabstop>
<tabstop>camerastabilizationSaveRAM</tabstop>
<tabstop>camerastabilizationSaveSD</tabstop>
<tabstop>scrollArea</tabstop>
</tabstops>
<resources>
<include location="../coreplugin/core.qrc"/>
</resources>
<connections/>
</ui>

89
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
View File

@ -50,15 +50,10 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
m_config->setupUi(this);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
addApplySaveButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
addUAVObject("ActuatorSettings");
UAVSettingsImportExportFactory * importexportplugin = pm->getObject<UAVSettingsImportExportFactory>();
connect(importexportplugin,SIGNAL(importAboutToBegin()),this,SLOT(stopTests()));
addApplySaveButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
addUAVObject("ActuatorSettings");
// NOTE: we have channel indices from 0 to 9, but the convention for OP is Channel 1 to Channel 10.
// Register for ActuatorSettings changes:
for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++)
@ -73,25 +68,37 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
connect(m_config->channelOutTest, SIGNAL(toggled(bool)), this, SLOT(runChannelTests(bool)));
refreshWidgetsValues();
firstUpdate = true;
connect(m_config->spinningArmed, SIGNAL(toggled(bool)), this, SLOT(setSpinningArmed(bool)));
// Configure the task widget
// Connect the help button
connect(m_config->outputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
// Add custom handling of displaying things
connect(this,SIGNAL(refreshWidgetsValuesRequested()), this, SLOT(refreshOutputWidgetsValues()));
addApplySaveButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
// Track the ActuatorSettings object
addUAVObject("ActuatorSettings");
// Associate the buttons with their UAVO fields
addWidget(m_config->cb_outputRate4);
addWidget(m_config->cb_outputRate3);
addWidget(m_config->cb_outputRate2);
addWidget(m_config->cb_outputRate1);
addWidget(m_config->spinningArmed);
disconnect(this, SLOT(refreshWidgetsValues(UAVObject*)));
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVObject* obj = objManager->getObject(QString("ActuatorCommand"));
if(UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE)
this->setEnabled(false);
connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(disableIfNotMe(UAVObject*)));
refreshWidgetsValues();
}
void ConfigOutputWidget::enableControls(bool enable)
{
@ -196,24 +203,6 @@ void ConfigOutputWidget::assignOutputChannel(UAVDataObject *obj, QString str)
outputChannelForm->setAssignment(str);
}
/**
* Set the "Spin motors at neutral when armed" flag in ActuatorSettings
*/
void ConfigOutputWidget::setSpinningArmed(bool val)
{
ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
Q_ASSERT(actuatorSettings);
ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
if(val)
actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_TRUE;
else
actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
// Apply settings
actuatorSettings->setData(actuatorSettingsData);
}
/**
Sends the channel value to the UAV to move the servo.
Returns immediately if we are not in testing mode
@ -242,10 +231,8 @@ void ConfigOutputWidget::sendChannelTest(int index, int value)
/**
Request the current config from the board (RC Output)
*/
void ConfigOutputWidget::refreshWidgetsValues(UAVObject *)
void ConfigOutputWidget::refreshOutputWidgetsValues(UAVObject *)
{
bool dirty=isDirty();
// Reset all channel assignements:
QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
@ -338,8 +325,6 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject *)
int neutral = actuatorSettingsData.ChannelNeutral[outputChannelForm->index()];
outputChannelForm->neutral(neutral);
}
setDirty(dirty);
}
/**
@ -347,26 +332,36 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject *)
*/
void ConfigOutputWidget::updateObjectsFromWidgets()
{
emit updateObjectsFromWidgetsRequested();
ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
Q_ASSERT(actuatorSettings);
ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
if(actuatorSettings) {
ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
// Set channel ranges
QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
actuatorSettingsData.ChannelMax[outputChannelForm->index()] = outputChannelForm->max();
actuatorSettingsData.ChannelMin[outputChannelForm->index()] = outputChannelForm->min();
actuatorSettingsData.ChannelNeutral[outputChannelForm->index()] = outputChannelForm->neutral();
// Set channel ranges
QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
actuatorSettingsData.ChannelMax[outputChannelForm->index()] = outputChannelForm->max();
actuatorSettingsData.ChannelMin[outputChannelForm->index()] = outputChannelForm->min();
actuatorSettingsData.ChannelNeutral[outputChannelForm->index()] = outputChannelForm->neutral();
}
// Set update rates
actuatorSettingsData.ChannelUpdateFreq[0] = m_config->cb_outputRate1->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[1] = m_config->cb_outputRate2->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[2] = m_config->cb_outputRate3->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[3] = m_config->cb_outputRate4->currentText().toUInt();
if(m_config->spinningArmed->isChecked() == true)
actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_TRUE;
else
actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
// Apply settings
actuatorSettings->setData(actuatorSettingsData);
}
// Set update rates
actuatorSettingsData.ChannelUpdateFreq[0] = m_config->cb_outputRate1->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[1] = m_config->cb_outputRate2->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[2] = m_config->cb_outputRate3->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[3] = m_config->cb_outputRate4->currentText().toUInt();
// Apply settings
actuatorSettings->setData(actuatorSettingsData);
}
void ConfigOutputWidget::openHelp()

3
ground/openpilotgcs/src/plugins/config/configoutputwidget.h
View File

@ -69,11 +69,10 @@ private:
private slots:
void stopTests();
void disableIfNotMe(UAVObject *obj);
virtual void refreshWidgetsValues(UAVObject * obj = NULL);
void refreshOutputWidgetsValues(UAVObject * obj = NULL);
void updateObjectsFromWidgets();
void runChannelTests(bool state);
void sendChannelTest(int index, int value);
void setSpinningArmed(bool val);
void openHelp();
protected:
void enableControls(bool enable);

3
ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
View File

@ -97,6 +97,9 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
// Request and update of the setting object.
settingsUpdated = false;
pipxSettingsObj->requestUpdate();
disableMouseWheelEvents();
}
ConfigPipXtremeWidget::~ConfigPipXtremeWidget()

23
ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
View File

@ -40,6 +40,11 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
{
m_stabilization = new Ui_StabilizationWidget();
m_stabilization->setupUi(this);
// To bring old style sheet back without adding it manually do this:
// Alternatively apply a global stylesheet to the QGroupBox
// setStyleSheet("QGroupBox {background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255)); border: 1px outset #999; border-radius: 3; }");
autoLoadWidgets();
realtimeUpdates=new QTimer(this);
connect(m_stabilization->realTimeUpdates_6,SIGNAL(stateChanged(int)),this,SLOT(realtimeUpdatesSlot(int)));
@ -54,6 +59,24 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
connect(this,SIGNAL(widgetContentsChanged(QWidget*)),this,SLOT(processLinkedWidgets(QWidget*)));
disableMouseWheelEvents();
// This is needed because new style tries to compact things as much as possible in grid
// and on OSX the widget sizes of PushButtons is reported incorrectly:
// https://bugreports.qt-project.org/browse/QTBUG-14591
m_stabilization->saveStabilizationToRAM_6->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->saveStabilizationToSD_6->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->stabilizationReloadBoardData_6->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->saveStabilizationToRAM_7->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->saveStabilizationToSD_7->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->pushButton_2->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->pushButton_3->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->pushButton_4->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->pushButton_19->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->pushButton_20->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->pushButton_21->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->pushButton_22->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->pushButton_23->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->pushButton_24->setAttribute(Qt::WA_LayoutUsesWidgetRect);
}

22
ground/openpilotgcs/src/plugins/config/input.ui
View File

@ -16,23 +16,6 @@
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QTabWidget" name="tabWidget">
<property name="styleSheet">
<string notr="true">#groupBox_2,#groupBox{
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
font:bold;
}
QGroupBox::title {
subcontrol-origin: margin;
subcontrol-position: top center; /* position at the top center */
padding: 0 3px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1,
stop: 0 #FFOECE, stop: 1 #FFFFFF);
top: 5px;
}</string>
</property>
<property name="currentIndex">
<number>0</number>
</property>
@ -246,7 +229,7 @@ QGroupBox::title {
<x>30</x>
<y>160</y>
<width>451</width>
<height>141</height>
<height>161</height>
</rect>
</property>
<property name="styleSheet">
@ -442,9 +425,6 @@ margin:1px;</string>
<height>121</height>
</rect>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="title">
<string>FlightMode Switch Positions</string>
</property>

228
ground/openpilotgcs/src/plugins/config/pipxtreme.ui
View File

@ -23,6 +23,96 @@
<enum>QFrame::Raised</enum>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="1" column="0" colspan="2">
<layout class="QHBoxLayout" name="horizontalLayout_12">
<item>
<widget class="QGraphicsView" name="graphicsView_Spectrum">
<property name="backgroundBrush">
<brush brushstyle="NoBrush">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</property>
<property name="foregroundBrush">
<brush brushstyle="NoBrush">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</property>
<property name="interactive">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item row="2" column="0" colspan="2">
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="message">
<property name="text">
<string/>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="submitButtons">
<item>
<widget class="QFrame" name="frame">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</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="Apply">
<property name="toolTip">
<string>Send settings to the board but do not save to the non-volatile memory</string>
</property>
<property name="text">
<string>Apply</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="Save">
<property name="toolTip">
<string>Send settings to the board and save to the non-volatile memory</string>
</property>
<property name="text">
<string>Save</string>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
<item row="0" column="0">
<widget class="QFrame" name="frame_2">
<property name="frameShape">
@ -1216,106 +1306,54 @@
</layout>
</widget>
</item>
<item row="1" column="0" colspan="2">
<layout class="QHBoxLayout" name="horizontalLayout_12">
<item>
<widget class="QGraphicsView" name="graphicsView_Spectrum">
<property name="backgroundBrush">
<brush brushstyle="NoBrush">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</property>
<property name="foregroundBrush">
<brush brushstyle="NoBrush">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</property>
<property name="interactive">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item row="2" column="0" colspan="2">
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="message">
<property name="text">
<string/>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="submitButtons">
<item>
<widget class="QFrame" name="frame">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</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="Apply">
<property name="toolTip">
<string>Send settings to the board but do not save to the non-volatile memory</string>
</property>
<property name="text">
<string>Apply</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="Save">
<property name="toolTip">
<string>Send settings to the board and save to the non-volatile memory</string>
</property>
<property name="text">
<string>Save</string>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
<zorder>frame_2</zorder>
<zorder>groupBox</zorder>
<zorder>layoutWidget</zorder>
<zorder>layoutWidget_2</zorder>
<zorder>graphicsView_Spectrum</zorder>
</widget>
</item>
</layout>
</widget>
<tabstops>
<tabstop>PairSelect1</tabstop>
<tabstop>PairID1</tabstop>
<tabstop>PairSelect2</tabstop>
<tabstop>PairID2</tabstop>
<tabstop>PairSelect3</tabstop>
<tabstop>PairID3</tabstop>
<tabstop>PairSelect4</tabstop>
<tabstop>PairID4</tabstop>
<tabstop>FirmwareVersion</tabstop>
<tabstop>SerialNumber</tabstop>
<tabstop>DeviceID</tabstop>
<tabstop>MinFrequency</tabstop>
<tabstop>MaxFrequency</tabstop>
<tabstop>FrequencyStepSize</tabstop>
<tabstop>LinkState</tabstop>
<tabstop>RxAFC</tabstop>
<tabstop>Retries</tabstop>
<tabstop>Errors</tabstop>
<tabstop>UAVTalkErrors</tabstop>
<tabstop>Resets</tabstop>
<tabstop>TXRate</tabstop>
<tabstop>RXRate</tabstop>
<tabstop>TelemPortConfig</tabstop>
<tabstop>TelemPortSpeed</tabstop>
<tabstop>FlexiPortConfig</tabstop>
<tabstop>FlexiPortSpeed</tabstop>
<tabstop>VCPConfig</tabstop>
<tabstop>VCPSpeed</tabstop>
<tabstop>MaxRFDatarate</tabstop>
<tabstop>MaxRFTxPower</tabstop>
<tabstop>SendTimeout</tabstop>
<tabstop>MinPacketSize</tabstop>
<tabstop>FrequencyCalibration</tabstop>
<tabstop>Frequency</tabstop>
<tabstop>ScanSpectrum</tabstop>
<tabstop>AESKey</tabstop>
<tabstop>AESKeyRandom</tabstop>
<tabstop>AESEnable</tabstop>
<tabstop>graphicsView_Spectrum</tabstop>
<tabstop>Apply</tabstop>
<tabstop>Save</tabstop>
</tabstops>
<resources/>
<connections/>
</ui>

1207
ground/openpilotgcs/src/plugins/config/stabilization.ui
View File

@ -495,29 +495,13 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-114</y>
<width>673</width>
<height>880</height>
<height>790</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_23">
<item row="0" column="3">
<spacer name="verticalSpacer_6">
<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>10</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="1">
<item row="0" column="0">
<spacer name="horizontalSpacer_15">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@ -533,7 +517,7 @@
</property>
</spacer>
</item>
<item row="1" column="2">
<item row="0" column="1">
<widget class="QLabel" name="label_137">
<property name="minimumSize">
<size>
@ -541,19 +525,12 @@
<height>16</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Rate Stabilization (Inner Loop)</string>
</property>
</widget>
</item>
<item row="2" column="1" colspan="4">
<item row="1" column="0" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_15">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -573,530 +550,6 @@
<height>181</height>
</size>
</property>
<property name="palette">
<palette>
<active>
<colorrole role="WindowText">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</colorrole>
<colorrole role="Button">
<brush brushstyle="LinearGradientPattern">
<gradient startx="0.507000000000000" starty="0.869318000000000" endx="0.507000000000000" endy="0.096590900000000" type="LinearGradient" spread="PadSpread" coordinatemode="ObjectBoundingMode">
<gradientstop position="0.000000000000000">
<color alpha="255">
<red>243</red>
<green>243</green>
<blue>243</blue>
</color>
</gradientstop>
<gradientstop position="1.000000000000000">
<color alpha="255">
<red>250</red>
<green>250</green>
<blue>250</blue>
</color>
</gradientstop>
</gradient>
</brush>
</colorrole>
<colorrole role="Light">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>255</blue>
</color>
</brush>
</colorrole>
<colorrole role="Midlight">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>251</red>
<green>251</green>
<blue>251</blue>
</color>
</brush>
</colorrole>
<colorrole role="Dark">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>124</red>
<green>124</green>
<blue>124</blue>
</color>
</brush>
</colorrole>
<colorrole role="Mid">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>165</red>
<green>165</green>
<blue>165</blue>
</color>
</brush>
</colorrole>
<colorrole role="Text">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</colorrole>
<colorrole role="BrightText">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>255</blue>
</color>
</brush>
</colorrole>
<colorrole role="ButtonText">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</colorrole>
<colorrole role="Base">
<brush brushstyle="LinearGradientPattern">
<gradient startx="0.507000000000000" starty="0.869318000000000" endx="0.507000000000000" endy="0.096590900000000" type="LinearGradient" spread="PadSpread" coordinatemode="ObjectBoundingMode">
<gradientstop position="0.000000000000000">
<color alpha="255">
<red>243</red>
<green>243</green>
<blue>243</blue>
</color>
</gradientstop>
<gradientstop position="1.000000000000000">
<color alpha="255">
<red>250</red>
<green>250</green>
<blue>250</blue>
</color>
</gradientstop>
</gradient>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="LinearGradientPattern">
<gradient startx="0.507000000000000" starty="0.869318000000000" endx="0.507000000000000" endy="0.096590900000000" type="LinearGradient" spread="PadSpread" coordinatemode="ObjectBoundingMode">
<gradientstop position="0.000000000000000">
<color alpha="255">
<red>243</red>
<green>243</green>
<blue>243</blue>
</color>
</gradientstop>
<gradientstop position="1.000000000000000">
<color alpha="255">
<red>250</red>
<green>250</green>
<blue>250</blue>
</color>
</gradientstop>
</gradient>
</brush>
</colorrole>
<colorrole role="Shadow">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</colorrole>
<colorrole role="AlternateBase">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>251</red>
<green>251</green>
<blue>251</blue>
</color>
</brush>
</colorrole>
<colorrole role="ToolTipBase">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>220</blue>
</color>
</brush>
</colorrole>
<colorrole role="ToolTipText">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</colorrole>
</active>
<inactive>
<colorrole role="WindowText">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</colorrole>
<colorrole role="Button">
<brush brushstyle="LinearGradientPattern">
<gradient startx="0.507000000000000" starty="0.869318000000000" endx="0.507000000000000" endy="0.096590900000000" type="LinearGradient" spread="PadSpread" coordinatemode="ObjectBoundingMode">
<gradientstop position="0.000000000000000">
<color alpha="255">
<red>243</red>
<green>243</green>
<blue>243</blue>
</color>
</gradientstop>
<gradientstop position="1.000000000000000">
<color alpha="255">
<red>250</red>
<green>250</green>
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<bool>false</bool>
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<property name="styleSheet">
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border: 1px outset #999;
border-radius: 3;
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<property name="title">
<string/>
</property>
@ -3966,23 +3419,7 @@ value as the Kp.</string>
</layout>
</widget>
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<item row="3" column="2">
<spacer name="verticalSpacer_7">
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<enum>Qt::Vertical</enum>
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<enum>QSizePolicy::Fixed</enum>
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<property name="sizeHint" stdset="0">
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<width>20</width>
<height>15</height>
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<item row="4" column="1">
<item row="2" column="0">
<spacer name="horizontalSpacer_18">
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<enum>Qt::Horizontal</enum>
@ -3998,7 +3435,7 @@ value as the Kp.</string>
</property>
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<item row="4" column="2">
<item row="2" column="1">
<widget class="QLabel" name="label_149">
<property name="minimumSize">
<size>
@ -4006,19 +3443,12 @@ value as the Kp.</string>
<height>16</height>
</size>
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<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Attitude Stabilization (Outer Loop)</string>
</property>
</widget>
</item>
<item row="5" column="1" colspan="4">
<item row="3" column="0" colspan="3">
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<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -4555,13 +3985,6 @@ value as the Kp.</string>
<property name="autoFillBackground">
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</property>
<property name="styleSheet">
<string notr="true">#RateStabilizationGroup_17{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
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<string/>
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@ -4604,26 +4027,14 @@ border-radius: 3;
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<horstretch>0</horstretch>
<verstretch>0</verstretch>
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<property name="minimumSize">
<size>
<width>81</width>
<height>28</height>
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<size>
<width>81</width>
<height>28</height>
</size>
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<property name="styleSheet">
<string notr="true">QPushButton {
border: 1px outset #999;
@ -4656,7 +4067,7 @@ border-radius: 4;
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<item row="1" column="0" colspan="4">
<item row="1" column="0" colspan="5">
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<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -7335,26 +6746,14 @@ border-radius: 5;</string>
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<string notr="true">QPushButton {
border: 1px outset #999;
@ -7387,42 +6786,23 @@ border-radius: 4;
</property>
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<item row="6" column="2">
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@ -7438,7 +6818,7 @@ border-radius: 4;
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@ -7446,19 +6826,12 @@ border-radius: 4;
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<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
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<property name="text">
<string>Stick Range and Limits</string>
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<item row="8" column="1" colspan="4">
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@ -7992,16 +7365,6 @@ border-radius: 4;
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@ -8019,7 +7382,7 @@ border-radius: 3;
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<width>1000</width>
<height>10</height>
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</property>
@ -8027,24 +7390,12 @@ border-radius: 3;
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<item row="0" column="1">
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@ -8091,12 +7442,6 @@ border-radius: 4;
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<height>28</height>
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border: 1px outset #999;
@ -11063,23 +10408,7 @@ Attitude</string>
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@ -11095,23 +10424,7 @@ Attitude</string>
</property>
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<item row="10" column="1" colspan="4">
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@ -11648,13 +10961,6 @@ Attitude</string>
<property name="autoFillBackground">
<bool>false</bool>
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<property name="styleSheet">
<string notr="true">#RateStabilizationGroup_21{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
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border-radius: 3;
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<property name="title">
<string/>
</property>
@ -11734,29 +11040,12 @@ automatically every 300ms, which will help for fast tuning.</string>
</item>
<item row="1" column="2">
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<verstretch>0</verstretch>
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<height>28</height>
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<height>28</height>
</size>
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<font>
<pointsize>8</pointsize>
</font>
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<string>Reloads the saved settings into GCS.
Useful if you have accidentally changed some settings.</string>
@ -11795,29 +11084,12 @@ border-radius: 4;
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<widget class="QPushButton" name="saveStabilizationToRAM_6">
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<verstretch>0</verstretch>
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<height>28</height>
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<height>28</height>
</size>
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<font>
<pointsize>8</pointsize>
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<property name="toolTip">
<string>Send settings to the board but do not save to the non-volatile memory</string>
</property>
@ -11854,29 +11126,12 @@ border-radius: 4;
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<item row="1" column="4">
<widget class="QPushButton" name="saveStabilizationToSD_6">
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<verstretch>0</verstretch>
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<font>
<pointsize>8</pointsize>
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<property name="toolTip">
<string>Send settings to the board and save to the non-volatile memory</string>
</property>
@ -11939,27 +11194,11 @@ border-radius: 4;
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<y>0</y>
<width>673</width>
<height>1079</height>
<height>981</height>
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<item row="1" column="1">
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@ -11975,7 +11214,7 @@ border-radius: 4;
</property>
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<item row="1" column="2" colspan="2">
<item row="0" column="1" colspan="2">
<widget class="QLabel" name="label_41">
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<size>
@ -11983,19 +11222,12 @@ border-radius: 4;
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<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Rate Stabization Coefficients (Inner Loop)</string>
</property>
</widget>
</item>
<item row="2" column="1" rowspan="2" colspan="3">
<item row="1" column="0" rowspan="2" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_8">
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<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -12529,16 +11761,6 @@ border-radius: 4;
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<bool>false</bool>
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<string notr="true">#RateStabilizationGroup_8{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
}</string>
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<property name="title">
<string/>
</property>
@ -15474,55 +14696,7 @@ value as the Kp.</string>
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</widget>
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<item row="2" column="4">
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<enum>Qt::Horizontal</enum>
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<property name="sizeType">
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</property>
<property name="sizeHint" stdset="0">
<size>
<width>2</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="3" column="0">
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>2</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="4" column="2">
<spacer name="verticalSpacer_12">
<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>15</height>
</size>
</property>
</spacer>
</item>
<item row="5" column="1">
<spacer name="horizontalSpacer_12">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@ -15538,7 +14712,7 @@ value as the Kp.</string>
</property>
</spacer>
</item>
<item row="5" column="2" colspan="2">
<item row="3" column="1" colspan="2">
<widget class="QLabel" name="label_35">
<property name="minimumSize">
<size>
@ -15546,19 +14720,12 @@ value as the Kp.</string>
<height>16</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Attitude Stabization Coefficients (Outer Loop)</string>
</property>
</widget>
</item>
<item row="6" column="1" colspan="3">
<item row="4" column="0" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_4">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -16095,13 +15262,6 @@ value as the Kp.</string>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">#RateStabilizationGroup_4{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
}</string>
</property>
<property name="title">
<string/>
</property>
@ -16112,85 +15272,6 @@ border-radius: 3;
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_4">
<item row="0" column="0">
<spacer name="horizontalSpacer_7">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="1">
<widget class="QCheckBox" name="checkBox_2">
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Link Roll and Pitch</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QPushButton" name="pushButton_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>81</width>
<height>28</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>81</width>
<height>28</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">QPushButton {
border: 1px outset #999;
border-radius: 5;
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
}
QPushButton:pressed {
border-style: inset;
background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
}
QPushButton:hover {
border: 1px outset #999;
border-color: rgb(83, 83, 83);
border-radius: 4;
}</string>
</property>
<property name="text">
<string>Default</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>button:default</string>
<string>buttongroup:5</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="0" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_5">
<property name="sizePolicy">
@ -18839,26 +17920,89 @@ border-radius: 5;</string>
</layout>
</widget>
</item>
<item row="0" column="0">
<spacer name="horizontalSpacer_7">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="2">
<widget class="QPushButton" name="pushButton_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>81</width>
<height>28</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>81</width>
<height>28</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">QPushButton {
border: 1px outset #999;
border-radius: 5;
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
}
QPushButton:pressed {
border-style: inset;
background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
}
QPushButton:hover {
border: 1px outset #999;
border-color: rgb(83, 83, 83);
border-radius: 4;
}</string>
</property>
<property name="text">
<string>Default</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>button:default</string>
<string>buttongroup:5</string>
</stringlist>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QCheckBox" name="checkBox_2">
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Link Roll and Pitch</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="7" column="2">
<spacer name="verticalSpacer_13">
<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>15</height>
</size>
</property>
</spacer>
</item>
<item row="8" column="1">
<item row="5" column="0">
<spacer name="horizontalSpacer_13">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@ -18874,7 +18018,7 @@ border-radius: 5;</string>
</property>
</spacer>
</item>
<item row="8" column="2" colspan="2">
<item row="5" column="1" colspan="2">
<widget class="QLabel" name="label_36">
<property name="minimumSize">
<size>
@ -18882,19 +18026,12 @@ border-radius: 5;</string>
<height>16</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Stick Range and Limits</string>
</property>
</widget>
</item>
<item row="9" column="1" colspan="3">
<item row="6" column="0" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_6">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -19428,16 +18565,6 @@ border-radius: 5;</string>
</disabled>
</palette>
</property>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">#RateStabilizationGroup_6{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
}</string>
</property>
<property name="title">
<string/>
</property>
@ -19455,7 +18582,7 @@ border-radius: 3;
</property>
<property name="sizeHint" stdset="0">
<size>
<width>10</width>
<width>10000</width>
<height>10</height>
</size>
</property>
@ -19463,24 +18590,12 @@ border-radius: 3;
</item>
<item row="0" column="1">
<widget class="QPushButton" name="pushButton_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>81</width>
<height>28</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>81</width>
<height>28</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">QPushButton {
border: 1px outset #999;
@ -22192,23 +21307,7 @@ rate(deg/s)</string>
</layout>
</widget>
</item>
<item row="10" column="3">
<spacer name="verticalSpacer_14">
<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>10</height>
</size>
</property>
</spacer>
</item>
<item row="11" column="1">
<item row="7" column="0">
<spacer name="horizontalSpacer_41">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@ -22224,7 +21323,7 @@ rate(deg/s)</string>
</property>
</spacer>
</item>
<item row="11" column="2" colspan="2">
<item row="7" column="1" colspan="2">
<widget class="QLabel" name="label_45">
<property name="minimumSize">
<size>
@ -22232,26 +21331,13 @@ rate(deg/s)</string>
<height>16</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Sensor Tunning</string>
</property>
</widget>
</item>
<item row="12" column="1" colspan="3">
<item row="8" column="0" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_23">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
@ -22781,13 +21867,6 @@ rate(deg/s)</string>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">#RateStabilizationGroup_23{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
}</string>
</property>
<property name="title">
<string/>
</property>
@ -25118,23 +24197,7 @@ border-radius: 5;</string>
</layout>
</widget>
</item>
<item row="13" column="1" colspan="2">
<spacer name="verticalSpacer_15">
<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>10</height>
</size>
</property>
</spacer>
</item>
<item row="14" column="1" colspan="3">
<item row="9" column="0" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_22">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -25671,13 +24734,6 @@ border-radius: 5;</string>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">#RateStabilizationGroup_22{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
}</string>
</property>
<property name="title">
<string/>
</property>
@ -25724,13 +24780,6 @@ border-radius: 3;
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<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>
@ -25776,11 +24825,6 @@ automatically every 300ms, which will help for fast tuning.</string>
<height>28</height>
</size>
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>Send settings to the board but do not save to the non-volatile memory</string>
</property>
@ -25835,11 +24879,6 @@ border-radius: 4;
<height>28</height>
</size>
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>Send settings to the board and save to the non-volatile memory</string>
</property>

1267
ground/openpilotgcs/src/plugins/config/txpid.ui
View File

@ -1,647 +1,620 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>TxPIDWidget</class>
<widget class="QWidget" name="TxPIDWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>720</width>
<height>567</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<widget class="QScrollArea" name="scrollArea">
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents_2">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>702</width>
<height>489</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QCheckBox" name="TxPIDEnable">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>This module will periodically update values of stabilization PID settings
depending on configured input control channels. New values of stabilization
settings are not saved to flash, but updated in RAM. It is expected that the
module will be enabled only for tuning. When desired values are found, they
can be read via GCS and saved permanently. Then this module should be
disabled again.
Up to 3 separate PID options (or option pairs) can be selected and updated.</string>
</property>
<property name="text">
<string>Enable TxPID module</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_7">
<property name="text">
<string>After enabling the module, you must power cycle before using and configuring.</string>
</property>
</widget>
</item>
<item>
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="groupBox_6">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">#groupBox_6{
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
font:bold;
}
QGroupBox::title {
subcontrol-origin: margin;
subcontrol-position: top center; /* position at the top center */
padding: 0 3px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1,
stop: 0 #FFOECE, stop: 1 #FFFFFF);
top: 5px;
}</string>
</property>
<property name="title">
<string>Module Settings</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="1" column="1">
<widget class="QLabel" name="label_51">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>PID option</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_50">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Control Source</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QLabel" name="label_49">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Min</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="4">
<widget class="QLabel" name="label">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Max</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_47">
<property name="text">
<string>Instance 1</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="PID1">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select PID option or option pair to update.
Set to Disabled if not used.</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QComboBox" name="Input1">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select input used as a control source for this instance.
It can be one of Accessory channels or Throttle channel.
If Accessory channel is chosen then its range [0..1] will be mapped
to PID range [Min..Max] defined for this instance.
If Throttle channel is chosen then Throttle range [Min..Max] will
be mapped to PID range [Min..Max] defined for this instance. If
Throttle is out of bounds then PID Min and Max values will be used
accordingly.
Note that it is possible to set PID Min &gt; Max. In that case increasing
control input value will decrease the PID option value. This can be
used, for instance, to decrease PID value when increasing Throttle.</string>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QDoubleSpinBox" name="MinPID1">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Minimum PID value mapped to Accessory channel = 0 or
Throttle channel lesser or equal to Throttle Min value.</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="MaxPID1">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum PID value mapped to Accessory channel = 1 or
Throttle channel greater or equal to Throttle Max value.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_48">
<property name="text">
<string>Instance 2</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QComboBox" name="PID2">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select PID option or option pair to update.
Set to Disabled if not used.</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QComboBox" name="Input2">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select input used as a control source for this instance.
It can be one of Accessory channels or Throttle channel.
If Accessory channel is chosen then its range [0..1] will be mapped
to PID range [Min..Max] defined for this instance.
If Throttle channel is chosen then Throttle range [Min..Max] will
be mapped to PID range [Min..Max] defined for this instance. If
Throttle is out of bounds then PID Min and Max values will be used
accordingly.
Note that it is possible to set PID Min &gt; Max. In that case increasing
control input value will decrease the PID option value. This can be
used, for instance, to decrease PID value when increasing Throttle.</string>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QDoubleSpinBox" name="MinPID2">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Minimum PID value mapped to Accessory channel = 0 or
Throttle channel lesser or equal to Throttle Min value.</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="MaxPID2">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum PID value mapped to Accessory channel = 1 or
Throttle channel greater or equal to Throttle Max value.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_52">
<property name="text">
<string>Instance 3</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QComboBox" name="PID3">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select PID option or option pair to update.
Set to Disabled if not used.</string>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QComboBox" name="Input3">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select input used as a control source for this instance.
It can be one of Accessory channels or Throttle channel.
If Accessory channel is chosen then its range [0..1] will be mapped
to PID range [Min..Max] defined for this instance.
If Throttle channel is chosen then Throttle range [Min..Max] will
be mapped to PID range [Min..Max] defined for this instance. If
Throttle is out of bounds then PID Min and Max values will be used
accordingly.
Note that it is possible to set PID Min &gt; Max. In that case increasing
control input value will decrease the PID option value. This can be
used, for instance, to decrease PID value when increasing Throttle.</string>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QDoubleSpinBox" name="MinPID3">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Minimum PID value mapped to Accessory channel = 0 or
Throttle channel lesser or equal to Throttle Min value.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="4" column="4">
<widget class="QDoubleSpinBox" name="MaxPID3">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum PID value mapped to Accessory channel = 1 or
Throttle channel greater or equal to Throttle Max value.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Update Mode</string>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QComboBox" name="UpdateMode">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>PID values update mode which can be set to:
- Never: this disables PID updates (but module still will be run if enabled),
- When Armed: PID updated only when system is armed,
- Always: PID updated always regardless of arm state.
Since the GCS updates GUI PID values in real time on change, could be
tricky to change other PID values from the GUI if the module is enabled
and constantly updates stabilization settings object. As a workaround,
this option can be used to temporarily disable updates or enable them
only when system is armed without disabling the module.</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>Throttle Range</string>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QDoubleSpinBox" name="ThrottleMin">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Throttle channel lower bound mapped to PID Min value</string>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QDoubleSpinBox" name="ThrottleMax">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Throttle channel upper bound mapped to PID Max value</string>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_4">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Min</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="label_5">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Max</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<spacer name="verticalSpacer_4">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="5" column="1">
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</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>
</layout>
</widget>
</widget>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="message">
<property name="text">
<string/>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="submitButtons">
<item>
<widget class="QFrame" name="frame">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</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="Apply">
<property name="toolTip">
<string>Send settings to the board but do not save to the non-volatile memory</string>
</property>
<property name="text">
<string>Apply</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="Save">
<property name="toolTip">
<string>Send settings to the board and save to the non-volatile memory</string>
</property>
<property name="text">
<string>Save</string>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
<tabstops>
<tabstop>TxPIDEnable</tabstop>
<tabstop>Apply</tabstop>
<tabstop>Save</tabstop>
<tabstop>scrollArea</tabstop>
<tabstop>PID1</tabstop>
<tabstop>Input1</tabstop>
<tabstop>MinPID1</tabstop>
<tabstop>MaxPID1</tabstop>
<tabstop>PID2</tabstop>
<tabstop>Input2</tabstop>
<tabstop>MinPID2</tabstop>
<tabstop>MaxPID2</tabstop>
<tabstop>PID3</tabstop>
<tabstop>Input3</tabstop>
<tabstop>MinPID3</tabstop>
<tabstop>MaxPID3</tabstop>
<tabstop>ThrottleMin</tabstop>
<tabstop>ThrottleMax</tabstop>
<tabstop>UpdateMode</tabstop>
</tabstops>
<resources/>
<connections/>
</ui>
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>TxPIDWidget</class>
<widget class="QWidget" name="TxPIDWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>720</width>
<height>567</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<widget class="QScrollArea" name="scrollArea">
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents_2">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>696</width>
<height>475</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QCheckBox" name="TxPIDEnable">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>This module will periodically update values of stabilization PID settings
depending on configured input control channels. New values of stabilization
settings are not saved to flash, but updated in RAM. It is expected that the
module will be enabled only for tuning. When desired values are found, they
can be read via GCS and saved permanently. Then this module should be
disabled again.
Up to 3 separate PID options (or option pairs) can be selected and updated.</string>
</property>
<property name="text">
<string>Enable TxPID module</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_7">
<property name="text">
<string>After enabling the module, you must power cycle before using and configuring.</string>
</property>
</widget>
</item>
<item>
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="groupBox_6">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="title">
<string>Module Settings</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="1" column="1">
<widget class="QLabel" name="label_51">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>PID option</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_50">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Control Source</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QLabel" name="label_49">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Min</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="4">
<widget class="QLabel" name="label">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Max</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_47">
<property name="text">
<string>Instance 1</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="PID1">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select PID option or option pair to update.
Set to Disabled if not used.</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QComboBox" name="Input1">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select input used as a control source for this instance.
It can be one of Accessory channels or Throttle channel.
If Accessory channel is chosen then its range [0..1] will be mapped
to PID range [Min..Max] defined for this instance.
If Throttle channel is chosen then Throttle range [Min..Max] will
be mapped to PID range [Min..Max] defined for this instance. If
Throttle is out of bounds then PID Min and Max values will be used
accordingly.
Note that it is possible to set PID Min &gt; Max. In that case increasing
control input value will decrease the PID option value. This can be
used, for instance, to decrease PID value when increasing Throttle.</string>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QDoubleSpinBox" name="MinPID1">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Minimum PID value mapped to Accessory channel = 0 or
Throttle channel lesser or equal to Throttle Min value.</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="MaxPID1">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum PID value mapped to Accessory channel = 1 or
Throttle channel greater or equal to Throttle Max value.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_48">
<property name="text">
<string>Instance 2</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QComboBox" name="PID2">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select PID option or option pair to update.
Set to Disabled if not used.</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QComboBox" name="Input2">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select input used as a control source for this instance.
It can be one of Accessory channels or Throttle channel.
If Accessory channel is chosen then its range [0..1] will be mapped
to PID range [Min..Max] defined for this instance.
If Throttle channel is chosen then Throttle range [Min..Max] will
be mapped to PID range [Min..Max] defined for this instance. If
Throttle is out of bounds then PID Min and Max values will be used
accordingly.
Note that it is possible to set PID Min &gt; Max. In that case increasing
control input value will decrease the PID option value. This can be
used, for instance, to decrease PID value when increasing Throttle.</string>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QDoubleSpinBox" name="MinPID2">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Minimum PID value mapped to Accessory channel = 0 or
Throttle channel lesser or equal to Throttle Min value.</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="MaxPID2">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum PID value mapped to Accessory channel = 1 or
Throttle channel greater or equal to Throttle Max value.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_52">
<property name="text">
<string>Instance 3</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QComboBox" name="PID3">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select PID option or option pair to update.
Set to Disabled if not used.</string>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QComboBox" name="Input3">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select input used as a control source for this instance.
It can be one of Accessory channels or Throttle channel.
If Accessory channel is chosen then its range [0..1] will be mapped
to PID range [Min..Max] defined for this instance.
If Throttle channel is chosen then Throttle range [Min..Max] will
be mapped to PID range [Min..Max] defined for this instance. If
Throttle is out of bounds then PID Min and Max values will be used
accordingly.
Note that it is possible to set PID Min &gt; Max. In that case increasing
control input value will decrease the PID option value. This can be
used, for instance, to decrease PID value when increasing Throttle.</string>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QDoubleSpinBox" name="MinPID3">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Minimum PID value mapped to Accessory channel = 0 or
Throttle channel lesser or equal to Throttle Min value.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="4" column="4">
<widget class="QDoubleSpinBox" name="MaxPID3">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum PID value mapped to Accessory channel = 1 or
Throttle channel greater or equal to Throttle Max value.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Update Mode</string>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QComboBox" name="UpdateMode">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>PID values update mode which can be set to:
- Never: this disables PID updates (but module still will be run if enabled),
- When Armed: PID updated only when system is armed,
- Always: PID updated always regardless of arm state.
Since the GCS updates GUI PID values in real time on change, could be
tricky to change other PID values from the GUI if the module is enabled
and constantly updates stabilization settings object. As a workaround,
this option can be used to temporarily disable updates or enable them
only when system is armed without disabling the module.</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>Throttle Range</string>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QDoubleSpinBox" name="ThrottleMin">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Throttle channel lower bound mapped to PID Min value</string>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QDoubleSpinBox" name="ThrottleMax">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Throttle channel upper bound mapped to PID Max value</string>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_4">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Min</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="label_5">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Max</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="5" column="1">
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</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>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="message">
<property name="text">
<string/>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="submitButtons">
<item>
<widget class="QFrame" name="frame">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</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="Apply">
<property name="toolTip">
<string>Send settings to the board but do not save to the non-volatile memory</string>
</property>
<property name="text">
<string>Apply</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="Save">
<property name="toolTip">
<string>Send settings to the board and save to the non-volatile memory</string>
</property>
<property name="text">
<string>Save</string>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
<tabstops>
<tabstop>TxPIDEnable</tabstop>
<tabstop>Apply</tabstop>
<tabstop>Save</tabstop>
<tabstop>scrollArea</tabstop>
<tabstop>PID1</tabstop>
<tabstop>Input1</tabstop>
<tabstop>MinPID1</tabstop>
<tabstop>MaxPID1</tabstop>
<tabstop>PID2</tabstop>
<tabstop>Input2</tabstop>
<tabstop>MinPID2</tabstop>
<tabstop>MaxPID2</tabstop>
<tabstop>PID3</tabstop>
<tabstop>Input3</tabstop>
<tabstop>MinPID3</tabstop>
<tabstop>MaxPID3</tabstop>
<tabstop>ThrottleMin</tabstop>
<tabstop>ThrottleMax</tabstop>
<tabstop>UpdateMode</tabstop>
</tabstops>
<resources/>
<connections/>
</ui>

5
ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
View File

@ -30,6 +30,11 @@ public:
// for firmware compatibility and the filename path that would break
return QString("CopterControl");
break;
case 0x0901://Revolution
// It would be nice to say CC3D here but since currently we use string comparisons
// for firmware compatibility and the filename path that would break
return QString("Revolution");
break;
default:
return QString("");
break;

14
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
View File

@ -32,7 +32,7 @@
/**
* Constructor
*/
ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),isConnected(false),smartsave(NULL),dirty(false),outOfLimitsStyle("background-color: rgb(255, 0, 0);"),timeOut(NULL)
ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),isConnected(false),smartsave(NULL),dirty(false),outOfLimitsStyle("background-color: rgb(255, 0, 0);"),timeOut(NULL),allowWidgetUpdates(true)
{
pm = ExtensionSystem::PluginManager::instance();
objManager = pm->getObject<UAVObjectManager>();
@ -127,7 +127,7 @@ void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString fiel
Q_ASSERT(obj);
objectUpdates.insert(obj,true);
connect(obj, SIGNAL(objectUpdated(UAVObject*)),this, SLOT(objectUpdated(UAVObject*)));
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues(UAVObject*)));
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues(UAVObject*)), Qt::UniqueConnection);
}
if(!field.isEmpty() && obj)
_field = obj->getField(QString(field));
@ -258,6 +258,9 @@ void ConfigTaskWidget::populateWidgets()
*/
void ConfigTaskWidget::refreshWidgetsValues(UAVObject * obj)
{
if (!allowWidgetUpdates)
return;
bool dirtyBack=dirty;
emit refreshWidgetsValuesRequested();
foreach(objectToWidget * ow,objOfInterest)
@ -452,10 +455,10 @@ bool ConfigTaskWidget::isDirty()
*/
void ConfigTaskWidget::disableObjUpdates()
{
allowWidgetUpdates = false;
foreach(objectToWidget * obj,objOfInterest)
{
if(obj->object)
disconnect(obj->object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues()));
if(obj->object)disconnect(obj->object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues(UAVObject*)));
}
}
/**
@ -463,10 +466,11 @@ void ConfigTaskWidget::disableObjUpdates()
*/
void ConfigTaskWidget::enableObjUpdates()
{
allowWidgetUpdates = true;
foreach(objectToWidget * obj,objOfInterest)
{
if(obj->object)
connect(obj->object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues(UAVObject*)));
connect(obj->object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues(UAVObject*)), Qt::UniqueConnection);
}
}
/**

1
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h
View File

@ -145,6 +145,7 @@ private slots:
void reloadButtonClicked();
private:
bool isConnected;
bool allowWidgetUpdates;
QStringList objectsList;
QList <objectToWidget*> objOfInterest;
ExtensionSystem::PluginManager *pm;

8
ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
View File

@ -1049,7 +1049,7 @@ int DFUObject::receiveData(void * data,int size)
#define BOARD_ID_INS 2
#define BOARD_ID_PIP 3
#define BOARD_ID_CC 4
//#define BOARD_ID_PRO ?
#define BOARD_ID_REVO 9
/**
Gets the type of board connected
@ -1074,11 +1074,9 @@ OP_DFU::eBoardType DFUObject::GetBoardType(int boardNum)
case BOARD_ID_CC: // CopterControl family
brdType = eBoardCC;
break;
#if 0 // Someday ;-)
case BOARD_ID_PRO: // Pro board
brdType = eBoardPro;
case BOARD_ID_REVO: // Revo board
brdType = eBoardRevo;
break;
#endif
}
return brdType;
}

6
ground/openpilotgcs/src/plugins/uploader/op_dfu.h
View File

@ -98,9 +98,9 @@ namespace OP_DFU {
eBoardUnkwn = 0,
eBoardMainbrd = 1,
eBoardINS,
eBoardPip,
eBoardCC,
eBoardPro,
eBoardPip = 3,
eBoardCC = 4,
eBoardRevo = 9,
};
struct device

2
ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
View File

@ -517,7 +517,7 @@ void UploaderGadgetWidget::systemRescue()
m_config->rescueButton->setEnabled(true);
return;
}
if ((eBoardCC != dfu->GetBoardType(0)) && (QMessageBox::question(this,tr("OpenPilot Uploader"),tr("If you want to search for other boards connect power now and press Yes"),QMessageBox::Yes,QMessageBox::No)==QMessageBox::Yes))
if ((dfu->GetBoardType(0) != eBoardRevo) && (eBoardCC != dfu->GetBoardType(0)) && (QMessageBox::question(this,tr("OpenPilot Uploader"),tr("If you want to search for other boards connect power now and press Yes"),QMessageBox::Yes,QMessageBox::No)==QMessageBox::Yes))
{
log("\nWaiting...");
QTimer::singleShot(3000, &m_eventloop, SLOT(quit()));

6
shared/uavobjectdefinition/taskinfo.xml
View File

@ -1,9 +1,9 @@
<xml>
<object name="TaskInfo" singleinstance="true" settings="false">
<description>Task information</description>
<field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Airspeed,Stabilization,AltitudeHold,PathFollower,FlightPlan,PathPlanner,Com2UsbBridge,Usb2ComBridge,OveroSync"/>
<field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Airspeed,Stabilization,AltitudeHold,PathFollower,FlightPlan,PathPlanner,Com2UsbBridge,Usb2ComBridge,OveroSync"/>
<field name="RunningTime" units="%" type="uint8" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Airspeed,Stabilization,AltitudeHold,PathFollower,FlightPlan,PathPlanner,Com2UsbBridge,Usb2ComBridge,OveroSync"/>
<field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Airspeed,Stabilization,AltitudeHold,PathPlanner,PathFollower,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync"/>
<field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Airspeed,Stabilization,AltitudeHold,PathPlanner,PathFollower,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync"/>
<field name="RunningTime" units="%" type="uint8" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Airspeed,Stabilization,AltitudeHold,PathPlanner,PathFollower,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="periodic" period="10000"/>

3
shared/uavobjectdefinition/txpidsettings.xml
View File

@ -16,7 +16,8 @@
Roll Rate.ILimit, Pitch Rate.ILimit, Roll+Pitch Rate.ILimit, Yaw Rate.ILimit,
Roll Attitude.Kp, Pitch Attitude.Kp, Roll+Pitch Attitude.Kp, Yaw Attitude.Kp,
Roll Attitude.Ki, Pitch Attitude.Ki, Roll+Pitch Attitude.Ki, Yaw Attitude.Ki,
Roll Attitude.ILimit, Pitch Attitude.ILimit, Roll+Pitch Attitude.ILimit, Yaw Attitude.ILimit"
Roll Attitude.ILimit, Pitch Attitude.ILimit, Roll+Pitch Attitude.ILimit, Yaw Attitude.ILimit,
GyroTau"
defaultvalue="Disabled"/>
<field name="MinPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
<field name="MaxPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>