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Code Issues Releases Activity

Merge branch 'corvuscorax/OP-1309_Stabilization-Refactoring' into corvuscorax/OP-1161_magnetometer-alarm

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This commit is contained in:
Corvus Corax 2014-05-07 22:26:20 +02:00
commit 2da1f2aa09
8 changed files with 146 additions and 198 deletions
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16
flight/modules/Stabilization/outerloop.c
View File

@ -114,9 +114,19 @@ static void stabilizationOuterloopTask()
float q_desired[4]; float q_desired[4];
float q_error[4]; float q_error[4];
rpy_desired[0] = stabilizationDesiredAxis[0]; for (t = 0; t < 3; t++) {
rpy_desired[1] = stabilizationDesiredAxis[1]; switch (cast_struct_to_array(enabled, enabled.Roll)[t]) {
rpy_desired[2] = stabilizationDesiredAxis[2]; case STABILIZATIONSTATUS_OUTERLOOP_ATTITUDE:
case STABILIZATIONSTATUS_OUTERLOOP_RATTITUDE:
case STABILIZATIONSTATUS_OUTERLOOP_WEAKLEVELING:
rpy_desired[t] = stabilizationDesiredAxis[t];
break;
case STABILIZATIONSTATUS_OUTERLOOP_DIRECT:
default:
rpy_desired[t] = ((float *)&attitudeState.Roll)[t];
break;
}
}
RPY2Quaternion(rpy_desired, q_desired); RPY2Quaternion(rpy_desired, q_desired);
quat_inverse(q_desired); quat_inverse(q_desired);

1
flight/modules/Stabilization/stabilization.c
View File

@ -81,6 +81,7 @@ int32_t StabilizationStart()
SettingsUpdatedCb(StabilizationSettingsHandle()); SettingsUpdatedCb(StabilizationSettingsHandle());
StabilizationDesiredUpdatedCb(StabilizationDesiredHandle()); StabilizationDesiredUpdatedCb(StabilizationDesiredHandle());
FlightModeSwitchUpdatedCb(ManualControlCommandHandle()); FlightModeSwitchUpdatedCb(ManualControlCommandHandle());
BankUpdatedCb(StabilizationBankHandle());
#ifdef PIOS_INCLUDE_WDG #ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_STABILIZATION); PIOS_WDG_RegisterFlag(PIOS_WDG_STABILIZATION);

108
ground/openpilotgcs/src/plugins/config/camerastabilization.ui
View File

@ -312,21 +312,15 @@ have to define channel output range using Output configuration tab.</string>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>0</width> <width>0</width>
<height>16</height> <height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16</height>
</size> </size>
</property> </property>
<property name="styleSheet"> <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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Yaw</string> <string>Yaw</string>
@ -341,21 +335,15 @@ margin:1px;</string>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>0</width> <width>0</width>
<height>16</height> <height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16</height>
</size> </size>
</property> </property>
<property name="styleSheet"> <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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Pitch Or Servo2</string> <string>Pitch Or Servo2</string>
@ -370,21 +358,15 @@ margin:1px;</string>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>0</width> <width>0</width>
<height>16</height> <height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16</height>
</size> </size>
</property> </property>
<property name="styleSheet"> <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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Roll Or Servo1</string> <string>Roll Or Servo1</string>
@ -426,21 +408,15 @@ margin:1px;</string>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>0</width> <width>0</width>
<height>16</height> <height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16</height>
</size> </size>
</property> </property>
<property name="styleSheet"> <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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Yaw</string> <string>Yaw</string>
@ -455,21 +431,15 @@ margin:1px;</string>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>0</width> <width>0</width>
<height>16</height> <height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16</height>
</size> </size>
</property> </property>
<property name="styleSheet"> <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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Pitch</string> <string>Pitch</string>
@ -484,21 +454,15 @@ margin:1px;</string>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>0</width> <width>0</width>
<height>16</height> <height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16</height>
</size> </size>
</property> </property>
<property name="styleSheet"> <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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Roll</string> <string>Roll</string>
@ -914,21 +878,15 @@ value.</string>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>0</width> <width>0</width>
<height>16</height> <height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16</height>
</size> </size>
</property> </property>
<property name="styleSheet"> <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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Roll</string> <string>Roll</string>
@ -943,21 +901,15 @@ margin:1px;</string>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>0</width> <width>0</width>
<height>16</height> <height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16</height>
</size> </size>
</property> </property>
<property name="styleSheet"> <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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Pitch</string> <string>Pitch</string>
@ -972,21 +924,15 @@ margin:1px;</string>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>0</width> <width>0</width>
<height>16</height> <height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16</height>
</size> </size>
</property> </property>
<property name="styleSheet"> <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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Yaw</string> <string>Yaw</string>

12
ground/openpilotgcs/src/plugins/config/ccattitude.ui
View File

@ -145,8 +145,8 @@
<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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Roll</string> <string>Roll</string>
@ -195,8 +195,8 @@ margin:1px;</string>
<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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Yaw</string> <string>Yaw</string>
@ -225,8 +225,8 @@ margin:1px;</string>
<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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Pitch</string> <string>Pitch</string>

51
ground/openpilotgcs/src/plugins/config/input.ui
View File

@ -116,8 +116,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>772</width> <width>774</width>
<height>751</height> <height>748</height>
</rect> </rect>
</property> </property>
<layout class="QGridLayout" name="gridLayout"> <layout class="QGridLayout" name="gridLayout">
@ -546,8 +546,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>772</width> <width>774</width>
<height>751</height> <height>748</height>
</rect> </rect>
</property> </property>
<layout class="QGridLayout" name="gridLayout_7" rowstretch="1,0,0,0"> <layout class="QGridLayout" name="gridLayout_7" rowstretch="1,0,0,0">
@ -660,8 +660,8 @@
<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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Thrust</string> <string>Thrust</string>
@ -689,8 +689,8 @@ margin:1px;</string>
<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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Yaw</string> <string>Yaw</string>
@ -718,8 +718,8 @@ margin:1px;</string>
<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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Pitch</string> <string>Pitch</string>
@ -763,8 +763,8 @@ margin:1px;</string>
<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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Roll</string> <string>Roll</string>
@ -1228,8 +1228,8 @@ margin:1px;</string>
<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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>PID Bank</string> <string>PID Bank</string>
@ -1243,7 +1243,7 @@ margin:1px;</string>
<widget class="QLabel" name="label_16"> <widget class="QLabel" name="label_16">
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>132</width> <width>138</width>
<height>20</height> <height>20</height>
</size> </size>
</property> </property>
@ -1257,8 +1257,8 @@ margin:1px;</string>
<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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Flight Mode Count</string> <string>Flight Mode Count</string>
@ -1270,12 +1270,6 @@ margin:1px;</string>
</item> </item>
<item row="1" column="10"> <item row="1" column="10">
<widget class="QSpinBox" name="fmsPosNum"> <widget class="QSpinBox" name="fmsPosNum">
<property name="maximumSize">
<size>
<width>151</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip"> <property name="toolTip">
<string>Number of positions your FlightMode switch has. <string>Number of positions your FlightMode switch has.
@ -1307,12 +1301,13 @@ channel value for each flight mode.</string>
</property> </property>
<property name="font"> <property name="font">
<font> <font>
<pointsize>10</pointsize>
<weight>75</weight> <weight>75</weight>
<bold>true</bold> <bold>true</bold>
</font> </font>
</property> </property>
<property name="text"> <property name="text">
<string>Avoid &quot;Manual&quot; for multirotors! Never select &quot;Altitude&quot;, &quot;VelocityControl&quot; or &quot;CruiseControl&quot; on a fixed wing!</string> <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Avoid &amp;quot;Manual&amp;quot; for multirotors! Never select &amp;quot;ALtitude&amp;quot;, &amp;quot;VelocityControl&amp;quot; or &amp;quot;CruiseControl&amp;quot; on a fixed wing!&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property> </property>
<property name="alignment"> <property name="alignment">
<set>Qt::AlignCenter</set> <set>Qt::AlignCenter</set>
@ -1395,8 +1390,8 @@ channel value for each flight mode.</string>
<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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Flight Mode</string> <string>Flight Mode</string>
@ -2053,8 +2048,8 @@ Setup the flight mode channel on the RC Input tab if you have not done so alread
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>407</width> <width>504</width>
<height>138</height> <height>156</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_2"> <layout class="QVBoxLayout" name="verticalLayout_2">

16
ground/openpilotgcs/src/plugins/config/revosensors.ui
View File

@ -489,8 +489,8 @@ p, li { white-space: pre-wrap; }
<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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Roll</string> <string>Roll</string>
@ -512,8 +512,8 @@ margin:1px;</string>
<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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Yaw</string> <string>Yaw</string>
@ -558,8 +558,8 @@ margin:1px;</string>
<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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Pitch</string> <string>Pitch</string>
@ -597,8 +597,8 @@ margin:1px;</string>
<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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Accelerometers</string> <string>Accelerometers</string>

116
ground/openpilotgcs/src/plugins/config/stabilization.ui
View File

@ -7837,7 +7837,7 @@ border-radius: 5;</string>
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>784</width> <width>565</width>
<height>733</height> <height>733</height>
</rect> </rect>
</property> </property>
@ -16299,8 +16299,8 @@ border-radius: 5;</string>
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>798</width> <width>829</width>
<height>705</height> <height>691</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_9"> <layout class="QVBoxLayout" name="verticalLayout_9">
@ -16734,7 +16734,7 @@ border-radius: 5;</string>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>0</width> <width>0</width>
<height>16</height> <height>20</height>
</size> </size>
</property> </property>
<property name="palette"> <property name="palette">
@ -17263,7 +17263,9 @@ border-radius: 5;</string>
<property name="styleSheet"> <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)); <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); color: rgb(255, 255, 255);
border-radius: 5;</string> border-radius: 5;
margin:1px;
font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Roll</string> <string>Roll</string>
@ -17284,7 +17286,7 @@ border-radius: 5;</string>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>0</width> <width>0</width>
<height>16</height> <height>20</height>
</size> </size>
</property> </property>
<property name="palette"> <property name="palette">
@ -17813,7 +17815,9 @@ border-radius: 5;</string>
<property name="styleSheet"> <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)); <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); color: rgb(255, 255, 255);
border-radius: 5;</string> border-radius: 5;
margin:1px;
font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Yaw</string> <string>Yaw</string>
@ -18088,7 +18092,7 @@ border-radius: 5;</string>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>0</width> <width>0</width>
<height>16</height> <height>20</height>
</size> </size>
</property> </property>
<property name="palette"> <property name="palette">
@ -18617,7 +18621,9 @@ border-radius: 5;</string>
<property name="styleSheet"> <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)); <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); color: rgb(255, 255, 255);
border-radius: 5;</string> border-radius: 5;
margin:1px;
font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Pitch</string> <string>Pitch</string>
@ -18878,21 +18884,15 @@ border-radius: 5;</string>
<item row="0" column="1"> <item row="0" column="1">
<widget class="QLabel" name="label_50"> <widget class="QLabel" name="label_50">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed"> <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch> <horstretch>0</horstretch>
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
</property> </property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>144</width> <width>162</width>
<height>16</height> <height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>175</width>
<height>16777215</height>
</size> </size>
</property> </property>
<property name="palette"> <property name="palette">
@ -19421,7 +19421,9 @@ border-radius: 5;</string>
<property name="styleSheet"> <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)); <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); color: rgb(255, 255, 255);
border-radius: 5;</string> border-radius: 5;
margin:1px;
font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Weak Leveling Kp </string> <string>Weak Leveling Kp </string>
@ -19434,21 +19436,15 @@ border-radius: 5;</string>
<item row="0" column="3"> <item row="0" column="3">
<widget class="QLabel" name="label_49"> <widget class="QLabel" name="label_49">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed"> <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch> <horstretch>0</horstretch>
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
</property> </property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>144</width> <width>179</width>
<height>16</height> <height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>175</width>
<height>16777215</height>
</size> </size>
</property> </property>
<property name="palette"> <property name="palette">
@ -19977,7 +19973,9 @@ border-radius: 5;</string>
<property name="styleSheet"> <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)); <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); color: rgb(255, 255, 255);
border-radius: 5;</string> border-radius: 5;
margin:1px;
font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Weak Leveling Rate </string> <string>Weak Leveling Rate </string>
@ -19990,21 +19988,15 @@ border-radius: 5;</string>
<item row="0" column="5"> <item row="0" column="5">
<widget class="QLabel" name="label_51"> <widget class="QLabel" name="label_51">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed"> <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch> <horstretch>0</horstretch>
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
</property> </property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>144</width> <width>132</width>
<height>16</height> <height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>175</width>
<height>16777215</height>
</size> </size>
</property> </property>
<property name="palette"> <property name="palette">
@ -20533,7 +20525,9 @@ border-radius: 5;</string>
<property name="styleSheet"> <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)); <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); color: rgb(255, 255, 255);
border-radius: 5;</string> border-radius: 5;
margin:1px;
font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Max Axis Lock </string> <string>Max Axis Lock </string>
@ -20546,21 +20540,15 @@ border-radius: 5;</string>
<item row="0" column="7"> <item row="0" column="7">
<widget class="QLabel" name="label_52"> <widget class="QLabel" name="label_52">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed"> <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch> <horstretch>0</horstretch>
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
</property> </property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>144</width> <width>176</width>
<height>16</height> <height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>175</width>
<height>16777215</height>
</size> </size>
</property> </property>
<property name="palette"> <property name="palette">
@ -21089,7 +21077,9 @@ border-radius: 5;</string>
<property name="styleSheet"> <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)); <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); color: rgb(255, 255, 255);
border-radius: 5;</string> border-radius: 5;
margin:1px;
font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Max Axis Lock Rate </string> <string>Max Axis Lock Rate </string>
@ -21125,7 +21115,7 @@ border-radius: 5;</string>
</property> </property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>5</width> <width>25</width>
<height>22</height> <height>22</height>
</size> </size>
</property> </property>
@ -22039,7 +22029,7 @@ border-radius: 5;</string>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>0</width> <width>0</width>
<height>16</height> <height>20</height>
</size> </size>
</property> </property>
<property name="palette"> <property name="palette">
@ -22568,7 +22558,9 @@ border-radius: 5;</string>
<property name="styleSheet"> <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)); <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); color: rgb(255, 255, 255);
border-radius: 5;</string> border-radius: 5;
margin:1px;
font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>GyroTau</string> <string>GyroTau</string>
@ -22589,7 +22581,7 @@ border-radius: 5;</string>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>0</width> <width>0</width>
<height>16</height> <height>20</height>
</size> </size>
</property> </property>
<property name="palette"> <property name="palette">
@ -23118,7 +23110,9 @@ border-radius: 5;</string>
<property name="styleSheet"> <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)); <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); color: rgb(255, 255, 255);
border-radius: 5;</string> border-radius: 5;
margin:1px;
font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>AccelKp</string> <string>AccelKp</string>
@ -23204,7 +23198,7 @@ border-radius: 5;</string>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>90</width> <width>90</width>
<height>16</height> <height>20</height>
</size> </size>
</property> </property>
<property name="palette"> <property name="palette">
@ -23733,7 +23727,9 @@ border-radius: 5;</string>
<property name="styleSheet"> <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)); <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); color: rgb(255, 255, 255);
border-radius: 5;</string> border-radius: 5;
margin:1px;
font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>AccelKi</string> <string>AccelKi</string>
@ -23916,8 +23912,8 @@ border-radius: 5;</string>
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>798</width> <width>665</width>
<height>705</height> <height>435</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_19"> <layout class="QVBoxLayout" name="verticalLayout_19">
@ -24822,8 +24818,8 @@ border-radius: 5;</string>
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>798</width> <width>478</width>
<height>705</height> <height>518</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_18"> <layout class="QVBoxLayout" name="verticalLayout_18">

24
ground/openpilotgcs/src/plugins/config/txpid.ui
View File

@ -214,8 +214,8 @@ Up to 3 separate PID options (or option pairs) can be selected and updated.</str
<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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>PID option</string> <string>PID option</string>
@ -243,8 +243,8 @@ margin:1px;</string>
<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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Control Source</string> <string>Control Source</string>
@ -272,8 +272,8 @@ margin:1px;</string>
<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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Min</string> <string>Min</string>
@ -301,8 +301,8 @@ margin:1px;</string>
<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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Max</string> <string>Max</string>
@ -620,8 +620,8 @@ only when system is armed without disabling the module.</string>
<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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Min</string> <string>Min</string>
@ -649,8 +649,8 @@ margin:1px;</string>
<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)); <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); color: rgb(255, 255, 255);
border-radius: 5; border-radius: 5;
font: bold 12px; margin:1px;
margin:1px;</string> font:bold;</string>
</property> </property>
<property name="text"> <property name="text">
<string>Max</string> <string>Max</string>