mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
Add "Reset To Defaults" button to Stabilization configuration tab
Also add tootips to Reset/Apply/Save buttons.
This commit is contained in:
Oleg Semyonov
David Ankers
parent
c5a2afcc2c
commit
369629ad34
@ -42,8 +42,7 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
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m_stabilization = new Ui_StabilizationWidget();
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m_stabilization->setupUi(this);
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setupButtons(m_stabilization->saveStabilizationToRAM,m_stabilization->saveStabilizationToSD);
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setupButtons(m_stabilization->saveStabilizationToRAM, m_stabilization->saveStabilizationToSD);
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addUAVObject("StabilizationSettings");
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@ -71,8 +70,6 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
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connect(m_stabilization->pitchKi, SIGNAL(valueChanged(double)), this, SLOT(updatePitchKI(double)));
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connect(m_stabilization->pitchILimit, SIGNAL(valueChanged(double)), this, SLOT(updatePitchILimit(double)));
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// Connect the help button
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connect(m_stabilization->stabilizationHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
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addWidget(m_stabilization->rateRollKp);
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addWidget(m_stabilization->rateRollKi);
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addWidget(m_stabilization->rateRollILimit);
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@ -102,6 +99,9 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
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addWidget(m_stabilization->maximumYaw);
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addWidget(m_stabilization->lowThrottleZeroIntegral);
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// Connect buttons
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connect(m_stabilization->stabilizationResetToDefaults, SIGNAL(clicked()), this, SLOT(resetToDefaults()));
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connect(m_stabilization->stabilizationHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
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}
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ConfigStabilizationWidget::~ConfigStabilizationWidget()
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@ -195,21 +195,17 @@ void ConfigStabilizationWidget::updatePitchILimit(double val)
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}
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}
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/*******************************
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* Stabilization Settings
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*****************************/
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/**
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Request stabilization settings from the board
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* Refresh UI with new settings of StabilizationSettings object
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* (either from active configuration or just loaded defaults
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* to be applied or saved)
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*/
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void ConfigStabilizationWidget::refreshWidgetsValues()
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void ConfigStabilizationWidget::refreshUIValues(StabilizationSettings::DataFields &stabData)
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{
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bool dirty=isDirty();
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// Not needed anymore as this slot is only called whenever we get
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// a signal that the object was just updated
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// stabSettings->requestUpdate();
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StabilizationSettings::DataFields stabData = stabSettings->getData();
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// Now fill in all the fields, this is fairly tedious:
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m_stabilization->rateRollKp->setValue(stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_KP]);
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m_stabilization->rateRollKi->setValue(stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_KI]);
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@ -247,15 +243,25 @@ void ConfigStabilizationWidget::refreshWidgetsValues()
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m_stabilization->maximumPitch->setValue(stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_PITCH]);
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m_stabilization->maximumYaw->setValue(stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_YAW]);
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m_stabilization->lowThrottleZeroIntegral->setChecked(stabData.LowThrottleZeroIntegral==StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_TRUE ? true : false);
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setDirty(dirty);
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}
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/**
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Request stabilization settings from the board
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*/
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void ConfigStabilizationWidget::refreshWidgetsValues()
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{
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bool dirty=isDirty();
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// Not needed anymore as this slot is only called whenever we get
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// a signal that the object was just updated
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// stabSettings->requestUpdate();
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StabilizationSettings::DataFields stabData = stabSettings->getData();
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refreshUIValues(stabData);
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setDirty(dirty);
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}
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/**
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Send telemetry settings to the board
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*/
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void ConfigStabilizationWidget::updateObjectsFromWidgets()
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{
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StabilizationSettings::DataFields stabData = stabSettings->getData();
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@ -298,7 +304,6 @@ void ConfigStabilizationWidget::updateObjectsFromWidgets()
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stabData.LowThrottleZeroIntegral = (m_stabilization->lowThrottleZeroIntegral->isChecked() ? StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_TRUE :StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_FALSE);
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stabSettings->setData(stabData); // this is atomic
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}
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@ -311,9 +316,16 @@ void ConfigStabilizationWidget::realtimeUpdateToggle(bool state)
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}
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}
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void ConfigStabilizationWidget::openHelp()
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void ConfigStabilizationWidget::resetToDefaults()
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{
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QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Stabilization+panel", QUrl::StrictMode) );
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StabilizationSettings stabDefaults;
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StabilizationSettings::DataFields defaults = stabDefaults.getData();
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bool dirty=isDirty();
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refreshUIValues(defaults);
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setDirty(dirty);
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}
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void ConfigStabilizationWidget::openHelp()
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{
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QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Stabilization+panel", QUrl::StrictMode) );
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}
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@ -49,11 +49,13 @@ private:
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Ui_StabilizationWidget *m_stabilization;
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StabilizationSettings* stabSettings;
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QTimer updateTimer;
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void refreshUIValues(StabilizationSettings::DataFields &stabData);
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private slots:
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virtual void refreshWidgetsValues();
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void updateObjectsFromWidgets();
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void realtimeUpdateToggle(bool);
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void resetToDefaults();
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void openHelp();
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void updateRateRollKP(double);
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@ -73,4 +75,4 @@ private slots:
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void updatePitchILimit(double);
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};
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#endif // ConfigStabilizationWidget_H
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#endif // CONFIGSTABILIZATIONWIDGET_H
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@ -1,772 +1,829 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<ui version="4.0">
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<class>StabilizationWidget</class>
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<widget class="QWidget" name="StabilizationWidget">
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<width>683</width>
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<height>685</height>
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</rect>
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</property>
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<property name="windowTitle">
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<string>Form</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_2">
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<item>
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<widget class="QScrollArea" name="scrollArea">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
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<horstretch>0</horstretch>
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<verstretch>1</verstretch>
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</sizepolicy>
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</property>
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<property name="frameShape">
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<enum>QFrame::NoFrame</enum>
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</property>
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<property name="widgetResizable">
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<bool>true</bool>
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</property>
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<widget class="QWidget" name="scrollAreaWidgetContents">
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<width>665</width>
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<height>627</height>
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</rect>
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</property>
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<property name="sizePolicy">
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<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout">
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<property name="spacing">
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<number>0</number>
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</property>
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<property name="margin">
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<number>0</number>
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</property>
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<item>
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<widget class="QGroupBox" name="groupBox">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="minimumSize">
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<size>
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<width>0</width>
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<height>150</height>
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</size>
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</property>
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<property name="title">
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<string>Rate Stabilization Coefficients (Inner Loop)</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_3">
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<item row="0" column="2">
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<widget class="QLabel" name="label_12">
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<property name="text">
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<string>Kp</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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</widget>
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</item>
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<item row="0" column="3">
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<widget class="QLabel" name="label_13">
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<property name="text">
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<string>Ki</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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</widget>
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</item>
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<item row="0" column="4">
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<widget class="QLabel" name="label_14">
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<property name="text">
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<string>ILimit</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_10">
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<property name="text">
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<string>Roll</string>
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</property>
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</widget>
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</item>
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<item row="1" column="2">
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<widget class="QDoubleSpinBox" name="rateRollKp">
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<property name="toolTip">
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<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
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Then lower the value by 20% or so.</string>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
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</property>
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</widget>
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</item>
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<item row="1" column="3">
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<widget class="QDoubleSpinBox" name="rateRollKi">
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<property name="toolTip">
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<string>I factor for rate stabilization is usually very low or even zero.</string>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
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</property>
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</widget>
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</item>
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<item row="1" column="4">
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<widget class="QDoubleSpinBox" name="rateRollILimit">
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QCheckBox" name="linkRateRP">
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<property name="toolTip">
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<string>If checked, the Roll and Pitch factors will be identical.
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When you change one, the other is updated.</string>
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</property>
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<property name="text">
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<string>Link</string>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_11">
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<property name="text">
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<string>Pitch</string>
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</property>
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</widget>
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</item>
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<item row="2" column="2">
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<widget class="QDoubleSpinBox" name="ratePitchKp">
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<property name="toolTip">
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<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
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Then lower the value by 20% or so.</string>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
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</property>
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</widget>
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</item>
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<item row="2" column="3">
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<widget class="QDoubleSpinBox" name="ratePitchKi">
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<property name="toolTip">
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<string>I factor for rate stabilization is usually very low or even zero.</string>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
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</property>
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</widget>
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</item>
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<item row="2" column="4">
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<widget class="QDoubleSpinBox" name="ratePitchILimit">
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_15">
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<property name="text">
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<string>Yaw</string>
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</property>
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</widget>
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</item>
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<item row="3" column="2">
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<widget class="QDoubleSpinBox" name="rateYawKp">
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<property name="toolTip">
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<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
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Then lower the value by 20% or so.
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You can usually go for higher values for Yaw factors.</string>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
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</property>
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</widget>
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</item>
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<item row="3" column="3">
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<widget class="QDoubleSpinBox" name="rateYawKi">
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<property name="toolTip">
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<string>As a rule of thumb, you can set YawRate Ki at roughly the same
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value as YawRate Kp.</string>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
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</property>
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</widget>
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</item>
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<item row="3" column="4">
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<widget class="QDoubleSpinBox" name="rateYawILimit">
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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<item>
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<spacer name="verticalSpacer_3">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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</property>
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<property name="sizeType">
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<enum>QSizePolicy::Fixed</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>20</width>
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<height>13</height>
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</size>
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</property>
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</spacer>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_2">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="minimumSize">
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<size>
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<width>0</width>
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<height>150</height>
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</size>
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</property>
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<property name="title">
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<string>Attitude Stabization Coefficients (Outer Loop)</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_2">
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<item row="3" column="2">
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<widget class="QDoubleSpinBox" name="rollKp">
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<property name="toolTip">
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<string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
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</string>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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<item row="3" column="3">
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<widget class="QDoubleSpinBox" name="rollKi">
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<property name="toolTip">
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<string>Ki can usually be almost identical to Kp.</string>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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<item row="3" column="4">
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<widget class="QDoubleSpinBox" name="rollILimit">
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<property name="toolTip">
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<string>ILimit can be equal to three to four times Ki, but you can adjust
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depending on whether your airframe is well balanced, and your
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flying style.</string>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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<item row="2" column="2">
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<widget class="QLabel" name="label_19">
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<property name="text">
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<string>Kp</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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</widget>
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</item>
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<item row="2" column="3">
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<widget class="QLabel" name="label_20">
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||||
<property name="text">
|
||||
<string>Ki</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="4">
|
||||
<widget class="QLabel" name="label_21">
|
||||
<property name="text">
|
||||
<string>ILimit</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="4">
|
||||
<widget class="QDoubleSpinBox" name="yawILimit">
|
||||
<property name="toolTip">
|
||||
<string>ILimit can be equal to three to four times Ki, but you can adjust
|
||||
depending on whether your airframe is well balanced, and your
|
||||
flying style.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="3">
|
||||
<widget class="QDoubleSpinBox" name="yawKi">
|
||||
<property name="toolTip">
|
||||
<string>Ki can usually be almost identical to Kp.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="2">
|
||||
<widget class="QDoubleSpinBox" name="yawKp">
|
||||
<property name="toolTip">
|
||||
<string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
|
||||
</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="2">
|
||||
<widget class="QDoubleSpinBox" name="pitchKp">
|
||||
<property name="toolTip">
|
||||
<string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
|
||||
</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<widget class="QLabel" name="label_18">
|
||||
<property name="text">
|
||||
<string>Yaw</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_17">
|
||||
<property name="text">
|
||||
<string>Pitch</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_16">
|
||||
<property name="text">
|
||||
<string>Roll</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="3">
|
||||
<widget class="QDoubleSpinBox" name="pitchKi">
|
||||
<property name="toolTip">
|
||||
<string>Ki can usually be almost identical to Kp.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="4">
|
||||
<widget class="QDoubleSpinBox" name="pitchILimit">
|
||||
<property name="toolTip">
|
||||
<string>ILimit can be equal to three to four times Ki, but you can adjust
|
||||
depending on whether your airframe is well balanced, and your
|
||||
flying style.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QCheckBox" name="linkAttitudeRP">
|
||||
<property name="toolTip">
|
||||
<string>If checked, the Roll and Pitch factors will be identical.
|
||||
When you change one, the other is updated.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Link</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_2">
|
||||
<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>13</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_3">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Stick range and limits</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout" rowminimumheight="5,5,5,5">
|
||||
<property name="sizeConstraint">
|
||||
<enum>QLayout::SetMinAndMaxSize</enum>
|
||||
</property>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label">
|
||||
<property name="text">
|
||||
<string>Roll</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="label_22">
|
||||
<property name="text">
|
||||
<string>Pitch</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="3">
|
||||
<widget class="QLabel" name="label_23">
|
||||
<property name="text">
|
||||
<string>Yaw</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QSpinBox" name="rollMax">
|
||||
<property name="maximum">
|
||||
<number>180</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QSpinBox" name="pitchMax">
|
||||
<property name="maximum">
|
||||
<number>180</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="3">
|
||||
<widget class="QSpinBox" name="yawMax">
|
||||
<property name="maximum">
|
||||
<number>180</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="label_5">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>150</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<weight>50</weight>
|
||||
<bold>false</bold>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Full stick angle (deg)</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="label_6">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>150</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<weight>50</weight>
|
||||
<bold>false</bold>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Full stick rate (deg/s)</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QSpinBox" name="manualRoll">
|
||||
<property name="maximum">
|
||||
<number>500</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QSpinBox" name="manualPitch">
|
||||
<property name="maximum">
|
||||
<number>500</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="3">
|
||||
<widget class="QSpinBox" name="manualYaw">
|
||||
<property name="maximum">
|
||||
<number>500</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QLabel" name="label_24">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>150</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<weight>50</weight>
|
||||
<bold>false</bold>
|
||||
</font>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string notr="true"/>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Maximum rate in attitude mode (deg/s)</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QSpinBox" name="maximumRoll">
|
||||
<property name="maximum">
|
||||
<number>500</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QSpinBox" name="maximumPitch">
|
||||
<property name="maximum">
|
||||
<number>500</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="3">
|
||||
<widget class="QSpinBox" name="maximumYaw">
|
||||
<property name="maximum">
|
||||
<number>500</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QCheckBox" name="lowThrottleZeroIntegral">
|
||||
<property name="text">
|
||||
<string>Zero the integral when throttle is low</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_2">
|
||||
<item>
|
||||
<widget class="QCheckBox" name="realTimeUpdates">
|
||||
<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>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Update in real time</string>
|
||||
</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="stabilizationHelp">
|
||||
<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="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="flat">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="saveStabilizationToRAM">
|
||||
<property name="text">
|
||||
<string>Apply</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="saveStabilizationToSD">
|
||||
<property name="text">
|
||||
<string>Save</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<resources>
|
||||
<include location="../coreplugin/core.qrc"/>
|
||||
</resources>
|
||||
<connections/>
|
||||
</ui>
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<ui version="4.0">
|
||||
<class>StabilizationWidget</class>
|
||||
<widget class="QWidget" name="StabilizationWidget">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>683</width>
|
||||
<height>685</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="windowTitle">
|
||||
<string>Form</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_2">
|
||||
<item>
|
||||
<widget class="QScrollArea" name="scrollArea">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>1</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::NoFrame</enum>
|
||||
</property>
|
||||
<property name="widgetResizable">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<widget class="QWidget" name="scrollAreaWidgetContents">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>665</width>
|
||||
<height>627</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout">
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>150</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Rate Stabilization Coefficients (Inner Loop)</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_3">
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="label_12">
|
||||
<property name="text">
|
||||
<string>Kp</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="3">
|
||||
<widget class="QLabel" name="label_13">
|
||||
<property name="text">
|
||||
<string>Ki</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="4">
|
||||
<widget class="QLabel" name="label_14">
|
||||
<property name="text">
|
||||
<string>ILimit</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_10">
|
||||
<property name="text">
|
||||
<string>Roll</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QDoubleSpinBox" name="rateRollKp">
|
||||
<property name="toolTip">
|
||||
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
|
||||
Then lower the value by 20% or so.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="3">
|
||||
<widget class="QDoubleSpinBox" name="rateRollKi">
|
||||
<property name="toolTip">
|
||||
<string>I factor for rate stabilization is usually very low or even zero.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="4">
|
||||
<widget class="QDoubleSpinBox" name="rateRollILimit">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QCheckBox" name="linkRateRP">
|
||||
<property name="toolTip">
|
||||
<string>If checked, the Roll and Pitch factors will be identical.
|
||||
When you change one, the other is updated.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Link</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_11">
|
||||
<property name="text">
|
||||
<string>Pitch</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QDoubleSpinBox" name="ratePitchKp">
|
||||
<property name="toolTip">
|
||||
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
|
||||
Then lower the value by 20% or so.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="3">
|
||||
<widget class="QDoubleSpinBox" name="ratePitchKi">
|
||||
<property name="toolTip">
|
||||
<string>I factor for rate stabilization is usually very low or even zero.</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="ratePitchILimit">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_15">
|
||||
<property name="text">
|
||||
<string>Yaw</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QDoubleSpinBox" name="rateYawKp">
|
||||
<property name="toolTip">
|
||||
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
|
||||
Then lower the value by 20% or so.
|
||||
|
||||
You can usually go for higher values for Yaw factors.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="3">
|
||||
<widget class="QDoubleSpinBox" name="rateYawKi">
|
||||
<property name="toolTip">
|
||||
<string>As a rule of thumb, you can set YawRate Ki at roughly the same
|
||||
value as YawRate Kp.</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="rateYawILimit">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_3">
|
||||
<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>13</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_2">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>150</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Attitude Stabization Coefficients (Outer Loop)</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_2">
|
||||
<item row="3" column="2">
|
||||
<widget class="QDoubleSpinBox" name="rollKp">
|
||||
<property name="toolTip">
|
||||
<string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
|
||||
</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="3">
|
||||
<widget class="QDoubleSpinBox" name="rollKi">
|
||||
<property name="toolTip">
|
||||
<string>Ki can usually be almost identical to Kp.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="4">
|
||||
<widget class="QDoubleSpinBox" name="rollILimit">
|
||||
<property name="toolTip">
|
||||
<string>ILimit can be equal to three to four times Ki, but you can adjust
|
||||
depending on whether your airframe is well balanced, and your
|
||||
flying style.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QLabel" name="label_19">
|
||||
<property name="text">
|
||||
<string>Kp</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="3">
|
||||
<widget class="QLabel" name="label_20">
|
||||
<property name="text">
|
||||
<string>Ki</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="4">
|
||||
<widget class="QLabel" name="label_21">
|
||||
<property name="text">
|
||||
<string>ILimit</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="4">
|
||||
<widget class="QDoubleSpinBox" name="yawILimit">
|
||||
<property name="toolTip">
|
||||
<string>ILimit can be equal to three to four times Ki, but you can adjust
|
||||
depending on whether your airframe is well balanced, and your
|
||||
flying style.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="3">
|
||||
<widget class="QDoubleSpinBox" name="yawKi">
|
||||
<property name="toolTip">
|
||||
<string>Ki can usually be almost identical to Kp.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="2">
|
||||
<widget class="QDoubleSpinBox" name="yawKp">
|
||||
<property name="toolTip">
|
||||
<string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
|
||||
</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="2">
|
||||
<widget class="QDoubleSpinBox" name="pitchKp">
|
||||
<property name="toolTip">
|
||||
<string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
|
||||
</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<widget class="QLabel" name="label_18">
|
||||
<property name="text">
|
||||
<string>Yaw</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_17">
|
||||
<property name="text">
|
||||
<string>Pitch</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_16">
|
||||
<property name="text">
|
||||
<string>Roll</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="3">
|
||||
<widget class="QDoubleSpinBox" name="pitchKi">
|
||||
<property name="toolTip">
|
||||
<string>Ki can usually be almost identical to Kp.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="4">
|
||||
<widget class="QDoubleSpinBox" name="pitchILimit">
|
||||
<property name="toolTip">
|
||||
<string>ILimit can be equal to three to four times Ki, but you can adjust
|
||||
depending on whether your airframe is well balanced, and your
|
||||
flying style.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QCheckBox" name="linkAttitudeRP">
|
||||
<property name="toolTip">
|
||||
<string>If checked, the Roll and Pitch factors will be identical.
|
||||
When you change one, the other is updated.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Link</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_2">
|
||||
<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>13</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_3">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Stick range and limits</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout" rowminimumheight="5,5,5,5">
|
||||
<property name="sizeConstraint">
|
||||
<enum>QLayout::SetMinAndMaxSize</enum>
|
||||
</property>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label">
|
||||
<property name="text">
|
||||
<string>Roll</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="label_22">
|
||||
<property name="text">
|
||||
<string>Pitch</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="3">
|
||||
<widget class="QLabel" name="label_23">
|
||||
<property name="text">
|
||||
<string>Yaw</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QSpinBox" name="rollMax">
|
||||
<property name="maximum">
|
||||
<number>180</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QSpinBox" name="pitchMax">
|
||||
<property name="maximum">
|
||||
<number>180</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="3">
|
||||
<widget class="QSpinBox" name="yawMax">
|
||||
<property name="maximum">
|
||||
<number>180</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="label_5">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>150</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<weight>50</weight>
|
||||
<bold>false</bold>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Full stick angle (deg)</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="label_6">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>150</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<weight>50</weight>
|
||||
<bold>false</bold>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Full stick rate (deg/s)</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QSpinBox" name="manualRoll">
|
||||
<property name="maximum">
|
||||
<number>500</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QSpinBox" name="manualPitch">
|
||||
<property name="maximum">
|
||||
<number>500</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="3">
|
||||
<widget class="QSpinBox" name="manualYaw">
|
||||
<property name="maximum">
|
||||
<number>500</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QLabel" name="label_24">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>150</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<weight>50</weight>
|
||||
<bold>false</bold>
|
||||
</font>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string notr="true"/>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Maximum rate in attitude mode (deg/s)</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QSpinBox" name="maximumRoll">
|
||||
<property name="maximum">
|
||||
<number>500</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QSpinBox" name="maximumPitch">
|
||||
<property name="maximum">
|
||||
<number>500</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="3">
|
||||
<widget class="QSpinBox" name="maximumYaw">
|
||||
<property name="maximum">
|
||||
<number>500</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QCheckBox" name="lowThrottleZeroIntegral">
|
||||
<property name="text">
|
||||
<string>Zero the integral when throttle is low</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_2">
|
||||
<item>
|
||||
<widget class="QCheckBox" name="realTimeUpdates">
|
||||
<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>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Update in real time</string>
|
||||
</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="stabilizationHelp">
|
||||
<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="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="flat">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="stabilizationResetToDefaults">
|
||||
<property name="toolTip">
|
||||
<string>Load default Stabilization settings
|
||||
|
||||
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="saveStabilizationToRAM">
|
||||
<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="saveStabilizationToSD">
|
||||
<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>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<tabstops>
|
||||
<tabstop>scrollArea</tabstop>
|
||||
<tabstop>rateRollKp</tabstop>
|
||||
<tabstop>rateRollKi</tabstop>
|
||||
<tabstop>rateRollILimit</tabstop>
|
||||
<tabstop>linkRateRP</tabstop>
|
||||
<tabstop>ratePitchKp</tabstop>
|
||||
<tabstop>ratePitchKi</tabstop>
|
||||
<tabstop>ratePitchILimit</tabstop>
|
||||
<tabstop>rateYawKp</tabstop>
|
||||
<tabstop>rateYawKi</tabstop>
|
||||
<tabstop>rateYawILimit</tabstop>
|
||||
<tabstop>rollKp</tabstop>
|
||||
<tabstop>rollKi</tabstop>
|
||||
<tabstop>rollILimit</tabstop>
|
||||
<tabstop>linkAttitudeRP</tabstop>
|
||||
<tabstop>pitchKp</tabstop>
|
||||
<tabstop>pitchKi</tabstop>
|
||||
<tabstop>pitchILimit</tabstop>
|
||||
<tabstop>yawKp</tabstop>
|
||||
<tabstop>yawKi</tabstop>
|
||||
<tabstop>yawILimit</tabstop>
|
||||
<tabstop>rollMax</tabstop>
|
||||
<tabstop>pitchMax</tabstop>
|
||||
<tabstop>yawMax</tabstop>
|
||||
<tabstop>manualRoll</tabstop>
|
||||
<tabstop>manualPitch</tabstop>
|
||||
<tabstop>manualYaw</tabstop>
|
||||
<tabstop>maximumRoll</tabstop>
|
||||
<tabstop>maximumPitch</tabstop>
|
||||
<tabstop>maximumYaw</tabstop>
|
||||
<tabstop>lowThrottleZeroIntegral</tabstop>
|
||||
<tabstop>realTimeUpdates</tabstop>
|
||||
<tabstop>stabilizationHelp</tabstop>
|
||||
<tabstop>stabilizationResetToDefaults</tabstop>
|
||||
<tabstop>saveStabilizationToRAM</tabstop>
|
||||
<tabstop>saveStabilizationToSD</tabstop>
|
||||
</tabstops>
|
||||
<resources>
|
||||
<include location="../coreplugin/core.qrc"/>
|
||||
</resources>
|
||||
<connections/>
|
||||
</ui>
|
||||
|
||||
Loading…
Reference in New Issue
Block a user