mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-30 08:24:11 +01:00
OP-146 Slow progress on the stabilization configuration UI. New approach, more efficient. Not functional yet but we'll get there eventually.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2867 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
edouard
edouard
parent
a4fe867c1d
commit
3d26b4ec60
@ -22,8 +22,7 @@ HEADERS += configplugin.h \
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mixercurvepoint.h \
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mixercurveline.h \
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configccpmwidget.h \
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configstabilizationwidget.h \
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vernierwidget.h
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configstabilizationwidget.h
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SOURCES += configplugin.cpp \
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configgadgetconfiguration.cpp \
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configgadgetwidget.cpp \
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@ -40,13 +39,11 @@ SOURCES += configplugin.cpp \
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mixercurvepoint.cpp \
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mixercurveline.cpp \
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configccpmwidget.cpp \
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configstabilizationwidget.cpp \
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vernierwidget.cpp
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configstabilizationwidget.cpp
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FORMS += settingswidget.ui \
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airframe.ui \
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telemetry.ui \
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ahrs.ui \
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ccpm.ui \
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stabilization.ui \
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vernier.ui
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stabilization.ui
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RESOURCES += configgadget.qrc
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@ -37,6 +37,8 @@
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ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent)
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{
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stabSettings = StabilizationSettings::GetInstance(getObjectManager());
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m_stabilization = new Ui_StabilizationWidget();
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m_stabilization->setupUi(this);
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@ -44,12 +46,17 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
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UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("StabilizationSettings")));
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requestStabilizationUpdate();
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//connect(m_telemetry->saveTelemetryToSD, SIGNAL(clicked()), this, SLOT(saveTelemetryUpdate()));
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//connect(m_telemetry->saveTelemetryToRAM, SIGNAL(clicked()), this, SLOT(sendTelemetryUpdate()));
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//connect(m_telemetry->getTelemetryCurrent, SIGNAL(clicked()), this, SLOT(requestTelemetryUpdate()));
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connect(m_stabilization->saveStabilizationToSD, SIGNAL(clicked()), this, SLOT(saveStabilizationUpdate()));
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connect(m_stabilization->saveStabilizationToRAM, SIGNAL(clicked()), this, SLOT(sendStabilizationUpdate()));
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connect(m_stabilization->getStabilizationCurrent, SIGNAL(clicked()), this, SLOT(requestStabilizationUpdate()));
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connect(m_stabilization->resetStabilizationToDefaults, SIGNAL(clicked()), this, SLOT(resetStabilizationToDefaults()));
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connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestStabilizationUpdate()));
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// TODO: create a timer to regularly send the object update in case
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// we want realtime updates.
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}
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ConfigStabilizationWidget::~ConfigStabilizationWidget()
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@ -67,41 +74,88 @@ ConfigStabilizationWidget::~ConfigStabilizationWidget()
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*/
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void ConfigStabilizationWidget::requestStabilizationUpdate()
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{
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UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("StabilizationSettings")));
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Q_ASSERT(obj);
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obj->requestUpdate();
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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.RollRatePI[StabilizationSettings::ROLLRATEPI_KP]);
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m_stabilization->rateRollKi->setValue(stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KI]);
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m_stabilization->rateRollILimit->setValue(stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_ILIMIT]);
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m_stabilization->ratePitchKp->setValue(stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KP]);
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m_stabilization->ratePitchKi->setValue(stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KI]);
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m_stabilization->ratePitchILimit->setValue(stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_ILIMIT]);
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m_stabilization->rateYawKp->setValue(stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KP]);
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m_stabilization->rateYawKi->setValue(stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KI]);
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m_stabilization->rateYawILimit->setValue(stabData.YawRatePI[StabilizationSettings::YAWRATEPI_ILIMIT]);
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m_stabilization->rollKp->setValue(stabData.RollPI[StabilizationSettings::ROLLPI_KP]);
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m_stabilization->rollKi->setValue(stabData.RollPI[StabilizationSettings::ROLLPI_KI]);
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m_stabilization->rollILimit->setValue(stabData.RollPI[StabilizationSettings::ROLLPI_ILIMIT]);
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m_stabilization->pitchKp->setValue(stabData.PitchPI[StabilizationSettings::PITCHPI_KP]);
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m_stabilization->pitchKi->setValue(stabData.PitchPI[StabilizationSettings::PITCHPI_KI]);
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m_stabilization->pitchILimit->setValue(stabData.PitchPI[StabilizationSettings::PITCHPI_ILIMIT]);
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m_stabilization->yawKp->setValue(stabData.YawPI[StabilizationSettings::YAWPI_KP]);
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m_stabilization->yawKi->setValue(stabData.YawPI[StabilizationSettings::YAWPI_KI]);
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m_stabilization->yawILimit->setValue(stabData.YawPI[StabilizationSettings::YAWPI_ILIMIT]);
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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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/*
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void ConfigStabilizationWidget::sendTelemetryUpdate()
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void ConfigStabilizationWidget::sendStabilizationUpdate()
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{
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
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UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("TelemetrySettings")));
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Q_ASSERT(obj);
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UAVObjectField* field = obj->getField(QString("Speed"));
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field->setValue(m_telemetry->telemetrySpeed->currentText());
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obj->updated();
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StabilizationSettings::DataFields stabData = stabSettings->getData();
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stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KP] = m_stabilization->rateRollKp->value();
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stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KI] = m_stabilization->rateRollKi->value();
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stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_ILIMIT] = m_stabilization->rateRollILimit->value();
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stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KP] = m_stabilization->ratePitchKp->value();
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stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KI] = m_stabilization->ratePitchKi->value();
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stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_ILIMIT] = m_stabilization->ratePitchILimit->value();
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stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KP] = m_stabilization->rateYawKp->value();
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stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KI] = m_stabilization->rateYawKi->value();
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stabData.YawRatePI[StabilizationSettings::YAWRATEPI_ILIMIT] = m_stabilization->rateYawILimit->value();
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stabData.RollPI[StabilizationSettings::ROLLPI_KP] = m_stabilization->rollKp->value();
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stabData.RollPI[StabilizationSettings::ROLLPI_KI] = m_stabilization->rollKi->value();
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stabData.RollPI[StabilizationSettings::ROLLPI_ILIMIT] = m_stabilization->rollILimit->value();
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stabData.PitchPI[StabilizationSettings::PITCHPI_KP] = m_stabilization->pitchKp->value();
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stabData.PitchPI[StabilizationSettings::PITCHPI_KI] = m_stabilization->pitchKi->value();
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stabData.PitchPI[StabilizationSettings::PITCHPI_ILIMIT] = m_stabilization->pitchILimit->value();
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stabData.YawPI[StabilizationSettings::YAWPI_KP] = m_stabilization->yawKp->value();
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stabData.YawPI[StabilizationSettings::YAWPI_KI] = m_stabilization->yawKi->value();
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stabData.YawPI[StabilizationSettings::YAWPI_ILIMIT] = m_stabilization->yawILimit->value();
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stabSettings->setData(stabData); // this is atomic
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}
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*/
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/**
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Send telemetry settings to the board and request saving to SD card
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*/
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/*
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void ConfigStabilizationWidget::saveTelemetryUpdate()
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void ConfigStabilizationWidget::saveStabilizationUpdate()
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{
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// Send update so that the latest value is saved
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sendTelemetryUpdate();
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sendStabilizationUpdate();
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
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UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("TelemetrySettings")));
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UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("StabilizationSettings")));
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Q_ASSERT(obj);
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updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);
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}
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*/
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void ConfigStabilizationWidget::resetStabilizationToDefaults()
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{
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}
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@ -32,6 +32,7 @@
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#include "extensionsystem/pluginmanager.h"
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#include "uavobjectmanager.h"
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#include "uavobject.h"
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#include "stabilizationsettings.h"
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#include <QtGui/QWidget>
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#include <QList>
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@ -46,11 +47,14 @@ public:
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private:
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Ui_StabilizationWidget *m_stabilization;
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StabilizationSettings* stabSettings;
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private slots:
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void requestStabilizationUpdate();
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// void sendTelemetryUpdate();
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// void saveTelemetryUpdate();
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void sendStabilizationUpdate();
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void saveStabilizationUpdate();
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void resetStabilizationToDefaults();
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void parameterValueChanged(double value);
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};
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@ -7,638 +7,361 @@
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<x>0</x>
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<y>0</y>
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<width>639</width>
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<height>407</height>
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<height>465</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="QHBoxLayout" name="horizontalLayout">
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<layout class="QVBoxLayout" name="verticalLayout_3">
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<item>
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<widget class="QTabWidget" name="tabWidget">
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<widget class="QTabWidget" name="piFactors">
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<property name="currentIndex">
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<number>0</number>
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</property>
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<widget class="QWidget" name="tab">
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<attribute name="title">
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<string>P Factors</string>
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<string>PI Factors</string>
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</attribute>
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<widget class="QDial" name="dial">
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>20</y>
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<width>101</width>
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<height>81</height>
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</rect>
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</property>
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<property name="maximum">
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<number>9999</number>
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</property>
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<property name="singleStep">
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<number>10</number>
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</property>
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<property name="pageStep">
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<number>100</number>
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</property>
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<property name="wrapping">
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<bool>false</bool>
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</property>
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<property name="notchTarget">
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<double>37.000000000000000</double>
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</property>
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<property name="notchesVisible">
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<bool>true</bool>
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</property>
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</widget>
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<widget class="QDial" name="dial_2">
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<property name="geometry">
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<rect>
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<x>30</x>
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<y>40</y>
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<width>41</width>
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<height>41</height>
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</rect>
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</property>
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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<property name="invertedAppearance">
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<bool>false</bool>
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</property>
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<property name="invertedControls">
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<bool>false</bool>
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</property>
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<property name="wrapping">
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<bool>true</bool>
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</property>
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<property name="notchesVisible">
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<bool>false</bool>
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</property>
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</widget>
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<widget class="QDoubleSpinBox" name="doubleSpinBox">
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<property name="geometry">
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<rect>
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<x>10</x>
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<y>110</y>
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<width>101</width>
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<height>27</height>
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</rect>
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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>0.000010000000000</double>
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</property>
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</widget>
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<widget class="QLabel" name="label">
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<property name="geometry">
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<rect>
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<x>20</x>
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<y>10</y>
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<width>67</width>
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<height>17</height>
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</rect>
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</property>
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<property name="text">
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<string>RollRate</string>
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</property>
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</widget>
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<widget class="QDial" name="dial_3">
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<property name="geometry">
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<rect>
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<x>140</x>
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<y>40</y>
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<width>41</width>
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<height>41</height>
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</rect>
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</property>
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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<property name="invertedAppearance">
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<bool>false</bool>
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</property>
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<property name="invertedControls">
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<bool>false</bool>
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</property>
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<property name="wrapping">
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<bool>true</bool>
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</property>
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<property name="notchesVisible">
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<bool>false</bool>
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</property>
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</widget>
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<widget class="QDial" name="dial_4">
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<property name="geometry">
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<rect>
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<x>110</x>
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<y>20</y>
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<width>101</width>
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<height>81</height>
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</rect>
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</property>
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<property name="maximum">
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<number>9999</number>
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</property>
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<property name="singleStep">
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<number>10</number>
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</property>
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<property name="pageStep">
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<number>100</number>
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</property>
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<property name="wrapping">
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<bool>false</bool>
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</property>
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<property name="notchTarget">
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<double>37.000000000000000</double>
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</property>
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<property name="notchesVisible">
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<bool>true</bool>
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</property>
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</widget>
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<widget class="QDoubleSpinBox" name="doubleSpinBox_2">
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<property name="geometry">
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<rect>
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<x>120</x>
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<y>110</y>
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<width>101</width>
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||||
<height>27</height>
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||||
</rect>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
|
||||
<property name="singleStep">
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||||
<double>0.000010000000000</double>
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||||
</property>
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||||
</widget>
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||||
<widget class="QDial" name="dial_5">
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<property name="geometry">
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||||
<rect>
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||||
<x>250</x>
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||||
<y>40</y>
|
||||
<width>41</width>
|
||||
<height>41</height>
|
||||
</rect>
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||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="invertedAppearance">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="invertedControls">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="wrapping">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="notchesVisible">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QDial" name="dial_6">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>220</x>
|
||||
<y>20</y>
|
||||
<width>101</width>
|
||||
<height>81</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>9999</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>10</number>
|
||||
</property>
|
||||
<property name="pageStep">
|
||||
<number>100</number>
|
||||
</property>
|
||||
<property name="wrapping">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="notchTarget">
|
||||
<double>37.000000000000000</double>
|
||||
</property>
|
||||
<property name="notchesVisible">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_3">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>230</x>
|
||||
<y>110</y>
|
||||
<width>101</width>
|
||||
<height>27</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000010000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QLabel" name="label_3">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>130</x>
|
||||
<y>10</y>
|
||||
<width>67</width>
|
||||
<height>17</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>PitchRate</string>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QLabel" name="label_4">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>240</x>
|
||||
<y>10</y>
|
||||
<width>67</width>
|
||||
<height>17</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>YawRate</string>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QCheckBox" name="checkBox">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>50</x>
|
||||
<y>140</y>
|
||||
<width>131</width>
|
||||
<height>22</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Link Roll/Pitch</string>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QLabel" name="label_5">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>20</x>
|
||||
<y>180</y>
|
||||
<width>67</width>
|
||||
<height>17</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Roll</string>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QDial" name="dial_7">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>110</x>
|
||||
<y>190</y>
|
||||
<width>101</width>
|
||||
<height>81</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>9999</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>10</number>
|
||||
</property>
|
||||
<property name="pageStep">
|
||||
<number>100</number>
|
||||
</property>
|
||||
<property name="wrapping">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="notchTarget">
|
||||
<double>37.000000000000000</double>
|
||||
</property>
|
||||
<property name="notchesVisible">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_4">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>120</x>
|
||||
<y>280</y>
|
||||
<width>101</width>
|
||||
<height>27</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000010000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QDial" name="dial_8">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>220</x>
|
||||
<y>190</y>
|
||||
<width>101</width>
|
||||
<height>81</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>9999</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>10</number>
|
||||
</property>
|
||||
<property name="pageStep">
|
||||
<number>100</number>
|
||||
</property>
|
||||
<property name="wrapping">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="notchTarget">
|
||||
<double>37.000000000000000</double>
|
||||
</property>
|
||||
<property name="notchesVisible">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_5">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>230</x>
|
||||
<y>280</y>
|
||||
<width>101</width>
|
||||
<height>27</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000010000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QDial" name="dial_9">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>140</x>
|
||||
<y>210</y>
|
||||
<width>41</width>
|
||||
<height>41</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="invertedAppearance">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="invertedControls">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="wrapping">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="notchesVisible">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QDial" name="dial_10">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>30</x>
|
||||
<y>210</y>
|
||||
<width>41</width>
|
||||
<height>41</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="invertedAppearance">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="invertedControls">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="wrapping">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="notchesVisible">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QCheckBox" name="checkBox_2">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>50</x>
|
||||
<y>310</y>
|
||||
<width>131</width>
|
||||
<height>22</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Link Roll/Pitch</string>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QLabel" name="label_6">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>130</x>
|
||||
<y>180</y>
|
||||
<width>67</width>
|
||||
<height>17</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Pitch</string>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QDial" name="dial_11">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>190</y>
|
||||
<width>101</width>
|
||||
<height>81</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>9999</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>10</number>
|
||||
</property>
|
||||
<property name="pageStep">
|
||||
<number>100</number>
|
||||
</property>
|
||||
<property name="wrapping">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="notchTarget">
|
||||
<double>37.000000000000000</double>
|
||||
</property>
|
||||
<property name="notchesVisible">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QLabel" name="label_7">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>240</x>
|
||||
<y>180</y>
|
||||
<width>67</width>
|
||||
<height>17</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Yaw</string>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QDial" name="dial_12">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>250</x>
|
||||
<y>210</y>
|
||||
<width>41</width>
|
||||
<height>41</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="invertedAppearance">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="invertedControls">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="wrapping">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="notchesVisible">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_6">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>10</x>
|
||||
<y>280</y>
|
||||
<width>101</width>
|
||||
<height>27</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000010000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QFrame" name="frame">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>350</x>
|
||||
<y>10</y>
|
||||
<width>251</width>
|
||||
<height>131</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::StyledPanel</enum>
|
||||
</property>
|
||||
<property name="frameShadow">
|
||||
<enum>QFrame::Raised</enum>
|
||||
</property>
|
||||
<widget class="QLabel" name="label_2">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>30</x>
|
||||
<y>30</y>
|
||||
<width>161</width>
|
||||
<height>17</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Advice on tuning here</string>
|
||||
</property>
|
||||
</widget>
|
||||
</widget>
|
||||
<widget class="QCheckBox" name="checkBox_3">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>370</x>
|
||||
<y>170</y>
|
||||
<width>211</width>
|
||||
<height>22</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Update values in real time</string>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QPushButton" name="pushButton">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>440</x>
|
||||
<y>250</y>
|
||||
<width>98</width>
|
||||
<height>27</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Save to RAM</string>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QPushButton" name="pushButton_2">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>440</x>
|
||||
<y>300</y>
|
||||
<width>98</width>
|
||||
<height>27</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Save to SD</string>
|
||||
</property>
|
||||
</widget>
|
||||
<zorder>dial_11</zorder>
|
||||
<zorder>dial_7</zorder>
|
||||
<zorder>dial_8</zorder>
|
||||
<zorder>dial_6</zorder>
|
||||
<zorder>dial_4</zorder>
|
||||
<zorder>dial</zorder>
|
||||
<zorder>dial_2</zorder>
|
||||
<zorder>doubleSpinBox</zorder>
|
||||
<zorder>label</zorder>
|
||||
<zorder>doubleSpinBox_2</zorder>
|
||||
<zorder>doubleSpinBox_3</zorder>
|
||||
<zorder>label_3</zorder>
|
||||
<zorder>label_4</zorder>
|
||||
<zorder>checkBox</zorder>
|
||||
<zorder>label_5</zorder>
|
||||
<zorder>doubleSpinBox_4</zorder>
|
||||
<zorder>doubleSpinBox_5</zorder>
|
||||
<zorder>checkBox_2</zorder>
|
||||
<zorder>label_6</zorder>
|
||||
<zorder>label_7</zorder>
|
||||
<zorder>doubleSpinBox_6</zorder>
|
||||
<zorder>frame</zorder>
|
||||
<zorder>checkBox_3</zorder>
|
||||
<zorder>pushButton</zorder>
|
||||
<zorder>pushButton_2</zorder>
|
||||
<zorder>dial_3</zorder>
|
||||
<zorder>dial_5</zorder>
|
||||
<zorder>dial_10</zorder>
|
||||
<zorder>dial_9</zorder>
|
||||
<zorder>dial_12</zorder>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_2">
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout">
|
||||
<item>
|
||||
<widget class="QLabel" name="label_8">
|
||||
<property name="text">
|
||||
<string>Rate Stabilization (inner loop)</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QFrame" name="frame_2">
|
||||
<property name="toolTip">
|
||||
<string>First, work on rate stabilization.</string>
|
||||
</property>
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::StyledPanel</enum>
|
||||
</property>
|
||||
<property name="frameShadow">
|
||||
<enum>QFrame::Raised</enum>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout" columnstretch="1,1,2,2,2">
|
||||
<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.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</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="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<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="1" column="3">
|
||||
<widget class="QDoubleSpinBox" name="rateRollKi">
|
||||
<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="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</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="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="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="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="0" rowspan="2">
|
||||
<widget class="QCheckBox" name="linkRateRP">
|
||||
<property name="text">
|
||||
<string>Link</string>
|
||||
</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="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="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>
|
||||
<widget class="QLabel" name="label_9">
|
||||
<property name="text">
|
||||
<string>Attitude Stabilization (outer loop)</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QFrame" name="frame_3">
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::StyledPanel</enum>
|
||||
</property>
|
||||
<property name="frameShadow">
|
||||
<enum>QFrame::Raised</enum>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_2" columnstretch="1,1,2,2,2">
|
||||
<item row="1" column="0" rowspan="2">
|
||||
<widget class="QCheckBox" name="linkAttitudeRP">
|
||||
<property name="text">
|
||||
<string>Link</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_16">
|
||||
<property name="text">
|
||||
<string>Roll</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" 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_18">
|
||||
<property name="text">
|
||||
<string>Yaw</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QDoubleSpinBox" name="rollKp">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QDoubleSpinBox" name="pitchKp">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QDoubleSpinBox" name="yawKp">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="3">
|
||||
<widget class="QDoubleSpinBox" name="rollKi">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="3">
|
||||
<widget class="QDoubleSpinBox" name="pitchKi">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="3">
|
||||
<widget class="QDoubleSpinBox" name="yawKi">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="4">
|
||||
<widget class="QDoubleSpinBox" name="rollILimit">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="4">
|
||||
<widget class="QDoubleSpinBox" name="pitchILimit">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="4">
|
||||
<widget class="QDoubleSpinBox" name="yawILimit">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" 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="0" 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="0" 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>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>40</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QCheckBox" name="realTimeUpdates">
|
||||
<property name="text">
|
||||
<string>Update in real time</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="tab_2">
|
||||
<attribute name="title">
|
||||
@ -647,6 +370,51 @@
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_2">
|
||||
<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="resetStabilizationToDefaults">
|
||||
<property name="text">
|
||||
<string>Reset to defaults</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="getStabilizationCurrent">
|
||||
<property name="text">
|
||||
<string>Get Current</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="saveStabilizationToRAM">
|
||||
<property name="text">
|
||||
<string>Save to RAM</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="saveStabilizationToSD">
|
||||
<property name="text">
|
||||
<string>Save to SD</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<resources/>
|
||||
|
||||
@ -1,86 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file mixercurvewidget.cpp
|
||||
* @author Edouard Lafargue Copyright (C) 2010.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup ConfigPlugin Config Plugin
|
||||
* @{
|
||||
* @brief A widget which displays an adjustable mixer curve
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include "vernierwidget.h"
|
||||
|
||||
#include <QtGui>
|
||||
#include <QDebug>
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* Initialize the widget
|
||||
*/
|
||||
VernierWidget::VernierWidget(QWidget *parent) : QWidget(parent)
|
||||
{
|
||||
|
||||
m_vernier = new Ui_VernierWidget();
|
||||
m_vernier->setupUi(this);
|
||||
|
||||
|
||||
curveMin=0.0;
|
||||
curveMax=1.0;
|
||||
|
||||
|
||||
}
|
||||
|
||||
VernierWidget::~VernierWidget()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
void VernierWidget::showEvent(QShowEvent *event)
|
||||
{
|
||||
Q_UNUSED(event)
|
||||
// Thit fitInView method should only be called now, once the
|
||||
// widget is shown, otherwise it cannot compute its values and
|
||||
// the result is usually a ahrsbargraph that is way too small.
|
||||
//fitInView(plot, Qt::KeepAspectRatio);
|
||||
|
||||
}
|
||||
|
||||
void VernierWidget::resizeEvent(QResizeEvent* event)
|
||||
{
|
||||
Q_UNUSED(event);
|
||||
//fitInView(plot, Qt::KeepAspectRatio);
|
||||
}
|
||||
|
||||
|
||||
void VernierWidget::setMin(double value)
|
||||
{
|
||||
curveMin = value;
|
||||
}
|
||||
void VernierWidget::setMax(double value)
|
||||
{
|
||||
curveMax = value;
|
||||
}
|
||||
void VernierWidget::setRange(double min, double max)
|
||||
{
|
||||
curveMin = min;
|
||||
curveMax = max;
|
||||
}
|
||||
@ -1,60 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file vernierwidget.h
|
||||
* @author Edouard Lafargue Copyright (C) 2010.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup ConfigPlugin Configuration Plugin
|
||||
* @{
|
||||
* @brief A widget which displays a coarse/fine control
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef VERNIERWIDGET_H_
|
||||
#define VERNIERWIDGET_H_
|
||||
|
||||
#include <QWidget>
|
||||
#include "ui_vernier.h"
|
||||
|
||||
class VernierWidget : public QWidget
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
VernierWidget(QWidget *parent = 0);
|
||||
~VernierWidget();
|
||||
void setMin(double value);
|
||||
void setMax(double value);
|
||||
void setRange(double min, double max);
|
||||
|
||||
signals:
|
||||
|
||||
private slots:
|
||||
|
||||
private:
|
||||
double curveMin;
|
||||
double curveMax;
|
||||
Ui_VernierWidget * m_vernier;
|
||||
|
||||
protected:
|
||||
void showEvent(QShowEvent *event);
|
||||
void resizeEvent(QResizeEvent *event);
|
||||
|
||||
|
||||
};
|
||||
#endif /* VERNIERWIDGET_H_ */
|
||||
Loading…
Reference in New Issue
Block a user