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Code Issues Releases Activity

Merge branch 'next' into revo-next

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This commit is contained in:
James Cotton 2012-05-28 11:25:40 -05:00
commit 4360d8adfd
11 changed files with 1642 additions and 2710 deletions
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3
flight/Modules/TxPID/txpid.c
View File

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

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

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

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

@ -1,894 +1,835 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>CameraStabilizationWidget</class>
<widget class="QWidget" name="CameraStabilizationWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>720</width>
<height>567</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<widget class="QScrollArea" name="scrollArea">
<property name="styleSheet">
<string notr="true">#groupBox_5,#groupBox{
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
font:bold;
}
QGroupBox::title {
subcontrol-origin: margin;
subcontrol-position: top center; /* position at the top center */
padding: 0 3px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1,
stop: 0 #FFOECE, stop: 1 #FFFFFF);
top: 5px;
}</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents_2">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>702</width>
<height>484</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QCheckBox" name="enableCameraStabilization">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="text">
<string>Enable CameraStabilization module</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_7">
<property name="text">
<string>After enabling the module, you must power cycle before using and configuring.</string>
</property>
</widget>
</item>
<item>
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="groupBox_5">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="title">
<string>Basic Settings (Stabilization)</string>
</property>
<layout class="QGridLayout" name="gridLayout_9">
<item row="3" column="3">
<widget class="QSpinBox" name="yawOutputRange">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Camera yaw angle for 100% output value, deg.
This value should be tuned for particular gimbal and servo. You also
have to define channel output range using Output configuration tab.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QSpinBox" name="pitchOutputRange">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Camera pitch angle for 100% output value, deg.
This value should be tuned for particular gimbal and servo. You also
have to define channel output range using Output configuration tab.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QSpinBox" name="rollOutputRange">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Camera roll angle for 100% output value, deg.
This value should be tuned for particular gimbal and servo. You also
have to define channel output range using Output configuration tab.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QComboBox" name="yawChannel">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Yaw output channel for camera gimbal</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="2" column="2">
<widget class="QComboBox" name="pitchChannel">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Pitch output channel for camera gimbal</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="rollChannel">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Roll output channel for camera gimbal</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_42">
<property name="text">
<string>Output Channel</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_43">
<property name="text">
<string>Output Range</string>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QLabel" name="label_44">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_45">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_46">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<spacer name="verticalSpacer_4">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="groupBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>204</height>
</size>
</property>
<property name="title">
<string>Advanced Settings (Control)</string>
</property>
<layout class="QGridLayout" name="gridLayout_8">
<item row="1" column="3">
<widget class="QLabel" name="label_32">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_33">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_34">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QComboBox" name="yawInputChannel">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input channel to control camera yaw
Don't forget to map this channel using Input configuration tab.</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="2" column="2">
<widget class="QComboBox" name="pitchInputChannel">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input channel to control camera pitch
Don't forget to map this channel using Input configuration tab.</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="rollInputChannel">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input channel to control camera roll
Don't forget to map this channel using Input configuration tab.</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_35">
<property name="text">
<string>Input Channel</string>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QComboBox" name="yawStabilizationMode">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Axis stabilization mode
Attitude: camera tracks level for the axis. Input controls the deflection.
AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
</property>
<item>
<property name="text">
<string>Attitude</string>
</property>
</item>
</widget>
</item>
<item row="4" column="3">
<widget class="QSpinBox" name="yawInputRange">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum camera yaw deflection for 100% input in Attitude mode, deg.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="5" column="3">
<widget class="QSpinBox" name="yawInputRate">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum camera yaw rate for 100% input in AxisLock mode, deg/s.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
<item row="6" column="3">
<widget class="QSpinBox" name="yawResponseTime">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input low-pass filter response time for yaw axis, ms.
This option smoothes the stick input. Zero value disables LPF.</string>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>150</number>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QComboBox" name="pitchStabilizationMode">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Axis stabilization mode
Attitude: camera tracks level for the axis. Input controls the deflection.
AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
</property>
<item>
<property name="text">
<string>Attitude</string>
</property>
</item>
</widget>
</item>
<item row="4" column="2">
<widget class="QSpinBox" name="pitchInputRange">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum camera pitch deflection for 100% input in Attitude mode, deg.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QSpinBox" name="pitchInputRate">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum camera pitch rate for 100% input in AxisLock mode, deg/s.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QSpinBox" name="pitchResponseTime">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input low-pass filter response time for pitch axis, ms.
This option smoothes the stick input. Zero value disables LPF.</string>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>150</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QComboBox" name="rollStabilizationMode">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Axis stabilization mode
Attitude: camera tracks level for the axis. Input controls the deflection.
AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
</property>
<item>
<property name="text">
<string>Attitude</string>
</property>
</item>
</widget>
</item>
<item row="4" column="1">
<widget class="QSpinBox" name="rollInputRange">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum camera roll deflection for 100% input in Attitude mode, deg.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QSpinBox" name="rollInputRate">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum camera roll rate for 100% input in AxisLock mode, deg/s.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QSpinBox" name="rollResponseTime">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input low-pass filter response time for roll axis, ms.
This option smoothes the stick input. Zero value disables LPF.</string>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>150</number>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_36">
<property name="text">
<string>MaxAxisLockRate</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_37">
<property name="text">
<string>Response Time</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_38">
<property name="text">
<string>Input Rate</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_39">
<property name="text">
<string>Input Range</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_40">
<property name="text">
<string>Stabilization Mode</string>
</property>
</widget>
</item>
<item row="7" column="2" colspan="2">
<widget class="QLabel" name="label_41">
<property name="text">
<string>(the same value for Roll, Pitch, Yaw)</string>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QDoubleSpinBox" name="MaxAxisLockRate">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Stick input deadband for all axes in AxisLock mode, deg/s.
When stick input is within the MaxAxisLockRate range, camera tracks
current attitude. Otherwise it starts moving according to input with
rate depending on input value.
If you have drift in your Tx controls, you may want to increase this
value.</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="2">
<spacer name="verticalSpacer_5">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="message">
<property name="text">
<string/>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="submitButtons">
<item>
<widget class="QFrame" name="frame">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="camerastabilizationHelp">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>32</width>
<height>32</height>
</size>
</property>
<property name="font">
<font>
<kerning>true</kerning>
</font>
</property>
<property name="text">
<string/>
</property>
<property name="icon">
<iconset resource="../coreplugin/core.qrc">
<normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
</property>
<property name="iconSize">
<size>
<width>32</width>
<height>32</height>
</size>
</property>
<property name="shortcut">
<string>Ctrl+S</string>
</property>
<property name="default">
<bool>false</bool>
</property>
<property name="flat">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="camerastabilizationResetToDefaults">
<property name="toolTip">
<string>Load default CameraStabilization settings except output channels
Loaded settings are not applied automatically. You have to click the
Apply or Save button afterwards.</string>
</property>
<property name="text">
<string>Reset To Defaults</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="camerastabilizationSaveRAM">
<property name="toolTip">
<string>Send settings to the board but do not save to the non-volatile memory</string>
</property>
<property name="text">
<string>Apply</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="camerastabilizationSaveSD">
<property name="toolTip">
<string>Send settings to the board and save to the non-volatile memory</string>
</property>
<property name="text">
<string>Save</string>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
<tabstops>
<tabstop>enableCameraStabilization</tabstop>
<tabstop>rollChannel</tabstop>
<tabstop>pitchChannel</tabstop>
<tabstop>yawChannel</tabstop>
<tabstop>rollOutputRange</tabstop>
<tabstop>pitchOutputRange</tabstop>
<tabstop>yawOutputRange</tabstop>
<tabstop>rollInputChannel</tabstop>
<tabstop>pitchInputChannel</tabstop>
<tabstop>yawInputChannel</tabstop>
<tabstop>rollStabilizationMode</tabstop>
<tabstop>pitchStabilizationMode</tabstop>
<tabstop>yawStabilizationMode</tabstop>
<tabstop>rollInputRange</tabstop>
<tabstop>pitchInputRange</tabstop>
<tabstop>yawInputRange</tabstop>
<tabstop>rollInputRate</tabstop>
<tabstop>pitchInputRate</tabstop>
<tabstop>yawInputRate</tabstop>
<tabstop>rollResponseTime</tabstop>
<tabstop>pitchResponseTime</tabstop>
<tabstop>yawResponseTime</tabstop>
<tabstop>MaxAxisLockRate</tabstop>
<tabstop>camerastabilizationHelp</tabstop>
<tabstop>camerastabilizationResetToDefaults</tabstop>
<tabstop>camerastabilizationSaveRAM</tabstop>
<tabstop>camerastabilizationSaveSD</tabstop>
<tabstop>scrollArea</tabstop>
</tabstops>
<resources>
<include location="../coreplugin/core.qrc"/>
</resources>
<connections/>
</ui>
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>CameraStabilizationWidget</class>
<widget class="QWidget" name="CameraStabilizationWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>720</width>
<height>739</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<widget class="QScrollArea" name="scrollArea">
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents_2">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>696</width>
<height>635</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QCheckBox" name="enableCameraStabilization">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="text">
<string>Enable CameraStabilization module</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_7">
<property name="text">
<string>After enabling the module, you must power cycle before using and configuring.</string>
</property>
</widget>
</item>
<item>
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="groupBox_5">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="title">
<string>Basic Settings (Stabilization)</string>
</property>
<layout class="QGridLayout" name="gridLayout_9">
<item row="2" column="3">
<widget class="QSpinBox" name="yawOutputRange">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Camera yaw angle for 100% output value, deg.
This value should be tuned for particular gimbal and servo. You also
have to define channel output range using Output configuration tab.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QSpinBox" name="pitchOutputRange">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Camera pitch angle for 100% output value, deg.
This value should be tuned for particular gimbal and servo. You also
have to define channel output range using Output configuration tab.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QSpinBox" name="rollOutputRange">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Camera roll angle for 100% output value, deg.
This value should be tuned for particular gimbal and servo. You also
have to define channel output range using Output configuration tab.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QComboBox" name="yawChannel">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Yaw output channel for camera gimbal</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="1" column="2">
<widget class="QComboBox" name="pitchChannel">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Pitch output channel for camera gimbal</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="rollChannel">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Roll output channel for camera gimbal</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_42">
<property name="text">
<string>Output Channel</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_43">
<property name="text">
<string>Output Range</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label_44">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_45">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_46">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>204</height>
</size>
</property>
<property name="title">
<string>Advanced Settings (Control)</string>
</property>
<layout class="QGridLayout" name="gridLayout_8">
<item row="0" column="3">
<widget class="QLabel" name="label_32">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_33">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_34">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QComboBox" name="yawInputChannel">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input channel to control camera yaw
Don't forget to map this channel using Input configuration tab.</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="1" column="2">
<widget class="QComboBox" name="pitchInputChannel">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input channel to control camera pitch
Don't forget to map this channel using Input configuration tab.</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="rollInputChannel">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input channel to control camera roll
Don't forget to map this channel using Input configuration tab.</string>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_35">
<property name="text">
<string>Input Channel</string>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QComboBox" name="yawStabilizationMode">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Axis stabilization mode
Attitude: camera tracks level for the axis. Input controls the deflection.
AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
</property>
<item>
<property name="text">
<string>Attitude</string>
</property>
</item>
</widget>
</item>
<item row="3" column="3">
<widget class="QSpinBox" name="yawInputRange">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum camera yaw deflection for 100% input in Attitude mode, deg.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QSpinBox" name="yawInputRate">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum camera yaw rate for 100% input in AxisLock mode, deg/s.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
<item row="5" column="3">
<widget class="QSpinBox" name="yawResponseTime">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input low-pass filter response time for yaw axis, ms.
This option smoothes the stick input. Zero value disables LPF.</string>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>150</number>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QComboBox" name="pitchStabilizationMode">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Axis stabilization mode
Attitude: camera tracks level for the axis. Input controls the deflection.
AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
</property>
<item>
<property name="text">
<string>Attitude</string>
</property>
</item>
</widget>
</item>
<item row="3" column="2">
<widget class="QSpinBox" name="pitchInputRange">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum camera pitch deflection for 100% input in Attitude mode, deg.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QSpinBox" name="pitchInputRate">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum camera pitch rate for 100% input in AxisLock mode, deg/s.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QSpinBox" name="pitchResponseTime">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input low-pass filter response time for pitch axis, ms.
This option smoothes the stick input. Zero value disables LPF.</string>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>150</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="rollStabilizationMode">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Axis stabilization mode
Attitude: camera tracks level for the axis. Input controls the deflection.
AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
</property>
<item>
<property name="text">
<string>Attitude</string>
</property>
</item>
</widget>
</item>
<item row="3" column="1">
<widget class="QSpinBox" name="rollInputRange">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum camera roll deflection for 100% input in Attitude mode, deg.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QSpinBox" name="rollInputRate">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum camera roll rate for 100% input in AxisLock mode, deg/s.</string>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QSpinBox" name="rollResponseTime">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input low-pass filter response time for roll axis, ms.
This option smoothes the stick input. Zero value disables LPF.</string>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>150</number>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_36">
<property name="text">
<string>MaxAxisLockRate</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_37">
<property name="text">
<string>Response Time</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_38">
<property name="text">
<string>Input Rate</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_39">
<property name="text">
<string>Input Range</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_40">
<property name="text">
<string>Stabilization Mode</string>
</property>
</widget>
</item>
<item row="6" column="2" colspan="2">
<widget class="QLabel" name="label_41">
<property name="text">
<string>(the same value for Roll, Pitch, Yaw)</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QDoubleSpinBox" name="MaxAxisLockRate">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Stick input deadband for all axes in AxisLock mode, deg/s.
When stick input is within the MaxAxisLockRate range, camera tracks
current attitude. Otherwise it starts moving according to input with
rate depending on input value.
If you have drift in your Tx controls, you may want to increase this
value.</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="message">
<property name="text">
<string/>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="submitButtons">
<item>
<widget class="QFrame" name="frame">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="camerastabilizationHelp">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>32</width>
<height>32</height>
</size>
</property>
<property name="font">
<font>
<kerning>true</kerning>
</font>
</property>
<property name="text">
<string/>
</property>
<property name="icon">
<iconset resource="../coreplugin/core.qrc">
<normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
</property>
<property name="iconSize">
<size>
<width>32</width>
<height>32</height>
</size>
</property>
<property name="shortcut">
<string>Ctrl+S</string>
</property>
<property name="default">
<bool>false</bool>
</property>
<property name="flat">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="camerastabilizationResetToDefaults">
<property name="toolTip">
<string>Load default CameraStabilization settings except output channels
Loaded settings are not applied automatically. You have to click the
Apply or Save button afterwards.</string>
</property>
<property name="text">
<string>Reset To Defaults</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="camerastabilizationSaveRAM">
<property name="toolTip">
<string>Send settings to the board but do not save to the non-volatile memory</string>
</property>
<property name="text">
<string>Apply</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="camerastabilizationSaveSD">
<property name="toolTip">
<string>Send settings to the board and save to the non-volatile memory</string>
</property>
<property name="text">
<string>Save</string>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
<tabstops>
<tabstop>enableCameraStabilization</tabstop>
<tabstop>rollChannel</tabstop>
<tabstop>pitchChannel</tabstop>
<tabstop>yawChannel</tabstop>
<tabstop>rollOutputRange</tabstop>
<tabstop>pitchOutputRange</tabstop>
<tabstop>yawOutputRange</tabstop>
<tabstop>rollInputChannel</tabstop>
<tabstop>pitchInputChannel</tabstop>
<tabstop>yawInputChannel</tabstop>
<tabstop>rollStabilizationMode</tabstop>
<tabstop>pitchStabilizationMode</tabstop>
<tabstop>yawStabilizationMode</tabstop>
<tabstop>rollInputRange</tabstop>
<tabstop>pitchInputRange</tabstop>
<tabstop>yawInputRange</tabstop>
<tabstop>rollInputRate</tabstop>
<tabstop>pitchInputRate</tabstop>
<tabstop>yawInputRate</tabstop>
<tabstop>rollResponseTime</tabstop>
<tabstop>pitchResponseTime</tabstop>
<tabstop>yawResponseTime</tabstop>
<tabstop>MaxAxisLockRate</tabstop>
<tabstop>camerastabilizationHelp</tabstop>
<tabstop>camerastabilizationResetToDefaults</tabstop>
<tabstop>camerastabilizationSaveRAM</tabstop>
<tabstop>camerastabilizationSaveSD</tabstop>
<tabstop>scrollArea</tabstop>
</tabstops>
<resources>
<include location="../coreplugin/core.qrc"/>
</resources>
<connections/>
</ui>

62
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
View File

@ -77,8 +77,6 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
firstUpdate = true;
connect(m_config->spinningArmed, SIGNAL(toggled(bool)), this, SLOT(setSpinningArmed(bool)));
// Connect the help button
connect(m_config->outputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
addWidget(m_config->cb_outputRate4);
@ -196,24 +194,6 @@ void ConfigOutputWidget::assignOutputChannel(UAVDataObject *obj, QString str)
outputChannelForm->setAssignment(str);
}
/**
* Set the "Spin motors at neutral when armed" flag in ActuatorSettings
*/
void ConfigOutputWidget::setSpinningArmed(bool val)
{
ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
Q_ASSERT(actuatorSettings);
ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
if(val)
actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_TRUE;
else
actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
// Apply settings
actuatorSettings->setData(actuatorSettingsData);
}
/**
Sends the channel value to the UAV to move the servo.
Returns immediately if we are not in testing mode
@ -347,26 +327,36 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject *)
*/
void ConfigOutputWidget::updateObjectsFromWidgets()
{
emit updateObjectsFromWidgetsRequested();
ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
Q_ASSERT(actuatorSettings);
ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
if(actuatorSettings) {
ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
// Set channel ranges
QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
actuatorSettingsData.ChannelMax[outputChannelForm->index()] = outputChannelForm->max();
actuatorSettingsData.ChannelMin[outputChannelForm->index()] = outputChannelForm->min();
actuatorSettingsData.ChannelNeutral[outputChannelForm->index()] = outputChannelForm->neutral();
// Set channel ranges
QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
actuatorSettingsData.ChannelMax[outputChannelForm->index()] = outputChannelForm->max();
actuatorSettingsData.ChannelMin[outputChannelForm->index()] = outputChannelForm->min();
actuatorSettingsData.ChannelNeutral[outputChannelForm->index()] = outputChannelForm->neutral();
}
// Set update rates
actuatorSettingsData.ChannelUpdateFreq[0] = m_config->cb_outputRate1->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[1] = m_config->cb_outputRate2->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[2] = m_config->cb_outputRate3->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[3] = m_config->cb_outputRate4->currentText().toUInt();
if(m_config->spinningArmed->isChecked() == true)
actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_TRUE;
else
actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
// Apply settings
actuatorSettings->setData(actuatorSettingsData);
}
// Set update rates
actuatorSettingsData.ChannelUpdateFreq[0] = m_config->cb_outputRate1->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[1] = m_config->cb_outputRate2->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[2] = m_config->cb_outputRate3->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[3] = m_config->cb_outputRate4->currentText().toUInt();
// Apply settings
actuatorSettings->setData(actuatorSettingsData);
}
void ConfigOutputWidget::openHelp()

1
ground/openpilotgcs/src/plugins/config/configoutputwidget.h
View File

@ -73,7 +73,6 @@ private slots:
void updateObjectsFromWidgets();
void runChannelTests(bool state);
void sendChannelTest(int index, int value);
void setSpinningArmed(bool val);
void openHelp();
protected:
void enableControls(bool enable);

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

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

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

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

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

@ -495,29 +495,13 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-114</y>
<width>673</width>
<height>880</height>
<height>790</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_23">
<item row="0" column="3">
<spacer name="verticalSpacer_6">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="1">
<item row="0" column="0">
<spacer name="horizontalSpacer_15">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@ -533,7 +517,7 @@
</property>
</spacer>
</item>
<item row="1" column="2">
<item row="0" column="1">
<widget class="QLabel" name="label_137">
<property name="minimumSize">
<size>
@ -541,19 +525,12 @@
<height>16</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Rate Stabilization (Inner Loop)</string>
</property>
</widget>
</item>
<item row="2" column="1" colspan="4">
<item row="1" column="0" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_15">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -573,530 +550,6 @@
<height>181</height>
</size>
</property>
<property name="palette">
<palette>
<active>
<colorrole role="WindowText">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</colorrole>
<colorrole role="Button">
<brush brushstyle="LinearGradientPattern">
<gradient startx="0.507000000000000" starty="0.869318000000000" endx="0.507000000000000" endy="0.096590900000000" type="LinearGradient" spread="PadSpread" coordinatemode="ObjectBoundingMode">
<gradientstop position="0.000000000000000">
<color alpha="255">
<red>243</red>
<green>243</green>
<blue>243</blue>
</color>
</gradientstop>
<gradientstop position="1.000000000000000">
<color alpha="255">
<red>250</red>
<green>250</green>
<blue>250</blue>
</color>
</gradientstop>
</gradient>
</brush>
</colorrole>
<colorrole role="Light">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>255</blue>
</color>
</brush>
</colorrole>
<colorrole role="Midlight">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>251</red>
<green>251</green>
<blue>251</blue>
</color>
</brush>
</colorrole>
<colorrole role="Dark">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>124</red>
<green>124</green>
<blue>124</blue>
</color>
</brush>
</colorrole>
<colorrole role="Mid">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>165</red>
<green>165</green>
<blue>165</blue>
</color>
</brush>
</colorrole>
<colorrole role="Text">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</colorrole>
<colorrole role="BrightText">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>255</blue>
</color>
</brush>
</colorrole>
<colorrole role="ButtonText">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</colorrole>
<colorrole role="Base">
<brush brushstyle="LinearGradientPattern">
<gradient startx="0.507000000000000" starty="0.869318000000000" endx="0.507000000000000" endy="0.096590900000000" type="LinearGradient" spread="PadSpread" coordinatemode="ObjectBoundingMode">
<gradientstop position="0.000000000000000">
<color alpha="255">
<red>243</red>
<green>243</green>
<blue>243</blue>
</color>
</gradientstop>
<gradientstop position="1.000000000000000">
<color alpha="255">
<red>250</red>
<green>250</green>
<blue>250</blue>
</color>
</gradientstop>
</gradient>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="LinearGradientPattern">
<gradient startx="0.507000000000000" starty="0.869318000000000" endx="0.507000000000000" endy="0.096590900000000" type="LinearGradient" spread="PadSpread" coordinatemode="ObjectBoundingMode">
<gradientstop position="0.000000000000000">
<color alpha="255">
<red>243</red>
<green>243</green>
<blue>243</blue>
</color>
</gradientstop>
<gradientstop position="1.000000000000000">
<color alpha="255">
<red>250</red>
<green>250</green>
<blue>250</blue>
</color>
</gradientstop>
</gradient>
</brush>
</colorrole>
<colorrole role="Shadow">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</colorrole>
<colorrole role="AlternateBase">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>251</red>
<green>251</green>
<blue>251</blue>
</color>
</brush>
</colorrole>
<colorrole role="ToolTipBase">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>220</blue>
</color>
</brush>
</colorrole>
<colorrole role="ToolTipText">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</colorrole>
</active>
<inactive>
<colorrole role="WindowText">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</colorrole>
<colorrole role="Button">
<brush brushstyle="LinearGradientPattern">
<gradient startx="0.507000000000000" starty="0.869318000000000" endx="0.507000000000000" endy="0.096590900000000" type="LinearGradient" spread="PadSpread" coordinatemode="ObjectBoundingMode">
<gradientstop position="0.000000000000000">
<color alpha="255">
<red>243</red>
<green>243</green>
<blue>243</blue>
</color>
</gradientstop>
<gradientstop position="1.000000000000000">
<color alpha="255">
<red>250</red>
<green>250</green>
<blue>250</blue>
</color>
</gradientstop>
</gradient>
</brush>
</colorrole>
<colorrole role="Light">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>255</blue>
</color>
</brush>
</colorrole>
<colorrole role="Midlight">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>251</red>
<green>251</green>
<blue>251</blue>
</color>
</brush>
</colorrole>
<colorrole role="Dark">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>124</red>
<green>124</green>
<blue>124</blue>
</color>
</brush>
</colorrole>
<colorrole role="Mid">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>165</red>
<green>165</green>
<blue>165</blue>
</color>
</brush>
</colorrole>
<colorrole role="Text">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</colorrole>
<colorrole role="BrightText">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>255</blue>
</color>
</brush>
</colorrole>
<colorrole role="ButtonText">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</colorrole>
<colorrole role="Base">
<brush brushstyle="LinearGradientPattern">
<gradient startx="0.507000000000000" starty="0.869318000000000" endx="0.507000000000000" endy="0.096590900000000" type="LinearGradient" spread="PadSpread" coordinatemode="ObjectBoundingMode">
<gradientstop position="0.000000000000000">
<color alpha="255">
<red>243</red>
<green>243</green>
<blue>243</blue>
</color>
</gradientstop>
<gradientstop position="1.000000000000000">
<color alpha="255">
<red>250</red>
<green>250</green>
<blue>250</blue>
</color>
</gradientstop>
</gradient>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="LinearGradientPattern">
<gradient startx="0.507000000000000" starty="0.869318000000000" endx="0.507000000000000" endy="0.096590900000000" type="LinearGradient" spread="PadSpread" coordinatemode="ObjectBoundingMode">
<gradientstop position="0.000000000000000">
<color alpha="255">
<red>243</red>
<green>243</green>
<blue>243</blue>
</color>
</gradientstop>
<gradientstop position="1.000000000000000">
<color alpha="255">
<red>250</red>
<green>250</green>
<blue>250</blue>
</color>
</gradientstop>
</gradient>
</brush>
</colorrole>
<colorrole role="Shadow">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</colorrole>
<colorrole role="AlternateBase">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>251</red>
<green>251</green>
<blue>251</blue>
</color>
</brush>
</colorrole>
<colorrole role="ToolTipBase">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>220</blue>
</color>
</brush>
</colorrole>
<colorrole role="ToolTipText">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>0</red>
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<red>243</red>
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<red>165</red>
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<red>255</red>
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<red>124</red>
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<gradient startx="0.507000000000000" starty="0.869318000000000" endx="0.507000000000000" endy="0.096590900000000" type="LinearGradient" spread="PadSpread" coordinatemode="ObjectBoundingMode">
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<color alpha="255">
<red>243</red>
<green>243</green>
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<gradientstop position="1.000000000000000">
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<red>248</red>
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<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>220</blue>
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<brush brushstyle="SolidPattern">
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<red>0</red>
<green>0</green>
<blue>0</blue>
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</disabled>
</palette>
</property>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">#RateStabilizationGroup_15{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
}</string>
</property>
<property name="title">
<string/>
</property>
@ -3966,23 +3419,7 @@ value as the Kp.</string>
</layout>
</widget>
</item>
<item row="3" column="2">
<spacer name="verticalSpacer_7">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>15</height>
</size>
</property>
</spacer>
</item>
<item row="4" column="1">
<item row="2" column="0">
<spacer name="horizontalSpacer_18">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@ -3998,7 +3435,7 @@ value as the Kp.</string>
</property>
</spacer>
</item>
<item row="4" column="2">
<item row="2" column="1">
<widget class="QLabel" name="label_149">
<property name="minimumSize">
<size>
@ -4006,19 +3443,12 @@ value as the Kp.</string>
<height>16</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Attitude Stabilization (Outer Loop)</string>
</property>
</widget>
</item>
<item row="5" column="1" colspan="4">
<item row="3" column="0" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_17">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -4555,13 +3985,6 @@ value as the Kp.</string>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">#RateStabilizationGroup_17{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
}</string>
</property>
<property name="title">
<string/>
</property>
@ -4604,26 +4027,14 @@ border-radius: 3;
</property>
</widget>
</item>
<item row="0" column="3">
<item row="0" column="4">
<widget class="QPushButton" name="pushButton_22">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>81</width>
<height>28</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>81</width>
<height>28</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">QPushButton {
border: 1px outset #999;
@ -4656,7 +4067,7 @@ border-radius: 4;
</property>
</widget>
</item>
<item row="1" column="0" colspan="4">
<item row="1" column="0" colspan="5">
<widget class="QGroupBox" name="RateStabilizationGroup_18">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -7335,26 +6746,14 @@ border-radius: 5;</string>
</layout>
</widget>
</item>
<item row="0" column="2">
<item row="0" column="3">
<widget class="QPushButton" name="pushButton_21">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>51</width>
<height>28</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>51</width>
<height>28</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">QPushButton {
border: 1px outset #999;
@ -7387,42 +6786,23 @@ border-radius: 4;
</property>
</widget>
</item>
<item row="0" column="2">
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item row="5" column="5">
<spacer name="horizontalSpacer_20">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>2</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="6" column="2">
<spacer name="verticalSpacer_8">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>15</height>
</size>
</property>
</spacer>
</item>
<item row="7" column="1">
<item row="4" column="0">
<spacer name="horizontalSpacer_21">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@ -7438,7 +6818,7 @@ border-radius: 4;
</property>
</spacer>
</item>
<item row="7" column="2">
<item row="4" column="1">
<widget class="QLabel" name="label_161">
<property name="minimumSize">
<size>
@ -7446,19 +6826,12 @@ border-radius: 4;
<height>16</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Stick Range and Limits</string>
</property>
</widget>
</item>
<item row="8" column="1" colspan="4">
<item row="5" column="0" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_19">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -7992,16 +7365,6 @@ border-radius: 4;
</disabled>
</palette>
</property>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">#RateStabilizationGroup_19{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
}</string>
</property>
<property name="title">
<string/>
</property>
@ -8019,7 +7382,7 @@ border-radius: 3;
</property>
<property name="sizeHint" stdset="0">
<size>
<width>10</width>
<width>1000</width>
<height>10</height>
</size>
</property>
@ -8027,24 +7390,12 @@ border-radius: 3;
</item>
<item row="0" column="1">
<widget class="QPushButton" name="pushButton_23">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>51</width>
<height>28</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>51</width>
<height>28</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">QPushButton {
border: 1px outset #999;
@ -8091,12 +7442,6 @@ border-radius: 4;
<height>28</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>81</width>
<height>28</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">QPushButton {
border: 1px outset #999;
@ -11063,23 +10408,7 @@ Attitude</string>
</layout>
</widget>
</item>
<item row="9" column="3">
<spacer name="verticalSpacer_9">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
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<enum>QSizePolicy::Fixed</enum>
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<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
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</spacer>
</item>
<item row="11" column="4">
<item row="7" column="2">
<spacer name="verticalSpacer_10">
<property name="orientation">
<enum>Qt::Vertical</enum>
@ -11095,23 +10424,7 @@ Attitude</string>
</property>
</spacer>
</item>
<item row="2" column="0">
<spacer name="horizontalSpacer_16">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>2</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="10" column="1" colspan="4">
<item row="6" column="0" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_21">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -11648,13 +10961,6 @@ Attitude</string>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">#RateStabilizationGroup_21{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
}</string>
</property>
<property name="title">
<string/>
</property>
@ -11734,29 +11040,12 @@ automatically every 300ms, which will help for fast tuning.</string>
</item>
<item row="1" column="2">
<widget class="QPushButton" name="stabilizationReloadBoardData_6">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>120</width>
<height>28</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>120</width>
<height>28</height>
</size>
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>Reloads the saved settings into GCS.
Useful if you have accidentally changed some settings.</string>
@ -11795,29 +11084,12 @@ border-radius: 4;
</item>
<item row="1" column="3">
<widget class="QPushButton" name="saveStabilizationToRAM_6">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
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<property name="minimumSize">
<size>
<width>60</width>
<height>28</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>60</width>
<height>28</height>
</size>
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>Send settings to the board but do not save to the non-volatile memory</string>
</property>
@ -11854,29 +11126,12 @@ border-radius: 4;
</item>
<item row="1" column="4">
<widget class="QPushButton" name="saveStabilizationToSD_6">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
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<property name="minimumSize">
<size>
<width>60</width>
<height>28</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>60</width>
<height>28</height>
</size>
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>Send settings to the board and save to the non-volatile memory</string>
</property>
@ -11939,27 +11194,11 @@ border-radius: 4;
<x>0</x>
<y>0</y>
<width>673</width>
<height>1079</height>
<height>981</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_15">
<item row="0" column="2">
<spacer name="verticalSpacer_11">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>25</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="1">
<item row="0" column="0">
<spacer name="horizontalSpacer_25">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@ -11975,7 +11214,7 @@ border-radius: 4;
</property>
</spacer>
</item>
<item row="1" column="2" colspan="2">
<item row="0" column="1" colspan="2">
<widget class="QLabel" name="label_41">
<property name="minimumSize">
<size>
@ -11983,19 +11222,12 @@ border-radius: 4;
<height>16</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Rate Stabization Coefficients (Inner Loop)</string>
</property>
</widget>
</item>
<item row="2" column="1" rowspan="2" colspan="3">
<item row="1" column="0" rowspan="2" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_8">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -12529,16 +11761,6 @@ border-radius: 4;
</disabled>
</palette>
</property>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">#RateStabilizationGroup_8{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
}</string>
</property>
<property name="title">
<string/>
</property>
@ -15474,55 +14696,7 @@ value as the Kp.</string>
</layout>
</widget>
</item>
<item row="2" column="4">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>2</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="3" column="0">
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>2</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="4" column="2">
<spacer name="verticalSpacer_12">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>15</height>
</size>
</property>
</spacer>
</item>
<item row="5" column="1">
<spacer name="horizontalSpacer_12">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@ -15538,7 +14712,7 @@ value as the Kp.</string>
</property>
</spacer>
</item>
<item row="5" column="2" colspan="2">
<item row="3" column="1" colspan="2">
<widget class="QLabel" name="label_35">
<property name="minimumSize">
<size>
@ -15546,19 +14720,12 @@ value as the Kp.</string>
<height>16</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Attitude Stabization Coefficients (Outer Loop)</string>
</property>
</widget>
</item>
<item row="6" column="1" colspan="3">
<item row="4" column="0" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_4">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -16095,13 +15262,6 @@ value as the Kp.</string>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">#RateStabilizationGroup_4{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
}</string>
</property>
<property name="title">
<string/>
</property>
@ -16112,85 +15272,6 @@ border-radius: 3;
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_4">
<item row="0" column="0">
<spacer name="horizontalSpacer_7">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="1">
<widget class="QCheckBox" name="checkBox_2">
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Link Roll and Pitch</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QPushButton" name="pushButton_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>81</width>
<height>28</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>81</width>
<height>28</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">QPushButton {
border: 1px outset #999;
border-radius: 5;
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
}
QPushButton:pressed {
border-style: inset;
background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
}
QPushButton:hover {
border: 1px outset #999;
border-color: rgb(83, 83, 83);
border-radius: 4;
}</string>
</property>
<property name="text">
<string>Default</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>button:default</string>
<string>buttongroup:5</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="0" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_5">
<property name="sizePolicy">
@ -18839,26 +17920,89 @@ border-radius: 5;</string>
</layout>
</widget>
</item>
<item row="0" column="0">
<spacer name="horizontalSpacer_7">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="2">
<widget class="QPushButton" name="pushButton_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>81</width>
<height>28</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>81</width>
<height>28</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">QPushButton {
border: 1px outset #999;
border-radius: 5;
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
}
QPushButton:pressed {
border-style: inset;
background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
}
QPushButton:hover {
border: 1px outset #999;
border-color: rgb(83, 83, 83);
border-radius: 4;
}</string>
</property>
<property name="text">
<string>Default</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>button:default</string>
<string>buttongroup:5</string>
</stringlist>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QCheckBox" name="checkBox_2">
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Link Roll and Pitch</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="7" column="2">
<spacer name="verticalSpacer_13">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>15</height>
</size>
</property>
</spacer>
</item>
<item row="8" column="1">
<item row="5" column="0">
<spacer name="horizontalSpacer_13">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@ -18874,7 +18018,7 @@ border-radius: 5;</string>
</property>
</spacer>
</item>
<item row="8" column="2" colspan="2">
<item row="5" column="1" colspan="2">
<widget class="QLabel" name="label_36">
<property name="minimumSize">
<size>
@ -18882,19 +18026,12 @@ border-radius: 5;</string>
<height>16</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Stick Range and Limits</string>
</property>
</widget>
</item>
<item row="9" column="1" colspan="3">
<item row="6" column="0" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_6">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -19428,16 +18565,6 @@ border-radius: 5;</string>
</disabled>
</palette>
</property>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">#RateStabilizationGroup_6{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
}</string>
</property>
<property name="title">
<string/>
</property>
@ -19455,7 +18582,7 @@ border-radius: 3;
</property>
<property name="sizeHint" stdset="0">
<size>
<width>10</width>
<width>10000</width>
<height>10</height>
</size>
</property>
@ -19463,24 +18590,12 @@ border-radius: 3;
</item>
<item row="0" column="1">
<widget class="QPushButton" name="pushButton_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>81</width>
<height>28</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>81</width>
<height>28</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">QPushButton {
border: 1px outset #999;
@ -22192,23 +21307,7 @@ rate(deg/s)</string>
</layout>
</widget>
</item>
<item row="10" column="3">
<spacer name="verticalSpacer_14">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="11" column="1">
<item row="7" column="0">
<spacer name="horizontalSpacer_41">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@ -22224,7 +21323,7 @@ rate(deg/s)</string>
</property>
</spacer>
</item>
<item row="11" column="2" colspan="2">
<item row="7" column="1" colspan="2">
<widget class="QLabel" name="label_45">
<property name="minimumSize">
<size>
@ -22232,26 +21331,13 @@ rate(deg/s)</string>
<height>16</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Sensor Tunning</string>
</property>
</widget>
</item>
<item row="12" column="1" colspan="3">
<item row="8" column="0" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_23">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
@ -22781,13 +21867,6 @@ rate(deg/s)</string>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">#RateStabilizationGroup_23{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
}</string>
</property>
<property name="title">
<string/>
</property>
@ -25118,23 +24197,7 @@ border-radius: 5;</string>
</layout>
</widget>
</item>
<item row="13" column="1" colspan="2">
<spacer name="verticalSpacer_15">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="14" column="1" colspan="3">
<item row="9" column="0" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_22">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -25671,13 +24734,6 @@ border-radius: 5;</string>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">#RateStabilizationGroup_22{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
}</string>
</property>
<property name="title">
<string/>
</property>
@ -25724,13 +24780,6 @@ border-radius: 3;
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="toolTip">
<string>If you check this, the GCS will udpate the stabilization factors
automatically every 300ms, which will help for fast tuning.</string>
@ -25776,11 +24825,6 @@ automatically every 300ms, which will help for fast tuning.</string>
<height>28</height>
</size>
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>Send settings to the board but do not save to the non-volatile memory</string>
</property>
@ -25835,11 +24879,6 @@ border-radius: 4;
<height>28</height>
</size>
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>Send settings to the board and save to the non-volatile memory</string>
</property>

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

@ -1,647 +1,620 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>TxPIDWidget</class>
<widget class="QWidget" name="TxPIDWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>720</width>
<height>567</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<widget class="QScrollArea" name="scrollArea">
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents_2">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>702</width>
<height>489</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QCheckBox" name="TxPIDEnable">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>This module will periodically update values of stabilization PID settings
depending on configured input control channels. New values of stabilization
settings are not saved to flash, but updated in RAM. It is expected that the
module will be enabled only for tuning. When desired values are found, they
can be read via GCS and saved permanently. Then this module should be
disabled again.
Up to 3 separate PID options (or option pairs) can be selected and updated.</string>
</property>
<property name="text">
<string>Enable TxPID module</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_7">
<property name="text">
<string>After enabling the module, you must power cycle before using and configuring.</string>
</property>
</widget>
</item>
<item>
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="groupBox_6">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">#groupBox_6{
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
font:bold;
}
QGroupBox::title {
subcontrol-origin: margin;
subcontrol-position: top center; /* position at the top center */
padding: 0 3px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1,
stop: 0 #FFOECE, stop: 1 #FFFFFF);
top: 5px;
}</string>
</property>
<property name="title">
<string>Module Settings</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="1" column="1">
<widget class="QLabel" name="label_51">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>PID option</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_50">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Control Source</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QLabel" name="label_49">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Min</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="4">
<widget class="QLabel" name="label">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Max</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_47">
<property name="text">
<string>Instance 1</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="PID1">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select PID option or option pair to update.
Set to Disabled if not used.</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QComboBox" name="Input1">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select input used as a control source for this instance.
It can be one of Accessory channels or Throttle channel.
If Accessory channel is chosen then its range [0..1] will be mapped
to PID range [Min..Max] defined for this instance.
If Throttle channel is chosen then Throttle range [Min..Max] will
be mapped to PID range [Min..Max] defined for this instance. If
Throttle is out of bounds then PID Min and Max values will be used
accordingly.
Note that it is possible to set PID Min &gt; Max. In that case increasing
control input value will decrease the PID option value. This can be
used, for instance, to decrease PID value when increasing Throttle.</string>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QDoubleSpinBox" name="MinPID1">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Minimum PID value mapped to Accessory channel = 0 or
Throttle channel lesser or equal to Throttle Min value.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QDoubleSpinBox" name="MaxPID1">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum PID value mapped to Accessory channel = 1 or
Throttle channel greater or equal to Throttle Max value.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_48">
<property name="text">
<string>Instance 2</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QComboBox" name="PID2">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select PID option or option pair to update.
Set to Disabled if not used.</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QComboBox" name="Input2">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select input used as a control source for this instance.
It can be one of Accessory channels or Throttle channel.
If Accessory channel is chosen then its range [0..1] will be mapped
to PID range [Min..Max] defined for this instance.
If Throttle channel is chosen then Throttle range [Min..Max] will
be mapped to PID range [Min..Max] defined for this instance. If
Throttle is out of bounds then PID Min and Max values will be used
accordingly.
Note that it is possible to set PID Min &gt; Max. In that case increasing
control input value will decrease the PID option value. This can be
used, for instance, to decrease PID value when increasing Throttle.</string>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QDoubleSpinBox" name="MinPID2">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Minimum PID value mapped to Accessory channel = 0 or
Throttle channel lesser or equal to Throttle Min value.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="3" column="4">
<widget class="QDoubleSpinBox" name="MaxPID2">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum PID value mapped to Accessory channel = 1 or
Throttle channel greater or equal to Throttle Max value.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_52">
<property name="text">
<string>Instance 3</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QComboBox" name="PID3">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select PID option or option pair to update.
Set to Disabled if not used.</string>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QComboBox" name="Input3">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select input used as a control source for this instance.
It can be one of Accessory channels or Throttle channel.
If Accessory channel is chosen then its range [0..1] will be mapped
to PID range [Min..Max] defined for this instance.
If Throttle channel is chosen then Throttle range [Min..Max] will
be mapped to PID range [Min..Max] defined for this instance. If
Throttle is out of bounds then PID Min and Max values will be used
accordingly.
Note that it is possible to set PID Min &gt; Max. In that case increasing
control input value will decrease the PID option value. This can be
used, for instance, to decrease PID value when increasing Throttle.</string>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QDoubleSpinBox" name="MinPID3">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Minimum PID value mapped to Accessory channel = 0 or
Throttle channel lesser or equal to Throttle Min value.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="4" column="4">
<widget class="QDoubleSpinBox" name="MaxPID3">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum PID value mapped to Accessory channel = 1 or
Throttle channel greater or equal to Throttle Max value.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Update Mode</string>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QComboBox" name="UpdateMode">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>PID values update mode which can be set to:
- Never: this disables PID updates (but module still will be run if enabled),
- When Armed: PID updated only when system is armed,
- Always: PID updated always regardless of arm state.
Since the GCS updates GUI PID values in real time on change, could be
tricky to change other PID values from the GUI if the module is enabled
and constantly updates stabilization settings object. As a workaround,
this option can be used to temporarily disable updates or enable them
only when system is armed without disabling the module.</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>Throttle Range</string>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QDoubleSpinBox" name="ThrottleMin">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Throttle channel lower bound mapped to PID Min value</string>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QDoubleSpinBox" name="ThrottleMax">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Throttle channel upper bound mapped to PID Max value</string>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_4">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Min</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="label_5">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Max</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<spacer name="verticalSpacer_4">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="5" column="1">
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="message">
<property name="text">
<string/>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="submitButtons">
<item>
<widget class="QFrame" name="frame">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="Apply">
<property name="toolTip">
<string>Send settings to the board but do not save to the non-volatile memory</string>
</property>
<property name="text">
<string>Apply</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="Save">
<property name="toolTip">
<string>Send settings to the board and save to the non-volatile memory</string>
</property>
<property name="text">
<string>Save</string>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
<tabstops>
<tabstop>TxPIDEnable</tabstop>
<tabstop>Apply</tabstop>
<tabstop>Save</tabstop>
<tabstop>scrollArea</tabstop>
<tabstop>PID1</tabstop>
<tabstop>Input1</tabstop>
<tabstop>MinPID1</tabstop>
<tabstop>MaxPID1</tabstop>
<tabstop>PID2</tabstop>
<tabstop>Input2</tabstop>
<tabstop>MinPID2</tabstop>
<tabstop>MaxPID2</tabstop>
<tabstop>PID3</tabstop>
<tabstop>Input3</tabstop>
<tabstop>MinPID3</tabstop>
<tabstop>MaxPID3</tabstop>
<tabstop>ThrottleMin</tabstop>
<tabstop>ThrottleMax</tabstop>
<tabstop>UpdateMode</tabstop>
</tabstops>
<resources/>
<connections/>
</ui>
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>TxPIDWidget</class>
<widget class="QWidget" name="TxPIDWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>720</width>
<height>567</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<widget class="QScrollArea" name="scrollArea">
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents_2">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>696</width>
<height>475</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QCheckBox" name="TxPIDEnable">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>This module will periodically update values of stabilization PID settings
depending on configured input control channels. New values of stabilization
settings are not saved to flash, but updated in RAM. It is expected that the
module will be enabled only for tuning. When desired values are found, they
can be read via GCS and saved permanently. Then this module should be
disabled again.
Up to 3 separate PID options (or option pairs) can be selected and updated.</string>
</property>
<property name="text">
<string>Enable TxPID module</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_7">
<property name="text">
<string>After enabling the module, you must power cycle before using and configuring.</string>
</property>
</widget>
</item>
<item>
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="groupBox_6">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="title">
<string>Module Settings</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="1" column="1">
<widget class="QLabel" name="label_51">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>PID option</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_50">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Control Source</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QLabel" name="label_49">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Min</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="4">
<widget class="QLabel" name="label">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Max</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_47">
<property name="text">
<string>Instance 1</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="PID1">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select PID option or option pair to update.
Set to Disabled if not used.</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QComboBox" name="Input1">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select input used as a control source for this instance.
It can be one of Accessory channels or Throttle channel.
If Accessory channel is chosen then its range [0..1] will be mapped
to PID range [Min..Max] defined for this instance.
If Throttle channel is chosen then Throttle range [Min..Max] will
be mapped to PID range [Min..Max] defined for this instance. If
Throttle is out of bounds then PID Min and Max values will be used
accordingly.
Note that it is possible to set PID Min &gt; Max. In that case increasing
control input value will decrease the PID option value. This can be
used, for instance, to decrease PID value when increasing Throttle.</string>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QDoubleSpinBox" name="MinPID1">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Minimum PID value mapped to Accessory channel = 0 or
Throttle channel lesser or equal to Throttle Min value.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QDoubleSpinBox" name="MaxPID1">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum PID value mapped to Accessory channel = 1 or
Throttle channel greater or equal to Throttle Max value.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_48">
<property name="text">
<string>Instance 2</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QComboBox" name="PID2">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select PID option or option pair to update.
Set to Disabled if not used.</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QComboBox" name="Input2">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select input used as a control source for this instance.
It can be one of Accessory channels or Throttle channel.
If Accessory channel is chosen then its range [0..1] will be mapped
to PID range [Min..Max] defined for this instance.
If Throttle channel is chosen then Throttle range [Min..Max] will
be mapped to PID range [Min..Max] defined for this instance. If
Throttle is out of bounds then PID Min and Max values will be used
accordingly.
Note that it is possible to set PID Min &gt; Max. In that case increasing
control input value will decrease the PID option value. This can be
used, for instance, to decrease PID value when increasing Throttle.</string>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QDoubleSpinBox" name="MinPID2">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Minimum PID value mapped to Accessory channel = 0 or
Throttle channel lesser or equal to Throttle Min value.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="3" column="4">
<widget class="QDoubleSpinBox" name="MaxPID2">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum PID value mapped to Accessory channel = 1 or
Throttle channel greater or equal to Throttle Max value.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_52">
<property name="text">
<string>Instance 3</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QComboBox" name="PID3">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select PID option or option pair to update.
Set to Disabled if not used.</string>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QComboBox" name="Input3">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select input used as a control source for this instance.
It can be one of Accessory channels or Throttle channel.
If Accessory channel is chosen then its range [0..1] will be mapped
to PID range [Min..Max] defined for this instance.
If Throttle channel is chosen then Throttle range [Min..Max] will
be mapped to PID range [Min..Max] defined for this instance. If
Throttle is out of bounds then PID Min and Max values will be used
accordingly.
Note that it is possible to set PID Min &gt; Max. In that case increasing
control input value will decrease the PID option value. This can be
used, for instance, to decrease PID value when increasing Throttle.</string>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QDoubleSpinBox" name="MinPID3">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Minimum PID value mapped to Accessory channel = 0 or
Throttle channel lesser or equal to Throttle Min value.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="4" column="4">
<widget class="QDoubleSpinBox" name="MaxPID3">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Maximum PID value mapped to Accessory channel = 1 or
Throttle channel greater or equal to Throttle Max value.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Update Mode</string>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QComboBox" name="UpdateMode">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>PID values update mode which can be set to:
- Never: this disables PID updates (but module still will be run if enabled),
- When Armed: PID updated only when system is armed,
- Always: PID updated always regardless of arm state.
Since the GCS updates GUI PID values in real time on change, could be
tricky to change other PID values from the GUI if the module is enabled
and constantly updates stabilization settings object. As a workaround,
this option can be used to temporarily disable updates or enable them
only when system is armed without disabling the module.</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>Throttle Range</string>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QDoubleSpinBox" name="ThrottleMin">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Throttle channel lower bound mapped to PID Min value</string>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QDoubleSpinBox" name="ThrottleMax">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Throttle channel upper bound mapped to PID Max value</string>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_4">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Min</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="label_5">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Max</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="5" column="1">
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="message">
<property name="text">
<string/>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="submitButtons">
<item>
<widget class="QFrame" name="frame">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="Apply">
<property name="toolTip">
<string>Send settings to the board but do not save to the non-volatile memory</string>
</property>
<property name="text">
<string>Apply</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="Save">
<property name="toolTip">
<string>Send settings to the board and save to the non-volatile memory</string>
</property>
<property name="text">
<string>Save</string>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
<tabstops>
<tabstop>TxPIDEnable</tabstop>
<tabstop>Apply</tabstop>
<tabstop>Save</tabstop>
<tabstop>scrollArea</tabstop>
<tabstop>PID1</tabstop>
<tabstop>Input1</tabstop>
<tabstop>MinPID1</tabstop>
<tabstop>MaxPID1</tabstop>
<tabstop>PID2</tabstop>
<tabstop>Input2</tabstop>
<tabstop>MinPID2</tabstop>
<tabstop>MaxPID2</tabstop>
<tabstop>PID3</tabstop>
<tabstop>Input3</tabstop>
<tabstop>MinPID3</tabstop>
<tabstop>MaxPID3</tabstop>
<tabstop>ThrottleMin</tabstop>
<tabstop>ThrottleMax</tabstop>
<tabstop>UpdateMode</tabstop>
</tabstops>
<resources/>
<connections/>
</ui>

2
overo

@ -1 +1 @@
Subproject commit 8381aa124feafbb268c4d87d569a8185765f4297
Subproject commit 335a3486dd41e48345209d0a65d49a8cc8b442a1

3
shared/uavobjectdefinition/txpidsettings.xml
View File

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