OP-146 Stabilization configuration: can now update stab settings in real time on the airframe, and link roll/pitch for easier adjustment...

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2880 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp

@@ -53,9 +53,27 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
 
     connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestStabilizationUpdate()));
 
-    // TODO: create a timer to regularly send the object update in case
+    // Create a timer to regularly send the object update in case
     // we want realtime updates.
+    connect(&updateTimer, SIGNAL(timeout()), this, SLOT(sendStabilizationUpdate()));
+    connect(m_stabilization->realTimeUpdates, SIGNAL(toggled(bool)), this, SLOT(realtimeUpdateToggle(bool)));
 
+    // Connect the updates of the stab values
+    connect(m_stabilization->rateRollKp, SIGNAL(valueChanged(double)), this, SLOT(updateRateRollKP(double)));
+    connect(m_stabilization->rateRollKi, SIGNAL(valueChanged(double)), this, SLOT(updateRateRollKI(double)));
+    connect(m_stabilization->rateRollILimit, SIGNAL(valueChanged(double)), this, SLOT(updateRateRollILimit(double)));
+
+    connect(m_stabilization->ratePitchKp, SIGNAL(valueChanged(double)), this, SLOT(updateRatePitchKP(double)));
+    connect(m_stabilization->ratePitchKi, SIGNAL(valueChanged(double)), this, SLOT(updateRatePitchKI(double)));
+    connect(m_stabilization->ratePitchILimit, SIGNAL(valueChanged(double)), this, SLOT(updateRatePitchILimit(double)));
+
+    connect(m_stabilization->rollKp, SIGNAL(valueChanged(double)), this, SLOT(updateRollKP(double)));
+    connect(m_stabilization->rollKi, SIGNAL(valueChanged(double)), this, SLOT(updateRollKI(double)));
+    connect(m_stabilization->rollILimit, SIGNAL(valueChanged(double)), this, SLOT(updateRollILimit(double)));
+
+    connect(m_stabilization->pitchKp, SIGNAL(valueChanged(double)), this, SLOT(updatePitchKP(double)));
+    connect(m_stabilization->pitchKi, SIGNAL(valueChanged(double)), this, SLOT(updatePitchKI(double)));
+    connect(m_stabilization->pitchILimit, SIGNAL(valueChanged(double)), this, SLOT(updatePitchILimit(double)));
 
 }
 
@@ -65,6 +83,93 @@ ConfigStabilizationWidget::~ConfigStabilizationWidget()
 }
 
 
+void ConfigStabilizationWidget::updateRateRollKP(double val)
+{
+    if (m_stabilization->linkRateRP->isChecked()) {
+        m_stabilization->ratePitchKp->setValue(val);
+    }
+}
+
+void ConfigStabilizationWidget::updateRateRollKI(double val)
+{
+    if (m_stabilization->linkRateRP->isChecked()) {
+        m_stabilization->ratePitchKi->setValue(val);
+    }
+}
+
+void ConfigStabilizationWidget::updateRateRollILimit(double val)
+{
+    if (m_stabilization->linkRateRP->isChecked()) {
+        m_stabilization->ratePitchILimit->setValue(val);
+    }
+}
+
+void ConfigStabilizationWidget::updateRatePitchKP(double val)
+{
+    if (m_stabilization->linkRateRP->isChecked()) {
+        m_stabilization->rateRollKp->setValue(val);
+    }
+}
+
+void ConfigStabilizationWidget::updateRatePitchKI(double val)
+{
+    if (m_stabilization->linkRateRP->isChecked()) {
+        m_stabilization->rateRollKi->setValue(val);
+    }
+}
+
+void ConfigStabilizationWidget::updateRatePitchILimit(double val)
+{
+    if (m_stabilization->linkRateRP->isChecked()) {
+        m_stabilization->rateRollILimit->setValue(val);
+    }
+}
+
+void ConfigStabilizationWidget::updateRollKP(double val)
+{
+    if (m_stabilization->linkAttitudeRP->isChecked()) {
+        m_stabilization->pitchKp->setValue(val);
+    }
+}
+
+void ConfigStabilizationWidget::updateRollKI(double val)
+{
+    if (m_stabilization->linkAttitudeRP->isChecked()) {
+        m_stabilization->pitchKi->setValue(val);
+    }
+
+}
+
+void ConfigStabilizationWidget::updateRollILimit(double val)
+{
+    if (m_stabilization->linkAttitudeRP->isChecked()) {
+        m_stabilization->pitchILimit->setValue(val);
+    }
+}
+
+void ConfigStabilizationWidget::updatePitchKP(double val)
+{
+    if (m_stabilization->linkAttitudeRP->isChecked()) {
+        m_stabilization->rollKp->setValue(val);
+    }
+}
+
+void ConfigStabilizationWidget::updatePitchKI(double val)
+{
+    if (m_stabilization->linkAttitudeRP->isChecked()) {
+        m_stabilization->rollKi->setValue(val);
+    }
+
+}
+
+void ConfigStabilizationWidget::updatePitchILimit(double val)
+{
+    if (m_stabilization->linkAttitudeRP->isChecked()) {
+        m_stabilization->rollILimit->setValue(val);
+    }
+}
+
+
 /*******************************
  * Stabilization Settings
  *****************************/
@@ -160,6 +265,10 @@ void ConfigStabilizationWidget::resetStabilizationToDefaults()
 {
 }
 
-void ConfigStabilizationWidget::parameterValueChanged(double value)
+void ConfigStabilizationWidget::realtimeUpdateToggle(bool state)
 {
+    if (state)
+        updateTimer.start(300);
+    else
+        updateTimer.stop();
 }

ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h

@@ -34,7 +34,7 @@
 #include "uavobject.h"
 #include "stabilizationsettings.h"
 #include <QtGui/QWidget>
-#include <QList>
+#include <QTimer>
 
 
 class ConfigStabilizationWidget: public ConfigTaskWidget
@@ -48,13 +48,32 @@ public:
 private:
     Ui_StabilizationWidget *m_stabilization;
     StabilizationSettings* stabSettings;
+    QTimer updateTimer;
+
 
 private slots:
     void requestStabilizationUpdate();
     void sendStabilizationUpdate();
     void saveStabilizationUpdate();
     void resetStabilizationToDefaults();
-    void parameterValueChanged(double value);
+    void realtimeUpdateToggle(bool);
+
+    void updateRateRollKP(double);
+    void updateRateRollKI(double);
+    void updateRateRollILimit(double);
+
+    void updateRatePitchKP(double);
+    void updateRatePitchKI(double);
+    void updateRatePitchILimit(double);
+
+    void updateRollKP(double);
+    void updateRollKI(double);
+    void updateRollILimit(double);
+
+    void updatePitchKP(double);
+    void updatePitchKI(double);
+    void updatePitchILimit(double);
+
 
 };
 

ground/openpilotgcs/src/plugins/config/stabilization.ui

@@ -248,6 +248,9 @@
               <property name="decimals">
                <number>6</number>
               </property>
+              <property name="singleStep">
+               <double>0.100000000000000</double>
+              </property>
              </widget>
             </item>
             <item row="2" column="2">
@@ -255,6 +258,9 @@
               <property name="decimals">
                <number>6</number>
               </property>
+              <property name="singleStep">
+               <double>0.100000000000000</double>
+              </property>
              </widget>
             </item>
             <item row="3" column="2">
@@ -262,6 +268,9 @@
               <property name="decimals">
                <number>6</number>
               </property>
+              <property name="singleStep">
+               <double>0.100000000000000</double>
+              </property>
              </widget>
             </item>
             <item row="1" column="3">
@@ -269,6 +278,9 @@
               <property name="decimals">
                <number>6</number>
               </property>
+              <property name="singleStep">
+               <double>0.100000000000000</double>
+              </property>
              </widget>
             </item>
             <item row="2" column="3">
@@ -276,6 +288,9 @@
               <property name="decimals">
                <number>6</number>
               </property>
+              <property name="singleStep">
+               <double>0.100000000000000</double>
+              </property>
              </widget>
             </item>
             <item row="3" column="3">
@@ -283,6 +298,9 @@
               <property name="decimals">
                <number>6</number>
               </property>
+              <property name="singleStep">
+               <double>0.100000000000000</double>
+              </property>
              </widget>
             </item>
             <item row="1" column="4">
@@ -290,6 +308,9 @@
               <property name="decimals">
                <number>6</number>
               </property>
+              <property name="singleStep">
+               <double>0.100000000000000</double>
+              </property>
              </widget>
             </item>
             <item row="2" column="4">
@@ -297,6 +318,9 @@
               <property name="decimals">
                <number>6</number>
               </property>
+              <property name="singleStep">
+               <double>0.100000000000000</double>
+              </property>
              </widget>
             </item>
             <item row="3" column="4">
@@ -304,6 +328,9 @@
               <property name="decimals">
                <number>6</number>
               </property>
+              <property name="singleStep">
+               <double>0.100000000000000</double>
+              </property>
              </widget>
             </item>
             <item row="0" column="2">