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Code Issues Releases Activity

OP-1191 Fixed Stabilization gui issues.

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This commit is contained in:
m_thread 2014-02-09 10:59:50 +01:00
parent da137e18e7
commit 53c5b511af
2 changed files with 1051 additions and 4623 deletions
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22
ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
View File

@ -117,9 +117,11 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
addWidget(ui->pushButton_23);
addWidget(ui->basicResponsivenessGroupBox);
connect(ui->basicResponsivenessGroupBox, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
addWidget(ui->basicResponsivenessCheckBox);
connect(ui->basicResponsivenessCheckBox, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
addWidget(ui->advancedResponsivenessGroupBox);
connect(ui->advancedResponsivenessGroupBox, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
addWidget(ui->advancedResponsivenessCheckBox);
connect(ui->advancedResponsivenessCheckBox, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
connect(this, SIGNAL(widgetContentsChanged(QWidget *)), this, SLOT(processLinkedWidgets(QWidget *)));
@ -138,7 +140,7 @@ void ConfigStabilizationWidget::refreshWidgetsValues(UAVObject *o)
{
ConfigTaskWidget::refreshWidgetsValues(o);
ui->basicResponsivenessGroupBox->setChecked(ui->rateRollKp_3->value() == ui->ratePitchKp_4->value() &&
ui->basicResponsivenessCheckBox->setChecked(ui->rateRollKp_3->value() == ui->ratePitchKp_4->value() &&
ui->rateRollKi_3->value() == ui->ratePitchKi_4->value());
}
@ -169,14 +171,18 @@ void ConfigStabilizationWidget::linkCheckBoxes(bool value)
ui->checkBox_2->setChecked(value);
} else if (sender() == ui->checkBox_2) {
ui->checkBox_8->setChecked(value);
} else if (sender() == ui->basicResponsivenessGroupBox) {
ui->advancedResponsivenessGroupBox->setChecked(!value);
} else if (sender() == ui->basicResponsivenessCheckBox) {
ui->advancedResponsivenessCheckBox->setChecked(!value);
ui->basicResponsivenessControls->setEnabled(value);
ui->advancedResponsivenessControls->setEnabled(!value);
if (value) {
processLinkedWidgets(ui->AttitudeResponsivenessSlider);
processLinkedWidgets(ui->RateResponsivenessSlider);
}
} else if (sender() == ui->advancedResponsivenessGroupBox) {
ui->basicResponsivenessGroupBox->setChecked(!value);
} else if (sender() == ui->advancedResponsivenessCheckBox) {
ui->basicResponsivenessCheckBox->setChecked(!value);
ui->basicResponsivenessControls->setEnabled(!value);
ui->advancedResponsivenessControls->setEnabled(value);
}
}
@ -218,7 +224,7 @@ void ConfigStabilizationWidget::processLinkedWidgets(QWidget *widget)
}
}
if (ui->basicResponsivenessGroupBox->isChecked()) {
if (ui->basicResponsivenessCheckBox->isChecked()) {
if (widget == ui->AttitudeResponsivenessSlider) {
ui->ratePitchKp_4->setValue(ui->AttitudeResponsivenessSlider->value());
} else if (widget == ui->RateResponsivenessSlider) {

5652
ground/openpilotgcs/src/plugins/config/stabilization.ui
View File

@ -167,9 +167,6 @@ margin-top: -1px;
<layout class="QVBoxLayout" name="verticalLayout_6">
<item>
<widget class="QGroupBox" name="basicResponsivenessGroupBox">
<property name="toolTip">
<string/>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
@ -183,9 +180,9 @@ margin-top: -1px;
<bool>false</bool>
</property>
<property name="checkable">
<bool>true</bool>
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_7" rowstretch="0,0">
<layout class="QGridLayout" name="gridLayout_7" rowstretch="0,0,0">
<property name="leftMargin">
<number>9</number>
</property>
@ -198,7 +195,7 @@ margin-top: -1px;
<property name="bottomMargin">
<number>9</number>
</property>
<item row="0" column="4">
<item row="1" column="4">
<widget class="QPushButton" name="pushButton">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@ -221,21 +218,8 @@ margin-top: -1px;
</property>
</widget>
</item>
<item row="0" column="0" colspan="4">
<spacer name="horizontalSpacer_37">
<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 row="1" column="0" colspan="5">
<widget class="QGroupBox" name="groupBox_7">
<item row="2" column="0" colspan="5">
<widget class="QGroupBox" name="basicResponsivenessControls">
<property name="styleSheet">
<string>QGroupBox{border: 0px;}</string>
</property>
@ -2202,6 +2186,29 @@ border-radius: 5;</string>
</layout>
</widget>
</item>
<item row="1" column="1" colspan="3">
<spacer name="horizontalSpacer_37">
<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 row="1" column="0">
<widget class="QCheckBox" name="basicResponsivenessCheckBox">
<property name="text">
<string>Use Basic Configuration</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@ -2699,7 +2706,7 @@ border-radius: 5;</string>
<property name="flat">
<bool>true</bool>
</property>
<layout class="QGridLayout" name="gridLayout_11" columnstretch="0,1,0,1,0,1,0">
<layout class="QGridLayout" name="gridLayout_11" columnstretch="0,0,0,0,0,0,0">
<property name="leftMargin">
<number>0</number>
</property>
@ -2709,19 +2716,6 @@ border-radius: 5;</string>
<property name="bottomMargin">
<number>0</number>
</property>
<item row="0" column="2">
<spacer name="horizontalSpacer_16">
<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 row="0" column="0">
<spacer name="horizontalSpacer_44">
<property name="orientation">
@ -2748,6 +2742,760 @@ border-radius: 5;</string>
</property>
</spacer>
</item>
<item row="3" column="6">
<widget class="QSpinBox" name="spinBox_10">
<property name="minimumSize">
<size>
<width>50</width>
<height>22</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>As a rule of thumb, you can set the Integral at roughly the same
value as the Kp.</string>
</property>
<property name="maximum">
<number>200</number>
</property>
<property name="value">
<number>200</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettingsBankX</string>
<string>fieldname:YawRatePID</string>
<string>element:Ki</string>
<string>haslimits:yes</string>
<string>scale:0.0001</string>
<string>buttongroup:1,10</string>
</stringlist>
</property>
</widget>
</item>
<item row="3" column="5">
<widget class="QSlider" name="horizontalSlider_81">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>25</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="sliderPosition">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="tickPosition">
<enum>QSlider::TicksBelow</enum>
</property>
<property name="tickInterval">
<number>25</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettingsBankX</string>
<string>fieldname:YawRatePID</string>
<string>element:Ki</string>
<string>haslimits:yes</string>
<string>scale:0.0001</string>
<string>buttongroup:1,10</string>
</stringlist>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QSlider" name="horizontalSlider_80">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>25</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="sliderPosition">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="tickPosition">
<enum>QSlider::TicksBelow</enum>
</property>
<property name="tickInterval">
<number>25</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettingsBankX</string>
<string>fieldname:PitchRatePID</string>
<string>element:Ki</string>
<string>haslimits:yes</string>
<string>scale:0.0001</string>
<string>buttongroup:1,10</string>
</stringlist>
</property>
</widget>
</item>
<item row="3" column="4">
<widget class="QSpinBox" name="spinBox_9">
<property name="minimumSize">
<size>
<width>50</width>
<height>22</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>As a rule of thumb, you can set the Integral at roughly the same
value as the Kp.</string>
</property>
<property name="maximum">
<number>200</number>
</property>
<property name="value">
<number>200</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettingsBankX</string>
<string>fieldname:PitchRatePID</string>
<string>element:Ki</string>
<string>haslimits:yes</string>
<string>scale:0.0001</string>
<string>buttongroup:1,10</string>
</stringlist>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_138">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>16</height>
</size>
</property>
<property name="palette">
<palette>
<active>
<colorrole role="WindowText">
<brush brushstyle="SolidPattern">
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<red>255</red>
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<bold>true</bold>
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color: rgb(255, 255, 255);
border-radius: 5;</string>
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<property name="text">
<string>Roll</string>
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<property name="alignment">
<set>Qt::AlignCenter</set>
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<item row="0" column="6">
<spacer name="horizontalSpacer_45">
<property name="orientation">
<enum>Qt::Horizontal</enum>
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<height>20</height>
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@ -3901,170 +4649,6 @@ border-radius: 5;</string>
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<property name="toolTip">
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Then lower the value by 5 or so.</string>
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<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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<height>25</height>
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<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
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<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much leveling stability is set into Rate mode (inner loop). Too much will make your vehicle oscillate in Rate mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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<property name="styleSheet">
<string notr="true"/>
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<number>100</number>
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<property name="sliderPosition">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="tickPosition">
<enum>QSlider::TicksBelow</enum>
</property>
<property name="tickInterval">
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<string>scale:0.0001</string>
<string>buttongroup:1,10</string>
</stringlist>
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</widget>
</item>
<item row="2" column="3">
<widget class="QSlider" name="PitchPSlider">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
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<verstretch>0</verstretch>
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<property name="toolTip">
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<string notr="true"/>
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<property name="sliderPosition">
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<property name="orientation">
<enum>Qt::Horizontal</enum>
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<property name="tickPosition">
<enum>QSlider::TicksBelow</enum>
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<property name="tickInterval">
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</widget>
</item>
<item row="2" column="4">
<widget class="QSpinBox" name="spinBox_PitchRateP">
<property name="minimumSize">
@ -4251,8 +4835,8 @@ value as the Kp.</string>
</property>
</widget>
</item>
<item row="3" column="6">
<widget class="QSpinBox" name="spinBox_10">
<item row="2" column="2">
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@ -4269,8 +4853,8 @@ value as the Kp.</string>
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<string>As a rule of thumb, you can set the Integral at roughly the same
value as the Kp.</string>
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Then lower the value by 5 or so.</string>
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<property name="maximum">
<number>200</number>
@ -4281,8 +4865,8 @@ value as the Kp.</string>
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@ -4290,707 +4874,130 @@ value as the Kp.</string>
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<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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<string>Proportional</string>
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<widget class="QSlider" name="horizontalSlider_78">
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<property name="focusPolicy">
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<property name="toolTip">
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<property name="styleSheet">
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<property name="sliderPosition">
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<property name="orientation">
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<property name="sizeHint" stdset="0">
<property name="tickPosition">
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<property name="tickInterval">
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<property name="objrelation" stdset="0">
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<string>fieldname:YawRatePID</string>
<string>element:Kp</string>
<string>haslimits:yes</string>
<string>scale:0.0001</string>
<string>buttongroup:1,10</string>
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<item row="2" column="3">
<widget class="QSlider" name="PitchPSlider">
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</widget>
</item>
</layout>
</widget>
@ -5096,520 +5103,6 @@ border-radius: 5;</string>
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</property>
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@ -8344,7 +7837,7 @@ border-radius: 5;</string>
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<width>553</width>
<width>784</width>
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@ -8390,520 +7883,6 @@ border-radius: 5;</string>
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<property name="title">
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@ -8911,7 +7890,7 @@ border-radius: 5;</string>
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
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@ -8932,62 +7911,11 @@ border-radius: 5;</string>
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@ -11728,596 +10656,21 @@ border-radius: 5;</string>
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@ -12349,11 +10702,72 @@ border-radius: 5;</string>
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@ -15061,6 +13475,70 @@ border-radius: 5;</string>
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@ -23450,520 +21414,6 @@ border-radius: 5;</string>
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