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https://bitbucket.org/librepilot/librepilot.git
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OP-1117 Rename Horizon to Rattitude, Anti Windup and dT additions
This commit is contained in:
Cliff Geerdes
parent
35f6caa360
commit
56b4d8647f
@ -691,50 +691,50 @@ static void updateStabilizationDesired(ManualControlCommandData *cmd, ManualCont
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}
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stabilization.Roll =
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.ManualRate.Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Roll * stabSettings.ManualRate.Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.ManualRate.Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_MULTIWIIHORIZON) ? cmd->Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd->Roll * stabSettings.ManualRate.Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Roll * stabSettings.RollMax :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.ManualRate.Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Roll * stabSettings.ManualRate.Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.ManualRate.Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd->Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd->Roll * stabSettings.ManualRate.Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Roll * stabSettings.RollMax :
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0; // this is an invalid mode
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stabilization.Pitch =
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.ManualRate.Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Pitch * stabSettings.ManualRate.Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Pitch * stabSettings.ManualRate.Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_MULTIWIIHORIZON) ? cmd->Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd->Pitch * stabSettings.ManualRate.Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.ManualRate.Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Pitch * stabSettings.ManualRate.Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Pitch * stabSettings.ManualRate.Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd->Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd->Pitch * stabSettings.ManualRate.Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
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0; // this is an invalid mode
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// TOOD: Add assumption about order of stabilization desired and manual control stabilization mode fields having same order
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stabilization.StabilizationMode.Roll = stab_settings[0];
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stabilization.StabilizationMode.Pitch = stab_settings[1];
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// Other axes (yaw) cannot be Horizon, so use Rate
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// Other axes (yaw) cannot be Rattitude, so use Rate
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// Should really do this for Attitude mode as well?
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if (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_MULTIWIIHORIZON) {
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if (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) {
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stabilization.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
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stabilization.Yaw = cmd->Yaw * stabSettings.ManualRate.Yaw;
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}
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else {
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stabilization.StabilizationMode.Yaw = stab_settings[2];
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stabilization.Yaw =
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_MULTIWIIHORIZON) ? cmd->Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd->Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
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0; // this is an invalid mode
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}
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@ -73,7 +73,7 @@
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// The PID_RATE_ROLL set is used by Rate mode and the rate portion of Attitude mode
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// The PID_RATE set is used by the attitude portion of Attitude mode
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// The PID_RATEA_ROLL set is used by MultiWiiHorizon mode because it needs to maintain
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// The PID_RATEA_ROLL set is used by Rattitude mode because it needs to maintain
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// - two independant rate PIDs because it does rate and attitude simultaneously
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enum { PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_RATEA_ROLL, PID_RATEA_PITCH, PID_RATEA_YAW, PID_MAX };
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@ -91,6 +91,7 @@ bool lowThrottleZeroIntegral;
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bool lowThrottleZeroAxis[MAX_AXES];
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float vbar_decay = 0.991f;
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struct pid pids[PID_MAX];
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float rattitude_anti_windup;
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// Private functions
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static void stabilizationTask(void *parameters);
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@ -178,7 +179,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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PIOS_WDG_UpdateFlag(PIOS_WDG_STABILIZATION);
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#endif
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// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
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// Wait until the AttitudeRaw (wrong, it is Gyro) object is updated, if a timeout then go to failsafe
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if (xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE) {
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AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION, SYSTEMALARMS_ALARM_WARNING);
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continue;
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@ -317,7 +318,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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break;
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case STABILIZATIONDESIRED_STABILIZATIONMODE_MULTIWIIHORIZON:
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case STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE:
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// A parameterization from Attitude mode at center stick
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// - to Rate mode at full stick
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// This is done by parameterizing to use the rotation rate that Attitude mode
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@ -351,7 +352,8 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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float rateDesiredAxisAttitude;
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rateDesiredAxisAttitude = pid_apply(&pids[PID_ROLL + i], attitude_error, dT);
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rateDesiredAxisAttitude = bound(rateDesiredAxisAttitude,
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cast_struct_to_array(settings.MaximumRate, settings.MaximumRate.Roll)[i]);
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cast_struct_to_array(settings.MaximumRate,
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settings.MaximumRate.Roll)[i]);
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// Compute the weighted average rate desired
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// Using max() rather than sqrt() for cpu speed;
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@ -361,7 +363,8 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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// magnitude = sqrt(stabDesired.Roll*stabDesired.Roll + stabDesired.Pitch*stabDesired.Pitch);
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float magnitude;
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magnitude = fmaxf(fabsf(stabDesired.Roll), fabsf(stabDesired.Pitch));
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rateDesiredAxis[i] = (1.0f-magnitude) * rateDesiredAxisAttitude + magnitude * rateDesiredAxisRate;
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rateDesiredAxis[i] = (1.0f-magnitude) * rateDesiredAxisAttitude
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+ magnitude * rateDesiredAxisRate;
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// Compute the inner loop for both Rate mode and Attitude mode
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// actuatorDesiredAxis[i] is the weighted average of the two PIDs from the two rates
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@ -370,19 +373,58 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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+ magnitude * pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
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actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f);
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// TODO: put a configurable scale factor in for the PID zeroing?
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// Do we need a setting for this to dial down the iAccumulator zeroing
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// - so both iAccumulators don't get held too close to zero at mid stick?
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// settings.RattitudeAntiWindup controls the iAccumulator zeroing
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// - so both iAccs don't wind up too far;
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// - nor do both iAccs get held too close to zero at mid stick
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// Not sure if this is the best way to do this but I suspect that there
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// - would be severe windup without it since they fight each other.
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// Not sure if this is the best way to do this but I suspect that there would
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// - be windup without it since rate and attitude fight each other here
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// - rate trying to pull it over the top and attitude trying to pull it back down
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// At magnitudes close to one, the Attitude accumulators gets zeroed
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pids[PID_ROLL + i].iAccumulator *= (1.0f-magnitude); // * factor;
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pids[PID_RATEA_ROLL + i].iAccumulator *= (1.0f-magnitude); // * factor;
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// Wind-up increases linearly with cycles for a fixed error.
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// We need to cut it down faster than that to keep ahead of it.
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// We must never increase the iAcc or we risk oscillation.
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// At magnitudes close to zero, the Rate accumulator gets zeroed
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pids[PID_RATE_ROLL + i].iAccumulator *= magnitude; // * factor;
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// Use the powf() function to make two anti-windup curves
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// - one for zeroing rate close to center stick
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// - the other for zeroing attitude close to max stick
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// the bigger the dT the more anti windup needed
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// the bigger the PID[].i the more anti windup needed
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// more anti windup is achieved with a lower powf() power
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// some quick napkin calculations say that 1/10th second, 50 cycles
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// to reduce an iAcc by half we should have a factor of about .986
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// this is so that at half stick, iAcc gets reduced to half in .1 second
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// this sounds about right for a default anti windup
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// so powf(.5, x) = .014
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// .5^x = .014
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// x about 6
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// for rate 6 = 1 / (aw * .002 * .003), aw = 1 / (6 * .002 * .003) = 27777
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// for attitude 6 = 1 / (aw * .002 * 1) , aw = 1 / (6 * .002 * 2.5) = 33
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// multiply by 833 for rate, use as is for attitude
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// hand testing showed that aw=10 reduced the windup by maybe half
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// This may only be useful for aircraft with large Ki values and limits
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if (dT > 0.0f && rattitude_anti_windup > 0.0f) {
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float factor;
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// At magnitudes close to one, the Attitude accumulators gets zeroed
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if (pids[PID_ROLL+i].i > 0.0f) {
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factor = 1.0f - powf(magnitude, 1.0f / (rattitude_anti_windup * dT * pids[PID_ROLL+i].i));
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pids[PID_ROLL+i].iAccumulator *= factor;
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}
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if (pids[PID_RATEA_ROLL+i].i > 0.0f) {
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factor = 1.0f - powf(magnitude, 1.0f / (rattitude_anti_windup * dT * pids[PID_RATEA_ROLL+i].i * 833.0f));
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pids[PID_RATEA_ROLL+i].iAccumulator *= factor;
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}
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// At magnitudes close to zero, the Rate accumulator gets zeroed
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if (pids[PID_RATE_ROLL+i].i > 0.0f) {
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factor = 1.0f - powf(1.0f-magnitude, 1.0f / (rattitude_anti_windup * dT * pids[PID_RATE_ROLL+i].i * 833.0f));
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pids[PID_RATE_ROLL+i].iAccumulator *= factor;
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}
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}
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break;
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}
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@ -403,6 +445,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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// Weak Leveling Kp is off by a factor of 3 to 12 and may need a different default in GCS
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// Changing Rate mode max rate currently requires a change to Kp
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// That would be changed to Attitude mode max angle affecting Kp
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// Also does not take dT into account
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{
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if (reinit) {
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pids[PID_RATE_ROLL + i].iAccumulator = 0;
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@ -609,21 +652,21 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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0,
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settings.YawPI.ILimit);
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// Set the MWHorizon roll rate PID constants
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// Set the Rattitude roll rate PID constants
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pid_configure(&pids[PID_RATEA_ROLL],
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settings.RollRatePID.Kp,
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settings.RollRatePID.Ki,
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settings.RollRatePID.Kd,
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settings.RollRatePID.ILimit);
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// Set the MWHorizon pitch rate PID constants
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// Set the Rattitude pitch rate PID constants
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pid_configure(&pids[PID_RATEA_PITCH],
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settings.PitchRatePID.Kp,
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settings.PitchRatePID.Ki,
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settings.PitchRatePID.Kd,
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settings.PitchRatePID.ILimit);
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// Set the MWHorizon yaw rate PID constants
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// Set the Rattitude yaw rate PID constants
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pid_configure(&pids[PID_RATEA_YAW],
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settings.YawRatePID.Kp,
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settings.YawRatePID.Ki,
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@ -663,6 +706,9 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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// Compute time constant for vbar decay term based on a tau
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vbar_decay = expf(-fakeDt / settings.VbarTau);
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// Rattitude flight mode anti-windup factor
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rattitude_anti_windup = (float) settings.RattitudeAntiWindup;
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}
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@ -507,7 +507,7 @@
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<enum>QTabWidget::Rounded</enum>
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@ -627,8 +627,8 @@
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@ -8867,9 +8867,9 @@ border-radius: 5;</string>
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@ -18908,8 +18908,8 @@ border-radius: 5;</string>
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@ -21554,6 +21554,198 @@ border-radius: 5;</string>
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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="gridGroupBox">
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<property name="title">
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<string>Rattitude</string>
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<property name="orientation">
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<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="1">
|
||||
<widget class="QPushButton" name="pushButton_10">
|
||||
<property name="text">
|
||||
<string>Default</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>button:default</string>
|
||||
<string>buttongroup:15</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0" colspan="2">
|
||||
<widget class="QGroupBox" name="gridGroupBox">
|
||||
<property name="styleSheet">
|
||||
<string notr="true">QGroupBox{border: 0px;}</string>
|
||||
</property>
|
||||
<property name="flat">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_26">
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>9</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item row="1" column="0">
|
||||
<spacer name="horizontalSpacer_55">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Fixed</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>90</width>
|
||||
<height>11</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QDoubleSpinBox" name="HorizonAntiWindup">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>5</width>
|
||||
<height>22</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>175</width>
|
||||
<height>22</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>Higher values will keep larger Ki terms and limits from winding up at partial stick. Consider increasing this if you have high Ki values and limits and a sudden stick motion from one aircraft bank angle to another causes the aircraft to rotate and then slowly change rotation.</p></body></html></string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>255.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>10.000000000000000</double>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>fieldname:RattitudeAntiWindup</string>
|
||||
<string>haslimits:no</string>
|
||||
<string>scale:1</string>
|
||||
<string>buttongroup:15</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_3">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>144</width>
|
||||
<height>16</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>175</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<weight>75</weight>
|
||||
<bold>true</bold>
|
||||
</font>
|
||||
</property>
|
||||
<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;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Anti-Windup</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<spacer name="horizontalSpacer_56">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>300</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_5">
|
||||
<property name="sizePolicy">
|
||||
@ -27021,8 +27213,8 @@ border-radius: 5;</string>
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>792</width>
|
||||
<height>645</height>
|
||||
<width>798</width>
|
||||
<height>656</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_23">
|
||||
|
||||
@ -22,17 +22,17 @@
|
||||
<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
|
||||
<field name="Stabilization1Settings" units="" type="enum"
|
||||
elementnames="Roll,Pitch,Yaw"
|
||||
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,MultiWiiHorizon,RelayRate,RelayAttitude"
|
||||
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude"
|
||||
defaultvalue="Attitude,Attitude,AxisLock"
|
||||
limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
|
||||
<field name="Stabilization2Settings" units="" type="enum"
|
||||
elementnames="Roll,Pitch,Yaw"
|
||||
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,MultiWiiHorizon,RelayRate,RelayAttitude"
|
||||
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude"
|
||||
defaultvalue="Attitude,Attitude,Rate"
|
||||
limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
|
||||
<field name="Stabilization3Settings" units="" type="enum"
|
||||
elementnames="Roll,Pitch,Yaw"
|
||||
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,MultiWiiHorizon,RelayRate,RelayAttitude"
|
||||
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude"
|
||||
defaultvalue="Rate,Rate,Rate"
|
||||
limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
|
||||
|
||||
|
||||
@ -6,7 +6,7 @@
|
||||
<field name="Yaw" units="degrees" type="float" elements="1"/>
|
||||
<field name="Throttle" units="%" type="float" elements="1"/>
|
||||
<!-- These values should match those in ManualControlCommand.Stabilization{1,2,3}Settings -->
|
||||
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,MultiWiiHorizon,RelayRate,RelayAttitude"/>
|
||||
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="false" updatemode="manual" period="0"/>
|
||||
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
|
||||
|
||||
@ -33,6 +33,8 @@
|
||||
<field name="WeakLevelingKp" units="(deg/s)/deg" type="float" elements="1" defaultvalue="0.1"/>
|
||||
<field name="MaxWeakLevelingRate" units="deg/s" type="uint8" elements="1" defaultvalue="5"/>
|
||||
|
||||
<field name="RattitudeAntiWindup" units="" type="uint8" elements="1" defaultvalue="10"/>
|
||||
|
||||
<field name="LowThrottleZeroIntegral" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
|
||||
|
||||
<field name="LowThrottleZeroAxis" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="FALSE,TRUE" defaultvalue="FALSE,FALSE,FALSE"/>
|
||||
|
||||
Loading…
Reference in New Issue
Block a user