OP-1117 Rename Horizon to Rattitude, Anti Windup and dT additions

flight/modules/ManualControl/manualcontrol.c

@@ -697,7 +697,7 @@ static void updateStabilizationDesired(ManualControlCommandData *cmd, ManualCont
         (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)      ? cmd->Roll * stabSettings.RollMax :
         (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK)      ? cmd->Roll * stabSettings.ManualRate.Roll :
         (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR)    ? cmd->Roll :
-        (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_MULTIWIIHORIZON) ? cmd->Roll :
+        (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE)     ? cmd->Roll :
         (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE)     ? cmd->Roll * stabSettings.ManualRate.Roll :
         (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Roll * stabSettings.RollMax :
         0; // this is an invalid mode
@@ -709,7 +709,7 @@ static void updateStabilizationDesired(ManualControlCommandData *cmd, ManualCont
         (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)      ? cmd->Pitch * stabSettings.PitchMax :
         (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK)      ? cmd->Pitch * stabSettings.ManualRate.Pitch :
         (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR)    ? cmd->Pitch :
-        (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_MULTIWIIHORIZON) ? cmd->Pitch :
+        (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE)     ? cmd->Pitch :
         (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE)     ? cmd->Pitch * stabSettings.ManualRate.Pitch :
         (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
         0; // this is an invalid mode
@@ -717,9 +717,9 @@ static void updateStabilizationDesired(ManualControlCommandData *cmd, ManualCont
     // TOOD: Add assumption about order of stabilization desired and manual control stabilization mode fields having same order
     stabilization.StabilizationMode.Roll  = stab_settings[0];
     stabilization.StabilizationMode.Pitch = stab_settings[1];
-    // Other axes (yaw) cannot be Horizon, so use Rate
+    // Other axes (yaw) cannot be Rattitude, so use Rate
     // Should really do this for Attitude mode as well?
-    if (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_MULTIWIIHORIZON) {
+    if (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) {
         stabilization.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
         stabilization.Yaw = cmd->Yaw * stabSettings.ManualRate.Yaw;
     }
@@ -732,7 +732,7 @@ static void updateStabilizationDesired(ManualControlCommandData *cmd, ManualCont
             (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)      ? cmd->Yaw * stabSettings.YawMax :
             (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK)      ? cmd->Yaw * stabSettings.ManualRate.Yaw :
             (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR)    ? cmd->Yaw :
-            (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_MULTIWIIHORIZON) ? cmd->Yaw :
+            (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE)     ? cmd->Yaw :
             (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE)     ? cmd->Yaw * stabSettings.ManualRate.Yaw :
             (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
             0; // this is an invalid mode

flight/modules/Stabilization/stabilization.c

@@ -73,7 +73,7 @@
 
 // The PID_RATE_ROLL set is used by Rate mode and the rate portion of Attitude mode
 // The PID_RATE set is used by the attitude portion of Attitude mode
-// The PID_RATEA_ROLL set is used by MultiWiiHorizon mode because it needs to maintain
+// The PID_RATEA_ROLL set is used by Rattitude mode because it needs to maintain
 // - two independant rate PIDs because it does rate and attitude simultaneously
 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 };
 
@@ -91,6 +91,7 @@ bool lowThrottleZeroIntegral;
 bool lowThrottleZeroAxis[MAX_AXES];
 float vbar_decay = 0.991f;
 struct pid pids[PID_MAX];
+float rattitude_anti_windup;
 
 // Private functions
 static void stabilizationTask(void *parameters);
@@ -178,7 +179,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
         PIOS_WDG_UpdateFlag(PIOS_WDG_STABILIZATION);
 #endif
 
-        // Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
+        // Wait until the AttitudeRaw (wrong, it is Gyro) object is updated, if a timeout then go to failsafe
         if (xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE) {
             AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION, SYSTEMALARMS_ALARM_WARNING);
             continue;
@@ -317,7 +318,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
 
                 break;
 
-            case STABILIZATIONDESIRED_STABILIZATIONMODE_MULTIWIIHORIZON:
+            case STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE:
             // A parameterization from Attitude mode at center stick
             // - to Rate mode at full stick
             // This is done by parameterizing to use the rotation rate that Attitude mode
@@ -351,7 +352,8 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
                 float rateDesiredAxisAttitude;
                 rateDesiredAxisAttitude = pid_apply(&pids[PID_ROLL + i], attitude_error, dT);
                 rateDesiredAxisAttitude = bound(rateDesiredAxisAttitude,
-                                           cast_struct_to_array(settings.MaximumRate, settings.MaximumRate.Roll)[i]);
+                                                cast_struct_to_array(settings.MaximumRate,
+                                                                     settings.MaximumRate.Roll)[i]);
 
                 // Compute the weighted average rate desired
                 // Using max() rather than sqrt() for cpu speed;
@@ -361,7 +363,8 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
                 // magnitude = sqrt(stabDesired.Roll*stabDesired.Roll + stabDesired.Pitch*stabDesired.Pitch);
                 float magnitude;
                 magnitude = fmaxf(fabsf(stabDesired.Roll), fabsf(stabDesired.Pitch));
-                rateDesiredAxis[i] = (1.0f-magnitude) * rateDesiredAxisAttitude + magnitude * rateDesiredAxisRate;
+                rateDesiredAxis[i] = (1.0f-magnitude) * rateDesiredAxisAttitude
+                                   +       magnitude  * rateDesiredAxisRate;
 
                 // Compute the inner loop for both Rate mode and Attitude mode
                 // actuatorDesiredAxis[i] is the weighted average of the two PIDs from the two rates
@@ -370,19 +373,58 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
                     +     magnitude  * pid_apply_setpoint(&pids[PID_RATE_ROLL  + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
                 actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f);
 
-                // TODO: put a configurable scale factor in for the PID zeroing?
+                // settings.RattitudeAntiWindup controls the iAccumulator zeroing
-                // Do we need a setting for this to dial down the iAccumulator zeroing
+                // - so both iAccs don't wind up too far;
-                // - so both iAccumulators don't get held too close to zero at mid stick?
+                // - nor do both iAccs get held too close to zero at mid stick
 
-                // Not sure if this is the best way to do this but I suspect that there
+                // Not sure if this is the best way to do this but I suspect that there would
-                // - would be severe windup without it since they fight each other.
+                // - be windup without it since rate and attitude fight each other here
+                // - rate trying to pull it over the top and attitude trying to pull it back down
+
+                // Wind-up increases linearly with cycles for a fixed error.
+                // We need to cut it down faster than that to keep ahead of it.
+                // We must never increase the iAcc or we risk oscillation.
+
+                // Use the powf() function to make two anti-windup curves
+                // - one for zeroing rate close to center stick
+                // - the other for zeroing attitude close to max stick
+
+                // the bigger the dT      the more anti windup needed
+                // the bigger the PID[].i the more anti windup needed
+                // more anti windup is achieved with a lower powf() power
+
+                // some quick napkin calculations say that 1/10th second, 50 cycles
+                // to reduce an iAcc by half we should have a factor of about .986
+                // this is so that at half stick, iAcc gets reduced to half in .1 second
+                // this sounds about right for a default anti windup
+                // so powf(.5, x) = .014
+                // .5^x = .014
+                // x about 6
+                // for rate     6 = 1 / (aw * .002 * .003), aw = 1 / (6 * .002 * .003) = 27777
+                // for attitude 6 = 1 / (aw * .002 * 1)   , aw = 1 / (6 * .002 * 2.5)  = 33
+                // multiply by 833 for rate, use as is for attitude
+                // hand testing showed that aw=10 reduced the windup by maybe half
+
+                // This may only be useful for aircraft with large Ki values and limits
+                if (dT > 0.0f && rattitude_anti_windup > 0.0f) {
+                    float factor;
 
                     // At magnitudes close to one, the Attitude accumulators gets zeroed
-                pids[PID_ROLL       + i].iAccumulator *= (1.0f-magnitude); // * factor;
+                    if (pids[PID_ROLL+i].i > 0.0f) {
-                pids[PID_RATEA_ROLL + i].iAccumulator *= (1.0f-magnitude); // * factor;
+                        factor = 1.0f - powf(magnitude, 1.0f / (rattitude_anti_windup * dT * pids[PID_ROLL+i].i));
+                        pids[PID_ROLL+i].iAccumulator *= factor;
+                    }
+                    if (pids[PID_RATEA_ROLL+i].i > 0.0f) {
+                        factor = 1.0f - powf(magnitude, 1.0f / (rattitude_anti_windup * dT * pids[PID_RATEA_ROLL+i].i * 833.0f));
+                        pids[PID_RATEA_ROLL+i].iAccumulator *= factor;
+                    }
 
                     // At magnitudes close to zero, the Rate accumulator gets zeroed
-                pids[PID_RATE_ROLL  + i].iAccumulator *= magnitude;        // * factor;
+                    if (pids[PID_RATE_ROLL+i].i > 0.0f) {
+                        factor = 1.0f - powf(1.0f-magnitude, 1.0f / (rattitude_anti_windup * dT * pids[PID_RATE_ROLL+i].i * 833.0f));
+                        pids[PID_RATE_ROLL+i].iAccumulator *= factor;
+                    }
+                }
 
                 break;
             }
@@ -403,6 +445,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
             // Weak Leveling Kp is off by a factor of 3 to 12 and may need a different default in GCS
             // Changing Rate mode max rate currently requires a change to Kp
             // That would be changed to Attitude mode max angle affecting Kp
+            // Also does not take dT into account
             {
                 if (reinit) {
                     pids[PID_RATE_ROLL + i].iAccumulator = 0;
@@ -609,21 +652,21 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
                   0,
                   settings.YawPI.ILimit);
 
-    // Set the MWHorizon roll rate PID constants
+    // Set the Rattitude roll rate PID constants
     pid_configure(&pids[PID_RATEA_ROLL],
                   settings.RollRatePID.Kp,
                   settings.RollRatePID.Ki,
                   settings.RollRatePID.Kd,
                   settings.RollRatePID.ILimit);
 
-    // Set the MWHorizon pitch rate PID constants
+    // Set the Rattitude pitch rate PID constants
     pid_configure(&pids[PID_RATEA_PITCH],
                   settings.PitchRatePID.Kp,
                   settings.PitchRatePID.Ki,
                   settings.PitchRatePID.Kd,
                   settings.PitchRatePID.ILimit);
 
-    // Set the MWHorizon yaw rate PID constants
+    // Set the Rattitude yaw rate PID constants
     pid_configure(&pids[PID_RATEA_YAW],
                   settings.YawRatePID.Kp,
                   settings.YawRatePID.Ki,
@@ -663,6 +706,9 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
 
     // Compute time constant for vbar decay term based on a tau
     vbar_decay = expf(-fakeDt / settings.VbarTau);
+
+    // Rattitude flight mode anti-windup factor
+    rattitude_anti_windup = (float) settings.RattitudeAntiWindup;
 }
 
 

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

@@ -507,7 +507,7 @@
       <enum>QTabWidget::Rounded</enum>
      </property>
      <property name="currentIndex">
-      <number>0</number>
+      <number>2</number>
      </property>
      <property name="documentMode">
       <bool>false</bool>
@@ -627,8 +627,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>778</width>
+            <width>798</width>
-            <height>659</height>
+            <height>656</height>
            </rect>
           </property>
           <property name="sizePolicy">
@@ -8867,9 +8867,9 @@ border-radius: 5;</string>
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>-117</y>
+            <y>0</y>
-            <width>778</width>
+            <width>784</width>
-            <height>762</height>
+            <height>711</height>
            </rect>
           </property>
           <property name="autoFillBackground">
@@ -18908,8 +18908,8 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>792</width>
+            <width>784</width>
-            <height>645</height>
+            <height>673</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_9">
@@ -21554,6 +21554,198 @@ border-radius: 5;</string>
              </layout>
             </widget>
            </item>
+           <item>
+            <widget class="QGroupBox" name="gridGroupBox">
+             <property name="title">
+              <string>Rattitude</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_24">
+              <property name="leftMargin">
+               <number>9</number>
+              </property>
+              <property name="topMargin">
+               <number>9</number>
+              </property>
+              <property name="rightMargin">
+               <number>9</number>
+              </property>
+              <property name="bottomMargin">
+               <number>9</number>
+              </property>
+              <item row="0" column="0">
+               <spacer name="horizontalSpacer_54">
+                <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="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>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;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.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</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>
+            <width>798</width>
-            <height>645</height>
+            <height>656</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout_23">

shared/uavobjectdefinition/manualcontrolsettings.xml

@@ -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;"/>
 

shared/uavobjectdefinition/stabilizationdesired.xml

@@ -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"/>

shared/uavobjectdefinition/stabilizationsettings.xml

@@ -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"/>