From 7973ab9d0a0f2edce926aa9a644a737b5dc389db Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Fri, 24 Jul 2015 21:37:46 +0200 Subject: [PATCH 1/5] LP-56 - Use separate roll/picth factors and add firmware support --- flight/modules/Stabilization/innerloop.c | 8 +++++++- flight/modules/TxPID/txpid.c | 15 ++++++++++----- shared/uavobjectdefinition/stabilizationbank.xml | 4 ++-- .../stabilizationsettingsbank1.xml | 2 +- .../stabilizationsettingsbank2.xml | 2 +- .../stabilizationsettingsbank3.xml | 2 +- shared/uavobjectdefinition/txpidsettings.xml | 2 +- 7 files changed, 23 insertions(+), 12 deletions(-) diff --git a/flight/modules/Stabilization/innerloop.c b/flight/modules/Stabilization/innerloop.c index 85e0377f6..8e0891fbc 100644 --- a/flight/modules/Stabilization/innerloop.c +++ b/flight/modules/Stabilization/innerloop.c @@ -10,6 +10,7 @@ * * @file innerloop.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014. + * @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015. * @brief Attitude stabilization module. * * @see The GNU Public License (GPL) Version 3 @@ -301,10 +302,15 @@ static void stabilizationInnerloopTask() -StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t], StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t] ); + const float acro_factors[] = { + stabSettings.stabBank.AcroInsanityFactor.Roll, + stabSettings.stabBank.AcroInsanityFactor.Pitch, + stabSettings.stabBank.AcroInsanityFactor.Yaw + }; pid_scaler ascaler = create_pid_scaler(t); ascaler.i *= boundf(1.0f - (1.5f * fabsf(stickinput[t])), 0.0f, 1.0f); // this prevents Integral from getting too high while controlled manually float arate = pid_apply_setpoint(&stabSettings.innerPids[t], &ascaler, rate[t], gyro_filtered[t], dT); - float factor = fabsf(stickinput[t]) * stabSettings.stabBank.AcroInsanityFactor; + float factor = fabsf(stickinput[t]) * acro_factors[t]; actuatorDesiredAxis[t] = factor * stickinput[t] + (1.0f - factor) * arate; } break; diff --git a/flight/modules/TxPID/txpid.c b/flight/modules/TxPID/txpid.c index f14239dbc..6a3cbfe72 100644 --- a/flight/modules/TxPID/txpid.c +++ b/flight/modules/TxPID/txpid.c @@ -9,6 +9,7 @@ * * @file txpid.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011. + * @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015. * @brief Optional module to tune PID settings using R/C transmitter. * * @see The GNU Public License (GPL) Version 3 @@ -382,17 +383,21 @@ static void updatePIDs(UAVObjEvent *ev) case TXPIDSETTINGS_PIDS_GYROTAU: needsUpdateStab |= update(&stab.GyroTau, value); break; - case TXPIDSETTINGS_PIDS_ACROPLUSFACTOR: - needsUpdateBank |= update(&bank.AcroInsanityFactor, value); + case TXPIDSETTINGS_PIDS_ACROPLUSFACTORROLL: + needsUpdateBank |= update(&bank.AcroInsanityFactor.Roll, value); break; + case TXPIDSETTINGS_PIDS_ACROPLUSFACTORPITCH: + needsUpdateBank |= update(&bank.AcroInsanityFactor.Pitch, value); + break; + case TXPIDSETTINGS_PIDS_ACCELTAU: - needsUpdateAtt |= update(&att.AccelTau, value); + needsUpdateAtt |= update(&att.AccelTau, value); break; case TXPIDSETTINGS_PIDS_ACCELKP: - needsUpdateAtt |= update(&att.AccelKp, value); + needsUpdateAtt |= update(&att.AccelKp, value); break; case TXPIDSETTINGS_PIDS_ACCELKI: - needsUpdateAtt |= update(&att.AccelKi, value); + needsUpdateAtt |= update(&att.AccelKi, value); break; #ifdef REVOLUTION diff --git a/shared/uavobjectdefinition/stabilizationbank.xml b/shared/uavobjectdefinition/stabilizationbank.xml index c740521a5..0dac7e48b 100644 --- a/shared/uavobjectdefinition/stabilizationbank.xml +++ b/shared/uavobjectdefinition/stabilizationbank.xml @@ -16,8 +16,8 @@ - - + + diff --git a/shared/uavobjectdefinition/stabilizationsettingsbank1.xml b/shared/uavobjectdefinition/stabilizationsettingsbank1.xml index 0d9f4bd7e..f43e41bee 100644 --- a/shared/uavobjectdefinition/stabilizationsettingsbank1.xml +++ b/shared/uavobjectdefinition/stabilizationsettingsbank1.xml @@ -16,7 +16,7 @@ - + diff --git a/shared/uavobjectdefinition/stabilizationsettingsbank2.xml b/shared/uavobjectdefinition/stabilizationsettingsbank2.xml index d57e46c0c..1dc797059 100644 --- a/shared/uavobjectdefinition/stabilizationsettingsbank2.xml +++ b/shared/uavobjectdefinition/stabilizationsettingsbank2.xml @@ -16,7 +16,7 @@ - + diff --git a/shared/uavobjectdefinition/stabilizationsettingsbank3.xml b/shared/uavobjectdefinition/stabilizationsettingsbank3.xml index bb2cf5fa0..7a0e3703b 100644 --- a/shared/uavobjectdefinition/stabilizationsettingsbank3.xml +++ b/shared/uavobjectdefinition/stabilizationsettingsbank3.xml @@ -16,7 +16,7 @@ - + diff --git a/shared/uavobjectdefinition/txpidsettings.xml b/shared/uavobjectdefinition/txpidsettings.xml index 511c37cf0..ab2b6df28 100644 --- a/shared/uavobjectdefinition/txpidsettings.xml +++ b/shared/uavobjectdefinition/txpidsettings.xml @@ -20,7 +20,7 @@ Roll+Pitch Attitude.Kp, Roll+Pitch Attitude.Ki, Roll+Pitch Attitude.ILimit, Roll+Pitch Attitude.Resp, Yaw Attitude.Kp, Yaw Attitude.Ki, Yaw Attitude.ILimit, Yaw Attitude.Resp, Roll.Expo, Pitch.Expo, Roll+Pitch.Expo, Yaw.Expo, - GyroTau,AcroPlusFactor,Altitude Pos.Kp,Altitude Velocity.Kp,Altitude Velocity.Ki,Altitude Velocity.Kd,Altitude Velocity.Beta, + GyroTau,AcroPlusFactorRoll,AcroPlusFactorPitch,Altitude Pos.Kp,Altitude Velocity.Kp,Altitude Velocity.Ki,Altitude Velocity.Kd,Altitude Velocity.Beta, AccelTau, AccelKp, AccelKi" defaultvalue="Disabled"/> From 383a4731c7b10aca8e79e0db75792cc59e29d48b Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Sat, 25 Jul 2015 12:02:58 +0200 Subject: [PATCH 2/5] LP-56 - UI support --- .../src/plugins/config/configtxpidwidget.cpp | 4 +- .../src/plugins/config/stabilization.ui | 115 +++++++++++++++++- 2 files changed, 112 insertions(+), 7 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp b/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp index f8d51a97b..23d924a85 100644 --- a/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp @@ -3,6 +3,7 @@ * * @file configtxpidswidget.cpp * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012. + * @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015. * @addtogroup GCSPlugins GCS Plugins * @{ * @addtogroup ConfigPlugin Config Plugin @@ -162,7 +163,8 @@ static bool isExpoOption(int pidOption) static bool isAcroPlusFactorOption(int pidOption) { - return pidOption == TxPIDSettings::PIDS_ACROPLUSFACTOR; + return pidOption == TxPIDSettings::PIDS_ACROPLUSFACTORPITCH + || pidOption == TxPIDSettings::PIDS_ACROPLUSFACTORROLL; } template diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui index 42dc19125..38fbee8d6 100644 --- a/ground/openpilotgcs/src/plugins/config/stabilization.ui +++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui @@ -241,7 +241,7 @@ margin-top: -1px; 0 - + 0 @@ -278,12 +278,13 @@ margin-top: -1px; fieldname:AcroInsanityFactor scale:0.01 buttongroup:77 + element:Roll - + 60 @@ -311,12 +312,13 @@ margin-top: -1px; fieldname:AcroInsanityFactor scale:0.01 buttongroup:77 + element:Roll - + 0 @@ -330,7 +332,106 @@ margin-top: -1px; - Factor + Roll Factor + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + + 0 + 25 + + + + <html><head/><body><p>The Acro + slider can be adjusted to change the amount of manual control blending.</p></body></html> + + + 0 + + + 100 + + + 1 + + + 50 + + + Qt::Horizontal + + + QSlider::TicksBelow + + + 5 + + + + objname:StabilizationSettingsBankX + fieldname:AcroInsanityFactor + scale:0.01 + buttongroup:77 + element:Pitch + + + + + + + + + 60 + 22 + + + + + 60 + 22 + + + + 0 + + + 100 + + + 50 + + + + objname:StabilizationSettingsBankX + fieldname:AcroInsanityFactor + scale:0.01 + buttongroup:77 + element:Pitch + + + + + + + + + 0 + 0 + + + + + 80 + 0 + + + + Pitch Factor Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter @@ -27298,8 +27399,10 @@ Useful if you have accidentally changed some settings. RateYawResponsivenessSlider spinBox_5 pushButton_21 - AttitudeResponsivenessSlider_2 - spinBox_3 + AcroFactorRollSlider + AcroFactorRollSpinBox + AcroFactorPitchSlider + AcroFactorPitchSpinBox pushButton_12 RateYawResponsivenessSlider_2 expoSpinnerRoll From 7b3aed3de9cdfb6e220ff376d3851341b1bb976e Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Mon, 27 Jul 2015 22:45:33 +0200 Subject: [PATCH 3/5] LP-56 - Allows a single txpid instance to handle Roll&Pitch Also populate combos with current txpid values --- flight/modules/TxPID/txpid.c | 5 ++++- .../src/plugins/config/configtxpidwidget.cpp | 17 ++++++++++++++--- shared/uavobjectdefinition/txpidsettings.xml | 2 +- 3 files changed, 19 insertions(+), 5 deletions(-) diff --git a/flight/modules/TxPID/txpid.c b/flight/modules/TxPID/txpid.c index 6a3cbfe72..9d135d2f4 100644 --- a/flight/modules/TxPID/txpid.c +++ b/flight/modules/TxPID/txpid.c @@ -389,7 +389,10 @@ static void updatePIDs(UAVObjEvent *ev) case TXPIDSETTINGS_PIDS_ACROPLUSFACTORPITCH: needsUpdateBank |= update(&bank.AcroInsanityFactor.Pitch, value); break; - + case TXPIDSETTINGS_PIDS_ACROPLUSFACTORROLLPITCH: + needsUpdateBank |= update(&bank.AcroInsanityFactor.Roll, value); + needsUpdateBank |= update(&bank.AcroInsanityFactor.Pitch, value); + break; case TXPIDSETTINGS_PIDS_ACCELTAU: needsUpdateAtt |= update(&att.AccelTau, value); break; diff --git a/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp b/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp index 23d924a85..6b453e09c 100644 --- a/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp @@ -163,8 +163,15 @@ static bool isExpoOption(int pidOption) static bool isAcroPlusFactorOption(int pidOption) { - return pidOption == TxPIDSettings::PIDS_ACROPLUSFACTORPITCH - || pidOption == TxPIDSettings::PIDS_ACROPLUSFACTORROLL; + switch (pidOption) { + case TxPIDSettings::PIDS_ACROPLUSFACTORPITCH: + case TxPIDSettings::PIDS_ACROPLUSFACTORROLL: + case TxPIDSettings::PIDS_ACROPLUSFACTORROLLPITCH: + return true; + + default: + return false; + } } template @@ -293,7 +300,11 @@ static float defaultValueForPidOption(const StabilizationSettingsBankX *bank, in case TxPIDSettings::PIDS_YAWEXPO: return bank->getStickExpo_Yaw(); - + case TxPIDSettings::PIDS_ACROPLUSFACTORROLL: + case TxPIDSettings::PIDS_ACROPLUSFACTORROLLPITCH: + return bank->getAcroInsanityFactor_Roll(); + case TxPIDSettings::PIDS_ACROPLUSFACTORPITCH: + return bank->getAcroInsanityFactor_Pitch(); case -1: // The PID Option field was uninitialized. return 0.0f; diff --git a/shared/uavobjectdefinition/txpidsettings.xml b/shared/uavobjectdefinition/txpidsettings.xml index ab2b6df28..a5f0f2865 100644 --- a/shared/uavobjectdefinition/txpidsettings.xml +++ b/shared/uavobjectdefinition/txpidsettings.xml @@ -20,7 +20,7 @@ Roll+Pitch Attitude.Kp, Roll+Pitch Attitude.Ki, Roll+Pitch Attitude.ILimit, Roll+Pitch Attitude.Resp, Yaw Attitude.Kp, Yaw Attitude.Ki, Yaw Attitude.ILimit, Yaw Attitude.Resp, Roll.Expo, Pitch.Expo, Roll+Pitch.Expo, Yaw.Expo, - GyroTau,AcroPlusFactorRoll,AcroPlusFactorPitch,Altitude Pos.Kp,Altitude Velocity.Kp,Altitude Velocity.Ki,Altitude Velocity.Kd,Altitude Velocity.Beta, + GyroTau,AcroPlusFactorRollPitch,AcroPlusFactorRoll,AcroPlusFactorPitch,Altitude Pos.Kp,Altitude Velocity.Kp,Altitude Velocity.Ki,Altitude Velocity.Kd,Altitude Velocity.Beta, AccelTau, AccelKp, AccelKi" defaultvalue="Disabled"/> From 3490057f699c6492c084e71390012773bd2c2af9 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Mon, 27 Jul 2015 23:25:38 +0200 Subject: [PATCH 4/5] LP-56 - Add link checkbox for acro+ roll/pitch factors --- .../config/configstabilizationwidget.cpp | 12 ++++++++++ .../src/plugins/config/stabilization.ui | 23 +++++++++++++++++++ 2 files changed, 35 insertions(+) diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp index bdeed6138..4a507f7c0 100644 --- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp @@ -91,6 +91,9 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa connect(ui->checkBox_3, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool))); addWidget(ui->checkBox_3); + connect(ui->checkBoxLinkAcroFactors, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool))); + addWidget(ui->checkBoxLinkAcroFactors); + addWidget(ui->pushButton_2); addWidget(ui->pushButton_3); addWidget(ui->pushButton_4); @@ -568,6 +571,8 @@ void ConfigStabilizationWidget::linkCheckBoxes(bool value) ui->basicResponsivenessCheckBox->setChecked(!value); ui->basicResponsivenessControls->setEnabled(!value); ui->advancedResponsivenessControls->setEnabled(value); + } else if(sender() == ui->checkBoxLinkAcroFactors) { + processLinkedWidgets(ui->AcroFactorRollSlider); } } @@ -608,6 +613,13 @@ void ConfigStabilizationWidget::processLinkedWidgets(QWidget *widget) ui->ratePitchKi_4->setValue(ui->RateResponsivenessSlider->value()); } } + if (ui->checkBoxLinkAcroFactors->isChecked()) { + if (widget == ui->AcroFactorRollSlider) { + ui->AcroFactorPitchSlider->setValue(ui->AcroFactorRollSlider->value()); + } else if (widget == ui->AcroFactorPitchSlider) { + ui->AcroFactorRollSlider->setValue(ui->AcroFactorPitchSlider->value()); + } + } } void ConfigStabilizationWidget::onBoardConnected() diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui index 38fbee8d6..f1ee17b2f 100644 --- a/ground/openpilotgcs/src/plugins/config/stabilization.ui +++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui @@ -195,6 +195,29 @@ margin-top: -1px; Acro+ + + + + + + 0 + 0 + + + + Qt::StrongFocus + + + <html><head/><body><p>Link roll &amp; pitch sliders to move together, thus giving same value for both roll &amp; pitch when setting up a symetrical vehicle that requires both to be the same</p></body></html> + + + + + + Link Roll and Pitch + + + From 13f02e7d9da90cf1daa3cf5df65c0fcc82bb4959 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Thu, 30 Jul 2015 18:23:55 +0200 Subject: [PATCH 5/5] LP-56 - Better txpid option namings, fix tabs-spaces, tooltips. headers, variable namings --- flight/modules/Stabilization/innerloop.c | 4 ++-- flight/modules/TxPID/txpid.c | 6 +++--- .../src/plugins/config/configstabilizationwidget.cpp | 1 + .../src/plugins/config/configtxpidwidget.cpp | 12 ++++++------ .../openpilotgcs/src/plugins/config/stabilization.ui | 2 +- shared/uavobjectdefinition/stabilizationbank.xml | 4 ++-- .../stabilizationsettingsbank1.xml | 2 +- .../stabilizationsettingsbank2.xml | 2 +- .../stabilizationsettingsbank3.xml | 2 +- shared/uavobjectdefinition/txpidsettings.xml | 6 +++--- 10 files changed, 21 insertions(+), 20 deletions(-) diff --git a/flight/modules/Stabilization/innerloop.c b/flight/modules/Stabilization/innerloop.c index 8e0891fbc..4c08d5c8d 100644 --- a/flight/modules/Stabilization/innerloop.c +++ b/flight/modules/Stabilization/innerloop.c @@ -302,7 +302,7 @@ static void stabilizationInnerloopTask() -StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t], StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t] ); - const float acro_factors[] = { + const float acroFactors[] = { stabSettings.stabBank.AcroInsanityFactor.Roll, stabSettings.stabBank.AcroInsanityFactor.Pitch, stabSettings.stabBank.AcroInsanityFactor.Yaw @@ -310,7 +310,7 @@ static void stabilizationInnerloopTask() pid_scaler ascaler = create_pid_scaler(t); ascaler.i *= boundf(1.0f - (1.5f * fabsf(stickinput[t])), 0.0f, 1.0f); // this prevents Integral from getting too high while controlled manually float arate = pid_apply_setpoint(&stabSettings.innerPids[t], &ascaler, rate[t], gyro_filtered[t], dT); - float factor = fabsf(stickinput[t]) * acro_factors[t]; + float factor = fabsf(stickinput[t]) * acroFactors[t]; actuatorDesiredAxis[t] = factor * stickinput[t] + (1.0f - factor) * arate; } break; diff --git a/flight/modules/TxPID/txpid.c b/flight/modules/TxPID/txpid.c index 9d135d2f4..b7c3baaae 100644 --- a/flight/modules/TxPID/txpid.c +++ b/flight/modules/TxPID/txpid.c @@ -383,13 +383,13 @@ static void updatePIDs(UAVObjEvent *ev) case TXPIDSETTINGS_PIDS_GYROTAU: needsUpdateStab |= update(&stab.GyroTau, value); break; - case TXPIDSETTINGS_PIDS_ACROPLUSFACTORROLL: + case TXPIDSETTINGS_PIDS_ACROROLLFACTOR: needsUpdateBank |= update(&bank.AcroInsanityFactor.Roll, value); break; - case TXPIDSETTINGS_PIDS_ACROPLUSFACTORPITCH: + case TXPIDSETTINGS_PIDS_ACROPITCHFACTOR: needsUpdateBank |= update(&bank.AcroInsanityFactor.Pitch, value); break; - case TXPIDSETTINGS_PIDS_ACROPLUSFACTORROLLPITCH: + case TXPIDSETTINGS_PIDS_ACROROLLPITCHFACTOR: needsUpdateBank |= update(&bank.AcroInsanityFactor.Roll, value); needsUpdateBank |= update(&bank.AcroInsanityFactor.Pitch, value); break; diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp index 4a507f7c0..ca02fcea8 100644 --- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp @@ -2,6 +2,7 @@ ****************************************************************************** * * @file configstabilizationwidget.cpp + * @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015. * @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @addtogroup GCSPlugins GCS Plugins * @{ diff --git a/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp b/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp index 6b453e09c..d66deb77d 100644 --- a/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp @@ -164,9 +164,9 @@ static bool isExpoOption(int pidOption) static bool isAcroPlusFactorOption(int pidOption) { switch (pidOption) { - case TxPIDSettings::PIDS_ACROPLUSFACTORPITCH: - case TxPIDSettings::PIDS_ACROPLUSFACTORROLL: - case TxPIDSettings::PIDS_ACROPLUSFACTORROLLPITCH: + case TxPIDSettings::PIDS_ACROPITCHFACTOR: + case TxPIDSettings::PIDS_ACROROLLFACTOR: + case TxPIDSettings::PIDS_ACROROLLPITCHFACTOR: return true; default: @@ -300,10 +300,10 @@ static float defaultValueForPidOption(const StabilizationSettingsBankX *bank, in case TxPIDSettings::PIDS_YAWEXPO: return bank->getStickExpo_Yaw(); - case TxPIDSettings::PIDS_ACROPLUSFACTORROLL: - case TxPIDSettings::PIDS_ACROPLUSFACTORROLLPITCH: + case TxPIDSettings::PIDS_ACROROLLFACTOR: + case TxPIDSettings::PIDS_ACROROLLPITCHFACTOR: return bank->getAcroInsanityFactor_Roll(); - case TxPIDSettings::PIDS_ACROPLUSFACTORPITCH: + case TxPIDSettings::PIDS_ACROPITCHFACTOR: return bank->getAcroInsanityFactor_Pitch(); case -1: // The PID Option field was uninitialized. return 0.0f; diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui index f1ee17b2f..226a6edcc 100644 --- a/ground/openpilotgcs/src/plugins/config/stabilization.ui +++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui @@ -208,7 +208,7 @@ margin-top: -1px; Qt::StrongFocus - <html><head/><body><p>Link roll &amp; pitch sliders to move together, thus giving same value for both roll &amp; pitch when setting up a symetrical vehicle that requires both to be the same</p></body></html> + <html><head/><body><p>Link roll &amp; pitch sliders to move together</p></body></html> diff --git a/shared/uavobjectdefinition/stabilizationbank.xml b/shared/uavobjectdefinition/stabilizationbank.xml index 0dac7e48b..eb8d0443e 100644 --- a/shared/uavobjectdefinition/stabilizationbank.xml +++ b/shared/uavobjectdefinition/stabilizationbank.xml @@ -16,8 +16,8 @@ - - + + diff --git a/shared/uavobjectdefinition/stabilizationsettingsbank1.xml b/shared/uavobjectdefinition/stabilizationsettingsbank1.xml index f43e41bee..0de049167 100644 --- a/shared/uavobjectdefinition/stabilizationsettingsbank1.xml +++ b/shared/uavobjectdefinition/stabilizationsettingsbank1.xml @@ -16,7 +16,7 @@ - + diff --git a/shared/uavobjectdefinition/stabilizationsettingsbank2.xml b/shared/uavobjectdefinition/stabilizationsettingsbank2.xml index 1dc797059..4617fec8b 100644 --- a/shared/uavobjectdefinition/stabilizationsettingsbank2.xml +++ b/shared/uavobjectdefinition/stabilizationsettingsbank2.xml @@ -16,7 +16,7 @@ - + diff --git a/shared/uavobjectdefinition/stabilizationsettingsbank3.xml b/shared/uavobjectdefinition/stabilizationsettingsbank3.xml index 7a0e3703b..04e2c6c50 100644 --- a/shared/uavobjectdefinition/stabilizationsettingsbank3.xml +++ b/shared/uavobjectdefinition/stabilizationsettingsbank3.xml @@ -16,7 +16,7 @@ - + diff --git a/shared/uavobjectdefinition/txpidsettings.xml b/shared/uavobjectdefinition/txpidsettings.xml index a5f0f2865..554598f6b 100644 --- a/shared/uavobjectdefinition/txpidsettings.xml +++ b/shared/uavobjectdefinition/txpidsettings.xml @@ -7,8 +7,8 @@ elementnames="Instance1,Instance2,Instance3" options="Throttle,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Throttle,Accessory0,Accessory1"/> - - +