mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-02 10:24:11 +01:00
Implemented stabilization tuning UI improvements as per OP-429.
This commit is contained in:
elafargue
parent
9e26d7edcc
commit
61e8df8b20
@ -49,7 +49,6 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
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connect(m_stabilization->saveStabilizationToSD, SIGNAL(clicked()), this, SLOT(saveStabilizationUpdate()));
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connect(m_stabilization->saveStabilizationToRAM, SIGNAL(clicked()), this, SLOT(sendStabilizationUpdate()));
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connect(m_stabilization->getStabilizationCurrent, SIGNAL(clicked()), this, SLOT(requestStabilizationUpdate()));
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connect(m_stabilization->resetStabilizationToDefaults, SIGNAL(clicked()), this, SLOT(resetStabilizationToDefaults()));
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connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestStabilizationUpdate()));
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@ -269,10 +268,6 @@ void ConfigStabilizationWidget::saveStabilizationUpdate()
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}
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void ConfigStabilizationWidget::resetStabilizationToDefaults()
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{
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}
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void ConfigStabilizationWidget::realtimeUpdateToggle(bool state)
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{
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if (state)
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@ -55,7 +55,6 @@ private slots:
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void requestStabilizationUpdate();
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void sendStabilizationUpdate();
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void saveStabilizationUpdate();
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void resetStabilizationToDefaults();
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void realtimeUpdateToggle(bool);
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void updateRateRollKP(double);
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@ -15,580 +15,555 @@
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_3">
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<item>
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<widget class="QTabWidget" name="piFactors">
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<property name="currentIndex">
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<number>0</number>
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</property>
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<widget class="QWidget" name="tab">
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<attribute name="title">
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<string>PI Factors</string>
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</attribute>
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<layout class="QVBoxLayout" name="verticalLayout_2">
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<item>
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<layout class="QVBoxLayout" name="verticalLayout">
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout_3">
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<item>
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<widget class="QLabel" name="label_8">
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<property name="text">
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<string>Rate Stabilization (inner loop)</string>
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</property>
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</widget>
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</item>
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<item>
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<spacer name="horizontalSpacer_3">
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>40</width>
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<height>20</height>
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</size>
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</property>
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</spacer>
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</item>
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<item>
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<widget class="QLabel" name="label_4">
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<property name="text">
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<string>Hint: read the toolips!</string>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<item>
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<widget class="QFrame" name="frame_2">
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<property name="toolTip">
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<string>First, work on rate stabilization.</string>
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</property>
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<property name="frameShape">
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<enum>QFrame::StyledPanel</enum>
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</property>
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<property name="frameShadow">
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<enum>QFrame::Raised</enum>
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</property>
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<layout class="QGridLayout" name="gridLayout" columnstretch="1,1,2,2,2">
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<item row="1" column="1">
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<widget class="QLabel" name="label_10">
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<property name="text">
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<string>Roll</string>
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</property>
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</widget>
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</item>
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<item row="1" column="2">
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<widget class="QDoubleSpinBox" name="rateRollKp">
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<property name="toolTip">
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<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
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Then lower the value by 20% or so.</string>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_11">
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<property name="text">
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<string>Pitch</string>
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</property>
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</widget>
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</item>
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<item row="2" column="2">
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<widget class="QDoubleSpinBox" name="ratePitchKp">
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<property name="toolTip">
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<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
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Then lower the value by 20% or so.</string>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
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</property>
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</widget>
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</item>
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<item row="0" column="2">
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<widget class="QLabel" name="label_12">
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<property name="text">
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<string>Kp</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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</widget>
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</item>
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<item row="1" column="3">
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<widget class="QDoubleSpinBox" name="rateRollKi">
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<property name="toolTip">
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<string>I factor for rate stabilization is usually very low or even zero.</string>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
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</property>
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</widget>
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</item>
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<item row="2" column="3">
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<widget class="QDoubleSpinBox" name="ratePitchKi">
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<property name="toolTip">
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<string>I factor for rate stabilization is usually very low or even zero.</string>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
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</property>
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</widget>
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</item>
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<item row="0" column="3">
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<widget class="QLabel" name="label_13">
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<property name="text">
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<string>Ki</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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</widget>
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</item>
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<item row="1" column="4">
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<widget class="QDoubleSpinBox" name="rateRollILimit">
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
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</property>
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</widget>
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</item>
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<item row="2" column="4">
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<widget class="QDoubleSpinBox" name="ratePitchILimit">
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
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</property>
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</widget>
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</item>
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<item row="0" column="4">
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<widget class="QLabel" name="label_14">
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<property name="text">
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<string>ILimit</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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</widget>
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</item>
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<item row="1" column="0" rowspan="2">
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<widget class="QCheckBox" name="linkRateRP">
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<property name="toolTip">
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<string>If checked, the Roll and Pitch factors will be identical.
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When you change one, the other is updated.</string>
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</property>
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<property name="text">
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<string>Link</string>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_15">
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<property name="text">
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<string>Yaw</string>
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</property>
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</widget>
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</item>
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<item row="3" column="2">
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<widget class="QDoubleSpinBox" name="rateYawKp">
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<property name="toolTip">
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<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
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Then lower the value by 20% or so.
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You can usually go for higher values for Yaw factors.</string>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
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</property>
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</widget>
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</item>
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<item row="3" column="3">
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<widget class="QDoubleSpinBox" name="rateYawKi">
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<property name="toolTip">
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<string>As a rule of thumb, you can set YawRate Ki at roughly the same
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value as YawRate Kp.</string>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
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</property>
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</widget>
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</item>
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<item row="3" column="4">
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<widget class="QDoubleSpinBox" name="rateYawILimit">
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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<item>
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<widget class="QLabel" name="label_9">
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<property name="text">
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<string>Attitude Stabilization (outer loop)</string>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QFrame" name="frame_3">
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<property name="frameShape">
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<enum>QFrame::StyledPanel</enum>
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</property>
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<property name="frameShadow">
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<enum>QFrame::Raised</enum>
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</property>
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<layout class="QGridLayout" name="gridLayout_2" columnstretch="1,1,2,2,2">
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<item row="1" column="0" rowspan="2">
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<widget class="QCheckBox" name="linkAttitudeRP">
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<property name="toolTip">
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<string>If checked, the Roll and Pitch factors will be identical.
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When you change one, the other is updated.</string>
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</property>
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<property name="text">
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<string>Link</string>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_16">
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<property name="text">
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<string>Roll</string>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_17">
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<property name="text">
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<string>Pitch</string>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_18">
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<property name="text">
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<string>Yaw</string>
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</property>
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</widget>
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</item>
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<item row="1" column="2">
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<widget class="QDoubleSpinBox" name="rollKp">
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<property name="toolTip">
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<string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
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</string>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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<item row="2" column="2">
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<widget class="QDoubleSpinBox" name="pitchKp">
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<property name="toolTip">
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<string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
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</string>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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<item row="3" column="2">
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<widget class="QDoubleSpinBox" name="yawKp">
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<property name="toolTip">
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<string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
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</string>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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<item row="1" column="3">
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<widget class="QDoubleSpinBox" name="rollKi">
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<property name="toolTip">
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<string>Ki can usually be almost identical to Kp.</string>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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<item row="2" column="3">
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<widget class="QDoubleSpinBox" name="pitchKi">
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<property name="toolTip">
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<string>Ki can usually be almost identical to Kp.</string>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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<item row="3" column="3">
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<widget class="QDoubleSpinBox" name="yawKi">
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<property name="toolTip">
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<string>Ki can usually be almost identical to Kp.</string>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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<item row="1" column="4">
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<widget class="QDoubleSpinBox" name="rollILimit">
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<property name="toolTip">
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<string>ILimit can be equal to three to four times Ki, but you can adjust
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depending on whether your airframe is well balanced, and your
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flying style.</string>
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</property>
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<property name="decimals">
|
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<number>6</number>
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</property>
|
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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<item row="2" column="4">
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<widget class="QDoubleSpinBox" name="pitchILimit">
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<property name="toolTip">
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<string>ILimit can be equal to three to four times Ki, but you can adjust
|
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depending on whether your airframe is well balanced, and your
|
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flying style.</string>
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</property>
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<property name="decimals">
|
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<number>6</number>
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</property>
|
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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<item row="3" column="4">
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<widget class="QDoubleSpinBox" name="yawILimit">
|
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<property name="toolTip">
|
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<string>ILimit can be equal to three to four times Ki, but you can adjust
|
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depending on whether your airframe is well balanced, and your
|
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flying style.</string>
|
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</property>
|
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<property name="decimals">
|
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<number>6</number>
|
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</property>
|
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<property name="singleStep">
|
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<double>0.100000000000000</double>
|
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</property>
|
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</widget>
|
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</item>
|
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<item row="0" column="2">
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<widget class="QLabel" name="label_19">
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<property name="text">
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<string>Kp</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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</widget>
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</item>
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<item row="0" column="3">
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<widget class="QLabel" name="label_20">
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<property name="text">
|
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<string>Ki</string>
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</property>
|
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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</widget>
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</item>
|
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<item row="0" column="4">
|
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<widget class="QLabel" name="label_21">
|
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<property name="text">
|
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<string>ILimit</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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</widget>
|
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</item>
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</layout>
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</widget>
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</item>
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<item>
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<spacer name="verticalSpacer">
|
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<property name="orientation">
|
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<enum>Qt::Vertical</enum>
|
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</property>
|
||||
<property name="sizeHint" stdset="0">
|
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<size>
|
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<width>20</width>
|
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<height>40</height>
|
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</size>
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</property>
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</spacer>
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</item>
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<item>
|
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<widget class="QCheckBox" name="realTimeUpdates">
|
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<property name="toolTip">
|
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<string>If you check this, the GCS will udpate the stabilization factors
|
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automatically every 300ms, which will help for fast tuning.</string>
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</property>
|
||||
<property name="text">
|
||||
<string>Update in real time</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="tab_2">
|
||||
<attribute name="title">
|
||||
<string>Limits</string>
|
||||
</attribute>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox">
|
||||
<property name="title">
|
||||
<string>Angle limits</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_4">
|
||||
<widget class="QFrame" name="piFactors">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_2">
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout">
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_3">
|
||||
<item>
|
||||
<widget class="QFrame" name="frame">
|
||||
<property name="toolTip">
|
||||
<string>In this area, you can setup the limits for roll, pitch and yaw in attitude mode, i.e. what max attitude the airframe will reach if the sticks are pushed to the max.</string>
|
||||
<widget class="QLabel" name="label_8">
|
||||
<property name="text">
|
||||
<string>Rate Stabilization (inner loop)</string>
|
||||
</property>
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::StyledPanel</enum>
|
||||
</property>
|
||||
<property name="frameShadow">
|
||||
<enum>QFrame::Raised</enum>
|
||||
</property>
|
||||
<layout class="QFormLayout" name="formLayout">
|
||||
<property name="fieldGrowthPolicy">
|
||||
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
|
||||
</property>
|
||||
<item row="0" column="0">
|
||||
<widget class="QLabel" name="label">
|
||||
<property name="text">
|
||||
<string>RollMax</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QSpinBox" name="rollMax">
|
||||
<property name="maximum">
|
||||
<number>180</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="label_2">
|
||||
<property name="text">
|
||||
<string>PitchMax</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QSpinBox" name="pitchMax">
|
||||
<property name="maximum">
|
||||
<number>180</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="label_3">
|
||||
<property name="text">
|
||||
<string>YawMax</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QSpinBox" name="yawMax">
|
||||
<property name="maximum">
|
||||
<number>180</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_2">
|
||||
<spacer name="horizontalSpacer_3">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>40</height>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_4">
|
||||
<property name="text">
|
||||
<string>Hint: read the toolips!</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_2">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QFrame" name="frame_2">
|
||||
<property name="toolTip">
|
||||
<string>First, work on rate stabilization.</string>
|
||||
</property>
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::StyledPanel</enum>
|
||||
</property>
|
||||
<property name="frameShadow">
|
||||
<enum>QFrame::Raised</enum>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout" columnstretch="1,1,2,2,2">
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_10">
|
||||
<property name="text">
|
||||
<string>Roll</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QDoubleSpinBox" name="rateRollKp">
|
||||
<property name="toolTip">
|
||||
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
|
||||
Then lower the value by 20% or so.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_11">
|
||||
<property name="text">
|
||||
<string>Pitch</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QDoubleSpinBox" name="ratePitchKp">
|
||||
<property name="toolTip">
|
||||
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
|
||||
Then lower the value by 20% or so.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="label_12">
|
||||
<property name="text">
|
||||
<string>Kp</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="3">
|
||||
<widget class="QDoubleSpinBox" name="rateRollKi">
|
||||
<property name="toolTip">
|
||||
<string>I factor for rate stabilization is usually very low or even zero.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="3">
|
||||
<widget class="QDoubleSpinBox" name="ratePitchKi">
|
||||
<property name="toolTip">
|
||||
<string>I factor for rate stabilization is usually very low or even zero.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="3">
|
||||
<widget class="QLabel" name="label_13">
|
||||
<property name="text">
|
||||
<string>Ki</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="4">
|
||||
<widget class="QDoubleSpinBox" name="rateRollILimit">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="4">
|
||||
<widget class="QDoubleSpinBox" name="ratePitchILimit">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="4">
|
||||
<widget class="QLabel" name="label_14">
|
||||
<property name="text">
|
||||
<string>ILimit</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0" rowspan="2">
|
||||
<widget class="QCheckBox" name="linkRateRP">
|
||||
<property name="toolTip">
|
||||
<string>If checked, the Roll and Pitch factors will be identical.
|
||||
When you change one, the other is updated.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Link</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_15">
|
||||
<property name="text">
|
||||
<string>Yaw</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QDoubleSpinBox" name="rateYawKp">
|
||||
<property name="toolTip">
|
||||
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
|
||||
Then lower the value by 20% or so.
|
||||
|
||||
You can usually go for higher values for Yaw factors.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="3">
|
||||
<widget class="QDoubleSpinBox" name="rateYawKi">
|
||||
<property name="toolTip">
|
||||
<string>As a rule of thumb, you can set YawRate Ki at roughly the same
|
||||
value as YawRate Kp.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="4">
|
||||
<widget class="QDoubleSpinBox" name="rateYawILimit">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_9">
|
||||
<property name="text">
|
||||
<string>Attitude Stabilization (outer loop)</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QFrame" name="frame_3">
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::StyledPanel</enum>
|
||||
</property>
|
||||
<property name="frameShadow">
|
||||
<enum>QFrame::Raised</enum>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_2" columnstretch="1,1,2,2,2">
|
||||
<item row="1" column="0" rowspan="2">
|
||||
<widget class="QCheckBox" name="linkAttitudeRP">
|
||||
<property name="toolTip">
|
||||
<string>If checked, the Roll and Pitch factors will be identical.
|
||||
When you change one, the other is updated.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Link</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_16">
|
||||
<property name="text">
|
||||
<string>Roll</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_17">
|
||||
<property name="text">
|
||||
<string>Pitch</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_18">
|
||||
<property name="text">
|
||||
<string>Yaw</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QDoubleSpinBox" name="rollKp">
|
||||
<property name="toolTip">
|
||||
<string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
|
||||
</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QDoubleSpinBox" name="pitchKp">
|
||||
<property name="toolTip">
|
||||
<string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
|
||||
</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QDoubleSpinBox" name="yawKp">
|
||||
<property name="toolTip">
|
||||
<string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
|
||||
</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="3">
|
||||
<widget class="QDoubleSpinBox" name="rollKi">
|
||||
<property name="toolTip">
|
||||
<string>Ki can usually be almost identical to Kp.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="3">
|
||||
<widget class="QDoubleSpinBox" name="pitchKi">
|
||||
<property name="toolTip">
|
||||
<string>Ki can usually be almost identical to Kp.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="3">
|
||||
<widget class="QDoubleSpinBox" name="yawKi">
|
||||
<property name="toolTip">
|
||||
<string>Ki can usually be almost identical to Kp.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="4">
|
||||
<widget class="QDoubleSpinBox" name="rollILimit">
|
||||
<property name="toolTip">
|
||||
<string>ILimit can be equal to three to four times Ki, but you can adjust
|
||||
depending on whether your airframe is well balanced, and your
|
||||
flying style.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="4">
|
||||
<widget class="QDoubleSpinBox" name="pitchILimit">
|
||||
<property name="toolTip">
|
||||
<string>ILimit can be equal to three to four times Ki, but you can adjust
|
||||
depending on whether your airframe is well balanced, and your
|
||||
flying style.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="4">
|
||||
<widget class="QDoubleSpinBox" name="yawILimit">
|
||||
<property name="toolTip">
|
||||
<string>ILimit can be equal to three to four times Ki, but you can adjust
|
||||
depending on whether your airframe is well balanced, and your
|
||||
flying style.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="label_19">
|
||||
<property name="text">
|
||||
<string>Kp</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="3">
|
||||
<widget class="QLabel" name="label_20">
|
||||
<property name="text">
|
||||
<string>Ki</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="4">
|
||||
<widget class="QLabel" name="label_21">
|
||||
<property name="text">
|
||||
<string>ILimit</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_4">
|
||||
<item>
|
||||
<widget class="QLabel" name="label_5">
|
||||
<property name="font">
|
||||
<font>
|
||||
<weight>75</weight>
|
||||
<bold>true</bold>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Angle Limits:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label">
|
||||
<property name="text">
|
||||
<string>RollMax</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QSpinBox" name="rollMax">
|
||||
<property name="maximum">
|
||||
<number>180</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_4">
|
||||
<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>
|
||||
<widget class="QLabel" name="label_2">
|
||||
<property name="text">
|
||||
<string>PitchMax</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QSpinBox" name="pitchMax">
|
||||
<property name="maximum">
|
||||
<number>180</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_5">
|
||||
<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>
|
||||
<widget class="QLabel" name="label_3">
|
||||
<property name="text">
|
||||
<string>YawMax</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QSpinBox" name="yawMax">
|
||||
<property name="maximum">
|
||||
<number>180</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>40</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_2">
|
||||
<item>
|
||||
<widget class="QCheckBox" name="realTimeUpdates">
|
||||
<property name="toolTip">
|
||||
<string>If you check this, the GCS will udpate the stabilization factors
|
||||
automatically every 300ms, which will help for fast tuning.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Update in real time</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer">
|
||||
<property name="orientation">
|
||||
@ -602,19 +577,6 @@ automatically every 300ms, which will help for fast tuning.</string>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="resetStabilizationToDefaults">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Not implemented yet.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Reset to defaults</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="getStabilizationCurrent">
|
||||
<property name="text">
|
||||
|
||||
Loading…
Reference in New Issue
Block a user