diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
index c27e1f34f..1005c178a 100644
--- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
@@ -49,7 +49,6 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
connect(m_stabilization->saveStabilizationToSD, SIGNAL(clicked()), this, SLOT(saveStabilizationUpdate()));
connect(m_stabilization->saveStabilizationToRAM, SIGNAL(clicked()), this, SLOT(sendStabilizationUpdate()));
connect(m_stabilization->getStabilizationCurrent, SIGNAL(clicked()), this, SLOT(requestStabilizationUpdate()));
- connect(m_stabilization->resetStabilizationToDefaults, SIGNAL(clicked()), this, SLOT(resetStabilizationToDefaults()));
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestStabilizationUpdate()));
@@ -269,10 +268,6 @@ void ConfigStabilizationWidget::saveStabilizationUpdate()
}
-void ConfigStabilizationWidget::resetStabilizationToDefaults()
-{
-}
-
void ConfigStabilizationWidget::realtimeUpdateToggle(bool state)
{
if (state)
diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h
index b9212df8c..557aa263a 100644
--- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h
@@ -55,7 +55,6 @@ private slots:
void requestStabilizationUpdate();
void sendStabilizationUpdate();
void saveStabilizationUpdate();
- void resetStabilizationToDefaults();
void realtimeUpdateToggle(bool);
void updateRateRollKP(double);
diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index 6d690d8e0..a643cde0e 100644
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -15,580 +15,555 @@
-
-
-
- 0
-
-
-
- PI Factors
-
-
-
-
-
-
-
-
-
-
-
-
- Rate Stabilization (inner loop)
-
-
-
- -
-
-
- Qt::Horizontal
-
-
-
- 40
- 20
-
-
-
-
- -
-
-
- Hint: read the toolips!
-
-
-
-
-
- -
-
-
- First, work on rate stabilization.
-
-
- QFrame::StyledPanel
-
-
- QFrame::Raised
-
-
-
-
-
-
- Roll
-
-
-
- -
-
-
- Slowly raise Kp until you start seeing clear oscillations when you fly.
-Then lower the value by 20% or so.
-
-
- 6
-
-
- 0.000100000000000
-
-
-
- -
-
-
- Pitch
-
-
-
- -
-
-
- Slowly raise Kp until you start seeing clear oscillations when you fly.
-Then lower the value by 20% or so.
-
-
- 6
-
-
- 0.000100000000000
-
-
-
- -
-
-
- Kp
-
-
- Qt::AlignCenter
-
-
-
- -
-
-
- I factor for rate stabilization is usually very low or even zero.
-
-
- 6
-
-
- 0.000100000000000
-
-
-
- -
-
-
- I factor for rate stabilization is usually very low or even zero.
-
-
- 6
-
-
- 0.000100000000000
-
-
-
- -
-
-
- Ki
-
-
- Qt::AlignCenter
-
-
-
- -
-
-
- 6
-
-
- 0.000100000000000
-
-
-
- -
-
-
- 6
-
-
- 0.000100000000000
-
-
-
- -
-
-
- ILimit
-
-
- Qt::AlignCenter
-
-
-
- -
-
-
- If checked, the Roll and Pitch factors will be identical.
-When you change one, the other is updated.
-
-
- Link
-
-
-
- -
-
-
- Yaw
-
-
-
- -
-
-
- 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.
-
-
- 6
-
-
- 0.000100000000000
-
-
-
- -
-
-
- As a rule of thumb, you can set YawRate Ki at roughly the same
-value as YawRate Kp.
-
-
- 6
-
-
- 0.000100000000000
-
-
-
- -
-
-
- 6
-
-
- 0.000100000000000
-
-
-
-
-
-
- -
-
-
- Attitude Stabilization (outer loop)
-
-
-
- -
-
-
- QFrame::StyledPanel
-
-
- QFrame::Raised
-
-
-
-
-
-
- If checked, the Roll and Pitch factors will be identical.
-When you change one, the other is updated.
-
-
- Link
-
-
-
- -
-
-
- Roll
-
-
-
- -
-
-
- Pitch
-
-
-
- -
-
-
- Yaw
-
-
-
- -
-
-
- Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
-
-
-
- 6
-
-
- 0.100000000000000
-
-
-
- -
-
-
- Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
-
-
-
- 6
-
-
- 0.100000000000000
-
-
-
- -
-
-
- Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
-
-
-
- 6
-
-
- 0.100000000000000
-
-
-
- -
-
-
- Ki can usually be almost identical to Kp.
-
-
- 6
-
-
- 0.100000000000000
-
-
-
- -
-
-
- Ki can usually be almost identical to Kp.
-
-
- 6
-
-
- 0.100000000000000
-
-
-
- -
-
-
- Ki can usually be almost identical to Kp.
-
-
- 6
-
-
- 0.100000000000000
-
-
-
- -
-
-
- 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.
-
-
- 6
-
-
- 0.100000000000000
-
-
-
- -
-
-
- 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.
-
-
- 6
-
-
- 0.100000000000000
-
-
-
- -
-
-
- 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.
-
-
- 6
-
-
- 0.100000000000000
-
-
-
- -
-
-
- Kp
-
-
- Qt::AlignCenter
-
-
-
- -
-
-
- Ki
-
-
- Qt::AlignCenter
-
-
-
- -
-
-
- ILimit
-
-
- Qt::AlignCenter
-
-
-
-
-
-
- -
-
-
- Qt::Vertical
-
-
-
- 20
- 40
-
-
-
-
- -
-
-
- If you check this, the GCS will udpate the stabilization factors
-automatically every 300ms, which will help for fast tuning.
-
-
- Update in real time
-
-
-
-
-
-
-
-
-
- Limits
-
-
- -
-
-
- Angle limits
-
-
+
+
+
-
+
+
-
+
-
-
-
- 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.
+
+
+ Rate Stabilization (inner loop)
-
- QFrame::StyledPanel
-
-
- QFrame::Raised
-
-
-
- QFormLayout::AllNonFixedFieldsGrow
-
-
-
-
-
- RollMax
-
-
-
- -
-
-
- 180
-
-
-
- -
-
-
- PitchMax
-
-
-
- -
-
-
- 180
-
-
-
- -
-
-
- YawMax
-
-
-
- -
-
-
- 180
-
-
-
-
-
-
+
- Qt::Vertical
+ Qt::Horizontal
- 20
- 40
+ 40
+ 20
+ -
+
+
+ Hint: read the toolips!
+
+
+
-
-
- -
-
-
- Qt::Horizontal
-
-
-
- 40
- 20
-
-
-
-
-
-
+
+ -
+
+
+ First, work on rate stabilization.
+
+
+ QFrame::StyledPanel
+
+
+ QFrame::Raised
+
+
+
-
+
+
+ Roll
+
+
+
+ -
+
+
+ Slowly raise Kp until you start seeing clear oscillations when you fly.
+Then lower the value by 20% or so.
+
+
+ 6
+
+
+ 0.000100000000000
+
+
+
+ -
+
+
+ Pitch
+
+
+
+ -
+
+
+ Slowly raise Kp until you start seeing clear oscillations when you fly.
+Then lower the value by 20% or so.
+
+
+ 6
+
+
+ 0.000100000000000
+
+
+
+ -
+
+
+ Kp
+
+
+ Qt::AlignCenter
+
+
+
+ -
+
+
+ I factor for rate stabilization is usually very low or even zero.
+
+
+ 6
+
+
+ 0.000100000000000
+
+
+
+ -
+
+
+ I factor for rate stabilization is usually very low or even zero.
+
+
+ 6
+
+
+ 0.000100000000000
+
+
+
+ -
+
+
+ Ki
+
+
+ Qt::AlignCenter
+
+
+
+ -
+
+
+ 6
+
+
+ 0.000100000000000
+
+
+
+ -
+
+
+ 6
+
+
+ 0.000100000000000
+
+
+
+ -
+
+
+ ILimit
+
+
+ Qt::AlignCenter
+
+
+
+ -
+
+
+ If checked, the Roll and Pitch factors will be identical.
+When you change one, the other is updated.
+
+
+ Link
+
+
+
+ -
+
+
+ Yaw
+
+
+
+ -
+
+
+ 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.
+
+
+ 6
+
+
+ 0.000100000000000
+
+
+
+ -
+
+
+ As a rule of thumb, you can set YawRate Ki at roughly the same
+value as YawRate Kp.
+
+
+ 6
+
+
+ 0.000100000000000
+
+
+
+ -
+
+
+ 6
+
+
+ 0.000100000000000
+
+
+
+
+
+
+ -
+
+
+ Attitude Stabilization (outer loop)
+
+
+
+ -
+
+
+ QFrame::StyledPanel
+
+
+ QFrame::Raised
+
+
+
-
+
+
+ If checked, the Roll and Pitch factors will be identical.
+When you change one, the other is updated.
+
+
+ Link
+
+
+
+ -
+
+
+ Roll
+
+
+
+ -
+
+
+ Pitch
+
+
+
+ -
+
+
+ Yaw
+
+
+
+ -
+
+
+ Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
+
+
+
+ 6
+
+
+ 0.100000000000000
+
+
+
+ -
+
+
+ Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
+
+
+
+ 6
+
+
+ 0.100000000000000
+
+
+
+ -
+
+
+ Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
+
+
+
+ 6
+
+
+ 0.100000000000000
+
+
+
+ -
+
+
+ Ki can usually be almost identical to Kp.
+
+
+ 6
+
+
+ 0.100000000000000
+
+
+
+ -
+
+
+ Ki can usually be almost identical to Kp.
+
+
+ 6
+
+
+ 0.100000000000000
+
+
+
+ -
+
+
+ Ki can usually be almost identical to Kp.
+
+
+ 6
+
+
+ 0.100000000000000
+
+
+
+ -
+
+
+ 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.
+
+
+ 6
+
+
+ 0.100000000000000
+
+
+
+ -
+
+
+ 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.
+
+
+ 6
+
+
+ 0.100000000000000
+
+
+
+ -
+
+
+ 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.
+
+
+ 6
+
+
+ 0.100000000000000
+
+
+
+ -
+
+
+ Kp
+
+
+ Qt::AlignCenter
+
+
+
+ -
+
+
+ Ki
+
+
+ Qt::AlignCenter
+
+
+
+ -
+
+
+ ILimit
+
+
+ Qt::AlignCenter
+
+
+
+
+
+
+
+
+ -
+
+
-
+
+
+
+ 75
+ true
+
+
+
+ Angle Limits:
+
+
+
+ -
+
+
+ RollMax
+
+
+
+ -
+
+
+ 180
+
+
+
+ -
+
+
+ Qt::Horizontal
+
+
+
+ 40
+ 20
+
+
+
+
+ -
+
+
+ PitchMax
+
+
+
+ -
+
+
+ 180
+
+
+
+ -
+
+
+ Qt::Horizontal
+
+
+
+ 40
+ 20
+
+
+
+
+ -
+
+
+ YawMax
+
+
+
+ -
+
+
+ 180
+
+
+
+
+
+
+ -
+
+
+ Qt::Vertical
+
+
+
+ 20
+ 40
+
+
+
+
-
+
-
+
+
+ If you check this, the GCS will udpate the stabilization factors
+automatically every 300ms, which will help for fast tuning.
+
+
+ Update in real time
+
+
+
-
@@ -602,19 +577,6 @@ automatically every 300ms, which will help for fast tuning.
- -
-
-
- false
-
-
- Not implemented yet.
-
-
- Reset to defaults
-
-
-
-