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Code Issues Releases Activity

Merge remote-tracking branch 'origin/next' into thread/OP-1538_Embedded_Documentation

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This commit is contained in:
Fredrik Arvidsson 2014-10-13 17:48:42 +02:00
commit 638588c182
18 changed files with 10982 additions and 10675 deletions
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15
flight/libraries/math/mathmisc.h
View File

@ -120,4 +120,19 @@ static inline float y_on_curve(float x, const pointf points[], int num_points)
return y_on_line(x, &points[end_point - 1], &points[end_point]);
}
/**
* Ultrafast pow() aproximation needed for expo
* Based on Algorithm by Martin Ankerl
*/
static inline float fastPow(float a, float b)
{
union {
double d;
int32_t x[2];
} u = { (double)a };
u.x[1] = (int32_t)(b * (u.x[1] - 1072632447) + 1072632447);
u.x[0] = 0;
return (float)u.d;
}
#endif /* MATHMISC_H */

7
flight/libraries/math/pid.c
View File

@ -89,9 +89,12 @@ float pid_apply_setpoint(struct pid *pid, const pid_scaler *scaler, const float
float diff = ((deriv_gamma * setpoint - measured) - pid->lastErr);
pid->lastErr = (deriv_gamma * setpoint - measured);
if (pid->d > 0.0f && dT > 0.0f) {
// low pass filter derivative term. below formula is the same as
// dterm = (1-alpha)*pid->lastDer + alpha * (...)/dT
// with alpha = dT/(deriv_tau+dT)
dterm = pid->lastDer + dT / (dT + deriv_tau) * ((scaler->d * diff * pid->d / dT) - pid->lastDer);
pid->lastDer = dterm; // ^ set constant to 1/(2*pi*f_cutoff)
} // 7.9577e-3 means 20 Hz f_cutoff
pid->lastDer = dterm;
}
return (err * scaler->p * pid->p) + pid->iAccumulator / 1000.0f + dterm;
}

6
flight/modules/ManualControl/inc/manualcontrol.h
View File

@ -99,6 +99,7 @@ void takeOffLocationHandlerInit();
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_VIRTUALBAR == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ACRO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_RATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
@ -116,6 +117,7 @@ void takeOffLocationHandlerInit();
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_VIRTUALBAR == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_ACRO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_RATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
@ -133,6 +135,7 @@ void takeOffLocationHandlerInit();
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_VIRTUALBAR == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_ACRO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_RATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
@ -150,6 +153,7 @@ void takeOffLocationHandlerInit();
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_VIRTUALBAR == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) && \
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_ACRO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) && \
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_RATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
@ -167,6 +171,7 @@ void takeOffLocationHandlerInit();
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_VIRTUALBAR == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) && \
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_ACRO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) && \
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_RATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
@ -184,6 +189,7 @@ void takeOffLocationHandlerInit();
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_VIRTUALBAR == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) && \
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_ACRO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) && \
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_RATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \

29
flight/modules/ManualControl/stabilizedhandler.c
View File

@ -29,6 +29,7 @@
*/
#include "inc/manualcontrol.h"
#include <mathmisc.h>
#include <manualcontrolcommand.h>
#include <stabilizationdesired.h>
#include <flightmodesettings.h>
@ -39,6 +40,28 @@
// Private types
// Private functions
static float applyExpo(float value, float expo);
static float applyExpo(float value, float expo)
{
// note: fastPow makes a small error, therefore result needs to be bound
float exp = boundf(fastPow(1.00695f, expo), 0.5f, 2.0f);
// magic number scales expo
// so that
// expo=100 yields value**10
// expo=0 yields value**1
// expo=-100 yields value**(1/10)
// (pow(2.0,1/100)~=1.00695)
if (value > 0.0f) {
return boundf(fastPow(value, exp), 0.0f, 1.0f);
} else if (value < -0.0f) {
return boundf(-fastPow(-value, exp), -1.0f, 0.0f);
} else {
return 0.0f;
}
}
/**
@ -64,6 +87,9 @@ void stabilizedHandler(bool newinit)
StabilizationBankData stabSettings;
StabilizationBankGet(&stabSettings);
cmd.Roll = applyExpo(cmd.Roll, stabSettings.StickExpo.Roll);
cmd.Pitch = applyExpo(cmd.Pitch, stabSettings.StickExpo.Pitch);
cmd.Yaw = applyExpo(cmd.Yaw, stabSettings.StickExpo.Yaw);
uint8_t *stab_settings;
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
@ -100,6 +126,7 @@ void stabilizedHandler(bool newinit)
(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_ACRO) ? cmd.Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd.Roll * stabSettings.RollMax :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd.Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd.Roll * stabSettings.RollMax :
@ -112,6 +139,7 @@ void stabilizedHandler(bool newinit)
(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_ACRO) ? cmd.Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd.Pitch * stabSettings.PitchMax :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd.Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd.Pitch * stabSettings.PitchMax :
@ -134,6 +162,7 @@ void stabilizedHandler(bool newinit)
(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_ACRO) ? cmd.Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd.Yaw * stabSettings.YawMax :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd.Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd.Yaw * stabSettings.YawMax :

30
flight/modules/Stabilization/innerloop.c
View File

@ -33,6 +33,7 @@
#include <openpilot.h>
#include <pid.h>
#include <sin_lookup.h>
#include <callbackinfo.h>
#include <ratedesired.h>
#include <actuatordesired.h>
@ -281,6 +282,23 @@ static void stabilizationInnerloopTask()
pid_scaler scaler = create_pid_scaler(t);
actuatorDesiredAxis[t] = pid_apply_setpoint(&stabSettings.innerPids[t], &scaler, rate[t], gyro_filtered[t], dT);
break;
case STABILIZATIONSTATUS_INNERLOOP_ACRO:
{
float stickinput[3];
stickinput[0] = boundf(rate[0] / stabSettings.stabBank.ManualRate.Roll, -1.0f, 1.0f);
stickinput[1] = boundf(rate[1] / stabSettings.stabBank.ManualRate.Pitch, -1.0f, 1.0f);
stickinput[2] = boundf(rate[2] / stabSettings.stabBank.ManualRate.Yaw, -1.0f, 1.0f);
rate[t] = boundf(rate[t],
-StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t],
StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t]
);
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;
actuatorDesiredAxis[t] = factor * stickinput[t] + (1.0f - factor) * arate;
}
break;
case STABILIZATIONSTATUS_INNERLOOP_DIRECT:
default:
actuatorDesiredAxis[t] = rate[t];
@ -311,6 +329,18 @@ static void stabilizationInnerloopTask()
previous_mode[t] = 255;
}
}
if (stabSettings.stabBank.EnablePiroComp == STABILIZATIONBANK_ENABLEPIROCOMP_TRUE && stabSettings.innerPids[0].iLim > 1e-3f && stabSettings.innerPids[1].iLim > 1e-3f) {
// attempted piro compensation - rotate pitch and yaw integrals (experimental)
float angleYaw = DEG2RAD(gyro_filtered[2] * dT);
float sinYaw = sinf(angleYaw);
float cosYaw = cosf(angleYaw);
float rollAcc = stabSettings.innerPids[0].iAccumulator / stabSettings.innerPids[0].iLim;
float pitchAcc = stabSettings.innerPids[1].iAccumulator / stabSettings.innerPids[1].iLim;
stabSettings.innerPids[0].iAccumulator = stabSettings.innerPids[0].iLim * (cosYaw * rollAcc + sinYaw * pitchAcc);
stabSettings.innerPids[1].iAccumulator = stabSettings.innerPids[1].iLim * (cosYaw * pitchAcc - sinYaw * rollAcc);
}
{
uint8_t armed;
FlightStatusArmedGet(&armed);

4
flight/modules/Stabilization/stabilization.c
View File

@ -158,6 +158,10 @@ static void StabilizationDesiredUpdatedCb(__attribute__((unused)) UAVObjEvent *e
StabilizationStatusOuterLoopToArray(status.OuterLoop)[t] = STABILIZATIONSTATUS_OUTERLOOP_DIRECT;
StabilizationStatusInnerLoopToArray(status.InnerLoop)[t] = STABILIZATIONSTATUS_INNERLOOP_VIRTUALFLYBAR;
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO:
StabilizationStatusOuterLoopToArray(status.OuterLoop)[t] = STABILIZATIONSTATUS_OUTERLOOP_DIRECT;
StabilizationStatusInnerLoopToArray(status.InnerLoop)[t] = STABILIZATIONSTATUS_INNERLOOP_ACRO;
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE:
StabilizationStatusOuterLoopToArray(status.OuterLoop)[t] = STABILIZATIONSTATUS_OUTERLOOP_RATTITUDE;
StabilizationStatusInnerLoopToArray(status.InnerLoop)[t] = STABILIZATIONSTATUS_INNERLOOP_RATE;

1
ground/openpilotgcs/src/plugins/config/config_dependencies.pri
View File

@ -7,3 +7,4 @@ include(../../plugins/uavobjectutil/uavobjectutil.pri)
include(../../plugins/uavsettingsimportexport/uavsettingsimportexport.pri)
include(../../plugins/uavobjectwidgetutils/uavobjectwidgetutils.pri)
include(../../libs/version_info/version_info.pri)
include(../../libs/qwt/qwt.pri)

94
ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
View File

@ -43,12 +43,19 @@
#include "altitudeholdsettings.h"
#include "stabilizationsettings.h"
#include "qwt/src/qwt.h"
#include "qwt/src/qwt_plot.h"
#include "qwt/src/qwt_plot_canvas.h"
#include "qwt/src/qwt_scale_widget.h"
ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent),
boardModel(0), m_pidBankCount(0), m_currentPIDBank(0)
{
ui = new Ui_StabilizationWidget();
ui->setupUi(this);
setupExpoPlot();
StabilizationSettings *stabSettings = qobject_cast<StabilizationSettings *>(getObject("StabilizationSettings"));
Q_ASSERT(stabSettings);
@ -59,7 +66,7 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
m_pidTabBars.append(ui->advancedPIDBankTabBar);
foreach(QTabBar * tabBar, m_pidTabBars) {
for (int i = 0; i < m_pidBankCount; i++) {
tabBar->addTab(tr("PID Bank %1").arg(i + 1));
tabBar->addTab(tr("Settings Bank %1").arg(i + 1));
tabBar->setTabData(i, QString("StabilizationSettingsBank%1").arg(i + 1));
}
tabBar->setExpanding(false);
@ -144,6 +151,11 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
connect(this, SIGNAL(autoPilotConnected()), this, SLOT(onBoardConnected()));
addWidget(ui->expoPlot);
connect(ui->expoSpinnerRoll, SIGNAL(valueChanged(int)), this, SLOT(replotExpoRoll(int)));
connect(ui->expoSpinnerPitch, SIGNAL(valueChanged(int)), this, SLOT(replotExpoPitch(int)));
connect(ui->expoSpinnerYaw, SIGNAL(valueChanged(int)), this, SLOT(replotExpoYaw(int)));
disableMouseWheelEvents();
updateEnableControls();
}
@ -218,6 +230,55 @@ void ConfigStabilizationWidget::updateObjectFromThrottleCurve()
field->setValue(ui->enableThrustPIDScalingCheckBox->isChecked() ? "TRUE" : "FALSE");
}
void ConfigStabilizationWidget::setupExpoPlot()
{
ui->expoPlot->setMouseTracking(false);
ui->expoPlot->setAxisScale(QwtPlot::xBottom, 0, 100, 25);
QwtText title;
title.setText(tr("Input %"));
title.setFont(ui->expoPlot->axisFont(QwtPlot::xBottom));
ui->expoPlot->setAxisTitle(QwtPlot::xBottom, title);
ui->expoPlot->setAxisScale(QwtPlot::yLeft, 0, 100, 25);
title.setText(tr("Output %"));
title.setFont(ui->expoPlot->axisFont(QwtPlot::yLeft));
ui->expoPlot->setAxisTitle(QwtPlot::yLeft, title);
ui->expoPlot->canvas()->setFrameShape(QFrame::NoFrame);
ui->expoPlot->canvas()->setCursor(QCursor());
m_plotGrid.setMajPen(QColor(Qt::gray));
m_plotGrid.setMinPen(QColor(Qt::lightGray));
m_plotGrid.enableXMin(false);
m_plotGrid.enableYMin(false);
m_plotGrid.attach(ui->expoPlot);
m_expoPlotCurveRoll.setRenderHint(QwtPlotCurve::RenderAntialiased);
QColor rollColor(Qt::red);
rollColor.setAlpha(180);
m_expoPlotCurveRoll.setPen(QPen(rollColor, 2));
m_expoPlotCurveRoll.attach(ui->expoPlot);
replotExpoRoll(ui->expoSpinnerRoll->value());
m_expoPlotCurveRoll.show();
QColor pitchColor(Qt::green);
pitchColor.setAlpha(180);
m_expoPlotCurvePitch.setRenderHint(QwtPlotCurve::RenderAntialiased);
m_expoPlotCurvePitch.setPen(QPen(pitchColor, 2));
m_expoPlotCurvePitch.attach(ui->expoPlot);
replotExpoPitch(ui->expoSpinnerPitch->value());
m_expoPlotCurvePitch.show();
QColor yawColor(Qt::blue);
yawColor.setAlpha(180);
m_expoPlotCurveYaw.setRenderHint(QwtPlotCurve::RenderAntialiased);
m_expoPlotCurveYaw.setPen(QPen(yawColor, 2));
m_expoPlotCurveYaw.attach(ui->expoPlot);
replotExpoYaw(ui->expoSpinnerYaw->value());
m_expoPlotCurveYaw.show();
}
void ConfigStabilizationWidget::resetThrottleCurveToDefault()
{
UAVDataObject *defaultStabBank = (UAVDataObject *)getObjectManager()->getObject(QString(m_pidTabBars.at(0)->tabData(m_currentPIDBank).toString()));
@ -250,6 +311,37 @@ void ConfigStabilizationWidget::throttleCurveUpdated()
setDirty(true);
}
void ConfigStabilizationWidget::replotExpo(int value, QwtPlotCurve &curve)
{
double x[EXPO_CURVE_POINTS_COUNT] = { 0 };
double y[EXPO_CURVE_POINTS_COUNT] = { 0 };
double factor = pow(EXPO_CURVE_CONSTANT, value);
double step = 1.0 / (EXPO_CURVE_POINTS_COUNT - 1);
for (int i = 0; i < EXPO_CURVE_POINTS_COUNT; i++) {
double val = i * step;
x[i] = val * 100.0;
y[i] = pow(val, factor) * 100.0;
}
curve.setSamples(x, y, EXPO_CURVE_POINTS_COUNT);
ui->expoPlot->replot();
}
void ConfigStabilizationWidget::replotExpoRoll(int value)
{
replotExpo(value, m_expoPlotCurveRoll);
}
void ConfigStabilizationWidget::replotExpoPitch(int value)
{
replotExpo(value, m_expoPlotCurvePitch);
}
void ConfigStabilizationWidget::replotExpoYaw(int value)
{
replotExpo(value, m_expoPlotCurveYaw);
}
void ConfigStabilizationWidget::realtimeUpdatesSlot(bool value)
{
ui->realTimeUpdates_6->setChecked(value);

18
ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h
View File

@ -35,7 +35,8 @@
#include "stabilizationsettings.h"
#include <QWidget>
#include <QTimer>
#include "qwt/src/qwt_plot_curve.h"
#include "qwt/src/qwt_plot_grid.h"
class ConfigStabilizationWidget : public ConfigTaskWidget {
Q_OBJECT
@ -52,14 +53,23 @@ private:
QString m_stabilizationObjectsString;
// Milliseconds between automatic 'Instant Updates'
static const int AUTOMATIC_UPDATE_RATE = 500;
static const int AUTOMATIC_UPDATE_RATE = 500;
static const int EXPO_CURVE_POINTS_COUNT = 100;
static const double EXPO_CURVE_CONSTANT = 1.00695;
int boardModel;
int m_pidBankCount;
int m_currentPIDBank;
QwtPlotCurve m_expoPlotCurveRoll;
QwtPlotCurve m_expoPlotCurvePitch;
QwtPlotCurve m_expoPlotCurveYaw;
QwtPlotGrid m_plotGrid;
void updateThrottleCurveFromObject();
void updateObjectFromThrottleCurve();
void setupExpoPlot();
protected:
QString mapObjectName(const QString objectName);
@ -75,5 +85,9 @@ private slots:
void pidBankChanged(int index);
void resetThrottleCurveToDefault();
void throttleCurveUpdated();
void replotExpo(int value, QwtPlotCurve &curve);
void replotExpoRoll(int value);
void replotExpoPitch(int value);
void replotExpoYaw(int value);
};
#endif // ConfigStabilizationWidget_H

14
ground/openpilotgcs/src/plugins/config/input.ui
View File

@ -116,8 +116,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>772</width>
<height>514</height>
<width>774</width>
<height>505</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout">
@ -542,8 +542,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>724</width>
<height>497</height>
<width>758</width>
<height>542</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_7" rowstretch="1,0,0,0">
@ -1228,7 +1228,7 @@ margin:1px;
font:bold;</string>
</property>
<property name="text">
<string>PID Bank</string>
<string>Settings Bank</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
@ -2044,8 +2044,8 @@ Setup the flight mode channel on the RC Input tab if you have not done so alread
<rect>
<x>0</x>
<y>0</y>
<width>407</width>
<height>138</height>
<width>565</width>
<height>159</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">

21349
ground/openpilotgcs/src/plugins/config/stabilization.ui
View File

File diff suppressed because it is too large Load Diff

48
shared/uavobjectdefinition/flightmodesettings.xml
View File

@ -7,69 +7,69 @@
<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
<field name="Stabilization1Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Attitude,Attitude,AxisLock,Manual"
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
/>
<field name="Stabilization2Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Attitude,Attitude,Rate,Manual"
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
/>
<field name="Stabilization3Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Rate,Rate,Rate,Manual"
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
/>
<field name="Stabilization4Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Attitude,Attitude,AxisLock,CruiseControl"
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
/>
<field name="Stabilization5Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Attitude,Attitude,Rate,CruiseControl"
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
/>
<field name="Stabilization6Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Rate,Rate,Rate,CruiseControl"
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
/>
<!-- Note these options values should be identical to those defined in FlightMode -->

11
shared/uavobjectdefinition/stabilizationbank.xml
View File

@ -7,14 +7,19 @@
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,175" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,50" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="StickExpo" units="percent" type="int8" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0" limits="%BE:-100:100; %BE:-100:100; %BE:-100:100"/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.015; ; "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.015; ; "/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01; %BE:0:0.015 ; ; "/>
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit"/>
<field name="AcroInsanityFactor" units="percent" type="float" elements="1" defaultvalue="0.5" limits="%BE:0.0:1.0; %BE:0.0:1.0; %BE:0.0:1.0"/>
<field name="EnablePiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="ThrustPIDScaleCurve" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0.3,0.15,0,-0.15,-0.3"/>
<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />

2
shared/uavobjectdefinition/stabilizationdesired.xml
View File

@ -6,7 +6,7 @@
<field name="Yaw" units="degrees" type="float" elements="1"/>
<field name="Thrust" units="%" type="float" elements="1"/>
<!-- These values should match those in FlightModeSettings.Stabilization{1,2,3}Settings -->
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw,Thrust" options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"/>
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw,Thrust" options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>

9
shared/uavobjectdefinition/stabilizationsettingsbank1.xml
View File

@ -7,14 +7,19 @@
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="35" limits="%BE:0:180"/>
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="220,220,220" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="StickExpo" units="percent" type="int8" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0" limits="%BE:-100:100; %BE:-100:100; %BE:-100:100"/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.015; ; "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.015; ; "/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.015 ; ; "/>
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="AcroInsanityFactor" units="percent" type="float" elements="1" defaultvalue="0.5" limits="%BE:0.0:1.0; %BE:0.0:1.0; %BE:0.0:1.0"/>
<field name="EnablePiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="ThrustPIDScaleCurve" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0.3,0.15,0,-0.15,-0.3"/>
<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />

9
shared/uavobjectdefinition/stabilizationsettingsbank2.xml
View File

@ -7,14 +7,19 @@
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="35" limits="%BE:0:180"/>
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="220,220,220" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="StickExpo" units="percent" type="int8" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0" limits="%BE:-100:100; %BE:-100:100; %BE:-100:100"/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.015; ; "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.015; ; "/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.015 ; ; "/>
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="AcroInsanityFactor" units="percent" type="float" elements="1" defaultvalue="0.5" limits="%BE:0.0:1.0; %BE:0.0:1.0; %BE:0.0:1.0"/>
<field name="EnablePiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="ThrustPIDScaleCurve" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0.3,0.15,0,-0.15,-0.3"/>
<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />

9
shared/uavobjectdefinition/stabilizationsettingsbank3.xml
View File

@ -7,14 +7,19 @@
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="35" limits="%BE:0:180"/>
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="220,220,220" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="StickExpo" units="percent" type="int8" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0" limits="%BE:-100:100; %BE:-100:100; %BE:-100:100"/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.015; ; "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.015; ; "/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.015 ; ; "/>
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="AcroInsanityFactor" units="percent" type="float" elements="1" defaultvalue="0.5" limits="%BE:0.0:1.0; %BE:0.0:1.0; %BE:0.0:1.0"/>
<field name="EnablePiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="ThrustPIDScaleCurve" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0.3,0.15,0,-0.15,-0.3"/>
<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />

2
shared/uavobjectdefinition/stabilizationstatus.xml
View File

@ -11,7 +11,7 @@
<elementname>Thrust</elementname>
</elementnames>
</field>
<field name="InnerLoop" units="" type="enum" options="Direct,VirtualFlyBar,RelayTuning,AxisLock,Rate,CruiseControl">
<field name="InnerLoop" units="" type="enum" options="Direct,VirtualFlyBar,Acro+,RelayTuning,AxisLock,Rate,CruiseControl">
<elementnames>
<elementname>Roll</elementname>
<elementname>Pitch</elementname>