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Code Issues Releases Activity

LP-399 Add GUI to Autotune module

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This commit is contained in:
Laurent Lalanne 2017-07-02 01:27:33 +02:00
parent 1abe34ce7e
commit 68597d51cc
6 changed files with 1665 additions and 786 deletions
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2183
ground/gcs/src/plugins/config/autotune.ui
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@ -1,7 +1,7 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>AutotuneWidget</class>
<widget class="QWidget" name="AutotuneWidget">
<class>AutoTuneWidget</class>
<widget class="QWidget" name="AutoTuneWidget">
<property name="geometry">
<rect>
<x>0</x>
@ -10,131 +10,23 @@
<height>688</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<property name="spacing">
<number>6</number>
</property>
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<number>12</number>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<widget class="QTabWidget" name="Autotune_tabs">
<property name="currentIndex">
<number>0</number>
<widget class="QTabWidget" name="tabWidget">
<property name="focusPolicy">
<enum>Qt::NoFocus</enum>
</property>
<widget class="QWidget" name="Preautotune_tab">
<widget class="QWidget" name="tabWidgetPage1">
<attribute name="title">
<string>Pre-Autotune</string>
<string>AutoTune Configuration</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_5">
<property name="leftMargin">
<number>12</number>
<layout class="QVBoxLayout" name="verticalLayout_2">
<property name="spacing">
<number>0</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<number>12</number>
</property>
<item row="3" column="0" colspan="3">
<widget class="QTextEdit" name="textEdit">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Sunken</enum>
</property>
<property name="html">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:20pt; font-weight:600; color:#ff0000;&quot;&gt;WARNING:&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;&lt;br /&gt;&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;&lt;br /&gt;&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;This is an experimental plugin for the GCS that is going to make your aircraft shake, etc, so test with lots of space and be &lt;/span&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:600;&quot;&gt;very very wary&lt;/span&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt; for it creating bad tuning values.  Basically there is no reason to think this will work at all.&lt;br /&gt;&lt;br /&gt;To use autotuning, here are the steps:&lt;br /&gt;&lt;/span&gt;&lt;/p&gt;
&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;On the &lt;span style=&quot; font-style:italic;&quot;&gt;Input configuration&lt;/span&gt; tab, &lt;span style=&quot; font-style:italic;&quot;&gt;Flight Mode Switch Settings&lt;/span&gt;, set one of your flight modes to &amp;quot;Autotune&amp;quot;.&lt;br /&gt;&lt;/li&gt;
&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Take off, change flight mode to autotune, keep it in the air while it's shaking.&lt;br /&gt;&lt;/li&gt;
&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Land and disarm.  (note - you &lt;span style=&quot; font-weight:600;&quot;&gt;MUST&lt;/span&gt; stay in autotune mode through this point, leaving autotune before disarming aborts the process)&lt;br /&gt;&lt;/li&gt;
&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;We'd recommend checking your stabilization settings before trying them out (ie: compare to what you currently use, if they are VASTLY different, probably a good indication bad things will happen).&lt;br /&gt;&lt;/li&gt;
&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Test fly the new settings.&lt;/li&gt;
&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If you're ready to proceed, click the &lt;span style=&quot; font-style:italic;&quot;&gt;Enable Autotune Module&lt;/span&gt; checkbox above this text, click &lt;span style=&quot; font-style:italic;&quot;&gt;save&lt;/span&gt; and go to the next tab.&lt;/li&gt;&lt;/ul&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
<item row="2" column="0" colspan="3">
<widget class="QGroupBox" name="groupBox_5">
<property name="title">
<string>Module Control</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_4">
<item>
<widget class="QCheckBox" name="enableAutoTune">
<property name="text">
<string>Enable Autotune Module</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_13">
<property name="text">
<string>After enabling the module, you must power cycle before using and configuring.</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="autotune_tab">
<attribute name="title">
<string>Autotune Setup</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_3">
<property name="leftMargin">
<number>0</number>
</property>
@ -149,470 +41,64 @@ p, li { white-space: pre-wrap; }
</property>
<item>
<widget class="QScrollArea" name="scrollArea">
<property name="palette">
<palette>
<active>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>255</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
</active>
<inactive>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>255</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
</inactive>
<disabled>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
</disabled>
</palette>
<property name="focusPolicy">
<enum>Qt::NoFocus</enum>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents">
<property name="geometry">
<rect>
<x>0</x>
<x>-74</x>
<y>0</y>
<width>526</width>
<height>510</height>
<width>925</width>
<height>724</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="autoFillBackground">
<bool>true</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<property name="spacing">
<number>12</number>
</property>
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<number>12</number>
</property>
<item>
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>Tuning Aggressiveness</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Rate Tuning:</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Attitude Tuning:</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QSlider" name="rateTuning">
<property name="maximum">
<number>100</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="objrelation" stdset="0">
<stringlist notr="true">
<string>objname:RelayTuningSettings</string>
<string>fieldname:RateGain</string>
<string>scale:0.01</string>
<string>haslimits:no</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QSlider" name="attitudeTuning">
<property name="maximum">
<number>100</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="objrelation" stdset="0">
<stringlist notr="true">
<string>objname:RelayTuningSettings</string>
<string>fieldname:AttitudeGain</string>
<string>scale:0.01</string>
<string>haslimits:no</string>
</stringlist>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_3">
<property name="title">
<string>Measured Properties</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="1" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>Roll:</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="measuredRollPeriod">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="objrelation" stdset="0">
<stringlist notr="true">
<string>objname:RelayTuning</string>
<string>fieldname:Period</string>
<string>element:Roll</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="measuredRollGain">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="objrelation" stdset="0">
<stringlist notr="true">
<string>objname:RelayTuning</string>
<string>fieldname:Gain</string>
<string>element:Roll</string>
</stringlist>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_6">
<property name="text">
<string>Period (ms)</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_7">
<property name="text">
<string>Gain (deg/s) / output</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_8">
<property name="text">
<string>Pitch</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="measuredPitchPeriod">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="objrelation" stdset="0">
<stringlist notr="true">
<string>objname:RelayTuning</string>
<string>fieldname:Period</string>
<string>element:Pitch</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="measuredPitchGain">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="objrelation" stdset="0">
<stringlist notr="true">
<string>objname:RelayTuning</string>
<string>fieldname:Gain</string>
<string>element:Pitch</string>
</stringlist>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<widget class="QGroupBox" name="groupBox_2">
<property name="title">
<string>Computed Values</string>
<string>Module Control</string>
</property>
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="2">
<widget class="QLabel" name="label_9">
<property name="text">
<string>RateKi</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label_10">
<property name="text">
<string>AttitudeKp</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="pitchRateKi">
<property name="text">
<string>0</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_12">
<property name="text">
<string>Pitch</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_5">
<property name="text">
<string>RateKp</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="rollRateKp">
<property name="text">
<string>0</string>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="label_11">
<property name="text">
<string>AttitudeKi</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Roll</string>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QLabel" name="rollAttitudeKp">
<property name="text">
<string>0</string>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QLabel" name="pitchAttitudeKi">
<property name="text">
<string>0</string>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QLabel" name="pitchAttitudeKp">
<property name="text">
<string>0</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="pitchRateKp">
<property name="text">
<string>0</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="rollRateKi">
<property name="text">
<string>0</string>
</property>
</widget>
</item>
<item row="1" column="4">
<widget class="QLabel" name="rollAttitudeKi">
<property name="text">
<string>0</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_4">
<property name="title">
<string/>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<layout class="QVBoxLayout" name="verticalLayout_5">
<item>
<layout class="QGridLayout" name="gridLayout_4">
<item row="0" column="1" colspan="2">
<widget class="QPushButton" name="useComputedValues">
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Apply Computed Values</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_21">
<property name="text">
<string>Step Size</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QSlider" name="stepSizeSlider">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="objrelation" stdset="0">
<stringlist notr="true">
<string>objname:RelayTuningSettings</string>
<string>fieldname:Amplitude</string>
<string>scale:0.01</string>
<string>haslimits:no</string>
</stringlist>
</property>
</widget>
</item>
<item row="0" column="3">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="0">
<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>
<item row="2" column="0" colspan="4">
<widget class="QLabel" name="label_22">
<property name="text">
<string>The Apply and Save buttons below save the autotuning settings which
will alter settings for the next autotuning flight</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
<widget class="QCheckBox" name="AutotuneEnable">
<property name="maximumSize">
<size>
<width>900</width>
<height>16777215</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Allow AutoTune module to be started all time, without any AutoTune set in one FlightMode.</string>
</property>
<property name="text">
<string>Enable AutoTune module</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_7">
<property name="text">
<string>After enabling the module, you must power cycle before using and configuring.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<item row="10" column="0">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
@ -620,7 +106,1496 @@ will alter settings for the next autotuning flight</string>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>77</height>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item row="8" column="0">
<widget class="QGroupBox" name="statusGroupBox">
<property name="minimumSize">
<size>
<width>430</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>900</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="title">
<string>Status</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<layout class="QGridLayout" name="gridLayout_4" rowstretch="0,0,0,0,0">
<item row="3" column="6">
<widget class="QDoubleSpinBox" name="stateBiasRoll">
<property name="toolTip">
<string>(Natural log of) Measured control gain</string>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="minimum">
<double>-1000.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:SystemIdentState</string>
<string>fieldname:Bias</string>
<string>element:Roll</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QDoubleSpinBox" name="stateTau">
<property name="toolTip">
<string>Measured delay between inner loop and detected gyro response ln(sec)</string>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="minimum">
<double>-100.000000000000000</double>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:SystemIdentState</string>
<string>fieldname:Tau</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QLabel" name="label_3">
<property name="text">
<string>Tau</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="3" column="5">
<widget class="QLabel" name="label_8">
<property name="text">
<string>Bias Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="4" column="10">
<widget class="QDoubleSpinBox" name="stateNoiseYaw">
<property name="toolTip">
<string>(Natural log of) Measured control gain</string>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="minimum">
<double>-1000.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:SystemIdentState</string>
<string>fieldname:Noise</string>
<string>element:Yaw</string>
</stringlist>
</property>
</widget>
</item>
<item row="3" column="8">
<widget class="QDoubleSpinBox" name="stateBiasPitch">
<property name="toolTip">
<string>(Natural log of) Measured control gain</string>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="minimum">
<double>-1000.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:SystemIdentState</string>
<string>fieldname:Bias</string>
<string>element:Pitch</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="5">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Beta Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="3" column="7">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Bias Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="4" column="7">
<widget class="QLabel" name="label_12">
<property name="text">
<string>Noise Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="3" column="9">
<widget class="QLabel" name="label_10">
<property name="text">
<string>Bias Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="2" column="6">
<widget class="QDoubleSpinBox" name="stateBetaRoll">
<property name="toolTip">
<string>(Natural log of) Measured control gain</string>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="minimum">
<double>-1000.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:SystemIdentState</string>
<string>fieldname:Beta</string>
<string>element:Roll</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="10">
<widget class="QDoubleSpinBox" name="stateBetaYaw">
<property name="toolTip">
<string>(Natural log of) Measured control gain</string>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="minimum">
<double>-1000.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:SystemIdentState</string>
<string>fieldname:Beta</string>
<string>element:Yaw</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="7">
<widget class="QLabel" name="label_5">
<property name="text">
<string>Beta Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="3" column="10">
<widget class="QDoubleSpinBox" name="stateBiasYaw">
<property name="toolTip">
<string>(Natural log of) Measured control gain</string>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="minimum">
<double>-1000.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:SystemIdentState</string>
<string>fieldname:Bias</string>
<string>element:Yaw</string>
</stringlist>
</property>
</widget>
</item>
<item row="4" column="8">
<widget class="QDoubleSpinBox" name="stateNoisePitch">
<property name="toolTip">
<string>(Natural log of) Measured control gain</string>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="minimum">
<double>-1000.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:SystemIdentState</string>
<string>fieldname:Noise</string>
<string>element:Pitch</string>
</stringlist>
</property>
</widget>
</item>
<item row="4" column="9">
<widget class="QLabel" name="label_13">
<property name="text">
<string>Noise Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="4" column="6">
<widget class="QDoubleSpinBox" name="stateNoiseRoll">
<property name="toolTip">
<string>(Natural log of) Measured control gain</string>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="minimum">
<double>-1000.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:SystemIdentState</string>
<string>fieldname:Noise</string>
<string>element:Roll</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="8">
<widget class="QDoubleSpinBox" name="stateBetaPitch">
<property name="toolTip">
<string>(Natural log of) Measured control gain</string>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="minimum">
<double>-1000.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:SystemIdentState</string>
<string>fieldname:Beta</string>
<string>element:Pitch</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="9">
<widget class="QLabel" name="label_6">
<property name="text">
<string>Beta Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="4" column="5">
<widget class="QLabel" name="label_11">
<property name="text">
<string>Noise Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="10">
<widget class="QDoubleSpinBox" name="stateSpilledPts">
<property name="toolTip">
<string>Number of gyro samples that were dropped (should be zero)</string>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>99999.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist notr="true">
<string>objname:SystemIdentState</string>
<string>fieldname:NumSpilledPts</string>
</stringlist>
</property>
</widget>
</item>
<item row="0" column="9">
<widget class="QLabel" name="label_16">
<property name="text">
<string>Gyro Dropped</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="8">
<widget class="QDoubleSpinBox" name="stateNumAfPredicts">
<property name="toolTip">
<string>Number of gyro samples that were counted</string>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>99999.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:SystemIdentState</string>
<string>fieldname:NumAfPredicts</string>
</stringlist>
</property>
</widget>
</item>
<item row="0" column="7">
<widget class="QLabel" name="label_15">
<property name="text">
<string>Gyro Samples</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="6">
<widget class="QDoubleSpinBox" name="stateGyroReadTimeAverage">
<property name="toolTip">
<string>Measured delay from gyro read to inner loop in seconds</string>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:SystemIdentState</string>
<string>fieldname:GyroReadTimeAverage</string>
</stringlist>
</property>
</widget>
</item>
<item row="0" column="5">
<widget class="QLabel" name="label_18">
<property name="text">
<string>Gyro Average</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="4" column="4">
<widget class="QDoubleSpinBox" name="statePeriod">
<property name="toolTip">
<string>Period (ms)</string>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:SystemIdentState</string>
<string>fieldname:Period</string>
</stringlist>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QLabel" name="label_14">
<property name="text">
<string>Period</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QLabel" name="label_17">
<property name="text">
<string>HoverThrottle</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="3" column="4">
<widget class="QDoubleSpinBox" name="stateHoverThrottle">
<property name="toolTip">
<string>Throttle level to hover (%)</string>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:SystemIdentState</string>
<string>fieldname:HoverThrottle</string>
</stringlist>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label_19">
<property name="text">
<string>Complete</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLineEdit" name="stateComplete">
<property name="minimumSize">
<size>
<width>0</width>
<height>25</height>
</size>
</property>
<property name="text">
<string>False</string>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="7" column="0">
<widget class="QGroupBox" name="statusGroupBox_2">
<property name="minimumSize">
<size>
<width>430</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>900</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="title">
<string>Tuning Results Stored</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<layout class="QGridLayout" name="gridLayout_5" rowstretch="0,0">
<item row="1" column="6">
<widget class="QDoubleSpinBox" name="settingsBetaRoll">
<property name="toolTip">
<string>(Natural log of) Measured control gain</string>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="minimum">
<double>-1000.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist notr="true">
<string>objname:SystemIdentSettings</string>
<string>fieldname:Beta</string>
<string>element:Roll</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="4">
<widget class="QDoubleSpinBox" name="settingsTau">
<property name="toolTip">
<string>Measured delay between inner loop and detected gyro response ln(sec)</string>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="minimum">
<double>-100.000000000000000</double>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist notr="true">
<string>objname:SystemIdentSettings</string>
<string>fieldname:Tau</string>
<string>scale:1</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QLabel" name="label_20">
<property name="text">
<string>Tau</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="5">
<widget class="QLabel" name="label_22">
<property name="text">
<string>Beta Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="10">
<widget class="QDoubleSpinBox" name="settingsBetaYaw">
<property name="toolTip">
<string>(Natural log of) Measured control gain</string>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="minimum">
<double>-1000.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist notr="true">
<string>objname:SystemIdentSettings</string>
<string>fieldname:Beta</string>
<string>element:Yaw</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="7">
<widget class="QLabel" name="label_26">
<property name="text">
<string>Beta Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="8">
<widget class="QDoubleSpinBox" name="settingsBetaPitch">
<property name="toolTip">
<string>(Natural log of) Measured control gain</string>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="minimum">
<double>-1000.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist notr="true">
<string>objname:SystemIdentSettings</string>
<string>fieldname:Beta</string>
<string>element:Pitch</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="9">
<widget class="QLabel" name="label_28">
<property name="text">
<string>Beta Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="6" column="0">
<widget class="QGroupBox" name="configurationGroupBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>900</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="title">
<string>Configuration</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="7">
<widget class="QPushButton" name="fullPID_Y_Factor_Reset">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Reset Yaw factors to default values</string>
</property>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Default</string>
</property>
<property name="objrelation" stdset="0">
<stringlist notr="true">
<string>button:default</string>
<string>buttongroup:20</string>
</stringlist>
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QComboBox" name="ThrustControl">
<property name="toolTip">
<string>Manual is direct control, AltitudeVario helps to maintain altitude.</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:SystemIdentSettings</string>
<string>fieldname:ThrustControl</string>
<string>buttongroup:20</string>
</stringlist>
</property>
</widget>
</item>
<item row="8" column="5">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QDoubleSpinBox" name="YawToRollPitchPIDRatioMin">
<property name="toolTip">
<string>Minimum Yaw to Pitch/Roll ratio limit.</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:SystemIdentSettings</string>
<string>fieldname:YawToRollPitchPIDRatioMin</string>
<string>buttongroup:20</string>
</stringlist>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="YawToRollPitchPIDRatioMax">
<property name="toolTip">
<string>Maximum Yaw to Pitch/Roll ratio limit.</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:SystemIdentSettings</string>
<string>fieldname:YawToRollPitchPIDRatioMax</string>
<string>buttongroup:20</string>
</stringlist>
</property>
</widget>
</item>
</layout>
</item>
<item row="11" column="0">
<widget class="QLabel" name="ThrustControl_label">
<property name="text">
<string>Thrust Control</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QLabel" name="outerloopKpLimit_label">
<property name="text">
<string>OuterLoop Kp Limit</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QLabel" name="CalculateYawLabel">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="font">
<font>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="text">
<string>Calculate Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QDoubleSpinBox" name="OuterLoopKpSoftClamp">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Set a limiting upper value for the OuterLoop Kp.</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:SystemIdentSettings</string>
<string>fieldname:OuterLoopKpSoftClamp</string>
<string>buttongroup:20</string>
</stringlist>
</property>
</widget>
</item>
<item row="4" column="1" colspan="7">
<layout class="QGridLayout" name="gridLayout_3">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>4</number>
</property>
<item row="3" column="5">
<widget class="QDoubleSpinBox" name="SmoothQuickValue">
<property name="minimumSize">
<size>
<width>60</width>
<height>22</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>60</width>
<height>22</height>
</size>
</property>
<property name="toolTip">
<string>Smooth - Quick value for PID calc based on AutoTune measurements.</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>-1.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist notr="true">
<string>objname:SystemIdentSettings</string>
<string>fieldname:SmoothQuickValue</string>
<string>scale:1</string>
<string>buttongroup:20</string>
</stringlist>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="smooth_label">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>120</width>
<height>29</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>120</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
</property>
<property name="text">
<string>Smooth</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="quick_label">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>120</width>
<height>29</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>120</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
</property>
<property name="text">
<string>Quick</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="3" column="0" colspan="5">
<widget class="QSlider" name="SmoothQuickValueSlider">
<property name="minimumSize">
<size>
<width>0</width>
<height>30</height>
</size>
</property>
<property name="toolTip">
<string>Smooth - Quick value for PID calc based on AutoTune measurements.</string>
</property>
<property name="minimum">
<number>-10</number>
</property>
<property name="maximum">
<number>10</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="pageStep">
<number>5</number>
</property>
<property name="value">
<number>0</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="tickPosition">
<enum>QSlider::TicksBelow</enum>
</property>
<property name="tickInterval">
<number>5</number>
</property>
<property name="objrelation" stdset="0">
<stringlist notr="true">
<string>objname:SystemIdentSettings</string>
<string>fieldname:SmoothQuickValue</string>
<string>scale:0.1</string>
<string>buttongroup:20</string>
</stringlist>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="normal_label">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>120</width>
<height>29</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>120</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
</property>
<property name="text">
<string>Normal</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="3">
<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>
</layout>
</item>
<item row="8" column="1">
<widget class="QComboBox" name="CalculateYaw">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Whether to calculate yaw and whether to use Yaw to Roll/Pitch PID Ratios limits bellow.</string>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="modelColumn">
<number>0</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:SystemIdentSettings</string>
<string>fieldname:CalculateYaw</string>
<string>buttongroup:20</string>
</stringlist>
</property>
</widget>
</item>
<item row="8" column="2" colspan="3">
<widget class="QLabel" name="calculateYaw_label">
<property name="minimumSize">
<size>
<width>250</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Yaw to Roll/Pitch PID Ratio Limits</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="6">
<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 row="3" column="1">
<widget class="QComboBox" name="SmoothQuickSource">
<property name="toolTip">
<string>Choose Accessory or FMS 3x toggle method with 3, 5, 7 positions.</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:SystemIdentSettings</string>
<string>fieldname:SmoothQuickSource</string>
<string>buttongroup:20</string>
</stringlist>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="SmoothQuickSource_label">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>SmoothQuick Source</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="pidBankDestination_label">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>PID Bank Destination</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="DestinationPidBank">
<property name="toolTip">
<string>Which bank the calculated PIDs will be stored in after tuning.</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:SystemIdentSettings</string>
<string>fieldname:DestinationPidBank</string>
<string>buttongroup:20</string>
</stringlist>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="6" column="1">
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::MinimumExpanding</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
@ -634,22 +1609,19 @@ will alter settings for the next autotuning flight</string>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<layout class="QHBoxLayout" name="submitButtons">
<property name="spacing">
<number>4</number>
</property>
<item>
<spacer name="horizontalSpacer_3">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Expanding</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>13</width>
<height>25</height>
<width>40</width>
<height>5</height>
</size>
</property>
</spacer>
@ -664,8 +1636,8 @@ will alter settings for the next autotuning flight</string>
</property>
<property name="minimumSize">
<size>
<width>25</width>
<height>25</height>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
@ -674,6 +1646,9 @@ will alter settings for the next autotuning flight</string>
<height>25</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::NoFocus</enum>
</property>
<property name="text">
<string/>
</property>
@ -687,82 +1662,42 @@ will alter settings for the next autotuning flight</string>
<height>25</height>
</size>
</property>
<property name="objrelation" stdset="0">
<string notr="true">button:help</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="reloadButton">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Reloads the saved settings into GCS.
Useful if you have accidentally changed some settings.</string>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Reload Board Data</string>
<property name="flat">
<bool>true</bool>
</property>
<property name="objrelation" stdset="0">
<stringlist notr="true">
<string>button:reload</string>
<string>buttongroup:10</string>
<string>button:help</string>
</stringlist>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="applyButton">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Send settings to the board but do not save to the non-volatile memory</string>
</property>
<property name="styleSheet">
<string notr="true"/>
<string>Send settings to the board but do not save to the non-volatile memory.</string>
</property>
<property name="text">
<string>Apply</string>
</property>
<property name="objrelation" stdset="0">
<stringlist notr="true">
<string>button:apply</string>
</stringlist>
<string notr="true">button:apply</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveButton">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Send settings to the board and save to the non-volatile memory</string>
</property>
<property name="styleSheet">
<string notr="true"/>
<string>Send settings to the board and save to the non-volatile memory.</string>
</property>
<property name="text">
<string>Save</string>
</property>
<property name="checked">
<bool>false</bool>
</property>
<property name="objrelation" stdset="0">
<stringlist notr="true">
<string>button:save</string>
</stringlist>
<string notr="true">button:save</string>
</property>
</widget>
</item>
@ -770,6 +1705,10 @@ Useful if you have accidentally changed some settings.</string>
</item>
</layout>
</widget>
<tabstops>
<tabstop>applyButton</tabstop>
<tabstop>saveButton</tabstop>
</tabstops>
<resources>
<include location="../coreplugin/core.qrc"/>
</resources>

3
ground/gcs/src/plugins/config/config.pro
View File

@ -64,6 +64,7 @@ HEADERS += \
calibration/levelcalibrationmodel.h \
calibration/gyrobiascalibrationmodel.h \
calibration/calibrationuiutils.h \
configautotunewidget.h \
configoplinkwidget.h \
configrevonanohwwidget.h \
configsparky2hwwidget.h \
@ -106,6 +107,7 @@ SOURCES += \
calibration/sixpointcalibrationmodel.cpp \
calibration/levelcalibrationmodel.cpp \
calibration/gyrobiascalibrationmodel.cpp \
configautotunewidget.cpp \
configoplinkwidget.cpp \
configrevonanohwwidget.cpp \
configsparky2hwwidget.cpp \
@ -133,6 +135,7 @@ FORMS += \
mixercurve.ui \
configrevohwwidget.ui \
configspracingf3hwwidget.ui \
autotune.ui \
oplink.ui \
configrevonanohwwidget.ui \
configsparky2hwwidget.ui \

207
ground/gcs/src/plugins/config/configautotunewidget.cpp
View File

@ -1,173 +1,100 @@
/**
****************************************************************************************
*
* @file configautotunewidget.cpp
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2017.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief The Configuration Gadget used to configure autotune module
***************************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "configautotunewidget.h"
#include "ui_autotune.h"
#include "relaytuningsettings.h"
#include "relaytuning.h"
#include "stabilizationsettings.h"
#include <uavobjectutilmanager.h>
#include <systemidentsettings.h>
#include <systemidentstate.h>
#include "hwsettings.h"
#include <QMessageBox>
#include <QDebug>
#include <QStringList>
#include <QWidget>
#include <QTextEdit>
#include <QVBoxLayout>
#include <QPushButton>
#include <QDesktopServices>
#include <QUrl>
#include <QList>
ConfigAutotuneWidget::ConfigAutotuneWidget(QWidget *parent) :
ConfigTaskWidget(parent)
ConfigAutoTuneWidget::ConfigAutoTuneWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
m_autotune = new Ui_AutotuneWidget();
m_autotune = new Ui_AutoTuneWidget();
m_autotune->setupUi(this);
// must be done before auto binding !
// setWikiURL("");
setWikiURL("AutoTune+Configuration");
addAutoBindings();
addUAVObject("HwSettings");
disableMouseWheelEvents();
// Whenever any value changes compute new potential stabilization settings
connect(m_autotune->rateTuning, SIGNAL(valueChanged(int)), this, SLOT(recomputeStabilization()));
connect(m_autotune->attitudeTuning, SIGNAL(valueChanged(int)), this, SLOT(recomputeStabilization()));
systemIdentStateObj = dynamic_cast<SystemIdentState *>(getObject("SystemIdentState"));
Q_ASSERT(systemIdentStateObj);
addUAVObject("HwSettings");
addWidget(m_autotune->enableAutoTune);
systemIdentSettingsObj = dynamic_cast<SystemIdentSettings *>(getObject("SystemIdentSettings"));
Q_ASSERT(systemIdentSettingsObj);
RelayTuning *relayTuning = RelayTuning::GetInstance(getObjectManager());
Q_ASSERT(relayTuning);
if (relayTuning) {
connect(relayTuning, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(recomputeStabilization()));
}
// Connect the apply button for the stabilization settings
connect(m_autotune->useComputedValues, SIGNAL(pressed()), this, SLOT(saveStabilization()));
addWidget(m_autotune->AutotuneEnable);
}
/**
* Apply the stabilization settings computed
ConfigAutoTuneWidget::~ConfigAutoTuneWidget()
{
// Do nothing
}
/*
* This overridden function refreshes widgets which have no direct relation
* to any of UAVObjects. It saves their dirty state first because update comes
* from UAVObjects, and then restores it.
*/
void ConfigAutotuneWidget::saveStabilization()
void ConfigAutoTuneWidget::refreshWidgetsValuesImpl(UAVObject *obj)
{
StabilizationSettings *stabilizationSettings = StabilizationSettings::GetInstance(getObjectManager());
if (obj == systemIdentStateObj) {
m_autotune->stateComplete->setText((systemIdentStateObj->getComplete() == SystemIdentState::COMPLETE_TRUE) ? tr("True") : tr("False"));
} else {
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
Q_ASSERT(stabilizationSettings);
if (!stabilizationSettings) {
return;
m_autotune->AutotuneEnable->setChecked(hwSettings->getOptionalModules(HwSettings::OPTIONALMODULES_AUTOTUNE) == HwSettings::OPTIONALMODULES_ENABLED);
}
// Make sure to recompute in case the other stab settings changed since
// the last time
recomputeStabilization();
// Apply this data to the board
stabilizationSettings->setData(stabSettings);
stabilizationSettings->updated();
}
/**
* Called whenever the gain ratios or measured values
* are changed
/*
* This overridden function updates UAVObjects which have no direct relation
* to any of widgets.
*/
void ConfigAutotuneWidget::recomputeStabilization()
{
RelayTuningSettings *relayTuningSettings = RelayTuningSettings::GetInstance(getObjectManager());
Q_ASSERT(relayTuningSettings);
if (!relayTuningSettings) {
return;
}
RelayTuning *relayTuning = RelayTuning::GetInstance(getObjectManager());
Q_ASSERT(relayTuning);
if (!relayTuning) {
return;
}
StabilizationSettings *stabilizationSettings = StabilizationSettings::GetInstance(getObjectManager());
Q_ASSERT(stabilizationSettings);
if (!stabilizationSettings) {
return;
}
RelayTuning::DataFields relayTuningData = relayTuning->getData();
RelayTuningSettings::DataFields tuningSettingsData = relayTuningSettings->getData();
stabSettings = stabilizationSettings->getData();
// Need to divide these by 100 because that is what the .ui file does
// to get the UAVO
const double gain_ratio_r = m_autotune->rateTuning->value() / 100.0;
const double zero_ratio_r = m_autotune->rateTuning->value() / 100.0;
const double gain_ratio_p = m_autotune->attitudeTuning->value() / 100.0;
const double zero_ratio_p = m_autotune->attitudeTuning->value() / 100.0;
// For now just run over roll and pitch
for (int i = 0; i < 2; i++) {
if (relayTuningData.Period[i] == 0 || relayTuningData.Gain[i] == 0) {
continue;
}
double wu = 1000.0 * 2 * M_PI / relayTuningData.Period[i]; // ultimate freq = output osc freq (rad/s)
double wc = wu * gain_ratio_r; // target openloop crossover frequency (rad/s)
double zc = wc * zero_ratio_r; // controller zero location (rad/s)
double kpu = 4.0f / M_PI / relayTuningData.Gain[i]; // ultimate gain, i.e. the proportional gain for instablity
double kp = kpu * gain_ratio_r; // proportional gain
double ki = zc * kp; // integral gain
// Now calculate gains for the next loop out knowing it is the integral of
// the inner loop -- the plant is position/velocity = scale*1/s
double wc2 = wc * gain_ratio_p; // crossover of the attitude loop
double kp2 = wc2; // kp of attitude
double ki2 = wc2 * zero_ratio_p * kp2; // ki of attitude
switch (i) {
case 0: // Roll
stabSettings.RollRatePID[StabilizationSettings::ROLLRATEPID_KP] = kp;
stabSettings.RollRatePID[StabilizationSettings::ROLLRATEPID_KI] = ki;
stabSettings.RollPI[StabilizationSettings::ROLLPI_KP] = kp2;
stabSettings.RollPI[StabilizationSettings::ROLLPI_KI] = ki2;
break;
case 1: // Pitch
stabSettings.PitchRatePID[StabilizationSettings::PITCHRATEPID_KP] = kp;
stabSettings.PitchRatePID[StabilizationSettings::PITCHRATEPID_KI] = ki;
stabSettings.PitchPI[StabilizationSettings::PITCHPI_KP] = kp2;
stabSettings.PitchPI[StabilizationSettings::PITCHPI_KI] = ki2;
break;
}
}
// Display these computed settings
m_autotune->rollRateKp->setText(QString().number(stabSettings.RollRatePID[StabilizationSettings::ROLLRATEPID_KP]));
m_autotune->rollRateKi->setText(QString().number(stabSettings.RollRatePID[StabilizationSettings::ROLLRATEPID_KI]));
m_autotune->rollAttitudeKp->setText(QString().number(stabSettings.RollPI[StabilizationSettings::ROLLPI_KP]));
m_autotune->rollAttitudeKi->setText(QString().number(stabSettings.RollPI[StabilizationSettings::ROLLPI_KI]));
m_autotune->pitchRateKp->setText(QString().number(stabSettings.PitchRatePID[StabilizationSettings::PITCHRATEPID_KP]));
m_autotune->pitchRateKi->setText(QString().number(stabSettings.PitchRatePID[StabilizationSettings::PITCHRATEPID_KI]));
m_autotune->pitchAttitudeKp->setText(QString().number(stabSettings.PitchPI[StabilizationSettings::PITCHPI_KP]));
m_autotune->pitchAttitudeKi->setText(QString().number(stabSettings.PitchPI[StabilizationSettings::PITCHPI_KI]));
}
void ConfigAutotuneWidget::refreshWidgetsValuesImpl(UAVObject *obj)
void ConfigAutoTuneWidget::updateObjectsFromWidgetsImpl()
{
// Save state of the module enable checkbox first.
// Do not use setData() member on whole object, if possible, since it triggers unnecessary UAVObect update.
quint8 enableModule = m_autotune->AutotuneEnable->isChecked() ?
HwSettings::OPTIONALMODULES_ENABLED : HwSettings::OPTIONALMODULES_DISABLED;
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
if (obj == hwSettings) {
bool enabled = (hwSettings->getOptionalModules(HwSettings::OPTIONALMODULES_AUTOTUNE) == HwSettings::OPTIONALMODULES_ENABLED);
m_autotune->enableAutoTune->setChecked(enabled);
}
}
void ConfigAutotuneWidget::updateObjectsFromWidgetsImpl()
{
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
quint8 enableModule = (m_autotune->enableAutoTune->isChecked()) ? HwSettings::OPTIONALMODULES_ENABLED : HwSettings::OPTIONALMODULES_DISABLED;
hwSettings->setOptionalModules(HwSettings::OPTIONALMODULES_AUTOTUNE, enableModule);
;
}

38
ground/gcs/src/plugins/config/configautotunewidget.h
View File

@ -2,12 +2,13 @@
******************************************************************************
*
* @file configautotunewidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief The Configuration Gadget used to adjust or recalculate autotuning
* @brief The Configuration Gadget used to configure autotune module
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
@ -27,36 +28,29 @@
#ifndef CONFIGAUTOTUNE_H
#define CONFIGAUTOTUNE_H
#include "../uavobjectwidgetutils/configtaskwidget.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
#include "configtaskwidget.h"
#include "stabilizationsettings.h"
#include "relaytuningsettings.h"
#include "relaytuning.h"
class SystemIdentState;
class SystemIdentSettings;
#include <QWidget>
#include <QTimer>
class Ui_AutoTuneWidget;
class Ui_AutotuneWidget;
class ConfigAutotuneWidget : public ConfigTaskWidget {
class ConfigAutoTuneWidget : public ConfigTaskWidget {
Q_OBJECT
public:
explicit ConfigAutotuneWidget(QWidget *parent = 0);
private:
Ui_AutotuneWidget *m_autotune;
StabilizationSettings::DataFields stabSettings;
public:
ConfigAutoTuneWidget(QWidget *parent = 0);
~ConfigAutoTuneWidget();
protected:
virtual void refreshWidgetsValuesImpl(UAVObject *obj);
virtual void updateObjectsFromWidgetsImpl();
private slots:
void recomputeStabilization();
void saveStabilization();
private:
Ui_AutoTuneWidget *m_autotune;
SystemIdentState *systemIdentStateObj;
SystemIdentSettings *systemIdentSettingsObj;
};
#endif // CONFIGAUTOTUNE_H

18
ground/gcs/src/plugins/config/configgadgetwidget.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file configgadgetwidget.cpp
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2017.
* E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
@ -37,6 +37,7 @@
#include "configtxpidwidget.h"
#include "configrevohwwidget.h"
#include "config_cc_hw_widget.h"
#include "configautotunewidget.h"
#include "configoplinkwidget.h"
#include "configrevowidget.h"
#include "configrevonanohwwidget.h"
@ -130,6 +131,12 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
static_cast<ConfigTaskWidget *>(widget)->bind();
stackWidget->insertTab(ConfigGadgetWidget::TxPid, widget, *icon, QString("TxPID"));
icon = new QIcon();
icon->addFile(":/configgadget/images/autotune_normal.png", QSize(), QIcon::Normal, QIcon::Off);
icon->addFile(":/configgadget/images/autotune_selected.png", QSize(), QIcon::Selected, QIcon::Off);
widget = new DefaultConfigWidget(this, tr("AutoTune Configuration"));
stackWidget->insertTab(ConfigGadgetWidget::AutoTune, widget, *icon, QString("AutoTune"));
icon = new QIcon();
icon->addFile(":/configgadget/images/pipx-normal.png", QSize(), QIcon::Normal, QIcon::Off);
icon->addFile(":/configgadget/images/pipx-selected.png", QSize(), QIcon::Selected, QIcon::Off);
@ -223,6 +230,9 @@ void ConfigGadgetWidget::onAutopilotConnect()
widget = new ConfigRevoWidget(this);
widget->bind();
stackWidget->replaceTab(ConfigGadgetWidget::Sensors, widget);
widget = new ConfigAutoTuneWidget(this);
widget->bind();
stackWidget->replaceTab(ConfigGadgetWidget::AutoTune, widget);
if (board == 0x0903 || board == 0x0904) {
widget = new ConfigRevoHWWidget(this);
} else if (board == 0x0905) {
@ -236,6 +246,9 @@ void ConfigGadgetWidget::onAutopilotConnect()
widget = new ConfigRevoWidget(this);
widget->bind();
stackWidget->replaceTab(ConfigGadgetWidget::Sensors, widget);
widget = new ConfigAutoTuneWidget(this);
widget->bind();
stackWidget->replaceTab(ConfigGadgetWidget::AutoTune, widget);
widget = new ConfigSparky2HWWidget(this);
widget->bind();
stackWidget->replaceTab(ConfigGadgetWidget::Hardware, widget);
@ -278,6 +291,9 @@ void ConfigGadgetWidget::onAutopilotDisconnect()
widget = new DefaultConfigWidget(this, tr("Hardware"));
stackWidget->replaceTab(ConfigGadgetWidget::Hardware, widget);
widget = new DefaultConfigWidget(this, tr("AutoTune"));
stackWidget->replaceTab(ConfigGadgetWidget::AutoTune, widget);
}
void ConfigGadgetWidget::onOPLinkConnect()

2
ground/gcs/src/plugins/config/configgadgetwidget.h
View File

@ -38,7 +38,7 @@ class ConfigGadgetWidget : public QWidget {
Q_OBJECT
public:
enum WidgetTabs { Hardware = 0, Aircraft, Input, Output, Sensors, Stabilization, CameraStabilization, TxPid, OPLink };
enum WidgetTabs { Hardware = 0, Aircraft, Input, Output, Sensors, Stabilization, CameraStabilization, TxPid, AutoTune, OPLink };
ConfigGadgetWidget(QWidget *parent = 0);
~ConfigGadgetWidget();