rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-17 02:52:12 +01:00
Code Issues Releases Activity

OP-146 Max angles can now be adjusted from the stabilization config dialog.

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2881 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
edouard 2011-02-25 23:05:23 +00:00 committed by edouard
parent 495445c3a5
commit 6e431c29ba
2 changed files with 145 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
View File

@ -206,6 +206,10 @@ void ConfigStabilizationWidget::requestStabilizationUpdate()
m_stabilization->yawKi->setValue(stabData.YawPI[StabilizationSettings::YAWPI_KI]);
m_stabilization->yawILimit->setValue(stabData.YawPI[StabilizationSettings::YAWPI_ILIMIT]);
m_stabilization->rollMax->setValue(stabData.RollMax);
m_stabilization->pitchMax->setValue(stabData.PitchMax);
m_stabilization->yawMax->setValue(stabData.YawMax);
}
@ -241,6 +245,10 @@ void ConfigStabilizationWidget::sendStabilizationUpdate()
stabData.YawPI[StabilizationSettings::YAWPI_KI] = m_stabilization->yawKi->value();
stabData.YawPI[StabilizationSettings::YAWPI_ILIMIT] = m_stabilization->yawILimit->value();
stabData.RollMax = m_stabilization->rollMax->value();
stabData.PitchMax = m_stabilization->pitchMax->value();
stabData.YawMax = m_stabilization->yawMax->value();
stabSettings->setData(stabData); // this is atomic
}

143
ground/openpilotgcs/src/plugins/config/stabilization.ui
View File

@ -27,11 +27,35 @@
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="label_8">
<property name="text">
<string>Rate Stabilization (inner loop)</string>
</property>
</widget>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QLabel" name="label_8">
<property name="text">
<string>Rate Stabilization (inner loop)</string>
</property>
</widget>
</item>
<item>
<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>
<widget class="QLabel" name="label_4">
<property name="text">
<string>Hint: read the toolips!</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QFrame" name="frame_2">
@ -55,7 +79,8 @@
<item row="1" column="2">
<widget class="QDoubleSpinBox" name="rateRollKp">
<property name="toolTip">
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.</string>
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
Then lower the value by 20% or so.</string>
</property>
<property name="decimals">
<number>6</number>
@ -245,6 +270,9 @@
</item>
<item row="1" column="2">
<widget class="QDoubleSpinBox" name="rollKp">
<property name="toolTip">
<string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20%</string>
</property>
<property name="decimals">
<number>6</number>
</property>
@ -394,6 +422,103 @@
<attribute name="title">
<string>Limits</string>
</attribute>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>Angle limits</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_4">
<item>
<widget class="QFrame" name="frame">
<property name="toolTip">
<string>In this area, you can setup the limits for roll, pitch and yaw in attitude mode, i.e. what max attitude the airframe will reach if the sticks are pushed to the max.</string>
</property>
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<layout class="QFormLayout" name="formLayout">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>RollMax</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QSpinBox" name="rollMax">
<property name="maximum">
<number>180</number>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>PitchMax</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QSpinBox" name="pitchMax">
<property name="maximum">
<number>180</number>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>YawMax</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QSpinBox" name="yawMax">
<property name="maximum">
<number>180</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
@ -414,6 +539,12 @@
</item>
<item>
<widget class="QPushButton" name="resetStabilizationToDefaults">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Not implemented yet.</string>
</property>
<property name="text">
<string>Reset to defaults</string>
</property>