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mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-27 16:54:15 +01:00

Update to Dado's work on the Stab UI

This commit is contained in:
David Ankers 2012-02-21 03:53:00 +11:00
parent 4a0d101f12
commit 709c985b17

3186
ground/openpilotgcs/src/plugins/config/stabilization.ui Normal file → Executable file
View File

@ -495,7 +495,7 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>-162</y>
<width>648</width> <width>648</width>
<height>802</height> <height>802</height>
</rect> </rect>
@ -11496,6 +11496,9 @@ border-radius: 3;
<height>20</height> <height>20</height>
</size> </size>
</property> </property>
<property name="toolTip">
<string>When the throttle is low, zero the intergral term to prevent intergral wind-up</string>
</property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true"/> <string notr="true"/>
</property> </property>
@ -11750,12 +11753,12 @@ border-radius: 4;
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>-350</y>
<width>648</width> <width>648</width>
<height>798</height> <height>990</height>
</rect> </rect>
</property> </property>
<layout class="QGridLayout" name="gridLayout"> <layout class="QGridLayout" name="gridLayout_15">
<item row="0" column="2"> <item row="0" column="2">
<spacer name="verticalSpacer_11"> <spacer name="verticalSpacer_11">
<property name="orientation"> <property name="orientation">
@ -11819,13 +11822,13 @@ border-radius: 4;
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>0</width> <width>0</width>
<height>181</height> <height>210</height>
</size> </size>
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>16777215</width> <width>16777215</width>
<height>181</height> <height>210</height>
</size> </size>
</property> </property>
<property name="palette"> <property name="palette">
@ -12452,7 +12455,7 @@ border-radius: 4;
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>0</width> <width>0</width>
<height>131</height> <height>151</height>
</size> </size>
</property> </property>
<property name="palette"> <property name="palette">
@ -12883,6 +12886,9 @@ border-radius: 4;
<bool>true</bool> <bool>true</bool>
</property> </property>
<layout class="QGridLayout" name="gridLayout_3"> <layout class="QGridLayout" name="gridLayout_3">
<property name="bottomMargin">
<number>2</number>
</property>
<item row="0" column="0"> <item row="0" column="0">
<spacer name="horizontalSpacer_24"> <spacer name="horizontalSpacer_24">
<property name="orientation"> <property name="orientation">
@ -14595,7 +14601,8 @@ border-radius: 5;</string>
</size> </size>
</property> </property>
<property name="toolTip"> <property name="toolTip">
<string>I factor for rate stabilization is usually very low or even zero.</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>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true"/> <string notr="true"/>
@ -14638,6 +14645,10 @@ border-radius: 5;</string>
<height>22</height> <height>22</height>
</size> </size>
</property> </property>
<property name="toolTip">
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
Then lower the value by 20% or so.</string>
</property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true"/> <string notr="true"/>
</property> </property>
@ -14762,8 +14773,8 @@ You can usually go for higher values for Yaw factors.</string>
</size> </size>
</property> </property>
<property name="toolTip"> <property name="toolTip">
<string>As a rule of thumb, you can set YawRate Ki at roughly the same <string>As a rule of thumb, you can set the Ki at roughly the same
value as YawRate Kp.</string> value as the Kp.</string>
</property> </property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true"/> <string notr="true"/>
@ -14822,6 +14833,10 @@ value as YawRate Kp.</string>
<height>22</height> <height>22</height>
</size> </size>
</property> </property>
<property name="toolTip">
<string>As a rule of thumb, you can set the Ki at roughly the same
value as the Kp.</string>
</property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true"/> <string notr="true"/>
</property> </property>
@ -14880,10 +14895,8 @@ value as YawRate Kp.</string>
</size> </size>
</property> </property>
<property name="toolTip"> <property name="toolTip">
<string>Slowly raise Kp until you start seeing clear oscillations when you fly. <string>As a rule of thumb, you can set the Ki at roughly the same
Then lower the value by 20% or so. value as the Kp.</string>
You can usually go for higher values for Yaw factors.</string>
</property> </property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true"/> <string notr="true"/>
@ -14907,6 +14920,166 @@ You can usually go for higher values for Yaw factors.</string>
</widget> </widget>
</item> </item>
<item row="3" column="0"> <item row="3" column="0">
<widget class="QLabel" name="label_24">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>58</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Derivative</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QDoubleSpinBox" name="RollRateKd">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>22</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>22</height>
</size>
</property>
<property name="toolTip">
<string/>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:RollRatePID</string>
<string>element:Kd</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:4,20</string>
</stringlist>
</property>
</widget>
</item>
<item row="3" column="4">
<widget class="QDoubleSpinBox" name="PitchRateKd">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>22</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>22</height>
</size>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:PitchRatePID</string>
<string>element:Kd</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:4,20</string>
</stringlist>
</property>
</widget>
</item>
<item row="3" column="6">
<widget class="QDoubleSpinBox" name="YawRateKd">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>22</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>22</height>
</size>
</property>
<property name="toolTip">
<string/>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:YawRatePID</string>
<string>element:Kd</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:4,20</string>
</stringlist>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_23"> <widget class="QLabel" name="label_23">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred"> <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@ -14937,7 +15110,7 @@ You can usually go for higher values for Yaw factors.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="2"> <item row="4" column="2">
<widget class="QDoubleSpinBox" name="RateRollILimit_2"> <widget class="QDoubleSpinBox" name="RateRollILimit_2">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed"> <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -14958,7 +15131,7 @@ You can usually go for higher values for Yaw factors.</string>
</size> </size>
</property> </property>
<property name="toolTip"> <property name="toolTip">
<string>I factor for rate stabilization is usually very low or even zero.</string> <string/>
</property> </property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true"/> <string notr="true"/>
@ -14981,7 +15154,7 @@ You can usually go for higher values for Yaw factors.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="4"> <item row="4" column="4">
<widget class="QDoubleSpinBox" name="RatePitchILimit"> <widget class="QDoubleSpinBox" name="RatePitchILimit">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed"> <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -15022,7 +15195,7 @@ You can usually go for higher values for Yaw factors.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="6"> <item row="4" column="6">
<widget class="QDoubleSpinBox" name="RateYawILimit"> <widget class="QDoubleSpinBox" name="RateYawILimit">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed"> <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -15043,10 +15216,7 @@ You can usually go for higher values for Yaw factors.</string>
</size> </size>
</property> </property>
<property name="toolTip"> <property name="toolTip">
<string>Slowly raise Kp until you start seeing clear oscillations when you fly. <string/>
Then lower the value by 20% or so.
You can usually go for higher values for Yaw factors.</string>
</property> </property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true"/> <string notr="true"/>
@ -17946,7 +18116,7 @@ border-radius: 5;</string>
</size> </size>
</property> </property>
<property name="toolTip"> <property name="toolTip">
<string>I factor for rate stabilization is usually very low or even zero.</string> <string/>
</property> </property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true"/> <string notr="true"/>
@ -18031,10 +18201,7 @@ border-radius: 5;</string>
</size> </size>
</property> </property>
<property name="toolTip"> <property name="toolTip">
<string>Slowly raise Kp until you start seeing clear oscillations when you fly. <string/>
Then lower the value by 20% or so.
You can usually go for higher values for Yaw factors.</string>
</property> </property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true"/> <string notr="true"/>
@ -18113,8 +18280,7 @@ You can usually go for higher values for Yaw factors.</string>
</size> </size>
</property> </property>
<property name="toolTip"> <property name="toolTip">
<string>As a rule of thumb, you can set YawRate Ki at roughly the same <string/>
value as YawRate Kp.</string>
</property> </property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true"/> <string notr="true"/>
@ -18231,10 +18397,7 @@ value as YawRate Kp.</string>
</size> </size>
</property> </property>
<property name="toolTip"> <property name="toolTip">
<string>Slowly raise Kp until you start seeing clear oscillations when you fly. <string/>
Then lower the value by 20% or so.
You can usually go for higher values for Yaw factors.</string>
</property> </property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true"/> <string notr="true"/>
@ -18309,7 +18472,7 @@ You can usually go for higher values for Yaw factors.</string>
</size> </size>
</property> </property>
<property name="toolTip"> <property name="toolTip">
<string>I factor for rate stabilization is usually very low or even zero.</string> <string/>
</property> </property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true"/> <string notr="true"/>
@ -18394,10 +18557,7 @@ You can usually go for higher values for Yaw factors.</string>
</size> </size>
</property> </property>
<property name="toolTip"> <property name="toolTip">
<string>Slowly raise Kp until you start seeing clear oscillations when you fly. <string/>
Then lower the value by 20% or so.
You can usually go for higher values for Yaw factors.</string>
</property> </property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true"/> <string notr="true"/>
@ -18458,7 +18618,7 @@ You can usually go for higher values for Yaw factors.</string>
</property> </property>
</spacer> </spacer>
</item> </item>
<item row="8" column="2"> <item row="8" column="2" colspan="2">
<widget class="QLabel" name="label_36"> <widget class="QLabel" name="label_36">
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
@ -21253,7 +21413,7 @@ angle(deg)</string>
</size> </size>
</property> </property>
<property name="toolTip"> <property name="toolTip">
<string>I factor for rate stabilization is usually very low or even zero.</string> <string/>
</property> </property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true"/> <string notr="true"/>
@ -21378,8 +21538,7 @@ rate(deg/s)</string>
</size> </size>
</property> </property>
<property name="toolTip"> <property name="toolTip">
<string>As a rule of thumb, you can set YawRate Ki at roughly the same <string/>
value as YawRate Kp.</string>
</property> </property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true"/> <string notr="true"/>
@ -21502,10 +21661,7 @@ value as YawRate Kp.</string>
</size> </size>
</property> </property>
<property name="toolTip"> <property name="toolTip">
<string>Slowly raise Kp until you start seeing clear oscillations when you fly. <string/>
Then lower the value by 20% or so.
You can usually go for higher values for Yaw factors.</string>
</property> </property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true"/> <string notr="true"/>
@ -21584,7 +21740,7 @@ You can usually go for higher values for Yaw factors.</string>
</size> </size>
</property> </property>
<property name="toolTip"> <property name="toolTip">
<string>I factor for rate stabilization is usually very low or even zero.</string> <string/>
</property> </property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true"/> <string notr="true"/>
@ -21675,10 +21831,7 @@ You can usually go for higher values for Yaw factors.</string>
</size> </size>
</property> </property>
<property name="toolTip"> <property name="toolTip">
<string>Slowly raise Kp until you start seeing clear oscillations when you fly. <string/>
Then lower the value by 20% or so.
You can usually go for higher values for Yaw factors.</string>
</property> </property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true"/> <string notr="true"/>
@ -21725,10 +21878,7 @@ You can usually go for higher values for Yaw factors.</string>
</size> </size>
</property> </property>
<property name="toolTip"> <property name="toolTip">
<string>Slowly raise Kp until you start seeing clear oscillations when you fly. <string/>
Then lower the value by 20% or so.
You can usually go for higher values for Yaw factors.</string>
</property> </property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true"/> <string notr="true"/>
@ -21775,7 +21925,2924 @@ You can usually go for higher values for Yaw factors.</string>
</property> </property>
</spacer> </spacer>
</item> </item>
<item row="11" column="1" colspan="3"> <item row="11" column="1">
<spacer name="horizontalSpacer_41">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="11" column="2" colspan="2">
<widget class="QLabel" name="label_45">
<property name="minimumSize">
<size>
<width>180</width>
<height>16</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Sensor Tunning</string>
</property>
</widget>
</item>
<item row="12" column="1" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_23">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>125</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>125</height>
</size>
</property>
<property name="palette">
<palette>
<active>
<colorrole role="WindowText">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</colorrole>
<colorrole role="Button">
<brush brushstyle="LinearGradientPattern">
<gradient startx="0.507000000000000" starty="0.869318000000000" endx="0.507000000000000" endy="0.096590900000000" type="LinearGradient" spread="PadSpread" coordinatemode="ObjectBoundingMode">
<gradientstop position="0.000000000000000">
<color alpha="255">
<red>243</red>
<green>243</green>
<blue>243</blue>
</color>
</gradientstop>
<gradientstop position="1.000000000000000">
<color alpha="255">
<red>250</red>
<green>250</green>
<blue>250</blue>
</color>
</gradientstop>
</gradient>
</brush>
</colorrole>
<colorrole role="Light">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>255</blue>
</color>
</brush>
</colorrole>
<colorrole role="Midlight">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>251</red>
<green>251</green>
<blue>251</blue>
</color>
</brush>
</colorrole>
<colorrole role="Dark">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>124</red>
<green>124</green>
<blue>124</blue>
</color>
</brush>
</colorrole>
<colorrole role="Mid">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>165</red>
<green>165</green>
<blue>165</blue>
</color>
</brush>
</colorrole>
<colorrole role="Text">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</colorrole>
<colorrole role="BrightText">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>255</blue>
</color>
</brush>
</colorrole>
<colorrole role="ButtonText">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</colorrole>
<colorrole role="Base">
<brush brushstyle="LinearGradientPattern">
<gradient startx="0.507000000000000" starty="0.869318000000000" endx="0.507000000000000" endy="0.096590900000000" type="LinearGradient" spread="PadSpread" coordinatemode="ObjectBoundingMode">
<gradientstop position="0.000000000000000">
<color alpha="255">
<red>243</red>
<green>243</green>
<blue>243</blue>
</color>
</gradientstop>
<gradientstop position="1.000000000000000">
<color alpha="255">
<red>250</red>
<green>250</green>
<blue>250</blue>
</color>
</gradientstop>
</gradient>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="LinearGradientPattern">
<gradient startx="0.507000000000000" starty="0.869318000000000" endx="0.507000000000000" endy="0.096590900000000" type="LinearGradient" spread="PadSpread" coordinatemode="ObjectBoundingMode">
<gradientstop position="0.000000000000000">
<color alpha="255">
<red>243</red>
<green>243</green>
<blue>243</blue>
</color>
</gradientstop>
<gradientstop position="1.000000000000000">
<color alpha="255">
<red>250</red>
<green>250</green>
<blue>250</blue>
</color>
</gradientstop>
</gradient>
</brush>
</colorrole>
<colorrole role="Shadow">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</colorrole>
<colorrole role="AlternateBase">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>251</red>
<green>251</green>
<blue>251</blue>
</color>
</brush>
</colorrole>
<colorrole role="ToolTipBase">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>220</blue>
</color>
</brush>
</colorrole>
<colorrole role="ToolTipText">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</colorrole>
</active>
<inactive>
<colorrole role="WindowText">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</colorrole>
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<item row="14" column="1" colspan="3">
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@ -22340,6 +25407,9 @@ border-radius: 3;
<height>20</height> <height>20</height>
</size> </size>
</property> </property>
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</property> </property>
@ -22370,7 +25440,7 @@ border-radius: 3;
</font> </font>
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<property name="toolTip"> <property name="toolTip">
<string>If you check this, the GCS will udpate the stabilization factors <string>If you check this, the GCS will udpate the stabilization factors
automatically every 300ms, which will help for fast tuning.</string> automatically every 300ms, which will help for fast tuning.</string>
</property> </property>
<property name="styleSheet"> <property name="styleSheet">
@ -22529,7 +25599,7 @@ border-radius: 4;
</widget> </widget>
<layoutdefault spacing="6" margin="11"/> <layoutdefault spacing="6" margin="11"/>
<resources> <resources>
<include location="../coreplugin/core.qrc"/> <include location="../../coreplugin/core.qrc"/>
</resources> </resources>
<connections/> <connections/>
</ui> </ui>