mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-20 10:54:14 +01:00
[OP-724] Now most camera options can be set independently per each axis.
This commit is contained in:
Oleg Semyonov
parent
5784ea8b36
commit
8adc2abd77
@ -202,7 +202,7 @@ static void attitudeUpdated(UAVObjEvent* ev)
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#ifdef USE_GIMBAL_LPF
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if (cameraStab.ResponseTime) {
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float rt = (float)cameraStab.ResponseTime;
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float rt = (float)cameraStab.ResponseTime[i];
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attitude = csd->attitudeFiltered[i] = ((rt * csd->attitudeFiltered[i]) + (dT * attitude)) / (rt + dT);
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}
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#endif
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@ -270,7 +270,7 @@ void applyFeedForward(uint8_t index, float dT, float *attitude, CameraStabSettin
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csd->ffLastAttitude[index] = *attitude;
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*attitude += accumulator;
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float filter = (float)((accumulator > 0.0f) ? cameraStab->AccelTime : cameraStab->DecelTime) / dT;
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float filter = (float)((accumulator > 0.0f) ? cameraStab->AccelTime[index] : cameraStab->DecelTime[index]) / dT;
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if (filter < 1.0f)
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filter = 1.0f;
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accumulator -= accumulator / filter;
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@ -7,7 +7,7 @@
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<x>0</x>
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<y>0</y>
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<width>786</width>
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<height>745</height>
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<height>791</height>
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</rect>
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</property>
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<property name="sizePolicy">
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@ -64,8 +64,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>745</width>
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<height>687</height>
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<width>762</width>
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<height>658</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout">
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@ -884,7 +884,7 @@ value.</string>
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<property name="minimumSize">
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<size>
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<width>0</width>
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<height>162</height>
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<height>187</height>
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</size>
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</property>
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<property name="title">
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@ -978,7 +978,87 @@ margin:1px;</string>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QLabel" name="label_2">
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<property name="text">
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<string>AF Response Time</string>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QSpinBox" name="rollResponseTime">
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<property name="toolTip">
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<string>Roll axis attitude filter response time
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Range: 0-250ms, 0 disables filter (default).
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Smoothes estimated airframe attitude used by camera stabilization.</string>
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</property>
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<property name="maximum">
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<number>250</number>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:CameraStabSettings</string>
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<string>fieldname:ResponseTime</string>
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<string>element:Roll</string>
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<string>buttongroup:1</string>
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</stringlist>
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</property>
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</widget>
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</item>
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<item row="1" column="2">
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<widget class="QSpinBox" name="pitchResponseTime">
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<property name="toolTip">
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<string>Pitch axis attitude filter response time
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Range: 0-250ms, 0 disables filter (default).
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Smoothes estimated airframe attitude used by camera stabilization.</string>
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</property>
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<property name="maximum">
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<number>250</number>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:CameraStabSettings</string>
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<string>fieldname:ResponseTime</string>
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<string>element:Pitch</string>
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<string>buttongroup:1</string>
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</stringlist>
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</property>
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</widget>
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</item>
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<item row="1" column="3">
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<widget class="QSpinBox" name="yawResponseTime">
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<property name="toolTip">
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<string>Yaw axis attitude filter response time
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Range: 0-250ms, 0 disables filter (default).
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Smoothes estimated airframe attitude used by camera stabilization.</string>
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</property>
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<property name="maximum">
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<number>250</number>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:CameraStabSettings</string>
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<string>fieldname:ResponseTime</string>
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<string>element:Yaw</string>
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<string>buttongroup:1</string>
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</stringlist>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QLabel" name="label_4">
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<property name="text">
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<string>FF Servo Acceleration</string>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QSpinBox" name="rollFeedForward">
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<property name="toolTip">
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<string>Roll servo feed forward acceleration
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@ -1003,7 +1083,7 @@ Too high value may burn your servo!</string>
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</property>
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</widget>
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</item>
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<item row="1" column="2">
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<item row="2" column="2">
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<widget class="QSpinBox" name="pitchFeedForward">
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<property name="toolTip">
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<string>Pitch servo feed forward acceleration
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@ -1028,7 +1108,7 @@ Too high value may burn your servo!</string>
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</property>
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</widget>
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</item>
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<item row="1" column="3">
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<item row="2" column="3">
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<widget class="QSpinBox" name="yawFeedForward">
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<property name="toolTip">
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<string>Yaw servo feed forward acceleration
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@ -1053,14 +1133,166 @@ Too high value may burn your servo!</string>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<item row="3" column="0">
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<widget class="QLabel" name="label_48">
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<property name="text">
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<string>FF Accel Time Constant</string>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QSpinBox" name="rollAccelTime">
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<property name="toolTip">
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<string>Roll servo feed forward acceleration time constant
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Range: 0-50ms, default is 5.</string>
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</property>
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<property name="maximum">
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<number>50</number>
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</property>
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<property name="value">
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<number>5</number>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:CameraStabSettings</string>
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<string>fieldname:AccelTime</string>
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<string>element:Roll</string>
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<string>buttongroup:1</string>
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</stringlist>
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</property>
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</widget>
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</item>
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<item row="3" column="2">
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<widget class="QSpinBox" name="pitchAccelTime">
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<property name="toolTip">
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<string>Pitch servo feed forward acceleration time constant
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Range: 0-50ms, default is 5.</string>
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</property>
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<property name="maximum">
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<number>50</number>
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</property>
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<property name="value">
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<number>5</number>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:CameraStabSettings</string>
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<string>fieldname:AccelTime</string>
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<string>element:Pitch</string>
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<string>buttongroup:1</string>
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</stringlist>
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</property>
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</widget>
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</item>
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<item row="3" column="3">
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<widget class="QSpinBox" name="yawAccelTime">
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<property name="toolTip">
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<string>Yaw servo feed forward acceleration time constant
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Range: 0-50ms, default is 5.</string>
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</property>
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<property name="maximum">
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<number>50</number>
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</property>
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<property name="value">
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<number>5</number>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:CameraStabSettings</string>
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<string>fieldname:AccelTime</string>
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<string>element:Yaw</string>
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<string>buttongroup:1</string>
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</stringlist>
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QLabel" name="label_5">
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<property name="text">
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<string>FF Decel Time Constant</string>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QSpinBox" name="rollDecelTime">
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<property name="toolTip">
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<string>Roll servo feed forward deceleration time constant
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Range: 0-50ms, default is 5.</string>
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</property>
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<property name="maximum">
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<number>50</number>
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</property>
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<property name="value">
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<number>5</number>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:CameraStabSettings</string>
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<string>fieldname:DecelTime</string>
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<string>element:Roll</string>
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<string>buttongroup:1</string>
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</stringlist>
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</property>
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</widget>
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</item>
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<item row="4" column="2">
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<widget class="QSpinBox" name="pitchDecelTime">
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<property name="toolTip">
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<string>Pitch servo feed forward deceleration time constant
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Range: 0-50ms, default is 5.</string>
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</property>
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<property name="maximum">
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<number>50</number>
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</property>
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<property name="value">
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<number>5</number>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:CameraStabSettings</string>
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<string>fieldname:DecelTime</string>
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<string>element:Pitch</string>
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<string>buttongroup:1</string>
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</stringlist>
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</property>
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</widget>
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</item>
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<item row="4" column="3">
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<widget class="QSpinBox" name="yawDecelTime">
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<property name="toolTip">
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<string>Yaw servo feed forward deceleration time constant
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Range: 0-50ms, default is 5.</string>
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</property>
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<property name="maximum">
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<number>50</number>
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</property>
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<property name="value">
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<number>5</number>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:CameraStabSettings</string>
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<string>fieldname:DecelTime</string>
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<string>element:Yaw</string>
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<string>buttongroup:1</string>
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</stringlist>
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<widget class="QLabel" name="label_47">
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<property name="text">
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<string>Gimbal Type:</string>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<item row="5" column="1">
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<widget class="QComboBox" name="gimbalType">
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<property name="focusPolicy">
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<enum>Qt::StrongFocus</enum>
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@ -1084,105 +1316,14 @@ Used to limit feed forward acceleration at extreme angles.</string>
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</item>
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</widget>
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</item>
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<item row="2" column="2">
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<widget class="QLabel" name="label_48">
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<property name="text">
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<string>FF Accel Time Constant</string>
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</property>
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</widget>
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</item>
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<item row="2" column="3">
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<widget class="QSpinBox" name="accelTime">
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<property name="toolTip">
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<string>Feed forward acceleration time constant
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Range: 0-50ms, default is 5.
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The same value is used for all axes.</string>
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</property>
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<property name="maximum">
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<number>50</number>
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</property>
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<property name="value">
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<number>5</number>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:CameraStabSettings</string>
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<string>fieldname:AccelTime</string>
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<string>buttongroup:1</string>
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</stringlist>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QLabel" name="label_2">
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<property name="text">
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<string>AF Response Time</string>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QSpinBox" name="responseTime">
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<property name="toolTip">
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<string>Attitude filter response time
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Range: 0-250ms, 0 disables filter (default).
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Smoothes estimated airframe attitude used by camera stabilization.
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The same value is used for all axes.</string>
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</property>
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<property name="maximum">
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<number>250</number>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:CameraStabSettings</string>
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<string>fieldname:ResponseTime</string>
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<string>buttongroup:1</string>
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</stringlist>
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</property>
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</widget>
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</item>
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<item row="3" column="2">
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<widget class="QLabel" name="label_5">
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<property name="text">
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<string>FF Decel Time Constant</string>
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</property>
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</widget>
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</item>
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<item row="3" column="3">
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<widget class="QSpinBox" name="decelTime">
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<property name="toolTip">
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<string>Feed forward deceleration time constant
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Range: 0-50ms, default is 5.
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The same value is used for all axes.</string>
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</property>
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<property name="maximum">
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<number>50</number>
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</property>
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<property name="value">
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<number>5</number>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:CameraStabSettings</string>
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<string>fieldname:DecelTime</string>
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<string>buttongroup:1</string>
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</stringlist>
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</property>
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</widget>
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</item>
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<item row="4" column="2">
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<item row="5" column="2">
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<widget class="QLabel" name="label_6">
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<property name="text">
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<string>FF Max Acceleration</string>
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</property>
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</widget>
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</item>
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<item row="4" column="3">
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<item row="5" column="3">
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<widget class="QSpinBox" name="maxAccel">
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<property name="toolTip">
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<string>Feed forward maximum acceleration
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@ -1206,13 +1347,6 @@ The same value is used for all axes.</string>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QLabel" name="label_4">
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<property name="text">
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<string>FF Servo Acceleration</string>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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@ -1223,37 +1357,6 @@ The same value is used for all axes.</string>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_4">
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<property name="minimumSize">
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<size>
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<width>0</width>
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<height>50</height>
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</size>
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</property>
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<property name="maximumSize">
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<size>
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<width>16777215</width>
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<height>16777215</height>
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</size>
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</property>
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<property name="title">
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<string>Messages</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_3">
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<item>
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<widget class="QLabel" name="message">
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<property name="autoFillBackground">
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<bool>false</bool>
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</property>
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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<item>
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<spacer name="verticalSpacer">
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<property name="orientation">
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@ -1275,6 +1378,37 @@ The same value is used for all axes.</string>
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</widget>
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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_4">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
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||||
<height>50</height>
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||||
</size>
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||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Messages</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_3">
|
||||
<item>
|
||||
<widget class="QLabel" name="message">
|
||||
<property name="autoFillBackground">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout">
|
||||
<property name="horizontalSpacing">
|
||||
@ -1468,7 +1602,44 @@ Apply or Save button afterwards.</string>
|
||||
</layout>
|
||||
</widget>
|
||||
<tabstops>
|
||||
<tabstop>scrollArea</tabstop>
|
||||
<tabstop>enableCameraStabilization</tabstop>
|
||||
<tabstop>rollChannel</tabstop>
|
||||
<tabstop>pitchChannel</tabstop>
|
||||
<tabstop>yawChannel</tabstop>
|
||||
<tabstop>rollOutputRange</tabstop>
|
||||
<tabstop>pitchOutputRange</tabstop>
|
||||
<tabstop>yawOutputRange</tabstop>
|
||||
<tabstop>rollInputChannel</tabstop>
|
||||
<tabstop>pitchInputChannel</tabstop>
|
||||
<tabstop>yawInputChannel</tabstop>
|
||||
<tabstop>rollStabilizationMode</tabstop>
|
||||
<tabstop>pitchStabilizationMode</tabstop>
|
||||
<tabstop>yawStabilizationMode</tabstop>
|
||||
<tabstop>rollInputRange</tabstop>
|
||||
<tabstop>pitchInputRange</tabstop>
|
||||
<tabstop>yawInputRange</tabstop>
|
||||
<tabstop>rollInputRate</tabstop>
|
||||
<tabstop>pitchInputRate</tabstop>
|
||||
<tabstop>yawInputRate</tabstop>
|
||||
<tabstop>MaxAxisLockRate</tabstop>
|
||||
<tabstop>rollResponseTime</tabstop>
|
||||
<tabstop>pitchResponseTime</tabstop>
|
||||
<tabstop>yawResponseTime</tabstop>
|
||||
<tabstop>rollFeedForward</tabstop>
|
||||
<tabstop>pitchFeedForward</tabstop>
|
||||
<tabstop>yawFeedForward</tabstop>
|
||||
<tabstop>rollAccelTime</tabstop>
|
||||
<tabstop>pitchAccelTime</tabstop>
|
||||
<tabstop>yawAccelTime</tabstop>
|
||||
<tabstop>rollDecelTime</tabstop>
|
||||
<tabstop>pitchDecelTime</tabstop>
|
||||
<tabstop>yawDecelTime</tabstop>
|
||||
<tabstop>gimbalType</tabstop>
|
||||
<tabstop>maxAccel</tabstop>
|
||||
<tabstop>camerastabilizationResetToDefaults</tabstop>
|
||||
<tabstop>pushButton</tabstop>
|
||||
<tabstop>camerastabilizationSaveRAM</tabstop>
|
||||
<tabstop>camerastabilizationSaveSD</tabstop>
|
||||
</tabstops>
|
||||
<resources>
|
||||
<include location="../coreplugin/core.qrc"/>
|
||||
|
||||
@ -7,12 +7,12 @@
|
||||
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="Attitude,AxisLock" defaultvalue="Attitude"/>
|
||||
<field name="MaxAxisLockRate" units="deg/s" type="float" elements="1" defaultvalue="1"/>
|
||||
<field name="OutputRange" units="deg" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="20"/>
|
||||
<field name="ResponseTime" units="ms" type="uint8" elements="1" defaultvalue="0"/>
|
||||
<field name="ResponseTime" units="ms" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="GimbalType" units="" type="enum" elements="1" options="Yaw-Roll-Pitch,Yaw-Pitch-Roll" defaultvalue="Yaw-Roll-Pitch"/>
|
||||
<field name="FeedForward" units="" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="MaxAccel" units="units/sec" type="uint16" elements="1" defaultvalue="500"/>
|
||||
<field name="AccelTime" units="ms" type="uint8" elements="1" defaultvalue="5"/>
|
||||
<field name="DecelTime" units="ms" type="uint8" elements="1" defaultvalue="5"/>
|
||||
<field name="AccelTime" units="ms" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="5"/>
|
||||
<field name="DecelTime" units="ms" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="5"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user