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Code Issues Releases Activity

Stabilization: Add the option for zeroing the PIDs when throttle is low to GUI

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This commit is contained in:
James Cotton 2011-08-10 04:08:28 -05:00
parent ab288e95ab
commit 9748640210
2 changed files with 13 additions and 0 deletions
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6
ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
View File

@ -230,6 +230,8 @@ void ConfigStabilizationWidget::refreshValues()
m_stabilization->maximumPitch->setValue(stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_PITCH]);
m_stabilization->maximumYaw->setValue(stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_YAW]);
m_stabilization->lowThrottleZeroIntegral->setChecked(
stabData.LowThrottleZeroIntegral == StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_TRUE);
}
@ -277,6 +279,10 @@ void ConfigStabilizationWidget::sendStabilizationUpdate()
stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_PITCH] = m_stabilization->maximumPitch->value();
stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_YAW] = m_stabilization->maximumYaw->value();
stabData.LowThrottleZeroIntegral = m_stabilization->lowThrottleZeroIntegral->isChecked() ?
StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_TRUE :
StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_FALSE;
stabSettings->setData(stabData); // this is atomic
}

7
ground/openpilotgcs/src/plugins/config/stabilization.ui
View File

@ -629,6 +629,13 @@ When you change one, the other is updated.</string>
</layout>
</widget>
</item>
<item>
<widget class="QCheckBox" name="lowThrottleZeroIntegral">
<property name="text">
<string>Zero the integral when throttle is low</string>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">