diff --git a/flight/modules/ManualControl/manualcontrol.c b/flight/modules/ManualControl/manualcontrol.c index 35cfc525c..b10613160 100644 --- a/flight/modules/ManualControl/manualcontrol.c +++ b/flight/modules/ManualControl/manualcontrol.c @@ -46,7 +46,7 @@ #include "manualcontrolcommand.h" #include "positionstate.h" #include "pathdesired.h" -#include "stabilizationsettings.h" +#include "stabilizationbank.h" #include "stabilizationdesired.h" #include "receiveractivity.h" #include "systemsettings.h" @@ -668,8 +668,8 @@ static void updateStabilizationDesired(ManualControlCommandData *cmd, ManualCont StabilizationDesiredGet(&stabilization); - StabilizationSettingsData stabSettings; - StabilizationSettingsGet(&stabSettings); + StabilizationBankData stabSettings; + StabilizationBankGet(&stabSettings); uint8_t *stab_settings; FlightStatusData flightStatus; @@ -864,8 +864,8 @@ static void altitudeHoldDesired(ManualControlCommandData *cmd, bool changed) AltitudeHoldSettingsThrottleExpGet(&throttleExp); AltitudeHoldSettingsThrottleRateGet(&throttleRate); - StabilizationSettingsData stabSettings; - StabilizationSettingsGet(&stabSettings); + StabilizationBankData stabSettings; + StabilizationBankGet(&stabSettings); PositionStateData posState; PositionStateGet(&posState); diff --git a/flight/modules/Stabilization/stabilization.c b/flight/modules/Stabilization/stabilization.c index 3a8beea29..b2b930c70 100644 --- a/flight/modules/Stabilization/stabilization.c +++ b/flight/modules/Stabilization/stabilization.c @@ -35,6 +35,10 @@ #include #include "stabilization.h" #include "stabilizationsettings.h" +#include "stabilizationbank.h" +#include "stabilizationsettingsbank1.h" +#include "stabilizationsettingsbank2.h" +#include "stabilizationsettingsbank3.h" #include "actuatordesired.h" #include "ratedesired.h" #include "relaytuning.h" @@ -65,7 +69,7 @@ #if defined(PIOS_STABILIZATION_STACK_SIZE) #define STACK_SIZE_BYTES PIOS_STABILIZATION_STACK_SIZE #else -#define STACK_SIZE_BYTES 724 +#define STACK_SIZE_BYTES 790 #endif #define TASK_PRIORITY (tskIDLE_PRIORITY + 4) @@ -76,6 +80,8 @@ // The PID_RATEA_ROLL set is used by Rattitude mode because it needs to maintain // - two independant rate PIDs because it does rate and attitude simultaneously enum { PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_RATEA_ROLL, PID_RATEA_PITCH, PID_RATEA_YAW, PID_MAX }; +enum { RATE_P, RATE_I, RATE_D, RATE_LIMIT, RATE_OFFSET }; +enum { ATT_P, ATT_I, ATT_LIMIT, ATT_OFFSET }; // Private variables static xTaskHandle taskHandle; @@ -91,6 +97,9 @@ bool lowThrottleZeroIntegral; bool lowThrottleZeroAxis[MAX_AXES]; float vbar_decay = 0.991f; struct pid pids[PID_MAX]; + +int flight_mode = -1; + static uint8_t rattitude_anti_windup; // Private functions @@ -98,6 +107,9 @@ static void stabilizationTask(void *parameters); static float bound(float val, float range); static void ZeroPids(void); static void SettingsUpdatedCb(UAVObjEvent *ev); +static void BankUpdatedCb(UAVObjEvent *ev); +static void SettingsBankUpdatedCb(UAVObjEvent *ev); + static float stab_log2f(float x); static float stab_powf(float x, uint8_t p); @@ -117,6 +129,13 @@ int32_t StabilizationStart() StabilizationSettingsConnectCallback(SettingsUpdatedCb); SettingsUpdatedCb(StabilizationSettingsHandle()); + StabilizationBankConnectCallback(BankUpdatedCb); + + StabilizationSettingsBank1ConnectCallback(SettingsBankUpdatedCb); + StabilizationSettingsBank2ConnectCallback(SettingsBankUpdatedCb); + StabilizationSettingsBank3ConnectCallback(SettingsBankUpdatedCb); + + // Start main task xTaskCreate(stabilizationTask, (signed char *)"Stabilization", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &taskHandle); PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_STABILIZATION, taskHandle); @@ -133,6 +152,10 @@ int32_t StabilizationInitialize() { // Initialize variables StabilizationSettingsInitialize(); + StabilizationBankInitialize(); + StabilizationSettingsBank1Initialize(); + StabilizationSettingsBank2Initialize(); + StabilizationSettingsBank3Initialize(); ActuatorDesiredInitialize(); #ifdef DIAG_RATEDESIRED RateDesiredInitialize(); @@ -165,6 +188,8 @@ static void stabilizationTask(__attribute__((unused)) void *parameters) AttitudeStateData attitudeState; GyroStateData gyroStateData; FlightStatusData flightStatus; + StabilizationBankData stabBank; + #ifdef REVOLUTION AirspeedStateData airspeedState; @@ -194,9 +219,16 @@ static void stabilizationTask(__attribute__((unused)) void *parameters) StabilizationDesiredGet(&stabDesired); AttitudeStateGet(&attitudeState); GyroStateGet(&gyroStateData); + StabilizationBankGet(&stabBank); #ifdef DIAG_RATEDESIRED RateDesiredGet(&rateDesired); #endif + + if (flight_mode != flightStatus.FlightMode) { + flight_mode = flightStatus.FlightMode; + SettingsBankUpdatedCb(NULL); + } + #ifdef REVOLUTION float speedScaleFactor; // Scale PID coefficients based on current airspeed estimation - needed for fixed wing planes @@ -294,7 +326,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters) // Store to rate desired variable for storing to UAVO rateDesiredAxis[i] = - bound(stabDesiredAxis[i], cast_struct_to_array(settings.ManualRate, settings.ManualRate.Roll)[i]); + bound(stabDesiredAxis[i], cast_struct_to_array(stabBank.ManualRate, stabBank.ManualRate.Roll)[i]); // Compute the inner loop actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT); @@ -311,7 +343,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters) // Compute the outer loop rateDesiredAxis[i] = pid_apply(&pids[PID_ROLL + i], local_error[i], dT); rateDesiredAxis[i] = bound(rateDesiredAxis[i], - cast_struct_to_array(settings.MaximumRate, settings.MaximumRate.Roll)[i]); + cast_struct_to_array(stabBank.MaximumRate, stabBank.MaximumRate.Roll)[i]); // Compute the inner loop actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT); @@ -336,7 +368,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters) // Save Rate's rate in a temp for later merging with Attitude's rate float rateDesiredAxisRate; rateDesiredAxisRate = bound(stabDesiredAxis[i], 1.0f) - * cast_struct_to_array(settings.ManualRate, settings.ManualRate.Roll)[i]; + * cast_struct_to_array(stabBank.ManualRate, stabBank.ManualRate.Roll)[i]; // Compute what Attitude mode would give for this stick angle's rate @@ -345,15 +377,15 @@ static void stabilizationTask(__attribute__((unused)) void *parameters) // - subtract off the actual angle to get the angle error // This is what local_error[] holds for Attitude mode float attitude_error = stabDesiredAxis[i] - * cast_struct_to_array(settings.RollMax, settings.RollMax)[i] + * cast_struct_to_array(stabBank.RollMax, stabBank.RollMax)[i] - cast_struct_to_array(attitudeState.Roll, attitudeState.Roll)[i]; // Compute the outer loop just like Attitude mode does float rateDesiredAxisAttitude; rateDesiredAxisAttitude = pid_apply(&pids[PID_ROLL + i], attitude_error, dT); rateDesiredAxisAttitude = bound(rateDesiredAxisAttitude, - cast_struct_to_array(settings.MaximumRate, - settings.MaximumRate.Roll)[i]); + cast_struct_to_array(stabBank.MaximumRate, + stabBank.MaximumRate.Roll)[i]); // Compute the weighted average rate desired // Using max() rather than sqrt() for cpu speed; @@ -486,7 +518,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters) } rateDesiredAxis[i] = bound(rateDesiredAxis[i], - cast_struct_to_array(settings.ManualRate, settings.ManualRate.Roll)[i]); + cast_struct_to_array(stabBank.ManualRate, stabBank.ManualRate.Roll)[i]); actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT); actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f); @@ -496,7 +528,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters) case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE: // Store to rate desired variable for storing to UAVO rateDesiredAxis[i] = bound(stabDesiredAxis[i], - cast_struct_to_array(settings.ManualRate, settings.ManualRate.Roll)[i]); + cast_struct_to_array(stabBank.ManualRate, stabBank.ManualRate.Roll)[i]); // Run the relay controller which also estimates the oscillation parameters stabilization_relay_rate(rateDesiredAxis[i] - gyro_filtered[i], &actuatorDesiredAxis[i], i, reinit); @@ -512,7 +544,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters) // Compute the outer loop like attitude mode rateDesiredAxis[i] = pid_apply(&pids[PID_ROLL + i], local_error[i], dT); rateDesiredAxis[i] = bound(rateDesiredAxis[i], - cast_struct_to_array(settings.MaximumRate, settings.MaximumRate.Roll)[i]); + cast_struct_to_array(stabBank.MaximumRate, stabBank.MaximumRate.Roll)[i]); // Run the relay controller which also estimates the oscillation parameters stabilization_relay_rate(rateDesiredAxis[i] - gyro_filtered[i], &actuatorDesiredAxis[i], i, reinit); @@ -649,72 +681,145 @@ static float stab_powf(float x, uint8_t p) } -static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev) +static void SettingsBankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev) { - StabilizationSettingsGet(&settings); + StabilizationBankData bank, oldBank; + + StabilizationBankGet(&oldBank); + + if (flight_mode < 0) { + return; + } + + switch (cast_struct_to_array(settings.FlightModeMap, settings.FlightModeMap.Stabilized1)[flight_mode]) { + case 0: + StabilizationSettingsBank1Get((StabilizationSettingsBank1Data *)&bank); + break; + + case 1: + StabilizationSettingsBank2Get((StabilizationSettingsBank2Data *)&bank); + break; + + case 2: + StabilizationSettingsBank3Get((StabilizationSettingsBank3Data *)&bank); + break; + + default: + memset(&bank, 0, sizeof(StabilizationBankDataPacked)); +// return; //bank number is invalid. All we can do is ignore it. + } + + // Need to do this to prevent an infinite loop + if (memcmp(&oldBank, &bank, sizeof(StabilizationBankDataPacked)) != 0) { + StabilizationBankSet(&bank); + } +} + +static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev) +{ + StabilizationBankData bank; + + StabilizationBankGet(&bank); + +// this code will be needed if any other modules alter stabilizationbank +/* + StabilizationBankData curBank; + if(flight_mode < 0) return; + + switch(cast_struct_to_array(settings.FlightModeMap, settings.FlightModeMap.Stabilized1)[flight_mode]) + { + case 0: + StabilizationSettingsBank1Get((StabilizationSettingsBank1Data *) &curBank); + if(memcmp(&curBank, &bank, sizeof(StabilizationBankDataPacked)) != 0) + { + StabilizationSettingsBank1Set((StabilizationSettingsBank1Data *) &bank); + } + break; + + case 1: + StabilizationSettingsBank2Get((StabilizationSettingsBank2Data *) &curBank); + if(memcmp(&curBank, &bank, sizeof(StabilizationBankDataPacked)) != 0) + { + StabilizationSettingsBank2Set((StabilizationSettingsBank2Data *) &bank); + } + break; + + case 2: + StabilizationSettingsBank3Get((StabilizationSettingsBank3Data *) &curBank); + if(memcmp(&curBank, &bank, sizeof(StabilizationBankDataPacked)) != 0) + { + StabilizationSettingsBank3Set((StabilizationSettingsBank3Data *) &bank); + } + break; + + default: + return; //invalid bank number + } + */ + // Set the roll rate PID constants - pid_configure(&pids[PID_RATE_ROLL], - settings.RollRatePID.Kp, - settings.RollRatePID.Ki, - settings.RollRatePID.Kd, - settings.RollRatePID.ILimit); + pid_configure(&pids[PID_RATE_ROLL], bank.RollRatePID.Kp, + bank.RollRatePID.Ki, + bank.RollRatePID.Kd, + bank.RollRatePID.ILimit); // Set the pitch rate PID constants - pid_configure(&pids[PID_RATE_PITCH], - settings.PitchRatePID.Kp, - settings.PitchRatePID.Ki, - settings.PitchRatePID.Kd, - settings.PitchRatePID.ILimit); + pid_configure(&pids[PID_RATE_PITCH], bank.PitchRatePID.Kp, + bank.PitchRatePID.Ki, + bank.PitchRatePID.Kd, + bank.PitchRatePID.ILimit); // Set the yaw rate PID constants - pid_configure(&pids[PID_RATE_YAW], - settings.YawRatePID.Kp, - settings.YawRatePID.Ki, - settings.YawRatePID.Kd, - settings.YawRatePID.ILimit); + pid_configure(&pids[PID_RATE_YAW], bank.YawRatePID.Kp, + bank.YawRatePID.Ki, + bank.YawRatePID.Kd, + bank.YawRatePID.ILimit); // Set the roll attitude PI constants - pid_configure(&pids[PID_ROLL], - settings.RollPI.Kp, - settings.RollPI.Ki, + pid_configure(&pids[PID_ROLL], bank.RollPI.Kp, + bank.RollPI.Ki, 0, - settings.RollPI.ILimit); + bank.RollPI.ILimit); // Set the pitch attitude PI constants - pid_configure(&pids[PID_PITCH], - settings.PitchPI.Kp, - settings.PitchPI.Ki, + pid_configure(&pids[PID_PITCH], bank.PitchPI.Kp, + bank.PitchPI.Ki, 0, - settings.PitchPI.ILimit); + bank.PitchPI.ILimit); // Set the yaw attitude PI constants - pid_configure(&pids[PID_YAW], - settings.YawPI.Kp, - settings.YawPI.Ki, + pid_configure(&pids[PID_YAW], bank.YawPI.Kp, + bank.YawPI.Ki, 0, - settings.YawPI.ILimit); + bank.YawPI.ILimit); // Set the Rattitude roll rate PID constants pid_configure(&pids[PID_RATEA_ROLL], - settings.RollRatePID.Kp, - settings.RollRatePID.Ki, - settings.RollRatePID.Kd, - settings.RollRatePID.ILimit); + bank.RollRatePID.Kp, + bank.RollRatePID.Ki, + bank.RollRatePID.Kd, + bank.RollRatePID.ILimit); // Set the Rattitude pitch rate PID constants pid_configure(&pids[PID_RATEA_PITCH], - settings.PitchRatePID.Kp, - settings.PitchRatePID.Ki, - settings.PitchRatePID.Kd, - settings.PitchRatePID.ILimit); + bank.PitchRatePID.Kp, + bank.PitchRatePID.Ki, + bank.PitchRatePID.Kd, + bank.PitchRatePID.ILimit); // Set the Rattitude yaw rate PID constants pid_configure(&pids[PID_RATEA_YAW], - settings.YawRatePID.Kp, - settings.YawRatePID.Ki, - settings.YawRatePID.Kd, - settings.YawRatePID.ILimit); + bank.YawRatePID.Kp, + bank.YawRatePID.Ki, + bank.YawRatePID.Kd, + bank.YawRatePID.ILimit); +} + + +static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev) +{ + StabilizationSettingsGet(&settings); // Set up the derivative term pid_configure_derivative(settings.DerivativeCutoff, settings.DerivativeGamma); @@ -748,13 +853,15 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev) } // Compute time constant for vbar decay term based on a tau - vbar_decay = expf(-fakeDt / settings.VbarTau); + vbar_decay = expf(-fakeDt / settings.VbarTau); + + // force flight mode update + flight_mode = -1; // Rattitude flight mode anti-windup factor rattitude_anti_windup = settings.RattitudeAntiWindup; } - /** * @} * @} diff --git a/flight/modules/TxPID/txpid.c b/flight/modules/TxPID/txpid.c index 125d921c0..f0c269c01 100644 --- a/flight/modules/TxPID/txpid.c +++ b/flight/modules/TxPID/txpid.c @@ -56,6 +56,10 @@ #include "accessorydesired.h" #include "manualcontrolcommand.h" #include "stabilizationsettings.h" +#include "stabilizationbank.h" +#include "stabilizationsettingsbank1.h" +#include "stabilizationsettingsbank2.h" +#include "stabilizationsettingsbank3.h" #include "flightstatus.h" #include "hwsettings.h" @@ -163,11 +167,29 @@ static void updatePIDs(UAVObjEvent *ev) return; } + StabilizationBankData bank; + switch (inst.BankNumber) { + case 0: + StabilizationSettingsBank1Get((StabilizationSettingsBank1Data *)&bank); + break; + + case 1: + StabilizationSettingsBank2Get((StabilizationSettingsBank2Data *)&bank); + break; + + case 2: + StabilizationSettingsBank2Get((StabilizationSettingsBank2Data *)&bank); + break; + + default: + return; + } StabilizationSettingsData stab; StabilizationSettingsGet(&stab); AccessoryDesiredData accessory; - uint8_t needsUpdate = 0; + uint8_t needsUpdateBank = 0; + uint8_t needsUpdateStab = 0; // Loop through every enabled instance for (uint8_t i = 0; i < TXPIDSETTINGS_PIDS_NUMELEM; i++) { @@ -192,107 +214,125 @@ static void updatePIDs(UAVObjEvent *ev) switch (cast_struct_to_array(inst.PIDs, inst.PIDs.Instance1)[i]) { case TXPIDSETTINGS_PIDS_ROLLRATEKP: - needsUpdate |= update(&stab.RollRatePID.Kp, value); + needsUpdateBank |= update(&bank.RollRatePID.Kp, value); break; case TXPIDSETTINGS_PIDS_ROLLRATEKI: - needsUpdate |= update(&stab.RollRatePID.Ki, value); + needsUpdateBank |= update(&bank.RollRatePID.Ki, value); break; case TXPIDSETTINGS_PIDS_ROLLRATEKD: - needsUpdate |= update(&stab.RollRatePID.Kd, value); + needsUpdateBank |= update(&bank.RollRatePID.Kd, value); break; case TXPIDSETTINGS_PIDS_ROLLRATEILIMIT: - needsUpdate |= update(&stab.RollRatePID.ILimit, value); + needsUpdateBank |= update(&bank.RollRatePID.ILimit, value); break; case TXPIDSETTINGS_PIDS_ROLLATTITUDEKP: - needsUpdate |= update(&stab.RollPI.Kp, value); + needsUpdateBank |= update(&bank.RollPI.Kp, value); break; case TXPIDSETTINGS_PIDS_ROLLATTITUDEKI: - needsUpdate |= update(&stab.RollPI.Ki, value); + needsUpdateBank |= update(&bank.RollPI.Ki, value); break; case TXPIDSETTINGS_PIDS_ROLLATTITUDEILIMIT: - needsUpdate |= update(&stab.RollPI.ILimit, value); + needsUpdateBank |= update(&bank.RollPI.ILimit, value); break; case TXPIDSETTINGS_PIDS_PITCHRATEKP: - needsUpdate |= update(&stab.PitchRatePID.Kp, value); + needsUpdateBank |= update(&bank.PitchRatePID.Kp, value); break; case TXPIDSETTINGS_PIDS_PITCHRATEKI: - needsUpdate |= update(&stab.PitchRatePID.Ki, value); + needsUpdateBank |= update(&bank.PitchRatePID.Ki, value); break; case TXPIDSETTINGS_PIDS_PITCHRATEKD: - needsUpdate |= update(&stab.PitchRatePID.Kd, value); + needsUpdateBank |= update(&bank.PitchRatePID.Kd, value); break; case TXPIDSETTINGS_PIDS_PITCHRATEILIMIT: - needsUpdate |= update(&stab.PitchRatePID.ILimit, value); + needsUpdateBank |= update(&bank.PitchRatePID.ILimit, value); break; case TXPIDSETTINGS_PIDS_PITCHATTITUDEKP: - needsUpdate |= update(&stab.PitchPI.Kp, value); + needsUpdateBank |= update(&bank.PitchPI.Kp, value); break; case TXPIDSETTINGS_PIDS_PITCHATTITUDEKI: - needsUpdate |= update(&stab.PitchPI.Ki, value); + needsUpdateBank |= update(&bank.PitchPI.Ki, value); break; case TXPIDSETTINGS_PIDS_PITCHATTITUDEILIMIT: - needsUpdate |= update(&stab.PitchPI.ILimit, value); + needsUpdateBank |= update(&bank.PitchPI.ILimit, value); break; case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKP: - needsUpdate |= update(&stab.RollRatePID.Kp, value); - needsUpdate |= update(&stab.PitchRatePID.Kp, value); + needsUpdateBank |= update(&bank.RollRatePID.Kp, value); + needsUpdateBank |= update(&bank.PitchRatePID.Kp, value); break; case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKI: - needsUpdate |= update(&stab.RollRatePID.Ki, value); - needsUpdate |= update(&stab.PitchRatePID.Ki, value); + needsUpdateBank |= update(&bank.RollRatePID.Ki, value); + needsUpdateBank |= update(&bank.PitchRatePID.Ki, value); break; case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKD: - needsUpdate |= update(&stab.RollRatePID.Kd, value); - needsUpdate |= update(&stab.PitchRatePID.Kd, value); + needsUpdateBank |= update(&bank.RollRatePID.Kd, value); + needsUpdateBank |= update(&bank.PitchRatePID.Kd, value); break; case TXPIDSETTINGS_PIDS_ROLLPITCHRATEILIMIT: - needsUpdate |= update(&stab.RollRatePID.ILimit, value); - needsUpdate |= update(&stab.PitchRatePID.ILimit, value); + needsUpdateBank |= update(&bank.RollRatePID.ILimit, value); + needsUpdateBank |= update(&bank.PitchRatePID.ILimit, value); break; case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKP: - needsUpdate |= update(&stab.RollPI.Kp, value); - needsUpdate |= update(&stab.PitchPI.Kp, value); + needsUpdateBank |= update(&bank.RollPI.Kp, value); + needsUpdateBank |= update(&bank.PitchPI.Kp, value); break; case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKI: - needsUpdate |= update(&stab.RollPI.Ki, value); - needsUpdate |= update(&stab.PitchPI.Ki, value); + needsUpdateBank |= update(&bank.RollPI.Ki, value); + needsUpdateBank |= update(&bank.PitchPI.Ki, value); break; case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEILIMIT: - needsUpdate |= update(&stab.RollPI.ILimit, value); - needsUpdate |= update(&stab.PitchPI.ILimit, value); + needsUpdateBank |= update(&bank.RollPI.ILimit, value); + needsUpdateBank |= update(&bank.PitchPI.ILimit, value); break; case TXPIDSETTINGS_PIDS_YAWRATEKP: - needsUpdate |= update(&stab.YawRatePID.Kp, value); + needsUpdateBank |= update(&bank.YawRatePID.Kp, value); break; case TXPIDSETTINGS_PIDS_YAWRATEKI: - needsUpdate |= update(&stab.YawRatePID.Ki, value); + needsUpdateBank |= update(&bank.YawRatePID.Ki, value); break; case TXPIDSETTINGS_PIDS_YAWRATEKD: - needsUpdate |= update(&stab.YawRatePID.Kd, value); + needsUpdateBank |= update(&bank.YawRatePID.Kd, value); break; case TXPIDSETTINGS_PIDS_YAWRATEILIMIT: - needsUpdate |= update(&stab.YawRatePID.ILimit, value); + needsUpdateBank |= update(&bank.YawRatePID.ILimit, value); break; case TXPIDSETTINGS_PIDS_YAWATTITUDEKP: - needsUpdate |= update(&stab.YawPI.Kp, value); + needsUpdateBank |= update(&bank.YawPI.Kp, value); break; case TXPIDSETTINGS_PIDS_YAWATTITUDEKI: - needsUpdate |= update(&stab.YawPI.Ki, value); + needsUpdateBank |= update(&bank.YawPI.Ki, value); break; case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT: - needsUpdate |= update(&stab.YawPI.ILimit, value); + needsUpdateBank |= update(&bank.YawPI.ILimit, value); break; case TXPIDSETTINGS_PIDS_GYROTAU: - needsUpdate |= update(&stab.GyroTau, value); + needsUpdateStab |= update(&stab.GyroTau, value); break; default: PIOS_Assert(0); } } } - if (needsUpdate) { + if (needsUpdateStab) { StabilizationSettingsSet(&stab); } + if (needsUpdateBank) { + switch (inst.BankNumber) { + case 0: + StabilizationSettingsBank1Set((StabilizationSettingsBank1Data *)&bank); + break; + + case 1: + StabilizationSettingsBank2Set((StabilizationSettingsBank2Data *)&bank); + break; + + case 2: + StabilizationSettingsBank2Set((StabilizationSettingsBank2Data *)&bank); + break; + + default: + return; + } + } } /** diff --git a/flight/modules/VtolPathFollower/vtolpathfollower.c b/flight/modules/VtolPathFollower/vtolpathfollower.c index fad0b7b31..225a93967 100644 --- a/flight/modules/VtolPathFollower/vtolpathfollower.c +++ b/flight/modules/VtolPathFollower/vtolpathfollower.c @@ -65,6 +65,7 @@ #include "nedaccel.h" #include "stabilizationdesired.h" #include "stabilizationsettings.h" +#include "stabilizationbank.h" #include "systemsettings.h" #include "velocitydesired.h" #include "velocitystate.h" @@ -575,7 +576,7 @@ static void updateVtolDesiredAttitude(bool yaw_attitude) StabilizationDesiredData stabDesired; AttitudeStateData attitudeState; NedAccelData nedAccel; - StabilizationSettingsData stabSettings; + StabilizationBankData stabSettings; SystemSettingsData systemSettings; float northError; @@ -593,7 +594,7 @@ static void updateVtolDesiredAttitude(bool yaw_attitude) StabilizationDesiredGet(&stabDesired); VelocityDesiredGet(&velocityDesired); AttitudeStateGet(&attitudeState); - StabilizationSettingsGet(&stabSettings); + StabilizationBankGet(&stabSettings); NedAccelGet(&nedAccel); float northVel = 0, eastVel = 0, downVel = 0; diff --git a/flight/targets/boards/coptercontrol/firmware/Makefile b/flight/targets/boards/coptercontrol/firmware/Makefile index 2508f6a50..f8534da9a 100644 --- a/flight/targets/boards/coptercontrol/firmware/Makefile +++ b/flight/targets/boards/coptercontrol/firmware/Makefile @@ -84,6 +84,10 @@ ifndef TESTAPP SRC += $(OPUAVSYNTHDIR)/systemsettings.c SRC += $(OPUAVSYNTHDIR)/stabilizationdesired.c SRC += $(OPUAVSYNTHDIR)/stabilizationsettings.c + SRC += $(OPUAVSYNTHDIR)/stabilizationsettingsbank1.c + SRC += $(OPUAVSYNTHDIR)/stabilizationsettingsbank2.c + SRC += $(OPUAVSYNTHDIR)/stabilizationsettingsbank3.c + SRC += $(OPUAVSYNTHDIR)/stabilizationbank.c SRC += $(OPUAVSYNTHDIR)/actuatorcommand.c SRC += $(OPUAVSYNTHDIR)/actuatordesired.c SRC += $(OPUAVSYNTHDIR)/actuatorsettings.c diff --git a/flight/targets/boards/coptercontrol/firmware/inc/pios_config.h b/flight/targets/boards/coptercontrol/firmware/inc/pios_config.h index a8970239b..1f12a568a 100644 --- a/flight/targets/boards/coptercontrol/firmware/inc/pios_config.h +++ b/flight/targets/boards/coptercontrol/firmware/inc/pios_config.h @@ -156,7 +156,7 @@ #define PIOS_ACTUATOR_STACK_SIZE 1020 #define PIOS_MANUAL_STACK_SIZE 800 #define PIOS_SYSTEM_STACK_SIZE 660 -#define PIOS_STABILIZATION_STACK_SIZE 524 +#define PIOS_STABILIZATION_STACK_SIZE 790 #define PIOS_TELEM_STACK_SIZE 800 #define PIOS_EVENTDISPATCHER_STACK_SIZE 130 diff --git a/flight/targets/boards/revolution/firmware/UAVObjects.inc b/flight/targets/boards/revolution/firmware/UAVObjects.inc index 33a47e757..2164bf0ed 100644 --- a/flight/targets/boards/revolution/firmware/UAVObjects.inc +++ b/flight/targets/boards/revolution/firmware/UAVObjects.inc @@ -81,6 +81,10 @@ UAVOBJSRCFILENAMES += revosettings UAVOBJSRCFILENAMES += sonaraltitude UAVOBJSRCFILENAMES += stabilizationdesired UAVOBJSRCFILENAMES += stabilizationsettings +UAVOBJSRCFILENAMES += stabilizationsettingsbank1 +UAVOBJSRCFILENAMES += stabilizationsettingsbank2 +UAVOBJSRCFILENAMES += stabilizationsettingsbank3 +UAVOBJSRCFILENAMES += stabilizationbank UAVOBJSRCFILENAMES += systemalarms UAVOBJSRCFILENAMES += systemsettings UAVOBJSRCFILENAMES += systemstats diff --git a/flight/targets/boards/revoproto/firmware/UAVObjects.inc b/flight/targets/boards/revoproto/firmware/UAVObjects.inc index ee6c02bbd..2828ce6cf 100644 --- a/flight/targets/boards/revoproto/firmware/UAVObjects.inc +++ b/flight/targets/boards/revoproto/firmware/UAVObjects.inc @@ -4,7 +4,7 @@ # Makefile for OpenPilot UAVObject code # # The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2011. -# +# # 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 @@ -81,6 +81,10 @@ UAVOBJSRCFILENAMES += revosettings UAVOBJSRCFILENAMES += sonaraltitude UAVOBJSRCFILENAMES += stabilizationdesired UAVOBJSRCFILENAMES += stabilizationsettings +UAVOBJSRCFILENAMES += stabilizationsettingsbank1 +UAVOBJSRCFILENAMES += stabilizationsettingsbank2 +UAVOBJSRCFILENAMES += stabilizationsettingsbank3 +UAVOBJSRCFILENAMES += stabilizationbank UAVOBJSRCFILENAMES += systemalarms UAVOBJSRCFILENAMES += systemsettings UAVOBJSRCFILENAMES += systemstats diff --git a/flight/targets/boards/simposix/firmware/UAVObjects.inc b/flight/targets/boards/simposix/firmware/UAVObjects.inc index e9fc43178..4fa79a4f3 100644 --- a/flight/targets/boards/simposix/firmware/UAVObjects.inc +++ b/flight/targets/boards/simposix/firmware/UAVObjects.inc @@ -4,7 +4,7 @@ # Makefile for OpenPilot UAVObject code # # The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2011. -# +# # 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 @@ -81,6 +81,10 @@ UAVOBJSRCFILENAMES += relaytuningsettings UAVOBJSRCFILENAMES += sonaraltitude UAVOBJSRCFILENAMES += stabilizationdesired UAVOBJSRCFILENAMES += stabilizationsettings +UAVOBJSRCFILENAMES += stabilizationsettingsbank1 +UAVOBJSRCFILENAMES += stabilizationsettingsbank2 +UAVOBJSRCFILENAMES += stabilizationsettingsbank3 +UAVOBJSRCFILENAMES += stabilizationbank UAVOBJSRCFILENAMES += systemalarms UAVOBJSRCFILENAMES += systemsettings UAVOBJSRCFILENAMES += systemstats @@ -97,8 +101,8 @@ UAVOBJSRCFILENAMES += hwsettings UAVOBJSRCFILENAMES += receiveractivity UAVOBJSRCFILENAMES += cameradesired UAVOBJSRCFILENAMES += camerastabsettings -UAVOBJSRCFILENAMES += altitudeholdsettings -UAVOBJSRCFILENAMES += altitudefiltersettings +UAVOBJSRCFILENAMES += altitudeholdsettings +UAVOBJSRCFILENAMES += altitudefiltersettings UAVOBJSRCFILENAMES += revosettings UAVOBJSRCFILENAMES += altitudeholddesired UAVOBJSRCFILENAMES += altitudeholdstatus diff --git a/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp index ed094d16f..e465b50f9 100644 --- a/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp +++ b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp @@ -30,6 +30,7 @@ #include #include #include +#include MyTabbedStackWidget::MyTabbedStackWidget(QWidget *parent, bool isVertical, bool iconAbove) : QWidget(parent), @@ -37,8 +38,8 @@ MyTabbedStackWidget::MyTabbedStackWidget(QWidget *parent, bool isVertical, bool m_iconAbove(iconAbove) { m_listWidget = new QListWidget(); + m_listWidget->setObjectName("list"); m_stackWidget = new QStackedWidget(); - m_stackWidget->setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Expanding); QBoxLayout *toplevelLayout; if (m_vertical) { @@ -58,16 +59,22 @@ MyTabbedStackWidget::MyTabbedStackWidget(QWidget *parent, bool isVertical, bool } if (m_iconAbove && m_vertical) { - m_listWidget->setFixedWidth(80); // this should be computed instead + m_listWidget->setFixedWidth(LIST_VIEW_WIDTH); // this should be computed instead m_listWidget->setWrapping(false); } - toplevelLayout->setSpacing(0); - toplevelLayout->setContentsMargins(0, 0, 0, 0); m_listWidget->setContentsMargins(0, 0, 0, 0); m_listWidget->setSpacing(0); m_listWidget->setViewMode(QListView::IconMode); + m_listWidget->setMovement(QListView::Static); + m_listWidget->setUniformItemSizes(true); + m_listWidget->setStyleSheet("#list {border: 0px; margin-left: 9px; margin-top: 9px; background-color: transparent; }"); + + m_stackWidget->setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Expanding); m_stackWidget->setContentsMargins(0, 0, 0, 0); + + toplevelLayout->setSpacing(0); + toplevelLayout->setContentsMargins(0, 0, 0, 0); setLayout(toplevelLayout); connect(m_listWidget, SIGNAL(currentRowChanged(int)), this, SLOT(showWidget(int)), Qt::QueuedConnection); @@ -127,6 +134,12 @@ void MyTabbedStackWidget::showWidget(int index) } } +void MyTabbedStackWidget::resizeEvent(QResizeEvent *event) +{ + QWidget::resizeEvent(event); + m_listWidget->setFixedWidth(m_listWidget->verticalScrollBar()->isVisible() ? LIST_VIEW_WIDTH + 20 : LIST_VIEW_WIDTH); +} + void MyTabbedStackWidget::insertCornerWidget(int index, QWidget *widget) { Q_UNUSED(index); diff --git a/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.h b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.h index c865ae141..4b0777e4e 100644 --- a/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.h +++ b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.h @@ -76,6 +76,10 @@ private: QStackedWidget *m_stackWidget; bool m_vertical; bool m_iconAbove; + static const int LIST_VIEW_WIDTH = 80; + +protected: + void resizeEvent(QResizeEvent * event); }; #endif // MYTABBEDSTACKWIDGET_H diff --git a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp index a2301a783..03a39355b 100644 --- a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp +++ b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp @@ -75,14 +75,14 @@ ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent) break; } addApplySaveButtons(m_telemetry->saveTelemetryToRAM, m_telemetry->saveTelemetryToSD); - addUAVObjectToWidgetRelation("HwSettings", "CC_FlexiPort", m_telemetry->cbFlexi); - addUAVObjectToWidgetRelation("HwSettings", "CC_MainPort", m_telemetry->cbTele); - addUAVObjectToWidgetRelation("HwSettings", "CC_RcvrPort", m_telemetry->cbRcvr); - addUAVObjectToWidgetRelation("HwSettings", "USB_HIDPort", m_telemetry->cbUsbHid); - addUAVObjectToWidgetRelation("HwSettings", "USB_VCPPort", m_telemetry->cbUsbVcp); - addUAVObjectToWidgetRelation("HwSettings", "TelemetrySpeed", m_telemetry->telemetrySpeed); - addUAVObjectToWidgetRelation("HwSettings", "GPSSpeed", m_telemetry->gpsSpeed); - addUAVObjectToWidgetRelation("HwSettings", "ComUsbBridgeSpeed", m_telemetry->comUsbBridgeSpeed); + addWidgetBinding("HwSettings", "CC_FlexiPort", m_telemetry->cbFlexi); + addWidgetBinding("HwSettings", "CC_MainPort", m_telemetry->cbTele); + addWidgetBinding("HwSettings", "CC_RcvrPort", m_telemetry->cbRcvr); + addWidgetBinding("HwSettings", "USB_HIDPort", m_telemetry->cbUsbHid); + addWidgetBinding("HwSettings", "USB_VCPPort", m_telemetry->cbUsbVcp); + addWidgetBinding("HwSettings", "TelemetrySpeed", m_telemetry->telemetrySpeed); + addWidgetBinding("HwSettings", "GPSSpeed", m_telemetry->gpsSpeed); + addWidgetBinding("HwSettings", "ComUsbBridgeSpeed", m_telemetry->comUsbBridgeSpeed); connect(m_telemetry->cchwHelp, SIGNAL(clicked()), this, SLOT(openHelp())); enableSaveButtons(false); populateWidgets(); diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp index 17a4269ff..74e9ecaa5 100644 --- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp @@ -58,12 +58,12 @@ ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) : // Connect the help button connect(ui->ccAttitudeHelp, SIGNAL(clicked()), this, SLOT(openHelp())); - addUAVObjectToWidgetRelation("AttitudeSettings", "ZeroDuringArming", ui->zeroGyroBiasOnArming); - addUAVObjectToWidgetRelation("AttitudeSettings", "AccelTau", ui->accelTauSpinbox); + addWidgetBinding("AttitudeSettings", "ZeroDuringArming", ui->zeroGyroBiasOnArming); + addWidgetBinding("AttitudeSettings", "AccelTau", ui->accelTauSpinbox); - addUAVObjectToWidgetRelation("AttitudeSettings", "BoardRotation", ui->rollBias, AttitudeSettings::BOARDROTATION_ROLL); - addUAVObjectToWidgetRelation("AttitudeSettings", "BoardRotation", ui->pitchBias, AttitudeSettings::BOARDROTATION_PITCH); - addUAVObjectToWidgetRelation("AttitudeSettings", "BoardRotation", ui->yawBias, AttitudeSettings::BOARDROTATION_YAW); + addWidgetBinding("AttitudeSettings", "BoardRotation", ui->rollBias, AttitudeSettings::BOARDROTATION_ROLL); + addWidgetBinding("AttitudeSettings", "BoardRotation", ui->pitchBias, AttitudeSettings::BOARDROTATION_PITCH); + addWidgetBinding("AttitudeSettings", "BoardRotation", ui->yawBias, AttitudeSettings::BOARDROTATION_YAW); addWidget(ui->zeroBias); refreshWidgetsValues(); } diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp index d1040724f..1cc7bd14e 100644 --- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp @@ -84,11 +84,11 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : inputChannelForm *inpForm = new inputChannelForm(this, index == 0); ui->channelSettings->layout()->addWidget(inpForm); // Add the row to the UI inpForm->setName(name); - addUAVObjectToWidgetRelation("ManualControlSettings", "ChannelGroups", inpForm->ui->channelGroup, index); - addUAVObjectToWidgetRelation("ManualControlSettings", "ChannelNumber", inpForm->ui->channelNumber, index); - addUAVObjectToWidgetRelation("ManualControlSettings", "ChannelMin", inpForm->ui->channelMin, index); - addUAVObjectToWidgetRelation("ManualControlSettings", "ChannelNeutral", inpForm->ui->channelNeutral, index); - addUAVObjectToWidgetRelation("ManualControlSettings", "ChannelMax", inpForm->ui->channelMax, index); + addWidgetBinding("ManualControlSettings", "ChannelGroups", inpForm->ui->channelGroup, index); + addWidgetBinding("ManualControlSettings", "ChannelNumber", inpForm->ui->channelNumber, index); + addWidgetBinding("ManualControlSettings", "ChannelMin", inpForm->ui->channelMin, index); + addWidgetBinding("ManualControlSettings", "ChannelNeutral", inpForm->ui->channelNeutral, index); + addWidgetBinding("ManualControlSettings", "ChannelMax", inpForm->ui->channelMax, index); addWidget(inpForm->ui->channelNumberDropdown); addWidget(inpForm->ui->channelRev); addWidget(inpForm->ui->channelResponseTime); @@ -101,7 +101,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : case ManualControlSettings::CHANNELGROUPS_ACCESSORY0: case ManualControlSettings::CHANNELGROUPS_ACCESSORY1: case ManualControlSettings::CHANNELGROUPS_ACCESSORY2: - addUAVObjectToWidgetRelation("ManualControlSettings", "ResponseTime", inpForm->ui->channelResponseTime, indexRT); + addWidgetBinding("ManualControlSettings", "ResponseTime", inpForm->ui->channelResponseTime, indexRT); ++indexRT; break; case ManualControlSettings::CHANNELGROUPS_THROTTLE: @@ -117,7 +117,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ++index; } - addUAVObjectToWidgetRelation("ManualControlSettings", "Deadband", ui->deadband, 0, 0.01f); + addWidgetBinding("ManualControlSettings", "Deadband", ui->deadband, 0, 0.01f); connect(ui->configurationWizard, SIGNAL(clicked()), this, SLOT(goToWizard())); connect(ui->stackedWidget, SIGNAL(currentChanged(int)), this, SLOT(disableWizardButton(int))); @@ -128,26 +128,30 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : connect(ui->wzBack, SIGNAL(clicked()), this, SLOT(wzBack())); ui->stackedWidget->setCurrentIndex(0); - addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", ui->fmsModePos1, 0, 1, true); - addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", ui->fmsModePos2, 1, 1, true); - addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", ui->fmsModePos3, 2, 1, true); - addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", ui->fmsModePos4, 3, 1, true); - addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", ui->fmsModePos5, 4, 1, true); - addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", ui->fmsModePos6, 5, 1, true); - addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModeNumber", ui->fmsPosNum); + addWidgetBinding("ManualControlSettings", "FlightModePosition", ui->fmsModePos1, 0, 1, true); + addWidgetBinding("ManualControlSettings", "FlightModePosition", ui->fmsModePos2, 1, 1, true); + addWidgetBinding("ManualControlSettings", "FlightModePosition", ui->fmsModePos3, 2, 1, true); + addWidgetBinding("ManualControlSettings", "FlightModePosition", ui->fmsModePos4, 3, 1, true); + addWidgetBinding("ManualControlSettings", "FlightModePosition", ui->fmsModePos5, 4, 1, true); + addWidgetBinding("ManualControlSettings", "FlightModePosition", ui->fmsModePos6, 5, 1, true); + addWidgetBinding("ManualControlSettings", "FlightModeNumber", ui->fmsPosNum); - addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization1Settings", ui->fmsSsPos1Roll, "Roll", 1, true); - addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization2Settings", ui->fmsSsPos2Roll, "Roll", 1, true); - addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization3Settings", ui->fmsSsPos3Roll, "Roll", 1, true); - addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization1Settings", ui->fmsSsPos1Pitch, "Pitch", 1, true); - addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization2Settings", ui->fmsSsPos2Pitch, "Pitch", 1, true); - addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization3Settings", ui->fmsSsPos3Pitch, "Pitch", 1, true); - addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization1Settings", ui->fmsSsPos1Yaw, "Yaw", 1, true); - addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization2Settings", ui->fmsSsPos2Yaw, "Yaw", 1, true); - addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization3Settings", ui->fmsSsPos3Yaw, "Yaw", 1, true); + addWidgetBinding("ManualControlSettings", "Stabilization1Settings", ui->fmsSsPos1Roll, "Roll", 1, true); + addWidgetBinding("ManualControlSettings", "Stabilization2Settings", ui->fmsSsPos2Roll, "Roll", 1, true); + addWidgetBinding("ManualControlSettings", "Stabilization3Settings", ui->fmsSsPos3Roll, "Roll", 1, true); + addWidgetBinding("ManualControlSettings", "Stabilization1Settings", ui->fmsSsPos1Pitch, "Pitch", 1, true); + addWidgetBinding("ManualControlSettings", "Stabilization2Settings", ui->fmsSsPos2Pitch, "Pitch", 1, true); + addWidgetBinding("ManualControlSettings", "Stabilization3Settings", ui->fmsSsPos3Pitch, "Pitch", 1, true); + addWidgetBinding("ManualControlSettings", "Stabilization1Settings", ui->fmsSsPos1Yaw, "Yaw", 1, true); + addWidgetBinding("ManualControlSettings", "Stabilization2Settings", ui->fmsSsPos2Yaw, "Yaw", 1, true); + addWidgetBinding("ManualControlSettings", "Stabilization3Settings", ui->fmsSsPos3Yaw, "Yaw", 1, true); - addUAVObjectToWidgetRelation("ManualControlSettings", "Arming", ui->armControl); - addUAVObjectToWidgetRelation("ManualControlSettings", "ArmedTimeout", ui->armTimeout, 0, 1000); + addWidgetBinding("StabilizationSettings", "FlightModeMap", ui->pidBankSs1, "Stabilized1", 1, true); + addWidgetBinding("StabilizationSettings", "FlightModeMap", ui->pidBankSs2, "Stabilized2", 1, true); + addWidgetBinding("StabilizationSettings", "FlightModeMap", ui->pidBankSs3, "Stabilized3", 1, true); + + addWidgetBinding("ManualControlSettings", "Arming", ui->armControl); + addWidgetBinding("ManualControlSettings", "ArmedTimeout", ui->armTimeout, 0, 1000); connect(ManualControlCommand::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(moveFMSlider())); connect(ManualControlSettings::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updatePositionSlider())); diff --git a/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp b/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp index d59fa84d0..165260fc3 100644 --- a/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp @@ -60,39 +60,39 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget } addApplySaveButtons(m_oplink->Apply, m_oplink->Save); - addUAVObjectToWidgetRelation("OPLinkSettings", "MainPort", m_oplink->MainPort); - addUAVObjectToWidgetRelation("OPLinkSettings", "FlexiPort", m_oplink->FlexiPort); - addUAVObjectToWidgetRelation("OPLinkSettings", "VCPPort", m_oplink->VCPPort); - addUAVObjectToWidgetRelation("OPLinkSettings", "ComSpeed", m_oplink->ComSpeed); - addUAVObjectToWidgetRelation("OPLinkSettings", "MaxRFPower", m_oplink->MaxRFTxPower); - addUAVObjectToWidgetRelation("OPLinkSettings", "MinChannel", m_oplink->MinimumChannel); - addUAVObjectToWidgetRelation("OPLinkSettings", "MaxChannel", m_oplink->MaximumChannel); - addUAVObjectToWidgetRelation("OPLinkSettings", "ChannelSet", m_oplink->ChannelSet); - addUAVObjectToWidgetRelation("OPLinkSettings", "CoordID", m_oplink->CoordID); - addUAVObjectToWidgetRelation("OPLinkSettings", "Coordinator", m_oplink->Coordinator); - addUAVObjectToWidgetRelation("OPLinkSettings", "OneWay", m_oplink->OneWayLink); - addUAVObjectToWidgetRelation("OPLinkSettings", "PPMOnly", m_oplink->PPMOnly); - addUAVObjectToWidgetRelation("OPLinkSettings", "PPM", m_oplink->PPM); + addWidgetBinding("OPLinkSettings", "MainPort", m_oplink->MainPort); + addWidgetBinding("OPLinkSettings", "FlexiPort", m_oplink->FlexiPort); + addWidgetBinding("OPLinkSettings", "VCPPort", m_oplink->VCPPort); + addWidgetBinding("OPLinkSettings", "ComSpeed", m_oplink->ComSpeed); + addWidgetBinding("OPLinkSettings", "MaxRFPower", m_oplink->MaxRFTxPower); + addWidgetBinding("OPLinkSettings", "MinChannel", m_oplink->MinimumChannel); + addWidgetBinding("OPLinkSettings", "MaxChannel", m_oplink->MaximumChannel); + addWidgetBinding("OPLinkSettings", "ChannelSet", m_oplink->ChannelSet); + addWidgetBinding("OPLinkSettings", "CoordID", m_oplink->CoordID); + addWidgetBinding("OPLinkSettings", "Coordinator", m_oplink->Coordinator); + addWidgetBinding("OPLinkSettings", "OneWay", m_oplink->OneWayLink); + addWidgetBinding("OPLinkSettings", "PPMOnly", m_oplink->PPMOnly); + addWidgetBinding("OPLinkSettings", "PPM", m_oplink->PPM); - addUAVObjectToWidgetRelation("OPLinkStatus", "DeviceID", m_oplink->DeviceID); - addUAVObjectToWidgetRelation("OPLinkStatus", "RxGood", m_oplink->Good); - addUAVObjectToWidgetRelation("OPLinkStatus", "RxCorrected", m_oplink->Corrected); - addUAVObjectToWidgetRelation("OPLinkStatus", "RxErrors", m_oplink->Errors); - addUAVObjectToWidgetRelation("OPLinkStatus", "RxMissed", m_oplink->Missed); - addUAVObjectToWidgetRelation("OPLinkStatus", "RxFailure", m_oplink->RxFailure); - addUAVObjectToWidgetRelation("OPLinkStatus", "UAVTalkErrors", m_oplink->UAVTalkErrors); - addUAVObjectToWidgetRelation("OPLinkStatus", "TxDropped", m_oplink->Dropped); - addUAVObjectToWidgetRelation("OPLinkStatus", "TxResent", m_oplink->Resent); - addUAVObjectToWidgetRelation("OPLinkStatus", "TxFailure", m_oplink->TxFailure); - addUAVObjectToWidgetRelation("OPLinkStatus", "Resets", m_oplink->Resets); - addUAVObjectToWidgetRelation("OPLinkStatus", "Timeouts", m_oplink->Timeouts); - addUAVObjectToWidgetRelation("OPLinkStatus", "RSSI", m_oplink->RSSI); - addUAVObjectToWidgetRelation("OPLinkStatus", "HeapRemaining", m_oplink->FreeHeap); - addUAVObjectToWidgetRelation("OPLinkStatus", "LinkQuality", m_oplink->LinkQuality); - addUAVObjectToWidgetRelation("OPLinkStatus", "RXSeq", m_oplink->RXSeq); - addUAVObjectToWidgetRelation("OPLinkStatus", "TXSeq", m_oplink->TXSeq); - addUAVObjectToWidgetRelation("OPLinkStatus", "RXRate", m_oplink->RXRate); - addUAVObjectToWidgetRelation("OPLinkStatus", "TXRate", m_oplink->TXRate); + addWidgetBinding("OPLinkStatus", "DeviceID", m_oplink->DeviceID); + addWidgetBinding("OPLinkStatus", "RxGood", m_oplink->Good); + addWidgetBinding("OPLinkStatus", "RxCorrected", m_oplink->Corrected); + addWidgetBinding("OPLinkStatus", "RxErrors", m_oplink->Errors); + addWidgetBinding("OPLinkStatus", "RxMissed", m_oplink->Missed); + addWidgetBinding("OPLinkStatus", "RxFailure", m_oplink->RxFailure); + addWidgetBinding("OPLinkStatus", "UAVTalkErrors", m_oplink->UAVTalkErrors); + addWidgetBinding("OPLinkStatus", "TxDropped", m_oplink->Dropped); + addWidgetBinding("OPLinkStatus", "TxResent", m_oplink->Resent); + addWidgetBinding("OPLinkStatus", "TxFailure", m_oplink->TxFailure); + addWidgetBinding("OPLinkStatus", "Resets", m_oplink->Resets); + addWidgetBinding("OPLinkStatus", "Timeouts", m_oplink->Timeouts); + addWidgetBinding("OPLinkStatus", "RSSI", m_oplink->RSSI); + addWidgetBinding("OPLinkStatus", "HeapRemaining", m_oplink->FreeHeap); + addWidgetBinding("OPLinkStatus", "LinkQuality", m_oplink->LinkQuality); + addWidgetBinding("OPLinkStatus", "RXSeq", m_oplink->RXSeq); + addWidgetBinding("OPLinkStatus", "TXSeq", m_oplink->TXSeq); + addWidgetBinding("OPLinkStatus", "RXRate", m_oplink->RXRate); + addWidgetBinding("OPLinkStatus", "TXRate", m_oplink->TXRate); // Connect the bind buttons connect(m_oplink->Bind1, SIGNAL(clicked()), this, SLOT(bind1())); diff --git a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp index 70f0c2d81..54a0928fb 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp @@ -49,21 +49,21 @@ ConfigRevoHWWidget::ConfigRevoHWWidget(QWidget *parent) : ConfigTaskWidget(paren addApplySaveButtons(m_ui->saveTelemetryToRAM, m_ui->saveTelemetryToSD); - addUAVObjectToWidgetRelation("HwSettings", "RM_FlexiPort", m_ui->cbFlexi); - addUAVObjectToWidgetRelation("HwSettings", "RM_MainPort", m_ui->cbMain); - addUAVObjectToWidgetRelation("HwSettings", "RM_RcvrPort", m_ui->cbRcvr); + addWidgetBinding("HwSettings", "RM_FlexiPort", m_ui->cbFlexi); + addWidgetBinding("HwSettings", "RM_MainPort", m_ui->cbMain); + addWidgetBinding("HwSettings", "RM_RcvrPort", m_ui->cbRcvr); - addUAVObjectToWidgetRelation("HwSettings", "USB_HIDPort", m_ui->cbUSBHIDFunction); - addUAVObjectToWidgetRelation("HwSettings", "USB_VCPPort", m_ui->cbUSBVCPFunction); - addUAVObjectToWidgetRelation("HwSettings", "ComUsbBridgeSpeed", m_ui->cbUSBVCPSpeed); + addWidgetBinding("HwSettings", "USB_HIDPort", m_ui->cbUSBHIDFunction); + addWidgetBinding("HwSettings", "USB_VCPPort", m_ui->cbUSBVCPFunction); + addWidgetBinding("HwSettings", "ComUsbBridgeSpeed", m_ui->cbUSBVCPSpeed); - addUAVObjectToWidgetRelation("HwSettings", "TelemetrySpeed", m_ui->cbFlexiTelemSpeed); - addUAVObjectToWidgetRelation("HwSettings", "GPSSpeed", m_ui->cbFlexiGPSSpeed); - addUAVObjectToWidgetRelation("HwSettings", "ComUsbBridgeSpeed", m_ui->cbFlexiComSpeed); + addWidgetBinding("HwSettings", "TelemetrySpeed", m_ui->cbFlexiTelemSpeed); + addWidgetBinding("HwSettings", "GPSSpeed", m_ui->cbFlexiGPSSpeed); + addWidgetBinding("HwSettings", "ComUsbBridgeSpeed", m_ui->cbFlexiComSpeed); - addUAVObjectToWidgetRelation("HwSettings", "TelemetrySpeed", m_ui->cbMainTelemSpeed); - addUAVObjectToWidgetRelation("HwSettings", "GPSSpeed", m_ui->cbMainGPSSpeed); - addUAVObjectToWidgetRelation("HwSettings", "ComUsbBridgeSpeed", m_ui->cbMainComSpeed); + addWidgetBinding("HwSettings", "TelemetrySpeed", m_ui->cbMainTelemSpeed); + addWidgetBinding("HwSettings", "GPSSpeed", m_ui->cbMainGPSSpeed); + addWidgetBinding("HwSettings", "ComUsbBridgeSpeed", m_ui->cbMainComSpeed); connect(m_ui->cchwHelp, SIGNAL(clicked()), this, SLOT(openHelp())); diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp index d3e61d9d1..9f85cbf76 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp @@ -226,12 +226,12 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) : connect(m_ui->hlClearButton, SIGNAL(clicked()), this, SLOT(clearHomeLocation())); - addUAVObjectToWidgetRelation("RevoSettings", "FusionAlgorithm", m_ui->FusionAlgorithm); + addWidgetBinding("RevoSettings", "FusionAlgorithm", m_ui->FusionAlgorithm); - addUAVObjectToWidgetRelation("AttitudeSettings", "BoardRotation", m_ui->rollRotation, AttitudeSettings::BOARDROTATION_ROLL); - addUAVObjectToWidgetRelation("AttitudeSettings", "BoardRotation", m_ui->pitchRotation, AttitudeSettings::BOARDROTATION_PITCH); - addUAVObjectToWidgetRelation("AttitudeSettings", "BoardRotation", m_ui->yawRotation, AttitudeSettings::BOARDROTATION_YAW); - addUAVObjectToWidgetRelation("AttitudeSettings", "AccelTau", m_ui->accelTau); + addWidgetBinding("AttitudeSettings", "BoardRotation", m_ui->rollRotation, AttitudeSettings::BOARDROTATION_ROLL); + addWidgetBinding("AttitudeSettings", "BoardRotation", m_ui->pitchRotation, AttitudeSettings::BOARDROTATION_PITCH); + addWidgetBinding("AttitudeSettings", "BoardRotation", m_ui->yawRotation, AttitudeSettings::BOARDROTATION_YAW); + addWidgetBinding("AttitudeSettings", "AccelTau", m_ui->accelTau); populateWidgets(); refreshWidgetsValues(); diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp index e27b8542c..ebc148c19 100644 --- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp @@ -35,17 +35,44 @@ #include #include #include +#include +#include #include #include #include "altitudeholdsettings.h" +#include "stabilizationsettings.h" ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent), - boardModel(0) + boardModel(0), m_pidBankCount(0), m_currentPIDBank(0) { ui = new Ui_StabilizationWidget(); ui->setupUi(this); + StabilizationSettings *stabSettings = qobject_cast(getObject("StabilizationSettings")); + Q_ASSERT(stabSettings); + + m_pidBankCount = stabSettings->getField("FlightModeMap")->getOptions().count(); + + // Set up fake tab widget stuff for pid banks support + m_pidTabBars.append(ui->basicPIDBankTabBar); + m_pidTabBars.append(ui->advancedPIDBankTabBar); + m_pidTabBars.append(ui->expertPIDBankTabBar); + foreach(QTabBar * tabBar, m_pidTabBars) { + for (int i = 0; i < m_pidBankCount; i++) { + tabBar->addTab(tr("PID Bank %1").arg(i + 1)); + tabBar->setTabData(i, QString("StabilizationSettingsBank%1").arg(i + 1)); + } + tabBar->setExpanding(false); + connect(tabBar, SIGNAL(currentChanged(int)), this, SLOT(pidBankChanged(int))); + } + + for (int i = 0; i < m_pidBankCount; i++) { + if (i > 0) { + m_stabilizationObjectsString.append(","); + } + m_stabilizationObjectsString.append(m_pidTabBars.at(0)->tabData(i).toString()); + } ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); Core::Internal::GeneralSettings *settings = pm->getObject(); @@ -205,6 +232,23 @@ void ConfigStabilizationWidget::onBoardConnected() ui->AltitudeHold->setEnabled((boardModel & 0xff00) == 0x0900); } +void ConfigStabilizationWidget::pidBankChanged(int index) +{ + foreach(QTabBar * tabBar, m_pidTabBars) { + disconnect(tabBar, SIGNAL(currentChanged(int)), this, SLOT(pidBankChanged(int))); + tabBar->setCurrentIndex(index); + connect(tabBar, SIGNAL(currentChanged(int)), this, SLOT(pidBankChanged(int))); + } + + for (int i = 0; i < m_pidTabBars.at(0)->count(); i++) { + setWidgetBindingObjectEnabled(m_pidTabBars.at(0)->tabData(i).toString(), false); + } + + setWidgetBindingObjectEnabled(m_pidTabBars.at(0)->tabData(index).toString(), true); + + m_currentPIDBank = index; +} + bool ConfigStabilizationWidget::shouldObjectBeSaved(UAVObject *object) { // AltitudeHoldSettings should only be saved for Revolution board to avoid error. @@ -214,3 +258,11 @@ bool ConfigStabilizationWidget::shouldObjectBeSaved(UAVObject *object) return true; } } + +QString ConfigStabilizationWidget::mapObjectName(const QString objectName) +{ + if (objectName == "StabilizationSettingsBankX") { + return m_stabilizationObjectsString; + } + return ConfigTaskWidget::mapObjectName(objectName); +} diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h index f6b26a76e..c2ae524b8 100644 --- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h @@ -48,11 +48,17 @@ public: private: Ui_StabilizationWidget *ui; QTimer *realtimeUpdates; + QList m_pidTabBars; + QString m_stabilizationObjectsString; // Milliseconds between automatic 'Instant Updates' static const int AUTOMATIC_UPDATE_RATE = 500; + int m_pidBankCount; int boardModel; + int m_currentPIDBank; +protected: + QString mapObjectName(const QString objectName); protected slots: void refreshWidgetsValues(UAVObject *o = NULL); @@ -62,6 +68,7 @@ private slots: void linkCheckBoxes(bool value); void processLinkedWidgets(QWidget *); void onBoardConnected(); + void pidBankChanged(int index); }; #endif // ConfigStabilizationWidget_H diff --git a/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp b/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp index 02902f5c8..85657e0f3 100644 --- a/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp @@ -51,26 +51,28 @@ ConfigTxPIDWidget::ConfigTxPIDWidget(QWidget *parent) : ConfigTaskWidget(parent) connect(m_txpid->Apply, SIGNAL(clicked()), this, SLOT(applySettings())); connect(m_txpid->Save, SIGNAL(clicked()), this, SLOT(saveSettings())); - addUAVObjectToWidgetRelation("TxPIDSettings", "PIDs", m_txpid->PID1, TxPIDSettings::PIDS_INSTANCE1); - addUAVObjectToWidgetRelation("TxPIDSettings", "PIDs", m_txpid->PID2, TxPIDSettings::PIDS_INSTANCE2); - addUAVObjectToWidgetRelation("TxPIDSettings", "PIDs", m_txpid->PID3, TxPIDSettings::PIDS_INSTANCE3); + addWidgetBinding("TxPIDSettings", "BankNumber", m_txpid->pidBank, 0, 1, true); - addUAVObjectToWidgetRelation("TxPIDSettings", "Inputs", m_txpid->Input1, TxPIDSettings::INPUTS_INSTANCE1); - addUAVObjectToWidgetRelation("TxPIDSettings", "Inputs", m_txpid->Input2, TxPIDSettings::INPUTS_INSTANCE2); - addUAVObjectToWidgetRelation("TxPIDSettings", "Inputs", m_txpid->Input3, TxPIDSettings::INPUTS_INSTANCE3); + addWidgetBinding("TxPIDSettings", "PIDs", m_txpid->PID1, TxPIDSettings::PIDS_INSTANCE1); + addWidgetBinding("TxPIDSettings", "PIDs", m_txpid->PID2, TxPIDSettings::PIDS_INSTANCE2); + addWidgetBinding("TxPIDSettings", "PIDs", m_txpid->PID3, TxPIDSettings::PIDS_INSTANCE3); - addUAVObjectToWidgetRelation("TxPIDSettings", "MinPID", m_txpid->MinPID1, TxPIDSettings::MINPID_INSTANCE1); - addUAVObjectToWidgetRelation("TxPIDSettings", "MinPID", m_txpid->MinPID2, TxPIDSettings::MINPID_INSTANCE2); - addUAVObjectToWidgetRelation("TxPIDSettings", "MinPID", m_txpid->MinPID3, TxPIDSettings::MINPID_INSTANCE3); + addWidgetBinding("TxPIDSettings", "Inputs", m_txpid->Input1, TxPIDSettings::INPUTS_INSTANCE1); + addWidgetBinding("TxPIDSettings", "Inputs", m_txpid->Input2, TxPIDSettings::INPUTS_INSTANCE2); + addWidgetBinding("TxPIDSettings", "Inputs", m_txpid->Input3, TxPIDSettings::INPUTS_INSTANCE3); - addUAVObjectToWidgetRelation("TxPIDSettings", "MaxPID", m_txpid->MaxPID1, TxPIDSettings::MAXPID_INSTANCE1); - addUAVObjectToWidgetRelation("TxPIDSettings", "MaxPID", m_txpid->MaxPID2, TxPIDSettings::MAXPID_INSTANCE2); - addUAVObjectToWidgetRelation("TxPIDSettings", "MaxPID", m_txpid->MaxPID3, TxPIDSettings::MAXPID_INSTANCE3); + addWidgetBinding("TxPIDSettings", "MinPID", m_txpid->MinPID1, TxPIDSettings::MINPID_INSTANCE1); + addWidgetBinding("TxPIDSettings", "MinPID", m_txpid->MinPID2, TxPIDSettings::MINPID_INSTANCE2); + addWidgetBinding("TxPIDSettings", "MinPID", m_txpid->MinPID3, TxPIDSettings::MINPID_INSTANCE3); - addUAVObjectToWidgetRelation("TxPIDSettings", "ThrottleRange", m_txpid->ThrottleMin, TxPIDSettings::THROTTLERANGE_MIN); - addUAVObjectToWidgetRelation("TxPIDSettings", "ThrottleRange", m_txpid->ThrottleMax, TxPIDSettings::THROTTLERANGE_MAX); + addWidgetBinding("TxPIDSettings", "MaxPID", m_txpid->MaxPID1, TxPIDSettings::MAXPID_INSTANCE1); + addWidgetBinding("TxPIDSettings", "MaxPID", m_txpid->MaxPID2, TxPIDSettings::MAXPID_INSTANCE2); + addWidgetBinding("TxPIDSettings", "MaxPID", m_txpid->MaxPID3, TxPIDSettings::MAXPID_INSTANCE3); - addUAVObjectToWidgetRelation("TxPIDSettings", "UpdateMode", m_txpid->UpdateMode); + addWidgetBinding("TxPIDSettings", "ThrottleRange", m_txpid->ThrottleMin, TxPIDSettings::THROTTLERANGE_MIN); + addWidgetBinding("TxPIDSettings", "ThrottleRange", m_txpid->ThrottleMax, TxPIDSettings::THROTTLERANGE_MAX); + + addWidgetBinding("TxPIDSettings", "UpdateMode", m_txpid->UpdateMode); addWidget(m_txpid->TxPIDEnable); diff --git a/ground/openpilotgcs/src/plugins/config/input.ui b/ground/openpilotgcs/src/plugins/config/input.ui index 0f4e78a1e..1049a15a9 100644 --- a/ground/openpilotgcs/src/plugins/config/input.ui +++ b/ground/openpilotgcs/src/plugins/config/input.ui @@ -14,7 +14,16 @@ Form - + + 12 + + + 12 + + + 12 + + 12 @@ -30,7 +39,16 @@ 0 - + + 0 + + + 0 + + + 0 + + 0 @@ -111,15 +129,24 @@ 0 0 850 - 572 + 589 - + + 12 + + + 12 + + + 12 + + 12 - -1 + 6 @@ -146,7 +173,16 @@ - + + 12 + + + 12 + + + 12 + + 12 @@ -245,11 +281,20 @@ - + + 12 + + + 12 + + + 12 + + 12 - + 0 @@ -260,28 +305,28 @@ true - - - - - - - - - - - - 0 - 0 - - - - true - - - + - + + + + + + + + + + 0 + 0 + + + + true + + + + + @@ -418,7 +463,16 @@ Flight Mode Switch Settings - + + 0 + + + 0 + + + 0 + + 0 @@ -499,284 +553,22 @@ 0 0 850 - 572 + 589 - + + 12 + + + 12 + + + 12 + + 12 - - - - - - - Configure each stabilization mode for each axis - - - - 9 - - - 12 - - - - - Qt::Horizontal - - - QSizePolicy::Minimum - - - - 5 - 20 - - - - - - - - Qt::StrongFocus - - - - - - - - 0 - 20 - - - - - 16777215 - 20 - - - - 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; -font: bold 12px; -margin:1px; - - - Yaw - - - Qt::AlignCenter - - - - - - - Qt::Horizontal - - - - 5 - 20 - - - - - - - - Stabilized1 - - - Qt::AlignCenter - - - - - - - Qt::Horizontal - - - - 5 - 20 - - - - - - - - Qt::StrongFocus - - - - - - - Stabilized2 - - - Qt::AlignCenter - - - - - - - Qt::StrongFocus - - - - - - - Qt::StrongFocus - - - - - - - - 0 - 20 - - - - - 16777215 - 20 - - - - 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; -font: bold 12px; -margin:1px; - - - Pitch - - - Qt::AlignCenter - - - - - - - - 0 - 20 - - - - - 16777215 - 20 - - - - 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; -font: bold 12px; -margin:1px; - - - Roll - - - Qt::AlignCenter - - - - - - - Qt::StrongFocus - - - - - - - - 102 - 0 - - - - Qt::StrongFocus - - - - - - - Qt::StrongFocus - - - - - - - - 102 - 0 - - - - Qt::StrongFocus - - - - - - - - 102 - 0 - - - - Qt::StrongFocus - - - - - - - Stabilized3 - - - Qt::AlignCenter - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - @@ -795,7 +587,16 @@ margin:1px; FlightMode Switch Positions - + + 12 + + + 12 + + + 12 + + 12 @@ -1070,6 +871,9 @@ Setup the flight mode channel on the RC Input tab if you have not done so alread Qt::Horizontal + + QSizePolicy::Expanding + 40 @@ -1180,6 +984,367 @@ channel value for each flight mode. + + + + + + + Stabilization Modes Configuration + + + + 9 + + + 12 + + + + + Qt::Horizontal + + + QSizePolicy::Minimum + + + + 5 + 20 + + + + + + + + + 0 + 20 + + + + + 16777215 + 20 + + + + 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; +font: bold 12px; +margin:1px; + + + Yaw + + + Qt::AlignCenter + + + + + + + Qt::Horizontal + + + QSizePolicy::MinimumExpanding + + + + 20 + 20 + + + + + + + + Qt::StrongFocus + + + + + + + Stabilized 1 + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + + + + + + + Qt::Horizontal + + + QSizePolicy::MinimumExpanding + + + + 20 + 20 + + + + + + + + Stabilized 2 + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + + + + + + + Qt::StrongFocus + + + + + + + Qt::StrongFocus + + + + + + + Qt::StrongFocus + + + + + + + + 0 + 20 + + + + + 16777215 + 20 + + + + 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; +font: bold 12px; +margin:1px; + + + Roll + + + Qt::AlignCenter + + + + + + + + 0 + 20 + + + + + 16777215 + 20 + + + + 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; +font: bold 12px; +margin:1px; + + + Pitch + + + Qt::AlignCenter + + + + + + + Qt::StrongFocus + + + + + + + + 102 + 0 + + + + Qt::StrongFocus + + + + + + + Qt::StrongFocus + + + + + + + + 102 + 0 + + + + Qt::StrongFocus + + + + + + + Stabilized 3 + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + + + + + + + + 102 + 0 + + + + Qt::StrongFocus + + + + + + + + 102 + 0 + + + + Qt::StrongFocus + + + + + + + + 102 + 0 + + + + Qt::StrongFocus + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + 0 + 20 + + + + + 16777215 + 20 + + + + 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; +font: bold 12px; +margin:1px; + + + PID Bank + + + Qt::AlignCenter + + + + + + + + 102 + 0 + + + + Qt::StrongFocus + + + + + + + Qt::Horizontal + + + QSizePolicy::MinimumExpanding + + + + 20 + 20 + + + + + + + @@ -1207,7 +1372,16 @@ channel value for each flight mode. Arming Settings - + + 0 + + + 0 + + + 0 + + 0 @@ -1288,11 +1462,20 @@ channel value for each flight mode. 0 0 850 - 572 + 589 - + + 12 + + + 12 + + + 12 + + 12 diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui index e4a520311..5d745f4c1 100644 --- a/ground/openpilotgcs/src/plugins/config/stabilization.ui +++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui @@ -7,7 +7,7 @@ 0 0 820 - 736 + 785 @@ -443,6 +443,9 @@ false + + + 30 @@ -534,88 +537,9 @@ - - - 0 - 0 - - - - - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - 240 - 240 - 240 - - - - - - - - - 255 - 255 - 255 - - - - - - - 240 - 240 - 240 - - - - - - - - - 240 - 240 - 240 - - - - - - - 240 - 240 - 240 - - - - - - QFrame::NoFrame - - QFrame::Sunken - 0 @@ -627,785 +551,96 @@ 0 0 - 798 - 656 + 796 + 708 - - - 0 - 0 - - - 9 + 0 9 - - - + + + + + + ArrowCursor - + #basicPidBankFrame{ + color: rgb(180, 180, 180); +margin-top: -1px +} - - Responsiveness + + QFrame::Box - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + + QFrame::Plain - - false - - - true - - - - 9 - - - 9 - - - 9 - - - 9 - - - - - - 0 - 0 - - + + + - Reset all values to GCS defaults - - - Default - - - - objname:StabilizationSettings - button:default - buttongroup:6 - - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - QGroupBox{border: 0px;} - - + + + + + Responsiveness + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + + false + + true - + - 0 + 9 + + + 9 - 0 + 9 - 0 + 9 - - - - - 0 - 0 - - - - - 0 - 16 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 14 - 200 - 14 - - - - - 6 - 150 - 6 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 14 - 200 - 14 - - - - - 6 - 150 - 6 - - - - - - - - - - - 14 - 200 - 14 - - - - - 6 - 150 - 6 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 14 - 200 - 14 - - - - - 6 - 150 - 6 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 14 - 200 - 14 - - - - - 6 - 150 - 6 - - - - - - - - - - - 14 - 200 - 14 - - - - - 6 - 150 - 6 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 14 - 200 - 14 - - - - - 6 - 150 - 6 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 14 - 200 - 14 - - - - - 6 - 150 - 6 - - - - - - - - - - - 14 - 200 - 14 - - - - - 6 - 150 - 6 - - - - - - - - - 0 - 0 - 0 - - - - - - - 39 - 39 - 39 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 75 - true - - - - This thing really can preform, it is a lot more responsive this way - - - false - - - background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(14, 200, 14, 255), stop:0.78607 rgba(6, 150, 6 , 255)); -color: rgb(255, 255, 255); -border-radius: 5; - - - Snappy - - - Qt::AlignCenter - - - - - - - - 50 - 22 - - - - - 50 - 22 - - - - 10 - - - 180 - - - 83 - - - - objname:StabilizationSettings - fieldname:RollMax - haslimits:no - scale:1 - buttongroup:6,20 - - - - - - - - <html><head/><body><p>The Rate mode slider can be adjusted to value ranges whose responsiveness is represented by the Moderate / Snappy / Insane bar</p></body></html> - - - 100 - - - 800 - - - 400 - - - Qt::Horizontal - - - QSlider::TicksBelow - - - 25 - - - - objname:StabilizationSettings - fieldname:ManualRate - element:Roll - haslimits:no - scale:1 - buttongroup:6,20 - - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - - 50 - 22 - - - - - 50 - 22 - - - - 100 - - - 800 - - - 400 - - - - objname:StabilizationSettings - fieldname:ManualRate - element:Roll - haslimits:no - scale:1 - buttongroup:6,20 - - - - - + + + + 0 + 0 + + + + Reset all values to GCS defaults + + + Default + + + + objname:StabilizationSettings + button:default + buttongroup:6 + + + + + + Qt::Horizontal @@ -1417,1360 +652,1981 @@ border-radius: 5; - - - - - 0 - 0 - - - - - 0 - 16 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 34 - 34 - 200 - - - - - 6 - 6 - 150 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 34 - 34 - 200 - - - - - 6 - 6 - 150 - - - - - - - - - - - 34 - 34 - 200 - - - - - 6 - 6 - 150 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 34 - 34 - 200 - - - - - 6 - 6 - 150 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 34 - 34 - 200 - - - - - 6 - 6 - 150 - - - - - - - - - - - 34 - 34 - 200 - - - - - 6 - 6 - 150 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 34 - 34 - 200 - - - - - 6 - 6 - 150 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 34 - 34 - 200 - - - - - 6 - 6 - 150 - - - - - - - - - - - 34 - 34 - 200 - - - - - 6 - 6 - 150 - - - - - - - - - 0 - 0 - 0 - - - - - - - 39 - 39 - 39 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 75 - true - - - - Lazy Sunday afternoon flying, fly's nice and stable - - - false - + + - background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(34, 34, 200, 255), stop:0.78607 rgba(6, 6, 150, 255)); + QGroupBox{border: 0px;} + + + + + + true + + + + 0 + + + 0 + + + 0 + + + + + + 0 + 0 + + + + + 0 + 16 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 14 + 200 + 14 + + + + + 6 + 150 + 6 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 14 + 200 + 14 + + + + + 6 + 150 + 6 + + + + + + + + + + + 14 + 200 + 14 + + + + + 6 + 150 + 6 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 14 + 200 + 14 + + + + + 6 + 150 + 6 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 14 + 200 + 14 + + + + + 6 + 150 + 6 + + + + + + + + + + + 14 + 200 + 14 + + + + + 6 + 150 + 6 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 14 + 200 + 14 + + + + + 6 + 150 + 6 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 14 + 200 + 14 + + + + + 6 + 150 + 6 + + + + + + + + + + + 14 + 200 + 14 + + + + + 6 + 150 + 6 + + + + + + + + + 0 + 0 + 0 + + + + + + + 39 + 39 + 39 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 75 + true + + + + This thing really can preform, it is a lot more responsive this way + + + false + + + background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(14, 200, 14, 255), stop:0.78607 rgba(6, 150, 6 , 255)); color: rgb(255, 255, 255); border-radius: 5; - - - Moderate - - - Qt::AlignCenter - - - - - - - - 0 - 0 - - - - - 0 - 16 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 200 - 14 - 14 - - - - - 160 - 6 - 6 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 200 - 14 - 14 - - - - - 160 - 6 - 6 - - - - - - - - - - - 200 - 14 - 14 - - - - - 160 - 6 - 6 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 200 - 14 - 14 - - - - - 160 - 6 - 6 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 200 - 14 - 14 - - - - - 160 - 6 - 6 - - - - - - - - - - - 200 - 14 - 14 - - - - - 160 - 6 - 6 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 200 - 14 - 14 - - - - - 160 - 6 - 6 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 200 - 14 - 14 - - - - - 160 - 6 - 6 - - - - - - - - - - - 200 - 14 - 14 - - - - - 160 - 6 - 6 - - - - - - - - - 0 - 0 - 0 - - - - - - - 39 - 39 - 39 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 75 - true - - - - Damn this is insane how quick it moves. Mostly used by the Pro's - - - false - - - background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(200, 14, 14, 255), stop:0.78607 rgba(160 , 6, 6 , 255)); + + + Snappy + + + Qt::AlignCenter + + + + + + + + 50 + 22 + + + + + 50 + 22 + + + + 10 + + + 180 + + + 83 + + + + objname:StabilizationSettingsBankX + fieldname:RollMax + haslimits:no + scale:1 + buttongroup:6,20 + + + + + + + + <html><head/><body><p>The Rate mode slider can be adjusted to value ranges whose responsiveness is represented by the Moderate / Snappy / Insane bar</p></body></html> + + + 100 + + + 800 + + + 400 + + + Qt::Horizontal + + + QSlider::TicksBelow + + + 25 + + + + objname:StabilizationSettingsBankX + fieldname:ManualRate + element:Roll + haslimits:no + scale:1 + buttongroup:6,20 + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + 50 + 22 + + + + + 50 + 22 + + + + 100 + + + 800 + + + 400 + + + + objname:StabilizationSettingsBankX + fieldname:ManualRate + element:Roll + haslimits:no + scale:1 + buttongroup:6,20 + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + 0 + 0 + + + + + 0 + 16 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 34 + 34 + 200 + + + + + 6 + 6 + 150 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 34 + 34 + 200 + + + + + 6 + 6 + 150 + + + + + + + + + + + 34 + 34 + 200 + + + + + 6 + 6 + 150 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 34 + 34 + 200 + + + + + 6 + 6 + 150 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 34 + 34 + 200 + + + + + 6 + 6 + 150 + + + + + + + + + + + 34 + 34 + 200 + + + + + 6 + 6 + 150 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 34 + 34 + 200 + + + + + 6 + 6 + 150 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 34 + 34 + 200 + + + + + 6 + 6 + 150 + + + + + + + + + + + 34 + 34 + 200 + + + + + 6 + 6 + 150 + + + + + + + + + 0 + 0 + 0 + + + + + + + 39 + 39 + 39 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 75 + true + + + + Lazy Sunday afternoon flying, fly's nice and stable + + + false + + + background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(34, 34, 200, 255), stop:0.78607 rgba(6, 6, 150, 255)); color: rgb(255, 255, 255); border-radius: 5; - - - Insane - - - Qt::AlignCenter - - - - - - - - 78 - 16 - - - - Attitude mode - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - - 78 - 16 - - - - Rate mode - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - <html><head/><body><p>The Attitude Mode slider can be adjusted to value ranges whose responsivness is represented by the Moderate / Snappy / Insane bar</p></body></html> - - - 10 - - - 180 - - - 1 - - - 83 - - - Qt::Horizontal - - - QSlider::TicksBelow - - - 25 - - - - objname:StabilizationSettings - fieldname:RollMax - haslimits:no - scale:1 - buttongroup:6,20 - - - - - - - - <html><head/><body><p>The Rate mode Yaw slider can be adjusted to value ranges whose responsiveness is represented by the Moderate / Snappy / Insane bar</p></body></html> - - - 100 - - - 800 - - - 400 - - - Qt::Horizontal - - - QSlider::TicksBelow - - - 25 - - - - objname:StabilizationSettings - fieldname:ManualRate - element:Yaw - haslimits:no - scale:1 - buttongroup:6,20 - - - - - - - - - 78 - 16 - - - - Rate mode yaw - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - - 50 - 22 - - - - - 50 - 22 - - - - 100 - - - 800 - - - 400 - - - - objname:StabilizationSettings - fieldname:ManualRate - element:Yaw - haslimits:no - scale:1 - buttongroup:6,20 - - + + + Moderate + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + + 0 + 16 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 200 + 14 + 14 + + + + + 160 + 6 + 6 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 200 + 14 + 14 + + + + + 160 + 6 + 6 + + + + + + + + + + + 200 + 14 + 14 + + + + + 160 + 6 + 6 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 200 + 14 + 14 + + + + + 160 + 6 + 6 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 200 + 14 + 14 + + + + + 160 + 6 + 6 + + + + + + + + + + + 200 + 14 + 14 + + + + + 160 + 6 + 6 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 200 + 14 + 14 + + + + + 160 + 6 + 6 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 200 + 14 + 14 + + + + + 160 + 6 + 6 + + + + + + + + + + + 200 + 14 + 14 + + + + + 160 + 6 + 6 + + + + + + + + + 0 + 0 + 0 + + + + + + + 39 + 39 + 39 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 75 + true + + + + Damn this is insane how quick it moves. Mostly used by the Pro's + + + false + + + background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(200, 14, 14, 255), stop:0.78607 rgba(160 , 6, 6 , 255)); +color: rgb(255, 255, 255); +border-radius: 5; + + + Insane + + + Qt::AlignCenter + + + + + + + + 78 + 16 + + + + Attitude mode + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + + 78 + 16 + + + + Rate mode + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + <html><head/><body><p>The Attitude Mode slider can be adjusted to value ranges whose responsivness is represented by the Moderate / Snappy / Insane bar</p></body></html> + + + 10 + + + 180 + + + 1 + + + 83 + + + Qt::Horizontal + + + QSlider::TicksBelow + + + 25 + + + + objname:StabilizationSettingsBankX + fieldname:RollMax + haslimits:no + scale:1 + buttongroup:6,20 + + + + + + + + <html><head/><body><p>The Rate mode Yaw slider can be adjusted to value ranges whose responsiveness is represented by the Moderate / Snappy / Insane bar</p></body></html> + + + 100 + + + 800 + + + 400 + + + Qt::Horizontal + + + QSlider::TicksBelow + + + 25 + + + + objname:StabilizationSettingsBankX + fieldname:ManualRate + element:Yaw + haslimits:no + scale:1 + buttongroup:6,20 + + + + + + + + + 78 + 16 + + + + Rate mode yaw + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + + 50 + 22 + + + + + 50 + 22 + + + + 100 + + + 800 + + + 400 + + + + objname:StabilizationSettingsBankX + fieldname:ManualRate + element:Yaw + haslimits:no + scale:1 + buttongroup:6,20 + + + + + - - - - - - - - 0 - 0 - - - - - 0 - 0 - - - - - 16777215 - 195 - - - - Rate Stabilization (Inner Loop) - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter - - - false - - - - 9 - - - 9 - - - 9 - - - 9 - - - 6 - - - + + - - 0 - 0 - - - - Qt::StrongFocus - - - <html><head/><body><p>Link roll &amp; pitch sliders to move together, thus giving same value for both roll &amp; pitch when setting up a symetrical vehicle that requires both to be the same</p></body></html> - - - - - - Link Roll and Pitch - - - - - - - Qt::Horizontal - - - QSizePolicy::Preferred - - - - 497 - 20 - - - - - - - - + 0 0 @@ -2784,33 +2640,2864 @@ border-radius: 5; 16777215 - 16777215 + 195 - - Reset all values to GCS defaults + + Rate Stabilization (Inner Loop) - + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + + false - - - - - Default - - - - button:default - buttongroup:1 - - + + + 9 + + + 9 + + + 9 + + + 9 + + + 6 + + + + + + 0 + 0 + + + + + 0 + 0 + + + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 255 + 255 + 255 + + + + + + + 251 + 251 + 251 + + + + + + + 124 + 124 + 124 + + + + + + + 165 + 165 + 165 + + + + + + + 0 + 0 + 0 + + + + + + + 255 + 255 + 255 + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 251 + 251 + 251 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 255 + 255 + 255 + + + + + + + 251 + 251 + 251 + + + + + + + 124 + 124 + 124 + + + + + + + 165 + 165 + 165 + + + + + + + 0 + 0 + 0 + + + + + + + 255 + 255 + 255 + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 251 + 251 + 251 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 124 + 124 + 124 + + + + + + + 0 + 0 + 0 + + + + + + + 255 + 255 + 255 + + + + + + + 251 + 251 + 251 + + + + + + + 124 + 124 + 124 + + + + + + + 165 + 165 + 165 + + + + + + + 124 + 124 + 124 + + + + + + + 255 + 255 + 255 + + + + + + + 124 + 124 + 124 + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 248 + 248 + 248 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 50 + false + false + true + + + + false + + + QGroupBox{border: 0px;} + + + + + + true + + + + 0 + + + 0 + + + 0 + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + 0 + 0 + + + + + 0 + 16 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 39 + 39 + 39 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 75 + true + + + + false + + + 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; + + + Yaw + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + + 0 + 16 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 39 + 39 + 39 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 75 + true + + + + false + + + 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; + + + Pitch + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + + 0 + 25 + + + + Qt::StrongFocus + + + <html><head/><body><p>This adjusts how much leveling stability is set into Rate mode (inner loop). Too much will make your vehicle oscillate in Rate mode.</p></body></html> + + + + + + 100 + + + 51 + + + 51 + + + Qt::Horizontal + + + QSlider::TicksBelow + + + 25 + + + + objname:StabilizationSettingsBankX + fieldname:RollRatePID + element:Kp + haslimits:yes + scale:0.0001 + buttongroup:1,10 + + + + + + + + + 50 + 22 + + + + + 50 + 22 + + + + Qt::StrongFocus + + + Slowly raise Proportional until you start seeing clear oscillations when you fly. +Then lower the value by 5 or so. + + + 200 + + + 200 + + + + objname:StabilizationSettingsBankX + fieldname:RollRatePID + element:Kp + haslimits:yes + scale:0.0001 + buttongroup:1,10 + + + + + + + + + 0 + 0 + + + + + 78 + 16 + + + + + + + Proportional + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + + 0 + 0 + + + + + 0 + 25 + + + + Qt::StrongFocus + + + <html><head/><body><p>This adjusts how much leveling stability is set into Rate mode (inner loop). Too much will make your vehicle oscillate in Rate mode.</p></body></html> + + + + + + 100 + + + 50 + + + Qt::Horizontal + + + QSlider::TicksBelow + + + 25 + + + + objname:StabilizationSettingsBankX + fieldname:YawRatePID + element:Kp + haslimits:yes + scale:0.0001 + buttongroup:1,10 + + + + + + + + + 0 + 0 + + + + + 0 + 25 + + + + Qt::StrongFocus + + + <html><head/><body><p>This adjusts how much leveling stability is set into Rate mode (inner loop). Too much will make your vehicle oscillate in Rate mode.</p></body></html> + + + + + + 100 + + + 50 + + + Qt::Horizontal + + + QSlider::TicksBelow + + + 25 + + + + objname:StabilizationSettingsBankX + fieldname:PitchRatePID + element:Kp + haslimits:yes + scale:0.0001 + buttongroup:1,10 + + + + + + + + + 50 + 22 + + + + + 50 + 22 + + + + Qt::StrongFocus + + + Slowly raise Proportional until you start seeing clear oscillations when you fly. +Then lower the value by 5 or so. + + + 200 + + + 200 + + + + objname:StabilizationSettingsBankX + fieldname:PitchRatePID + element:Kp + haslimits:yes + scale:0.0001 + buttongroup:1,10 + + + + + + + + + 50 + 22 + + + + + 50 + 22 + + + + Qt::StrongFocus + + + Slowly raise Proportional until you start seeing clear oscillations when you fly. +Then lower the value by 5 or so. + + + 200 + + + 200 + + + + objname:StabilizationSettingsBankX + fieldname:YawRatePID + element:Kp + haslimits:yes + scale:0.0001 + buttongroup:1,10 + + + + + + + + + 0 + 0 + + + + + 0 + 25 + + + + Qt::StrongFocus + + + <html><head/><body><p>This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional</p></body></html> + + + + + + 100 + + + 50 + + + Qt::Horizontal + + + QSlider::TicksBelow + + + 25 + + + + objname:StabilizationSettingsBankX + fieldname:RollRatePID + element:Ki + haslimits:yes + scale:0.0001 + buttongroup:1,10 + + + + + + + + + 0 + 0 + + + + + + + Integral + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + + 50 + 22 + + + + + 50 + 22 + + + + Qt::StrongFocus + + + As a rule of thumb, you can set the Integral at roughly the same +value as the Kp. + + + 200 + + + 200 + + + + objname:StabilizationSettingsBankX + fieldname:RollRatePID + element:Ki + haslimits:yes + scale:0.0001 + buttongroup:1,10 + + + + + + + + + 50 + 22 + + + + + 50 + 22 + + + + Qt::StrongFocus + + + As a rule of thumb, you can set the Integral at roughly the same +value as the Kp. + + + 200 + + + 200 + + + + objname:StabilizationSettingsBankX + fieldname:YawRatePID + element:Ki + haslimits:yes + scale:0.0001 + buttongroup:1,10 + + + + + + + + + 0 + 0 + + + + + 0 + 25 + + + + Qt::StrongFocus + + + <html><head/><body><p>This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional</p></body></html> + + + + + + 100 + + + 50 + + + Qt::Horizontal + + + QSlider::TicksBelow + + + 25 + + + + objname:StabilizationSettingsBankX + fieldname:YawRatePID + element:Ki + haslimits:yes + scale:0.0001 + buttongroup:1,10 + + + + + + + + + 0 + 0 + + + + + 0 + 25 + + + + Qt::StrongFocus + + + <html><head/><body><p>This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional</p></body></html> + + + + + + 100 + + + 50 + + + Qt::Horizontal + + + QSlider::TicksBelow + + + 25 + + + + objname:StabilizationSettingsBankX + fieldname:PitchRatePID + element:Ki + haslimits:yes + scale:0.0001 + buttongroup:1,10 + + + + + + + + + 50 + 22 + + + + + 50 + 22 + + + + Qt::StrongFocus + + + As a rule of thumb, you can set the Integral at roughly the same +value as the Kp. + + + 200 + + + 200 + + + + objname:StabilizationSettingsBankX + fieldname:PitchRatePID + element:Ki + haslimits:yes + scale:0.0001 + buttongroup:1,10 + + + + + + + + + 0 + 0 + + + + + 0 + 16 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 39 + 39 + 39 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 75 + true + + + + false + + + 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; + + + Roll + + + Qt::AlignCenter + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + + + Qt::Horizontal + + + QSizePolicy::Preferred + + + + 497 + 20 + + + + + + + + + 0 + 0 + + + + Qt::StrongFocus + + + <html><head/><body><p>Link roll &amp; pitch sliders to move together, thus giving same value for both roll &amp; pitch when setting up a symetrical vehicle that requires both to be the same</p></body></html> + + + + + + Link Roll and Pitch + + + + + + + + 0 + 0 + + + + + 0 + 0 + + + + + 16777215 + 16777215 + + + + Reset all values to GCS defaults + + + false + + + + + + Default + + + + button:default + buttongroup:1 + + + + + - - + + - + 0 0 @@ -2821,6 +5508,12 @@ border-radius: 5; 0 + + + 16777215 + 195 + + @@ -2834,12 +5527,23 @@ border-radius: 5; - - - 0 - 0 - 0 - + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + @@ -2906,21 +5610,43 @@ border-radius: 5; - - - 0 - 0 - 0 - + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + - - - 0 - 0 - 0 - + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + @@ -2971,12 +5697,23 @@ border-radius: 5; - - - 0 - 0 - 0 - + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + @@ -3043,21 +5780,43 @@ border-radius: 5; - - - 0 - 0 - 0 - + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + - - - 0 - 0 - 0 - + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + @@ -3108,12 +5867,23 @@ border-radius: 5; - - - 0 - 0 - 0 - + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + @@ -3180,21 +5950,43 @@ border-radius: 5; - - - 0 - 0 - 0 - + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + - - - 0 - 0 - 0 - + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + @@ -3236,1760 +6028,73 @@ border-radius: 5; - - - 50 - false - false - true - - false - - QGroupBox{border: 0px;} - - + Attitude Stabilization (Outer Loop) - - true + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter - + - 0 + 9 + + + 9 - 0 + 9 - 0 + 9 + + + 6 - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - - 0 - 0 - - - - - 0 - 16 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 39 - 39 - 39 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 75 - true - - - - false - - - 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; - - - Yaw - - - Qt::AlignCenter - - - - - - - - 0 - 0 - - - - - 0 - 16 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 39 - 39 - 39 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 75 - true - - - - false - - - 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; - - - Pitch - - - Qt::AlignCenter - - - - - + 0 0 - - - 0 - 25 - - Qt::StrongFocus - <html><head/><body><p>This adjusts how much leveling stability is set into Rate mode (inner loop). Too much will make your vehicle oscillate in Rate mode.</p></body></html> - - - - - - 100 - - - 51 - - - 51 - - - Qt::Horizontal - - - QSlider::TicksBelow - - - 25 - - - - objname:StabilizationSettings - fieldname:RollRatePID - element:Kp - haslimits:yes - scale:0.0001 - buttongroup:1,10 - - - - - - - - - 50 - 22 - - - - - 50 - 22 - - - - Qt::StrongFocus - - - Slowly raise Proportional until you start seeing clear oscillations when you fly. -Then lower the value by 5 or so. - - - 200 - - - 200 - - - - objname:StabilizationSettings - fieldname:RollRatePID - element:Kp - haslimits:yes - scale:0.0001 - buttongroup:1,10 - - - - - - - - - 0 - 0 - - - - - 78 - 16 - + <html><head/><body><p>Link roll &amp; pitch sliders to move together, thus giving same value for both roll &amp; pitch when setting up a symetrical vehicle that requires both to be the same.</p></body></html> - Proportional - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - - 0 - 0 - - - - - 0 - 25 - - - - Qt::StrongFocus - - - <html><head/><body><p>This adjusts how much leveling stability is set into Rate mode (inner loop). Too much will make your vehicle oscillate in Rate mode.</p></body></html> - - - - - - 100 - - - 50 - - - Qt::Horizontal - - - QSlider::TicksBelow - - - 25 - - - - objname:StabilizationSettings - fieldname:YawRatePID - element:Kp - haslimits:yes - scale:0.0001 - buttongroup:1,10 - - - - - - - - - 0 - 0 - - - - - 0 - 25 - - - - Qt::StrongFocus - - - <html><head/><body><p>This adjusts how much leveling stability is set into Rate mode (inner loop). Too much will make your vehicle oscillate in Rate mode.</p></body></html> - - - - - - 100 - - - 50 - - - Qt::Horizontal - - - QSlider::TicksBelow - - - 25 - - - - objname:StabilizationSettings - fieldname:PitchRatePID - element:Kp - haslimits:yes - scale:0.0001 - buttongroup:1,10 - - - - - - - - - 50 - 22 - - - - - 50 - 22 - - - - Qt::StrongFocus - - - Slowly raise Proportional until you start seeing clear oscillations when you fly. -Then lower the value by 5 or so. - - - 200 - - - 200 - - - - objname:StabilizationSettings - fieldname:PitchRatePID - element:Kp - haslimits:yes - scale:0.0001 - buttongroup:1,10 - - - - - - - - - 50 - 22 - - - - - 50 - 22 - - - - Qt::StrongFocus - - - Slowly raise Proportional until you start seeing clear oscillations when you fly. -Then lower the value by 5 or so. - - - 200 - - - 200 - - - - objname:StabilizationSettings - fieldname:YawRatePID - element:Kp - haslimits:yes - scale:0.0001 - buttongroup:1,10 - - - - - - - - - 0 - 0 - - - - - 0 - 25 - - - - Qt::StrongFocus - - - <html><head/><body><p>This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional</p></body></html> - - - - - - 100 - - - 50 - - - Qt::Horizontal - - - QSlider::TicksBelow - - - 25 - - - - objname:StabilizationSettings - fieldname:RollRatePID - element:Ki - haslimits:yes - scale:0.0001 - buttongroup:1,10 - - - - - - - - - 0 - 0 - - - - - - - Integral - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - - 50 - 22 - - - - - 50 - 22 - - - - Qt::StrongFocus - - - As a rule of thumb, you can set the Integral at roughly the same -value as the Kp. - - - 200 - - - 200 - - - - objname:StabilizationSettings - fieldname:RollRatePID - element:Ki - haslimits:yes - scale:0.0001 - buttongroup:1,10 - - - - - - - - - 50 - 22 - - - - - 50 - 22 - - - - Qt::StrongFocus - - - As a rule of thumb, you can set the Integral at roughly the same -value as the Kp. - - - 200 - - - 200 - - - - objname:StabilizationSettings - fieldname:YawRatePID - element:Ki - haslimits:yes - scale:0.0001 - buttongroup:1,10 - - - - - - - - - 0 - 0 - - - - - 0 - 25 - - - - Qt::StrongFocus - - - <html><head/><body><p>This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional</p></body></html> - - - - - - 100 - - - 50 - - - Qt::Horizontal - - - QSlider::TicksBelow - - - 25 - - - - objname:StabilizationSettings - fieldname:YawRatePID - element:Ki - haslimits:yes - scale:0.0001 - buttongroup:1,10 - - - - - - - - - 0 - 0 - - - - - 0 - 25 - - - - Qt::StrongFocus - - - <html><head/><body><p>This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional</p></body></html> - - - - - - 100 - - - 50 - - - Qt::Horizontal - - - QSlider::TicksBelow - - - 25 - - - - objname:StabilizationSettings - fieldname:PitchRatePID - element:Ki - haslimits:yes - scale:0.0001 - buttongroup:1,10 - - - - - - - - - 50 - 22 - - - - - 50 - 22 - - - - Qt::StrongFocus - - - As a rule of thumb, you can set the Integral at roughly the same -value as the Kp. - - - 200 - - - 200 - - - - objname:StabilizationSettings - fieldname:PitchRatePID - element:Ki - haslimits:yes - scale:0.0001 - buttongroup:1,10 - + Link Roll and Pitch - + + + Qt::Horizontal + + + QSizePolicy::Preferred + + + + 497 + 20 + + + + + + - + 0 0 @@ -4997,7 +6102,38 @@ value as the Kp. 0 - 16 + 0 + + + + Reset all values to GCS defaults + + + + + + Default + + + + button:default + buttongroup:2 + + + + + + + + + 0 + 0 + + + + + 0 + 0 @@ -5006,74 +6142,63 @@ value as the Kp. - 255 - 255 - 255 + 0 + 0 + 0 - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - + + + 0 + 0 + 0 + - 58 - 58 - 58 + 255 + 255 + 255 - 48 - 48 - 48 + 251 + 251 + 251 - 19 - 19 - 19 + 124 + 124 + 124 - 26 - 26 - 26 + 165 + 165 + 165 - 255 - 255 - 255 + 0 + 0 + 0 @@ -5089,50 +6214,28 @@ value as the Kp. - 255 - 255 - 255 + 0 + 0 + 0 - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - + + + 0 + 0 + 0 + - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - + + + 0 + 0 + 0 + @@ -5147,9 +6250,9 @@ value as the Kp. - 19 - 19 - 19 + 251 + 251 + 251 @@ -5176,74 +6279,63 @@ value as the Kp. - 255 - 255 - 255 + 0 + 0 + 0 - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - + + + 0 + 0 + 0 + - 58 - 58 - 58 + 255 + 255 + 255 - 48 - 48 - 48 + 251 + 251 + 251 - 19 - 19 - 19 + 124 + 124 + 124 - 26 - 26 - 26 + 165 + 165 + 165 - 255 - 255 - 255 + 0 + 0 + 0 @@ -5259,50 +6351,28 @@ value as the Kp. - 255 - 255 - 255 + 0 + 0 + 0 - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - + + + 0 + 0 + 0 + - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - + + + 0 + 0 + 0 + @@ -5317,9 +6387,9 @@ value as the Kp. - 19 - 19 - 19 + 251 + 251 + 251 @@ -5346,74 +6416,63 @@ value as the Kp. - 255 - 255 - 255 + 124 + 124 + 124 - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - + + + 0 + 0 + 0 + - 58 - 58 - 58 + 255 + 255 + 255 - 48 - 48 - 48 + 251 + 251 + 251 - 19 - 19 - 19 + 124 + 124 + 124 - 26 - 26 - 26 + 165 + 165 + 165 - 255 - 255 - 255 + 124 + 124 + 124 @@ -5429,50 +6488,28 @@ value as the Kp. - 255 - 255 - 255 + 124 + 124 + 124 - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - + + + 0 + 0 + 0 + - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - + + + 0 + 0 + 0 + @@ -5487,9 +6524,9 @@ value as the Kp. - 39 - 39 - 39 + 248 + 248 + 248 @@ -5514,41 +6551,2026 @@ value as the Kp. - - - 75 - true - - false - 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)); + QGroupBox{border: 0px;} + + + + + + true + + + + 0 + + + 0 + + + 0 + + + + + + 0 + 0 + + + + + 0 + 16 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 39 + 39 + 39 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 75 + true + + + + false + + + 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; - - - Roll - - - Qt::AlignCenter - + + + Roll + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + + 0 + 16 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 39 + 39 + 39 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 75 + true + + + + false + + + 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)); 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+color: rgb(255, 255, 255); +border-radius: 5; + + + Yaw + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + + 78 + 16 + + + + + + + Proportional + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + + 0 + 0 + + + + + 0 + 25 + + + + Qt::StrongFocus + + + <html><head/><body><p>This adjusts how much leveling stability is set into Attitude mode (outer loop). Too much will make your vehicle oscillate in Attitude Mode.</p></body></html> + + + + + + 100 + + + 50 + + + Qt::Horizontal + + + QSlider::TicksBelow + + + 25 + + + + objname:StabilizationSettingsBankX + fieldname:RollPI + element:Kp + scale:0.1 + haslimits:yes + buttongroup:2,10 + + + + + + + + + 50 + 22 + + + + + 50 + 22 + + + + Qt::StrongFocus + + + 200 + + + 200 + + + + objname:StabilizationSettingsBankX + fieldname:RollPI + element:Kp + scale:0.1 + haslimits:yes + buttongroup:2,10 + + + + + + + + + 0 + 0 + + + + + 0 + 25 + + + + Qt::StrongFocus + + + <html><head/><body><p>This adjusts how much leveling stability is set into Attitude mode (outer loop). Too much will make your vehicle oscillate in Attitude Mode.</p></body></html> + + + + + + 100 + + + 50 + + + Qt::Horizontal + + + QSlider::TicksBelow + + + 25 + + + + objname:StabilizationSettingsBankX + fieldname:PitchPI + element:Kp + scale:0.1 + haslimits:yes + buttongroup:2,10 + + + + + + + + + 50 + 22 + + + + + 50 + 22 + + + + Qt::StrongFocus + + + 200 + + + 200 + + + + objname:StabilizationSettingsBankX + fieldname:PitchPI + element:Kp + scale:0.1 + haslimits:yes + buttongroup:2,10 + + + + + + + + + 0 + 0 + + + + + 0 + 25 + + + + Qt::StrongFocus + + + <html><head/><body><p>This adjusts how much leveling stability is set into Attitude mode (outer loop). Too much will make your vehicle oscillate in Attitude Mode.</p></body></html> + + + + + + 100 + + + 50 + + + Qt::Horizontal + + + QSlider::TicksBelow + + + 25 + + + + objname:StabilizationSettingsBankX + fieldname:YawPI + element:Kp + scale:0.1 + haslimits:yes + buttongroup:2,10 + + + + + + + + + 50 + 22 + + + + + 50 + 22 + + + + Qt::StrongFocus + + + 200 + + + 200 + + + + objname:StabilizationSettingsBankX + fieldname:YawPI + element:Kp + scale:0.1 + haslimits:yes + buttongroup:2,10 + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + Qt::Horizontal + + + + 40 + 1 + + + + + - - - - Qt::Horizontal - - - - 40 - 20 - - - - @@ -5556,3084 +8578,20 @@ border-radius: 5; - - - - 0 - 0 - + + + Qt::Vertical - + + QSizePolicy::Fixed + + - 0 - 0 + 20 + 9 - - - 16777215 - 195 - - - - - - - - - 0 - 0 - 0 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 255 - 255 - 255 - - - - - - - 251 - 251 - 251 - - - - - - - 124 - 124 - 124 - - - - - - - 165 - 165 - 165 - - - - - - - 0 - 0 - 0 - - - - - - - 255 - 255 - 255 - - - - - - - 0 - 0 - 0 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 0 - 0 - 0 - - - - - - - 251 - 251 - 251 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 0 - 0 - 0 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 255 - 255 - 255 - - - - - - - 251 - 251 - 251 - - - - - - - 124 - 124 - 124 - - - - - - - 165 - 165 - 165 - - - - - - - 0 - 0 - 0 - - - - - - - 255 - 255 - 255 - - - - - - - 0 - 0 - 0 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 0 - 0 - 0 - - - - - - - 251 - 251 - 251 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 124 - 124 - 124 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 255 - 255 - 255 - - - - - - - 251 - 251 - 251 - - - - - - - 124 - 124 - 124 - - - - - - - 165 - 165 - 165 - - - - - - - 124 - 124 - 124 - - - - - - - 255 - 255 - 255 - - - - - - - 124 - 124 - 124 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 0 - 0 - 0 - - - - - - - 248 - 248 - 248 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - false - - - Attitude Stabilization (Outer Loop) - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter - - - - 9 - - - 9 - - - 9 - - - 9 - - - 6 - - - - - - 0 - 0 - - - - Qt::StrongFocus - - - <html><head/><body><p>Link roll &amp; pitch sliders to move together, thus giving same value for both roll &amp; pitch when setting up a symetrical vehicle that requires both to be the same.</p></body></html> - - - - - - Link Roll and Pitch - - - - - - - Qt::Horizontal - - - QSizePolicy::Preferred - - - - 497 - 20 - - - - - - - - - 0 - 0 - - - - - 0 - 0 - - - - Reset all values to GCS defaults - - - - - - Default - - - - button:default - buttongroup:2 - - - - - - - - - 0 - 0 - - - - - 0 - 0 - - - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - 255 - 255 - 255 - - - - - - - 251 - 251 - 251 - - - - - - - 124 - 124 - 124 - - - - - - - 165 - 165 - 165 - - - - - - - 0 - 0 - 0 - - - - - - - 255 - 255 - 255 - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - 251 - 251 - 251 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - 255 - 255 - 255 - - - - - - - 251 - 251 - 251 - - - - - - - 124 - 124 - 124 - - - - - - - 165 - 165 - 165 - - - - - - - 0 - 0 - 0 - - - - - - - 255 - 255 - 255 - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - 251 - 251 - 251 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 124 - 124 - 124 - - - - - - - 0 - 0 - 0 - - - - - - - 255 - 255 - 255 - - - - - - - 251 - 251 - 251 - - - - - - - 124 - 124 - 124 - - - - - - - 165 - 165 - 165 - - - - - - - 124 - 124 - 124 - - - - - - - 255 - 255 - 255 - - - - - - - 124 - 124 - 124 - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - 248 - 248 - 248 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - false - - - QGroupBox{border: 0px;} - - - - - - true - - - - 0 - - - 0 - - - 0 - - - - - - 0 - 0 - - - - - 0 - 16 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 39 - 39 - 39 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 75 - true - - - - false - - - 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)); 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-color: rgb(255, 255, 255); -border-radius: 5; - - - Yaw - - - Qt::AlignCenter - - - - - - - - 0 - 0 - - - - - 78 - 16 - - - - - - - Proportional - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - - 0 - 0 - - - - - 0 - 25 - - - - Qt::StrongFocus - - - <html><head/><body><p>This adjusts how much leveling stability is set into Attitude mode (outer loop). Too much will make your vehicle oscillate in Attitude Mode.</p></body></html> - - - - - - 100 - - - 50 - - - Qt::Horizontal - - - QSlider::TicksBelow - - - 25 - - - - objname:StabilizationSettings - fieldname:RollPI - element:Kp - scale:0.1 - haslimits:yes - buttongroup:2,10 - - - - - - - - - 50 - 22 - - - - - 50 - 22 - - - - Qt::StrongFocus - - - 200 - - - 200 - - - - objname:StabilizationSettings - fieldname:RollPI - element:Kp - scale:0.1 - haslimits:yes - buttongroup:2,10 - - - - - - - - - 0 - 0 - - - - - 0 - 25 - - - - Qt::StrongFocus - - - <html><head/><body><p>This adjusts how much leveling stability is set into Attitude mode (outer loop). Too much will make your vehicle oscillate in Attitude Mode.</p></body></html> - - - - - - 100 - - - 50 - - - Qt::Horizontal - - - QSlider::TicksBelow - - - 25 - - - - objname:StabilizationSettings - fieldname:PitchPI - element:Kp - scale:0.1 - haslimits:yes - buttongroup:2,10 - - - - - - - - - 50 - 22 - - - - - 50 - 22 - - - - Qt::StrongFocus - - - 200 - - - 200 - - - - objname:StabilizationSettings - fieldname:PitchPI - element:Kp - scale:0.1 - haslimits:yes - buttongroup:2,10 - - - - - - - - - 0 - 0 - - - - - 0 - 25 - - - - Qt::StrongFocus - - - <html><head/><body><p>This adjusts how much leveling stability is set into Attitude mode (outer loop). Too much will make your vehicle oscillate in Attitude Mode.</p></body></html> - - - - - - 100 - - - 50 - - - Qt::Horizontal - - - QSlider::TicksBelow - - - 25 - - - - objname:StabilizationSettings - fieldname:YawPI - element:Kp - scale:0.1 - haslimits:yes - buttongroup:2,10 - - - - - - - - - 50 - 22 - - - - - 50 - 22 - - - - Qt::StrongFocus - - - 200 - - - 200 - - - - objname:StabilizationSettings - fieldname:YawPI - element:Kp - scale:0.1 - haslimits:yes - buttongroup:2,10 - - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - Qt::Horizontal - - - - 40 - 1 - - - - - - - - - + @@ -8790,70 +8748,6 @@ border-radius: 5; - - - - - - - 255 - 255 - 255 - - - - - - - 240 - 240 - 240 - - - - - - - - - 255 - 255 - 255 - - - - - - - 240 - 240 - 240 - - - - - - - - - 240 - 240 - 240 - - - - - - - 240 - 240 - 240 - - - - - - QFrame::NoFrame @@ -8868,596 +8762,42 @@ border-radius: 5; 0 0 - 545 - 711 + 796 + 708 true + + 0 + - - - - 0 - 0 - + + + + + + #advancedPidBankFrame{ + color: rgb(180, 180, 180); + margin-top: -1px; +} - - - 0 - 0 - + + QFrame::Box - - - 16777215 - 16777215 - + + QFrame::Plain - - - - - - - 0 - 0 - 0 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 255 - 255 - 255 - - - - - - - 251 - 251 - 251 - - - - - - - 124 - 124 - 124 - - - - - - - 165 - 165 - 165 - - - - - - - 0 - 0 - 0 - - - - - - - 255 - 255 - 255 - - - - - - - 0 - 0 - 0 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 0 - 0 - 0 - - - - - - - 251 - 251 - 251 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 0 - 0 - 0 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 255 - 255 - 255 - - - - - - - 251 - 251 - 251 - - - - - - - 124 - 124 - 124 - - - - - - - 165 - 165 - 165 - - - - - - - 0 - 0 - 0 - - - - - - - 255 - 255 - 255 - - - - - - - 0 - 0 - 0 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 0 - 0 - 0 - - - - - - - 251 - 251 - 251 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 124 - 124 - 124 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 255 - 255 - 255 - - - - - - - 251 - 251 - 251 - - - - - - - 124 - 124 - 124 - - - - - - - 165 - 165 - 165 - - - - - - - 124 - 124 - 124 - - - - - - - 255 - 255 - 255 - - - - - - - 124 - 124 - 124 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 0 - 0 - 0 - - - - - - - 248 - 248 - 248 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - Responsiveness - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter - - - true - - - false - - - - 9 - + 9 - - 9 - - - 9 - - - 6 - - - - - Qt::Horizontal - - - QSizePolicy::Expanding - - - - 632 - 20 - - - - - - + + - + 0 0 @@ -9474,38 +8814,6 @@ border-radius: 5; 16777215 - - Reset all values to GCS defaults - - - - - - Default - - - - objname:StabilizationSettings - button:default - buttongroup:6 - - - - - - - - - 0 - 0 - - - - - 0 - 140 - - @@ -9519,12 +8827,23 @@ border-radius: 5; - - - 0 - 0 - 0 - + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + @@ -9591,21 +8910,43 @@ border-radius: 5; - - - 0 - 0 - 0 - + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + - - - 0 - 0 - 0 - + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + @@ -9656,12 +8997,23 @@ border-radius: 5; - - - 0 - 0 - 0 - + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + @@ -9728,21 +9080,43 @@ border-radius: 5; - - - 0 - 0 - 0 - + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + - - - 0 - 0 - 0 - + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + @@ -9793,12 +9167,23 @@ border-radius: 5; - - - 0 - 0 - 0 - + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + @@ -9865,21 +9250,43 @@ border-radius: 5; - - - 0 - 0 - 0 - + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + - - - 0 - 0 - 0 - + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + @@ -9921,3400 +9328,54 @@ border-radius: 5; - - false - - - QGroupBox{border: 0px;} - - + Responsiveness - + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + + true - + + false + + - 0 + 9 + + + 9 - 0 + 9 - 0 + 9 - - 0 + + 6 - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This sets the maximum deg your vehicle will tilt at full stick input when in Attitude mode.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 0 - - - 180.000000000000000 - - - 1.000000000000000 - - - - objname:StabilizationSettings - fieldname:PitchMax - haslimits:no - scale:1 - buttongroup:6,20 - - - - - - - - - 0 - 0 - - - - - 128 - 16 - - - - - 16777215 - 16777215 - - - - - - - Max rate attitude (deg/s) - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This sets the maximum rotation rate in degrees per second on an axis.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 0 - - - 1000000.000000000000000 - - - 1.000000000000000 - - - - objname:StabilizationSettings - fieldname:MaximumRate - element:Roll - haslimits:no - scale:1 - buttongroup:6,20 - - - - - - - - Qt::Horizontal - - - QSizePolicy::Fixed - - - - 10 - 10 - - - - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This sets the degrees per second that your vehicle will tilt/rotate at full stick input when in all modes except Attitude.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 0 - - - 1000000.000000000000000 - - - 1.000000000000000 - - - - objname:StabilizationSettings - fieldname:ManualRate - element:Yaw - haslimits:no - scale:1 - buttongroup:6,20 - - - - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This sets the maximum deg your vehicle will tilt at full stick input when in Attitude mode.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 0 - - - 180.000000000000000 - - - 1.000000000000000 - - - - objname:StabilizationSettings - fieldname:YawMax - haslimits:no - scale:1 - buttongroup:6,20 - - - - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This sets the maximum rotation rate in degrees per second on an axis.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 0 - - - 1000000.000000000000000 - - - 1.000000000000000 - - - - objname:StabilizationSettings - fieldname:MaximumRate - element:Pitch - haslimits:no - scale:1 - buttongroup:6,20 - - - - - - - - - 0 - 0 - - - - - 0 - 16 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 39 - 39 - 39 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 75 - true - - - - false - - - 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; - - - Yaw - - - Qt::AlignCenter - - - - - - - Qt::Horizontal - - - QSizePolicy::Fixed - - - - 10 - 10 - - - - - - - - Qt::Horizontal - - - QSizePolicy::Fixed - - - - 10 - 10 - - - - - - - - - 0 - 0 - - - - - 0 - 16 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 39 - 39 - 39 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 75 - true - - - - false - - - 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; - - - Pitch - - - Qt::AlignCenter - - - - - - - - 0 - 0 - - - - - 69 - 16 - - - - - - - Attitude mode response (deg) - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This sets the degrees per second that your vehicle will tilt/rotate at full stick input when in all modes except Attitude.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 0 - - - 1000000.000000000000000 - - - 1.000000000000000 - - - - objname:StabilizationSettings - fieldname:ManualRate - element:Pitch - haslimits:no - scale:1 - buttongroup:6,20 - - - - - + Qt::Horizontal - QSizePolicy::Fixed + QSizePolicy::Expanding - 140 - 16 - - - - - - - - - 0 - 0 - - - - - 0 - 16 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 39 - 39 - 39 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 75 - true - - - - false - - - 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; - - - Roll - - - Qt::AlignCenter - - - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This sets the degrees per second that your vehicle will tilt/rotate at full stick input when in all modes except Attitude.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 0 - - - 1000000.000000000000000 - - - 1.000000000000000 - - - - objname:StabilizationSettings - fieldname:ManualRate - element:Roll - haslimits:no - scale:1 - buttongroup:6,20 - - - - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This sets the maximum deg your vehicle will tilt at full stick input when in Attitude mode.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - QAbstractSpinBox::UpDownArrows - - - 0 - - - 180.000000000000000 - - - 1.000000000000000 - - - - objname:StabilizationSettings - fieldname:RollMax - haslimits:no - scale:1 - buttongroup:6,20 - - - - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This sets the maximum rotation rate in degrees per second on an axis.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 0 - - - 1000000.000000000000000 - - - 1.000000000000000 - - - - objname:StabilizationSettings - fieldname:MaximumRate - element:Yaw - haslimits:no - scale:1 - buttongroup:6,20 - - - - - - - - - 0 - 0 - - - - - 0 - 16 - - - - - - - Rate mode response (deg/s) - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - Qt::Horizontal - - - - 20 + 632 20 - - - - - - - - - - - 0 - 0 - - - - - 0 - 0 - - - - - 16777215 - 16777215 - - - - - - - - - 0 - 0 - 0 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 255 - 255 - 255 - - - - - - - 251 - 251 - 251 - - - - - - - 124 - 124 - 124 - - - - - - - 165 - 165 - 165 - - - - - - - 0 - 0 - 0 - - - - - - - 255 - 255 - 255 - - - - - - - 0 - 0 - 0 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 0 - 0 - 0 - - - - - - - 251 - 251 - 251 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 0 - 0 - 0 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 255 - 255 - 255 - - - - - - - 251 - 251 - 251 - - - - - - - 124 - 124 - 124 - - - - - - - 165 - 165 - 165 - - - - - - - 0 - 0 - 0 - - - - - - - 255 - 255 - 255 - - - - - - - 0 - 0 - 0 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 0 - 0 - 0 - - - - - - - 251 - 251 - 251 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 124 - 124 - 124 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 255 - 255 - 255 - - - - - - - 251 - 251 - 251 - - - - - - - 124 - 124 - 124 - - - - - - - 165 - 165 - 165 - - - - - - - 124 - 124 - 124 - - - - - - - 255 - 255 - 255 - - - - - - - 124 - 124 - 124 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 0 - 0 - 0 - - - - - - - 248 - 248 - 248 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - Rate Stabilization (Inner Loop) - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter - - - false - - - - 9 - - - 9 - - - 9 - - - 9 - - - 6 - - - - - Qt::Horizontal - - - - 497 - 20 - - - - - - - - <html><head/><body><p>Link roll &amp; pitch values together, thus giving the same value for each when setting up a symetrical vehicle that requires both to be the same.</p></body></html> - - - - - - Link Roll and Pitch - - - - - - - - 0 - 0 - - - - - 0 - 0 - - - - - 16777215 - 16777215 - - - - Reset all values to GCS defaults - - - - - - Default - - - - objname:StabilizationSettings - button:default - buttongroup:4 - - - - - - - - - 0 - 0 - - - - - 0 - 140 - - - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - 255 - 255 - 255 - - - - - - - 251 - 251 - 251 - - - - - - - 124 - 124 - 124 - - - - - - - 165 - 165 - 165 - - - - - - - 0 - 0 - 0 - - - - - - - 255 - 255 - 255 - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - 251 - 251 - 251 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - 255 - 255 - 255 - - - - - - - 251 - 251 - 251 - - - - - - - 124 - 124 - 124 - - - - - - - 165 - 165 - 165 - - - - - - - 0 - 0 - 0 - - - - - - - 255 - 255 - 255 - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - 251 - 251 - 251 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 124 - 124 - 124 - - - - - - - 0 - 0 - 0 - - - - - - - 255 - 255 - 255 - - - - - - - 251 - 251 - 251 - - - - - - - 124 - 124 - 124 - - - - - - - 165 - 165 - 165 - - - - - - - 124 - 124 - 124 - - - - - - - 255 - 255 - 255 - - - - - - - 124 - 124 - 124 - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - 248 - 248 - 248 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - false - - - QGroupBox{border: 0px;} - - - - - - true - - - - 0 - - - 0 - - - 0 - - - + + - + 0 0 @@ -13322,2099 +9383,6 @@ border-radius: 5; 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This - makes the control output respond faster with fast stick movements or external disturbance like wind gusts. It also acts like a dampener, thus allowing higher KP settings. Only affects Rate mode.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 6 - - - 0.000001000000000 - - - - objname:StabilizationSettings - fieldname:PitchRatePID - element:Kd - haslimits:no - scale:1 - buttongroup:4,20 - - - - - - - - - 0 - 0 - - - - - 0 - 16 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 39 - 39 - 39 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 75 - true - - - - false - - - 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; - - - Yaw - - - Qt::AlignCenter - - - - - - - - 0 - 0 - - - - - - - Integral - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 5 - - - 0.000100000000000 - - - - objname:StabilizationSettings - fieldname:YawRatePID - element:Ki - haslimits:no - scale:1 - buttongroup:4,20 - - - - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 5 - - - 0.000100000000000 - - - - objname:StabilizationSettings - fieldname:PitchRatePID - element:Ki - haslimits:no - scale:1 - buttongroup:4,20 - - - - - - - - - 0 - 0 - - - - - 85 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This adjusts how much leveling stability is set into Rate mode (inner loop). Too much will make your vehicle oscillate in Rate mode.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 5 - - - 0.000100000000000 - - - - objname:StabilizationSettings - fieldname:YawRatePID - element:Kp - haslimits:no - scale:1 - buttongroup:4,20 - - - - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This makes the control output respond faster with fast stick movements or external disturbance like wind gusts. It also acts like a dampener, thus allowing higher KP settings. Only affects Rate mode.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 6 - - - 0.000001000000000 - - - - objname:StabilizationSettings - fieldname:YawRatePID - element:Kd - haslimits:no - scale:1 - buttongroup:4,20 - - - - - - - - - 0 - 0 - - - - - 0 - 16 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 39 - 39 - 39 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 75 - true - - - - false - - - 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; - - - Pitch - - - Qt::AlignCenter - - - - - - - - 0 - 0 - - - - - 0 - 16 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 39 - 39 - 39 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 75 - true - - - - false - - - 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; - - - Roll - - - Qt::AlignCenter - - - - - - - Qt::Horizontal - - - QSizePolicy::Fixed - - - - 10 - 10 - - - - - - - - - 0 - 0 - - - - - 69 - 16 - - - - - - - Proportional - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - Qt::Horizontal - - - QSizePolicy::Fixed - - - - 10 - 10 - - - - - - - - - 0 - 0 - - - - - 85 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This adjusts how much leveling stability is set into Rate mode (inner loop). Too much will make your vehicle oscillate in Rate mode.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 5 - - - 0.000100000000000 - - - - objname:StabilizationSettings - fieldname:RollRatePID - element:Kp - haslimits:no - scale:1 - buttongroup:4,20 - - - - - - - - Qt::Horizontal - - - QSizePolicy::Fixed - - - - 140 - 13 - - - - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 5 - - - 0.000100000000000 - - - - objname:StabilizationSettings - fieldname:RollRatePID - element:Ki - haslimits:no - scale:1 - buttongroup:4,20 - - - - - - - - - 0 - 0 - - - - - 58 0 @@ -15424,69 +9392,26 @@ border-radius: 5; 16777215 + + Reset all values to GCS defaults + - Derivative - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - - 0 - 0 - - - - - 85 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This adjusts how much leveling stability is set into Rate mode (inner loop). Too much will make your vehicle oscillate in Rate mode.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 5 - - - 0.000100000000000 + Default objname:StabilizationSettings - fieldname:PitchRatePID - element:Kp - haslimits:no - scale:1 - buttongroup:4,20 + button:default + buttongroup:6 - - + + 0 @@ -15496,672 +9421,2744 @@ border-radius: 5; 0 - 22 + 140 - - - 16777215 - 22 - + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 255 + 255 + 255 + + + + + + + 251 + 251 + 251 + + + + + + + 124 + 124 + 124 + + + + + + + 165 + 165 + 165 + + + + + + + 0 + 0 + 0 + + + + + + + 255 + 255 + 255 + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 251 + 251 + 251 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 255 + 255 + 255 + + + + + + + 251 + 251 + 251 + + + + + + + 124 + 124 + 124 + + + + + + + 165 + 165 + 165 + + + + + + + 0 + 0 + 0 + + + + + + + 255 + 255 + 255 + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 251 + 251 + 251 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 124 + 124 + 124 + + + + + + + 0 + 0 + 0 + + + + + + + 255 + 255 + 255 + + + + + + + 251 + 251 + 251 + + + + + + + 124 + 124 + 124 + + + + + + + 165 + 165 + 165 + + + + + + + 124 + 124 + 124 + + + + + + + 255 + 255 + 255 + + + + + + + 124 + 124 + 124 + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 248 + 248 + 248 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + - - Qt::StrongFocus - - - <html><head/><body><p>This makes the control output respond faster with fast stick movements or external disturbance like wind gusts.It also acts like a dampener, thus allowing higher KP settings. Only affects Rate mode.</p></body></html> + + false - + QGroupBox{border: 0px;} - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + - - 6 - - - 0.000001000000000 - - - - objname:StabilizationSettings - fieldname:RollRatePID - element:Kd - haslimits:no - scale:1 - buttongroup:4,20 - + + true + + + 0 + + + 0 + + + 0 + + + 0 + + + + + + 0 + 0 + + + + + 0 + 22 + + + + + 16777215 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>This sets the maximum deg your vehicle will tilt at full stick input when in Attitude mode.</p></body></html> + + + + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + 0 + + + 180.000000000000000 + + + 1.000000000000000 + + + + objname:StabilizationSettingsBankX + fieldname:PitchMax + haslimits:no + scale:1 + buttongroup:6,20 + + + + + + + + + 0 + 0 + + + + + 128 + 16 + + + + + 16777215 + 16777215 + + + + + + + Max rate attitude (deg/s) + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + + 0 + 0 + + + + + 0 + 22 + + + + + 16777215 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>This sets the maximum rotation rate in degrees per second on an axis.</p></body></html> + + + + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + 0 + + + 1000000.000000000000000 + + + 1.000000000000000 + + + + objname:StabilizationSettingsBankX + fieldname:MaximumRate + element:Roll + haslimits:no + scale:1 + buttongroup:6,20 + + + + + + + + Qt::Horizontal + + + QSizePolicy::Fixed + + + + 10 + 10 + + + + + + + + + 0 + 0 + + + + + 0 + 22 + + + + + 16777215 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>This sets the degrees per second that your vehicle will tilt/rotate at full stick input when in all modes except Attitude.</p></body></html> + + + + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + 0 + + + 1000000.000000000000000 + + + 1.000000000000000 + + + + objname:StabilizationSettingsBankX + fieldname:ManualRate + element:Yaw + haslimits:no + scale:1 + buttongroup:6,20 + + + + + + + + + 0 + 0 + + + + + 0 + 22 + + + + + 16777215 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>This sets the maximum deg your vehicle will tilt at full stick input when in Attitude mode.</p></body></html> + + + + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + 0 + + + 180.000000000000000 + + + 1.000000000000000 + + + + objname:StabilizationSettingsBankX + fieldname:YawMax + haslimits:no + scale:1 + buttongroup:6,20 + + + + + + + + + 0 + 0 + + + + + 0 + 22 + + + + + 16777215 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>This sets the maximum rotation rate in degrees per second on an axis.</p></body></html> + + + + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + 0 + + + 1000000.000000000000000 + + + 1.000000000000000 + + + + objname:StabilizationSettingsBankX + fieldname:MaximumRate + element:Pitch + haslimits:no + scale:1 + buttongroup:6,20 + + + + + + + + + 0 + 0 + + + + + 0 + 16 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 39 + 39 + 39 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 75 + true + + + + false + + + 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)); 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+color: rgb(255, 255, 255); +border-radius: 5; + + + Pitch + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + + 69 + 16 + + + + + + + Attitude mode response (deg) + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + + 0 + 0 + + + + + 0 + 22 + + + + + 16777215 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>This sets the degrees per second that your vehicle will tilt/rotate at full stick input when in all modes except Attitude.</p></body></html> + + + + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + 0 + + + 1000000.000000000000000 + + + 1.000000000000000 + + + + objname:StabilizationSettingsBankX + fieldname:ManualRate + element:Pitch + haslimits:no + scale:1 + buttongroup:6,20 + + + + + + + + Qt::Horizontal + + + QSizePolicy::Fixed + + + + 140 + 16 + + + + + + + + + 0 + 0 + + + + + 0 + 16 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 39 + 39 + 39 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 75 + true + + + + false + + + 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; + + + Roll + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + + 0 + 22 + + + + + 16777215 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>This sets the degrees per second that your vehicle will tilt/rotate at full stick input when in all modes except Attitude.</p></body></html> + + + + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + 0 + + + 1000000.000000000000000 + + + 1.000000000000000 + + + + objname:StabilizationSettingsBankX + fieldname:ManualRate + element:Roll + haslimits:no + scale:1 + buttongroup:6,20 + + + + + + + + + 0 + 0 + + + + + 0 + 22 + + + + + 16777215 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>This sets the maximum deg your vehicle will tilt at full stick input when in Attitude mode.</p></body></html> + + + + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + QAbstractSpinBox::UpDownArrows + + + 0 + + + 180.000000000000000 + + + 1.000000000000000 + + + + objname:StabilizationSettingsBankX + fieldname:RollMax + haslimits:no + scale:1 + buttongroup:6,20 + + + + + + + + + 0 + 0 + + + + + 0 + 22 + + + + + 16777215 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>This sets the maximum rotation rate in degrees per second on an axis.</p></body></html> + + + + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + 0 + + + 1000000.000000000000000 + + + 1.000000000000000 + + + + objname:StabilizationSettingsBankX + fieldname:MaximumRate + element:Yaw + haslimits:no + scale:1 + buttongroup:6,20 + + + + + + + + + 0 + 0 + + + + + 0 + 16 + + + + + + + Rate mode response (deg/s) + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + Qt::Horizontal + + + + 20 + 20 + + + + + - - - - Qt::Horizontal - - - QSizePolicy::Fixed - - - - 10 - 10 - - - - - - - - Qt::Horizontal - - - - 20 - 20 - - - - - - - - - - - - 0 - 0 - - - - - 0 - 0 - - - - - 16777215 - 16777215 - - - - - - - - - 0 - 0 - 0 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 255 - 255 - 255 - - - - - - - 251 - 251 - 251 - - - - - - - 124 - 124 - 124 - - - - - - - 165 - 165 - 165 - - - - - - - 0 - 0 - 0 - - - - - - - 255 - 255 - 255 - - - - - - - 0 - 0 - 0 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 0 - 0 - 0 - - - - - - - 251 - 251 - 251 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 0 - 0 - 0 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 255 - 255 - 255 - - - - - - - 251 - 251 - 251 - - - - - - - 124 - 124 - 124 - - - - - - - 165 - 165 - 165 - - - - - - - 0 - 0 - 0 - - - - - - - 255 - 255 - 255 - - - - - - - 0 - 0 - 0 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 0 - 0 - 0 - - - - - - - 251 - 251 - 251 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 124 - 124 - 124 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 255 - 255 - 255 - - - - - - - 251 - 251 - 251 - - - - - - - 124 - 124 - 124 - - - - - - - 165 - 165 - 165 - - - - - - - 124 - 124 - 124 - - - - - - - 255 - 255 - 255 - - - - - - - 124 - 124 - 124 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 0 - 0 - 0 - - - - - - - 248 - 248 - 248 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - false - - - Attitude Stabilization (Outer Loop) - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter - - - false - - - - 9 - - - 9 - - - 9 - - - 9 - - - 4 - - - - - <html><head/><body><p>Link roll &amp; pitch values together, thus giving the same value for each when setting up a symetrical vehicle that requires both to be the same.</p></body></html> - - - - - - Link Roll and Pitch - - - - - - - Qt::Horizontal - - - - 497 - 20 - - - - - - + + - + 0 0 @@ -16178,38 +12175,6 @@ border-radius: 5; 16777215 - - Reset all values to GCS defaults - - - - - - Default - - - - objname:StabilizationSettings - button:default - buttongroup:5 - - - - - - - - - 0 - 0 - - - - - 0 - 110 - - @@ -16223,12 +12188,23 @@ border-radius: 5; - - - 0 - 0 - 0 - + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + @@ -16295,21 +12271,43 @@ border-radius: 5; - - - 0 - 0 - 0 - + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + - - - 0 - 0 - 0 - + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + @@ -16360,12 +12358,23 @@ border-radius: 5; - - - 0 - 0 - 0 - + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + @@ -16432,21 +12441,43 @@ border-radius: 5; - - - 0 - 0 - 0 - + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + - - - 0 - 0 - 0 - + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + @@ -16497,12 +12528,23 @@ border-radius: 5; - - - 0 - 0 - 0 - + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + @@ -16569,23 +12611,3378 @@ border-radius: 5; + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + + + + + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + + + + - + 0 0 0 - + - + + 248 + 248 + 248 + + + + + + + 255 + 255 + 220 + + + + + + 0 0 0 + + + + + Rate Stabilization (Inner Loop) + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + + + false + + + + 9 + + + 9 + + + 9 + + + 9 + + + 6 + + + + + Qt::Horizontal + + + + 497 + 20 + + + + + + + + <html><head/><body><p>Link roll &amp; pitch values together, thus giving the same value for each when setting up a symetrical vehicle that requires both to be the same.</p></body></html> + + + + + + Link Roll and Pitch + + + + + + + + 0 + 0 + + + + + 0 + 0 + + + + + 16777215 + 16777215 + + + + Reset all values to GCS defaults + + + + + + Default + + + + objname:StabilizationSettings + button:default + buttongroup:4 + + + + + + + + + 0 + 0 + + + + + 0 + 140 + + + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 255 + 255 + 255 + + + + + + + 251 + 251 + 251 + + + + + + + 124 + 124 + 124 + + + + + + + 165 + 165 + 165 + + + + + + + 0 + 0 + 0 + + + + + + + 255 + 255 + 255 + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 251 + 251 + 251 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 255 + 255 + 255 + + + + + + + 251 + 251 + 251 + + + + + + + 124 + 124 + 124 + + + + + + + 165 + 165 + 165 + + + + + + + 0 + 0 + 0 + + + + + + + 255 + 255 + 255 + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 251 + 251 + 251 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 124 + 124 + 124 + + + + + + + 0 + 0 + 0 + + + + + + + 255 + 255 + 255 + + + + + + + 251 + 251 + 251 + + + + + + + 124 + 124 + 124 + + + + + + + 165 + 165 + 165 + + + + + + + 124 + 124 + 124 + + + + + + + 255 + 255 + 255 + + + + + + + 124 + 124 + 124 + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 0 + 0 + 0 + + + + + + + 248 + 248 + 248 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + false + + + QGroupBox{border: 0px;} + + + + + + true + + + + 0 + + + 0 + + + 0 + + + + + + 0 + 0 + + + + + 0 + 22 + + + + + 16777215 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>This + makes the control output respond faster with fast stick movements or external disturbance like wind gusts. It also acts like a dampener, thus allowing higher KP settings. Only affects Rate mode.</p></body></html> + + + + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + 6 + + + 0.000001000000000 + + + + objname:StabilizationSettingsBankX + fieldname:PitchRatePID + element:Kd + haslimits:no + scale:1 + buttongroup:4,20 + + + + + + + + + 0 + 0 + + + + + 0 + 16 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 39 + 39 + 39 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 75 + true + + + + false + + + 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; + + + Yaw + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + + + + Integral + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + + 0 + 0 + + + + + 0 + 22 + + + + + 16777215 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional.</p></body></html> + + + + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + 5 + + + 0.000100000000000 + + + + objname:StabilizationSettingsBankX + fieldname:YawRatePID + element:Ki + haslimits:no + scale:1 + buttongroup:4,20 + + + + + + + + + 0 + 0 + + + + + 0 + 22 + + + + + 16777215 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional.</p></body></html> + + + + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + 5 + + + 0.000100000000000 + + + + objname:StabilizationSettingsBankX + fieldname:PitchRatePID + element:Ki + haslimits:no + scale:1 + buttongroup:4,20 + + + + + + + + + 0 + 0 + + + + + 85 + 22 + + + + + 16777215 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>This adjusts how much leveling stability is set into Rate mode (inner loop). Too much will make your vehicle oscillate in Rate mode.</p></body></html> + + + + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + 5 + + + 0.000100000000000 + + + + objname:StabilizationSettingsBankX + fieldname:YawRatePID + element:Kp + haslimits:no + scale:1 + buttongroup:4,20 + + + + + + + + + 0 + 0 + + + + + 0 + 22 + + + + + 16777215 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>This makes the control output respond faster with fast stick movements or external disturbance like wind gusts. It also acts like a dampener, thus allowing higher KP settings. Only affects Rate mode.</p></body></html> + + + + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + 6 + + + 0.000001000000000 + + + + objname:StabilizationSettingsBankX + fieldname:YawRatePID + element:Kd + haslimits:no + scale:1 + buttongroup:4,20 + + + + + + + + + 0 + 0 + + + + + 0 + 16 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 39 + 39 + 39 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 75 + true + + + + false + + + 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; + + + Pitch + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + + 0 + 16 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 39 + 39 + 39 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 75 + true + + + + false + + + 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; + + + Roll + + + Qt::AlignCenter + + + + + + + Qt::Horizontal + + + QSizePolicy::Fixed + + + + 10 + 10 + + + + + + + + + 0 + 0 + + + + + 69 + 16 + + + + + + + Proportional + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + Qt::Horizontal + + + QSizePolicy::Fixed + + + + 10 + 10 + + + + + + + + + 0 + 0 + + + + + 85 + 22 + + + + + 16777215 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>This adjusts how much leveling stability is set into Rate mode (inner loop). Too much will make your vehicle oscillate in Rate mode.</p></body></html> + + + + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + 5 + + + 0.000100000000000 + + + + objname:StabilizationSettingsBankX + fieldname:RollRatePID + element:Kp + haslimits:no + scale:1 + buttongroup:4,20 + + + + + + + + Qt::Horizontal + + + QSizePolicy::Fixed + + + + 140 + 13 + + + + + + + + + 0 + 0 + + + + + 0 + 22 + + + + + 16777215 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional.</p></body></html> + + + + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + 5 + + + 0.000100000000000 + + + + objname:StabilizationSettingsBankX + fieldname:RollRatePID + element:Ki + haslimits:no + scale:1 + buttongroup:4,20 + + + + + + + + + 0 + 0 + + + + + 58 + 0 + + + + + 16777215 + 16777215 + + + + + + + Derivative + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + + 0 + 0 + + + + + 85 + 22 + + + + + 16777215 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>This adjusts how much leveling stability is set into Rate mode (inner loop). Too much will make your vehicle oscillate in Rate mode.</p></body></html> + + + + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + 5 + + + 0.000100000000000 + + + + objname:StabilizationSettingsBankX + fieldname:PitchRatePID + element:Kp + haslimits:no + scale:1 + buttongroup:4,20 + + + + + + + + + 0 + 0 + + + + + 0 + 22 + + + + + 16777215 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>This makes the control output respond faster with fast stick movements or external disturbance like wind gusts.It also acts like a dampener, thus allowing higher KP settings. Only affects Rate mode.</p></body></html> + + + + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + 6 + + + 0.000001000000000 + + + + objname:StabilizationSettingsBankX + fieldname:RollRatePID + element:Kd + haslimits:no + scale:1 + buttongroup:4,20 + + + + + + + + Qt::Horizontal + + + QSizePolicy::Fixed + + + + 10 + 10 + + + + + + + + Qt::Horizontal + + + + 20 + 20 + + + + + + + + + + + + + + + 0 + 0 + + + + + 0 + 0 + + + + + 16777215 + 16777215 + + + + + + + + + 0 + 0 + 0 + + + + + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + + + + + + + 255 + 255 + 255 + + + + + + + 251 + 251 + 251 + + + + + + + 124 + 124 + 124 + + + + + + + 165 + 165 + 165 + + + + + + + 0 + 0 + 0 + + + + + + + 255 + 255 + 255 + + + + + + + 0 + 0 + 0 + + + + + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + + + + + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + + + + + + + 0 + 0 + 0 + + + + + + + 251 + 251 + 251 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 0 + 0 + 0 + + + + + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + + + + + + + 255 + 255 + 255 + + + + + + + 251 + 251 + 251 + + + + + + + 124 + 124 + 124 + + + + + + + 165 + 165 + 165 + + + + + + + 0 + 0 + 0 + + + + + + + 255 + 255 + 255 + + + + + + + 0 + 0 + 0 + + + + + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + + + + + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + + + + + + + 0 + 0 + 0 + + + + + + + 251 + 251 + 251 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 124 + 124 + 124 + + + + + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + + + + + + + 255 + 255 + 255 + + + + + + + 251 + 251 + 251 + + + + + + + 124 + 124 + 124 + + + + + + + 165 + 165 + 165 + + + + + + + 124 + 124 + 124 + + + + + + + 255 + 255 + 255 + + + + + + + 124 + 124 + 124 + + + + + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + + + + + + + + + 243 + 243 + 243 + + + + + 250 + 250 + 250 + + + + + @@ -16628,43 +16025,97 @@ border-radius: 5; 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Consider increasing this if you have high Ki values and limits and a sudden stick motion from one aircraft bank angle to another causes the aircraft to rotate and then slowly change rotation.</p></body></html> - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 0 - - - 0.000000000000000 - - - 31.000000000000000 - - - 10.000000000000000 - - - - objname:StabilizationSettings - fieldname:RattitudeAntiWindup - haslimits:no - scale:1 - buttongroup:15 - - - - - - - - - 0 - 0 - - - - - 144 - 16 - - - - - 175 - 16777215 - - - - - 75 - 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; - - - Anti-Windup - - - Qt::AlignCenter - - - - - - - Qt::Horizontal - - - - 300 - 20 - - - - - - - - - - - - - - - 0 - 0 - + + QSizePolicy::Fixed - + - 0 - 0 + 20 + 9 - - Integral Limits - - - - 9 - - - 9 - - - 9 - - - 9 - - - 6 - - - - - Qt::Horizontal - - - - 632 - 20 - - - - - - - - - 0 - 0 - - - - - 0 - 0 - - - - - 16777215 - 16777215 - - - - Reset all values to GCS defaults - - - - - - Default - - - - objname:StabilizationSettings - button:default - buttongroup:13 - - - - - - - - - 0 - 100 - - - - - - - - - 0 - 0 - 0 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 125 - 125 - 125 - - - - - - - 166 - 166 - 166 - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - - - 69 - 69 - 69 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 125 - 125 - 125 - - - - - - - 166 - 166 - 166 - - - - - - - 69 - 69 - 69 - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - - - 125 - 125 - 125 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 125 - 125 - 125 - - - - - - - 166 - 166 - 166 - - - - - - - 125 - 125 - 125 - - - - - - - 125 - 125 - 125 - - - - - - - 0 - 0 - 0 - - - - - - - - QGroupBox{border: 0px;} - - - - - - true - - - - 0 - - - 9 - - - 0 - - - 0 - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This sets the maximum value of the integral (KP) that is used in Rate mode.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 4 - - - 1.000000000000000 - - - 0.001000000000000 - - - - objname:StabilizationSettings - fieldname:PitchRatePID - element:ILimit - haslimits:no - scale:1 - buttongroup:13 - - - - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This sets the maximum value of the integral (KP) that is used in Rate mode.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 4 - - - 1.000000000000000 - - - 0.001000000000000 - - - - objname:StabilizationSettings - fieldname:RollRatePID - element:ILimit - haslimits:no - scale:1 - buttongroup:13 - - - - - - - - - 0 - 0 - - - - - 0 - 16 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 39 - 39 - 39 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 75 - true - - - - false - - - 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; - - - Roll - - - Qt::AlignCenter - - - - - - - - 0 - 0 - - - - - 0 - 16 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 39 - 39 - 39 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 75 - true - - - - false - - - 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; - - - Yaw - - - Qt::AlignCenter - - - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This sets the maximum value of the integral (KP) that is used in AttitudeMode.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 2 - - - 0.100000000000000 - - - - objname:StabilizationSettings - fieldname:YawPI - element:ILimit - haslimits:no - scale:1 - buttongroup:13 - - - - - - - - - 0 - 0 - - - - - 91 - 0 - - - - - 16777215 - 16777215 - - - - - - - ILimit Attitude - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This sets the maximum value of the integral (KP) that is used in AttitudeMode.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 2 - - - 0.100000000000000 - - - - objname:StabilizationSettings - fieldname:PitchPI - element:ILimit - haslimits:no - scale:1 - buttongroup:13 - - - - - - - - Qt::Horizontal - - - - 20 - 20 - - - - - - - - Qt::Horizontal - - - QSizePolicy::Fixed - - - - 91 - 13 - - - - - - - - - 0 - 0 - - - - - 91 - 0 - - - - - 16777215 - 16777215 - - - - - - - ILimit Rate - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This sets the maximum value of the integral (KP) that is used in AttitudeMode.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 2 - - - 0.100000000000000 - - - - objname:StabilizationSettings - fieldname:RollPI - element:ILimit - haslimits:no - scale:1 - buttongroup:13 - - - - - - - - Qt::Horizontal - - - - 20 - 20 - - - - - - - - - 0 - 0 - - - - - 0 - 16 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 39 - 39 - 39 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 75 - true - - - - false - - - 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; - - - Pitch - - - Qt::AlignCenter - - - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This sets the maximum value of the integral (KP) that is used in Rate mode.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 4 - - - 1.000000000000000 - - - 0.001000000000000 - - - - objname:StabilizationSettings - fieldname:YawRatePID - element:ILimit - haslimits:no - scale:1 - buttongroup:13 - - - - - - - - Qt::Horizontal - - - - 20 - 20 - - - - - - - - Qt::Horizontal - - - - 1 - 20 - - - - - - - - - + @@ -27118,6 +26849,22 @@ border-radius: 5; + + + + Qt::Vertical + + + QSizePolicy::Fixed + + + + 40 + 9 + + + + @@ -27183,6 +26930,258 @@ border-radius: 5; + + + Misc + + + + 0 + + + 0 + + + 0 + + + 0 + + + + + QFrame::NoFrame + + + 0 + + + true + + + + + 0 + 0 + 796 + 708 + + + + + 0 + + + + + Rattitude + + + + 9 + + + 9 + + + 9 + + + 9 + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + Default + + + + objname:StabilizationSettings + button:default + buttongroup:15 + + + + + + + + QGroupBox{border: 0px;} + + + true + + + + 0 + + + 9 + + + 0 + + + 0 + + + + + Qt::Horizontal + + + QSizePolicy::Fixed + + + + 90 + 11 + + + + + + + + + 0 + 0 + + + + + 5 + 22 + + + + + 175 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>Higher values will keep larger Ki terms and limits from winding up at partial stick. Consider increasing this if you have high Ki values and limits and a sudden stick motion from one aircraft bank angle to another causes the aircraft to rotate and then slowly change rotation.</p></body></html> + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + 0 + + + 0.000000000000000 + + + 31.000000000000000 + + + 10.000000000000000 + + + + objname:StabilizationSettings + fieldname:RattitudeAntiWindup + haslimits:no + scale:1 + buttongroup:15 + + + + + + + + + 0 + 0 + + + + + 144 + 16 + + + + + 175 + 16777215 + + + + + 75 + 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; + + + Anti-Windup + + + Qt::AlignCenter + + + + + + + Qt::Horizontal + + + + 300 + 20 + + + + + + + + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + + + Altitude Hold @@ -27205,6 +27204,9 @@ border-radius: 5; QFrame::NoFrame + + 0 + true @@ -27213,12 +27215,15 @@ border-radius: 5; 0 0 - 407 - 518 + 796 + 708 - - + + + 9 + + @@ -27823,7 +27828,7 @@ border-radius: 5; objname:AltitudeHoldSettings button:default - buttongroup:99 + buttongroup:98 @@ -28375,7 +28380,7 @@ border-radius: 5; element:Kp scale:0.01 haslimits:yes - buttongroup:99 + buttongroup:98 @@ -28401,7 +28406,7 @@ border-radius: 5; element:Kp scale:0.01 haslimits:yes - buttongroup:99 + buttongroup:98 @@ -28427,7 +28432,7 @@ border-radius: 5; element:Ki scale:0.00001 haslimits:yes - buttongroup:99 + buttongroup:98 @@ -29040,7 +29045,7 @@ border-radius: 5; element:Kp scale:0.01 haslimits:yes - buttongroup:99 + buttongroup:98 @@ -29087,7 +29092,7 @@ border-radius: 5; element:Kp scale:0.01 haslimits:yes - buttongroup:99 + buttongroup:98 @@ -29134,7 +29139,7 @@ border-radius: 5; element:Ki scale:0.00001 haslimits:yes - buttongroup:99 + buttongroup:98 @@ -29145,7 +29150,7 @@ border-radius: 5; - + @@ -30158,7 +30163,7 @@ border-radius: 5; - 10 + 5 1 @@ -30167,7 +30172,7 @@ border-radius: 5; 1 - 5 + 3 Qt::Horizontal @@ -30183,7 +30188,7 @@ border-radius: 5; objname:AltitudeHoldSettings fieldname:ThrottleRate haslimits:no - scale:0.5 + scale:1 buttongroup:99 @@ -30337,16 +30342,16 @@ border-radius: 5; Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - 1 + 0 5.000000000000000 - 0.100000000000000 + 1.000000000000000 - 2.500000000000000 + 3.000000000000000 @@ -30991,7 +30996,7 @@ border-radius: 5; - + @@ -31037,7 +31042,7 @@ border-radius: 5; - + Qt::Vertical @@ -31250,6 +31255,14 @@ Useful if you have accidentally changed some settings. + + + QTabBar + QWidget +
qtabbar.h
+ 1 + + stabilizationReloadBoardData_6 saveStabilizationToRAM_6 diff --git a/ground/openpilotgcs/src/plugins/config/txpid.ui b/ground/openpilotgcs/src/plugins/config/txpid.ui index 58b2f4479..550102209 100644 --- a/ground/openpilotgcs/src/plugins/config/txpid.ui +++ b/ground/openpilotgcs/src/plugins/config/txpid.ui @@ -17,7 +17,16 @@ 6 - + + 12 + + + 12 + + + 12 + + 12 @@ -33,7 +42,16 @@ 6 - + + 0 + + + 0 + + + 0 + + 0 @@ -113,15 +131,24 @@ 0 0 - 745 - 469 + 742 + 450 6 - + + 12 + + + 12 + + + 12 + + 12 @@ -661,6 +688,16 @@ margin:1px; + + + + PID Bank + + + + + + diff --git a/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro b/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro index 40fb468ea..5c4269c69 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro +++ b/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro @@ -129,7 +129,6 @@ HEADERS += mainwindow.h \ uavgadgetdecorator.h \ workspacesettings.h \ uavconfiginfo.h \ - authorsdialog.h \ iconfigurableplugin.h \ aboutdialog.h diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro index 8fb4d384e..5bc59d7cf 100644 --- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro +++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro @@ -60,6 +60,10 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \ $$UAVOBJECT_SYNTHETICS/overosyncsettings.h \ $$UAVOBJECT_SYNTHETICS/systemsettings.h \ $$UAVOBJECT_SYNTHETICS/stabilizationsettings.h \ + $$UAVOBJECT_SYNTHETICS/stabilizationsettingsbank1.h \ + $$UAVOBJECT_SYNTHETICS/stabilizationsettingsbank2.h \ + $$UAVOBJECT_SYNTHETICS/stabilizationsettingsbank3.h \ + $$UAVOBJECT_SYNTHETICS/stabilizationbank.h \ $$UAVOBJECT_SYNTHETICS/manualcontrolsettings.h \ $$UAVOBJECT_SYNTHETICS/manualcontrolcommand.h \ $$UAVOBJECT_SYNTHETICS/stabilizationdesired.h \ @@ -151,6 +155,10 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \ $$UAVOBJECT_SYNTHETICS/overosyncsettings.cpp \ $$UAVOBJECT_SYNTHETICS/systemsettings.cpp \ $$UAVOBJECT_SYNTHETICS/stabilizationsettings.cpp \ + $$UAVOBJECT_SYNTHETICS/stabilizationsettingsbank1.cpp \ + $$UAVOBJECT_SYNTHETICS/stabilizationsettingsbank2.cpp \ + $$UAVOBJECT_SYNTHETICS/stabilizationsettingsbank3.cpp \ + $$UAVOBJECT_SYNTHETICS/stabilizationbank.cpp \ $$UAVOBJECT_SYNTHETICS/manualcontrolsettings.cpp \ $$UAVOBJECT_SYNTHETICS/manualcontrolcommand.cpp \ $$UAVOBJECT_SYNTHETICS/stabilizationdesired.cpp \ diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp index ac6951d3a..12f58a50e 100644 --- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp +++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp @@ -29,218 +29,179 @@ #include #include "uavsettingsimportexport/uavsettingsimportexportfactory.h" -/** - * Constructor - */ -ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent), isConnected(false), allowWidgetUpdates(true), smartsave(NULL), dirty(false), outOfLimitsStyle("background-color: rgb(255, 0, 0);"), timeOut(NULL) +ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent), m_isConnected(false), m_isWidgetUpdatesAllowed(true), + m_saveButton(NULL), m_isDirty(false), m_outOfLimitsStyle("background-color: rgb(255, 0, 0);"), m_realtimeUpdateTimer(NULL) { - pm = ExtensionSystem::PluginManager::instance(); - objManager = pm->getObject(); - TelemetryManager *telMngr = pm->getObject(); - utilMngr = pm->getObject(); + m_pluginManager = ExtensionSystem::PluginManager::instance(); + TelemetryManager *telMngr = m_pluginManager->getObject(); + m_objectUtilManager = m_pluginManager->getObject(); connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()), Qt::UniqueConnection); connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()), Qt::UniqueConnection); connect(telMngr, SIGNAL(connected()), this, SIGNAL(autoPilotConnected()), Qt::UniqueConnection); connect(telMngr, SIGNAL(disconnected()), this, SIGNAL(autoPilotDisconnected()), Qt::UniqueConnection); - UAVSettingsImportExportFactory *importexportplugin = pm->getObject(); + UAVSettingsImportExportFactory *importexportplugin = m_pluginManager->getObject(); connect(importexportplugin, SIGNAL(importAboutToBegin()), this, SLOT(invalidateObjects())); } -/** - * Add a widget to the dirty detection pool - * @param widget to add to the detection pool - */ void ConfigTaskWidget::addWidget(QWidget *widget) { - addUAVObjectToWidgetRelation("", "", widget); + addWidgetBinding("", "", widget); } -/** - * Add an object to the management system - * @param objectName name of the object to add to the management system - */ + void ConfigTaskWidget::addUAVObject(QString objectName, QList *reloadGroups) { - addUAVObjectToWidgetRelation(objectName, "", NULL, 0, 1, false, reloadGroups); + addWidgetBinding(objectName, "", NULL, 0, 1, false, reloadGroups); } void ConfigTaskWidget::addUAVObject(UAVObject *objectName, QList *reloadGroups) { - QString objstr; - - if (objectName) { - objstr = objectName->getName(); - } - addUAVObject(objstr, reloadGroups); -} -/** - * Add an UAVObject field to widget relation to the management system - * @param object name of the object to add - * @param field name of the field to add - * @param widget pointer to the widget whitch will display/define the field value - * @param index index of the field element to add to this relation - */ -void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString field, QWidget *widget, QString index) -{ - UAVObject *obj = NULL; - UAVObjectField *_field = NULL; - - obj = objManager->getObject(QString(object)); - Q_ASSERT(obj); - _field = obj->getField(QString(field)); - Q_ASSERT(_field); - addUAVObjectToWidgetRelation(object, field, widget, _field->getElementNames().indexOf(index)); + addUAVObject(objectName ? objectName->getName() : QString(""), reloadGroups); } -void ConfigTaskWidget::addUAVObjectToWidgetRelation(UAVObject *obj, UAVObjectField *field, QWidget *widget, QString index) +int ConfigTaskWidget::fieldIndexFromElementName(QString objectName, QString fieldName, QString elementName) { - QString objstr; - QString fieldstr; + if (elementName.isEmpty() || objectName.isEmpty()) { + return 0; + } - if (obj) { - objstr = obj->getName(); - } - if (field) { - fieldstr = field->getName(); - } - addUAVObjectToWidgetRelation(objstr, fieldstr, widget, index); -} -/** - * Add a UAVObject field to widget relation to the management system - * @param object name of the object to add - * @param field name of the field to add - * @param widget pointer to the widget whitch will display/define the field value - * @param element name of the element of the field element to add to this relation - * @param scale scale value of this relation - * @param isLimited bool to signal if this widget contents is limited in value - * @param defaultReloadGroups default and reload groups this relation belongs to - * @param instID instance ID of the object used on this relation - */ -void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString field, QWidget *widget, QString element, double scale, bool isLimited, QList *defaultReloadGroups, quint32 instID) -{ - UAVObject *obj = objManager->getObject(QString(object), instID); + QString singleObjectName = mapObjectName(objectName).split(",").at(0); + UAVObject *object = getObject(singleObjectName); + Q_ASSERT(object); - Q_ASSERT(obj); - UAVObjectField *_field; - int index = 0; - if (!field.isEmpty() && obj) { - _field = obj->getField(QString(field)); - if (!element.isEmpty()) { - index = _field->getElementNames().indexOf(QString(element)); - } - } - addUAVObjectToWidgetRelation(object, field, widget, index, scale, isLimited, defaultReloadGroups, instID); + UAVObjectField *field = object->getField(fieldName); + Q_ASSERT(field); + + return field->getElementNames().indexOf(elementName); } -void ConfigTaskWidget::addUAVObjectToWidgetRelation(UAVObject *obj, UAVObjectField *field, QWidget *widget, QString element, double scale, bool isLimited, QList *defaultReloadGroups, quint32 instID) +void ConfigTaskWidget::addWidgetBinding(QString objectName, QString fieldName, QWidget *widget, QString elementName) { - QString objstr; - QString fieldstr; - - if (obj) { - objstr = obj->getName(); - } - if (field) { - fieldstr = field->getName(); - } - addUAVObjectToWidgetRelation(objstr, fieldstr, widget, element, scale, isLimited, defaultReloadGroups, instID); -} -void ConfigTaskWidget::addUAVObjectToWidgetRelation(UAVObject *obj, UAVObjectField *field, QWidget *widget, int index, double scale, bool isLimited, QList *defaultReloadGroups, quint32 instID) -{ - QString objstr; - QString fieldstr; - - if (obj) { - objstr = obj->getName(); - } - if (field) { - fieldstr = field->getName(); - } - addUAVObjectToWidgetRelation(objstr, fieldstr, widget, index, scale, isLimited, defaultReloadGroups, instID); + addWidgetBinding(objectName, fieldName, widget, fieldIndexFromElementName(objectName, fieldName, elementName)); } -/** - * Add an UAVObject field to widget relation to the management system - * @param object name of the object to add - * @param field name of the field to add - * @param widget pointer to the widget whitch will display/define the field value - * @param index index of the element of the field to add to this relation - * @param scale scale value of this relation - * @param isLimited bool to signal if this widget contents is limited in value - * @param defaultReloadGroups default and reload groups this relation belongs to - * @param instID instance ID of the object used on this relation - */ -void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString field, QWidget *widget, int index, double scale, bool isLimited, QList *defaultReloadGroups, quint32 instID) +void ConfigTaskWidget::addWidgetBinding(UAVObject *object, UAVObjectField *field, QWidget *widget, QString elementName) { - if (addShadowWidget(object, field, widget, index, scale, isLimited, defaultReloadGroups, instID)) { + addWidgetBinding(object ? object->getName() : QString(""), field ? field->getName() : QString(""), widget, elementName); +} + +void ConfigTaskWidget::addWidgetBinding(QString objectName, QString fieldName, QWidget *widget, QString elementName, double scale, + bool isLimited, QList *reloadGroupIDs, quint32 instID) +{ + addWidgetBinding(objectName, fieldName, widget, fieldIndexFromElementName(objectName, fieldName, elementName), + scale, isLimited, reloadGroupIDs, instID); +} + +void ConfigTaskWidget::addWidgetBinding(UAVObject *object, UAVObjectField *field, QWidget *widget, QString elementName, double scale, + bool isLimited, QList *reloadGroupIDs, quint32 instID) +{ + addWidgetBinding(object ? object->getName() : QString(""), field ? field->getName() : QString(""), widget, elementName, scale, + isLimited, reloadGroupIDs, instID); +} + +void ConfigTaskWidget::addWidgetBinding(UAVObject *object, UAVObjectField *field, QWidget *widget, int index, double scale, + bool isLimited, QList *reloadGroupIDs, quint32 instID) +{ + addWidgetBinding(object ? object->getName() : QString(""), field ? field->getName() : QString(""), widget, index, scale, + isLimited, reloadGroupIDs, instID); +} + +void ConfigTaskWidget::addWidgetBinding(QString objectName, QString fieldName, QWidget *widget, int index, double scale, + bool isLimited, QList *reloadGroupIDs, quint32 instID) +{ + QString mappedObjectName = mapObjectName(objectName); + + // If object name is comma separated list of objects, call one time per objectName + foreach(QString singleObjectName, mappedObjectName.split(",")) { + doAddWidgetBinding(singleObjectName, fieldName, widget, index, scale, isLimited, reloadGroupIDs, instID); + } +} + +void ConfigTaskWidget::doAddWidgetBinding(QString objectName, QString fieldName, QWidget *widget, int index, double scale, + bool isLimited, QList *reloadGroupIDs, quint32 instID) +{ + if (addShadowWidgetBinding(objectName, fieldName, widget, index, scale, isLimited, reloadGroupIDs, instID)) { return; } - UAVObject *obj = NULL; - UAVObjectField *_field = NULL; - if (!object.isEmpty()) { - obj = objManager->getObject(QString(object), instID); - Q_ASSERT(obj); - objectUpdates.insert(obj, true); - connect(obj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(objectUpdated(UAVObject *))); - connect(obj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshWidgetsValues(UAVObject *)), Qt::UniqueConnection); + UAVObject *object = NULL; + UAVObjectField *field = NULL; + if (!objectName.isEmpty()) { + object = getObject(QString(objectName), instID); + Q_ASSERT(object); + m_updatedObjects.insert(object, true); + connect(object, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(objectUpdated(UAVObject *))); + connect(object, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshWidgetsValues(UAVObject *)), Qt::UniqueConnection); } - if (!field.isEmpty() && obj) { - _field = obj->getField(QString(field)); + + if (!fieldName.isEmpty() && object) { + field = object->getField(QString(fieldName)); } - objectToWidget *ow = new objectToWidget(); - ow->field = _field; - ow->object = obj; - ow->widget = widget; - ow->index = index; - ow->scale = scale; - ow->isLimited = isLimited; - objOfInterest.append(ow); - if (obj) { - if (smartsave) { - smartsave->addObject((UAVDataObject *)obj); + + WidgetBinding *binding = new WidgetBinding(widget, object, field, index, scale, isLimited); + // Only the first binding per widget can be enabled. + binding->setIsEnabled(m_widgetBindingsPerWidget.count(widget) == 0); + m_widgetBindingsPerWidget.insert(widget, binding); + + + if (object) { + m_widgetBindingsPerObject.insert(object, binding); + if (m_saveButton) { + m_saveButton->addObject((UAVDataObject *)object); } } - if (widget == NULL) { - if (defaultReloadGroups && obj) { - foreach(int i, *defaultReloadGroups) { - if (this->defaultReloadGroups.contains(i)) { - this->defaultReloadGroups.value(i)->append(ow); - } else { - this->defaultReloadGroups.insert(i, new QList()); - this->defaultReloadGroups.value(i)->append(ow); - } + + if (!widget) { + if (reloadGroupIDs && object) { + foreach(int groupId, *reloadGroupIDs) { + m_reloadGroups.insert(groupId, binding); } } } else { connectWidgetUpdatesToSlot(widget, SLOT(widgetsContentsChanged())); - if (defaultReloadGroups) { - addWidgetToDefaultReloadGroups(widget, defaultReloadGroups); + if (reloadGroupIDs) { + addWidgetToReloadGroups(widget, reloadGroupIDs); + } + if (binding->isEnabled()) { + loadWidgetLimits(widget, field, index, isLimited, scale); } - shadowsList.insert(widget, ow); - loadWidgetLimits(widget, _field, index, isLimited, scale); } } -/** - * destructor - */ + +void ConfigTaskWidget::setWidgetBindingObjectEnabled(QString objectName, bool enabled) +{ + UAVObject *object = getObject(objectName); + + Q_ASSERT(object); + + bool dirtyBack = isDirty(); + + foreach(WidgetBinding * binding, m_widgetBindingsPerObject.values(object)) { + binding->setIsEnabled(enabled); + if (enabled) { + if (binding->value().isValid() && !binding->value().isNull()) { + setWidgetFromVariant(binding->widget(), binding->value(), binding->scale()); + } else { + setWidgetFromField(binding->widget(), binding->field(), binding->index(), binding->scale(), binding->isLimited()); + } + } + } + setDirty(dirtyBack); +} + ConfigTaskWidget::~ConfigTaskWidget() { - if (smartsave) { - delete smartsave; + if (m_saveButton) { + delete m_saveButton; } - foreach(QList *pointer, defaultReloadGroups.values()) { - if (pointer) { - delete pointer; + QSet deleteSet = m_widgetBindingsPerWidget.values().toSet(); + foreach(WidgetBinding * binding, deleteSet) { + if (binding) { + delete binding; } } - foreach(objectToWidget * oTw, objOfInterest) { - if (oTw) { - delete oTw; - } - } - if (timeOut) { - delete timeOut; - timeOut = NULL; + if (m_realtimeUpdateTimer) { + delete m_realtimeUpdateTimer; + m_realtimeUpdateTimer = NULL; } } @@ -254,10 +215,6 @@ void ConfigTaskWidget::saveObjectToSD(UAVObject *obj) utilMngr->saveObjectToSD(obj); } -/** - * Util function to get a pointer to the object manager - * @return pointer to the UAVObjectManager - */ UAVObjectManager *ConfigTaskWidget::getObjectManager() { ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); @@ -266,11 +223,7 @@ UAVObjectManager *ConfigTaskWidget::getObjectManager() Q_ASSERT(objMngr); return objMngr; } -/** - * Utility function which calculates the Mean value of a list of values - * @param list list of double values - * @returns Mean value of the list of parameter values - */ + double ConfigTaskWidget::listMean(QList list) { double accum = 0; @@ -281,11 +234,6 @@ double ConfigTaskWidget::listMean(QList list) return accum / list.size(); } -/** - * Utility function which calculates the Variance value of a list of values - * @param list list of double values - * @returns Variance of the list of parameter values - */ double ConfigTaskWidget::listVar(QList list) { double mean_accum = 0; @@ -305,155 +253,123 @@ double ConfigTaskWidget::listVar(QList list) return var_accum / (list.size() - 1); } -// ************************************ -// telemetry start/stop connect/disconnect signals - void ConfigTaskWidget::onAutopilotDisconnect() { - isConnected = false; + m_isConnected = false; enableControls(false); invalidateObjects(); } void ConfigTaskWidget::forceConnectedState() // dynamic widgets don't recieve the connected signal. This should be called instead. { - isConnected = true; + m_isConnected = true; setDirty(false); } void ConfigTaskWidget::onAutopilotConnect() { - if (utilMngr) { - currentBoard = utilMngr->getBoardModel(); // TODO REMEMBER TO ADD THIS TO FORCE CONNECTED FUNC ON CC3D_RELEASE + if (m_objectUtilManager) { + m_currentBoardId = m_objectUtilManager->getBoardModel(); // TODO REMEMBER TO ADD THIS TO FORCE CONNECTED FUNC ON CC3D_RELEASE } invalidateObjects(); - isConnected = true; - foreach(objectToWidget * ow, objOfInterest) { - loadWidgetLimits(ow->widget, ow->field, ow->index, ow->isLimited, ow->scale); + m_isConnected = true; + foreach(WidgetBinding * binding, m_widgetBindingsPerObject) { + if (!binding->isEnabled()) { + continue; + } + loadWidgetLimits(binding->widget(), binding->field(), binding->index(), binding->isLimited(), binding->scale()); } setDirty(false); enableControls(true); refreshWidgetsValues(); } -/** - * SLOT Function used to populate the widgets with the initial values - * Overwrite this if you need to change the default behavior - */ + void ConfigTaskWidget::populateWidgets() { - bool dirtyBack = dirty; + bool dirtyBack = isDirty(); emit populateWidgetsRequested(); - foreach(objectToWidget * ow, objOfInterest) { - if (ow->object == NULL || ow->field == NULL || ow->widget == NULL) { - // do nothing - } else { - setWidgetFromField(ow->widget, ow->field, ow->index, ow->scale, ow->isLimited); + foreach(WidgetBinding * binding, m_widgetBindingsPerObject) { + if (binding->isEnabled() && binding->object() != NULL && binding->field() != NULL && binding->widget() != NULL) { + setWidgetFromField(binding->widget(), binding->field(), binding->index(), binding->scale(), binding->isLimited()); } } setDirty(dirtyBack); } -/** - * SLOT function used to refresh the widgets contents of the widgets with relation to - * object field added to the framework pool - * Overwrite this if you need to change the default behavior - */ + void ConfigTaskWidget::refreshWidgetsValues(UAVObject *obj) { - if (!allowWidgetUpdates) { + if (!m_isWidgetUpdatesAllowed) { return; } - bool dirtyBack = dirty; + bool dirtyBack = isDirty(); emit refreshWidgetsValuesRequested(); - foreach(objectToWidget * ow, objOfInterest) { - if (ow->object == NULL || ow->field == NULL || ow->widget == NULL) { - // do nothing - } else { - if (ow->object == obj || obj == NULL) { - setWidgetFromField(ow->widget, ow->field, ow->index, ow->scale, ow->isLimited); - } + foreach(WidgetBinding * binding, m_widgetBindingsPerObject.values(obj)) { + if (binding->isEnabled() && binding->field() != NULL && binding->widget() != NULL) { + setWidgetFromField(binding->widget(), binding->field(), binding->index(), binding->scale(), binding->isLimited()); } } setDirty(dirtyBack); } -/** - * SLOT function used to update the uavobject fields from widgets with relation to - * object field added to the framework pool - * Overwrite this if you need to change the default behavior - */ + void ConfigTaskWidget::updateObjectsFromWidgets() { emit updateObjectsFromWidgetsRequested(); - foreach(objectToWidget * ow, objOfInterest) { - if (ow->object == NULL || ow->field == NULL) {} else { - setFieldFromWidget(ow->widget, ow->field, ow->index, ow->scale); + foreach(WidgetBinding * binding, m_widgetBindingsPerObject) { + if (binding->object() != NULL && binding->field() != NULL) { + binding->updateObjectFieldFromValue(); } } } -/** - * SLOT function used handle help button presses - * Overwrite this if you need to change the default behavior - */ + void ConfigTaskWidget::helpButtonPressed() { - QString url = helpButtonList.value((QPushButton *)sender(), QString()); + QString url = m_helpButtons.value((QPushButton *)sender(), QString()); if (!url.isEmpty()) { QDesktopServices::openUrl(QUrl(url, QUrl::StrictMode)); } } -/** - * Add update and save buttons to the form - * multiple buttons can be added for the same function - * @param update pointer to the update button - * @param save pointer to the save button - */ + void ConfigTaskWidget::addApplySaveButtons(QPushButton *update, QPushButton *save) { - if (!smartsave) { - smartsave = new smartSaveButton(this); - connect(smartsave, SIGNAL(preProcessOperations()), this, SLOT(updateObjectsFromWidgets())); - connect(smartsave, SIGNAL(saveSuccessfull()), this, SLOT(clearDirty())); - connect(smartsave, SIGNAL(beginOp()), this, SLOT(disableObjUpdates())); - connect(smartsave, SIGNAL(endOp()), this, SLOT(enableObjUpdates())); + if (!m_saveButton) { + m_saveButton = new SmartSaveButton(this); + connect(m_saveButton, SIGNAL(preProcessOperations()), this, SLOT(updateObjectsFromWidgets())); + connect(m_saveButton, SIGNAL(saveSuccessfull()), this, SLOT(clearDirty())); + connect(m_saveButton, SIGNAL(beginOp()), this, SLOT(disableObjectUpdates())); + connect(m_saveButton, SIGNAL(endOp()), this, SLOT(enableObjectUpdates())); } if (update && save) { - smartsave->addButtons(save, update); + m_saveButton->addButtons(save, update); } else if (update) { - smartsave->addApplyButton(update); + m_saveButton->addApplyButton(update); } else if (save) { - smartsave->addSaveButton(save); + m_saveButton->addSaveButton(save); } - if (objOfInterest.count() > 0) { - foreach(objectToWidget * oTw, objOfInterest) { - smartsave->addObject((UAVDataObject *)oTw->object); - } + foreach(WidgetBinding * binding, m_widgetBindingsPerWidget) { + m_saveButton->addObject((UAVDataObject *)binding->object()); } updateEnableControls(); } -/** - * SLOT function used the enable or disable the SAVE, UPLOAD and RELOAD buttons - * @param enable set to true to enable the buttons or false to disable them - * @param field name of the field to add - */ void ConfigTaskWidget::enableControls(bool enable) { - if (smartsave) { - smartsave->enableControls(enable); + if (m_saveButton) { + m_saveButton->enableControls(enable); } - foreach(QPushButton * button, reloadButtonList) { + foreach(QPushButton * button, m_reloadButtons) { button->setEnabled(enable); } - foreach(objectToWidget * ow, objOfInterest) { - if (ow->widget) { - ow->widget->setEnabled(enable); - foreach(shadow * sh, ow->shadowsList) { - sh->widget->setEnabled(enable); + foreach(WidgetBinding * binding, m_widgetBindingsPerObject) { + if (binding->isEnabled() && binding->widget()) { + binding->widget()->setEnabled(enable); + foreach(ShadowWidgetBinding * shadow, binding->shadows()) { + shadow->widget()->setEnabled(enable); } } } @@ -465,233 +381,187 @@ bool ConfigTaskWidget::shouldObjectBeSaved(UAVObject *object) return true; } -/** - * SLOT function called when on of the widgets contents added to the framework changes - */ void ConfigTaskWidget::forceShadowUpdates() { - foreach(objectToWidget * oTw, objOfInterest) { - foreach(shadow * sh, oTw->shadowsList) { - disconnectWidgetUpdatesToSlot((QWidget *)sh->widget, SLOT(widgetsContentsChanged())); - checkWidgetsLimits(sh->widget, oTw->field, oTw->index, sh->isLimited, getVariantFromWidget(oTw->widget, oTw->scale, oTw->getUnits()), sh->scale); - setWidgetFromVariant(sh->widget, getVariantFromWidget(oTw->widget, oTw->scale, oTw->getUnits()), sh->scale); - emit widgetContentsChanged((QWidget *)sh->widget); - connectWidgetUpdatesToSlot((QWidget *)sh->widget, SLOT(widgetsContentsChanged())); + foreach(WidgetBinding * binding, m_widgetBindingsPerObject) { + if (!binding->isEnabled()) { + continue; + } + QVariant widgetValue = getVariantFromWidget(binding->widget(), binding->scale(), binding->units()); + + foreach(ShadowWidgetBinding * shadow, binding->shadows()) { + disconnectWidgetUpdatesToSlot(shadow->widget(), SLOT(widgetsContentsChanged())); + + checkWidgetsLimits(shadow->widget(), binding->field(), binding->index(), shadow->isLimited(), widgetValue, shadow->scale()); + setWidgetFromVariant(shadow->widget(), widgetValue, shadow->scale()); + + emit widgetContentsChanged(shadow->widget()); + connectWidgetUpdatesToSlot(shadow->widget(), SLOT(widgetsContentsChanged())); } } setDirty(true); } -/** - * SLOT function called when one of the widgets contents added to the framework changes - */ + void ConfigTaskWidget::widgetsContentsChanged() { - emit widgetContentsChanged((QWidget *)sender()); + QWidget *emitter = ((QWidget *)sender()); + emit widgetContentsChanged(emitter); double scale; - objectToWidget *oTw = shadowsList.value((QWidget *)sender(), NULL); + QVariant value; - if (oTw) { - if (oTw->widget == (QWidget *)sender()) { - scale = oTw->scale; - checkWidgetsLimits((QWidget *)sender(), oTw->field, oTw->index, oTw->isLimited, getVariantFromWidget((QWidget *)sender(), - oTw->scale, oTw->getUnits()), oTw->scale); - } else { - foreach(shadow * sh, oTw->shadowsList) { - if (sh->widget == (QWidget *)sender()) { - scale = sh->scale; - checkWidgetsLimits((QWidget *)sender(), oTw->field, oTw->index, sh->isLimited, getVariantFromWidget((QWidget *)sender(), - scale, oTw->getUnits()), scale); + foreach(WidgetBinding * binding, m_widgetBindingsPerWidget.values(emitter)) { + if (binding && binding->isEnabled()) { + if (binding->widget() == emitter) { + scale = binding->scale(); + checkWidgetsLimits(emitter, binding->field(), binding->index(), binding->isLimited(), + getVariantFromWidget(emitter, scale, binding->units()), scale); + } else { + foreach(ShadowWidgetBinding * shadow, binding->shadows()) { + if (shadow->widget() == emitter) { + scale = shadow->scale(); + checkWidgetsLimits(emitter, binding->field(), binding->index(), shadow->isLimited(), + getVariantFromWidget(emitter, scale, binding->units()), scale); + } + } + } + value = getVariantFromWidget(emitter, scale, binding->units()); + binding->setValue(value); + + if (binding->widget() != emitter) { + disconnectWidgetUpdatesToSlot(binding->widget(), SLOT(widgetsContentsChanged())); + + checkWidgetsLimits(binding->widget(), binding->field(), binding->index(), binding->isLimited(), + value, binding->scale()); + setWidgetFromVariant(binding->widget(), value, binding->scale()); + emit widgetContentsChanged(binding->widget()); + + connectWidgetUpdatesToSlot(binding->widget(), SLOT(widgetsContentsChanged())); + } + foreach(ShadowWidgetBinding * shadow, binding->shadows()) { + if (shadow->widget() != emitter) { + disconnectWidgetUpdatesToSlot(shadow->widget(), SLOT(widgetsContentsChanged())); + + checkWidgetsLimits(shadow->widget(), binding->field(), binding->index(), shadow->isLimited(), + value, shadow->scale()); + setWidgetFromVariant(shadow->widget(), value, shadow->scale()); + emit widgetContentsChanged(shadow->widget()); + + connectWidgetUpdatesToSlot(shadow->widget(), SLOT(widgetsContentsChanged())); } } } - if (oTw->widget != (QWidget *)sender()) { - disconnectWidgetUpdatesToSlot((QWidget *)oTw->widget, SLOT(widgetsContentsChanged())); - checkWidgetsLimits(oTw->widget, oTw->field, oTw->index, oTw->isLimited, getVariantFromWidget((QWidget *)sender(), scale, oTw->getUnits()), oTw->scale); - setWidgetFromVariant(oTw->widget, getVariantFromWidget((QWidget *)sender(), scale, oTw->getUnits()), oTw->scale); - emit widgetContentsChanged((QWidget *)oTw->widget); - connectWidgetUpdatesToSlot((QWidget *)oTw->widget, SLOT(widgetsContentsChanged())); - } - foreach(shadow * sh, oTw->shadowsList) { - if (sh->widget != (QWidget *)sender()) { - disconnectWidgetUpdatesToSlot((QWidget *)sh->widget, SLOT(widgetsContentsChanged())); - checkWidgetsLimits(sh->widget, oTw->field, oTw->index, sh->isLimited, getVariantFromWidget((QWidget *)sender(), scale, oTw->getUnits()), sh->scale); - setWidgetFromVariant(sh->widget, getVariantFromWidget((QWidget *)sender(), scale, oTw->getUnits()), sh->scale); - emit widgetContentsChanged((QWidget *)sh->widget); - connectWidgetUpdatesToSlot((QWidget *)sh->widget, SLOT(widgetsContentsChanged())); - } - } } - if (smartsave) { - smartsave->resetIcons(); + if (m_saveButton) { + m_saveButton->resetIcons(); } setDirty(true); } -/** - * SLOT function used clear the forms dirty status flag - */ + void ConfigTaskWidget::clearDirty() { setDirty(false); } -/** - * Sets the form's dirty status flag - * @param value - */ + void ConfigTaskWidget::setDirty(bool value) { - dirty = value; + m_isDirty = value; } -/** - * Checks if the form is dirty (unsaved changes) - * @return true if the form has unsaved changes - */ + bool ConfigTaskWidget::isDirty() { - if (isConnected) { - return dirty; + if (m_isConnected) { + return m_isDirty; } else { return false; } } -/** - * SLOT function used to disable widget contents changes when related object field changes - */ -void ConfigTaskWidget::disableObjUpdates() + +void ConfigTaskWidget::disableObjectUpdates() { - allowWidgetUpdates = false; - foreach(objectToWidget * obj, objOfInterest) { - if (obj->object) { - disconnect(obj->object, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshWidgetsValues(UAVObject *))); + m_isWidgetUpdatesAllowed = false; + foreach(WidgetBinding * binding, m_widgetBindingsPerWidget) { + if (binding->object()) { + disconnect(binding->object(), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshWidgetsValues(UAVObject *))); } } } -/** - * SLOT function used to enable widget contents changes when related object field changes - */ -void ConfigTaskWidget::enableObjUpdates() + +void ConfigTaskWidget::enableObjectUpdates() { - allowWidgetUpdates = true; - foreach(objectToWidget * obj, objOfInterest) { - if (obj->object) { - connect(obj->object, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshWidgetsValues(UAVObject *)), Qt::UniqueConnection); + m_isWidgetUpdatesAllowed = true; + foreach(WidgetBinding * binding, m_widgetBindingsPerWidget) { + if (binding->object()) { + connect(binding->object(), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshWidgetsValues(UAVObject *)), Qt::UniqueConnection); } } } -/** - * Called when an uav object is updated - * @param obj pointer to the object whitch has just been updated - */ -void ConfigTaskWidget::objectUpdated(UAVObject *obj) + +void ConfigTaskWidget::objectUpdated(UAVObject *object) { - objectUpdates[obj] = true; + m_updatedObjects[object] = true; } -/** - * Checks if all objects added to the pool have already been updated - * @return true if all objects added to the pool have already been updated - */ + bool ConfigTaskWidget::allObjectsUpdated() { - qDebug() << "ConfigTaskWidge:allObjectsUpdated called"; - bool ret = true; - foreach(UAVObject * obj, objectUpdates.keys()) { - ret = ret & objectUpdates[obj]; + bool result = true; + + foreach(UAVObject * object, m_updatedObjects.keys()) { + result = result & m_updatedObjects[object]; } - qDebug() << "Returned:" << ret; - return ret; + return result; } -/** - * Adds a new help button - * @param button pointer to the help button - * @param url url to open in the browser when the help button is pressed - */ + void ConfigTaskWidget::addHelpButton(QPushButton *button, QString url) { - helpButtonList.insert(button, url); + m_helpButtons.insert(button, url); connect(button, SIGNAL(clicked()), this, SLOT(helpButtonPressed())); } -/** - * Invalidates all the uav objects "is updated" flag - */ + void ConfigTaskWidget::invalidateObjects() { - foreach(UAVObject * obj, objectUpdates.keys()) { - objectUpdates[obj] = false; + foreach(UAVObject * obj, m_updatedObjects.keys()) { + m_updatedObjects[obj] = false; } } -/** - * SLOT call this to apply changes to uav objects - */ + void ConfigTaskWidget::apply() { - if (smartsave) { - smartsave->apply(); + if (m_saveButton) { + m_saveButton->apply(); } } -/** - * SLOT call this to save changes to uav objects - */ + void ConfigTaskWidget::save() { - if (smartsave) { - smartsave->save(); + if (m_saveButton) { + m_saveButton->save(); } } -/** - * Adds a new shadow widget - * shadow widgets are widgets whitch have a relation to an object already present on the framework pool i.e. already added trough addUAVObjectToWidgetRelation - * This function doesn't have to be used directly, addUAVObjectToWidgetRelation will call it if a previous relation exhists. - * @return returns false if the shadow widget relation failed to be added (no previous relation exhisted) - */ -bool ConfigTaskWidget::addShadowWidget(QString object, QString field, QWidget *widget, int index, double scale, bool isLimited, - QList *defaultReloadGroups, quint32 instID) + +bool ConfigTaskWidget::addShadowWidgetBinding(QString objectName, QString fieldName, QWidget *widget, int index, double scale, bool isLimited, + QList *defaultReloadGroups, quint32 instID) { - foreach(objectToWidget * oTw, objOfInterest) { - if (!oTw->object || !oTw->widget || !oTw->field) { + foreach(WidgetBinding * binding, m_widgetBindingsPerWidget) { + if (!binding->object() || !binding->widget() || !binding->field()) { continue; } - if (oTw->object->getName() == object && oTw->field->getName() == field && oTw->index == index && oTw->object->getInstID() == instID) { - shadow *sh = NULL; - // prefer anything else to QLabel - if (qobject_cast(oTw->widget) && !qobject_cast(widget)) { - sh = new shadow; - sh->isLimited = oTw->isLimited; - sh->scale = oTw->scale; - sh->widget = oTw->widget; - oTw->isLimited = isLimited; - oTw->scale = scale; - oTw->widget = widget; - } - // prefer QDoubleSpinBox to anything else - else if (!qobject_cast(oTw->widget) && qobject_cast(widget)) { - sh = new shadow; - sh->isLimited = oTw->isLimited; - sh->scale = oTw->scale; - sh->widget = oTw->widget; - oTw->isLimited = isLimited; - oTw->scale = scale; - oTw->widget = widget; - } else { - sh = new shadow; - sh->isLimited = isLimited; - sh->scale = scale; - sh->widget = widget; - } - shadowsList.insert(widget, oTw); - oTw->shadowsList.append(sh); + if (binding->matches(objectName, fieldName, index, instID)) { + binding->addShadow(widget, scale, isLimited); + + m_widgetBindingsPerWidget.insert(widget, binding); connectWidgetUpdatesToSlot(widget, SLOT(widgetsContentsChanged())); if (defaultReloadGroups) { - addWidgetToDefaultReloadGroups(widget, defaultReloadGroups); + addWidgetToReloadGroups(widget, defaultReloadGroups); + } + if (!binding->isEnabled()) { + loadWidgetLimits(widget, binding->field(), binding->index(), isLimited, scale); } - loadWidgetLimits(widget, oTw->field, oTw->index, isLimited, scale); return true; } } return false; } -/** - * Auto loads widgets based on the Dynamic property named "objrelation" - * Check the wiki for more information - */ + void ConfigTaskWidget::autoLoadWidgets() { QPushButton *saveButtonWidget = NULL; @@ -701,7 +571,7 @@ void ConfigTaskWidget::autoLoadWidgets() QVariant info = widget->property("objrelation"); if (info.isValid()) { - uiRelationAutomation uiRelation; + bindingStruct uiRelation; uiRelation.buttonType = none; uiRelation.scale = 1; uiRelation.element = QString(); @@ -788,119 +658,105 @@ void ConfigTaskWidget::autoLoadWidgets() } else { QWidget *wid = qobject_cast(widget); if (wid) { - addUAVObjectToWidgetRelation(uiRelation.objname, uiRelation.fieldname, wid, uiRelation.element, uiRelation.scale, uiRelation.haslimits, &uiRelation.buttonGroup); + addWidgetBinding(uiRelation.objname, uiRelation.fieldname, wid, uiRelation.element, uiRelation.scale, uiRelation.haslimits, &uiRelation.buttonGroup); } } } } refreshWidgetsValues(); forceShadowUpdates(); - foreach(objectToWidget * ow, objOfInterest) { - if (ow->widget) { - qDebug() << "Master:" << ow->widget->objectName(); - } - foreach(shadow * sh, ow->shadowsList) { - if (sh->widget) { - qDebug() << "Child" << sh->widget->objectName(); - } - } - } -} -/** - * Adds a widget to a list of default/reload groups - * default/reload groups are groups of widgets to be set with default or reloaded (values from persistent memory) when a defined button is pressed - * @param widget pointer to the widget to be added to the groups - * @param groups list of the groups on which to add the widget - */ -void ConfigTaskWidget::addWidgetToDefaultReloadGroups(QWidget *widget, QList *groups) -{ - foreach(objectToWidget * oTw, objOfInterest) { - bool addOTW = false; - if (oTw->widget == widget) { - addOTW = true; + /* + foreach(WidgetBinding * binding, m_widgetBindingsPerObject) { + if (binding->widget()) { + qDebug() << "Binding :" << binding->widget()->objectName(); + qDebug() << " Object :" << binding->object()->getName(); + qDebug() << " Field :" << binding->field()->getName(); + qDebug() << " Scale :" << binding->scale(); + qDebug() << " Enabled:" << binding->isEnabled(); + } + foreach(ShadowWidgetBinding * shadow, binding->shadows()) { + if (shadow->widget()) { + qDebug() << " Shadow:" << shadow->widget()->objectName(); + qDebug() << " Scale :" << shadow->scale(); + } + } + } + */ +} + +void ConfigTaskWidget::addWidgetToReloadGroups(QWidget *widget, QList *reloadGroupIDs) +{ + foreach(WidgetBinding * binding, m_widgetBindingsPerWidget) { + bool addBinding = false; + + if (binding->widget() == widget) { + addBinding = true; } else { - foreach(shadow * sh, oTw->shadowsList) { - if (sh->widget == widget) { - addOTW = true; + foreach(ShadowWidgetBinding * shadow, binding->shadows()) { + if (shadow->widget() == widget) { + addBinding = true; } } } - if (addOTW) { - foreach(int i, *groups) { - if (defaultReloadGroups.contains(i)) { - defaultReloadGroups.value(i)->append(oTw); - } else { - defaultReloadGroups.insert(i, new QList()); - defaultReloadGroups.value(i)->append(oTw); - } + if (addBinding) { + foreach(int groupID, *reloadGroupIDs) { + m_reloadGroups.insert(groupID, binding); } } } } -/** - * Adds a button to a default group - * @param button pointer to the default button - * @param buttongroup number of the group - */ + void ConfigTaskWidget::addDefaultButton(QPushButton *button, int buttonGroup) { button->setProperty("group", buttonGroup); connect(button, SIGNAL(clicked()), this, SLOT(defaultButtonClicked())); } -/** - * Adds a button to a reload group - * @param button pointer to the reload button - * @param buttongroup number of the group - */ + void ConfigTaskWidget::addReloadButton(QPushButton *button, int buttonGroup) { button->setProperty("group", buttonGroup); - reloadButtonList.append(button); + m_reloadButtons.append(button); connect(button, SIGNAL(clicked()), this, SLOT(reloadButtonClicked())); } -/** - * Called when a default button is clicked - */ + void ConfigTaskWidget::defaultButtonClicked() { - int group = sender()->property("group").toInt(); - emit defaultRequested(group); + int groupID = sender()->property("group").toInt(); + emit defaultRequested(groupID); - QList *list = defaultReloadGroups.value(group); - foreach(objectToWidget * oTw, *list) { - if (!oTw->object || !oTw->field) { + QList bindings = m_reloadGroups.values(groupID); + foreach(WidgetBinding * binding, bindings) { + if (!binding->isEnabled() || !binding->object() || !binding->field()) { continue; } - UAVDataObject *temp = ((UAVDataObject *)oTw->object)->dirtyClone(); - setWidgetFromField(oTw->widget, temp->getField(oTw->field->getName()), oTw->index, oTw->scale, oTw->isLimited); + UAVDataObject *temp = ((UAVDataObject *)binding->object())->dirtyClone(); + setWidgetFromField(binding->widget(), temp->getField(binding->field()->getName()), binding->index(), binding->scale(), binding->isLimited()); } } -/** - * Called when a reload button is clicked - */ + void ConfigTaskWidget::reloadButtonClicked() { - if (timeOut) { + if (m_realtimeUpdateTimer) { return; } - int group = sender()->property("group").toInt(); - QList *list = defaultReloadGroups.value(group, NULL); - if (!list) { + int groupID = sender()->property("group").toInt(); + QList bindings = m_reloadGroups.values(groupID); + if (!bindings.isEmpty()) { return; } ObjectPersistence *objper = dynamic_cast(getObjectManager()->getObject(ObjectPersistence::NAME)); - timeOut = new QTimer(this); + m_realtimeUpdateTimer = new QTimer(this); QEventLoop *eventLoop = new QEventLoop(this); - connect(timeOut, SIGNAL(timeout()), eventLoop, SLOT(quit())); + connect(m_realtimeUpdateTimer, SIGNAL(timeout()), eventLoop, SLOT(quit())); connect(objper, SIGNAL(objectUpdated(UAVObject *)), eventLoop, SLOT(quit())); - QList temp; - foreach(objectToWidget * oTw, *list) { - if (oTw->object != NULL) { - temphelper value; - value.objid = oTw->object->getObjID(); - value.objinstid = oTw->object->getInstID(); + QList temp; + foreach(WidgetBinding * binding, bindings) { + if (binding->isEnabled() && binding->object() != NULL) { + objectComparator value; + value.objid = binding->object()->getObjID(); + value.objinstid = binding->object()->getInstID(); if (temp.contains(value)) { continue; } else { @@ -909,62 +765,57 @@ void ConfigTaskWidget::reloadButtonClicked() ObjectPersistence::DataFields data; data.Operation = ObjectPersistence::OPERATION_LOAD; data.Selection = ObjectPersistence::SELECTION_SINGLEOBJECT; - data.ObjectID = oTw->object->getObjID(); - data.InstanceID = oTw->object->getInstID(); + data.ObjectID = binding->object()->getObjID(); + data.InstanceID = binding->object()->getInstID(); objper->setData(data); objper->updated(); - timeOut->start(500); + m_realtimeUpdateTimer->start(500); eventLoop->exec(); - if (timeOut->isActive()) { - oTw->object->requestUpdate(); - if (oTw->widget) { - setWidgetFromField(oTw->widget, oTw->field, oTw->index, oTw->scale, oTw->isLimited); + if (m_realtimeUpdateTimer->isActive()) { + binding->object()->requestUpdate(); + if (binding->widget()) { + setWidgetFromField(binding->widget(), binding->field(), binding->index(), binding->scale(), binding->isLimited()); } } - timeOut->stop(); + m_realtimeUpdateTimer->stop(); } } if (eventLoop) { delete eventLoop; eventLoop = NULL; } - if (timeOut) { - delete timeOut; - timeOut = NULL; + if (m_realtimeUpdateTimer) { + delete m_realtimeUpdateTimer; + m_realtimeUpdateTimer = NULL; } } -/** - * Connects widgets "contents changed" signals to a slot - */ void ConfigTaskWidget::connectWidgetUpdatesToSlot(QWidget *widget, const char *function) { if (!widget) { return; } if (QComboBox * cb = qobject_cast(widget)) { - connect(cb, SIGNAL(currentIndexChanged(int)), this, function); + connect(cb, SIGNAL(currentIndexChanged(int)), this, function, Qt::UniqueConnection); } else if (QSlider * cb = qobject_cast(widget)) { - connect(cb, SIGNAL(valueChanged(int)), this, function); + connect(cb, SIGNAL(valueChanged(int)), this, function, Qt::UniqueConnection); } else if (MixerCurveWidget * cb = qobject_cast(widget)) { - connect(cb, SIGNAL(curveUpdated()), this, function); + connect(cb, SIGNAL(curveUpdated()), this, function, Qt::UniqueConnection); } else if (QTableWidget * cb = qobject_cast(widget)) { - connect(cb, SIGNAL(cellChanged(int, int)), this, function); + connect(cb, SIGNAL(cellChanged(int, int)), this, function, Qt::UniqueConnection); } else if (QSpinBox * cb = qobject_cast(widget)) { - connect(cb, SIGNAL(valueChanged(int)), this, function); + connect(cb, SIGNAL(valueChanged(int)), this, function, Qt::UniqueConnection); } else if (QDoubleSpinBox * cb = qobject_cast(widget)) { - connect(cb, SIGNAL(valueChanged(double)), this, function); + connect(cb, SIGNAL(valueChanged(double)), this, function, Qt::UniqueConnection); } else if (QCheckBox * cb = qobject_cast(widget)) { - connect(cb, SIGNAL(stateChanged(int)), this, function); + connect(cb, SIGNAL(stateChanged(int)), this, function, Qt::UniqueConnection); } else if (QPushButton * cb = qobject_cast(widget)) { - connect(cb, SIGNAL(clicked()), this, function); + connect(cb, SIGNAL(clicked()), this, function, Qt::UniqueConnection); } else { - qDebug() << __FUNCTION__ << "widget to uavobject relation not implemented" << widget->metaObject()->className(); + qDebug() << __FUNCTION__ << "widget binding not implemented" << widget->metaObject()->className(); } } -/** - * Disconnects widgets "contents changed" signals to a slot - */ + void ConfigTaskWidget::disconnectWidgetUpdatesToSlot(QWidget *widget, const char *function) { if (!widget) { @@ -987,38 +838,10 @@ void ConfigTaskWidget::disconnectWidgetUpdatesToSlot(QWidget *widget, const char } else if (QPushButton * cb = qobject_cast(widget)) { disconnect(cb, SIGNAL(clicked()), this, function); } else { - qDebug() << __FUNCTION__ << "widget to uavobject relation not implemented" << widget->metaObject()->className(); + qDebug() << __FUNCTION__ << "widget binding not implemented" << widget->metaObject()->className(); } } -/** - * Sets a widget value from an UAVObject field - * @param widget pointer for the widget to set - * @param field pointer to the UAVObject field to use - * @param index index of the element to use - * @param scale scale to be used on the assignement - * @return returns true if the assignement was successfull - */ -bool ConfigTaskWidget::setFieldFromWidget(QWidget *widget, UAVObjectField *field, int index, double scale) -{ - if (!widget || !field) { - return false; - } - QVariant ret = getVariantFromWidget(widget, scale, field->getUnits()); - if (ret.isValid()) { - field->setValue(ret, index); - return true; - } - { - qDebug() << __FUNCTION__ << "widget to uavobject relation not implemented" << widget->metaObject()->className(); - return false; - } -} -/** - * Gets a variant from a widget - * @param widget pointer to the widget from where to get the value - * @param scale scale to be used on the assignement - * @return returns the value of the widget times the scale - */ + QVariant ConfigTaskWidget::getVariantFromWidget(QWidget *widget, double scale, QString units) { if (QComboBox * cb = qobject_cast(widget)) { @@ -1043,14 +866,7 @@ QVariant ConfigTaskWidget::getVariantFromWidget(QWidget *widget, double scale, Q return QVariant(); } } -/** - * Sets a widget from a variant - * @param widget pointer for the widget to set - * @param value value to be used on the assignement - * @param scale scale to be used on the assignement - * @param units the units for the value - * @return returns true if the assignement was successfull - */ + bool ConfigTaskWidget::setWidgetFromVariant(QWidget *widget, QVariant value, double scale, QString units) { if (QComboBox * cb = qobject_cast(widget)) { @@ -1092,27 +908,11 @@ bool ConfigTaskWidget::setWidgetFromVariant(QWidget *widget, QVariant value, dou } } -/** - * Sets a widget from a variant - * @param widget pointer for the widget to set - * @param value value to be used on the assignement - * @param scale scale to be used on the assignement - * @return returns true if the assignement was successfull - */ bool ConfigTaskWidget::setWidgetFromVariant(QWidget *widget, QVariant value, double scale) { return setWidgetFromVariant(widget, value, scale, QString("")); } -/** - * Sets a widget from a UAVObject field - * @param widget pointer to the widget to set - * @param field pointer to the field from where to get the value from - * @param index index of the element to use - * @param scale scale to be used on the assignement - * @param hasLimits set to true if you want to limit the values (check wiki) - * @return returns true if the assignement was successfull - */ bool ConfigTaskWidget::setWidgetFromField(QWidget *widget, UAVObjectField *field, int index, double scale, bool hasLimits) { if (!widget || !field) { @@ -1123,26 +923,27 @@ bool ConfigTaskWidget::setWidgetFromField(QWidget *widget, UAVObjectField *field loadWidgetLimits(cb, field, index, hasLimits, scale); } } - QVariant var = field->getValue(index); - checkWidgetsLimits(widget, field, index, hasLimits, var, scale); - bool ret = setWidgetFromVariant(widget, var, scale, field->getUnits()); - if (ret) { + QVariant value = field->getValue(index); + checkWidgetsLimits(widget, field, index, hasLimits, value, scale); + bool result = setWidgetFromVariant(widget, value, scale, field->getUnits()); + if (result) { return true; } else { qDebug() << __FUNCTION__ << "widget to uavobject relation not implemented" << widget->metaObject()->className(); return false; } } + void ConfigTaskWidget::checkWidgetsLimits(QWidget *widget, UAVObjectField *field, int index, bool hasLimits, QVariant value, double scale) { if (!hasLimits) { return; } - if (!field->isWithinLimits(value, index, currentBoard)) { + if (!field->isWithinLimits(value, index, m_currentBoardId)) { if (!widget->property("styleBackup").isValid()) { widget->setProperty("styleBackup", widget->styleSheet()); } - widget->setStyleSheet(outOfLimitsStyle); + widget->setStyleSheet(m_outOfLimitsStyle); widget->setProperty("wasOverLimits", (bool)true); if (QComboBox * cb = qobject_cast(widget)) { if (cb->findText(value.toString()) == -1) { @@ -1189,7 +990,7 @@ void ConfigTaskWidget::loadWidgetLimits(QWidget *widget, UAVObjectField *field, QStringList option = field->getOptions(); if (hasLimits) { foreach(QString str, option) { - if (field->isWithinLimits(str, index, currentBoard)) { + if (field->isWithinLimits(str, index, m_currentBoardId)) { cb->addItem(str); } } @@ -1201,31 +1002,41 @@ void ConfigTaskWidget::loadWidgetLimits(QWidget *widget, UAVObjectField *field, return; } else if (QDoubleSpinBox * cb = qobject_cast(widget)) { if (field->getMaxLimit(index).isValid()) { - cb->setMaximum((double)(field->getMaxLimit(index, currentBoard).toDouble() / scale)); + cb->setMaximum((double)(field->getMaxLimit(index, m_currentBoardId).toDouble() / scale)); } - if (field->getMinLimit(index, currentBoard).isValid()) { - cb->setMinimum((double)(field->getMinLimit(index, currentBoard).toDouble() / scale)); + if (field->getMinLimit(index, m_currentBoardId).isValid()) { + cb->setMinimum((double)(field->getMinLimit(index, m_currentBoardId).toDouble() / scale)); } } else if (QSpinBox * cb = qobject_cast(widget)) { - if (field->getMaxLimit(index, currentBoard).isValid()) { - cb->setMaximum((int)qRound(field->getMaxLimit(index, currentBoard).toDouble() / scale)); + if (field->getMaxLimit(index, m_currentBoardId).isValid()) { + cb->setMaximum((int)qRound(field->getMaxLimit(index, m_currentBoardId).toDouble() / scale)); } - if (field->getMinLimit(index, currentBoard).isValid()) { - cb->setMinimum((int)qRound(field->getMinLimit(index, currentBoard).toDouble() / scale)); + if (field->getMinLimit(index, m_currentBoardId).isValid()) { + cb->setMinimum((int)qRound(field->getMinLimit(index, m_currentBoardId).toDouble() / scale)); } } else if (QSlider * cb = qobject_cast(widget)) { - if (field->getMaxLimit(index, currentBoard).isValid()) { - cb->setMaximum((int)qRound(field->getMaxLimit(index, currentBoard).toDouble() / scale)); + if (field->getMaxLimit(index, m_currentBoardId).isValid()) { + cb->setMaximum((int)qRound(field->getMaxLimit(index, m_currentBoardId).toDouble() / scale)); } - if (field->getMinLimit(index, currentBoard).isValid()) { - cb->setMinimum((int)(field->getMinLimit(index, currentBoard).toDouble() / scale)); + if (field->getMinLimit(index, m_currentBoardId).isValid()) { + cb->setMinimum((int)(field->getMinLimit(index, m_currentBoardId).toDouble() / scale)); } } } +UAVObject *ConfigTaskWidget::getObject(const QString name, quint32 instId) +{ + return m_pluginManager->getObject()->getObject(name, instId); +} + +QString ConfigTaskWidget::mapObjectName(const QString objectName) +{ + return objectName; +} + void ConfigTaskWidget::updateEnableControls() { - TelemetryManager *telMngr = pm->getObject(); + TelemetryManager *telMngr = m_pluginManager->getObject(); Q_ASSERT(telMngr); enableControls(telMngr->isConnected()); @@ -1260,7 +1071,126 @@ bool ConfigTaskWidget::eventFilter(QObject *obj, QEvent *evt) } return QWidget::eventFilter(obj, evt); } -/** - @} - @} - */ + +WidgetBinding::WidgetBinding(QWidget *widget, UAVObject *object, UAVObjectField *field, int index, double scale, bool isLimited) : + ShadowWidgetBinding(widget, scale, isLimited), m_isEnabled(true) +{ + m_object = object; + m_field = field; + m_index = index; +} + +WidgetBinding::~WidgetBinding() +{} + +QString WidgetBinding::units() const +{ + if (m_field) { + return m_field->getUnits(); + } + return QString(""); +} + +UAVObject *WidgetBinding::object() const +{ + return m_object; +} + +UAVObjectField *WidgetBinding::field() const +{ + return m_field; +} + +int WidgetBinding::index() const +{ + return m_index; +} + +QList WidgetBinding::shadows() const +{ + return m_shadows; +} + +void WidgetBinding::addShadow(QWidget *widget, double scale, bool isLimited) +{ + ShadowWidgetBinding *shadow = NULL; + + // Prefer anything else to QLabel and prefer QDoubleSpinBox to anything else + if ((qobject_cast(m_widget) && !qobject_cast(widget)) || + (!qobject_cast(m_widget) && qobject_cast(widget))) { + shadow = new ShadowWidgetBinding(m_widget, m_scale, m_isLimited); + m_isLimited = isLimited; + m_scale = scale; + m_widget = widget; + } else { + shadow = new ShadowWidgetBinding(widget, scale, isLimited); + } + m_shadows.append(shadow); +} + +bool WidgetBinding::matches(QString objectName, QString fieldName, int index, quint32 instanceId) +{ + if (m_object && m_field) { + return m_object->getName() == objectName && m_object->getInstID() == instanceId && + m_field->getName() == fieldName && m_index == index; + } else { + return false; + } +} + +bool WidgetBinding::isEnabled() const +{ + return m_isEnabled; +} + +void WidgetBinding::setIsEnabled(bool isEnabled) +{ + m_isEnabled = isEnabled; +} + +QVariant WidgetBinding::value() const +{ + return m_value; +} + +void WidgetBinding::setValue(const QVariant &value) +{ + m_value = value; + /* + if (m_object && m_field) { + qDebug() << "WidgetBinding" << m_object->getName() << ":" << m_field->getName() << "value =" << value.toString(); + } + */ +} + +void WidgetBinding::updateObjectFieldFromValue() +{ + if (m_value.isValid()) { + m_field->setValue(m_value, m_index); + } +} + +ShadowWidgetBinding::ShadowWidgetBinding(QWidget *widget, double scale, bool isLimited) +{ + m_widget = widget; + m_scale = scale; + m_isLimited = isLimited; +} + +ShadowWidgetBinding::~ShadowWidgetBinding() +{} + +QWidget *ShadowWidgetBinding::widget() const +{ + return m_widget; +} + +double ShadowWidgetBinding::scale() const +{ + return m_scale; +} + +bool ShadowWidgetBinding::isLimited() const +{ + return m_isLimited; +} diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h index 3382c7f39..14db4b4c2 100644 --- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h +++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h @@ -27,7 +27,6 @@ #ifndef CONFIGTASKWIDGET_H #define CONFIGTASKWIDGET_H - #include "extensionsystem/pluginmanager.h" #include "uavobjectmanager.h" #include "uavobject.h" @@ -48,53 +47,57 @@ #include #include +class ShadowWidgetBinding : public QObject { + Q_OBJECT +public: + ShadowWidgetBinding(QWidget *widget, double scale, bool isLimited); + ~ShadowWidgetBinding(); + QWidget *widget() const; + double scale() const; + bool isLimited() const; + +protected: + QWidget *m_widget; + double m_scale; + bool m_isLimited; +}; + +class WidgetBinding : public ShadowWidgetBinding { + Q_OBJECT +public: + WidgetBinding(QWidget *widget, UAVObject *object, UAVObjectField *field, int index, double scale, bool isLimited); + ~WidgetBinding(); + + QString units() const; + UAVObject *object() const; + UAVObjectField *field() const; + int index() const; + QList shadows() const; + + void addShadow(QWidget *widget, double scale, bool isLimited); + bool matches(QString objectName, QString fieldName, int index, quint32 instanceId); + + bool isEnabled() const; + void setIsEnabled(bool isEnabled); + + QVariant value() const; + void setValue(const QVariant &value); + + void updateObjectFieldFromValue(); + +private: + UAVObject *m_object; + UAVObjectField *m_field; + int m_index; + bool m_isEnabled; + QList m_shadows; + QVariant m_value; +}; + class UAVOBJECTWIDGETUTILS_EXPORT ConfigTaskWidget : public QWidget { Q_OBJECT public: - struct shadow { - QWidget *widget; - double scale; - bool isLimited; - }; - struct objectToWidget { - UAVObject *object; - UAVObjectField *field; - QWidget *widget; - int index; - double scale; - bool isLimited; - QList shadowsList; - QString getUnits() const - { - if (field) { - return field->getUnits(); - } - return QString(""); - } - }; - - struct temphelper { - quint32 objid; - quint32 objinstid; - bool operator==(const temphelper & lhs) - { - return lhs.objid == this->objid && lhs.objinstid == this->objinstid; - } - }; - - enum buttonTypeEnum { none, save_button, apply_button, reload_button, default_button, help_button }; - struct uiRelationAutomation { - QString objname; - QString fieldname; - QString element; - QString url; - buttonTypeEnum buttonType; - QList buttonGroup; - double scale; - bool haslimits; - }; - ConfigTaskWidget(QWidget *parent = 0); virtual ~ConfigTaskWidget(); @@ -111,25 +114,27 @@ public: void addWidget(QWidget *widget); - void addUAVObjectToWidgetRelation(QString object, QString field, QWidget *widget, int index = 0, double scale = 1, bool isLimited = false, QList *defaultReloadGroups = 0, quint32 instID = 0); - void addUAVObjectToWidgetRelation(UAVObject *obj, UAVObjectField *field, QWidget *widget, int index = 0, double scale = 1, bool isLimited = false, QList *defaultReloadGroups = 0, quint32 instID = 0); + void addWidgetBinding(QString objectName, QString fieldName, QWidget *widget, int index = 0, double scale = 1, + bool isLimited = false, QList *reloadGroupIDs = 0, quint32 instID = 0); + void addWidgetBinding(UAVObject *object, UAVObjectField *field, QWidget *widget, int index = 0, double scale = 1, + bool isLimited = false, QList *reloadGroupIDs = 0, quint32 instID = 0); - void addUAVObjectToWidgetRelation(QString object, QString field, QWidget *widget, QString element, double scale, bool isLimited = false, QList *defaultReloadGroups = 0, quint32 instID = 0); - void addUAVObjectToWidgetRelation(UAVObject *obj, UAVObjectField *field, QWidget *widget, QString element, double scale, bool isLimited = false, QList *defaultReloadGroups = 0, quint32 instID = 0); + void addWidgetBinding(QString objectName, QString fieldName, QWidget *widget, QString elementName, double scale, + bool isLimited = false, QList *reloadGroupIDs = 0, quint32 instID = 0); + void addWidgetBinding(UAVObject *object, UAVObjectField *field, QWidget *widget, QString elementName, double scale, + bool isLimited = false, QList *reloadGroupIDs = 0, quint32 instID = 0); - void addUAVObjectToWidgetRelation(QString object, QString field, QWidget *widget, QString index); - void addUAVObjectToWidgetRelation(UAVObject *obj, UAVObjectField *field, QWidget *widget, QString index); + void addWidgetBinding(QString objectName, QString fieldName, QWidget *widget, QString elementName); + void addWidgetBinding(UAVObject *object, UAVObjectField *field, QWidget *widget, QString elementName); - // BUTTONS// void addApplySaveButtons(QPushButton *update, QPushButton *save); void addReloadButton(QPushButton *button, int buttonGroup); void addDefaultButton(QPushButton *button, int buttonGroup); - ////////// - void addWidgetToDefaultReloadGroups(QWidget *widget, QList *groups); + void addWidgetToReloadGroups(QWidget *widget, QList *reloadGroupIDs); - bool addShadowWidget(QWidget *masterWidget, QWidget *shadowWidget, double shadowScale = 1, bool shadowIsLimited = false); - bool addShadowWidget(QString object, QString field, QWidget *widget, int index = 0, double scale = 1, bool isLimited = false, QList *defaultReloadGroups = NULL, quint32 instID = 0); + bool addShadowWidgetBinding(QString objectName, QString fieldName, QWidget *widget, int index = 0, double scale = 1, + bool isLimited = false, QList *m_reloadGroups = NULL, quint32 instID = 0); void autoLoadWidgets(); @@ -139,18 +144,21 @@ public: bool allObjectsUpdated(); void setOutOfLimitsStyle(QString style) { - outOfLimitsStyle = style; + m_outOfLimitsStyle = style; } void addHelpButton(QPushButton *button, QString url); void forceShadowUpdates(); void forceConnectedState(); virtual bool shouldObjectBeSaved(UAVObject *object); + public slots: void onAutopilotDisconnect(); void onAutopilotConnect(); void invalidateObjects(); void apply(); void save(); + void setWidgetBindingObjectEnabled(QString objectName, bool enabled); + signals: // fired when a widgets contents changes void widgetContentsChanged(QWidget *widget); @@ -165,40 +173,72 @@ signals: // fired when the autopilot disconnects void autoPilotDisconnected(); void defaultRequested(int group); + private slots: - void objectUpdated(UAVObject *); + void objectUpdated(UAVObject *object); void defaultButtonClicked(); void reloadButtonClicked(); + private: - int currentBoard; - bool isConnected; - bool allowWidgetUpdates; - QStringList objectsList; - QList objOfInterest; - ExtensionSystem::PluginManager *pm; - UAVObjectManager *objManager; - UAVObjectUtilManager *utilMngr; - smartSaveButton *smartsave; - QMap objectUpdates; - QMap *> defaultReloadGroups; - QMap shadowsList; - QMap helpButtonList; - QList reloadButtonList; - bool dirty; - bool setFieldFromWidget(QWidget *widget, UAVObjectField *field, int index, double scale); + struct objectComparator { + quint32 objid; + quint32 objinstid; + bool operator==(const objectComparator & lhs) + { + return lhs.objid == this->objid && lhs.objinstid == this->objinstid; + } + }; + + enum buttonTypeEnum { none, save_button, apply_button, reload_button, default_button, help_button }; + struct bindingStruct { + QString objname; + QString fieldname; + QString element; + QString url; + buttonTypeEnum buttonType; + QList buttonGroup; + double scale; + bool haslimits; + }; + + int m_currentBoardId; + bool m_isConnected; + bool m_isWidgetUpdatesAllowed; + QStringList m_objects; + + QMultiHash m_reloadGroups; + QMultiHash m_widgetBindingsPerWidget; + QMultiHash m_widgetBindingsPerObject; + + ExtensionSystem::PluginManager *m_pluginManager; + UAVObjectUtilManager *m_objectUtilManager; + SmartSaveButton *m_saveButton; + QHash m_updatedObjects; + QHash m_helpButtons; + QList m_reloadButtons; + bool m_isDirty; + QString m_outOfLimitsStyle; + QTimer *m_realtimeUpdateTimer; + bool setWidgetFromField(QWidget *widget, UAVObjectField *field, int index, double scale, bool hasLimits); - QVariant getVariantFromWidget(QWidget *widget, double scale, QString units); + + QVariant getVariantFromWidget(QWidget *widget, double scale, const QString units); bool setWidgetFromVariant(QWidget *widget, QVariant value, double scale, QString units); bool setWidgetFromVariant(QWidget *widget, QVariant value, double scale); + void connectWidgetUpdatesToSlot(QWidget *widget, const char *function); void disconnectWidgetUpdatesToSlot(QWidget *widget, const char *function); + void loadWidgetLimits(QWidget *widget, UAVObjectField *field, int index, bool hasLimits, double sclale); - QString outOfLimitsStyle; - QTimer *timeOut; + + int fieldIndexFromElementName(QString objectName, QString fieldName, QString elementName); + + void doAddWidgetBinding(QString objectName, QString fieldName, QWidget *widget, int index = 0, double scale = 1, + bool isLimited = false, QList *reloadGroupIDs = 0, quint32 instID = 0); protected slots: - virtual void disableObjUpdates(); - virtual void enableObjUpdates(); + virtual void disableObjectUpdates(); + virtual void enableObjectUpdates(); virtual void clearDirty(); virtual void widgetsContentsChanged(); virtual void populateWidgets(); @@ -208,7 +248,8 @@ protected slots: protected: virtual void enableControls(bool enable); - + virtual QString mapObjectName(const QString objectName); + virtual UAVObject *getObject(const QString name, quint32 instId = 0); void checkWidgetsLimits(QWidget *widget, UAVObjectField *field, int index, bool hasLimits, QVariant value, double scale); void updateEnableControls(); }; diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/smartsavebutton.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/smartsavebutton.cpp index 0165c32bb..eb421b9ef 100644 --- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/smartsavebutton.cpp +++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/smartsavebutton.cpp @@ -27,27 +27,27 @@ #include "smartsavebutton.h" #include "configtaskwidget.h" -smartSaveButton::smartSaveButton(ConfigTaskWidget *configTaskWidget) : configWidget(configTaskWidget) +SmartSaveButton::SmartSaveButton(ConfigTaskWidget *configTaskWidget) : configWidget(configTaskWidget) {} -void smartSaveButton::addButtons(QPushButton *save, QPushButton *apply) +void SmartSaveButton::addButtons(QPushButton *save, QPushButton *apply) { buttonList.insert(save, save_button); buttonList.insert(apply, apply_button); connect(save, SIGNAL(clicked()), this, SLOT(processClick())); connect(apply, SIGNAL(clicked()), this, SLOT(processClick())); } -void smartSaveButton::addApplyButton(QPushButton *apply) +void SmartSaveButton::addApplyButton(QPushButton *apply) { buttonList.insert(apply, apply_button); connect(apply, SIGNAL(clicked()), this, SLOT(processClick())); } -void smartSaveButton::addSaveButton(QPushButton *save) +void SmartSaveButton::addSaveButton(QPushButton *save) { buttonList.insert(save, save_button); connect(save, SIGNAL(clicked()), this, SLOT(processClick())); } -void smartSaveButton::processClick() +void SmartSaveButton::processClick() { emit beginOp(); bool save = false; @@ -62,7 +62,7 @@ void smartSaveButton::processClick() processOperation(button, save); } -void smartSaveButton::processOperation(QPushButton *button, bool save) +void SmartSaveButton::processOperation(QPushButton *button, bool save) { emit preProcessOperations(); @@ -157,33 +157,33 @@ void smartSaveButton::processOperation(QPushButton *button, bool save) emit endOp(); } -void smartSaveButton::setObjects(QList list) +void SmartSaveButton::setObjects(QList list) { objects = list; } -void smartSaveButton::addObject(UAVDataObject *obj) +void SmartSaveButton::addObject(UAVDataObject *obj) { Q_ASSERT(obj); if (!objects.contains(obj)) { objects.append(obj); } } -void smartSaveButton::removeObject(UAVDataObject *obj) +void SmartSaveButton::removeObject(UAVDataObject *obj) { if (objects.contains(obj)) { objects.removeAll(obj); } } -void smartSaveButton::removeAllObjects() +void SmartSaveButton::removeAllObjects() { objects.clear(); } -void smartSaveButton::clearObjects() +void SmartSaveButton::clearObjects() { objects.clear(); } -void smartSaveButton::transaction_finished(UAVObject *obj, bool result) +void SmartSaveButton::transaction_finished(UAVObject *obj, bool result) { if (current_object == obj) { up_result = result; @@ -191,32 +191,32 @@ void smartSaveButton::transaction_finished(UAVObject *obj, bool result) } } -void smartSaveButton::saving_finished(int id, bool result) +void SmartSaveButton::saving_finished(int id, bool result) { - if (id == current_objectID) { + if (id == (int)current_objectID) { sv_result = result; loop.quit(); } } -void smartSaveButton::enableControls(bool value) +void SmartSaveButton::enableControls(bool value) { foreach(QPushButton * button, buttonList.keys()) button->setEnabled(value); } -void smartSaveButton::resetIcons() +void SmartSaveButton::resetIcons() { foreach(QPushButton * button, buttonList.keys()) button->setIcon(QIcon()); } -void smartSaveButton::apply() +void SmartSaveButton::apply() { processOperation(NULL, false); } -void smartSaveButton::save() +void SmartSaveButton::save() { processOperation(NULL, true); } diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/smartsavebutton.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/smartsavebutton.h index 42d9b06e8..9af855dcd 100644 --- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/smartsavebutton.h +++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/smartsavebutton.h @@ -40,13 +40,13 @@ class ConfigTaskWidget; -class smartSaveButton : public QObject { +class SmartSaveButton : public QObject { enum buttonTypeEnum { save_button, apply_button }; public: Q_OBJECT public: - smartSaveButton(ConfigTaskWidget *configTaskWidget); + SmartSaveButton(ConfigTaskWidget *configTaskWidget); void addButtons(QPushButton *save, QPushButton *apply); void setObjects(QList); void addObject(UAVDataObject *); diff --git a/shared/uavobjectdefinition/stabilizationbank.xml b/shared/uavobjectdefinition/stabilizationbank.xml new file mode 100644 index 000000000..027d19372 --- /dev/null +++ b/shared/uavobjectdefinition/stabilizationbank.xml @@ -0,0 +1,23 @@ + + + Currently selected PID bank + + + + + + + + + + + + + + + + + + + + diff --git a/shared/uavobjectdefinition/stabilizationsettings.xml b/shared/uavobjectdefinition/stabilizationsettings.xml index ca26df113..3ac8eb01e 100644 --- a/shared/uavobjectdefinition/stabilizationsettings.xml +++ b/shared/uavobjectdefinition/stabilizationsettings.xml @@ -1,18 +1,13 @@ + PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired - - - - - - - - - - - + + diff --git a/shared/uavobjectdefinition/stabilizationsettingsbank1.xml b/shared/uavobjectdefinition/stabilizationsettingsbank1.xml new file mode 100644 index 000000000..f7924c0be --- /dev/null +++ b/shared/uavobjectdefinition/stabilizationsettingsbank1.xml @@ -0,0 +1,23 @@ + + + Currently selected PID bank + + + + + + + + + + + + + + + + + + + + diff --git a/shared/uavobjectdefinition/stabilizationsettingsbank2.xml b/shared/uavobjectdefinition/stabilizationsettingsbank2.xml new file mode 100644 index 000000000..381f1a7c6 --- /dev/null +++ b/shared/uavobjectdefinition/stabilizationsettingsbank2.xml @@ -0,0 +1,23 @@ + + + Currently selected PID bank + + + + + + + + + + + + + + + + + + + + diff --git a/shared/uavobjectdefinition/stabilizationsettingsbank3.xml b/shared/uavobjectdefinition/stabilizationsettingsbank3.xml new file mode 100644 index 000000000..14c44d626 --- /dev/null +++ b/shared/uavobjectdefinition/stabilizationsettingsbank3.xml @@ -0,0 +1,23 @@ + + + Currently selected PID bank + + + + + + + + + + + + + + + + + + + + diff --git a/shared/uavobjectdefinition/txpidsettings.xml b/shared/uavobjectdefinition/txpidsettings.xml index 41c7d06ca..9f1a91579 100644 --- a/shared/uavobjectdefinition/txpidsettings.xml +++ b/shared/uavobjectdefinition/txpidsettings.xml @@ -2,6 +2,7 @@ Settings used by @ref TxPID optional module to tune PID settings using R/C transmitter +