diff --git a/ground/openpilotgcs/src/plugins/config/outputchannelform.ui b/ground/openpilotgcs/src/plugins/config/outputchannelform.ui index 622b76c5d..9c2c62f47 100644 --- a/ground/openpilotgcs/src/plugins/config/outputchannelform.ui +++ b/ground/openpilotgcs/src/plugins/config/outputchannelform.ui @@ -7,7 +7,7 @@ 0 0 813 - 56 + 58 @@ -20,315 +20,19 @@ 1 - - + + 0 0 - - - 20 - 0 - - - Channel Number - - - Qt::LeftToRight + Current value of slider. - TextLabel - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - - 0 - 0 - - - - - 110 - 0 - - - - TextLabel - - - Qt::AlignCenter - - - - - - - Minimum PWM value, beware of not overdriving your servo. - - - 9999 - - - - - - - Qt::Horizontal - - - QSizePolicy::Minimum - - - - 0 - 20 - - - - - - - - - 0 - 0 - - - - - 0 - 0 - - - - 9999 - - - Qt::Horizontal - - - - - - - Qt::Horizontal - - - QSizePolicy::Minimum - - - - 5 - 20 - - - - - - - - - 0 - 0 - - - - - 40 - 0 - - - - Check to invert the channel. - - - - - - - - 0 - 0 - - - - - 40 - 0 - - - - Output mode - - - - - - - Maximum PWM value, beware of not overdriving your servo. - - - 9999 - - - - - - - - 0 - 0 - - - - - 75 - false - 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; -font:bold; -margin:1px; - - - Assignment - - - Qt::AlignCenter - - - - - - - - 0 - 0 - - - - - 75 - false - 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; -font:bold; -margin:1px; - - - Min - - - Qt::AlignCenter - - - - - - - - 0 - 0 - - - - - 75 - false - 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; -font:bold; -margin:1px; - - - Neutral (slowest for motor) - - - Qt::AlignCenter - - - - - - - - 0 - 0 - - - - - 75 - false - 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; -font:bold; -margin:1px; - - - Max - - - Qt::AlignCenter - - - - - - - - 0 - 0 - - - - - 75 - false - 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; -font:bold; -margin:1px; - - - Rev. - - - Qt::AlignCenter + 0000 @@ -362,19 +66,25 @@ margin:1px; - - + + 0 0 - - Current value of slider. + + + 110 + 0 + - 0000 + TextLabel + + + Qt::AlignCenter @@ -414,8 +124,320 @@ margin:1px; + + + + + 0 + 0 + + + + + 20 + 0 + + + + Channel Number + + + Qt::LeftToRight + + + TextLabel + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + Qt::StrongFocus + + + Minimum PWM value, beware of not overdriving your servo. + + + 9999 + + + + + + + + 0 + 0 + + + + + 40 + 0 + + + + Qt::StrongFocus + + + Check to invert the channel. + + + + + + + + 0 + 0 + + + + + 75 + false + 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; +font:bold; +margin:1px; + + + Neutral (slowest for motor) + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + + 75 + false + 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; +font:bold; +margin:1px; + + + Assignment + + + Qt::AlignCenter + + + + + + + Qt::Horizontal + + + QSizePolicy::Minimum + + + + 0 + 20 + + + + + + + + + 0 + 0 + + + + + 75 + false + 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; +font:bold; +margin:1px; + + + Min + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + + 75 + false + 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; +font:bold; +margin:1px; + + + Max + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + + 40 + 0 + + + + Qt::StrongFocus + + + Output mode + + + + + + + Qt::Horizontal + + + QSizePolicy::Minimum + + + + 5 + 20 + + + + + + + + + 0 + 0 + + + + + 75 + false + 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; +font:bold; +margin:1px; + + + Rev. + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + + 0 + 0 + + + + Qt::StrongFocus + + + 9999 + + + Qt::Horizontal + + + + + + + Qt::StrongFocus + + + Maximum PWM value, beware of not overdriving your servo. + + + 9999 + + + + + actuatorMin + actuatorNeutral + actuatorMax + actuatorRev + actuatorLink + diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui index a8d99f817..eaf4d9c9d 100755 --- a/ground/openpilotgcs/src/plugins/config/stabilization.ui +++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui @@ -470,7 +470,7 @@ QTabWidget::North - 0 + 1 true @@ -495,7 +495,7 @@ 0 - 0 + -267 667 880 @@ -3424,6 +3424,9 @@ border-radius: 5; 22 + + Qt::StrongFocus + 200 @@ -3516,6 +3519,9 @@ border-radius: 5; 22 + + Qt::StrongFocus + 200 @@ -3608,6 +3614,9 @@ border-radius: 5; 22 + + Qt::StrongFocus + 200 @@ -3703,6 +3712,9 @@ border-radius: 5; 22 + + Qt::StrongFocus + 200 @@ -3779,6 +3791,9 @@ border-radius: 5; 22 + + Qt::StrongFocus + 200 @@ -3855,6 +3870,9 @@ border-radius: 5; 22 + + Qt::StrongFocus + 200 @@ -6741,6 +6759,9 @@ border-radius: 5; 22 + + Qt::StrongFocus + 200 @@ -6833,6 +6854,9 @@ border-radius: 5; 22 + + Qt::StrongFocus + 200 @@ -6925,6 +6949,9 @@ border-radius: 5; 22 + + Qt::StrongFocus + 200 @@ -7036,6 +7063,9 @@ border-radius: 5; 22 + + Qt::StrongFocus + 200 @@ -7112,6 +7142,9 @@ border-radius: 5; 22 + + Qt::StrongFocus + 200 @@ -7188,6 +7221,9 @@ border-radius: 5; 22 + + Qt::StrongFocus + 200 @@ -10184,6 +10220,9 @@ Angle 22 + + Qt::StrongFocus + 200 @@ -10274,6 +10313,9 @@ Angle 22 + + Qt::StrongFocus + 200 @@ -10364,6 +10406,9 @@ Angle 22 + + Qt::StrongFocus + 200 @@ -10459,6 +10504,9 @@ Rate 22 + + Qt::StrongFocus + 200 @@ -10535,6 +10583,9 @@ Rate 22 + + Qt::StrongFocus + 200 @@ -10611,6 +10662,9 @@ Rate 22 + + Qt::StrongFocus + 200 @@ -10707,6 +10761,9 @@ Attitude 22 + + Qt::StrongFocus + 200 @@ -10783,6 +10840,9 @@ Attitude 22 + + Qt::StrongFocus + 200 @@ -10859,6 +10919,9 @@ Attitude 22 + + Qt::StrongFocus + 200 @@ -14600,6 +14663,9 @@ border-radius: 5; 22 + + Qt::StrongFocus + Slowly raise Kp until you start seeing clear oscillations when you fly. Then lower the value by 20% or so. @@ -14608,7 +14674,7 @@ Then lower the value by 20% or so. - 6 + 5 0.000100000000000 @@ -14645,6 +14711,9 @@ Then lower the value by 20% or so. 22 + + Qt::StrongFocus + Slowly raise Kp until you start seeing clear oscillations when you fly. Then lower the value by 20% or so. @@ -14653,7 +14722,7 @@ Then lower the value by 20% or so. - 6 + 5 0.000100000000000 @@ -14690,6 +14759,9 @@ Then lower the value by 20% or so. 22 + + Qt::StrongFocus + Slowly raise Kp until you start seeing clear oscillations when you fly. Then lower the value by 20% or so. @@ -14700,7 +14772,7 @@ You can usually go for higher values for Yaw factors. - 6 + 5 0.000100000000000 @@ -14772,6 +14844,9 @@ You can usually go for higher values for Yaw factors. 22 + + Qt::StrongFocus + As a rule of thumb, you can set the Ki at roughly the same value as the Kp. @@ -14780,7 +14855,7 @@ value as the Kp. - 6 + 5 0.000100000000000 @@ -14833,6 +14908,9 @@ value as the Kp. 22 + + Qt::StrongFocus + As a rule of thumb, you can set the Ki at roughly the same value as the Kp. @@ -14841,7 +14919,7 @@ value as the Kp. - 6 + 5 0.000100000000000 @@ -14894,6 +14972,9 @@ value as the Kp. 22 + + Qt::StrongFocus + As a rule of thumb, you can set the Ki at roughly the same value as the Kp. @@ -14902,7 +14983,7 @@ value as the Kp. - 6 + 5 0.000100000000000 @@ -14970,6 +15051,9 @@ value as the Kp. 22 + + Qt::StrongFocus + @@ -14980,7 +15064,7 @@ value as the Kp. 6 - 1.000000000000000 + 0.000001000000000 @@ -15014,6 +15098,9 @@ value as the Kp. 22 + + Qt::StrongFocus + @@ -15021,7 +15108,7 @@ value as the Kp. 6 - 1.000000000000000 + 0.000001000000000 @@ -15055,6 +15142,9 @@ value as the Kp. 22 + + Qt::StrongFocus + @@ -15065,7 +15155,7 @@ value as the Kp. 6 - 1.000000000000000 + 0.000001000000000 @@ -15103,7 +15193,7 @@ value as the Kp. - ILimit + K_i*ILimit Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter @@ -15130,6 +15220,9 @@ value as the Kp. 22 + + Qt::StrongFocus + @@ -15139,9 +15232,12 @@ value as the Kp. 6 - + 1.000000000000000 + + 0.000010000000000 + objname:StabilizationSettings @@ -15174,15 +15270,21 @@ value as the Kp. 22 + + Qt::StrongFocus + 6 - + 1.000000000000000 + + 0.000010000000000 + objname:StabilizationSettings @@ -15215,6 +15317,9 @@ value as the Kp. 22 + + Qt::StrongFocus + @@ -15224,9 +15329,12 @@ value as the Kp. 6 - + 1.000000000000000 + + 0.000010000000000 + objname:StabilizationSettings @@ -18122,7 +18230,10 @@ border-radius: 5; - 6 + 2 + + + 1000.000000000000000 0.100000000000000 @@ -18163,7 +18274,10 @@ border-radius: 5; - 6 + 2 + + + 1000.000000000000000 0.100000000000000 @@ -18207,7 +18321,10 @@ border-radius: 5; - 6 + 2 + + + 1000.000000000000000 0.100000000000000 @@ -18259,50 +18376,6 @@ border-radius: 5; - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - - - - - - - 6 - - - 0.100000000000000 - - - - objname:StabilizationSettings - fieldname:RollPI - element:Ki - haslimits:no - scale:1 - buttongroup:5,20 - - - - @@ -18343,7 +18416,10 @@ border-radius: 5; - 6 + 2 + + + 1000.000000000000000 0.100000000000000 @@ -18403,7 +18479,10 @@ border-radius: 5; - 6 + 2 + + + 1000.000000000000000 0.100000000000000 @@ -18444,7 +18523,7 @@ border-radius: 5; - ILimit + K_i*ILimit Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter @@ -18478,7 +18557,10 @@ border-radius: 5; - 6 + 2 + + + 1000.000000000000000 0.100000000000000 @@ -18519,7 +18601,10 @@ border-radius: 5; - 6 + 2 + + + 1000.000000000000000 0.100000000000000 @@ -18563,7 +18648,10 @@ border-radius: 5; - 6 + 2 + + + 1000.000000000000000 0.100000000000000 @@ -18580,6 +18668,53 @@ border-radius: 5; + + + + + 0 + 0 + + + + + 0 + 22 + + + + + 16777215 + 22 + + + + + + + + + + 2 + + + 1000.000000000000000 + + + 0.100000000000000 + + + + objname:StabilizationSettings + fieldname:RollPI + element:Ki + haslimits:no + scale:1 + buttongroup:5,20 + + + + @@ -21412,6 +21547,9 @@ angle(deg) 22 + + Qt::StrongFocus + @@ -21422,7 +21560,7 @@ angle(deg) 0 - 1000000.000000000000000 + 360.000000000000000 1.000000000000000 @@ -21458,6 +21596,9 @@ angle(deg) 22 + + Qt::StrongFocus + @@ -21465,7 +21606,7 @@ angle(deg) 0 - 1000000.000000000000000 + 360.000000000000000 1.000000000000000 @@ -21537,6 +21678,9 @@ rate(deg/s) 22 + + Qt::StrongFocus + @@ -21547,7 +21691,7 @@ rate(deg/s) 0 - 1000000.000000000000000 + 10000.000000000000000 1.000000000000000 @@ -21600,6 +21744,9 @@ rate(deg/s) 22 + + Qt::StrongFocus + @@ -21607,7 +21754,7 @@ rate(deg/s) 0 - 1000000.000000000000000 + 10000.000000000000000 1.000000000000000 @@ -21660,6 +21807,9 @@ rate(deg/s) 22 + + Qt::StrongFocus + @@ -21670,7 +21820,7 @@ rate(deg/s) 0 - 1000000.000000000000000 + 10000.000000000000000 1.000000000000000 @@ -21739,6 +21889,9 @@ rate(deg/s) 22 + + Qt::StrongFocus + @@ -21749,7 +21902,7 @@ rate(deg/s) 0 - 1000000.000000000000000 + 10000.000000000000000 1.000000000000000 @@ -21786,6 +21939,9 @@ rate(deg/s) 22 + + Qt::StrongFocus + @@ -21793,7 +21949,7 @@ rate(deg/s) 0 - 1000000.000000000000000 + 10000.000000000000000 1.000000000000000 @@ -21830,6 +21986,9 @@ rate(deg/s) 22 + + Qt::StrongFocus + @@ -21840,7 +21999,7 @@ rate(deg/s) 0 - 1000000.000000000000000 + 10000.000000000000000 1.000000000000000 @@ -21877,6 +22036,9 @@ rate(deg/s) 22 + + Qt::StrongFocus + @@ -21887,7 +22049,7 @@ rate(deg/s) 0 - 1000000.000000000000000 + 360.000000000000000 1.000000000000000 @@ -24702,6 +24864,9 @@ border-radius: 5; 22 + + Qt::StrongFocus + GyroTau is a gyro filter, the higher the factor the more filtering is applied to the gyros @@ -24715,7 +24880,7 @@ border-radius: 5; 1000000.000000000000000 - 1.000000000000000 + 0.010000000000000 @@ -24748,6 +24913,9 @@ border-radius: 5; 22 + + Qt::StrongFocus + The proportional term for the accelerometer, the higher this term the more weight the accel is given @@ -24761,7 +24929,7 @@ border-radius: 5; 1000000.000000000000000 - 1.000000000000000 + 0.010000000000000 @@ -24794,6 +24962,9 @@ border-radius: 5; 22 + + Qt::StrongFocus + The intergral term for the accelerometer within the filter @@ -24807,7 +24978,7 @@ border-radius: 5; 1000000.000000000000000 - 1.000000000000000 + 0.000100000000000 diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m b/ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m index c494c529b..a01b2ad27 100644 --- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m +++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m @@ -89,8 +89,8 @@ fclose(fid); $(CLEANUPCODE) if strcmpi(outputType,'mat') - matfile = strrep(logfile,'opl','mat'); - save(matfile $(SAVEOBJECTSCODE)); + [pathstr, name, ext] = fileparts(logfile); + save([fullfile(pathstr, name) '.mat'] $(SAVEOBJECTSCODE)); else $(EXPORTCSVCODE); end