From c2664a78432ecaae88eab1e4b406b96818c6f149 Mon Sep 17 00:00:00 2001
From: edouard <edouard>
Date: Tue, 12 Oct 2010 21:41:06 +0000
Subject: [PATCH] OP-138 Various updates to config gadget: new quad shapes in
 the artwork, new tooltips, and start of the feed forward testing interface,
 with foolproof user safety (tm) built it...

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1950 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 ground/src/plugins/config/airframe.ui         | 218 +++--
 .../src/plugins/config/configservowidget.cpp  |  29 +-
 .../src/plugins/config/images/quad-shapes.svg | 827 +++++++++++++++++-
 ground/src/plugins/config/settingswidget.ui   |  10 +-
 4 files changed, 915 insertions(+), 169 deletions(-)

diff --git a/ground/src/plugins/config/airframe.ui b/ground/src/plugins/config/airframe.ui
index 4758a4eb4..91a95e395 100644
--- a/ground/src/plugins/config/airframe.ui
+++ b/ground/src/plugins/config/airframe.ui
@@ -509,7 +509,8 @@
                     <item>
                      <widget class="QSlider" name="mrRollMixLevel">
                       <property name="toolTip">
-                       <string>Weight of Roll mixing in percent. Typical values are 100% for + configuration and 50% for X configuration on quads.</string>
+                       <string>Weight of Roll mixing in percent.
+Typical values are 100% for + configuration and 50% for X configuration on quads.</string>
                       </property>
                       <property name="maximum">
                        <number>100</number>
@@ -556,7 +557,8 @@
                     <item>
                      <widget class="QSlider" name="mrPitchMixLevel">
                       <property name="toolTip">
-                       <string>Weight of Pitch mixing in percent. Typical values are 100% for + configuration and 50% for X configuration on quads.</string>
+                       <string>Weight of Pitch mixing in percent.
+Typical values are 100% for + configuration and 50% for X configuration on quads.</string>
                       </property>
                       <property name="maximum">
                        <number>100</number>
@@ -600,7 +602,8 @@
                     <item>
                      <widget class="QSlider" name="mrYawMixLevel">
                       <property name="toolTip">
-                       <string>Weight of Yaw mixing in percent. Typical value is 50% for + or X configuration on quads.</string>
+                       <string>Weight of Yaw mixing in percent.
+Typical value is 50% for + or X configuration on quads.</string>
                       </property>
                       <property name="maximum">
                        <number>100</number>
@@ -637,7 +640,7 @@
                </layout>
               </item>
               <item>
-               <layout class="QVBoxLayout" name="verticalLayout_11" stretch="0,1,0,0">
+               <layout class="QVBoxLayout" name="verticalLayout_11" stretch="0,1,0,0,0">
                 <item>
                  <widget class="QLabel" name="label_19">
                   <property name="font">
@@ -685,6 +688,9 @@
                     <property name="enabled">
                      <bool>true</bool>
                     </property>
+                    <property name="toolTip">
+                     <string>Overall level of feed forward (in percentage).</string>
+                    </property>
                     <property name="maximum">
                      <number>100</number>
                     </property>
@@ -711,6 +717,11 @@
                     <property name="enabled">
                      <bool>true</bool>
                     </property>
+                    <property name="toolTip">
+                     <string>When tuning: Slowly raise accel time from zero to just
+under the level where the motor starts to overshoot
+its target speed.</string>
+                    </property>
                     <property name="maximum">
                      <double>1000.000000000000000</double>
                     </property>
@@ -728,6 +739,13 @@
                     <property name="enabled">
                      <bool>true</bool>
                     </property>
+                    <property name="toolTip">
+                     <string>When tuning: Slowly raise decel time from zero to just
+under the level where the motor starts to undershoot
+its target speed when decelerating.
+
+Do it after accel time is setup.</string>
+                    </property>
                     <property name="maximum">
                      <double>1000.000000000000000</double>
                     </property>
@@ -754,7 +772,8 @@
                   <item row="5" column="1">
                    <widget class="QSlider" name="maxAccelSlider">
                     <property name="toolTip">
-                     <string>Limits how much the engines can accelerate or decelerate. In 'units per second', a sound default is 1000.</string>
+                     <string>Limits how much the engines can accelerate or decelerate.
+In 'units per second', a sound default is 1000.</string>
                     </property>
                     <property name="minimum">
                      <number>500</number>
@@ -779,20 +798,87 @@
                     <property name="enabled">
                      <bool>false</bool>
                     </property>
+                    <property name="toolTip">
+                     <string>Select the test channel for tuning feed forward.</string>
+                    </property>
                    </widget>
                   </item>
                   <item>
-                   <widget class="QPushButton" name="pushButton">
-                    <property name="enabled">
-                     <bool>false</bool>
+                   <widget class="QCheckBox" name="ffTestBox1">
+                    <property name="toolTip">
+                     <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Sans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Beware! Check &lt;span style=&quot; font-weight:600;&quot;&gt;all three&lt;/span&gt; checkboxes to test the&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;selected channel.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;It will run even if your airframe is not armed.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
                     </property>
                     <property name="text">
-                     <string>Test</string>
+                     <string/>
                     </property>
                    </widget>
                   </item>
+                  <item>
+                   <widget class="QCheckBox" name="ffTestBox2">
+                    <property name="toolTip">
+                     <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Sans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Beware! Check &lt;span style=&quot; font-weight:600;&quot;&gt;all three&lt;/span&gt; checkboxes to test the&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;selected channel.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;It will run even if your airframe is not armed.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                    </property>
+                    <property name="text">
+                     <string/>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QCheckBox" name="ffTestBox3">
+                    <property name="toolTip">
+                     <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Sans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Beware! Check &lt;span style=&quot; font-weight:600;&quot;&gt;all three&lt;/span&gt; checkboxes to test the&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;selected channel.&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;It will run even if your airframe is not armed.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                    </property>
+                    <property name="text">
+                     <string>Enable FF tuning</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <spacer name="horizontalSpacer_7">
+                    <property name="orientation">
+                     <enum>Qt::Horizontal</enum>
+                    </property>
+                    <property name="sizeHint" stdset="0">
+                     <size>
+                      <width>40</width>
+                      <height>20</height>
+                     </size>
+                    </property>
+                   </spacer>
+                  </item>
                  </layout>
                 </item>
+                <item>
+                 <spacer name="verticalSpacer_5">
+                  <property name="orientation">
+                   <enum>Qt::Vertical</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>20</width>
+                    <height>40</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
                 <item>
                  <spacer name="verticalSpacer_3">
                   <property name="orientation">
@@ -987,6 +1073,14 @@
                        <pointsize>8</pointsize>
                       </font>
                      </property>
+                     <property name="toolTip">
+                      <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Assign your motor channels using the drawing&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;on the right as a reference. Respect propeller rotation!&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                     </property>
                     </widget>
                    </item>
                    <item row="1" column="0">
@@ -1171,112 +1265,6 @@
          <layout class="QVBoxLayout" name="verticalLayout_9">
           <item>
            <layout class="QVBoxLayout" name="verticalLayout_16">
-            <item>
-             <layout class="QHBoxLayout" name="horizontalLayout_13">
-              <item>
-               <layout class="QFormLayout" name="formLayout_8">
-                <item row="0" column="0">
-                 <widget class="QLabel" name="label_2">
-                  <property name="text">
-                   <string>Channel1</string>
-                  </property>
-                 </widget>
-                </item>
-                <item row="0" column="1">
-                 <widget class="QComboBox" name="comboBox"/>
-                </item>
-                <item row="1" column="0">
-                 <widget class="QLabel" name="label_29">
-                  <property name="text">
-                   <string>Channel 2</string>
-                  </property>
-                 </widget>
-                </item>
-                <item row="1" column="1">
-                 <widget class="QComboBox" name="comboBox_5"/>
-                </item>
-               </layout>
-              </item>
-              <item>
-               <layout class="QFormLayout" name="formLayout_9">
-                <property name="fieldGrowthPolicy">
-                 <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
-                </property>
-                <item row="0" column="0">
-                 <widget class="QLabel" name="label_26">
-                  <property name="text">
-                   <string>Channel 3</string>
-                  </property>
-                 </widget>
-                </item>
-                <item row="0" column="1">
-                 <widget class="QComboBox" name="comboBox_3"/>
-                </item>
-                <item row="1" column="0">
-                 <widget class="QLabel" name="label_30">
-                  <property name="text">
-                   <string>Channel 4</string>
-                  </property>
-                 </widget>
-                </item>
-                <item row="1" column="1">
-                 <widget class="QComboBox" name="comboBox_6"/>
-                </item>
-               </layout>
-              </item>
-              <item>
-               <layout class="QFormLayout" name="formLayout_11">
-                <item row="0" column="0">
-                 <widget class="QLabel" name="label_28">
-                  <property name="text">
-                   <string>Channel 5</string>
-                  </property>
-                 </widget>
-                </item>
-                <item row="0" column="1">
-                 <widget class="QComboBox" name="comboBox_4"/>
-                </item>
-                <item row="1" column="0">
-                 <widget class="QLabel" name="label_31">
-                  <property name="text">
-                   <string>Channel 6</string>
-                  </property>
-                 </widget>
-                </item>
-                <item row="1" column="1">
-                 <widget class="QComboBox" name="comboBox_7"/>
-                </item>
-               </layout>
-              </item>
-              <item>
-               <layout class="QFormLayout" name="formLayout_5">
-                <property name="fieldGrowthPolicy">
-                 <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
-                </property>
-                <item row="0" column="0">
-                 <widget class="QLabel" name="label_27">
-                  <property name="text">
-                   <string>Channel 7</string>
-                  </property>
-                 </widget>
-                </item>
-                <item row="0" column="1">
-                 <widget class="QComboBox" name="comboBox_2"/>
-                </item>
-                <item row="1" column="0">
-                 <widget class="QLabel" name="label_32">
-                  <property name="text">
-                   <string>Channel 8</string>
-                  </property>
-                 </widget>
-                </item>
-                <item row="1" column="1">
-                 <widget class="QComboBox" name="comboBox_8"/>
-                </item>
-               </layout>
-              </item>
-             </layout>
-            </item>
             <item>
              <layout class="QHBoxLayout" name="horizontalLayout_14">
               <item>
diff --git a/ground/src/plugins/config/configservowidget.cpp b/ground/src/plugins/config/configservowidget.cpp
index 18d546bdd..01cb8169c 100644
--- a/ground/src/plugins/config/configservowidget.cpp
+++ b/ground/src/plugins/config/configservowidget.cpp
@@ -910,15 +910,32 @@ void ConfigServoWidget::updateChannels(UAVObject* controlCommand)
     field = obj->getField("FlightMode");
     int chIndex = field->getOptions().indexOf(field->getValue().toString());
     if ( chIndex < field->getOptions().length()) {
+        float valueScaled;
         int chMin = inSliders.at(chIndex)->minimum();
         int chMax = inSliders.at(chIndex)->maximum();
-        if ((chMax-chMin) > 0) {
-            int val = controlCommand->getField("Channel")->getValue(chIndex).toInt();
-            int chCur = (val-chMin)*100/(chMax-chMin);
-            m_config->fmsSlider->setValue(chCur);
+        int chNeutral = inSliders.at(chIndex)->value();
+        int value = controlCommand->getField("Channel")->getValue(chIndex).toInt();
+        if ((chMax > chMin && value >= chNeutral) || (chMin > chMax && value <= chNeutral)) {
+                if (chMax != chNeutral) {
+                        valueScaled = (float)(value - chNeutral) / (float)(chMax - chNeutral);
+                } else {
+                        valueScaled = 0;
+                }
+        } else {
+                if (chMin != chNeutral) {
+                        valueScaled = (float)(value - chNeutral) / (float)(chNeutral - chMin);
+                } else {
+                        valueScaled = 0;
+                }
+        }
+        // Bound
+        if (valueScaled > 1.0) {
+                valueScaled = 1.0;
+        } else if (valueScaled < -1.0) {
+                valueScaled = -1.0;
+        }
+        m_config->fmsSlider->setValue(valueScaled*100);
         }
-    }
-
 }
 
 
diff --git a/ground/src/plugins/config/images/quad-shapes.svg b/ground/src/plugins/config/images/quad-shapes.svg
index 286655963..c1eb0214d 100644
--- a/ground/src/plugins/config/images/quad-shapes.svg
+++ b/ground/src/plugins/config/images/quad-shapes.svg
@@ -24,6 +24,13 @@
        inkscape:vp_z="744.09448 : 526.18109 : 1"
        inkscape:persp3d-origin="372.04724 : 350.78739 : 1"
        id="perspective2925" />
+    <inkscape:perspective
+       id="perspective3002"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
   </defs>
   <sodipodi:namedview
      id="base"
@@ -32,16 +39,16 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="1.979899"
-     inkscape:cx="202.64449"
-     inkscape:cy="675.80836"
+     inkscape:zoom="0.70000001"
+     inkscape:cx="322.73603"
+     inkscape:cy="671.79344"
      inkscape:document-units="px"
-     inkscape:current-layer="g3037"
+     inkscape:current-layer="layer1"
      showgrid="false"
      showguides="true"
      inkscape:guide-bbox="true"
-     inkscape:snap-to-guides="true"
-     inkscape:snap-grids="true"
+     inkscape:snap-to-guides="false"
+     inkscape:snap-grids="false"
      inkscape:window-width="1366"
      inkscape:window-height="693"
      inkscape:window-x="0"
@@ -69,16 +76,24 @@
        id="guide3711" />
     <sodipodi:guide
        orientation="1,0"
-       position="346.48232,984.89873"
+       position="280,781.42857"
        id="guide3713" />
     <sodipodi:guide
        orientation="0,1"
-       position="259.28571,662.85714"
+       position="401.03056,668.2159"
        id="guide3090" />
     <sodipodi:guide
        orientation="1,0"
        position="212.85714,706.42857"
        id="guide3092" />
+    <sodipodi:guide
+       orientation="0,1"
+       position="442.95189,724.78445"
+       id="guide3199" />
+    <sodipodi:guide
+       orientation="0,1"
+       position="442.95189,609.28571"
+       id="guide3207" />
   </sodipodi:namedview>
   <metadata
      id="metadata2922">
@@ -88,7 +103,7 @@
         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title />
+        <dc:title></dc:title>
       </cc:Work>
     </rdf:RDF>
   </metadata>
@@ -98,7 +113,10 @@
      id="layer1">
     <g
        id="quad-plus"
-       inkscape:label="#g3890">
+       inkscape:label="#g3890"
+       inkscape:export-filename="/tmp/quad-shapes.png"
+       inkscape:export-xdpi="111.09"
+       inkscape:export-ydpi="111.09">
       <path
          id="path3721"
          d="m 88.571429,129.03959 127.857141,0"
@@ -278,7 +296,10 @@
     <g
        id="quad-X"
        inkscape:label="#g4034"
-       transform="translate(-16,0)">
+       transform="translate(-16,0)"
+       inkscape:export-filename="/tmp/quad-shapes.png"
+       inkscape:export-xdpi="111.09"
+       inkscape:export-ydpi="111.09">
       <path
          id="path4030"
          d="m 346.48232,88.676654 96.46957,82.832506"
@@ -477,18 +498,30 @@
     <g
        id="quad-octo"
        inkscape:label="#g3870"
-       transform="translate(460.62956,-209.6425)">
+       transform="translate(460.62956,-209.6425)"
+       inkscape:export-filename="/tmp/quad-shapes.png"
+       inkscape:export-xdpi="111.09"
+       inkscape:export-ydpi="111.09">
       <path
          style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
          d="m 88.571429,329.42899 127.857141,0"
-         id="path2878" />
+         id="path2878"
+         inkscape:export-filename="/tmp/quad-shapes.png"
+         inkscape:export-xdpi="19.027815"
+         inkscape:export-ydpi="19.027815" />
       <path
          style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
          d="m 152.03811,277.10595 0,107.11337"
-         id="path2880" />
+         id="path2880"
+         inkscape:export-filename="/tmp/quad-shapes.png"
+         inkscape:export-xdpi="19.027815"
+         inkscape:export-ydpi="19.027815" />
       <g
          transform="translate(-0.45501705,-5.428572)"
-         id="g3018">
+         id="g3018"
+         inkscape:export-filename="/tmp/quad-shapes.png"
+         inkscape:export-xdpi="19.027815"
+         inkscape:export-ydpi="19.027815">
         <path
            transform="translate(-0.50000024,184.5)"
            d="m 176.7767,75.039597 c 0,13.110458 -10.62813,23.738584 -23.73858,23.738584 -13.11046,0 -23.73859,-10.628126 -23.73859,-23.738584 0,-13.110459 10.62813,-23.738585 23.73859,-23.738585 13.11045,0 23.73858,10.628126 23.73858,23.738585 z"
@@ -535,10 +568,16 @@
       <path
          id="path3094"
          d="M 90.714285,270.93361 212.85714,389.50504"
-         style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" />
+         style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+         inkscape:export-filename="/tmp/quad-shapes.png"
+         inkscape:export-xdpi="19.027815"
+         inkscape:export-ydpi="19.027815" />
       <g
          transform="translate(-0.9550285,42.571428)"
-         id="g3042">
+         id="g3042"
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+           id="path4073"
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   </g>
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diff --git a/ground/src/plugins/config/settingswidget.ui b/ground/src/plugins/config/settingswidget.ui
index fc3e18dd6..e8da6b95e 100644
--- a/ground/src/plugins/config/settingswidget.ui
+++ b/ground/src/plugins/config/settingswidget.ui
@@ -23,7 +23,7 @@
     </rect>
    </property>
    <property name="currentIndex">
-    <number>2</number>
+    <number>0</number>
    </property>
    <widget class="QWidget" name="tab">
     <attribute name="title">
@@ -1729,6 +1729,10 @@ Be sure to set the Neutral position on all sliders before sending!</string>
         <height>27</height>
        </rect>
       </property>
+      <property name="toolTip">
+       <string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
+Leave at 50Hz for fixed wing.</string>
+      </property>
       <property name="maximum">
        <number>9999</number>
       </property>
@@ -1755,6 +1759,10 @@ Be sure to set the Neutral position on all sliders before sending!</string>
         <height>27</height>
        </rect>
       </property>
+      <property name="toolTip">
+       <string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
+Leave at 50Hz for fixed wing.</string>
+      </property>
       <property name="maximum">
        <number>9999</number>
       </property>