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Code Issues Releases Activity

Finished framework and stab config showcase

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This commit is contained in:
zedamota 2012-02-10 16:34:07 +00:00
parent 4cdf223bff
commit c2d9af1e89
8 changed files with 727 additions and 424 deletions
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102
ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
View File

@ -40,22 +40,104 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
{
m_stabilization = new Ui_StabilizationWidget();
m_stabilization->setupUi(this);
/* QList<int> * rateGroup=new QList<int>();
rateGroup->append(0);
addApplySaveButtons(m_stabilization->saveStabilizationToRAM,m_stabilization->saveStabilizationToSD);
addUAVObjectToWidgetRelation("StabilizationSettings","RollRatePID",m_stabilization->rateRollKp,"Kp",1,true,rateGroup);
addDefaultButton(m_stabilization->defaultButton,0);
addReloadButton(m_stabilization->reloadButton,0);
addWidgetToDefaultReloadGroups(m_stabilization->rateRollKp,rateGroup);
addShadowWidget("StabilizationSettings","RollRatePID",m_stabilization->rateRollKi,0,1,true,rateGroup);*/
autoLoadWidgets();
realtimeUpdates=new QTimer(this);
connect(m_stabilization->realTimeUpdates_6,SIGNAL(stateChanged(int)),this,SLOT(realtimeUpdatesSlot(int)));
connect(m_stabilization->realTimeUpdates_7,SIGNAL(stateChanged(int)),this,SLOT(realtimeUpdatesSlot(int)));
connect(realtimeUpdates,SIGNAL(timeout()),this,SLOT(apply()));
connect(m_stabilization->checkBox_7,SIGNAL(stateChanged(int)),this,SLOT(linkCheckBoxes(int)));
connect(m_stabilization->checkBox_2,SIGNAL(stateChanged(int)),this,SLOT(linkCheckBoxes(int)));
connect(m_stabilization->checkBox_8,SIGNAL(stateChanged(int)),this,SLOT(linkCheckBoxes(int)));
connect(m_stabilization->checkBox_3,SIGNAL(stateChanged(int)),this,SLOT(linkCheckBoxes(int)));
connect(this,SIGNAL(widgetContentsChanged(QWidget*)),this,SLOT(processLinkedWidgets(QWidget*)));
}
ConfigStabilizationWidget::~ConfigStabilizationWidget()
{
// Do nothing
// Do nothing
}
void ConfigStabilizationWidget::realtimeUpdatesSlot(int value)
{
m_stabilization->realTimeUpdates_6->setCheckState((Qt::CheckState)value);
m_stabilization->realTimeUpdates_7->setCheckState((Qt::CheckState)value);
if(value==Qt::Checked && !realtimeUpdates->isActive())
realtimeUpdates->start(300);
else if(value==Qt::Unchecked)
realtimeUpdates->stop();
}
void ConfigStabilizationWidget::linkCheckBoxes(int value)
{
if(sender()== m_stabilization->checkBox_7)
m_stabilization->checkBox_3->setCheckState((Qt::CheckState)value);
else if(sender()== m_stabilization->checkBox_3)
m_stabilization->checkBox_7->setCheckState((Qt::CheckState)value);
else if(sender()== m_stabilization->checkBox_8)
m_stabilization->checkBox_2->setCheckState((Qt::CheckState)value);
else if(sender()== m_stabilization->checkBox_2)
m_stabilization->checkBox_8->setCheckState((Qt::CheckState)value);
}
void ConfigStabilizationWidget::processLinkedWidgets(QWidget * widget)
{
if(m_stabilization->checkBox_7->checkState()==Qt::Checked)
{
if(widget== m_stabilization->RateRollKp_2)
{
m_stabilization->RatePitchKp->setValue(m_stabilization->RateRollKp_2->value());
}
else if(widget== m_stabilization->RateRollKi_2)
{
m_stabilization->RatePitchKi->setValue(m_stabilization->RateRollKi_2->value());
}
else if(widget== m_stabilization->RateRollILimit_2)
{
m_stabilization->RatePitchILimit->setValue(m_stabilization->RateRollILimit_2->value());
}
else if(widget== m_stabilization->RatePitchKp)
{
m_stabilization->RateRollKp_2->setValue(m_stabilization->RatePitchKp->value());
}
else if(widget== m_stabilization->RatePitchKi)
{
m_stabilization->RateRollKi_2->setValue(m_stabilization->RatePitchKi->value());
}
else if(widget== m_stabilization->RatePitchILimit)
{
m_stabilization->RateRollILimit_2->setValue(m_stabilization->RatePitchILimit->value());
}
}
if(m_stabilization->checkBox_8->checkState()==Qt::Checked)
{
if(widget== m_stabilization->AttitudeRollKp)
{
m_stabilization->AttitudePitchKp_2->setValue(m_stabilization->AttitudeRollKp->value());
}
else if(widget== m_stabilization->AttitudeRollKi)
{
m_stabilization->AttitudePitchKi_2->setValue(m_stabilization->AttitudeRollKi->value());
}
else if(widget== m_stabilization->AttitudeRollILimit)
{
m_stabilization->AttitudePitchILimit_2->setValue(m_stabilization->AttitudeRollILimit->value());
}
else if(widget== m_stabilization->AttitudePitchKp_2)
{
m_stabilization->AttitudeRollKp->setValue(m_stabilization->AttitudePitchKp_2->value());
}
else if(widget== m_stabilization->AttitudePitchKi_2)
{
m_stabilization->AttitudeRollKi->setValue(m_stabilization->AttitudePitchKi_2->value());
}
else if(widget== m_stabilization->AttitudePitchILimit_2)
{
m_stabilization->AttitudeRollILimit->setValue(m_stabilization->AttitudePitchILimit_2->value());
}
}
}

5
ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h
View File

@ -47,8 +47,11 @@ public:
private:
Ui_StabilizationWidget *m_stabilization;
QTimer * realtimeUpdates;
private slots:
void realtimeUpdatesSlot(int);
void linkCheckBoxes(int value);
void processLinkedWidgets(QWidget*);
};
#endif // ConfigStabilizationWidget_H

890
ground/openpilotgcs/src/plugins/config/stabilization.ui
View File

@ -470,7 +470,7 @@
<enum>QTabWidget::North</enum>
</property>
<property name="currentIndex">
<number>0</number>
<number>1</number>
</property>
<property name="documentMode">
<bool>true</bool>
@ -1140,12 +1140,6 @@
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>button:default</string>
<string>buttongroup:1</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
<width>81</width>
@ -1185,6 +1179,12 @@ border-radius: 4;
<property name="text">
<string>Default</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>button:default</string>
<string>buttongroup:1</string>
</stringlist>
</property>
</widget>
</item>
<item row="0" column="2">
@ -1194,13 +1194,7 @@ border-radius: 4;
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>button:help</string>
<string>url:http://wiki.openpilot.org/display/Doc/Stabilization+panel</string>
</stringlist>
</property>
</property>
<property name="minimumSize">
<size>
<width>51</width>
@ -1240,6 +1234,12 @@ border-radius: 4;
<property name="text">
<string>Wiki</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>button:help</string>
<string>url:http://wiki.openpilot.org/display/Doc/Stabilization+panel</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="0" colspan="4">
@ -3401,7 +3401,7 @@ border-radius: 5;</string>
<string>element:Kp</string>
<string>haslimits:yes</string>
<string>scale:0.0001</string>
<string>buttongroup:1,10</string>
<string>buttongroup:1,10</string>
</stringlist>
</property>
</widget>
@ -3433,7 +3433,7 @@ border-radius: 5;</string>
<string>element:Kp</string>
<string>haslimits:yes</string>
<string>scale:0.0001</string>
<string>buttongroup:1,10</string>
<string>buttongroup:1,10</string>
</stringlist>
</property>
</widget>
@ -3477,7 +3477,7 @@ border-radius: 5;</string>
<string>element:Kp</string>
<string>haslimits:yes</string>
<string>scale:0.0001</string>
<string>buttongroup:1,10</string>
<string>buttongroup:1,10</string>
</stringlist>
</property>
</widget>
@ -3509,7 +3509,7 @@ border-radius: 5;</string>
<string>element:Kp</string>
<string>haslimits:yes</string>
<string>scale:0.0001</string>
<string>buttongroup:1,10</string>
<string>buttongroup:1,10</string>
</stringlist>
</property>
</widget>
@ -3553,7 +3553,7 @@ border-radius: 5;</string>
<string>element:Kp</string>
<string>haslimits:yes</string>
<string>scale:0.0001</string>
<string>buttongroup:1,10</string>
<string>buttongroup:1,10</string>
</stringlist>
</property>
</widget>
@ -3585,7 +3585,7 @@ border-radius: 5;</string>
<string>element:Kp</string>
<string>haslimits:yes</string>
<string>scale:0.0001</string>
<string>buttongroup:1,10</string>
<string>buttongroup:1,10</string>
</stringlist>
</property>
</widget>
@ -3648,7 +3648,7 @@ border-radius: 5;</string>
<string>element:Ki</string>
<string>haslimits:yes</string>
<string>scale:0.0001</string>
<string>buttongroup:1,10</string>
<string>buttongroup:1,10</string>
</stringlist>
</property>
</widget>
@ -3680,7 +3680,7 @@ border-radius: 5;</string>
<string>element:Ki</string>
<string>haslimits:yes</string>
<string>scale:0.0001</string>
<string>buttongroup:1,10</string>
<string>buttongroup:1,10</string>
</stringlist>
</property>
</widget>
@ -3724,7 +3724,7 @@ border-radius: 5;</string>
<string>element:Ki</string>
<string>haslimits:yes</string>
<string>scale:0.0001</string>
<string>buttongroup:1,10</string>
<string>buttongroup:1,10</string>
</stringlist>
</property>
</widget>
@ -3756,7 +3756,7 @@ border-radius: 5;</string>
<string>element:Ki</string>
<string>haslimits:yes</string>
<string>scale:0.0001</string>
<string>buttongroup:1,10</string>
<string>buttongroup:1,10</string>
</stringlist>
</property>
</widget>
@ -3800,7 +3800,7 @@ border-radius: 5;</string>
<string>element:Ki</string>
<string>haslimits:yes</string>
<string>scale:0.0001</string>
<string>buttongroup:1,10</string>
<string>buttongroup:1,10</string>
</stringlist>
</property>
</widget>
@ -3832,7 +3832,7 @@ border-radius: 5;</string>
<string>element:Ki</string>
<string>haslimits:yes</string>
<string>scale:0.0001</string>
<string>buttongroup:1,10</string>
<string>buttongroup:1,10</string>
</stringlist>
</property>
</widget>
@ -4482,12 +4482,6 @@ border-radius: 5;</string>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>button:default</string>
<string>buttongroup:2</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
<width>81</width>
@ -4524,6 +4518,12 @@ border-radius: 4;
<property name="text">
<string>Default</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>button:default</string>
<string>buttongroup:2</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="0" colspan="4">
@ -7129,12 +7129,6 @@ border-radius: 5;</string>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>button:help</string>
<string>url:http://wiki.openpilot.org/display/Doc/Stabilization+panel</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
<width>51</width>
@ -7171,6 +7165,12 @@ border-radius: 4;
<property name="text">
<string>Wiki</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>button:help</string>
<string>url:http://wiki.openpilot.org/display/Doc/Stabilization+panel</string>
</stringlist>
</property>
</widget>
</item>
</layout>
@ -7815,12 +7815,6 @@ border-radius: 4;
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>button:help</string>
<string>url:http://wiki.openpilot.org/display/Doc/Stabilization+panel</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
<width>51</width>
@ -7857,6 +7851,12 @@ border-radius: 4;
<property name="text">
<string>Wiki</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>button:help</string>
<string>url:http://wiki.openpilot.org/display/Doc/Stabilization+panel</string>
</stringlist>
</property>
</widget>
</item>
<item row="0" column="2">
@ -7867,12 +7867,6 @@ border-radius: 4;
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>button:default</string>
<string>buttongroup:3</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
<width>81</width>
@ -7909,6 +7903,12 @@ border-radius: 4;
<property name="text">
<string>Default</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>button:default</string>
<string>buttongroup:3</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="0" colspan="3">
@ -10070,13 +10070,13 @@ Angle</string>
<property name="tickInterval">
<number>25</number>
</property>
<property name="objrelation" stdset="0">
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:RollMax</string>
<string>haslimits:yes</string>
<string>scale:1.8</string>
<string>buttongroup:3,10</string>
<string>buttongroup:3,10</string>
</stringlist>
</property>
</widget>
@ -10101,13 +10101,13 @@ Angle</string>
<property name="text">
<string>50</string>
</property>
<property name="objrelation" stdset="0">
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:RollMax</string>
<string>haslimits:yes</string>
<string>scale:1.8</string>
<string>buttongroup:3,10</string>
<string>buttongroup:3,10</string>
</stringlist>
</property>
</widget>
@ -10144,13 +10144,13 @@ Angle</string>
<property name="tickInterval">
<number>25</number>
</property>
<property name="objrelation" stdset="0">
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:PitchMax</string>
<string>haslimits:yes</string>
<string>scale:1.8</string>
<string>buttongroup:3,10</string>
<string>buttongroup:3,10</string>
</stringlist>
</property>
</widget>
@ -10175,13 +10175,13 @@ Angle</string>
<property name="text">
<string>50</string>
</property>
<property name="objrelation" stdset="0">
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:PitchMax</string>
<string>haslimits:yes</string>
<string>scale:1.8</string>
<string>buttongroup:3,10</string>
<string>buttongroup:3,10</string>
</stringlist>
</property>
</widget>
@ -10218,13 +10218,13 @@ Angle</string>
<property name="tickInterval">
<number>25</number>
</property>
<property name="objrelation" stdset="0">
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:YawMax</string>
<string>haslimits:yes</string>
<string>scale:1.8</string>
<string>buttongroup:3,10</string>
<string>buttongroup:3,10</string>
</stringlist>
</property>
</widget>
@ -10249,13 +10249,13 @@ Angle</string>
<property name="text">
<string>50</string>
</property>
<property name="objrelation" stdset="0">
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:YawMax</string>
<string>haslimits:yes</string>
<string>scale:1.8</string>
<string>buttongroup:3,10</string>
<string>buttongroup:3,10</string>
</stringlist>
</property>
</widget>
@ -10312,14 +10312,14 @@ Rate</string>
<property name="tickInterval">
<number>25</number>
</property>
<property name="objrelation" stdset="0">
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:ManualRate</string>
<string>element:Roll</string>
<string>element:Roll</string>
<string>haslimits:yes</string>
<string>scale:5</string>
<string>buttongroup:3,10</string>
<string>buttongroup:3,10</string>
</stringlist>
</property>
</widget>
@ -10344,14 +10344,14 @@ Rate</string>
<property name="text">
<string>50</string>
</property>
<property name="objrelation" stdset="0">
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:ManualRate</string>
<string>element:Roll</string>
<string>element:Roll</string>
<string>haslimits:yes</string>
<string>scale:5</string>
<string>buttongroup:3,10</string>
<string>buttongroup:3,10</string>
</stringlist>
</property>
</widget>
@ -10388,14 +10388,14 @@ Rate</string>
<property name="tickInterval">
<number>25</number>
</property>
<property name="objrelation" stdset="0">
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:ManualRate</string>
<string>element:Pitch</string>
<string>element:Pitch</string>
<string>haslimits:yes</string>
<string>scale:5</string>
<string>buttongroup:3,10</string>
<string>buttongroup:3,10</string>
</stringlist>
</property>
</widget>
@ -10420,14 +10420,14 @@ Rate</string>
<property name="text">
<string>50</string>
</property>
<property name="objrelation" stdset="0">
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:ManualRate</string>
<string>element:Pitch</string>
<string>element:Pitch</string>
<string>haslimits:yes</string>
<string>scale:5</string>
<string>buttongroup:3,10</string>
<string>buttongroup:3,10</string>
</stringlist>
</property>
</widget>
@ -10464,14 +10464,14 @@ Rate</string>
<property name="tickInterval">
<number>25</number>
</property>
<property name="objrelation" stdset="0">
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:ManualRate</string>
<string>element:Yaw</string>
<string>element:Yaw</string>
<string>haslimits:yes</string>
<string>scale:5</string>
<string>buttongroup:3,10</string>
<string>buttongroup:3,10</string>
</stringlist>
</property>
</widget>
@ -10496,14 +10496,14 @@ Rate</string>
<property name="text">
<string>50</string>
</property>
<property name="objrelation" stdset="0">
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:ManualRate</string>
<string>element:Yaw</string>
<string>element:Yaw</string>
<string>haslimits:yes</string>
<string>scale:5</string>
<string>buttongroup:3,10</string>
<string>buttongroup:3,10</string>
</stringlist>
</property>
</widget>
@ -10560,14 +10560,14 @@ Attitude</string>
<property name="tickInterval">
<number>25</number>
</property>
<property name="objrelation" stdset="0">
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:MaximumRate</string>
<string>element:Roll</string>
<string>element:Roll</string>
<string>haslimits:yes</string>
<string>scale:5</string>
<string>buttongroup:3,10</string>
<string>buttongroup:3,10</string>
</stringlist>
</property>
</widget>
@ -10592,14 +10592,14 @@ Attitude</string>
<property name="text">
<string>50</string>
</property>
<property name="objrelation" stdset="0">
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:MaximumRate</string>
<string>element:Roll</string>
<string>element:Roll</string>
<string>haslimits:yes</string>
<string>scale:5</string>
<string>buttongroup:3,10</string>
<string>buttongroup:3,10</string>
</stringlist>
</property>
</widget>
@ -10636,14 +10636,14 @@ Attitude</string>
<property name="tickInterval">
<number>25</number>
</property>
<property name="objrelation" stdset="0">
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:MaximumRate</string>
<string>element:Pitch</string>
<string>element:Pitch</string>
<string>haslimits:yes</string>
<string>scale:5</string>
<string>buttongroup:3,10</string>
<string>buttongroup:3,10</string>
</stringlist>
</property>
</widget>
@ -10668,14 +10668,14 @@ Attitude</string>
<property name="text">
<string>50</string>
</property>
<property name="objrelation" stdset="0">
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:MaximumRate</string>
<string>element:Pitch</string>
<string>element:Pitch</string>
<string>haslimits:yes</string>
<string>scale:5</string>
<string>buttongroup:3,10</string>
<string>buttongroup:3,10</string>
</stringlist>
</property>
</widget>
@ -10712,14 +10712,14 @@ Attitude</string>
<property name="tickInterval">
<number>25</number>
</property>
<property name="objrelation" stdset="0">
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:MaximumRate</string>
<string>element:Yaw</string>
<string>element:Yaw</string>
<string>haslimits:yes</string>
<string>scale:5</string>
<string>buttongroup:3,10</string>
<string>buttongroup:3,10</string>
</stringlist>
</property>
</widget>
@ -10744,14 +10744,14 @@ Attitude</string>
<property name="text">
<string>50</string>
</property>
<property name="objrelation" stdset="0">
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:MaximumRate</string>
<string>element:Yaw</string>
<string>element:Yaw</string>
<string>haslimits:yes</string>
<string>scale:5</string>
<string>buttongroup:3,10</string>
<string>buttongroup:3,10</string>
</stringlist>
</property>
</widget>
@ -11377,12 +11377,12 @@ Attitude</string>
<property name="text">
<string>Zero the integral when throttle is low</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:LowThrottleZeroIntegral</string>
</stringlist>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:LowThrottleZeroIntegral</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="0">
@ -11439,12 +11439,6 @@ automatically every 300ms, which will help for fast tuning.</string>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>button:help</string>
<string>url:http://wiki.openpilot.org/display/Doc/Stabilization+panel</string>
</stringlist>
</property>
<property name="maximumSize">
<size>
<width>32</width>
@ -11467,6 +11461,12 @@ automatically every 300ms, which will help for fast tuning.</string>
<property name="flat">
<bool>true</bool>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>button:help</string>
<string>url:http://wiki.openpilot.org/display/Doc/Stabilization+panel</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="3">
@ -11477,12 +11477,6 @@ automatically every 300ms, which will help for fast tuning.</string>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>button:reload</string>
<string>buttongroup:10</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
<width>120</width>
@ -11524,6 +11518,12 @@ border-radius: 4;
<property name="text">
<string>Reload Board Data</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>button:reload</string>
<string>buttongroup:10</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="4">
@ -11673,8 +11673,8 @@ border-radius: 4;
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>431</width>
<y>-38</y>
<width>626</width>
<height>828</height>
</rect>
</property>
@ -12315,13 +12315,6 @@ border-radius: 4;
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>button:default</string>
<string>buttongroup:4</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
<width>81</width>
@ -12358,6 +12351,13 @@ border-radius: 4;
<property name="text">
<string>Default</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>button:default</string>
<string>buttongroup:4</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="0" colspan="3">
@ -14500,16 +14500,6 @@ border-radius: 5;</string>
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:RollRatePID</string>
<string>element:Kp</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:4,20</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
@ -14535,6 +14525,16 @@ border-radius: 5;</string>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:RollRatePID</string>
<string>element:Kp</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:4,20</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="4">
@ -14544,16 +14544,6 @@ border-radius: 5;</string>
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:PitchRatePID</string>
<string>element:Kp</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:4,20</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
@ -14576,6 +14566,16 @@ border-radius: 5;</string>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:PitchRatePID</string>
<string>element:Kp</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:4,20</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="6">
@ -14585,16 +14585,6 @@ border-radius: 5;</string>
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:YawRatePID</string>
<string>element:Kp</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:4,20</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
@ -14623,6 +14613,16 @@ You can usually go for higher values for Yaw factors.</string>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:YawRatePID</string>
<string>element:Kp</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:4,20</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="0">
@ -14667,16 +14667,6 @@ You can usually go for higher values for Yaw factors.</string>
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:RollRatePID</string>
<string>element:Ki</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:4,20</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
@ -14703,6 +14693,16 @@ value as YawRate Kp.</string>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:RollRatePID</string>
<string>element:Ki</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:4,20</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="3">
@ -14728,16 +14728,6 @@ value as YawRate Kp.</string>
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:PitchRatePID</string>
<string>element:Ki</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:4,20</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
@ -14760,6 +14750,16 @@ value as YawRate Kp.</string>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:PitchRatePID</string>
<string>element:Ki</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:4,20</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="5">
@ -14785,16 +14785,6 @@ value as YawRate Kp.</string>
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:YawRatePID</string>
<string>element:Ki</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:4,20</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
@ -14823,6 +14813,16 @@ You can usually go for higher values for Yaw factors.</string>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:YawRatePID</string>
<string>element:Ki</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:4,20</string>
</stringlist>
</property>
</widget>
</item>
<item row="3" column="0">
@ -14863,16 +14863,6 @@ You can usually go for higher values for Yaw factors.</string>
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:RollRatePID</string>
<string>element:ILimit</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:4,20</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
@ -14896,7 +14886,17 @@ You can usually go for higher values for Yaw factors.</string>
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
<double>1.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:RollRatePID</string>
<string>element:ILimit</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:4,20</string>
</stringlist>
</property>
</widget>
</item>
@ -14907,16 +14907,6 @@ You can usually go for higher values for Yaw factors.</string>
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:PitchRatePID</string>
<string>element:ILimit</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:4,20</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
@ -14937,7 +14927,17 @@ You can usually go for higher values for Yaw factors.</string>
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
<double>1.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:PitchRatePID</string>
<string>element:ILimit</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:4,20</string>
</stringlist>
</property>
</widget>
</item>
@ -14948,16 +14948,6 @@ You can usually go for higher values for Yaw factors.</string>
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:YawRatePID</string>
<string>element:ILimit</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:4,20</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
@ -14984,7 +14974,17 @@ You can usually go for higher values for Yaw factors.</string>
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
<double>1.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:YawRatePID</string>
<string>element:ILimit</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:4,20</string>
</stringlist>
</property>
</widget>
</item>
@ -15662,13 +15662,6 @@ You can usually go for higher values for Yaw factors.</string>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>button:default</string>
<string>buttongroup:5</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
<width>81</width>
@ -15705,6 +15698,13 @@ border-radius: 4;
<property name="text">
<string>Default</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>button:default</string>
<string>buttongroup:5</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="0" colspan="3">
@ -17847,16 +17847,6 @@ border-radius: 5;</string>
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:RollPI</string>
<string>element:Kp</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:5,20</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
@ -17880,7 +17870,17 @@ border-radius: 5;</string>
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
<double>0.100000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:RollPI</string>
<string>element:Kp</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:5,20</string>
</stringlist>
</property>
</widget>
</item>
@ -17891,16 +17891,6 @@ border-radius: 5;</string>
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:PitchPI</string>
<string>element:Kp</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:5,20</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
@ -17921,7 +17911,17 @@ border-radius: 5;</string>
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
<double>0.100000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:PitchPI</string>
<string>element:Kp</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:5,20</string>
</stringlist>
</property>
</widget>
</item>
@ -17932,16 +17932,6 @@ border-radius: 5;</string>
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:YawPI</string>
<string>element:Kp</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:5,20</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
@ -17968,7 +17958,17 @@ You can usually go for higher values for Yaw factors.</string>
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
<double>0.100000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:YawPI</string>
<string>element:Kp</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:5,20</string>
</stringlist>
</property>
</widget>
</item>
@ -18014,16 +18014,6 @@ You can usually go for higher values for Yaw factors.</string>
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:RollPI</string>
<string>element:Ki</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:5,20</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
@ -18048,7 +18038,17 @@ value as YawRate Kp.</string>
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
<double>0.100000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:RollPI</string>
<string>element:Ki</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:5,20</string>
</stringlist>
</property>
</widget>
</item>
@ -18075,16 +18075,6 @@ value as YawRate Kp.</string>
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:PitchPI</string>
<string>element:Ki</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:5,20</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
@ -18105,7 +18095,17 @@ value as YawRate Kp.</string>
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
<double>0.100000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:PitchPI</string>
<string>element:Ki</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:5,20</string>
</stringlist>
</property>
</widget>
</item>
@ -18132,16 +18132,6 @@ value as YawRate Kp.</string>
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:YawPI</string>
<string>element:Ki</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:5,20</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
@ -18168,7 +18158,17 @@ You can usually go for higher values for Yaw factors.</string>
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
<double>0.100000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:YawPI</string>
<string>element:Ki</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:5,20</string>
</stringlist>
</property>
</widget>
</item>
@ -18210,16 +18210,6 @@ You can usually go for higher values for Yaw factors.</string>
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:RollPI</string>
<string>element:ILimit</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:5,20</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
@ -18243,7 +18233,17 @@ You can usually go for higher values for Yaw factors.</string>
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
<double>0.100000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:RollPI</string>
<string>element:ILimit</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:5,20</string>
</stringlist>
</property>
</widget>
</item>
@ -18254,16 +18254,6 @@ You can usually go for higher values for Yaw factors.</string>
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:PitchPI</string>
<string>element:ILimit</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:5,20</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
@ -18284,7 +18274,17 @@ You can usually go for higher values for Yaw factors.</string>
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
<double>0.100000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:PitchPI</string>
<string>element:ILimit</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:5,20</string>
</stringlist>
</property>
</widget>
</item>
@ -18295,16 +18295,6 @@ You can usually go for higher values for Yaw factors.</string>
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:YawPI</string>
<string>element:ILimit</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:5,20</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
@ -18331,7 +18321,17 @@ You can usually go for higher values for Yaw factors.</string>
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
<double>0.100000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:YawPI</string>
<string>element:ILimit</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:5,20</string>
</stringlist>
</property>
</widget>
</item>
@ -18964,13 +18964,6 @@ You can usually go for higher values for Yaw factors.</string>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>button:default</string>
<string>buttongroup:6</string>
</stringlist>
</property>
<property name="minimumSize">
<size>
<width>81</width>
@ -19007,6 +19000,13 @@ border-radius: 4;
<property name="text">
<string>Default</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>button:default</string>
<string>buttongroup:6</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="0" colspan="2">
@ -21170,10 +21170,22 @@ angle(deg)</string>
<string notr="true"/>
</property>
<property name="decimals">
<number>6</number>
<number>0</number>
</property>
<property name="maximum">
<double>1000000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
<double>1.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:RollMax</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:6,20</string>
</stringlist>
</property>
</widget>
</item>
@ -21201,47 +21213,22 @@ angle(deg)</string>
<string notr="true"/>
</property>
<property name="decimals">
<number>6</number>
<number>0</number>
</property>
<property name="maximum">
<double>1000000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="6">
<widget class="QDoubleSpinBox" name="rateYawKp_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>22</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>22</height>
</size>
</property>
<property name="toolTip">
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
Then lower the value by 20% or so.
You can usually go for higher values for Yaw factors.</string>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:PitchMax</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:6,20</string>
</stringlist>
</property>
</widget>
</item>
@ -21311,8 +21298,21 @@ value as YawRate Kp.</string>
<property name="decimals">
<number>6</number>
</property>
<property name="maximum">
<double>1000000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
<double>0.100000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:ManualRate</string>
<string>element:Roll</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:6,20</string>
</stringlist>
</property>
</widget>
</item>
@ -21358,8 +21358,21 @@ value as YawRate Kp.</string>
<property name="decimals">
<number>6</number>
</property>
<property name="maximum">
<double>1000000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
<double>0.100000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:ManualRate</string>
<string>element:Pitch</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:6,20</string>
</stringlist>
</property>
</widget>
</item>
@ -21411,8 +21424,21 @@ You can usually go for higher values for Yaw factors.</string>
<property name="decimals">
<number>6</number>
</property>
<property name="maximum">
<double>1000000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
<double>0.100000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:ManualRate</string>
<string>element:Yaw</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:6,20</string>
</stringlist>
</property>
</widget>
</item>
@ -21477,8 +21503,21 @@ You can usually go for higher values for Yaw factors.</string>
<property name="decimals">
<number>6</number>
</property>
<property name="maximum">
<double>1000000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
<double>0.100000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:MaximumRate</string>
<string>element:Roll</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:6,20</string>
</stringlist>
</property>
</widget>
</item>
@ -21508,8 +21547,21 @@ You can usually go for higher values for Yaw factors.</string>
<property name="decimals">
<number>6</number>
</property>
<property name="maximum">
<double>1000000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
<double>0.100000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:MaximumRate</string>
<string>element:Pitch</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:6,20</string>
</stringlist>
</property>
</widget>
</item>
@ -21545,8 +21597,70 @@ You can usually go for higher values for Yaw factors.</string>
<property name="decimals">
<number>6</number>
</property>
<property name="maximum">
<double>1000000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
<double>0.100000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:MaximumRate</string>
<string>element:Yaw</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:6,20</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="6">
<widget class="QDoubleSpinBox" name="rateYawKp_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>22</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>22</height>
</size>
</property>
<property name="toolTip">
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
Then lower the value by 20% or so.
You can usually go for higher values for Yaw factors.</string>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>1000000.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:YawMax</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:6,20</string>
</stringlist>
</property>
</widget>
</item>
@ -22139,6 +22253,12 @@ You can usually go for higher values for Yaw factors.</string>
<property name="text">
<string>Zero the integral when throttle is low</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:LowThrottleZeroIntegral</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="0">
@ -22198,6 +22318,12 @@ automatically every 300ms, which will help for fast tuning.</string>
<property name="flat">
<bool>true</bool>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>button:help</string>
<string>url:http://wiki.openpilot.org/display/Doc/Stabilization+panel</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="2">
@ -22265,6 +22391,11 @@ border-radius: 4;
<property name="text">
<string>Apply</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>button:apply</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="4">
@ -22319,6 +22450,11 @@ border-radius: 4;
<property name="text">
<string>Save</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>button:save</string>
</stringlist>
</property>
</widget>
</item>
</layout>

3
ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
View File

@ -106,11 +106,11 @@ void UAVObjectField::limitsInitialize(const QString &limits)
if(limits.isEmpty())
return;
QStringList stringPerElement=limits.split(",");
quint32 index=0;
foreach (QString str, stringPerElement) {
QString _str=str.trimmed();
QStringList valuesPerElement=_str.split(":");
LimitStruct lstruc;
quint32 index=stringPerElement.indexOf(str);
bool b1=valuesPerElement.at(0).startsWith("%");
bool b2=(int)(index)<(int)numElements;
if(b1 && b2)
@ -157,6 +157,7 @@ void UAVObjectField::limitsInitialize(const QString &limits)
}
}
elementLimits.insert(index,lstruc);
++index;
}
else
{

99
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
View File

@ -136,7 +136,7 @@ ConfigTaskWidget::~ConfigTaskWidget()
void ConfigTaskWidget::saveObjectToSD(UAVObject *obj)
{
qDebug()<<"ConfigTaskWidget::saveObjectToSD";
//qDebug()<<"ConfigTaskWidget::saveObjectToSD";
// saveObjectToSD is now handled by the UAVUtils plugin in one
// central place (and one central queue)
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
@ -165,6 +165,7 @@ double ConfigTaskWidget::listMean(QList<double> list)
void ConfigTaskWidget::onAutopilotDisconnect()
{
qDebug()<<"ConfigTaskWidget onAutopilotDisconnect";
isConnected=false;
enableControls(false);
invalidateObjects();
@ -172,6 +173,7 @@ void ConfigTaskWidget::onAutopilotDisconnect()
void ConfigTaskWidget::onAutopilotConnect()
{
qDebug()<<"ConfigTaskWidget onAutopilotConnect";
invalidateObjects();
dirty=false;
isConnected=true;
@ -241,13 +243,17 @@ void ConfigTaskWidget::addApplySaveButtons(QPushButton *update, QPushButton *sav
if(!smartsave)
{
smartsave=new smartSaveButton();
smartsave->addButtons(save,update);
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()));
}
smartsave->addButtons(save,update);
if(update && save)
smartsave->addButtons(save,update);
else if (update)
smartsave->addApplyButton(update);
else if (save)
smartsave->addSaveButton(save);
if(objOfInterest.count()>0)
{
foreach(objectToWidget * oTw,objOfInterest)
@ -255,7 +261,11 @@ void ConfigTaskWidget::addApplySaveButtons(QPushButton *update, QPushButton *sav
smartsave->addObject((UAVDataObject*)oTw->object);
}
}
enableControls(false);
TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
if(telMngr->isConnected())
enableControls(true);
else
enableControls(false);
}
void ConfigTaskWidget::enableControls(bool enable)
@ -269,16 +279,17 @@ void ConfigTaskWidget::enableControls(bool enable)
void ConfigTaskWidget::widgetsContentsChanged()
{
//qDebug()<<sender()->objectName()<<sender()->metaObject()->className();
emit widgetContentsChanged((QWidget*)sender());
double scale;
objectToWidget * oTw= shadowsList.value((QWidget*)sender(),NULL);
/*
qDebug()<<"sender:"<<(quint32)sender();
//qDebug()<<"sender:"<<(quint32)sender();
foreach(QWidget * w,shadowsList.keys())
qDebug()<<"in list:"<<(quint32)w;
//qDebug()<<"in list:"<<(quint32)w;
if(oTw)
qDebug()<<"in oTw OK"<<(quint32)oTw->widget;
//qDebug()<<"in oTw OK"<<(quint32)oTw->widget;
*/
if(oTw)
{
@ -286,7 +297,7 @@ void ConfigTaskWidget::widgetsContentsChanged()
{
scale=oTw->scale;
checkWidgetsLimits((QWidget*)sender(),oTw->field,oTw->index,oTw->isLimited,getVariantFromWidget((QWidget*)sender(),oTw->scale),oTw->scale);
qDebug()<<"sender was master";
//qDebug()<<"sender was master";
}
else
{
@ -294,26 +305,31 @@ void ConfigTaskWidget::widgetsContentsChanged()
{
if(sh->widget==(QWidget*)sender())
{
//qDebug()<<sh->widget->objectName()<<sh->widget->metaObject()->className();
scale=sh->scale;
checkWidgetsLimits((QWidget*)sender(),oTw->field,oTw->index,sh->isLimited,getVariantFromWidget((QWidget*)sender(),scale),scale);
qDebug()<<"sender was shadow";
//qDebug()<<"sender was shadow";
}
}
}
if(oTw->widget!=(QWidget *)sender())
{
//qDebug()<<oTw->widget->objectName()<<oTw->widget->metaObject()->className();
disconnectWidgetUpdatesToSlot((QWidget*)oTw->widget,SLOT(widgetsContentsChanged()));
checkWidgetsLimits(oTw->widget,oTw->field,oTw->index,oTw->isLimited,getVariantFromWidget((QWidget*)sender(),scale),oTw->scale);
setWidgetFromVariant(oTw->widget,getVariantFromWidget((QWidget*)sender(),scale),oTw->scale);
connectWidgetUpdatesToSlot((QWidget*)oTw->widget,SLOT(widgetsContentsChanged()));
emit widgetContentsChanged((QWidget*)oTw->widget);
connectWidgetUpdatesToSlot((QWidget*)oTw->widget,SLOT(widgetsContentsChanged()));
}
foreach (shadow * sh, oTw->shadowsList)
{
if(sh->widget!=(QWidget*)sender())
{
//qDebug()<<sh->widget->objectName()<<sh->widget->metaObject()->className();
disconnectWidgetUpdatesToSlot((QWidget*)sh->widget,SLOT(widgetsContentsChanged()));
checkWidgetsLimits(sh->widget,oTw->field,oTw->index,sh->isLimited,getVariantFromWidget((QWidget*)sender(),scale),sh->scale);
setWidgetFromVariant(sh->widget,getVariantFromWidget((QWidget*)sender(),scale),sh->scale);
emit widgetContentsChanged((QWidget*)sh->widget);
connectWidgetUpdatesToSlot((QWidget*)sh->widget,SLOT(widgetsContentsChanged()));
}
}
@ -367,7 +383,7 @@ bool ConfigTaskWidget::allObjectsUpdated()
{
ret=ret & objectUpdates[obj];
}
qDebug()<<"ALL OBJECTS UPDATE:"<<ret;
//qDebug()<<"ALL OBJECTS UPDATE:"<<ret;
return ret;
}
@ -386,6 +402,18 @@ void ConfigTaskWidget::invalidateObjects()
}
}
void ConfigTaskWidget::apply()
{
if(smartsave)
smartsave->apply();
}
void ConfigTaskWidget::save()
{
if(smartsave)
smartsave->save();
}
bool ConfigTaskWidget::addShadowWidget(QString object, QString field, QWidget *widget, int index, double scale, bool isLimited,QList<int>* defaultReloadGroups)
{
foreach(objectToWidget * oTw,objOfInterest)
@ -405,6 +433,16 @@ bool ConfigTaskWidget::addShadowWidget(QString object, QString field, QWidget *w
oTw->scale=scale;
oTw->widget=widget;
}
else if(!qobject_cast<QDoubleSpinBox *>(oTw->widget) && qobject_cast<QDoubleSpinBox *>(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;
@ -412,8 +450,8 @@ bool ConfigTaskWidget::addShadowWidget(QString object, QString field, QWidget *w
sh->scale=scale;
sh->widget=widget;
}
shadowsList.insert(widget,oTw);
oTw->shadowsList.append(sh);
shadowsList.insert(sh->widget,oTw);
connectWidgetUpdatesToSlot(widget,SLOT(widgetsContentsChanged()));
if(defaultReloadGroups)
addWidgetToDefaultReloadGroups(widget,defaultReloadGroups);
@ -433,7 +471,7 @@ void ConfigTaskWidget::autoLoadWidgets()
QVariant info=widget->property("objrelation");
if(info.isValid())
{
qDebug()<<"processing autoloadwidget";
//qDebug()<<"processing autoloadwidget";
uiRelationAutomation uiRelation;
uiRelation.buttonType=none;
uiRelation.scale=1;
@ -495,9 +533,13 @@ void ConfigTaskWidget::autoLoadWidgets()
{
case save_button:
saveButtonWidget=qobject_cast<QPushButton *>(widget);
if(saveButtonWidget)
addApplySaveButtons(NULL,saveButtonWidget);
break;
case apply_button:
applyButtonWidget=qobject_cast<QPushButton *>(widget);
if(applyButtonWidget)
addApplySaveButtons(applyButtonWidget,NULL);
break;
case default_button:
button=qobject_cast<QPushButton *>(widget);
@ -522,18 +564,16 @@ void ConfigTaskWidget::autoLoadWidgets()
else
{
QWidget * wid=qobject_cast<QWidget *>(widget);
qDebug()<<"adding widget"<<(quint32)wid;
//qDebug()<<"adding widget"<<(quint32)wid;
if(uiRelation.element.isEmpty())
{
qDebug()<<"empty element";
//qDebug()<<"empty element";
}
if(wid)
addUAVObjectToWidgetRelation(uiRelation.objname,uiRelation.fieldname,wid,uiRelation.element,uiRelation.scale,uiRelation.haslimits,&uiRelation.buttonGroup);
}
}
}
if(saveButtonWidget && applyButtonWidget)
addApplySaveButtons(applyButtonWidget,saveButtonWidget);
refreshWidgetsValues();
}
@ -658,14 +698,14 @@ void ConfigTaskWidget::connectWidgetUpdatesToSlot(QWidget * widget,const char* f
}
else if(QCheckBox * cb=qobject_cast<QCheckBox *>(widget))
{
connect(cb,SIGNAL(clicked()),this,function);
connect(cb,SIGNAL(stateChanged(int)),this,function);
}
else if(QPushButton * cb=qobject_cast<QPushButton *>(widget))
{
connect(cb,SIGNAL(clicked()),this,function);
}
else
qDebug()<<__FUNCTION__<<"widget to uavobject relation not implemented"<<widget->metaObject()->className();
//else
//qDebug()<<__FUNCTION__<<"widget to uavobject relation not implemented"<<widget->metaObject()->className();
}
void ConfigTaskWidget::disconnectWidgetUpdatesToSlot(QWidget * widget,const char* function)
@ -698,14 +738,14 @@ void ConfigTaskWidget::disconnectWidgetUpdatesToSlot(QWidget * widget,const char
}
else if(QCheckBox * cb=qobject_cast<QCheckBox *>(widget))
{
disconnect(cb,SIGNAL(clicked()),this,function);
disconnect(cb,SIGNAL(stateChanged(int)),this,function);
}
else if(QPushButton * cb=qobject_cast<QPushButton *>(widget))
{
disconnect(cb,SIGNAL(clicked()),this,function);
}
else
qDebug()<<__FUNCTION__<<"widget to uavobject relation not implemented"<<widget->metaObject()->className();
//else
//qDebug()<<__FUNCTION__<<"widget to uavobject relation not implemented"<<widget->metaObject()->className();
}
bool ConfigTaskWidget::setFieldFromWidget(QWidget * widget,UAVObjectField * field,int index,double scale)
@ -719,7 +759,7 @@ bool ConfigTaskWidget::setFieldFromWidget(QWidget * widget,UAVObjectField * fiel
return true;
}
{
qDebug()<<__FUNCTION__<<"widget to uavobject relation not implemented"<<widget->metaObject()->className();
//qDebug()<<__FUNCTION__<<"widget to uavobject relation not implemented"<<widget->metaObject()->className();
return false;
}
}
@ -758,7 +798,6 @@ bool ConfigTaskWidget::setWidgetFromVariant(QWidget *widget, QVariant value, dou
}
else if(QLabel * cb=qobject_cast<QLabel *>(widget))
{
qDebug()<<"SETLABEL "<<value.toDouble()<<scale;
if(scale==0)
cb->setText(value.toString());
else
@ -778,7 +817,7 @@ bool ConfigTaskWidget::setWidgetFromVariant(QWidget *widget, QVariant value, dou
else if(QSlider * cb=qobject_cast<QSlider *>(widget))
{
cb->setValue((int)qRound(value.toDouble()/scale));
qDebug()<<"SETVALUE widgetfromvariant"<<value.toDouble()<<"/"<<scale<<"="<<(int)qRound(value.toDouble()/scale)<<"object"<<(quint32)cb;
//qDebug()<<"SETVALUE widgetfromvariant"<<value.toDouble()<<"/"<<scale<<"="<<(int)qRound(value.toDouble()/scale)<<"object"<<(quint32)cb;
return true;
}
else if(QCheckBox * cb=qobject_cast<QCheckBox *>(widget))
@ -807,7 +846,7 @@ bool ConfigTaskWidget::setWidgetFromField(QWidget * widget,UAVObjectField * fiel
return true;
else
{
qDebug()<<__FUNCTION__<<"widget to uavobject relation not implemented"<<widget->metaObject()->className();
//qDebug()<<__FUNCTION__<<"widget to uavobject relation not implemented"<<widget->metaObject()->className();
return false;
}
}
@ -815,7 +854,7 @@ void ConfigTaskWidget::checkWidgetsLimits(QWidget * widget,UAVObjectField * fiel
{
if(!hasLimits)
return;
qDebug()<<"check widget"<<widget->accessibleName()<<"value"<<value.toString()<<"result"<<field->isWithinLimits(value,index);
//qDebug()<<"check widget"<<widget->objectName()<<"value"<<value.toString()<<"result"<<field->isWithinLimits(value,index);
if(!field->isWithinLimits(value,index))
{
if(!widget->property("styleBackup").isValid())
@ -926,12 +965,12 @@ void ConfigTaskWidget::loadWidgetLimits(QWidget * widget,UAVObjectField * field,
if(field->getMaxLimit(index).isValid())
{
cb->setMaximum((int)qRound(field->getMaxLimit(index).toDouble()/scale));
qDebug()<<"set MAX="<<field->getMaxLimit(index).toDouble()<<"/"<<scale<<"="<<cb->maximum();
//qDebug()<<"set MAX="<<field->getMaxLimit(index).toDouble()<<"/"<<scale<<"="<<cb->maximum();
}
if(field->getMinLimit(index).isValid())
{
cb->setMinimum((int)(field->getMinLimit(index).toDouble()/scale));
qDebug()<< "set MIN="<<field->getMinLimit(index).toDouble()<<"/"<<scale<<"="<<cb->minimum();
//qDebug()<< "set MIN="<<field->getMinLimit(index).toDouble()<<"/"<<scale<<"="<<cb->minimum();
}
}
}

2
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h
View File

@ -119,6 +119,8 @@ public slots:
void onAutopilotDisconnect();
void onAutopilotConnect();
void invalidateObjects();
void apply();
void save();
signals:
void widgetContentsChanged(QWidget * widget);
void populateWidgetsRequested();

44
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/smartsavebutton.cpp
View File

@ -38,6 +38,16 @@ void smartSaveButton::addButtons(QPushButton *save, QPushButton *apply)
connect(save,SIGNAL(clicked()),this,SLOT(processClick()));
connect(apply,SIGNAL(clicked()),this,SLOT(processClick()));
}
void smartSaveButton::addApplyButton(QPushButton *apply)
{
buttonList.insert(apply,apply_button);
connect(apply,SIGNAL(clicked()),this,SLOT(processClick()));
}
void smartSaveButton::addSaveButton(QPushButton *save)
{
buttonList.insert(save,save_button);
connect(save,SIGNAL(clicked()),this,SLOT(processClick()));
}
void smartSaveButton::processClick()
{
emit beginOp();
@ -47,9 +57,18 @@ void smartSaveButton::processClick()
return;
if(buttonList.value(button)==save_button)
save=true;
processOperation(button,save);
}
void smartSaveButton::processOperation(QPushButton * button,bool save)
{
emit preProcessOperations();
button->setEnabled(false);
button->setIcon(QIcon(":/uploader/images/system-run.svg"));
if(button)
{
button->setEnabled(false);
button->setIcon(QIcon(":/uploader/images/system-run.svg"));
}
QTimer timer;
timer.setSingleShot(true);
bool error=false;
@ -109,15 +128,18 @@ void smartSaveButton::processClick()
}
}
}
button->setEnabled(true);
if(button)
button->setEnabled(true);
if(!error)
{
button->setIcon(QIcon(":/uploader/images/dialog-apply.svg"));
if(button)
button->setIcon(QIcon(":/uploader/images/dialog-apply.svg"));
emit saveSuccessfull();
}
else
{
button->setIcon(QIcon(":/uploader/images/process-stop.svg"));
if(button)
button->setIcon(QIcon(":/uploader/images/process-stop.svg"));
}
emit endOp();
}
@ -169,3 +191,15 @@ void smartSaveButton::enableControls(bool value)
foreach(QPushButton * button,buttonList.keys())
button->setEnabled(value);
}
void smartSaveButton::apply()
{
processOperation(NULL,false);
}
void smartSaveButton::save()
{
processOperation(NULL,true);
}

6
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/smartsavebutton.h
View File

@ -50,13 +50,19 @@ public:
void clearObjects();
void removeObject(UAVDataObject *obj);
void removeAllObjects();
void addApplyButton(QPushButton *apply);
void addSaveButton(QPushButton *save);
signals:
void preProcessOperations();
void saveSuccessfull();
void beginOp();
void endOp();
public slots:
void apply();
void save();
private slots:
void processClick();
void processOperation(QPushButton *button, bool save);
void transaction_finished(UAVObject* obj, bool result);
void saving_finished(int,bool);