mirror of
https://bitbucket.org/librepilot/librepilot.git
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Merge remote-tracking branch 'origin/thread/OP-1474_PID_Scaling_Banks' into next
This commit is contained in:
Fredrik Larson
commit
c36e9a9122
2
Makefile
2
Makefile
@ -638,7 +638,7 @@ uavo-collections_clean:
|
||||
#
|
||||
##############################
|
||||
|
||||
ALL_UNITTESTS := logfs
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||||
ALL_UNITTESTS := logfs math
|
||||
|
||||
# Build the directory for the unit tests
|
||||
UT_OUT_DIR := $(BUILD_DIR)/unit_tests
|
||||
|
||||
@ -31,6 +31,9 @@
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||||
#ifndef MATHMISC_H
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||||
#define MATHMISC_H
|
||||
|
||||
#include <math.h>
|
||||
#include <stdint.h>
|
||||
|
||||
// returns min(boundary1,boundary2) if val<min(boundary1,boundary2)
|
||||
// returns max(boundary1,boundary2) if val>max(boundary1,boundary2)
|
||||
// returns val if min(boundary1,boundary2)<=val<=max(boundary1,boundary2)
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||||
@ -79,4 +82,42 @@ static inline void vector_normalizef(float *vector, const uint8_t dim)
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||||
}
|
||||
}
|
||||
|
||||
typedef struct pointf {
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float x;
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||||
float y;
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||||
} pointf;
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||||
|
||||
// Returns the y value, given x, on the line passing through the points p0 and p1.
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static inline float y_on_line(float x, const pointf *p0, const pointf *p1)
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{
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// Setup line y = m * x + b.
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const float dY1 = p1->y - p0->y;
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const float dX1 = p1->x - p0->x;
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const float m = dY1 / dX1; // == dY0 / dX0 == (p0.y - b) / (p0.x - 0.0f) ==>
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const float b = p0->y - m * p0->x;
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// Get the y value on the line.
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return m * x + b;
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}
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|
||||
// Returns the y value, given x, on the curve defined by the points array.
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||||
// The fist and last line of the curve extends beyond the first resp. last points.
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static inline float y_on_curve(float x, const pointf points[], int num_points)
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{
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// Find the two points x is within.
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// If x is smaller than the first point's x value, use the first line of the curve.
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// If x is larger than the last point's x value, user the last line of the curve.
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int end_point = num_points - 1;
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for (int i = 1; i < num_points; i++) {
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if (x < points[i].x) {
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end_point = i;
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break;
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}
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}
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// Find the y value on the selected line.
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return y_on_line(x, &points[end_point - 1], &points[end_point]);
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}
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#endif /* MATHMISC_H */
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@ -76,12 +76,12 @@ float pid_apply(struct pid *pid, const float err, float dT)
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* This version of apply uses setpoint weighting for the derivative component so the gain
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* on the gyro derivative can be different than the gain on the setpoint derivative
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*/
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float pid_apply_setpoint(struct pid *pid, const float factor, const float setpoint, const float measured, float dT)
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float pid_apply_setpoint(struct pid *pid, const pid_scaler *scaler, const float setpoint, const float measured, float dT)
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{
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float err = setpoint - measured;
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// Scale up accumulator by 1000 while computing to avoid losing precision
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pid->iAccumulator += err * (factor * pid->i * dT * 1000.0f);
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pid->iAccumulator += err * (scaler->i * pid->i * dT * 1000.0f);
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pid->iAccumulator = boundf(pid->iAccumulator, pid->iLim * -1000.0f, pid->iLim * 1000.0f);
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// Calculate DT1 term,
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@ -89,11 +89,11 @@ float pid_apply_setpoint(struct pid *pid, const float factor, const float setpoi
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float diff = ((deriv_gamma * setpoint - measured) - pid->lastErr);
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pid->lastErr = (deriv_gamma * setpoint - measured);
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if (pid->d > 0.0f && dT > 0.0f) {
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dterm = pid->lastDer + dT / (dT + deriv_tau) * ((factor * diff * pid->d / dT) - pid->lastDer);
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dterm = pid->lastDer + dT / (dT + deriv_tau) * ((scaler->d * diff * pid->d / dT) - pid->lastDer);
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pid->lastDer = dterm; // ^ set constant to 1/(2*pi*f_cutoff)
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} // 7.9577e-3 means 20 Hz f_cutoff
|
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return (err * factor * pid->p) + pid->iAccumulator / 1000.0f + dterm;
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return (err * scaler->p * pid->p) + pid->iAccumulator / 1000.0f + dterm;
|
||||
}
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||||
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||||
/**
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@ -31,6 +31,8 @@
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#ifndef PID_H
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#define PID_H
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||||
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||||
#include "mathmisc.h"
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// !
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struct pid {
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float p;
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@ -42,9 +44,15 @@ struct pid {
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||||
float lastDer;
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};
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typedef struct pid_scaler {
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float p;
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float i;
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float d;
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||||
} pid_scaler;
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// ! Methods to use the pid structures
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float pid_apply(struct pid *pid, const float err, float dT);
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float pid_apply_setpoint(struct pid *pid, const float factor, const float setpoint, const float measured, float dT);
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float pid_apply_setpoint(struct pid *pid, const pid_scaler *scaler, const float setpoint, const float measured, float dT);
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void pid_zero(struct pid *pid);
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void pid_configure(struct pid *pid, float p, float i, float d, float iLim);
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void pid_configure_derivative(float cutoff, float gamma);
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@ -163,9 +163,13 @@ static void altitudeHoldTask(void)
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||||
dT = PIOS_DELTATIME_GetAverageSeconds(&timeval);
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||||
switch (thrustMode) {
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case ALTITUDEHOLD:
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{
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// altitude control loop
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altitudeHoldStatus.VelocityDesired = pid_apply_setpoint(&pid0, 1.0f, thrustSetpoint, positionStateDown, dT);
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||||
break;
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// No scaling.
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const pid_scaler scaler = { .p = 1.0f, .i = 1.0f, .d = 1.0f };
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altitudeHoldStatus.VelocityDesired = pid_apply_setpoint(&pid0, &scaler, thrustSetpoint, positionStateDown, dT);
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}
|
||||
break;
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case ALTITUDEVARIO:
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altitudeHoldStatus.VelocityDesired = thrustSetpoint;
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break;
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||||
@ -181,10 +185,13 @@ static void altitudeHoldTask(void)
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thrustDemand = thrustSetpoint;
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||||
break;
|
||||
default:
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{
|
||||
// velocity control loop
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thrustDemand = startThrust - pid_apply_setpoint(&pid1, 1.0f, altitudeHoldStatus.VelocityDesired, velocityStateDown, dT);
|
||||
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||||
break;
|
||||
// No scaling.
|
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const pid_scaler scaler = { .p = 1.0f, .i = 1.0f, .d = 1.0f };
|
||||
thrustDemand = startThrust - pid_apply_setpoint(&pid1, &scaler, altitudeHoldStatus.VelocityDesired, velocityStateDown, dT);
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -59,6 +59,8 @@ typedef struct {
|
||||
} monitor;
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||||
float rattitude_mode_transition_stick_position;
|
||||
struct pid innerPids[3], outerPids[3];
|
||||
// TPS [Roll,Pitch,Yaw][P,I,D]
|
||||
bool thrust_pid_scaling_enabled[3][3];
|
||||
} StabilizationData;
|
||||
|
||||
|
||||
|
||||
@ -42,6 +42,8 @@
|
||||
#include <flightstatus.h>
|
||||
#include <manualcontrolcommand.h>
|
||||
#include <stabilizationbank.h>
|
||||
#include <stabilizationdesired.h>
|
||||
#include <actuatordesired.h>
|
||||
|
||||
#include <stabilization.h>
|
||||
#include <relay_tuning.h>
|
||||
@ -80,6 +82,8 @@ void stabilizationInnerloopInit()
|
||||
StabilizationStatusInitialize();
|
||||
FlightStatusInitialize();
|
||||
ManualControlCommandInitialize();
|
||||
StabilizationDesiredInitialize();
|
||||
ActuatorDesiredInitialize();
|
||||
#ifdef REVOLUTION
|
||||
AirspeedStateInitialize();
|
||||
AirspeedStateConnectCallback(AirSpeedUpdatedCb);
|
||||
@ -93,6 +97,80 @@ void stabilizationInnerloopInit()
|
||||
PIOS_CALLBACKSCHEDULER_Schedule(callbackHandle, FAILSAFE_TIMEOUT_MS, CALLBACK_UPDATEMODE_LATER);
|
||||
}
|
||||
|
||||
static float get_pid_scale_source_value()
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||||
{
|
||||
float value;
|
||||
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||||
switch (stabSettings.stabBank.ThrustPIDScaleSource) {
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case STABILIZATIONBANK_THRUSTPIDSCALESOURCE_MANUALCONTROLTHROTTLE:
|
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ManualControlCommandThrottleGet(&value);
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break;
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case STABILIZATIONBANK_THRUSTPIDSCALESOURCE_STABILIZATIONDESIREDTHRUST:
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StabilizationDesiredThrustGet(&value);
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break;
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case STABILIZATIONBANK_THRUSTPIDSCALESOURCE_ACTUATORDESIREDTHRUST:
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ActuatorDesiredThrustGet(&value);
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break;
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default:
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ActuatorDesiredThrustGet(&value);
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break;
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}
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if (value < 0) {
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value = 0.0f;
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}
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||||
return value;
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||||
}
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typedef struct pid_curve_scaler {
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float x;
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pointf points[5];
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} pid_curve_scaler;
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static float pid_curve_value(const pid_curve_scaler *scaler)
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{
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float y = y_on_curve(scaler->x, scaler->points, sizeof(scaler->points) / sizeof(scaler->points[0]));
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return 1.0f + (IS_REAL(y) ? y : 0.0f);
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}
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static pid_scaler create_pid_scaler(int axis)
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{
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pid_scaler scaler;
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// Always scaled with the this.
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scaler.p = scaler.i = scaler.d = speedScaleFactor;
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if (stabSettings.thrust_pid_scaling_enabled[axis][0]
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|| stabSettings.thrust_pid_scaling_enabled[axis][1]
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|| stabSettings.thrust_pid_scaling_enabled[axis][2]) {
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||||
const pid_curve_scaler curve_scaler = {
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.x = get_pid_scale_source_value(),
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.points = {
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{ 0.00f, stabSettings.stabBank.ThrustPIDScaleCurve[0] },
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{ 0.25f, stabSettings.stabBank.ThrustPIDScaleCurve[1] },
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{ 0.50f, stabSettings.stabBank.ThrustPIDScaleCurve[2] },
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{ 0.75f, stabSettings.stabBank.ThrustPIDScaleCurve[3] },
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{ 1.00f, stabSettings.stabBank.ThrustPIDScaleCurve[4] }
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}
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};
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||||
float curve_value = pid_curve_value(&curve_scaler);
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if (stabSettings.thrust_pid_scaling_enabled[axis][0]) {
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scaler.p *= curve_value;
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}
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||||
if (stabSettings.thrust_pid_scaling_enabled[axis][1]) {
|
||||
scaler.i *= curve_value;
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||||
}
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||||
if (stabSettings.thrust_pid_scaling_enabled[axis][2]) {
|
||||
scaler.d *= curve_value;
|
||||
}
|
||||
}
|
||||
|
||||
return scaler;
|
||||
}
|
||||
|
||||
/**
|
||||
* WARNING! This callback executes with critical flight control priority every
|
||||
@ -200,7 +278,8 @@ static void stabilizationInnerloopTask()
|
||||
-StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t],
|
||||
StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t]
|
||||
);
|
||||
actuatorDesiredAxis[t] = pid_apply_setpoint(&stabSettings.innerPids[t], speedScaleFactor, rate[t], gyro_filtered[t], dT);
|
||||
pid_scaler scaler = create_pid_scaler(t);
|
||||
actuatorDesiredAxis[t] = pid_apply_setpoint(&stabSettings.innerPids[t], &scaler, rate[t], gyro_filtered[t], dT);
|
||||
break;
|
||||
case STABILIZATIONSTATUS_INNERLOOP_DIRECT:
|
||||
default:
|
||||
|
||||
@ -229,6 +229,66 @@ static void SettingsBankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
|
||||
StabilizationBankSet(&stabSettings.stabBank);
|
||||
}
|
||||
|
||||
static bool use_tps_for_roll()
|
||||
{
|
||||
uint8_t axes = stabSettings.stabBank.ThrustPIDScaleAxes;
|
||||
|
||||
return axes == STABILIZATIONBANK_THRUSTPIDSCALEAXES_ROLLPITCHYAW ||
|
||||
axes == STABILIZATIONBANK_THRUSTPIDSCALEAXES_ROLLPITCH ||
|
||||
axes == STABILIZATIONBANK_THRUSTPIDSCALEAXES_ROLLYAW ||
|
||||
axes == STABILIZATIONBANK_THRUSTPIDSCALEAXES_ROLL;
|
||||
}
|
||||
|
||||
static bool use_tps_for_pitch()
|
||||
{
|
||||
uint8_t axes = stabSettings.stabBank.ThrustPIDScaleAxes;
|
||||
|
||||
return axes == STABILIZATIONBANK_THRUSTPIDSCALEAXES_ROLLPITCHYAW ||
|
||||
axes == STABILIZATIONBANK_THRUSTPIDSCALEAXES_ROLLPITCH ||
|
||||
axes == STABILIZATIONBANK_THRUSTPIDSCALEAXES_PITCHYAW ||
|
||||
axes == STABILIZATIONBANK_THRUSTPIDSCALEAXES_PITCH;
|
||||
}
|
||||
|
||||
static bool use_tps_for_yaw()
|
||||
{
|
||||
uint8_t axes = stabSettings.stabBank.ThrustPIDScaleAxes;
|
||||
|
||||
return axes == STABILIZATIONBANK_THRUSTPIDSCALEAXES_ROLLPITCHYAW ||
|
||||
axes == STABILIZATIONBANK_THRUSTPIDSCALEAXES_ROLLYAW ||
|
||||
axes == STABILIZATIONBANK_THRUSTPIDSCALEAXES_PITCHYAW ||
|
||||
axes == STABILIZATIONBANK_THRUSTPIDSCALEAXES_YAW;
|
||||
}
|
||||
|
||||
static bool use_tps_for_p()
|
||||
{
|
||||
uint8_t target = stabSettings.stabBank.ThrustPIDScaleTarget;
|
||||
|
||||
return target == STABILIZATIONBANK_THRUSTPIDSCALETARGET_PID ||
|
||||
target == STABILIZATIONBANK_THRUSTPIDSCALETARGET_PI ||
|
||||
target == STABILIZATIONBANK_THRUSTPIDSCALETARGET_PD ||
|
||||
target == STABILIZATIONBANK_THRUSTPIDSCALETARGET_P;
|
||||
}
|
||||
|
||||
static bool use_tps_for_i()
|
||||
{
|
||||
uint8_t target = stabSettings.stabBank.ThrustPIDScaleTarget;
|
||||
|
||||
return target == STABILIZATIONBANK_THRUSTPIDSCALETARGET_PID ||
|
||||
target == STABILIZATIONBANK_THRUSTPIDSCALETARGET_PI ||
|
||||
target == STABILIZATIONBANK_THRUSTPIDSCALETARGET_ID ||
|
||||
target == STABILIZATIONBANK_THRUSTPIDSCALETARGET_I;
|
||||
}
|
||||
|
||||
static bool use_tps_for_d()
|
||||
{
|
||||
uint8_t target = stabSettings.stabBank.ThrustPIDScaleTarget;
|
||||
|
||||
return target == STABILIZATIONBANK_THRUSTPIDSCALETARGET_PID ||
|
||||
target == STABILIZATIONBANK_THRUSTPIDSCALETARGET_PD ||
|
||||
target == STABILIZATIONBANK_THRUSTPIDSCALETARGET_ID ||
|
||||
target == STABILIZATIONBANK_THRUSTPIDSCALETARGET_D;
|
||||
}
|
||||
|
||||
static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
|
||||
{
|
||||
StabilizationBankGet(&stabSettings.stabBank);
|
||||
@ -268,6 +328,24 @@ static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
|
||||
stabSettings.stabBank.YawPI.Ki,
|
||||
0,
|
||||
stabSettings.stabBank.YawPI.ILimit);
|
||||
|
||||
bool tps_for_axis[3] = {
|
||||
use_tps_for_roll(),
|
||||
use_tps_for_pitch(),
|
||||
use_tps_for_yaw()
|
||||
};
|
||||
bool tps_for_pid[3] = {
|
||||
use_tps_for_p(),
|
||||
use_tps_for_i(),
|
||||
use_tps_for_d()
|
||||
};
|
||||
for (int axis = 0; axis < 3; axis++) {
|
||||
for (int pid = 0; pid < 3; pid++) {
|
||||
stabSettings.thrust_pid_scaling_enabled[axis][pid] = stabSettings.stabBank.EnableThrustPIDScaling
|
||||
&& tps_for_axis[axis]
|
||||
&& tps_for_pid[pid];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
37
flight/tests/math/Makefile
Normal file
37
flight/tests/math/Makefile
Normal file
@ -0,0 +1,37 @@
|
||||
###############################################################################
|
||||
# @file Makefile
|
||||
# @author PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
|
||||
# Copyright (c) 2013, The OpenPilot Team, http://www.openpilot.org
|
||||
# @addtogroup
|
||||
# @{
|
||||
# @addtogroup
|
||||
# @{
|
||||
# @brief Makefile for unit test
|
||||
###############################################################################
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation; either version 3 of the License, or
|
||||
# (at your option) any later version.
|
||||
#
|
||||
# This program is distributed in the hope that it will be useful, but
|
||||
# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
# for more details.
|
||||
#
|
||||
# You should have received a copy of the GNU General Public License along
|
||||
# with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
#
|
||||
|
||||
ifndef OPENPILOT_IS_COOL
|
||||
$(error Top level Makefile must be used to build this target)
|
||||
endif
|
||||
|
||||
include $(ROOT_DIR)/make/firmware-defs.mk
|
||||
|
||||
EXTRAINCDIRS += $(TOPDIR)
|
||||
EXTRAINCDIRS += $(ROOT_DIR)/flight/libraries/math
|
||||
EXTRAINCDIRS += $(PIOS)/inc
|
||||
|
||||
include $(ROOT_DIR)/make/unittest.mk
|
||||
110
flight/tests/math/unittest.cpp
Normal file
110
flight/tests/math/unittest.cpp
Normal file
@ -0,0 +1,110 @@
|
||||
#include "gtest/gtest.h"
|
||||
|
||||
#include <stdio.h> /* printf */
|
||||
#include <stdlib.h> /* abort */
|
||||
#include <string.h> /* memset */
|
||||
|
||||
extern "C" {
|
||||
#include "mathmisc.h"
|
||||
}
|
||||
|
||||
#define epsilon 0.00001f
|
||||
// From pios_math.h
|
||||
#define IS_REAL(f) (!isnan(f) && !isinf(f))
|
||||
#define length(points_array) (sizeof(points_array) / sizeof(points_array[0]))
|
||||
|
||||
// To use a test fixture, derive a class from testing::Test.
|
||||
class MathTestRaw : public testing::Test {};
|
||||
|
||||
TEST_F(MathTestRaw, y_on_line0) {
|
||||
pointf points[] = {
|
||||
{ 0.0f, -0.30f },
|
||||
{ 0.5f, 0.30 }
|
||||
};
|
||||
|
||||
EXPECT_NEAR(-0.60f, y_on_line(-0.25f, &points[0], &points[1]), epsilon);
|
||||
EXPECT_NEAR(-0.30f, y_on_line(0.00f, &points[0], &points[1]), epsilon);
|
||||
EXPECT_NEAR(0.00f, y_on_line(0.25f, &points[0], &points[1]), epsilon);
|
||||
EXPECT_NEAR(0.30f, y_on_line(0.50f, &points[0], &points[1]), epsilon);
|
||||
EXPECT_NEAR(0.60f, y_on_line(0.75f, &points[0], &points[1]), epsilon);
|
||||
}
|
||||
|
||||
TEST_F(MathTestRaw, y_on_line1) {
|
||||
pointf points[] = {
|
||||
{ 0.25f, -0.30f },
|
||||
{ 0.50f, 0.30 }
|
||||
};
|
||||
|
||||
EXPECT_NEAR(-1.50f, y_on_line(-0.25f, &points[0], &points[1]), epsilon);
|
||||
EXPECT_NEAR(-0.90f, y_on_line(0.00f, &points[0], &points[1]), epsilon);
|
||||
EXPECT_NEAR(-0.30f, y_on_line(0.25f, &points[0], &points[1]), epsilon);
|
||||
EXPECT_NEAR(0.30f, y_on_line(0.50f, &points[0], &points[1]), epsilon);
|
||||
EXPECT_NEAR(0.90f, y_on_line(0.75f, &points[0], &points[1]), epsilon);
|
||||
}
|
||||
|
||||
TEST_F(MathTestRaw, y_on_line2) {
|
||||
pointf points[] = {
|
||||
{ -0.25f, -0.30f },
|
||||
{ 0.50f, 0.30 }
|
||||
};
|
||||
|
||||
EXPECT_NEAR(-0.30f, y_on_line(-0.25f, &points[0], &points[1]), epsilon);
|
||||
EXPECT_NEAR(-0.10f, y_on_line(0.00f, &points[0], &points[1]), epsilon);
|
||||
EXPECT_NEAR(0.10f, y_on_line(0.25f, &points[0], &points[1]), epsilon);
|
||||
EXPECT_NEAR(0.30f, y_on_line(0.50f, &points[0], &points[1]), epsilon);
|
||||
EXPECT_NEAR(0.50f, y_on_line(0.75f, &points[0], &points[1]), epsilon);
|
||||
}
|
||||
|
||||
TEST_F(MathTestRaw, y_on_line3) {
|
||||
pointf points[] = {
|
||||
{ 0.25f, -0.30f },
|
||||
{ 0.25f, 0.30 }
|
||||
};
|
||||
|
||||
|
||||
EXPECT_FALSE(IS_REAL(y_on_line(-0.25f, &points[0], &points[1])));
|
||||
}
|
||||
|
||||
TEST_F(MathTestRaw, y_on_curve0) {
|
||||
pointf points[] = {
|
||||
{ 0.00f, -0.40f },
|
||||
{ 0.25f, -0.20f },
|
||||
{ 0.50f, 0.00f },
|
||||
{ 0.75f, 0.20 },
|
||||
{ 1.00f, 0.40 }
|
||||
};
|
||||
|
||||
EXPECT_NEAR(-0.50f, y_on_curve(-0.125f, points, length(points)), epsilon);
|
||||
EXPECT_NEAR(-0.40f, y_on_curve(0.000f, points, length(points)), epsilon);
|
||||
EXPECT_NEAR(-0.30f, y_on_curve(0.125f, points, length(points)), epsilon);
|
||||
EXPECT_NEAR(-0.20f, y_on_curve(0.250f, points, length(points)), epsilon);
|
||||
EXPECT_NEAR(-0.10f, y_on_curve(0.375f, points, length(points)), epsilon);
|
||||
EXPECT_NEAR(0.00f, y_on_curve(0.500f, points, length(points)), epsilon);
|
||||
EXPECT_NEAR(0.10f, y_on_curve(0.625f, points, length(points)), epsilon);
|
||||
EXPECT_NEAR(0.20f, y_on_curve(0.750f, points, length(points)), epsilon);
|
||||
EXPECT_NEAR(0.30f, y_on_curve(0.875f, points, length(points)), epsilon);
|
||||
EXPECT_NEAR(0.40f, y_on_curve(1.000f, points, length(points)), epsilon);
|
||||
EXPECT_NEAR(0.50f, y_on_curve(1.125f, points, length(points)), epsilon);
|
||||
}
|
||||
|
||||
|
||||
TEST_F(MathTestRaw, y_on_curve1) {
|
||||
pointf points[] = {
|
||||
{ -0.25f, 0.10f },
|
||||
{ 0.00f, 0.20f },
|
||||
{ 0.50f, 0.30f },
|
||||
{ 1.00f, -0.30 },
|
||||
{ 2.00f, -0.50 }
|
||||
};
|
||||
|
||||
EXPECT_NEAR(0.00f, y_on_curve(-0.500f, points, length(points)), epsilon);
|
||||
EXPECT_NEAR(0.10f, y_on_curve(-0.250f, points, length(points)), epsilon);
|
||||
EXPECT_NEAR(0.15f, y_on_curve(-0.125f, points, length(points)), epsilon);
|
||||
EXPECT_NEAR(0.20f, y_on_curve(0.000f, points, length(points)), epsilon);
|
||||
EXPECT_NEAR(0.22f, y_on_curve(0.100f, points, length(points)), epsilon);
|
||||
EXPECT_NEAR(0.30f, y_on_curve(0.500f, points, length(points)), epsilon);
|
||||
EXPECT_NEAR(0.00f, y_on_curve(0.750f, points, length(points)), epsilon);
|
||||
EXPECT_NEAR(-0.30f, y_on_curve(1.000f, points, length(points)), epsilon);
|
||||
EXPECT_NEAR(-0.35f, y_on_curve(1.250f, points, length(points)), epsilon);
|
||||
EXPECT_NEAR(-0.50f, y_on_curve(2.000f, points, length(points)), epsilon);
|
||||
}
|
||||
@ -150,6 +150,9 @@ ConfigMultiRotorWidget::ConfigMultiRotorWidget(QWidget *parent) :
|
||||
|
||||
// Connect the multirotor motor reverse checkbox
|
||||
connect(m_aircraft->MultirotorRevMixerCheckBox, SIGNAL(clicked(bool)), this, SLOT(reverseMultirotorMotor()));
|
||||
|
||||
m_aircraft->multiThrottleCurve->setXAxisLabel(tr("Input"));
|
||||
m_aircraft->multiThrottleCurve->setYAxisLabel(tr("Output"));
|
||||
updateEnableControls();
|
||||
}
|
||||
|
||||
|
||||
@ -131,7 +131,7 @@ typedef struct {
|
||||
|
||||
|
||||
typedef union {
|
||||
uint UAVObject[5]; // 32 bits * 5
|
||||
uint UAVObject[4]; // 32 bits * 4
|
||||
heliGUISettingsStruct heli; // 128 bits
|
||||
fixedGUISettingsStruct fixedwing;
|
||||
multiGUISettingsStruct multi;
|
||||
|
||||
@ -124,6 +124,20 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
|
||||
addWidget(ui->advancedResponsivenessCheckBox);
|
||||
connect(ui->advancedResponsivenessCheckBox, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
|
||||
|
||||
connect(ui->defaultThrottleCurveButton, SIGNAL(clicked()), this, SLOT(resetThrottleCurveToDefault()));
|
||||
connect(ui->enableThrustPIDScalingCheckBox, SIGNAL(toggled(bool)), ui->ThrustPIDSource, SLOT(setEnabled(bool)));
|
||||
connect(ui->enableThrustPIDScalingCheckBox, SIGNAL(toggled(bool)), ui->ThrustPIDTarget, SLOT(setEnabled(bool)));
|
||||
connect(ui->enableThrustPIDScalingCheckBox, SIGNAL(toggled(bool)), ui->ThrustPIDAxis, SLOT(setEnabled(bool)));
|
||||
connect(ui->enableThrustPIDScalingCheckBox, SIGNAL(toggled(bool)), ui->thrustPIDScalingCurve, SLOT(setEnabled(bool)));
|
||||
ui->thrustPIDScalingCurve->setXAxisLabel(tr("Thrust"));
|
||||
ui->thrustPIDScalingCurve->setYAxisLabel(tr("Scaling factor"));
|
||||
ui->thrustPIDScalingCurve->setMin(-0.5);
|
||||
ui->thrustPIDScalingCurve->setMax(0.5);
|
||||
|
||||
addWidget(ui->defaultThrottleCurveButton);
|
||||
addWidget(ui->enableThrustPIDScalingCheckBox);
|
||||
addWidget(ui->thrustPIDScalingCurve);
|
||||
addWidget(ui->thrustPIDScalingCurve);
|
||||
connect(this, SIGNAL(widgetContentsChanged(QWidget *)), this, SLOT(processLinkedWidgets(QWidget *)));
|
||||
|
||||
connect(this, SIGNAL(autoPilotConnected()), this, SLOT(onBoardConnected()));
|
||||
@ -141,10 +155,92 @@ void ConfigStabilizationWidget::refreshWidgetsValues(UAVObject *o)
|
||||
{
|
||||
ConfigTaskWidget::refreshWidgetsValues(o);
|
||||
|
||||
updateThrottleCurveFromObject();
|
||||
|
||||
ui->basicResponsivenessCheckBox->setChecked(ui->rateRollKp_3->value() == ui->ratePitchKp_4->value() &&
|
||||
ui->rateRollKi_3->value() == ui->ratePitchKi_4->value());
|
||||
}
|
||||
|
||||
void ConfigStabilizationWidget::updateObjectsFromWidgets()
|
||||
{
|
||||
updateObjectFromThrottleCurve();
|
||||
ConfigTaskWidget::updateObjectsFromWidgets();
|
||||
}
|
||||
|
||||
void ConfigStabilizationWidget::updateThrottleCurveFromObject()
|
||||
{
|
||||
UAVObject *stabBank = getObjectManager()->getObject(QString(m_pidTabBars.at(0)->tabData(m_currentPIDBank).toString()));
|
||||
|
||||
Q_ASSERT(stabBank);
|
||||
qDebug() << "updatingCurveFromObject" << stabBank->getName();
|
||||
|
||||
UAVObjectField *field = stabBank->getField("ThrustPIDScaleCurve");
|
||||
Q_ASSERT(field);
|
||||
|
||||
QList<double> curve;
|
||||
for (quint32 i = 0; i < field->getNumElements(); i++) {
|
||||
qDebug() << field->getName() << field->getElementNames().at(i) << "=>" << field->getValue(i);
|
||||
curve.append(field->getValue(i).toDouble());
|
||||
}
|
||||
|
||||
ui->thrustPIDScalingCurve->setCurve(&curve);
|
||||
|
||||
field = stabBank->getField("EnableThrustPIDScaling");
|
||||
Q_ASSERT(field);
|
||||
|
||||
bool enabled = field->getValue() == "TRUE";
|
||||
ui->enableThrustPIDScalingCheckBox->setChecked(enabled);
|
||||
ui->thrustPIDScalingCurve->setEnabled(enabled);
|
||||
}
|
||||
|
||||
void ConfigStabilizationWidget::updateObjectFromThrottleCurve()
|
||||
{
|
||||
UAVObject *stabBank = getObjectManager()->getObject(QString(m_pidTabBars.at(0)->tabData(m_currentPIDBank).toString()));
|
||||
|
||||
Q_ASSERT(stabBank);
|
||||
qDebug() << "updatingObjectFromCurve" << stabBank->getName();
|
||||
|
||||
UAVObjectField *field = stabBank->getField("ThrustPIDScaleCurve");
|
||||
Q_ASSERT(field);
|
||||
|
||||
QList<double> curve = ui->thrustPIDScalingCurve->getCurve();
|
||||
for (quint32 i = 0; i < field->getNumElements(); i++) {
|
||||
field->setValue(curve.at(i), i);
|
||||
qDebug() << field->getName() << field->getElementNames().at(i) << "<=" << curve.at(i);
|
||||
}
|
||||
|
||||
field = stabBank->getField("EnableThrustPIDScaling");
|
||||
Q_ASSERT(field);
|
||||
field->setValue(ui->enableThrustPIDScalingCheckBox->isChecked() ? "TRUE" : "FALSE");
|
||||
}
|
||||
|
||||
void ConfigStabilizationWidget::resetThrottleCurveToDefault()
|
||||
{
|
||||
UAVDataObject *defaultStabBank = (UAVDataObject *)getObjectManager()->getObject(QString(m_pidTabBars.at(0)->tabData(m_currentPIDBank).toString()));
|
||||
|
||||
Q_ASSERT(defaultStabBank);
|
||||
defaultStabBank = defaultStabBank->dirtyClone();
|
||||
|
||||
UAVObjectField *field = defaultStabBank->getField("ThrustPIDScaleCurve");
|
||||
Q_ASSERT(field);
|
||||
|
||||
QList<double> curve;
|
||||
for (quint32 i = 0; i < field->getNumElements(); i++) {
|
||||
curve.append(field->getValue(i).toDouble());
|
||||
}
|
||||
|
||||
ui->thrustPIDScalingCurve->setCurve(&curve);
|
||||
|
||||
field = defaultStabBank->getField("EnableThrustPIDScaling");
|
||||
Q_ASSERT(field);
|
||||
|
||||
bool enabled = field->getValue() == "TRUE";
|
||||
ui->enableThrustPIDScalingCheckBox->setChecked(enabled);
|
||||
ui->thrustPIDScalingCurve->setEnabled(enabled);
|
||||
|
||||
delete defaultStabBank;
|
||||
}
|
||||
|
||||
void ConfigStabilizationWidget::realtimeUpdatesSlot(bool value)
|
||||
{
|
||||
ui->realTimeUpdates_6->setChecked(value);
|
||||
@ -238,6 +334,7 @@ void ConfigStabilizationWidget::onBoardConnected()
|
||||
|
||||
void ConfigStabilizationWidget::pidBankChanged(int index)
|
||||
{
|
||||
updateObjectFromThrottleCurve();
|
||||
foreach(QTabBar * tabBar, m_pidTabBars) {
|
||||
disconnect(tabBar, SIGNAL(currentChanged(int)), this, SLOT(pidBankChanged(int)));
|
||||
tabBar->setCurrentIndex(index);
|
||||
@ -251,6 +348,8 @@ void ConfigStabilizationWidget::pidBankChanged(int index)
|
||||
setWidgetBindingObjectEnabled(m_pidTabBars.at(0)->tabData(index).toString(), true);
|
||||
|
||||
m_currentPIDBank = index;
|
||||
qDebug() << "current bank:" << m_currentPIDBank;
|
||||
updateThrottleCurveFromObject();
|
||||
}
|
||||
|
||||
bool ConfigStabilizationWidget::shouldObjectBeSaved(UAVObject *object)
|
||||
|
||||
@ -57,11 +57,15 @@ private:
|
||||
int boardModel;
|
||||
int m_pidBankCount;
|
||||
int m_currentPIDBank;
|
||||
|
||||
void updateThrottleCurveFromObject();
|
||||
void updateObjectFromThrottleCurve();
|
||||
protected:
|
||||
QString mapObjectName(const QString objectName);
|
||||
|
||||
protected slots:
|
||||
void refreshWidgetsValues(UAVObject *o = NULL);
|
||||
void updateObjectsFromWidgets();
|
||||
|
||||
private slots:
|
||||
void realtimeUpdatesSlot(bool value);
|
||||
@ -69,6 +73,7 @@ private slots:
|
||||
void processLinkedWidgets(QWidget *);
|
||||
void onBoardConnected();
|
||||
void pidBankChanged(int index);
|
||||
void resetThrottleCurveToDefault();
|
||||
};
|
||||
|
||||
#endif // ConfigStabilizationWidget_H
|
||||
|
||||
@ -75,6 +75,7 @@ void MixerCurve::setMixerType(MixerCurveType curveType)
|
||||
{
|
||||
m_curveType = curveType;
|
||||
|
||||
m_mixerUI->buttonGroup->show();
|
||||
m_mixerUI->CurveMin->setMaximum(1.0);
|
||||
m_mixerUI->CurveMax->setMaximum(1.0);
|
||||
|
||||
@ -95,6 +96,8 @@ void MixerCurve::setMixerType(MixerCurveType curveType)
|
||||
m_mixerUI->CurveMax->setMinimum(-1.0);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
m_spinDelegate->setRange(m_mixerUI->CurveMin->minimum(), m_mixerUI->CurveMax->maximum());
|
||||
@ -293,6 +296,16 @@ double MixerCurve::setRange(double min, double max)
|
||||
return m_curve->setRange(min, max);
|
||||
}
|
||||
|
||||
void MixerCurve::setXAxisLabel(QString label)
|
||||
{
|
||||
m_curve->setXAxisLabel(label);
|
||||
}
|
||||
|
||||
void MixerCurve::setYAxisLabel(QString label)
|
||||
{
|
||||
m_curve->setYAxisLabel(label);
|
||||
}
|
||||
|
||||
double MixerCurve::getCurveMin()
|
||||
{
|
||||
return m_mixerUI->CurveMin->value();
|
||||
|
||||
@ -68,6 +68,9 @@ public:
|
||||
double getCurveStep();
|
||||
double setRange(double min, double max);
|
||||
|
||||
void setXAxisLabel(QString label);
|
||||
void setYAxisLabel(QString label);
|
||||
|
||||
MixerCurveWidget *getCurveWidget()
|
||||
{
|
||||
return m_curve;
|
||||
|
||||
@ -7,7 +7,7 @@
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>543</width>
|
||||
<height>467</height>
|
||||
<height>488</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
@ -38,17 +38,32 @@
|
||||
<string>MixerCurve</string>
|
||||
</property>
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::StyledPanel</enum>
|
||||
<enum>QFrame::NoFrame</enum>
|
||||
</property>
|
||||
<property name="frameShadow">
|
||||
<enum>QFrame::Raised</enum>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout">
|
||||
<item row="0" column="0" rowspan="2">
|
||||
<item row="0" column="1">
|
||||
<widget class="MixerCurveWidget" name="CurveWidget" native="true">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>7</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0" rowspan="3">
|
||||
<widget class="QGroupBox" name="SettingsGroup">
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>150</width>
|
||||
<width>120</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
@ -56,11 +71,29 @@
|
||||
<string>Throttle Curve</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout">
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>9</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QTableWidget" name="CurveSettings">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>100</width>
|
||||
<width>65535</width>
|
||||
<height>200</height>
|
||||
</size>
|
||||
</property>
|
||||
@ -69,6 +102,12 @@
|
||||
<pointsize>8</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::StyledPanel</enum>
|
||||
</property>
|
||||
<property name="frameShadow">
|
||||
<enum>QFrame::Plain</enum>
|
||||
</property>
|
||||
<property name="verticalScrollBarPolicy">
|
||||
<enum>Qt::ScrollBarAlwaysOff</enum>
|
||||
</property>
|
||||
@ -87,6 +126,12 @@
|
||||
<property name="columnCount">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<attribute name="horizontalHeaderStretchLastSection">
|
||||
<bool>true</bool>
|
||||
</attribute>
|
||||
<attribute name="verticalHeaderStretchLastSection">
|
||||
<bool>false</bool>
|
||||
</attribute>
|
||||
<row>
|
||||
<property name="text">
|
||||
<string>Max</string>
|
||||
@ -274,91 +319,69 @@
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="MixerCurveWidget" name="CurveWidget" native="true">
|
||||
<item row="1" column="1">
|
||||
<widget class="QWidget" name="buttonGroup" native="true">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
|
||||
<horstretch>5</horstretch>
|
||||
<verstretch>5</verstretch>
|
||||
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Minimum">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>50</width>
|
||||
<height>50</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>1000</width>
|
||||
<height>1000</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="sizeIncrement">
|
||||
<size>
|
||||
<width>10</width>
|
||||
<height>10</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="baseSize">
|
||||
<size>
|
||||
<width>200</width>
|
||||
<height>200</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>7</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_2">
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>203</width>
|
||||
<height>16</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="PopupCurve">
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>32</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Advanced...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="ResetCurve">
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>32</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Reset</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout">
|
||||
<property name="spacing">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>16</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="ResetCurve">
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>32</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Reset</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="PopupCurve">
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>32</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Advanced...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<customwidgets>
|
||||
|
||||
@ -6,8 +6,8 @@
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>839</width>
|
||||
<height>785</height>
|
||||
<width>882</width>
|
||||
<height>789</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
@ -95,7 +95,7 @@
|
||||
<enum>QTabWidget::Rounded</enum>
|
||||
</property>
|
||||
<property name="currentIndex">
|
||||
<number>2</number>
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="documentMode">
|
||||
<bool>false</bool>
|
||||
@ -136,8 +136,8 @@
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>815</width>
|
||||
<height>708</height>
|
||||
<width>844</width>
|
||||
<height>726</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_3">
|
||||
@ -250,7 +250,7 @@ margin-top: -1px;
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="palette">
|
||||
@ -933,7 +933,7 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="palette">
|
||||
@ -1486,7 +1486,7 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="palette">
|
||||
@ -2931,7 +2931,7 @@ value as the Kp.</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="palette">
|
||||
@ -3507,7 +3507,7 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="palette">
|
||||
@ -4057,7 +4057,7 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="palette">
|
||||
@ -5659,7 +5659,7 @@ Then lower the value by 5 or so.</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="palette">
|
||||
@ -6209,7 +6209,7 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="palette">
|
||||
@ -6759,7 +6759,7 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="palette">
|
||||
@ -7836,9 +7836,9 @@ border-radius: 5;</string>
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>815</width>
|
||||
<height>708</height>
|
||||
<y>-295</y>
|
||||
<width>844</width>
|
||||
<height>998</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_29">
|
||||
@ -8689,7 +8689,7 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="palette">
|
||||
@ -9271,7 +9271,7 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="palette">
|
||||
@ -9915,7 +9915,7 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="palette">
|
||||
@ -11281,7 +11281,7 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="palette">
|
||||
@ -12050,7 +12050,7 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="palette">
|
||||
@ -12600,7 +12600,7 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="palette">
|
||||
@ -14132,7 +14132,7 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="palette">
|
||||
@ -14682,7 +14682,7 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="palette">
|
||||
@ -15232,7 +15232,7 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="palette">
|
||||
@ -16182,6 +16182,1815 @@ border-radius: 5;</string>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="thrustPIDScalingGroup">
|
||||
<property name="title">
|
||||
<string>Thrust PID Scaling</string>
|
||||
</property>
|
||||
<property name="checkable">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_27">
|
||||
<item row="0" column="1">
|
||||
<widget class="MixerCurveWidget" name="thrustPIDScalingCurve" native="true">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>200</width>
|
||||
<height>200</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>7</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="3" rowspan="3" alignment="Qt::AlignTop">
|
||||
<widget class="QFrame" name="frame_2">
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::NoFrame</enum>
|
||||
</property>
|
||||
<property name="frameShadow">
|
||||
<enum>QFrame::Raised</enum>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_20">
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item alignment="Qt::AlignTop">
|
||||
<widget class="QPushButton" name="defaultThrottleCurveButton">
|
||||
<property name="text">
|
||||
<string>Default</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>button:default</string>
|
||||
<string>buttongroup:99</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<spacer name="horizontalSpacer_61">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Expanding</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QFrame" name="frame_3">
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::NoFrame</enum>
|
||||
</property>
|
||||
<property name="frameShadow">
|
||||
<enum>QFrame::Raised</enum>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_17">
|
||||
<item>
|
||||
<widget class="QCheckBox" name="enableThrustPIDScalingCheckBox">
|
||||
<property name="text">
|
||||
<string>Enable Thrust PID Scaling</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettingsBankX</string>
|
||||
<string>fieldname:EnableThrustPIDScaling</string>
|
||||
<string>buttongroup:99</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_36">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="palette">
|
||||
<palette>
|
||||
<active>
|
||||
<colorrole role="WindowText">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="255">
|
||||
<red>255</red>
|
||||
<green>255</green>
|
||||
<blue>255</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
<colorrole role="Button">
|
||||
<brush brushstyle="LinearGradientPattern">
|
||||
<gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
|
||||
<gradientstop position="0.208955000000000">
|
||||
<color alpha="255">
|
||||
<red>74</red>
|
||||
<green>74</green>
|
||||
<blue>74</blue>
|
||||
</color>
|
||||
</gradientstop>
|
||||
<gradientstop position="0.786070000000000">
|
||||
<color alpha="255">
|
||||
<red>36</red>
|
||||
<green>36</green>
|
||||
<blue>36</blue>
|
||||
</color>
|
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<gradientstop position="0.208955000000000">
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<red>36</red>
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<blue>36</blue>
|
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<property name="font">
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<font>
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<weight>75</weight>
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<bold>true</bold>
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<bool>false</bool>
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||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;</string>
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|
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<property name="text">
|
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<string>Axis</string>
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</property>
|
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</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QComboBox" name="ThrustPIDAxis">
|
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<property name="objrelation" stdset="0">
|
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<stringlist>
|
||||
<string>objname:StabilizationSettingsBankX</string>
|
||||
<string>fieldname:ThrustPIDScaleAxes</string>
|
||||
<string>buttongroup:99</string>
|
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</stringlist>
|
||||
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|
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</widget>
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</item>
|
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<item>
|
||||
<spacer name="verticalSpacer_8">
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<property name="orientation">
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||||
<enum>Qt::Vertical</enum>
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<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
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<height>40</height>
|
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</size>
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</property>
|
||||
</spacer>
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</item>
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</layout>
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</item>
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@ -16299,11 +18108,11 @@ border-radius: 5;</string>
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<rect>
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<x>0</x>
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<y>0</y>
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<width>815</width>
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<height>708</height>
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<width>860</width>
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<height>703</height>
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</rect>
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<layout class="QVBoxLayout" name="verticalLayout_8" stretch="0,0,0,0,0,0,0,0">
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<layout class="QVBoxLayout" name="verticalLayout_8" stretch="0,0,0,0,0,0">
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout_2" stretch="1,1">
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<item>
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@ -18883,22 +20692,6 @@ font:bold;</string>
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</item>
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</layout>
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||||
</item>
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<item>
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<spacer name="verticalSpacer_9">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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<property name="sizeType">
|
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<enum>QSizePolicy::Fixed</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
|
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<width>20</width>
|
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<height>9</height>
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</size>
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</property>
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</spacer>
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</item>
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout_3" stretch="0,6">
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<item>
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@ -18915,13 +20708,33 @@ font:bold;</string>
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<property name="alignment">
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<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
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</property>
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<layout class="QGridLayout" name="gridLayout_4" rowstretch="0,0" columnstretch="1,1">
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<layout class="QGridLayout" name="gridLayout_4" rowstretch="0,0,0" columnstretch="1,1">
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<property name="horizontalSpacing">
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<number>0</number>
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</property>
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<property name="verticalSpacing">
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<number>6</number>
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</property>
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<item row="0" column="1">
|
||||
<widget class="QPushButton" name="pushButton_10">
|
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<property name="sizePolicy">
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<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
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<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
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|
||||
<property name="text">
|
||||
<string>Default</string>
|
||||
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|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>button:default</string>
|
||||
<string>buttongroup:15</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0" colspan="2">
|
||||
<widget class="QGroupBox" name="groupBox_12">
|
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<property name="styleSheet">
|
||||
@ -18947,30 +20760,17 @@ font:bold;</string>
|
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_12">
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<property name="leftMargin">
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<number>0</number>
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<number>9</number>
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<property name="topMargin">
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||||
<number>0</number>
|
||||
<number>9</number>
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<property name="rightMargin">
|
||||
<number>0</number>
|
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<number>9</number>
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</property>
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<property name="bottomMargin">
|
||||
<number>0</number>
|
||||
<number>9</number>
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|
||||
<item>
|
||||
<spacer name="verticalSpacer_8">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>5</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_3">
|
||||
<property name="sizePolicy">
|
||||
@ -19065,44 +20865,24 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_5">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>10</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
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|
||||
</item>
|
||||
</layout>
|
||||
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|
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|
||||
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|
||||
<widget class="QPushButton" name="pushButton_10">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
<item row="2" column="0">
|
||||
<spacer name="verticalSpacer_5">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
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|
||||
<property name="text">
|
||||
<string>Default</string>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>40</height>
|
||||
</size>
|
||||
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|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>button:default</string>
|
||||
<string>buttongroup:15</string>
|
||||
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|
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|
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|
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</spacer>
|
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|
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</layout>
|
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</widget>
|
||||
@ -19157,6 +20937,18 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<item row="1" column="2">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_4">
|
||||
<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><html><head/><body><p>Throttle/Collective stick below this amount disables Cruise Control. Also, by default Cruise Control forces the use of this value for thrust when InvertedPower setting is Zero and the copter is inverted. CP helis probably want this set to -100%. For safety with fixed pitch copters (including multicopters), never set this so low that the trimmed throttle stick cannot get below it or your motor(s) will still run with the throttle stick all the way down. Fixed pitch throttle sticks go from -100 to 0 in the first tiny bit of throttle stick (and then up to 100 using the rest of the throttle range), so for example, a lot of &quot;high throttle trim&quot; will keep the stick from ever commanding less than 5% so it won't be possible to stop the motors with the throttle stick. Banking the copter in your hand in this state will make the motors speed up.</p></body></html></string>
|
||||
</property>
|
||||
@ -19191,6 +20983,18 @@ border-radius: 5;</string>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_5">
|
||||
<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><html><head/><body><p>Multi-copters should probably use 80% to 90% to leave some headroom for stabilization. CP helis can set this to 100%.</p></body></html></string>
|
||||
</property>
|
||||
@ -19231,7 +21035,13 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>97</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
@ -19289,7 +21099,13 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>145</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
@ -19313,6 +21129,18 @@ border-radius: 5;</string>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_3">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>22</height>
|
||||
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|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>22</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>The bank angle where CruiseControl goes into inverted power mode. InvertedThrustReverse and InvertedPower control the direction and amount of power when in inverted mode.</p></body></html></string>
|
||||
</property>
|
||||
@ -19353,7 +21181,13 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>140</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
@ -19377,6 +21211,18 @@ border-radius: 5;</string>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox">
|
||||
<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><html><head/><body><p>Really just a safety limit. 3.0 means it will not use more than 3 times the power the throttle/collective stick is requesting.</p></body></html></string>
|
||||
</property>
|
||||
@ -19423,7 +21269,13 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>155</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
@ -19456,7 +21308,13 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>90</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
@ -19489,7 +21347,13 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>92</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
@ -19529,6 +21393,18 @@ border-radius: 5;</string>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_2">
|
||||
<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><html><head/><body><p>If you find that quickly moving the stick around a lot makes the copter climb a bit, adjust this number down a little. It will be a compromise between climbing a little with lots of stick motion and descending a little with minimal stick motion.</p></body></html></string>
|
||||
</property>
|
||||
@ -19569,7 +21445,13 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>120</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
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<width>16777215</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
@ -19602,7 +21484,13 @@ border-radius: 5;</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>97</width>
|
||||
<height>16</height>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
@ -19626,6 +21514,18 @@ border-radius: 5;</string>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_7">
|
||||
<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><html><head/><body><p>Motor response time to go from min thrust to max thrust. It allows thrust anticipation on entering/exiting inverted mode</p></body></html></string>
|
||||
</property>
|
||||
@ -19696,22 +21596,6 @@ border-radius: 5;</string>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_10">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Fixed</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>9</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="RateStabilizationGroup_23">
|
||||
<property name="autoFillBackground">
|
||||
@ -22167,8 +24051,8 @@ font:bold;</string>
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>815</width>
|
||||
<height>708</height>
|
||||
<width>860</width>
|
||||
<height>703</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_18">
|
||||
@ -25192,6 +27076,12 @@ Useful if you have accidentally changed some settings.</string>
|
||||
<header>qtabbar.h</header>
|
||||
<container>1</container>
|
||||
</customwidget>
|
||||
<customwidget>
|
||||
<class>MixerCurveWidget</class>
|
||||
<extends>QWidget</extends>
|
||||
<header location="global">mixercurvewidget.h</header>
|
||||
<container>1</container>
|
||||
</customwidget>
|
||||
</customwidgets>
|
||||
<tabstops>
|
||||
<tabstop>stabilizationReloadBoardData_6</tabstop>
|
||||
|
||||
@ -45,7 +45,7 @@ void ModelUavoProxy::sendPathPlan()
|
||||
{
|
||||
modelToObjects();
|
||||
|
||||
PathPlan *pathPlan = PathPlan::GetInstance(objMngr);
|
||||
PathPlan *pathPlan = PathPlan::GetInstance(objMngr);
|
||||
|
||||
const int waypointCount = pathPlan->getWaypointCount();
|
||||
const int actionCount = pathPlan->getPathActionCount();
|
||||
@ -98,6 +98,7 @@ void ModelUavoProxy::sendPathPlan()
|
||||
void ModelUavoProxy::receivePathPlan()
|
||||
{
|
||||
QProgressDialog progress(tr("Receiving the path plan from the board... "), "", 0, 0);
|
||||
|
||||
progress.setWindowModality(Qt::WindowModal);
|
||||
progress.setCancelButton(NULL);
|
||||
progress.show();
|
||||
|
||||
@ -36,33 +36,34 @@
|
||||
#include "mixercurvepoint.h"
|
||||
#include "mixercurvewidget.h"
|
||||
|
||||
MixerNode::MixerNode(MixerCurveWidget *graphWidget)
|
||||
: graph(graphWidget)
|
||||
MixerNode::MixerNode(MixerCurveWidget *graphWidget, QGraphicsItem *graphItem)
|
||||
: m_graph(graphWidget), m_graphItem(graphItem)
|
||||
{
|
||||
setFlag(ItemIsMovable);
|
||||
setFlag(ItemSendsGeometryChanges);
|
||||
setCacheMode(DeviceCoordinateCache);
|
||||
setZValue(-1);
|
||||
vertical = false;
|
||||
drawNode = true;
|
||||
drawText = true;
|
||||
m_vertical = false;
|
||||
m_drawNode = true;
|
||||
m_drawText = true;
|
||||
|
||||
positiveColor = "#609FF2"; // blueish?
|
||||
neutralColor = "#14CE24"; // greenish?
|
||||
negativeColor = "#EF5F5F"; // redish?
|
||||
disabledColor = "#dddddd";
|
||||
disabledTextColor = "#aaaaaa";
|
||||
m_alpha = 0.7;
|
||||
m_positiveColor = "#609FF2"; // blueish?
|
||||
m_neutralColor = "#14CE24"; // greenish?
|
||||
m_negativeColor = "#EF5F5F"; // redish?
|
||||
m_disabledColor = "#dddddd";
|
||||
m_disabledTextColor = "#aaaaaa";
|
||||
}
|
||||
|
||||
void MixerNode::addEdge(Edge *edge)
|
||||
{
|
||||
edgeList << edge;
|
||||
m_edgeList << edge;
|
||||
edge->adjust();
|
||||
}
|
||||
|
||||
QList<Edge *> MixerNode::edges() const
|
||||
{
|
||||
return edgeList;
|
||||
return m_edgeList;
|
||||
}
|
||||
|
||||
|
||||
@ -83,18 +84,19 @@ void MixerNode::paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
|
||||
{
|
||||
QString text = QString().sprintf("%.2f", value());
|
||||
|
||||
painter->setFont(graph->font());
|
||||
if (drawNode) {
|
||||
painter->setFont(m_graph->font());
|
||||
if (m_drawNode) {
|
||||
QRadialGradient gradient(-3, -3, 10);
|
||||
|
||||
QColor color;
|
||||
if (value() < 0) {
|
||||
color = negativeColor;
|
||||
color = m_negativeColor;
|
||||
} else if (value() == 0) {
|
||||
color = neutralColor;
|
||||
color = m_neutralColor;
|
||||
} else {
|
||||
color = positiveColor;
|
||||
color = m_positiveColor;
|
||||
}
|
||||
color.setAlphaF(m_alpha);
|
||||
|
||||
if (option->state & QStyle::State_Sunken) {
|
||||
gradient.setCenter(3, 3);
|
||||
@ -104,23 +106,23 @@ void MixerNode::paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
|
||||
gradient.setColorAt(1, selColor.darker());
|
||||
gradient.setColorAt(0, selColor);
|
||||
} else {
|
||||
gradient.setColorAt(0, graph->isEnabled() ? color : disabledColor);
|
||||
gradient.setColorAt(1, graph->isEnabled() ? color.darker() : disabledColor);
|
||||
gradient.setColorAt(0, m_graph->isEnabled() ? color : m_disabledColor);
|
||||
gradient.setColorAt(1, m_graph->isEnabled() ? color.darker() : m_disabledColor);
|
||||
}
|
||||
painter->setBrush(gradient);
|
||||
painter->setPen(graph->isEnabled() ? QPen(Qt::black, 0) : QPen(disabledTextColor));
|
||||
painter->setPen(m_graph->isEnabled() ? QPen(Qt::black, 0) : QPen(m_disabledTextColor));
|
||||
painter->drawEllipse(boundingRect());
|
||||
|
||||
if (!image.isNull()) {
|
||||
painter->drawImage(boundingRect().adjusted(1, 1, -1, -1), image);
|
||||
if (!m_image.isNull()) {
|
||||
painter->drawImage(boundingRect().adjusted(1, 1, -1, -1), m_image);
|
||||
}
|
||||
}
|
||||
|
||||
if (drawText) {
|
||||
if (graph->isEnabled()) {
|
||||
painter->setPen(QPen(drawNode ? Qt::white : Qt::black, 0));
|
||||
if (m_drawText) {
|
||||
if (m_graph->isEnabled()) {
|
||||
painter->setPen(QPen(m_drawNode ? Qt::white : Qt::black, 0));
|
||||
} else {
|
||||
painter->setPen(QPen(disabledTextColor));
|
||||
painter->setPen(QPen(m_disabledTextColor));
|
||||
}
|
||||
|
||||
painter->drawText((value() < 0) ? -10 : -8, 3, text);
|
||||
@ -129,27 +131,27 @@ void MixerNode::paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
|
||||
|
||||
void MixerNode::verticalMove(bool flag)
|
||||
{
|
||||
vertical = flag;
|
||||
m_vertical = flag;
|
||||
}
|
||||
|
||||
double MixerNode::value()
|
||||
{
|
||||
double h = graph->sceneRect().height();
|
||||
double h = m_graphItem->boundingRect().height();
|
||||
double ratio = (h - pos().y()) / h;
|
||||
|
||||
return ((graph->getMax() - graph->getMin()) * ratio) + graph->getMin();
|
||||
return ((m_graph->getMax() - m_graph->getMin()) * ratio) + m_graph->getMin();
|
||||
}
|
||||
|
||||
|
||||
QVariant MixerNode::itemChange(GraphicsItemChange change, const QVariant &val)
|
||||
{
|
||||
QPointF newPos = val.toPointF();
|
||||
double h = graph->sceneRect().height();
|
||||
double h = m_graphItem->boundingRect().height();
|
||||
|
||||
switch (change) {
|
||||
case ItemPositionChange:
|
||||
{
|
||||
if (!vertical) {
|
||||
if (!m_vertical) {
|
||||
break;
|
||||
}
|
||||
|
||||
@ -169,12 +171,12 @@ QVariant MixerNode::itemChange(GraphicsItemChange change, const QVariant &val)
|
||||
}
|
||||
case ItemPositionHasChanged:
|
||||
{
|
||||
foreach(Edge * edge, edgeList)
|
||||
foreach(Edge * edge, m_edgeList)
|
||||
edge->adjust();
|
||||
|
||||
update();
|
||||
|
||||
graph->itemMoved(value());
|
||||
m_graph->itemMoved(value());
|
||||
break;
|
||||
}
|
||||
default:
|
||||
|
||||
@ -45,7 +45,7 @@ class UAVOBJECTWIDGETUTILS_EXPORT MixerNode : public QObject, public QGraphicsIt
|
||||
Q_OBJECT
|
||||
Q_INTERFACES(QGraphicsItem)
|
||||
public:
|
||||
MixerNode(MixerCurveWidget *graphWidget);
|
||||
MixerNode(MixerCurveWidget *graphWidget, QGraphicsItem *graphItem);
|
||||
void addEdge(Edge *edge);
|
||||
QList<Edge *> edges() const;
|
||||
|
||||
@ -59,27 +59,32 @@ public:
|
||||
|
||||
void setPositiveColor(QColor color = "#609FF2")
|
||||
{
|
||||
positiveColor = color;
|
||||
m_positiveColor = color;
|
||||
}
|
||||
|
||||
void setNegativeColor(QColor color = "#EF5F5F")
|
||||
{
|
||||
negativeColor = color;
|
||||
m_negativeColor = color;
|
||||
}
|
||||
|
||||
void setAlpha(qreal alpha)
|
||||
{
|
||||
m_alpha = alpha;
|
||||
}
|
||||
|
||||
void setImage(QImage img)
|
||||
{
|
||||
image = img;
|
||||
m_image = img;
|
||||
}
|
||||
|
||||
void setDrawNode(bool draw)
|
||||
{
|
||||
drawNode = draw;
|
||||
m_drawNode = draw;
|
||||
}
|
||||
|
||||
void setDrawText(bool draw)
|
||||
{
|
||||
drawText = draw;
|
||||
m_drawText = draw;
|
||||
}
|
||||
|
||||
QRectF boundingRect() const;
|
||||
@ -95,22 +100,24 @@ protected:
|
||||
void mouseReleaseEvent(QGraphicsSceneMouseEvent *event);
|
||||
|
||||
private:
|
||||
QList<Edge *> edgeList;
|
||||
QPointF newPos;
|
||||
MixerCurveWidget *graph;
|
||||
QList<Edge *> m_edgeList;
|
||||
QPointF m_newPos;
|
||||
MixerCurveWidget *m_graph;
|
||||
QGraphicsItem *m_graphItem;
|
||||
|
||||
QColor positiveColor;
|
||||
QColor neutralColor;
|
||||
QColor negativeColor;
|
||||
QColor disabledColor;
|
||||
QColor disabledTextColor;
|
||||
qreal m_alpha;
|
||||
QColor m_positiveColor;
|
||||
QColor m_neutralColor;
|
||||
QColor m_negativeColor;
|
||||
QColor m_disabledColor;
|
||||
QColor m_disabledTextColor;
|
||||
|
||||
QImage image;
|
||||
QImage m_image;
|
||||
|
||||
bool vertical;
|
||||
bool drawNode;
|
||||
bool drawText;
|
||||
int index;
|
||||
bool m_vertical;
|
||||
bool m_drawNode;
|
||||
bool m_drawText;
|
||||
int m_index;
|
||||
};
|
||||
|
||||
#endif // MIXERCURVEPOINT_H
|
||||
|
||||
@ -36,7 +36,8 @@
|
||||
/*
|
||||
* Initialize the widget
|
||||
*/
|
||||
MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
|
||||
MixerCurveWidget::MixerCurveWidget(QWidget *parent) :
|
||||
QGraphicsView(parent), m_xAxisTextItem(0), m_yAxisTextItem(0)
|
||||
{
|
||||
// Create a layout, add a QGraphicsView and put the SVG inside.
|
||||
// The Mixer Curve widget looks like this:
|
||||
@ -54,50 +55,60 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
|
||||
setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
|
||||
setRenderHint(QPainter::Antialiasing);
|
||||
|
||||
curveMin = 0.0;
|
||||
curveMax = 1.0;
|
||||
m_curveMin = 0.0;
|
||||
m_curveMax = 1.0;
|
||||
|
||||
setFrameStyle(QFrame::NoFrame);
|
||||
setStyleSheet("background:transparent");
|
||||
|
||||
setRenderHint(QPainter::HighQualityAntialiasing, true);
|
||||
QGraphicsScene *scene = new QGraphicsScene(this);
|
||||
QSvgRenderer *renderer = new QSvgRenderer();
|
||||
plot = new QGraphicsSvgItem();
|
||||
m_plot = new QGraphicsSvgItem();
|
||||
renderer->load(QString(":/uavobjectwidgetutils/images/curve-bg.svg"));
|
||||
plot->setSharedRenderer(renderer);
|
||||
m_plot->setSharedRenderer(renderer);
|
||||
|
||||
scene->addItem(plot);
|
||||
plot->setZValue(-1);
|
||||
scene->addItem(m_plot);
|
||||
m_plot->setZValue(-1);
|
||||
|
||||
scene->setSceneRect(plot->boundingRect());
|
||||
scene->setSceneRect(m_plot->boundingRect());
|
||||
setScene(scene);
|
||||
|
||||
setupXAxisLabel();
|
||||
setupYAxisLabel();
|
||||
initNodes(MixerCurveWidget::NODE_NUMELEM);
|
||||
}
|
||||
|
||||
MixerCurveWidget::~MixerCurveWidget()
|
||||
{
|
||||
while (!nodeList.isEmpty()) {
|
||||
delete nodeList.takeFirst();
|
||||
while (!m_nodeList.isEmpty()) {
|
||||
delete m_nodeList.takeFirst();
|
||||
}
|
||||
|
||||
while (!edgeList.isEmpty()) {
|
||||
delete edgeList.takeFirst();
|
||||
while (!m_edgeList.isEmpty()) {
|
||||
delete m_edgeList.takeFirst();
|
||||
}
|
||||
if (m_xAxisTextItem) {
|
||||
delete m_xAxisTextItem;
|
||||
m_xAxisTextItem = NULL;
|
||||
}
|
||||
if (m_yAxisTextItem) {
|
||||
delete m_yAxisTextItem;
|
||||
m_yAxisTextItem = NULL;
|
||||
}
|
||||
}
|
||||
|
||||
void MixerCurveWidget::setPositiveColor(QString color)
|
||||
{
|
||||
for (int i = 0; i < nodeList.count(); i++) {
|
||||
MixerNode *node = nodeList.at(i);
|
||||
for (int i = 0; i < m_nodeList.count(); i++) {
|
||||
MixerNode *node = m_nodeList.at(i);
|
||||
node->setPositiveColor(color);
|
||||
}
|
||||
}
|
||||
|
||||
void MixerCurveWidget::setNegativeColor(QString color)
|
||||
{
|
||||
for (int i = 0; i < nodeList.count(); i++) {
|
||||
MixerNode *node = nodeList.at(i);
|
||||
for (int i = 0; i < m_nodeList.count(); i++) {
|
||||
MixerNode *node = m_nodeList.at(i);
|
||||
node->setNegativeColor(color);
|
||||
}
|
||||
}
|
||||
@ -120,8 +131,8 @@ void MixerCurveWidget::initCurve(const QList<double> *points)
|
||||
void MixerCurveWidget::initNodes(int numPoints)
|
||||
{
|
||||
// First of all, clear any existing list
|
||||
if (nodeList.count()) {
|
||||
foreach(MixerNode * node, nodeList) {
|
||||
if (m_nodeList.count()) {
|
||||
foreach(MixerNode * node, m_nodeList) {
|
||||
foreach(Edge * edge, node->edges()) {
|
||||
if (edge->sourceNode() == node) {
|
||||
scene()->removeItem(edge);
|
||||
@ -132,15 +143,15 @@ void MixerCurveWidget::initNodes(int numPoints)
|
||||
delete node;
|
||||
}
|
||||
|
||||
nodeList.clear();
|
||||
m_nodeList.clear();
|
||||
}
|
||||
|
||||
// Create the nodes and edges
|
||||
MixerNode *prevNode = 0;
|
||||
for (int i = 0; i < numPoints; i++) {
|
||||
MixerNode *node = new MixerNode(this);
|
||||
MixerNode *node = new MixerNode(this, m_plot);
|
||||
|
||||
nodeList.append(node);
|
||||
m_nodeList.append(node);
|
||||
scene()->addItem(node);
|
||||
|
||||
node->setPos(0, 0);
|
||||
@ -153,6 +164,31 @@ void MixerCurveWidget::initNodes(int numPoints)
|
||||
}
|
||||
}
|
||||
|
||||
void MixerCurveWidget::setupXAxisLabel()
|
||||
{
|
||||
if (!m_xAxisString.isEmpty()) {
|
||||
if (m_xAxisTextItem) {
|
||||
m_xAxisTextItem->setPlainText(m_xAxisString);
|
||||
} else {
|
||||
m_xAxisTextItem = new QGraphicsTextItem(m_xAxisString, m_plot);
|
||||
scene()->addItem(m_xAxisTextItem);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void MixerCurveWidget::setupYAxisLabel()
|
||||
{
|
||||
if (!m_yAxisString.isEmpty()) {
|
||||
if (m_yAxisTextItem) {
|
||||
m_yAxisTextItem->setPlainText(m_yAxisString);
|
||||
} else {
|
||||
m_yAxisTextItem = new QGraphicsTextItem(m_yAxisString, m_plot);
|
||||
m_yAxisTextItem->setRotation(270);
|
||||
scene()->addItem(m_yAxisTextItem);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
Returns the current curve settings
|
||||
*/
|
||||
@ -160,7 +196,7 @@ QList<double> MixerCurveWidget::getCurve()
|
||||
{
|
||||
QList<double> list;
|
||||
|
||||
foreach(MixerNode * node, nodeList) {
|
||||
foreach(MixerNode * node, m_nodeList) {
|
||||
list.append(node->value());
|
||||
}
|
||||
|
||||
@ -185,55 +221,51 @@ void MixerCurveWidget::initLinearCurve(int numPoints, double maxValue, double mi
|
||||
*/
|
||||
void MixerCurveWidget::setCurve(const QList<double> *points)
|
||||
{
|
||||
curveUpdating = true;
|
||||
m_curveUpdating = true;
|
||||
|
||||
int ptCnt = points->count();
|
||||
if (nodeList.count() != ptCnt) {
|
||||
if (m_nodeList.count() != ptCnt) {
|
||||
initNodes(ptCnt);
|
||||
}
|
||||
|
||||
double range = curveMax - curveMin;
|
||||
double range = m_curveMax - m_curveMin;
|
||||
|
||||
qreal w = plot->boundingRect().width() / (ptCnt - 1);
|
||||
qreal h = plot->boundingRect().height();
|
||||
qreal w = m_plot->boundingRect().width() / (ptCnt - 1);
|
||||
qreal h = m_plot->boundingRect().height();
|
||||
for (int i = 0; i < ptCnt; i++) {
|
||||
double val = (points->at(i) < curveMin) ? curveMin : (points->at(i) > curveMax) ? curveMax : points->at(i);
|
||||
double val = (points->at(i) < m_curveMin) ? m_curveMin : (points->at(i) > m_curveMax) ? m_curveMax : points->at(i);
|
||||
|
||||
val += range;
|
||||
val -= (curveMin + range);
|
||||
val -= (m_curveMin + range);
|
||||
val /= range;
|
||||
|
||||
MixerNode *node = nodeList.at(i);
|
||||
MixerNode *node = m_nodeList.at(i);
|
||||
node->setPos(w * i, h - (val * h));
|
||||
node->verticalMove(true);
|
||||
|
||||
node->update();
|
||||
}
|
||||
curveUpdating = false;
|
||||
m_curveUpdating = false;
|
||||
|
||||
update();
|
||||
|
||||
emit curveUpdated();
|
||||
}
|
||||
|
||||
|
||||
void MixerCurveWidget::showEvent(QShowEvent *event)
|
||||
{
|
||||
Q_UNUSED(event)
|
||||
// Thit fitInView method should only be called now, once the
|
||||
// widget is shown, otherwise it cannot compute its values and
|
||||
// the result is usually a ahrsbargraph that is way too small.
|
||||
|
||||
QRectF rect = plot->boundingRect();
|
||||
fitInView(rect.adjusted(-15, -15, 15, 15), Qt::KeepAspectRatio);
|
||||
positionAxisLabels();
|
||||
setSceneRect(scene()->itemsBoundingRect());
|
||||
fitInView(scene()->itemsBoundingRect(), Qt::KeepAspectRatio);
|
||||
}
|
||||
|
||||
void MixerCurveWidget::resizeEvent(QResizeEvent *event)
|
||||
{
|
||||
Q_UNUSED(event);
|
||||
|
||||
QRectF rect = plot->boundingRect();
|
||||
fitInView(rect.adjusted(-15, -15, 15, 15), Qt::KeepAspectRatio);
|
||||
positionAxisLabels();
|
||||
setSceneRect(scene()->itemsBoundingRect());
|
||||
fitInView(scene()->itemsBoundingRect(), Qt::KeepAspectRatio);
|
||||
}
|
||||
|
||||
void MixerCurveWidget::changeEvent(QEvent *event)
|
||||
@ -241,50 +273,77 @@ void MixerCurveWidget::changeEvent(QEvent *event)
|
||||
QGraphicsView::changeEvent(event);
|
||||
|
||||
if (event->type() == QEvent::EnabledChange) {
|
||||
foreach(MixerNode * node, nodeList) {
|
||||
foreach(MixerNode * node, m_nodeList) {
|
||||
node->update();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void MixerCurveWidget::positionAxisLabels()
|
||||
{
|
||||
QRectF rect = m_plot->boundingRect();
|
||||
|
||||
if (m_xAxisTextItem) {
|
||||
m_xAxisTextItem->setPos(rect.right() -
|
||||
m_xAxisTextItem->boundingRect().width(), rect.bottom() - 4);
|
||||
}
|
||||
|
||||
if (m_yAxisTextItem) {
|
||||
m_yAxisTextItem->setPos(rect.left() -
|
||||
m_yAxisTextItem->boundingRect().height(), m_yAxisTextItem->boundingRect().width());
|
||||
}
|
||||
}
|
||||
|
||||
void MixerCurveWidget::itemMoved(double itemValue)
|
||||
{
|
||||
Q_UNUSED(itemValue);
|
||||
|
||||
if (!curveUpdating) {
|
||||
if (!m_curveUpdating) {
|
||||
emit curveUpdated();
|
||||
}
|
||||
}
|
||||
|
||||
void MixerCurveWidget::setMin(double value)
|
||||
{
|
||||
if (curveMin != value) {
|
||||
if (m_curveMin != value) {
|
||||
emit curveMinChanged(value);
|
||||
}
|
||||
|
||||
curveMin = value;
|
||||
m_curveMin = value;
|
||||
}
|
||||
|
||||
void MixerCurveWidget::setMax(double value)
|
||||
{
|
||||
if (curveMax != value) {
|
||||
if (m_curveMax != value) {
|
||||
emit curveMaxChanged(value);
|
||||
}
|
||||
|
||||
curveMax = value;
|
||||
m_curveMax = value;
|
||||
}
|
||||
|
||||
double MixerCurveWidget::getMin()
|
||||
{
|
||||
return curveMin;
|
||||
return m_curveMin;
|
||||
}
|
||||
double MixerCurveWidget::getMax()
|
||||
{
|
||||
return curveMax;
|
||||
return m_curveMax;
|
||||
}
|
||||
double MixerCurveWidget::setRange(double min, double max)
|
||||
{
|
||||
curveMin = min;
|
||||
curveMax = max;
|
||||
return curveMax - curveMin;
|
||||
m_curveMin = min;
|
||||
m_curveMax = max;
|
||||
return m_curveMax - m_curveMin;
|
||||
}
|
||||
|
||||
void MixerCurveWidget::setXAxisLabel(QString label)
|
||||
{
|
||||
m_xAxisString = label;
|
||||
setupXAxisLabel();
|
||||
}
|
||||
|
||||
void MixerCurveWidget::setYAxisLabel(QString label)
|
||||
{
|
||||
m_yAxisString = label;
|
||||
setupYAxisLabel();
|
||||
}
|
||||
|
||||
@ -41,6 +41,8 @@ class UAVOBJECTWIDGETUTILS_EXPORT MixerCurveWidget : public QGraphicsView {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
static const int NODE_NUMELEM = 5;
|
||||
|
||||
MixerCurveWidget(QWidget *parent = 0);
|
||||
~MixerCurveWidget();
|
||||
|
||||
@ -57,34 +59,44 @@ public:
|
||||
double getMax();
|
||||
double setRange(double min, double max);
|
||||
|
||||
static const int NODE_NUMELEM = 5;
|
||||
public slots:
|
||||
void setXAxisLabel(QString label);
|
||||
void setYAxisLabel(QString label);
|
||||
|
||||
signals:
|
||||
void curveUpdated();
|
||||
void curveMinChanged(double value);
|
||||
void curveMaxChanged(double value);
|
||||
|
||||
private slots:
|
||||
|
||||
private:
|
||||
QGraphicsSvgItem *plot;
|
||||
|
||||
QList<Edge *> edgeList;
|
||||
QList<MixerNode *> nodeList;
|
||||
|
||||
double curveMin;
|
||||
double curveMax;
|
||||
bool curveUpdating;
|
||||
|
||||
void initNodes(int numPoints);
|
||||
void setPositiveColor(QString color);
|
||||
void setNegativeColor(QString color);
|
||||
|
||||
void resizeCommands();
|
||||
|
||||
protected:
|
||||
void showEvent(QShowEvent *event);
|
||||
void resizeEvent(QResizeEvent *event);
|
||||
void changeEvent(QEvent *event);
|
||||
|
||||
private slots:
|
||||
void positionAxisLabels();
|
||||
|
||||
private:
|
||||
QGraphicsSvgItem *m_plot;
|
||||
QGraphicsTextItem *m_xAxisTextItem;
|
||||
QGraphicsTextItem *m_yAxisTextItem;
|
||||
|
||||
QList<Edge *> m_edgeList;
|
||||
QList<MixerNode *> m_nodeList;
|
||||
|
||||
QString m_xAxisString;
|
||||
QString m_yAxisString;
|
||||
|
||||
double m_curveMin;
|
||||
double m_curveMax;
|
||||
bool m_curveUpdating;
|
||||
|
||||
void initNodes(int numPoints);
|
||||
void setupXAxisLabel();
|
||||
void setupYAxisLabel();
|
||||
void setPositiveColor(QString color);
|
||||
void setNegativeColor(QString color);
|
||||
|
||||
void resizeCommands();
|
||||
};
|
||||
#endif /* MIXERCURVEWIDGET_H_ */
|
||||
|
||||
@ -14,6 +14,13 @@
|
||||
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
||||
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
||||
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit"/>
|
||||
|
||||
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
|
||||
<field name="ThrustPIDScaleCurve" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0.3,0.15,0,-0.15,-0.3"/>
|
||||
<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />
|
||||
<field name="ThrustPIDScaleTarget" units="" type="enum" elements="1" options="PID,PI,PD,ID,P,I,D" defaultvalue="PID" />
|
||||
<field name="ThrustPIDScaleAxes" units="" type="enum" elements="1" options="Roll Pitch Yaw,Roll Pitch,Roll Yaw,Roll,Pitch Yaw,Pitch,Yaw" defaultvalue="Roll Pitch" />
|
||||
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="false" updatemode="manual" period="0"/>
|
||||
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
|
||||
|
||||
@ -14,6 +14,13 @@
|
||||
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
||||
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
||||
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
||||
|
||||
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
|
||||
<field name="ThrustPIDScaleCurve" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0.3,0.15,0,-0.15,-0.3"/>
|
||||
<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />
|
||||
<field name="ThrustPIDScaleTarget" units="" type="enum" elements="1" options="PID,PI,PD,ID,P,I,D" defaultvalue="PID" />
|
||||
<field name="ThrustPIDScaleAxes" units="" type="enum" elements="1" options="Roll Pitch Yaw,Roll Pitch,Roll Yaw,Roll,Pitch Yaw,Pitch,Yaw" defaultvalue="Roll Pitch" />
|
||||
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
|
||||
@ -14,6 +14,13 @@
|
||||
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
||||
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
||||
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
||||
|
||||
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
|
||||
<field name="ThrustPIDScaleCurve" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0.3,0.15,0,-0.15,-0.3"/>
|
||||
<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />
|
||||
<field name="ThrustPIDScaleTarget" units="" type="enum" elements="1" options="PID,PI,PD,ID,P,I,D" defaultvalue="PID" />
|
||||
<field name="ThrustPIDScaleAxes" units="" type="enum" elements="1" options="Roll Pitch Yaw,Roll Pitch,Roll Yaw,Roll,Pitch Yaw,Pitch,Yaw" defaultvalue="Roll Pitch" />
|
||||
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
|
||||
@ -8,12 +8,19 @@
|
||||
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="220,220,220" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
|
||||
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
|
||||
|
||||
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
|
||||
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
|
||||
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
|
||||
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.015 ; ; "/>
|
||||
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
||||
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
||||
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
||||
|
||||
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
|
||||
<field name="ThrustPIDScaleCurve" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0.3,0.15,0,-0.15,-0.3"/>
|
||||
<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />
|
||||
<field name="ThrustPIDScaleTarget" units="" type="enum" elements="1" options="PID,PI,PD,ID,P,I,D" defaultvalue="PID" />
|
||||
<field name="ThrustPIDScaleAxes" units="" type="enum" elements="1" options="Roll Pitch Yaw,Roll Pitch,Roll Yaw,Roll,Pitch Yaw,Pitch,Yaw" defaultvalue="Roll Pitch" />
|
||||
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user