From 98cf9d70631b285680c0a79491f409ffd28c8d4f Mon Sep 17 00:00:00 2001 From: Fredrik Larson Date: Tue, 16 Sep 2014 00:54:43 +1000 Subject: [PATCH 01/10] ILimits are so not touched by usrs, even the tinkers, lets clean this up a bit. --- .../config/configstabilizationwidget.cpp | 10 - .../src/plugins/config/stabilization.ui | 2512 +---------------- 2 files changed, 12 insertions(+), 2510 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp index 951f94550..a4b4d22bc 100644 --- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp @@ -57,7 +57,6 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa // Set up fake tab widget stuff for pid banks support m_pidTabBars.append(ui->basicPIDBankTabBar); m_pidTabBars.append(ui->advancedPIDBankTabBar); - m_pidTabBars.append(ui->expertPIDBankTabBar); foreach(QTabBar * tabBar, m_pidTabBars) { for (int i = 0; i < m_pidBankCount; i++) { tabBar->addTab(tr("PID Bank %1").arg(i + 1)); @@ -111,7 +110,6 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa addWidget(ui->pushButton_4); addWidget(ui->pushButton_5); addWidget(ui->pushButton_6); - addWidget(ui->pushButton_9); addWidget(ui->pushButton_20); addWidget(ui->pushButton_22); addWidget(ui->pushButton_23); @@ -193,14 +191,10 @@ void ConfigStabilizationWidget::processLinkedWidgets(QWidget *widget) ui->RatePitchKp->setValue(ui->RateRollKp_2->value()); } else if (widget == ui->RateRollKi_2) { ui->RatePitchKi->setValue(ui->RateRollKi_2->value()); - } else if (widget == ui->RateRollILimit_2) { - ui->RatePitchILimit->setValue(ui->RateRollILimit_2->value()); } else if (widget == ui->RatePitchKp) { ui->RateRollKp_2->setValue(ui->RatePitchKp->value()); } else if (widget == ui->RatePitchKi) { ui->RateRollKi_2->setValue(ui->RatePitchKi->value()); - } else if (widget == ui->RatePitchILimit) { - ui->RateRollILimit_2->setValue(ui->RatePitchILimit->value()); } else if (widget == ui->RollRateKd) { ui->PitchRateKd->setValue(ui->RollRateKd->value()); } else if (widget == ui->PitchRateKd) { @@ -213,14 +207,10 @@ void ConfigStabilizationWidget::processLinkedWidgets(QWidget *widget) ui->AttitudePitchKp_2->setValue(ui->AttitudeRollKp->value()); } else if (widget == ui->AttitudeRollKi) { ui->AttitudePitchKi_2->setValue(ui->AttitudeRollKi->value()); - } else if (widget == ui->AttitudeRollILimit) { - ui->AttitudePitchILimit_2->setValue(ui->AttitudeRollILimit->value()); } else if (widget == ui->AttitudePitchKp_2) { ui->AttitudeRollKp->setValue(ui->AttitudePitchKp_2->value()); } else if (widget == ui->AttitudePitchKi_2) { ui->AttitudeRollKi->setValue(ui->AttitudePitchKi_2->value()); - } else if (widget == ui->AttitudePitchILimit_2) { - ui->AttitudeRollILimit->setValue(ui->AttitudePitchILimit_2->value()); } } diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui index f2e5042dd..3bf196137 100644 --- a/ground/openpilotgcs/src/plugins/config/stabilization.ui +++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui @@ -6,7 +6,7 @@ 0 0 - 820 + 861 785 @@ -95,7 +95,7 @@ QTabWidget::Rounded - 0 + 2 false @@ -136,8 +136,8 @@ 0 0 - 798 - 705 + 837 + 708 @@ -7837,8 +7837,8 @@ border-radius: 5; 0 0 - 565 - 733 + 837 + 708 @@ -16299,2495 +16299,14 @@ border-radius: 5; 0 0 - 829 - 691 + 837 + 708 0 - - - - - - - #expertPidBankFrame{ - color: rgb(180, 180, 180); - margin-top: -1px; -} - - - QFrame::Box - - - QFrame::Plain - - - 1 - - - - - - - 0 - 0 - - - - - 0 - 0 - - - - Integral Limits - - - - 9 - - - 9 - - - 9 - - - 9 - - - 6 - - - - - - 0 - 100 - - - - - - - - - 0 - 0 - 0 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 125 - 125 - 125 - - - - - - - 166 - 166 - 166 - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - - - 69 - 69 - 69 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 125 - 125 - 125 - - - - - - - 166 - 166 - 166 - - - - - - - 69 - 69 - 69 - - - - - - - 0 - 0 - 0 - - - - - - - 0 - 0 - 0 - - - - - - - - - 125 - 125 - 125 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 125 - 125 - 125 - - - - - - - 166 - 166 - 166 - - - - - - - 125 - 125 - 125 - - - - - - - 125 - 125 - 125 - - - - - - - 0 - 0 - 0 - - - - - - - - QGroupBox{border: 0px;} - - - - - - true - - - - 0 - - - 9 - - - 0 - - - 0 - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This sets the maximum value of the integral (KI) that is used in Rate mode.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 4 - - - 1.000000000000000 - - - 0.001000000000000 - - - - objname:StabilizationSettingsBankX - fieldname:PitchRatePID - element:ILimit - haslimits:no - scale:1 - buttongroup:13 - - - - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This sets the maximum value of the integral (KI) that is used in Rate mode.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 4 - - - 1.000000000000000 - - - 0.001000000000000 - - - - objname:StabilizationSettingsBankX - fieldname:RollRatePID - element:ILimit - haslimits:no - scale:1 - buttongroup:13 - - - - - - - - - 0 - 0 - - - - - 0 - 20 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 39 - 39 - 39 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 75 - true - - - - false - - - background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); -color: rgb(255, 255, 255); -border-radius: 5; -margin:1px; -font:bold; - - - Roll - - - Qt::AlignCenter - - - - - - - - 0 - 0 - - - - - 0 - 20 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 39 - 39 - 39 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 75 - true - - - - false - - - background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); -color: rgb(255, 255, 255); -border-radius: 5; -margin:1px; -font:bold; - - - Yaw - - - Qt::AlignCenter - - - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This sets the maximum value of the integral (KI) that is used in AttitudeMode.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 2 - - - 0.100000000000000 - - - - objname:StabilizationSettingsBankX - fieldname:YawPI - element:ILimit - haslimits:no - scale:1 - buttongroup:13 - - - - - - - - - 0 - 0 - - - - - 91 - 0 - - - - - 16777215 - 16777215 - - - - - - - ILimit Attitude - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This sets the maximum value of the integral (KI) that is used in AttitudeMode.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 2 - - - 0.100000000000000 - - - - objname:StabilizationSettingsBankX - fieldname:PitchPI - element:ILimit - haslimits:no - scale:1 - buttongroup:13 - - - - - - - - Qt::Horizontal - - - - 20 - 20 - - - - - - - - Qt::Horizontal - - - QSizePolicy::Fixed - - - - 91 - 13 - - - - - - - - - 0 - 0 - - - - - 91 - 0 - - - - - 16777215 - 16777215 - - - - - - - ILimit Rate - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This sets the maximum value of the integral (KI) that is used in AttitudeMode.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 2 - - - 0.100000000000000 - - - - objname:StabilizationSettingsBankX - fieldname:RollPI - element:ILimit - haslimits:no - scale:1 - buttongroup:13 - - - - - - - - Qt::Horizontal - - - - 20 - 20 - - - - - - - - - 0 - 0 - - - - - 0 - 20 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 39 - 39 - 39 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 75 - true - - - - false - - - background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); -color: rgb(255, 255, 255); -border-radius: 5; -margin:1px; -font:bold; - - - Pitch - - - Qt::AlignCenter - - - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>This sets the maximum value of the integral (KI) that is used in Rate mode.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 4 - - - 1.000000000000000 - - - 0.001000000000000 - - - - objname:StabilizationSettingsBankX - fieldname:YawRatePID - element:ILimit - haslimits:no - scale:1 - buttongroup:13 - - - - - - - - Qt::Horizontal - - - - 20 - 20 - - - - - - - - Qt::Horizontal - - - - 1 - 20 - - - - - - - - - - - Qt::Horizontal - - - - 632 - 20 - - - - - - - - - 0 - 0 - - - - - 0 - 0 - - - - - 16777215 - 16777215 - - - - Reset all values to GCS defaults - - - - - - Default - - - - objname:StabilizationSettings - button:default - buttongroup:13 - - - - - - - - - - - - - - Qt::Vertical - - - QSizePolicy::Fixed - - - - 20 - 9 - - - - @@ -23912,8 +21431,8 @@ font:bold; 0 0 - 665 - 435 + 837 + 708 @@ -24818,8 +22337,8 @@ border-radius: 5; 0 0 - 478 - 518 + 837 + 708 @@ -27905,13 +25424,6 @@ Useful if you have accidentally changed some settings. WeakLevelingRate MaAxisLock MaxAxisLockRate - pushButton_9 - RateRollILimit_2 - RatePitchILimit - RateYawILimit - AttitudeRollILimit - AttitudePitchILimit_2 - AttitudeYawILimit pushButton_5 GyroTau AccelKp From 599112e50e14032321b769a90ca93a04a45eb2e5 Mon Sep 17 00:00:00 2001 From: Fredrik Larson Date: Tue, 16 Sep 2014 01:03:11 +1000 Subject: [PATCH 02/10] Some Minor language changes --- ground/openpilotgcs/src/plugins/config/stabilization.ui | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui index 3bf196137..b62b184e0 100644 --- a/ground/openpilotgcs/src/plugins/config/stabilization.ui +++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui @@ -16945,7 +16945,7 @@ margin:1px; font:bold; - Weak Leveling Kp + Weak Leveling Gain Qt::AlignCenter @@ -20634,7 +20634,7 @@ margin:1px; font:bold; - AccelKp + Accel P Qt::AlignCenter @@ -21251,7 +21251,7 @@ margin:1px; font:bold; - AccelKi + Accel I Qt::AlignCenter From 5c7fbebb1c548dc976eee49d97c2ecd347c619d3 Mon Sep 17 00:00:00 2001 From: Fredrik Larson Date: Tue, 16 Sep 2014 01:14:17 +1000 Subject: [PATCH 03/10] More usability bits, less scary knobs to tweek. --- ground/openpilotgcs/src/plugins/config/stabilization.ui | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui index b62b184e0..4ba93d339 100644 --- a/ground/openpilotgcs/src/plugins/config/stabilization.ui +++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui @@ -20082,7 +20082,7 @@ margin:1px; font:bold; - GyroTau + Gyro Noise Rejection Qt::AlignCenter From bc0e8521e07beefe206e1252400b173207282365 Mon Sep 17 00:00:00 2001 From: Fredrik Larson Date: Tue, 16 Sep 2014 01:28:07 +1000 Subject: [PATCH 04/10] Prefer this wording, technically might be wrong, but it's what it acts like it does --- ground/openpilotgcs/src/plugins/config/stabilization.ui | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui index 4ba93d339..c48c60286 100644 --- a/ground/openpilotgcs/src/plugins/config/stabilization.ui +++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui @@ -20082,7 +20082,7 @@ margin:1px; font:bold; - Gyro Noise Rejection + Gyro Noise Filtering Qt::AlignCenter From cb38cfb1182125c15b1e734842aa3b742b2be316 Mon Sep 17 00:00:00 2001 From: Fredrik Larson Date: Wed, 17 Sep 2014 05:30:28 +1000 Subject: [PATCH 05/10] New UI layout, remove a tab --- .../config/configstabilizationwidget.cpp | 4 +- .../src/plugins/config/stabilization.ui | 9065 ++++++++--------- 2 files changed, 4446 insertions(+), 4623 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp index a4b4d22bc..e8c1a0d83 100644 --- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp @@ -93,8 +93,6 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa addWidget(ui->realTimeUpdates_12); connect(ui->realTimeUpdates_7, SIGNAL(toggled(bool)), this, SLOT(realtimeUpdatesSlot(bool))); addWidget(ui->realTimeUpdates_7); - connect(ui->realTimeUpdates_9, SIGNAL(toggled(bool)), this, SLOT(realtimeUpdatesSlot(bool))); - addWidget(ui->realTimeUpdates_9); connect(ui->checkBox_7, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool))); addWidget(ui->checkBox_7); @@ -110,6 +108,7 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa addWidget(ui->pushButton_4); addWidget(ui->pushButton_5); addWidget(ui->pushButton_6); + addWidget(ui->pushButton_9); addWidget(ui->pushButton_20); addWidget(ui->pushButton_22); addWidget(ui->pushButton_23); @@ -148,7 +147,6 @@ void ConfigStabilizationWidget::realtimeUpdatesSlot(bool value) ui->realTimeUpdates_8->setChecked(value); ui->realTimeUpdates_12->setChecked(value); ui->realTimeUpdates_7->setChecked(value); - ui->realTimeUpdates_9->setChecked(value); if (value && !realtimeUpdates->isActive()) { realtimeUpdates->start(AUTOMATIC_UPDATE_RATE); diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui index c48c60286..46afcb8ad 100644 --- a/ground/openpilotgcs/src/plugins/config/stabilization.ui +++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui @@ -6,7 +6,7 @@ 0 0 - 861 + 839 785 @@ -136,7 +136,7 @@ 0 0 - 837 + 815 708 @@ -7837,7 +7837,7 @@ border-radius: 5; 0 0 - 837 + 815 708 @@ -16299,2611 +16299,2589 @@ border-radius: 5; 0 0 - 837 + 815 708 - - - 0 - + - - - false - - - Weak Leveling / Axis Lock - - - - 9 - - - 9 - - - 9 - - - 9 - - - - - Qt::Horizontal - - - - 632 - 20 - - - - - - - - - 0 - 0 - - - - - 0 - 0 - - - - - 16777215 - 16777215 - - - - Reset all values to GCS defaults - - - - - - Default - - - - objname:StabilizationSettings - button:default - buttongroup:10 - - - - - - - - QGroupBox{border: 0px;} - - - true - - - - 0 - - - 9 - - - 0 - - - 0 - - - - - - 0 - 0 - - - - - 162 - 20 - - - - - - - - - 255 - 255 - 255 - - - - - - - + + + + + Weak Leveling + + + + + + + 0 + 0 + + + + + 0 + 0 + + + + + 16777215 + 16777215 + + + + Reset all values to GCS defaults + + + + + + Default + + + + objname:StabilizationSettings + button:default + buttongroup:20 + + + + + + + + QGroupBox{border: 0px;} + + + + + + + + + + 0 + 0 + + + + + 25 + 22 + + + + + 175 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>In Weak Leveling mode, this is the maximum number of degrees per second that weak leveling will move the vehicle.</p></body></html> + + + + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + 0 + + + 1.000000000000000 + + + 360.000000000000000 + + + 1.000000000000000 + + + + objname:StabilizationSettings + fieldname:MaxWeakLevelingRate + haslimits:no + scale:1 + buttongroup:20 + + + + + + + + + 0 + 0 + + + + + 162 + 20 + + + + + + + - 74 - 74 - 74 + 255 + 255 + 255 - - + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + - 36 - 36 - 36 + 58 + 58 + 58 - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - + + + + - 74 - 74 - 74 + 48 + 48 + 48 - - + + + + - 36 - 36 - 36 + 19 + 19 + 19 - - - - - - - - + + + + - 74 - 74 - 74 + 26 + 26 + 26 - - + + + + - 36 - 36 - 36 + 255 + 255 + 255 - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - + + + + - 74 - 74 - 74 + 255 + 255 + 255 - - + + + + - 36 - 36 - 36 + 255 + 255 + 255 - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + - 74 - 74 - 74 + 0 + 0 + 0 - - + + + + - 36 - 36 - 36 + 19 + 19 + 19 - - - - - - - - + + + + - 74 - 74 - 74 + 255 + 255 + 220 - - + + + + - 36 - 36 - 36 + 0 + 0 + 0 - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - + + + + + + - 74 - 74 - 74 + 255 + 255 + 255 - - + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + - 36 - 36 - 36 + 58 + 58 + 58 - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - + + + + - 74 - 74 - 74 + 48 + 48 + 48 - - + + + + - 36 - 36 - 36 + 19 + 19 + 19 - - - - - - - - + + + + - 74 - 74 - 74 + 26 + 26 + 26 - - + + + + - 36 - 36 - 36 + 255 + 255 + 255 - - - - - - - - 0 - 0 - 0 - - - - - - - 39 - 39 - 39 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 75 - true - - - - false - - - background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); 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border-radius: 5; margin:1px; font:bold; - - - Weak Leveling Rate - - - Qt::AlignCenter - - - - - - - - 0 - 0 - - - - - 132 - 20 - - - - - - - - - 255 - 255 - 255 - - - - - - - + + + Weak Leveling Rate + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + + 25 + 22 + + + + + 175 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>In Weak Leveling mode, this setting acts like Attitude Kp. If you make this setting too high, it can cause oscillations.</p></body></html> + + + + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + 2 + + + 0.010000000000000 + + + 360.000000000000000 + + + 0.010000000000000 + + + + objname:StabilizationSettings + fieldname:WeakLevelingKp + haslimits:no + scale:1 + buttongroup:20 + + + + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + + + Axis Lock + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + 0 + 0 + + + + + 0 + 0 + + + + + 16777215 + 16777215 + + + + Reset all values to GCS defaults + + + + + + Default + + + + objname:StabilizationSettings + button:default + buttongroup:10 + + + + + + + + QGroupBox{border: 0px;} + + + + + + + + + + 0 + 0 + + + + + 25 + 22 + + + + + 175 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>In AxisLock mode, this is the maximum number of degrees of correction. If movement by outside forces (eg Wind) are less than the set value your vehicle will return to centre. More than set amount and will only move your vehicle the set amount back to centre.</p></body></html> + + + + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + 0 + + + 0.000000000000000 + + + 360.000000000000000 + + + 1.000000000000000 + + + 1.000000000000000 + + + + objname:StabilizationSettings + fieldname:MaxAxisLock + haslimits:no + scale:1 + buttongroup:10 + + + + + + + + + 0 + 0 + + + + + 132 + 20 + + + + + + + - 74 - 74 - 74 + 255 + 255 + 255 - - + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + - 36 - 36 - 36 + 58 + 58 + 58 - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - + + + + - 74 - 74 - 74 + 48 + 48 + 48 - - + + + + - 36 - 36 - 36 + 19 + 19 + 19 - - - - - - - - + + + + - 74 - 74 - 74 + 26 + 26 + 26 - - + + + + - 36 - 36 - 36 + 255 + 255 + 255 - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - + + + + - 74 - 74 - 74 + 255 + 255 + 255 - - + + + + - 36 - 36 - 36 + 255 + 255 + 255 - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + - 74 - 74 - 74 + 0 + 0 + 0 - - + + + + - 36 - 36 - 36 + 19 + 19 + 19 - - - - - - - - + + + + - 74 - 74 - 74 + 255 + 255 + 220 - - + + + + - 36 - 36 - 36 + 0 + 0 + 0 - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - + + + + + + - 74 - 74 - 74 + 255 + 255 + 255 - - + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + - 36 - 36 - 36 + 58 + 58 + 58 - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - + + + + - 74 - 74 - 74 + 48 + 48 + 48 - - + + + + - 36 - 36 - 36 + 19 + 19 + 19 - - - - - - - - + + + + - 74 - 74 - 74 + 26 + 26 + 26 - - + + + + - 36 - 36 - 36 + 255 + 255 + 255 - - - - - - - - 0 - 0 - 0 - - - - - - - 39 - 39 - 39 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 75 - true - - - - false - - - background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); 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+ + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 39 + 39 + 39 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 75 + true + + + + false + + + background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); color: rgb(255, 255, 255); border-radius: 5; margin:1px; font:bold; - - - Max Axis Lock Rate - - - Qt::AlignCenter - - - - - - - Qt::Horizontal - - - QSizePolicy::Fixed - - - - 90 - 11 - - - - - - - - - 0 - 0 - - - - - 25 - 22 - - - - - 175 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>In Weak Leveling mode, this setting acts like Attitude Kp. If you make this setting too high, it can cause oscillations.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 2 - - - 0.010000000000000 - - - 360.000000000000000 - - - 0.010000000000000 - - - - objname:StabilizationSettings - fieldname:WeakLevelingKp - haslimits:no - scale:1 - buttongroup:10 - - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - - 0 - 0 - - - - - 25 - 22 - - - - - 175 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>In Weak Leveling mode, this is the maximum number of degrees per second that weak leveling will move the vehicle.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 0 - - - 1.000000000000000 - - - 360.000000000000000 - - - 1.000000000000000 - - - - objname:StabilizationSettings - fieldname:MaxWeakLevelingRate - haslimits:no - scale:1 - buttongroup:10 - - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - - 0 - 0 - - - - - 25 - 22 - - - - - 175 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>In AxisLock mode, this is the maximum number of degrees of correction. If movement by outside forces (eg Wind) are less than the set value your vehicle will return to centre. More than set amount and will only move your vehicle the set amount back to centre.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 0 - - - 0.000000000000000 - - - 360.000000000000000 - - - 1.000000000000000 - - - 1.000000000000000 - - - - objname:StabilizationSettings - fieldname:MaxAxisLock - haslimits:no - scale:1 - buttongroup:10 - - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - - 0 - 0 - - - - - 25 - 22 - - - - - 175 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>In AxisLock mode, this setting controls how many degrees per second you can request with the stick before OpenPilot stops trying to gently hold its position and goes into normal rate mode. This setting works almost like a dead band. Default value should work fine.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 0 - - - 1.000000000000000 - - - 360.000000000000000 - - - 1.000000000000000 - - - - objname:StabilizationSettings - fieldname:MaxAxisLockRate - haslimits:no - scale:1 - buttongroup:10 - - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - - + + + Max Axis Lock Rate + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + + 25 + 22 + + + + + 175 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>In AxisLock mode, this setting controls how many degrees per second you can request with the stick before OpenPilot stops trying to gently hold its position and goes into normal rate mode. This setting works almost like a dead band. Default value should work fine.</p></body></html> + + + + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + 0 + + + 1.000000000000000 + + + 360.000000000000000 + + + 1.000000000000000 + + + + objname:StabilizationSettings + fieldname:MaxAxisLockRate + haslimits:no + scale:1 + buttongroup:10 + + + + + + + + + + + @@ -18921,6 +18899,819 @@ font:bold; + + + + + + + 0 + 0 + + + + Rattitude + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + + + + 0 + + + 6 + + + + + QGroupBox{border: 0px;} + + + + + + Qt::AlignCenter + + + + 9 + + + + + QFrame::NoFrame + + + QFrame::Plain + + + + 0 + + + 0 + + + 0 + + + 0 + + + + + Qt::Vertical + + + + 20 + 5 + + + + + + + + + 0 + 0 + + + + + 144 + 16 + + + + + 175 + 16777215 + + + + + 75 + true + + + + background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); +color: rgb(255, 255, 255); +border-radius: 5; + + + ModeTransition + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + + 5 + 22 + + + + + 175 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>Percentage of full stick where the transition from Attitude to Rate occurs. This transition always occurs when the aircraft is exactly inverted (bank angle 180 degrees). Small values are dangerous because they cause flips at small stick angles. Values significantly over 100 act like attitude mode and can never flip.</p></body></html> + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + true + + + 0 + + + 25.000000000000000 + + + 255.000000000000000 + + + 80.000000000000000 + + + + objname:StabilizationSettings + fieldname:RattitudeModeTransition + haslimits:no + scale:1 + buttongroup:15 + + + + + + + + Qt::Vertical + + + + 20 + 10 + + + + + + + + + + + + + + + 0 + 0 + + + + Default + + + + objname:StabilizationSettings + button:default + buttongroup:15 + + + + + + + + + + + Cruise Control + + + + + + QGroupBox{border: 0px;} + + + + + + + 0 + + + 9 + + + 9 + + + 9 + + + + + + 75 + true + + + + + 9 + + + 9 + + + 9 + + + 9 + + + + + <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> + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + true + + + 0 + + + -100.000000000000000 + + + 49.000000000000000 + + + 5.000000000000000 + + + + objname:StabilizationSettings + fieldname:CruiseControlMinThrust + haslimits:no + scale:1 + buttongroup:16 + + + + + + + + <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> + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + true + + + 0 + + + 51.000000000000000 + + + 90.000000000000000 + + + + objname:StabilizationSettings + fieldname:CruiseControlMaxThrust + haslimits:no + scale:1 + buttongroup:16 + + + + + + + + + 0 + 0 + + + + + 97 + 16 + + + + + 75 + true + + + + background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); +color: rgb(255, 255, 255); +border-radius: 5; + + + MaxThrust + + + Qt::AlignCenter + + + + + + + + 75 + 0 + + + + Qt::StrongFocus + + + <html><head/><body><p>CP helis can set this to Reversed to automatically reverse the direction of thrust when inverted. Fixed pitch copters, including multicopters, should leave this set at Unreversed. Unreversed direction with Boosted power may be dangerous because it adds power and the thrust direction moves the aircraft towards the ground.</p></body></html> + + + + objname:StabilizationSettings + fieldname:CruiseControlInvertedThrustReversing + haslimits:no + scale:1 + buttongroup:16 + + + + + + + + + 0 + 0 + + + + + 145 + 16 + + + + + 75 + true + + + + background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); +color: rgb(255, 255, 255); +border-radius: 5; + + + InvrtdThrustRev + + + Qt::AlignCenter + + + + + + + <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> + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + true + + + 0 + + + 255.000000000000000 + + + 105.000000000000000 + + + + objname:StabilizationSettings + fieldname:CruiseControlMaxAngle + haslimits:no + scale:1 + buttongroup:16 + + + + + + + + + 0 + 0 + + + + + 140 + 16 + + + + + 75 + true + + + + background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); +color: rgb(255, 255, 255); +border-radius: 5; + + + MaxPowerFactor + + + Qt::AlignCenter + + + + + + + <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> + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + true + + + 2 + + + 1.000000000000000 + + + 50.000000000000000 + + + 0.100000000000000 + + + 3.000000000000000 + + + + objname:StabilizationSettings + fieldname:CruiseControlMaxPowerFactor + haslimits:no + scale:1 + buttongroup:16 + + + + + + + + + 0 + 0 + + + + + 155 + 16 + + + + + 75 + true + + + + background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); +color: rgb(255, 255, 255); +border-radius: 5; + + + PowerDelayComp + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + + 90 + 16 + + + + + 75 + true + + + + background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); +color: rgb(255, 255, 255); +border-radius: 5; + + + MaxAngle + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + + 92 + 16 + + + + + 75 + true + + + + background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); +color: rgb(255, 255, 255); +border-radius: 5; + + + MinThrust + + + Qt::AlignCenter + + + + + + + <html><head/><body><p>The amount of power used when in inverted mode. Zero (min throttle stick for fixed pitch copters includding multicopters, neutral collective for CP), Normal (uses stick value), or Boosted (boosted according to bank angle). Beginning multicopter pilots should leave this set to Zero to automatically reduce throttle during flips. Boosted power with Unreversed direction may be dangerous because it adds power and the thrust direction moves the aircraft towards the ground.</p></body></html> + + + + objname:StabilizationSettings + fieldname:CruiseControlInvertedPowerOutput + haslimits:no + scale:1 + buttongroup:16 + + + + + + + + <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> + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + true + + + 2 + + + 50.000000000000000 + + + 200.000000000000000 + + + 0.250000000000000 + + + 100.000000000000000 + + + + objname:StabilizationSettings + fieldname:CruiseControlPowerTrim + haslimits:no + scale:1 + buttongroup:16 + + + + + + + + + 120 + 16 + + + + + 75 + true + + + + background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); +color: rgb(255, 255, 255); +border-radius: 5; + + + InvertedPower + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + + 97 + 16 + + + + + 75 + true + + + + background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); +color: rgb(255, 255, 255); +border-radius: 5; + + + PowerTrim + + + Qt::AlignCenter + + + + + + + <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> + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + true + + + 5 + + + 2.000000000000000 + + + 0.001000000000000 + + + 0.250000000000000 + + + + objname:StabilizationSettings + fieldname:CruiseControlPowerDelayComp + haslimits:no + scale:1 + buttongroup:16 + + + + + + + + + + + + + + Default + + + + objname:StabilizationSettings + button:default + buttongroup:16 + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + + + + + Qt::Vertical + + + QSizePolicy::Fixed + + + + 20 + 9 + + + + @@ -19443,1270 +20234,20 @@ font:bold; true - + - 0 + 9 9 - 0 + 9 - 0 + 9 - - - - Qt::Horizontal - - - - 20 - 20 - - - - - - - - Qt::Horizontal - - - QSizePolicy::Fixed - - - - 102 - 20 - - - - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>The proportional term for the accelerometer, the higher this term the more weight the accel is given.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 3 - - - 1000000.000000000000000 - - - 0.010000000000000 - - - - objname:AttitudeSettings - fieldname:AccelKp - haslimits:no - scale:1 - buttongroup:8,10 - - - - - - - - - 0 - 0 - - - - - 0 - 20 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 39 - 39 - 39 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 75 - true - - - - false - - - background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); -color: rgb(255, 255, 255); -border-radius: 5; -margin:1px; -font:bold; - - - Gyro Noise Filtering - - - Qt::AlignCenter - - - - - - - - 0 - 0 - - - - - 0 - 20 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 19 - 19 - 19 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 58 - 58 - 58 - - - - - - - 48 - 48 - 48 - - - - - - - 19 - 19 - 19 - - - - - - - 26 - 26 - 26 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - 255 - 255 - 255 - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - - - 74 - 74 - 74 - - - - - 36 - 36 - 36 - - - - - - - - - 0 - 0 - 0 - - - - - - - 39 - 39 - 39 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 75 - true - - - - false - - - background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); -color: rgb(255, 255, 255); -border-radius: 5; -margin:1px; -font:bold; - - - Accel P - - - Qt::AlignCenter - - - - - - - - 0 - 0 - - - - - 0 - 22 - - - - - 16777215 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>In effect, a vibrations filter for the gyro. Default 0.005 - Max .020.</p></body></html> - - - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - 3 - - - 1000000.000000000000000 - - - 0.001000000000000 - - - - objname:StabilizationSettings - fieldname:GyroTau - haslimits:no - scale:1 - buttongroup:8,10 - - - - - - - - Qt::Horizontal - - - - 20 - 20 - - - - - + @@ -21258,7 +20799,7 @@ font:bold; - + @@ -21310,18 +20851,1213 @@ font:bold; - - - - Qt::Horizontal + + + + + 0 + 0 + - + - 20 + 0 + 22 + + + + + 16777215 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>The proportional term for the accelerometer, the higher this term the more weight the accel is given.</p></body></html> + + + + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + 3 + + + 1000000.000000000000000 + + + 0.010000000000000 + + + + objname:AttitudeSettings + fieldname:AccelKp + haslimits:no + scale:1 + buttongroup:8,10 + + + + + + + + + 0 + 0 + + + + + 0 20 - + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 39 + 39 + 39 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 75 + true + + + + false + + + background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); +color: rgb(255, 255, 255); +border-radius: 5; +margin:1px; +font:bold; + + + Gyro Noise Filtering + + + Qt::AlignCenter + + + + + + + + 0 + 0 + + + + + 0 + 22 + + + + + 16777215 + 22 + + + + Qt::StrongFocus + + + <html><head/><body><p>In effect, a vibrations filter for the gyro. Default 0.005 - Max .020.</p></body></html> + + + + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + 3 + + + 1000000.000000000000000 + + + 0.001000000000000 + + + + objname:StabilizationSettings + fieldname:GyroTau + haslimits:no + scale:1 + buttongroup:8,10 + + + + + + + + + 0 + 0 + + + + + 0 + 20 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 19 + 19 + 19 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 58 + 58 + 58 + + + + + + + 48 + 48 + 48 + + + + + + + 19 + 19 + 19 + + + + + + + 26 + 26 + 26 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + 255 + 255 + 255 + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + + + 74 + 74 + 74 + + + + + 36 + 36 + 36 + + + + + + + + + 0 + 0 + 0 + + + + + + + 39 + 39 + 39 + + + + + + + 255 + 255 + 220 + + + + + + + 0 + 0 + 0 + + + + + + + + + 75 + true + + + + false + + + background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); +color: rgb(255, 255, 255); +border-radius: 5; +margin:1px; +font:bold; + + + Accel P + + + Qt::AlignCenter + + @@ -21330,7 +22066,7 @@ font:bold; - + Qt::Vertical @@ -21381,912 +22117,6 @@ font:bold; - - Qt::Vertical - - - - 20 - 20 - - - - - - - - - - - - - Misc - - - - 0 - - - 0 - - - 0 - - - 0 - - - - - QFrame::NoFrame - - - 0 - - - true - - - - - 0 - 0 - 837 - 708 - - - - - - - Rattitude - - - - 9 - - - 9 - - - 9 - - - 9 - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - Default - - - - objname:StabilizationSettings - button:default - buttongroup:15 - - - - - - - - QGroupBox{border: 0px;} - - - true - - - - 0 - - - 9 - - - 0 - - - 0 - - - - - Qt::Horizontal - - - QSizePolicy::Fixed - - - - 90 - 11 - - - - - - - - - 0 - 0 - - - - - 5 - 22 - - - - - 175 - 22 - - - - Qt::StrongFocus - - - <html><head/><body><p>Percentage of full stick where the transition from Attitude to Rate occurs. This transition always occurs when the aircraft is exactly inverted (bank angle 180 degrees). Small values are dangerous because they cause flips at small stick angles. Values significantly over 100 act like attitude mode and can never flip.</p></body></html> - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - true - - - 0 - - - 25.000000000000000 - - - 255.000000000000000 - - - 80.000000000000000 - - - - objname:StabilizationSettings - fieldname:RattitudeModeTransition - haslimits:no - scale:1 - buttongroup:15 - - - - - - - - - 0 - 0 - - - - - 144 - 16 - - - - - 175 - 16777215 - - - - - 75 - true - - - - background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); -color: rgb(255, 255, 255); -border-radius: 5; - - - ModeTransition - - - Qt::AlignCenter - - - - - - - Qt::Horizontal - - - - 300 - 20 - - - - - - - - - - - - - - Qt::Vertical - - - QSizePolicy::Fixed - - - - 20 - 20 - - - - - - - - Cruise Control - - - - 0 - - - 9 - - - 9 - - - 9 - - - - - Default - - - - objname:StabilizationSettings - button:default - buttongroup:16 - - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - - 75 - true - - - - - 9 - - - 9 - - - 9 - - - 9 - - - - - - 75 - 0 - - - - Qt::StrongFocus - - - <html><head/><body><p>CP helis can set this to Reversed to automatically reverse the direction of thrust when inverted. Fixed pitch copters, including multicopters, should leave this set at Unreversed. Unreversed direction with Boosted power may be dangerous because it adds power and the thrust direction moves the aircraft towards the ground.</p></body></html> - - - - objname:StabilizationSettings - fieldname:CruiseControlInvertedThrustReversing - haslimits:no - scale:1 - buttongroup:16 - - - - - - - - - 0 - 0 - - - - - 145 - 16 - - - - - 75 - true - - - - background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); -color: rgb(255, 255, 255); -border-radius: 5; - - - InvrtdThrustRev - - - Qt::AlignCenter - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - <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> - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - true - - - 0 - - - 255.000000000000000 - - - 105.000000000000000 - - - - objname:StabilizationSettings - fieldname:CruiseControlMaxAngle - haslimits:no - scale:1 - buttongroup:16 - - - - - - - - <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> - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - true - - - 2 - - - 1.000000000000000 - - - 50.000000000000000 - - - 0.100000000000000 - - - 3.000000000000000 - - - - objname:StabilizationSettings - fieldname:CruiseControlMaxPowerFactor - haslimits:no - scale:1 - buttongroup:16 - - - - - - - - - 0 - 0 - - - - - 155 - 16 - - - - - 75 - true - - - - background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); -color: rgb(255, 255, 255); -border-radius: 5; - - - PowerDelayComp - - - Qt::AlignCenter - - - - - - - - 0 - 0 - - - - - 140 - 16 - - - - - 75 - true - - - - background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); -color: rgb(255, 255, 255); -border-radius: 5; - - - MaxPowerFactor - - - Qt::AlignCenter - - - - - - - - 0 - 0 - - - - - 90 - 16 - - - - - 75 - true - - - - background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); -color: rgb(255, 255, 255); -border-radius: 5; - - - MaxAngle - - - Qt::AlignCenter - - - - - - - - 0 - 0 - - - - - 92 - 16 - - - - - 75 - true - - - - background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); -color: rgb(255, 255, 255); -border-radius: 5; - - - MinThrust - - - Qt::AlignCenter - - - - - - - <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> - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - true - - - 0 - - - -100.000000000000000 - - - 49.000000000000000 - - - 5.000000000000000 - - - - objname:StabilizationSettings - fieldname:CruiseControlMinThrust - haslimits:no - scale:1 - buttongroup:16 - - - - - - - - <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> - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - true - - - 0 - - - 51.000000000000000 - - - 90.000000000000000 - - - - objname:StabilizationSettings - fieldname:CruiseControlMaxThrust - haslimits:no - scale:1 - buttongroup:16 - - - - - - - - - 0 - 0 - - - - - 97 - 16 - - - - - 75 - true - - - - background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); -color: rgb(255, 255, 255); -border-radius: 5; - - - MaxThrust - - - Qt::AlignCenter - - - - - - - Qt::Horizontal - - - QSizePolicy::Fixed - - - - 90 - 11 - - - - - - - - - 0 - 0 - - - - - 97 - 16 - - - - - 75 - true - - - - background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); -color: rgb(255, 255, 255); -border-radius: 5; - - - PowerTrim - - - Qt::AlignCenter - - - - - - - <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> - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - true - - - 5 - - - 2.000000000000000 - - - 0.001000000000000 - - - 0.250000000000000 - - - - objname:StabilizationSettings - fieldname:CruiseControlPowerDelayComp - haslimits:no - scale:1 - buttongroup:16 - - - - - - - - - 120 - 16 - - - - - 75 - true - - - - background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); -color: rgb(255, 255, 255); -border-radius: 5; - - - InvertedPower - - - Qt::AlignCenter - - - - - - - <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> - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - true - - - 2 - - - 50.000000000000000 - - - 200.000000000000000 - - - 0.250000000000000 - - - 100.000000000000000 - - - - objname:StabilizationSettings - fieldname:CruiseControlPowerTrim - haslimits:no - scale:1 - buttongroup:16 - - - - - - - - <html><head/><body><p>The amount of power used when in inverted mode. Zero (min throttle stick for fixed pitch copters includding multicopters, neutral collective for CP), Normal (uses stick value), or Boosted (boosted according to bank angle). Beginning multicopter pilots should leave this set to Zero to automatically reduce throttle during flips. Boosted power with Unreversed direction may be dangerous because it adds power and the thrust direction moves the aircraft towards the ground.</p></body></html> - - - - objname:StabilizationSettings - fieldname:CruiseControlInvertedPowerOutput - haslimits:no - scale:1 - buttongroup:16 - - - - - - - - - - - - - - Instant Update - - - - - - - 0 - 0 - - - - - 136 - 20 - - - - <html><head/><body><p>Enabling this feature mean that any changes made to the sliders will be instantly sent and used by the Flight Controller, useful for two person tuning where one normally flies and ones changes the GCS.</p></body></html> - - - - - - Update flight controller in real time - - - - - - - - Qt::Vertical @@ -22337,7 +22167,7 @@ border-radius: 5; 0 0 - 837 + 815 708 @@ -25420,16 +25250,11 @@ Useful if you have accidentally changed some settings. rateYawILimit_3 checkBox_3 checkBox_2 - WeakLevelingKp - WeakLevelingRate - MaAxisLock - MaxAxisLockRate pushButton_5 GyroTau AccelKp AccelKi realTimeUpdates_6 - scrollArea_3 tabWidget scrollArea_2 From 6fe00a773c7ef488ec607d2499d7db5884ee6faa Mon Sep 17 00:00:00 2001 From: Fredrik Larson Date: Wed, 17 Sep 2014 05:47:27 +1000 Subject: [PATCH 06/10] Some buttons missing from UI setup --- .../src/plugins/config/configstabilizationwidget.cpp | 2 ++ ground/openpilotgcs/src/plugins/config/stabilization.ui | 2 +- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp index e8c1a0d83..c9a50a703 100644 --- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp @@ -109,6 +109,8 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa addWidget(ui->pushButton_5); addWidget(ui->pushButton_6); addWidget(ui->pushButton_9); + addWidget(ui->pushButton_10); + addWidget(ui->pushButton_11); addWidget(ui->pushButton_20); addWidget(ui->pushButton_22); addWidget(ui->pushButton_23); diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui index 46afcb8ad..4ecd5fe7c 100644 --- a/ground/openpilotgcs/src/plugins/config/stabilization.ui +++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui @@ -19003,7 +19003,7 @@ color: rgb(255, 255, 255); border-radius: 5; - ModeTransition + Mode Transition Qt::AlignCenter From d7ffa008b1f98eeb9b82f3604c906d3024240c8c Mon Sep 17 00:00:00 2001 From: Fredrik Larson Date: Wed, 17 Sep 2014 06:15:07 +1000 Subject: [PATCH 07/10] Make alt hold default buttons disabled, they were missing from the constructor --- .../src/plugins/config/configstabilizationwidget.cpp | 2 ++ ground/openpilotgcs/src/plugins/config/stabilization.ui | 8 ++++---- 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp index c9a50a703..576b92981 100644 --- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp @@ -108,6 +108,8 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa addWidget(ui->pushButton_4); addWidget(ui->pushButton_5); addWidget(ui->pushButton_6); + addWidget(ui->pushButton_7); + addWidget(ui->pushButton_8); addWidget(ui->pushButton_9); addWidget(ui->pushButton_10); addWidget(ui->pushButton_11); diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui index 4ecd5fe7c..d7e113646 100644 --- a/ground/openpilotgcs/src/plugins/config/stabilization.ui +++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui @@ -95,7 +95,7 @@ QTabWidget::Rounded - 2 + 3 false @@ -16345,7 +16345,7 @@ border-radius: 5; objname:StabilizationSettings button:default - buttongroup:20 + buttongroup:25 @@ -16409,7 +16409,7 @@ border-radius: 5; fieldname:MaxWeakLevelingRate haslimits:no scale:1 - buttongroup:20 + buttongroup:25 @@ -17568,7 +17568,7 @@ font:bold; fieldname:WeakLevelingKp haslimits:no scale:1 - buttongroup:20 + buttongroup:25 From e4e1e0ed242eef1484a956cb5d45c867b17f1346 Mon Sep 17 00:00:00 2001 From: Fredrik Larson Date: Wed, 17 Sep 2014 07:23:58 +1000 Subject: [PATCH 08/10] Uncrusty --- .../config/calibration/sixpointcalibrationmodel.cpp | 8 ++++---- .../plugins/config/calibration/sixpointcalibrationmodel.h | 4 ++-- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp index f877a44b5..0593600e0 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp +++ b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp @@ -101,7 +101,7 @@ SixPointCalibrationModel::SixPointCalibrationModel(QObject *parent) : revoCalibration = RevoCalibration::GetInstance(getObjectManager()); Q_ASSERT(revoCalibration); - auxMagSettings = AuxMagSettings::GetInstance(getObjectManager()); + auxMagSettings = AuxMagSettings::GetInstance(getObjectManager()); Q_ASSERT(auxMagSettings); accelGyroSettings = AccelGyroSettings::GetInstance(getObjectManager()); @@ -440,7 +440,7 @@ void SixPointCalibrationModel::compute() double Be_length; RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData(); - AuxMagSettings::DataFields auxCalibrationData = auxMagSettings->getData(); + AuxMagSettings::DataFields auxCalibrationData = auxMagSettings->getData(); AccelGyroSettings::DataFields accelGyroSettingsData = accelGyroSettings->getData(); HomeLocation::DataFields homeLocationData = homeLocation->getData(); @@ -521,8 +521,8 @@ void SixPointCalibrationModel::compute() if (good_calibration) { m_dirty = true; if (calibratingMag) { - result.revoCalibrationData = revoCalibrationData; - result.auxMagSettingsData = auxCalibrationData; + result.revoCalibrationData = revoCalibrationData; + result.auxMagSettingsData = auxCalibrationData; displayInstructions(tr("Magnetometer calibration completed successfully."), WizardModel::Success); } if (calibratingAccel) { diff --git a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h index b398aeb0c..464a20de9 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h +++ b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h @@ -92,14 +92,14 @@ public: UAVObject::Metadata accelStateMetadata; UAVObject::Metadata magSensorMetadata; UAVObject::Metadata auxMagSensorMetadata; - AuxMagSettings::DataFields auxMagSettings; + AuxMagSettings::DataFields auxMagSettings; RevoCalibration::DataFields revoCalibrationData; AccelGyroSettings::DataFields accelGyroSettingsData; } Memento; typedef struct { RevoCalibration::DataFields revoCalibrationData; - AuxMagSettings::DataFields auxMagSettingsData; + AuxMagSettings::DataFields auxMagSettingsData; AccelGyroSettings::DataFields accelGyroSettingsData; } Result; From 97ccde9118348d10e0c229f3e7b5a8966e260aba Mon Sep 17 00:00:00 2001 From: Fredrik Larson Date: Wed, 17 Sep 2014 22:02:54 +1000 Subject: [PATCH 09/10] Uplimits --- shared/uavobjectdefinition/stabilizationsettingsbank1.xml | 2 +- shared/uavobjectdefinition/stabilizationsettingsbank2.xml | 2 +- shared/uavobjectdefinition/stabilizationsettingsbank3.xml | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/shared/uavobjectdefinition/stabilizationsettingsbank1.xml b/shared/uavobjectdefinition/stabilizationsettingsbank1.xml index 7c8a71e64..b04e11e8b 100644 --- a/shared/uavobjectdefinition/stabilizationsettingsbank1.xml +++ b/shared/uavobjectdefinition/stabilizationsettingsbank1.xml @@ -10,7 +10,7 @@ - + diff --git a/shared/uavobjectdefinition/stabilizationsettingsbank2.xml b/shared/uavobjectdefinition/stabilizationsettingsbank2.xml index 75b777fa5..1618c5b2b 100644 --- a/shared/uavobjectdefinition/stabilizationsettingsbank2.xml +++ b/shared/uavobjectdefinition/stabilizationsettingsbank2.xml @@ -10,7 +10,7 @@ - + diff --git a/shared/uavobjectdefinition/stabilizationsettingsbank3.xml b/shared/uavobjectdefinition/stabilizationsettingsbank3.xml index 7b0d52e28..d77a600c5 100644 --- a/shared/uavobjectdefinition/stabilizationsettingsbank3.xml +++ b/shared/uavobjectdefinition/stabilizationsettingsbank3.xml @@ -10,7 +10,7 @@ - + From e95689b0fcde71cd72a8afe1c8a86004212226f7 Mon Sep 17 00:00:00 2001 From: Fredrik Larson Date: Wed, 17 Sep 2014 22:33:32 +1000 Subject: [PATCH 10/10] Old bug, buttongroup clash --- ground/openpilotgcs/src/plugins/config/stabilization.ui | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui index d7e113646..0bab6ff55 100644 --- a/ground/openpilotgcs/src/plugins/config/stabilization.ui +++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui @@ -95,7 +95,7 @@ QTabWidget::Rounded - 3 + 2 false @@ -17644,7 +17644,7 @@ font:bold; objname:StabilizationSettings button:default - buttongroup:10 + buttongroup:31 @@ -17711,7 +17711,7 @@ font:bold; fieldname:MaxAxisLock haslimits:no scale:1 - buttongroup:10 + buttongroup:31 @@ -18870,7 +18870,7 @@ font:bold; fieldname:MaxAxisLockRate haslimits:no scale:1 - buttongroup:10 + buttongroup:31