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Code Issues Releases Activity

Merge remote-tracking branch 'origin/hayvosh/OP-1489_ILimits' into next

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This commit is contained in:
Fredrik Larson 2014-09-18 02:37:53 +10:00
commit c4e049f1ed
7 changed files with 4599 additions and 7270 deletions
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8
ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp
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@ -101,7 +101,7 @@ SixPointCalibrationModel::SixPointCalibrationModel(QObject *parent) :
revoCalibration = RevoCalibration::GetInstance(getObjectManager()); revoCalibration = RevoCalibration::GetInstance(getObjectManager());
Q_ASSERT(revoCalibration); Q_ASSERT(revoCalibration);
auxMagSettings = AuxMagSettings::GetInstance(getObjectManager()); auxMagSettings = AuxMagSettings::GetInstance(getObjectManager());
Q_ASSERT(auxMagSettings); Q_ASSERT(auxMagSettings);
accelGyroSettings = AccelGyroSettings::GetInstance(getObjectManager()); accelGyroSettings = AccelGyroSettings::GetInstance(getObjectManager());
@ -440,7 +440,7 @@ void SixPointCalibrationModel::compute()
double Be_length; double Be_length;
RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData(); RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
AuxMagSettings::DataFields auxCalibrationData = auxMagSettings->getData(); AuxMagSettings::DataFields auxCalibrationData = auxMagSettings->getData();
AccelGyroSettings::DataFields accelGyroSettingsData = accelGyroSettings->getData(); AccelGyroSettings::DataFields accelGyroSettingsData = accelGyroSettings->getData();
HomeLocation::DataFields homeLocationData = homeLocation->getData(); HomeLocation::DataFields homeLocationData = homeLocation->getData();
@ -521,8 +521,8 @@ void SixPointCalibrationModel::compute()
if (good_calibration) { if (good_calibration) {
m_dirty = true; m_dirty = true;
if (calibratingMag) { if (calibratingMag) {
result.revoCalibrationData = revoCalibrationData; result.revoCalibrationData = revoCalibrationData;
result.auxMagSettingsData = auxCalibrationData; result.auxMagSettingsData = auxCalibrationData;
displayInstructions(tr("Magnetometer calibration completed successfully."), WizardModel::Success); displayInstructions(tr("Magnetometer calibration completed successfully."), WizardModel::Success);
} }
if (calibratingAccel) { if (calibratingAccel) {

4
ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h
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@ -92,14 +92,14 @@ public:
UAVObject::Metadata accelStateMetadata; UAVObject::Metadata accelStateMetadata;
UAVObject::Metadata magSensorMetadata; UAVObject::Metadata magSensorMetadata;
UAVObject::Metadata auxMagSensorMetadata; UAVObject::Metadata auxMagSensorMetadata;
AuxMagSettings::DataFields auxMagSettings; AuxMagSettings::DataFields auxMagSettings;
RevoCalibration::DataFields revoCalibrationData; RevoCalibration::DataFields revoCalibrationData;
AccelGyroSettings::DataFields accelGyroSettingsData; AccelGyroSettings::DataFields accelGyroSettingsData;
} Memento; } Memento;
typedef struct { typedef struct {
RevoCalibration::DataFields revoCalibrationData; RevoCalibration::DataFields revoCalibrationData;
AuxMagSettings::DataFields auxMagSettingsData; AuxMagSettings::DataFields auxMagSettingsData;
AccelGyroSettings::DataFields accelGyroSettingsData; AccelGyroSettings::DataFields accelGyroSettingsData;
} Result; } Result;

16
ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
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@ -57,7 +57,6 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
// Set up fake tab widget stuff for pid banks support // Set up fake tab widget stuff for pid banks support
m_pidTabBars.append(ui->basicPIDBankTabBar); m_pidTabBars.append(ui->basicPIDBankTabBar);
m_pidTabBars.append(ui->advancedPIDBankTabBar); m_pidTabBars.append(ui->advancedPIDBankTabBar);
m_pidTabBars.append(ui->expertPIDBankTabBar);
foreach(QTabBar * tabBar, m_pidTabBars) { foreach(QTabBar * tabBar, m_pidTabBars) {
for (int i = 0; i < m_pidBankCount; i++) { for (int i = 0; i < m_pidBankCount; i++) {
tabBar->addTab(tr("PID Bank %1").arg(i + 1)); tabBar->addTab(tr("PID Bank %1").arg(i + 1));
@ -94,8 +93,6 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
addWidget(ui->realTimeUpdates_12); addWidget(ui->realTimeUpdates_12);
connect(ui->realTimeUpdates_7, SIGNAL(toggled(bool)), this, SLOT(realtimeUpdatesSlot(bool))); connect(ui->realTimeUpdates_7, SIGNAL(toggled(bool)), this, SLOT(realtimeUpdatesSlot(bool)));
addWidget(ui->realTimeUpdates_7); 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))); connect(ui->checkBox_7, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
addWidget(ui->checkBox_7); addWidget(ui->checkBox_7);
@ -111,7 +108,11 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
addWidget(ui->pushButton_4); addWidget(ui->pushButton_4);
addWidget(ui->pushButton_5); addWidget(ui->pushButton_5);
addWidget(ui->pushButton_6); addWidget(ui->pushButton_6);
addWidget(ui->pushButton_7);
addWidget(ui->pushButton_8);
addWidget(ui->pushButton_9); addWidget(ui->pushButton_9);
addWidget(ui->pushButton_10);
addWidget(ui->pushButton_11);
addWidget(ui->pushButton_20); addWidget(ui->pushButton_20);
addWidget(ui->pushButton_22); addWidget(ui->pushButton_22);
addWidget(ui->pushButton_23); addWidget(ui->pushButton_23);
@ -150,7 +151,6 @@ void ConfigStabilizationWidget::realtimeUpdatesSlot(bool value)
ui->realTimeUpdates_8->setChecked(value); ui->realTimeUpdates_8->setChecked(value);
ui->realTimeUpdates_12->setChecked(value); ui->realTimeUpdates_12->setChecked(value);
ui->realTimeUpdates_7->setChecked(value); ui->realTimeUpdates_7->setChecked(value);
ui->realTimeUpdates_9->setChecked(value);
if (value && !realtimeUpdates->isActive()) { if (value && !realtimeUpdates->isActive()) {
realtimeUpdates->start(AUTOMATIC_UPDATE_RATE); realtimeUpdates->start(AUTOMATIC_UPDATE_RATE);
@ -193,14 +193,10 @@ void ConfigStabilizationWidget::processLinkedWidgets(QWidget *widget)
ui->RatePitchKp->setValue(ui->RateRollKp_2->value()); ui->RatePitchKp->setValue(ui->RateRollKp_2->value());
} else if (widget == ui->RateRollKi_2) { } else if (widget == ui->RateRollKi_2) {
ui->RatePitchKi->setValue(ui->RateRollKi_2->value()); 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) { } else if (widget == ui->RatePitchKp) {
ui->RateRollKp_2->setValue(ui->RatePitchKp->value()); ui->RateRollKp_2->setValue(ui->RatePitchKp->value());
} else if (widget == ui->RatePitchKi) { } else if (widget == ui->RatePitchKi) {
ui->RateRollKi_2->setValue(ui->RatePitchKi->value()); ui->RateRollKi_2->setValue(ui->RatePitchKi->value());
} else if (widget == ui->RatePitchILimit) {
ui->RateRollILimit_2->setValue(ui->RatePitchILimit->value());
} else if (widget == ui->RollRateKd) { } else if (widget == ui->RollRateKd) {
ui->PitchRateKd->setValue(ui->RollRateKd->value()); ui->PitchRateKd->setValue(ui->RollRateKd->value());
} else if (widget == ui->PitchRateKd) { } else if (widget == ui->PitchRateKd) {
@ -213,14 +209,10 @@ void ConfigStabilizationWidget::processLinkedWidgets(QWidget *widget)
ui->AttitudePitchKp_2->setValue(ui->AttitudeRollKp->value()); ui->AttitudePitchKp_2->setValue(ui->AttitudeRollKp->value());
} else if (widget == ui->AttitudeRollKi) { } else if (widget == ui->AttitudeRollKi) {
ui->AttitudePitchKi_2->setValue(ui->AttitudeRollKi->value()); 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) { } else if (widget == ui->AttitudePitchKp_2) {
ui->AttitudeRollKp->setValue(ui->AttitudePitchKp_2->value()); ui->AttitudeRollKp->setValue(ui->AttitudePitchKp_2->value());
} else if (widget == ui->AttitudePitchKi_2) { } else if (widget == ui->AttitudePitchKi_2) {
ui->AttitudeRollKi->setValue(ui->AttitudePitchKi_2->value()); ui->AttitudeRollKi->setValue(ui->AttitudePitchKi_2->value());
} else if (widget == ui->AttitudePitchILimit_2) {
ui->AttitudeRollILimit->setValue(ui->AttitudePitchILimit_2->value());
} }
} }

11835
ground/openpilotgcs/src/plugins/config/stabilization.ui
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File diff suppressed because it is too large Load Diff

2
shared/uavobjectdefinition/stabilizationsettingsbank1.xml
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@ -10,7 +10,7 @@
<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="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:0:0.01 ; ; "/> <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="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="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="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>

2
shared/uavobjectdefinition/stabilizationsettingsbank2.xml
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@ -10,7 +10,7 @@
<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="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:0:0.01 ; ; "/> <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="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="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="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>

2
shared/uavobjectdefinition/stabilizationsettingsbank3.xml
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@ -10,7 +10,7 @@
<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="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:0:0.01 ; ; "/> <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="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="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="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>