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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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16
ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
View File

@ -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));
@ -94,8 +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);
@ -111,7 +108,11 @@ 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);
addWidget(ui->pushButton_20);
addWidget(ui->pushButton_22);
addWidget(ui->pushButton_23);
@ -150,7 +151,6 @@ 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);
@ -193,14 +193,10 @@ 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 +209,10 @@ 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());
}
}

7203
ground/openpilotgcs/src/plugins/config/stabilization.ui
View File

@ -6,7 +6,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>820</width>
<width>839</width>
<height>785</height>
</rect>
</property>
@ -95,7 +95,7 @@
<enum>QTabWidget::Rounded</enum>
</property>
<property name="currentIndex">
<number>0</number>
<number>2</number>
</property>
<property name="documentMode">
<bool>false</bool>
@ -136,8 +136,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>798</width>
<height>705</height>
<width>815</width>
<height>708</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
@ -7837,8 +7837,8 @@ border-radius: 5;</string>
<rect>
<x>0</x>
<y>0</y>
<width>565</width>
<height>733</height>
<width>815</width>
<height>708</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_29">
@ -16299,2436 +16299,20 @@ border-radius: 5;</string>
<rect>
<x>0</x>
<y>0</y>
<width>829</width>
<height>691</height>
<width>815</width>
<height>708</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_9">
<property name="spacing">
<number>0</number>
</property>
<layout class="QVBoxLayout" name="verticalLayout_8" stretch="0,0,0,0,0,0,0,0">
<item>
<widget class="QTabBar" name="expertPIDBankTabBar" native="true"/>
</item>
<layout class="QHBoxLayout" name="horizontalLayout_2" stretch="1,1">
<item>
<widget class="QFrame" name="expertPidBankFrame">
<property name="styleSheet">
<string notr="true">#expertPidBankFrame{
color: rgb(180, 180, 180);
margin-top: -1px;
}</string>
</property>
<property name="frameShape">
<enum>QFrame::Box</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="lineWidth">
<number>1</number>
</property>
<layout class="QVBoxLayout" name="verticalLayout_8">
<item>
<widget class="QGroupBox" name="groupBox_5">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<widget class="QGroupBox" name="groupBox_2">
<property name="title">
<string>Integral Limits</string>
<string>Weak Leveling</string>
</property>
<layout class="QGridLayout" name="gridLayout_9">
<property name="leftMargin">
<number>9</number>
</property>
<property name="topMargin">
<number>9</number>
</property>
<property name="rightMargin">
<number>9</number>
</property>
<property name="bottomMargin">
<number>9</number>
</property>
<property name="horizontalSpacing">
<number>6</number>
</property>
<item row="1" column="0" colspan="2">
<widget class="QGroupBox" name="groupBox_10">
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="palette">
<palette>
<active>
<colorrole role="WindowText">
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<property name="flat">
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<item row="1" column="4">
<widget class="QDoubleSpinBox" name="RatePitchILimit">
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<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This sets the maximum value of the integral (KI) that is used in Rate mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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<string notr="true"/>
</property>
<property name="alignment">
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</property>
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</property>
<property name="maximum">
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</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
<property name="objrelation" stdset="0">
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<string>fieldname:PitchRatePID</string>
<string>element:ILimit</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:13</string>
</stringlist>
</property>
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<widget class="QDoubleSpinBox" name="RateRollILimit_2">
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<size>
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<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This sets the maximum value of the integral (KI) that is used in Rate mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
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@ -18761,127 +16345,76 @@ font:bold;</string>
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<number>9</number>
</property>
<property name="bottomMargin">
<number>9</number>
</property>
<item row="0" column="0">
<spacer name="horizontalSpacer_13">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>632</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="1">
<widget class="QPushButton" name="pushButton_6">
<layout class="QGridLayout" name="gridLayout_9">
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="WeakLevelingRate">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
<width>25</width>
<height>22</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
<width>175</width>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Reset all values to GCS defaults</string>
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;In Weak Leveling mode, this is the maximum number of degrees per second that weak leveling will move the vehicle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Default</string>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="minimum">
<double>1.000000000000000</double>
</property>
<property name="maximum">
<double>360.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>button:default</string>
<string>buttongroup:10</string>
<string>fieldname:MaxWeakLevelingRate</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:25</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="0" colspan="2">
<widget class="QGroupBox" name="groupBox2">
<property name="styleSheet">
<string>QGroupBox{border: 0px;}</string>
</property>
<property name="flat">
<bool>true</bool>
</property>
<layout class="QGridLayout" name="gridLayout_4">
<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 row="0" column="1">
<item row="0" column="0">
<widget class="QLabel" name="label_50">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -19426,14 +16959,14 @@ margin:1px;
font:bold;</string>
</property>
<property name="text">
<string>Weak Leveling Kp </string>
<string>Weak Leveling Gain </string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="3">
<item row="0" column="1">
<widget class="QLabel" name="label_49">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -19985,7 +17518,205 @@ font:bold;</string>
</property>
</widget>
</item>
<item row="0" column="5">
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="WeakLevelingKp">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>25</width>
<height>22</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>175</width>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;In Weak Leveling mode, this setting acts like Attitude Kp. If you make this setting too high, it can cause oscillations.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="maximum">
<double>360.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:WeakLevelingKp</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:25</string>
</stringlist>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="1" column="0">
<spacer name="horizontalSpacer_25">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_5">
<property name="title">
<string>Axis Lock</string>
</property>
<layout class="QGridLayout" name="gridLayout_27">
<item row="0" column="0">
<spacer name="horizontalSpacer_34">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="1">
<widget class="QPushButton" name="pushButton_6">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Reset all values to GCS defaults</string>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Default</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>button:default</string>
<string>buttongroup:31</string>
</stringlist>
</property>
</widget>
</item>
<item row="3" column="0" colspan="2">
<widget class="QGroupBox" name="groupBox_10">
<property name="styleSheet">
<string notr="true">QGroupBox{border: 0px;}</string>
</property>
<property name="title">
<string/>
</property>
<layout class="QGridLayout" name="gridLayout_28">
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="MaAxisLock">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>25</width>
<height>22</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>175</width>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;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.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>360.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:MaxAxisLock</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:31</string>
</stringlist>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_51">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -20537,7 +18268,7 @@ font:bold;</string>
</property>
</widget>
</item>
<item row="0" column="7">
<item row="0" column="1">
<widget class="QLabel" name="label_52">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -21089,230 +18820,7 @@ font:bold;</string>
</property>
</widget>
</item>
<item row="1" column="0">
<spacer name="horizontalSpacer_18">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>90</width>
<height>11</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="WeakLevelingKp">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>25</width>
<height>22</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>175</width>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;In Weak Leveling mode, this setting acts like Attitude Kp. If you make this setting too high, it can cause oscillations.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="maximum">
<double>360.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:WeakLevelingKp</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:10</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="2">
<spacer name="horizontalSpacer_15">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="3">
<widget class="QDoubleSpinBox" name="WeakLevelingRate">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>25</width>
<height>22</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>175</width>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;In Weak Leveling mode, this is the maximum number of degrees per second that weak leveling will move the vehicle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="minimum">
<double>1.000000000000000</double>
</property>
<property name="maximum">
<double>360.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:MaxWeakLevelingRate</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:10</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="4">
<spacer name="horizontalSpacer_17">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="5">
<widget class="QDoubleSpinBox" name="MaAxisLock">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>25</width>
<height>22</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>175</width>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;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.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>360.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:MaxAxisLock</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:10</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="6">
<spacer name="horizontalSpacer_19">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="7">
<widget class="QDoubleSpinBox" name="MaxAxisLockRate">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -21362,12 +18870,815 @@ font:bold;</string>
<string>fieldname:MaxAxisLockRate</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:10</string>
<string>buttongroup:31</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="8">
</layout>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_9">
<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>
<layout class="QHBoxLayout" name="horizontalLayout_3" stretch="0,6">
<item>
<widget class="QGroupBox" name="groupBox_4">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Rattitude</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<layout class="QGridLayout" name="gridLayout_4" rowstretch="0,0" columnstretch="1,1">
<property name="horizontalSpacing">
<number>0</number>
</property>
<property name="verticalSpacing">
<number>6</number>
</property>
<item row="1" column="0" colspan="2">
<widget class="QGroupBox" name="groupBox_12">
<property name="styleSheet">
<string notr="true">QGroupBox{border: 0px;}</string>
</property>
<property name="title">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QVBoxLayout" name="verticalLayout_9" stretch="0">
<property name="topMargin">
<number>9</number>
</property>
<item>
<widget class="QFrame" name="frame">
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<layout class="QVBoxLayout" name="verticalLayout_12">
<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="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">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>144</width>
<height>16</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>175</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="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;</string>
</property>
<property name="text">
<string>Mode Transition</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="RattitudeModeTransition">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>5</width>
<height>22</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>175</width>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;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.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="accelerated">
<bool>true</bool>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="minimum">
<double>25.000000000000000</double>
</property>
<property name="maximum">
<double>255.000000000000000</double>
</property>
<property name="value">
<double>80.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:RattitudeModeTransition</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:15</string>
</stringlist>
</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>
</widget>
</item>
</layout>
</widget>
</item>
<item row="0" column="1">
<widget class="QPushButton" name="pushButton_10">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Default</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>button:default</string>
<string>buttongroup:15</string>
</stringlist>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_11">
<property name="title">
<string>Cruise Control</string>
</property>
<layout class="QGridLayout" name="gridLayout_24">
<item row="2" column="1" colspan="2">
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<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;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 &amp;quot;high throttle trim&amp;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.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Multi-copters should probably use 80% to 90% to leave some headroom for stabilization. CP helis can set this to 100%.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;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.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;The bank angle where CruiseControl goes into inverted power mode. InvertedThrustReverse and InvertedPower control the direction and amount of power when in inverted mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Really just a safety limit. 3.0 means it will not use more than 3 times the power the throttle/collective stick is requesting.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;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.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;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.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Motor response time to go from min thrust to max thrust. It allows thrust anticipation on entering/exiting inverted mode&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;The proportional term for the accelerometer, the higher this term the more weight the accel is given.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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@ -23811,7 +22066,7 @@ font:bold;</string>
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<item>
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@ -23862,912 +22117,6 @@ font:bold;</string>
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<property name="topMargin">
<number>9</number>
</property>
<property name="rightMargin">
<number>9</number>
</property>
<property name="bottomMargin">
<number>9</number>
</property>
<item row="1" column="4">
<widget class="QComboBox" name="comboBox">
<property name="minimumSize">
<size>
<width>75</width>
<height>0</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;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.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:CruiseControlInvertedThrustReversing</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:16</string>
</stringlist>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="label_10">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>145</width>
<height>16</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="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;</string>
</property>
<property name="text">
<string>InvrtdThrustRev</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="5">
<spacer name="horizontalSpacer_59">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="2">
<widget class="QDoubleSpinBox" name="doubleSpinBox_3">
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;The bank angle where CruiseControl goes into inverted power mode. InvertedThrustReverse and InvertedPower control the direction and amount of power when in inverted mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="accelerated">
<bool>true</bool>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>255.000000000000000</double>
</property>
<property name="value">
<double>105.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:CruiseControlMaxAngle</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:16</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox">
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Really just a safety limit. 3.0 means it will not use more than 3 times the power the throttle/collective stick is requesting.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="accelerated">
<bool>true</bool>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>1.000000000000000</double>
</property>
<property name="maximum">
<double>50.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>3.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:CruiseControlMaxPowerFactor</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:16</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_11">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>155</width>
<height>16</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="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;</string>
</property>
<property name="text">
<string>PowerDelayComp</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_4">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>140</width>
<height>16</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="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;</string>
</property>
<property name="text">
<string>MaxPowerFactor</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_7">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>90</width>
<height>16</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="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;</string>
</property>
<property name="text">
<string>MaxAngle</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label_8">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>92</width>
<height>16</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="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;</string>
</property>
<property name="text">
<string>MinThrust</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QDoubleSpinBox" name="doubleSpinBox_4">
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;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 &amp;quot;high throttle trim&amp;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.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="accelerated">
<bool>true</bool>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="minimum">
<double>-100.000000000000000</double>
</property>
<property name="maximum">
<double>49.000000000000000</double>
</property>
<property name="value">
<double>5.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:CruiseControlMinThrust</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:16</string>
</stringlist>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QDoubleSpinBox" name="doubleSpinBox_5">
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Multi-copters should probably use 80% to 90% to leave some headroom for stabilization. CP helis can set this to 100%.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="accelerated">
<bool>true</bool>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="minimum">
<double>51.000000000000000</double>
</property>
<property name="value">
<double>90.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:CruiseControlMaxThrust</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:16</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QLabel" name="label_9">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>97</width>
<height>16</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="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;</string>
</property>
<property name="text">
<string>MaxThrust</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="0">
<spacer name="horizontalSpacer_60">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>90</width>
<height>11</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_6">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>97</width>
<height>16</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="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;</string>
</property>
<property name="text">
<string>PowerTrim</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_7">
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Motor response time to go from min thrust to max thrust. It allows thrust anticipation on entering/exiting inverted mode&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="accelerated">
<bool>true</bool>
</property>
<property name="decimals">
<number>5</number>
</property>
<property name="maximum">
<double>2.000000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
<property name="value">
<double>0.250000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:CruiseControlPowerDelayComp</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:16</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QLabel" name="label_12">
<property name="minimumSize">
<size>
<width>120</width>
<height>16</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="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;</string>
</property>
<property name="text">
<string>InvertedPower</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QDoubleSpinBox" name="doubleSpinBox_2">
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;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.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="accelerated">
<bool>true</bool>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>50.000000000000000</double>
</property>
<property name="maximum">
<double>200.000000000000000</double>
</property>
<property name="singleStep">
<double>0.250000000000000</double>
</property>
<property name="value">
<double>100.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:CruiseControlPowerTrim</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:16</string>
</stringlist>
</property>
</widget>
</item>
<item row="3" column="4">
<widget class="QComboBox" name="comboBox_2">
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;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.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:CruiseControlInvertedPowerOutput</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:16</string>
</stringlist>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_9">
<property name="title">
<string>Instant Update</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_17">
<item>
<widget class="QCheckBox" name="realTimeUpdates_9">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>136</width>
<height>20</height>
</size>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;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.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Update flight controller in real time</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_11">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
@ -24818,8 +22167,8 @@ border-radius: 5;</string>
<rect>
<x>0</x>
<y>0</y>
<width>478</width>
<height>518</height>
<width>815</width>
<height>708</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_18">
@ -27901,23 +25250,11 @@ Useful if you have accidentally changed some settings.</string>
<tabstop>rateYawILimit_3</tabstop>
<tabstop>checkBox_3</tabstop>
<tabstop>checkBox_2</tabstop>
<tabstop>WeakLevelingKp</tabstop>
<tabstop>WeakLevelingRate</tabstop>
<tabstop>MaAxisLock</tabstop>
<tabstop>MaxAxisLockRate</tabstop>
<tabstop>pushButton_9</tabstop>
<tabstop>RateRollILimit_2</tabstop>
<tabstop>RatePitchILimit</tabstop>
<tabstop>RateYawILimit</tabstop>
<tabstop>AttitudeRollILimit</tabstop>
<tabstop>AttitudePitchILimit_2</tabstop>
<tabstop>AttitudeYawILimit</tabstop>
<tabstop>pushButton_5</tabstop>
<tabstop>GyroTau</tabstop>
<tabstop>AccelKp</tabstop>
<tabstop>AccelKi</tabstop>
<tabstop>realTimeUpdates_6</tabstop>
<tabstop>scrollArea_3</tabstop>
<tabstop>tabWidget</tabstop>
<tabstop>scrollArea_2</tabstop>
</tabstops>

2
shared/uavobjectdefinition/stabilizationsettingsbank1.xml
View File

@ -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="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="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; "/>

2
shared/uavobjectdefinition/stabilizationsettingsbank2.xml
View File

@ -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="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="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; "/>

2
shared/uavobjectdefinition/stabilizationsettingsbank3.xml
View File

@ -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="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="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; "/>