diff --git a/ground/openpilotgcs/src/plugins/config/autotune.ui b/ground/openpilotgcs/src/plugins/config/autotune.ui index 4d7653c0b..5404a6e49 100644 --- a/ground/openpilotgcs/src/plugins/config/autotune.ui +++ b/ground/openpilotgcs/src/plugins/config/autotune.ui @@ -6,1079 +6,656 @@ 0 0 - 443 - 575 + 739 + 688 + + + 0 + 0 + + Form - - - - 20 - 10 - 401 - 131 - + + + -1 - - Tuning Aggressiveness - - - - - - Rate Tuning: - + + + + 0 + + + + Pre-autotune + + + + 12 + + + 12 + + + 12 + + + + + QFrame::StyledPanel + + + QFrame::Sunken + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;"> +<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:20pt; font-weight:600; color:#ff0000;">WARNING:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This is an experimental plugin for the GCS that is going to make your aircraft shake etc so test with lots of space and be <span style=" font-weight:600;">very very wary</span> for it creating bad tuning values.  Basically there is no reason to think this will work at all.<br /><br />To use autotuning, here are the steps:</p> +<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Go to the UAVOBrowser and under HwSettings.OptionalModules enable Autotune.  Click send then save.  Power cycle your board (disconnect battery AND usb).<br /></li> +<li style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">In Input configuration set one of your flight modes to &quot;Autotune&quot;<br /></li> +<li style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Take off, flip to autotune, keep it in the air while it's shaking<br /></li> +<li style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Land and disarm.  (note - you <span style=" font-weight:600;">MUST</span> stay in autotune mode through this point, leaving autotune before disarming aborts the process)<br /></li> +<li style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">We'd recommend checking your stabilization settings before trying them out. <br /></li> +<li style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Test fly then new settings</li> +<li style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">If you're ready to proceed, go to the next tab</li></ul></body></html> + + + + - - - - - Attitude Tuning: - + + + Autotune Setup + + + + 0 + + + + + + + + + + 255 + 255 + 255 + + + + + + + 232 + 232 + 232 + + + + + + + + + 255 + 255 + 255 + + + + + + + 232 + 232 + 232 + + + + + + + + + 232 + 232 + 232 + + + + + + + 232 + 232 + 232 + + + + + + + + QFrame::NoFrame + + + QFrame::Plain + + + true + + + + + 0 + 0 + 709 + 588 + + + + + 0 + 0 + + + + true + + + + 12 + + + 12 + + + + + Tuning Aggressiveness + + + + + + Rate Tuning: + + + + + + + Attitude Tuning: + + + + + + + 100 + + + Qt::Horizontal + + + + objname:RelayTuningSettings + fieldname:RateGain + scale:0.01 + haslimits:no + + + + + + + + 100 + + + Qt::Horizontal + + + + objname:RelayTuningSettings + fieldname:AttitudeGain + scale:0.01 + haslimits:no + + + + + + + + + + + Measured Properties + + + + + + Roll: + + + + + + + 0 + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + objname:RelayTuning + fieldname:Period + element:Roll + + + + + + + + 0 + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + objname:RelayTuning + fieldname:Gain + element:Roll + + + + + + + + Period (ms) + + + + + + + Gain (deg/s) / output + + + + + + + Pitch + + + + + + + 0 + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + objname:RelayTuning + fieldname:Period + element:Pitch + + + + + + + + 0 + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + objname:RelayTuning + fieldname:Gain + element:Pitch + + + + + + + + + + + Computed Values + + + + + + RateKi + + + + + + + AttitudeKp + + + + + + + 0 + + + + + + + Pitch + + + + + + + RateKp + + + + + + + 0 + + + + + + + AttitudeKi + + + + + + + Roll + + + + + + + 0 + + + + + + + 0 + + + + + + + 0 + + + + + + + 0 + + + + + + + 0 + + + + + + + 0 + + + + + + + + + + + + + + + + + + + + + Apply Computed Values + + + + + + + Step Size + + + Qt::AlignCenter + + + + + + + Qt::Horizontal + + + + objname:RelayTuningSettings + fieldname:Amplitude + scale:0.01 + haslimits:no + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + The Apply and Save buttons below save the autotuning settings which +will alter settings for the next autotuning flight + + + Qt::AlignCenter + + + + + + + + + + + + Qt::Vertical + + + + 20 + 77 + + + + + + + + + - - - - - 100 - - - Qt::Horizontal - - - - objname:RelayTuningSettings - fieldname:RateGain - scale:0.01 - haslimits:no - - - - - - - - 100 - - - Qt::Horizontal - - - - objname:RelayTuningSettings - fieldname:AttitudeGain - scale:0.01 - haslimits:no - - - - - - - - - - 20 - 250 - 401 - 121 - - - - Computed Values - - - - - - RateKp - - - - - - - Roll - - - - - - - RateKi - - - - - - - AttitudeKp - - - - - - - AttitudeKi - - - - - - - Pitch - - - - - - - 0 - - - - - - - 0 - - - - - - - 0 - - - - - - - 0 - - - - - - - 0 - - - - - - - 0 - - - - - - - 0 - - - - - - - 0 - - - - - - - - - 20 - 140 - 401 - 111 - - - - Measured Properties - - - - - - Roll: - - - - - - - 0 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - objname:RelayTuning - fieldname:Period - element:Roll - - - - - - - - 0 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - objname:RelayTuning - fieldname:Gain - element:Roll - - - - - - - - Period (ms) - - - - - - - Gain (deg/s) / output - - - - - - - Pitch - - - - - - - 0 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - objname:RelayTuning - fieldname:Period - element:Pitch - - - - - - - - 0 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - objname:RelayTuning - fieldname:Gain - element:Pitch - - - - - - - - - - 20 - 480 - 401 - 79 - - - - - 0 - 0 - - - - - 0 - 79 - - - - - 16777215 - 79 - - - - - - - - - 0 - 0 - 0 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 255 - 255 - 255 - - - - - - - 251 - 251 - 251 - - - - - - - 124 - 124 - 124 - - - - - - - 165 - 165 - 165 - - - - - - - 0 - 0 - 0 - - - - - - - 255 - 255 - 255 - - - - - - - 0 - 0 - 0 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 0 - 0 - 0 - - - - - - - 251 - 251 - 251 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 0 - 0 - 0 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 255 - 255 - 255 - - - - - - - 251 - 251 - 251 - - - - - - - 124 - 124 - 124 - - - - - - - 165 - 165 - 165 - - - - - - - 0 - 0 - 0 - - - - - - - 255 - 255 - 255 - - - - - - - 0 - 0 - 0 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 0 - 0 - 0 - - - - - - - 251 - 251 - 251 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - - 124 - 124 - 124 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 255 - 255 - 255 - - - - - - - 251 - 251 - 251 - - - - - - - 124 - 124 - 124 - - - - - - - 165 - 165 - 165 - - - - - - - 124 - 124 - 124 - - - - - - - 255 - 255 - 255 - - - - - - - 124 - 124 - 124 - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - - - 243 - 243 - 243 - - - - - 250 - 250 - 250 - - - - - - - - - 0 - 0 - 0 - - - - - - - 248 - 248 - 248 - - - - - - - 255 - 255 - 220 - - - - - - - 0 - 0 - 0 - - - - - - - - false - - - - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter - - - - - - Qt::Horizontal - - - - 111 - 10 - - - - - - - - - 120 - 28 - - - - Reloads the saved settings into GCS. + + + + + + 4 + + + + + Qt::Horizontal + + + QSizePolicy::Expanding + + + + 13 + 25 + + + + + + + + + 0 + 0 + + + + Reloads the saved settings into GCS. Useful if you have accidentally changed some settings. - - - QPushButton { -border: 1px outset #999; -border-radius: 5; -background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255)); -} - -QPushButton:pressed { - - border-style: inset; - background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255)); - -} - - -QPushButton:hover { - border: 1px outset #999; -border-color: rgb(83, 83, 83); -border-radius: 4; - } - - - Reload Board Data - - - - button:reload - buttongroup:10 - - - - - - - - - 60 - 28 - - - - Send settings to the board but do not save to the non-volatile memory - - - QPushButton { -border: 1px outset #999; -border-radius: 5; -background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255)); -} - -QPushButton:pressed { - - border-style: inset; - background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255)); - -} - - -QPushButton:hover { - border: 1px outset #999; -border-color: rgb(83, 83, 83); -border-radius: 4; - } - - - Apply - - - - button:apply - - - - - - - - - 60 - 28 - - - - Send settings to the board and save to the non-volatile memory - - - QPushButton { -border: 1px outset #999; -border-radius: 5; -background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255)); -} - -QPushButton:pressed { - - border-style: inset; - background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255)); - -} - - -QPushButton:hover { - border: 1px outset #999; -border-color: rgb(83, 83, 83); -border-radius: 4; - } - - - Save - - - - button:save - - - - - - - - - - 30 - 440 - 401 - 31 - - - - The buttons below change the autotuning settings which -will alter things for the next autotuning flight - - - - - - 250 - 380 - 171 - 31 - - - - QPushButton { -border: 1px outset #999; -border-radius: 5; -background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255)); -} - -QPushButton:pressed { - - border-style: inset; - background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255)); - -} - - -QPushButton:hover { - border: 1px outset #999; -border-color: rgb(83, 83, 83); -border-radius: 4; - } - - - Apply Computed Values - - - - - - 40 - 410 - 104 - 20 - - - - Step Size - - - - - - 149 - 410 - 266 - 20 - - - - Qt::Horizontal - - - - objname:RelayTuningSettings - fieldname:Amplitude - scale:0.01 - haslimits:no - - - + + + + + + Reload Board Data + + + + button:reload + buttongroup:10 + + + + + + + + + 0 + 0 + + + + Send settings to the board but do not save to the non-volatile memory + + + + + + Apply + + + + button:apply + + + + + + + + + 0 + 0 + + + + Send settings to the board and save to the non-volatile memory + + + + + + Save + + + + button:save + + + + + + + - + + +