More work on autotune from GCS

ground/openpilotgcs/src/plugins/config/autotune.ui

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>443</width>
-    <height>505</height>
+    <height>560</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -19,39 +19,77 @@
      <x>20</x>
      <y>10</y>
      <width>401</width>
-     <height>121</height>
+     <height>131</height>
     </rect>
    </property>
    <property name="title">
     <string>Tuning Aggressiveness</string>
    </property>
    <layout class="QGridLayout" name="gridLayout_2">
-    <item row="0" column="0">
+    <item row="1" column="0">
      <widget class="QLabel" name="label">
       <property name="text">
        <string>Rate Tuning:</string>
       </property>
      </widget>
     </item>
-    <item row="0" column="1">
+    <item row="1" column="1">
      <widget class="QSlider" name="rateTuning">
       <property name="orientation">
        <enum>Qt::Horizontal</enum>
       </property>
+      <property name="objrelation" stdset="0">
+       <stringlist>
+        <string>obj1name:RelayTuningSettings</string>
+        <string>fieldname:RateGain</string>
+        <string>scale:0.01</string>
+        <string>haslimits:yes</string>
+       </stringlist>
+      </property>
      </widget>
     </item>
-    <item row="1" column="0">
+    <item row="2" column="0">
      <widget class="QLabel" name="label_2">
       <property name="text">
        <string>Attitude Tuning:</string>
       </property>
      </widget>
     </item>
-    <item row="1" column="1">
+    <item row="2" column="1">
      <widget class="QSlider" name="attitudeTuning">
       <property name="orientation">
        <enum>Qt::Horizontal</enum>
       </property>
+      <property name="objrelation" stdset="0">
+       <stringlist>
+        <string>obj1name:RelayTuningSettings</string>
+        <string>fieldname:AttitudeGain</string>
+        <string>elemescale:0.01</string>
+        <string>haslimits:yes</string>
+       </stringlist>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="0">
+     <widget class="QLabel" name="label_21">
+      <property name="text">
+       <string>StepSize</string>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="1">
+     <widget class="QSlider" name="stepSizeSlider">
+      <property name="orientation">
+       <enum>Qt::Horizontal</enum>
+      </property>
+      <property name="objrelation" stdset="0">
+       <stringlist>
+        <string>obj1name:RelatyTuningSettings</string>
+        <string>fieldname:Amplitude</string>
+        <string>scale:0.01</string>
+        <string>haslimits:yes</string>
+       </stringlist>
+      </property>
      </widget>
     </item>
    </layout>
@@ -62,7 +100,7 @@
      <x>20</x>
      <y>250</y>
      <width>401</width>
-     <height>131</height>
+     <height>121</height>
     </rect>
    </property>
    <property name="title">
@@ -112,56 +150,56 @@
      </widget>
     </item>
     <item row="1" column="1">
-     <widget class="QLabel" name="label_13">
+     <widget class="QLabel" name="rollRateKp">
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="2" column="1">
-     <widget class="QLabel" name="label_14">
+     <widget class="QLabel" name="pitchRateKp">
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="1" column="2">
-     <widget class="QLabel" name="label_15">
+     <widget class="QLabel" name="rollRateKi">
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="2" column="2">
-     <widget class="QLabel" name="label_16">
+     <widget class="QLabel" name="pitchRateKi">
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="1" column="3">
-     <widget class="QLabel" name="label_17">
+     <widget class="QLabel" name="rollAttitudeKp">
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="2" column="3">
-     <widget class="QLabel" name="label_18">
+     <widget class="QLabel" name="pitchAttitudeKp">
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="1" column="4">
-     <widget class="QLabel" name="label_19">
+     <widget class="QLabel" name="rollAttitudeKi">
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="2" column="4">
-     <widget class="QLabel" name="label_20">
+     <widget class="QLabel" name="pitchAttitudeKi">
       <property name="text">
        <string>0</string>
       </property>
@@ -175,11 +213,11 @@
      <x>20</x>
      <y>140</y>
      <width>401</width>
-     <height>101</height>
+     <height>111</height>
     </rect>
    </property>
    <property name="title">
-    <string>Measured Values</string>
+    <string>Measured Properties</string>
    </property>
    <layout class="QGridLayout" name="gridLayout">
     <item row="1" column="0">
@@ -206,14 +244,14 @@
     <item row="0" column="1">
      <widget class="QLabel" name="label_6">
       <property name="text">
-       <string>Period</string>
+       <string>Period (ms)</string>
       </property>
      </widget>
     </item>
     <item row="0" column="2">
      <widget class="QLabel" name="label_7">
       <property name="text">
-       <string>Amplitude</string>
+       <string>Amplitude (deg/s)</string>
       </property>
      </widget>
     </item>
@@ -244,7 +282,7 @@
    <property name="geometry">
     <rect>
      <x>20</x>
-     <y>400</y>
+     <y>480</y>
      <width>401</width>
      <height>79</height>
     </rect>
@@ -934,6 +972,33 @@ border-radius: 4;
     </item>
    </layout>
   </widget>
+  <widget class="QLabel" name="label_22">
+   <property name="geometry">
+    <rect>
+     <x>30</x>
+     <y>440</y>
+     <width>371</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>The buttons below change the autotuning settings which
+will alter thingsfor the next autotuning flight</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="useComputedValues">
+   <property name="geometry">
+    <rect>
+     <x>270</x>
+     <y>380</y>
+     <width>161</width>
+     <height>24</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Use Computed Values</string>
+   </property>
+  </widget>
  </widget>
  <resources/>
  <connections/>

ground/openpilotgcs/src/plugins/config/configautotunewidget.cpp

@@ -22,10 +22,4 @@ ConfigAutotuneWidget::ConfigAutotuneWidget(QWidget *parent) :
     disableMouseWheelEvents();
 }
 
-ConfigAutotuneWidget::~ConfigAutotuneWidget()
-{
-    // Do nothing
-}
-
-
 

shared/uavobjectdefinition/relaytuningsettings.xml

@@ -1,6 +1,8 @@
 <xml>
     <object name="RelayTuningSettings" singleinstance="true" settings="true">
         <description>Setting to run a relay tuning algorithm</description>
+	<field name="RateGain" units="" type="float" elements="1" defaultvalue="0.5"/>
+	<field name="AttitudeGain" units="" type="float" elements="1" defaultvalue="0.5"/>
 	<field name="Amplitude" units="" type="float" elements="1" defaultvalue="0.05"/>
 	<access gcs="readwrite" flight="readwrite"/>
 	<telemetrygcs acked="true" updatemode="onchange" period="0"/>