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Code Issues Releases Activity

Added Dado's UI.

Browse Source 
Several scale bug fixes.
Added lots of debug info, will clean later.
This commit is contained in:
zedamota 2012-02-06 17:33:54 +00:00
parent 35c5391d53
commit e2c6a9d58a
6 changed files with 21762 additions and 830 deletions
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5
ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
View File

@ -40,7 +40,7 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
{
m_stabilization = new Ui_StabilizationWidget();
m_stabilization->setupUi(this);
QList<int> * rateGroup=new QList<int>();
/* QList<int> * rateGroup=new QList<int>();
rateGroup->append(0);
addApplySaveButtons(m_stabilization->saveStabilizationToRAM,m_stabilization->saveStabilizationToSD);
addUAVObjectToWidgetRelation("StabilizationSettings","RollRatePID",m_stabilization->rateRollKp,"Kp",1,true,rateGroup);
@ -48,7 +48,8 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
addDefaultButton(m_stabilization->defaultButton,0);
addReloadButton(m_stabilization->reloadButton,0);
addWidgetToDefaultReloadGroups(m_stabilization->rateRollKp,rateGroup);
addShadowWidget("StabilizationSettings","RollRatePID",m_stabilization->rateRollKi,0,1,true,rateGroup);
addShadowWidget("StabilizationSettings","RollRatePID",m_stabilization->rateRollKi,0,1,true,rateGroup);*/
autoLoadWidgets();
}

22401
ground/openpilotgcs/src/plugins/config/stabilization.ui
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File diff suppressed because it is too large Load Diff

21
ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
View File

@ -107,10 +107,13 @@ void UAVObjectField::limitsInitialize(const QString &limits)
return;
QStringList stringPerElement=limits.split(",");
foreach (QString str, stringPerElement) {
QStringList valuesPerElement=str.split(":");
QString _str=str.trimmed();
QStringList valuesPerElement=_str.split(":");
LimitStruct lstruc;
quint32 index=valuesPerElement.at(0).mid(1,valuesPerElement.at(0).length()-3).toULong();
if(valuesPerElement.at(0).startsWith("%") && index<numElements)
quint32 index=stringPerElement.indexOf(str);
bool b1=valuesPerElement.at(0).startsWith("%");
bool b2=(int)(index)<(int)numElements;
if(b1 && b2)
{
if(valuesPerElement.at(0).right(2)=="EQ")
lstruc.type=EQUAL;
@ -123,10 +126,11 @@ void UAVObjectField::limitsInitialize(const QString &limits)
else if(valuesPerElement.at(0).right(2)=="SM")
lstruc.type=SMALLER;
else
qDebug()<<"limits parsing failed on UAVObjectField"<<name;
qDebug()<<"limits parsing failed (invalid property) on UAVObjectField"<<name;
valuesPerElement.removeAt(0);
foreach(QString value,valuesPerElement)
foreach(QString _value,valuesPerElement)
{
QString value=_value.trimmed();
switch (type)
{
case INT8:
@ -155,7 +159,12 @@ void UAVObjectField::limitsInitialize(const QString &limits)
elementLimits.insert(index,lstruc);
}
else
qDebug()<<"limits parsing failed on UAVObjectField"<<name;
{
if(!valuesPerElement.at(0).startsWith("%"))
qDebug()<<"limits parsing failed (property doesn't start with %) on UAVObjectField"<<name;
else if(index>=numElements)
qDebug()<<"limits parsing failed (index>numelements) on UAVObjectField"<<name<<"index"<<index<<"numElements"<<numElements;
}
}
}
bool UAVObjectField::isWithinLimits(QVariant var,quint32 index)

106
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
View File

@ -56,7 +56,7 @@ void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString fiel
Q_ASSERT(_field);
addUAVObjectToWidgetRelation(object,field,widget,_field->getElementNames().indexOf(index));
}
void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString field, QWidget *widget, QString element, float scale, bool isLimited, QList<int> *defaultReloadGroups)
void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString field, QWidget *widget, QString element, double scale, bool isLimited, QList<int> *defaultReloadGroups)
{
UAVObject *obj=objManager->getObject(QString(object));
Q_ASSERT(obj);
@ -66,7 +66,7 @@ void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString fiel
int index=_field->getElementNames().indexOf(QString(element));
addUAVObjectToWidgetRelation(object, field, widget,index,scale,isLimited,defaultReloadGroups);
}
void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString field, QWidget * widget, int index,float scale,bool isLimited,QList<int>* defaultReloadGroups)
void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString field, QWidget * widget, int index,double scale,bool isLimited,QList<int>* defaultReloadGroups)
{
if(addShadowWidget(object,field,widget,index,scale,isLimited,defaultReloadGroups))
return;
@ -221,6 +221,13 @@ void ConfigTaskWidget::updateObjectsFromWidgets()
}
}
void ConfigTaskWidget::helpButtonPressed()
{
QString url=helpButtonList.value((QPushButton*)sender(),QString::QString());
if(!url.isEmpty())
QDesktopServices::openUrl( QUrl(url, QUrl::StrictMode) );
}
void ConfigTaskWidget::addApplySaveButtons(QPushButton *update, QPushButton *save)
{
smartsave=new smartSaveButton(update,save);
@ -247,7 +254,7 @@ void ConfigTaskWidget::enableControls(bool enable)
void ConfigTaskWidget::widgetsContentsChanged()
{
float scale;
double scale;
objectToWidget * oTw= shadowsList.value((QWidget*)sender(),NULL);
/*
@ -372,6 +379,13 @@ bool ConfigTaskWidget::allObjectsUpdated()
return ret;
}
void ConfigTaskWidget::addHelpButton(QPushButton *button, QString url)
{
helpButtonList.insert(button,url);
connect(button,SIGNAL(clicked()),this,SLOT(helpButtonPressed()));
}
void ConfigTaskWidget::invalidateObjects()
{
foreach(UAVObject *obj, objectUpdates.keys())
@ -380,7 +394,7 @@ void ConfigTaskWidget::invalidateObjects()
}
}
bool ConfigTaskWidget::addShadowWidget(QString object, QString field, QWidget *widget, int index, float scale, bool isLimited,QList<int>* defaultReloadGroups)
bool ConfigTaskWidget::addShadowWidget(QString object, QString field, QWidget *widget, int index, double scale, bool isLimited,QList<int>* defaultReloadGroups)
{
foreach(objectToWidget * oTw,objOfInterest)
{
@ -408,13 +422,15 @@ void ConfigTaskWidget::autoLoadWidgets()
{
QPushButton * saveButtonWidget=NULL;
QPushButton * applyButtonWidget=NULL;
foreach(QObject * widget,this->children())
foreach(QWidget * widget,this->findChildren<QWidget*>())
{
QVariant info=widget->property("objrelation");
if(info.isValid())
{
qDebug()<<"processing autoloadwidget";
uiRelationAutomation uiRelation;
uiRelation.buttonType=none;
uiRelation.scale=1;
foreach(QString str, info.toStringList())
{
QString prop=str.split(":").at(0);
@ -430,14 +446,7 @@ void ConfigTaskWidget::autoLoadWidgets()
if(value=="null")
uiRelation.scale=1;
else
uiRelation.scale=value.toFloat();
}
else if(prop== "ismaster")
{
if(value=="yes")
uiRelation.ismaster=true;
else
uiRelation.ismaster=false;
uiRelation.scale=value.toDouble();
}
else if(prop== "haslimits")
{
@ -456,6 +465,9 @@ void ConfigTaskWidget::autoLoadWidgets()
uiRelation.buttonType=reload_button;
else if(value=="default")
uiRelation.buttonType=default_button;
else if(value=="help")
uiRelation.buttonType=help_button;
}
else if(prop== "buttongroup")
{
@ -465,6 +477,8 @@ void ConfigTaskWidget::autoLoadWidgets()
}
}
else if(prop=="url")
uiRelation.url=value;
}
if(!uiRelation.buttonType==none)
{
@ -491,11 +505,12 @@ void ConfigTaskWidget::autoLoadWidgets()
break;
}
}
else if(uiRelation.ismaster)
else
{
QWidget * wid=qobject_cast<QWidget *>(widget);
qDebug()<<"adding widget"<<(quint32)wid;
if(wid)
addUAVObjectToWidgetRelation(uiRelation.objname,uiRelation.fieldname,wid,uiRelation.element,uiRelation.haslimits,&uiRelation.buttonGroup);
addUAVObjectToWidgetRelation(uiRelation.objname,uiRelation.fieldname,wid,uiRelation.element,uiRelation.scale,uiRelation.haslimits,&uiRelation.buttonGroup);
}
}
}
@ -632,7 +647,7 @@ void ConfigTaskWidget::connectWidgetUpdatesToSlot(QWidget * widget,const char* f
}
bool ConfigTaskWidget::setFieldFromWidget(QWidget * widget,UAVObjectField * field,int index,float scale)
bool ConfigTaskWidget::setFieldFromWidget(QWidget * widget,UAVObjectField * field,int index,double scale)
{
if(!widget || !field)
return false;
@ -647,7 +662,7 @@ bool ConfigTaskWidget::setFieldFromWidget(QWidget * widget,UAVObjectField * fiel
return false;
}
}
QVariant ConfigTaskWidget::getVariantFromWidget(QWidget * widget,float scale)
QVariant ConfigTaskWidget::getVariantFromWidget(QWidget * widget,double scale)
{
if(QComboBox * cb=qobject_cast<QComboBox *>(widget))
{
@ -663,11 +678,11 @@ QVariant ConfigTaskWidget::getVariantFromWidget(QWidget * widget,float scale)
}
else if(QSpinBox * cb=qobject_cast<QSpinBox *>(widget))
{
return (int)(cb->value()* (int)scale);
return (double)(cb->value()* scale);
}
else if(QSlider * cb=qobject_cast<QSlider *>(widget))
{
return(int)(cb->value()* (int)scale);
return(double)(cb->value()* scale);
}
else if(QCheckBox * cb=qobject_cast<QCheckBox *>(widget))
{
@ -677,7 +692,7 @@ QVariant ConfigTaskWidget::getVariantFromWidget(QWidget * widget,float scale)
return QVariant();
}
bool ConfigTaskWidget::setWidgetFromVariant(QWidget *widget, QVariant value, float scale)
bool ConfigTaskWidget::setWidgetFromVariant(QWidget *widget, QVariant value, double scale)
{
if(QComboBox * cb=qobject_cast<QComboBox *>(widget))
{
@ -691,17 +706,18 @@ bool ConfigTaskWidget::setWidgetFromVariant(QWidget *widget, QVariant value, flo
}
else if(QDoubleSpinBox * cb=qobject_cast<QDoubleSpinBox *>(widget))
{
cb->setValue(value.toDouble()/scale);
cb->setValue((double)(value.toDouble()/scale));
return true;
}
else if(QSpinBox * cb=qobject_cast<QSpinBox *>(widget))
{
cb->setValue(value.toInt()/(int)scale);
cb->setValue((int)(value.toDouble()/scale));
return true;
}
else if(QSlider * cb=qobject_cast<QSlider *>(widget))
{
cb->setValue(value.toInt()/(int)scale);
cb->setValue((int)(value.toDouble()/scale));
qDebug()<<"SETVALUE widgetfromvariant"<<value.toDouble()<<"/"<<scale<<"="<<(int)(value.toDouble()/scale)<<"object"<<(quint32)cb;
return true;
}
else if(QCheckBox * cb=qobject_cast<QCheckBox *>(widget))
@ -713,7 +729,7 @@ bool ConfigTaskWidget::setWidgetFromVariant(QWidget *widget, QVariant value, flo
return false;
}
bool ConfigTaskWidget::setWidgetFromField(QWidget * widget,UAVObjectField * field,int index,float scale,bool hasLimits)
bool ConfigTaskWidget::setWidgetFromField(QWidget * widget,UAVObjectField * field,int index,double scale,bool hasLimits)
{
if(!widget || !field)
return false;
@ -733,7 +749,7 @@ bool ConfigTaskWidget::setWidgetFromField(QWidget * widget,UAVObjectField * fiel
return false;
}
}
void ConfigTaskWidget::checkWidgetsLimits(QWidget * widget,UAVObjectField * field,int index,bool hasLimits, QVariant value, float scale)
void ConfigTaskWidget::checkWidgetsLimits(QWidget * widget,UAVObjectField * field,int index,bool hasLimits, QVariant value, double scale)
{
if(!hasLimits)
return;
@ -751,36 +767,36 @@ void ConfigTaskWidget::checkWidgetsLimits(QWidget * widget,UAVObjectField * fiel
}
else if(QDoubleSpinBox * cb=qobject_cast<QDoubleSpinBox *>(widget))
{
if(value.toDouble()/scale>cb->maximum())
if((double)(value.toDouble()/scale)>cb->maximum())
{
cb->setMaximum(value.toDouble()/scale);
cb->setMaximum((double)(value.toDouble()/scale));
}
else if(value.toDouble()/scale<cb->minimum())
else if((double)(value.toDouble()/scale)<cb->minimum())
{
cb->setMinimum(value.toDouble()/scale);
cb->setMinimum((double)(value.toDouble()/scale));
}
}
else if(QSpinBox * cb=qobject_cast<QSpinBox *>(widget))
{
if(value.toInt()/scale>cb->maximum())
if((int)(value.toDouble()/scale)>cb->maximum())
{
cb->setMaximum(value.toInt()/scale);
cb->setMaximum((int)(value.toDouble()/scale));
}
else if(value.toInt()/scale<cb->minimum())
else if((int)(value.toDouble()/scale)<cb->minimum())
{
cb->setMinimum(value.toInt()/scale);
cb->setMinimum((int)(value.toDouble()/scale));
}
}
else if(QSlider * cb=qobject_cast<QSlider *>(widget))
{
if(value.toInt()/scale>cb->maximum())
if((int)(value.toDouble()/scale)>cb->maximum())
{
cb->setMaximum(value.toInt()/scale);
cb->setMaximum((int)(value.toDouble()/scale));
}
else if(value.toInt()/scale<cb->minimum())
else if((int)(value.toDouble()/scale)<cb->minimum())
{
cb->setMinimum(value.toInt()/scale);
cb->setMinimum((int)(value.toDouble()/scale));
}
}
@ -803,7 +819,7 @@ void ConfigTaskWidget::checkWidgetsLimits(QWidget * widget,UAVObjectField * fiel
}
}
}
void ConfigTaskWidget::loadWidgetLimits(QWidget * widget,UAVObjectField * field,int index,bool hasLimits,float scale)
void ConfigTaskWidget::loadWidgetLimits(QWidget * widget,UAVObjectField * field,int index,bool hasLimits,double scale)
{
if(!widget || !field)
return;
@ -828,33 +844,35 @@ void ConfigTaskWidget::loadWidgetLimits(QWidget * widget,UAVObjectField * field,
{
if(field->getMaxLimit(index).isValid())
{
cb->setMaximum(field->getMaxLimit(index).toDouble()/scale);
cb->setMaximum((double)(field->getMaxLimit(index).toDouble()/scale));
}
if(field->getMinLimit(index).isValid())
{
cb->setMinimum(field->getMinLimit(index).toDouble()/scale);
cb->setMinimum((double)(field->getMinLimit(index).toDouble()/scale));
}
}
else if(QSpinBox * cb=qobject_cast<QSpinBox *>(widget))
{
if(field->getMaxLimit(index).isValid())
{
cb->setMaximum((int)(field->getMaxLimit(index).toInt()/scale));
cb->setMaximum((int)(field->getMaxLimit(index).toDouble()/scale));
}
if(field->getMinLimit(index).isValid())
{
cb->setMinimum((int)(field->getMinLimit(index).toInt()/scale));
cb->setMinimum((int)(field->getMinLimit(index).toDouble()/scale));
}
}
else if(QSlider * cb=qobject_cast<QSlider *>(widget))
{
if(field->getMaxLimit(index).isValid())
{
cb->setMaximum((int)(field->getMaxLimit(index).toInt()/scale));
cb->setMaximum((int)(field->getMaxLimit(index).toDouble()/scale));
qDebug()<<"MAX="<<field->getMaxLimit(index).toDouble()<<"/"<<scale<<"="<<cb->maximum();
}
if(field->getMinLimit(index).isValid())
{
cb->setMinimum((int)(field->getMinLimit(index).toInt()/scale));
cb->setMinimum((int)(field->getMinLimit(index).toDouble()/scale));
qDebug()<<"MIN="<<field->getMinLimit(index).toDouble()<<"/"<<scale<<"="<<cb->minimum();
}
}
}

37
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h
View File

@ -44,6 +44,8 @@
#include <QCheckBox>
#include <QPushButton>
#include "uavobjectwidgetutils_global.h"
#include <QDesktopServices>
#include <QUrl>
class UAVOBJECTWIDGETUTILS_EXPORT ConfigTaskWidget: public QWidget
{
@ -53,7 +55,7 @@ public:
struct shadow
{
QWidget * widget;
float scale;
double scale;
bool isLimited;
};
struct objectToWidget
@ -62,19 +64,19 @@ public:
UAVObjectField * field;
QWidget * widget;
int index;
float scale;
double scale;
bool isLimited;
QList<shadow *> shadowsList;
};
enum buttonTypeEnum {none,save_button,apply_button,reload_button,default_button};
enum buttonTypeEnum {none,save_button,apply_button,reload_button,default_button,help_button};
struct uiRelationAutomation
{
QString objname;
QString fieldname;
QString element;
int scale;
bool ismaster;
QString url;
double scale;
bool haslimits;
buttonTypeEnum buttonType;
QList<int> buttonGroup;
@ -90,8 +92,8 @@ public:
void addUAVObject(QString objectName);
void addWidget(QWidget * widget);
void addUAVObjectToWidgetRelation(QString object,QString field,QWidget * widget,int index=0,float scale=1,bool isLimited=false,QList<int>* defaultReloadGroups=0);
void addUAVObjectToWidgetRelation(QString object,QString field,QWidget * widget,QString element,float scale,bool isLimited=false,QList<int>* defaultReloadGroups=0);
void addUAVObjectToWidgetRelation(QString object,QString field,QWidget * widget,int index=0,double scale=1,bool isLimited=false,QList<int>* defaultReloadGroups=0);
void addUAVObjectToWidgetRelation(QString object,QString field,QWidget * widget,QString element,double scale,bool isLimited=false,QList<int>* defaultReloadGroups=0);
void addUAVObjectToWidgetRelation(QString object, QString field, QWidget *widget, QString index);
//BUTTONS//
@ -102,8 +104,8 @@ void addUAVObjectToWidgetRelation(QString object, QString field, QWidget *widget
void addWidgetToDefaultReloadGroups(QWidget * widget, QList<int> *groups);
bool addShadowWidget(QWidget * masterWidget, QWidget * shadowWidget,float shadowScale=1,bool shadowIsLimited=false);
bool addShadowWidget(QString object,QString field,QWidget * widget,int index=0,float scale=1,bool isLimited=false, QList<int> *defaultReloadGroups=NULL);
bool addShadowWidget(QWidget * masterWidget, QWidget * shadowWidget,double shadowScale=1,bool shadowIsLimited=false);
bool addShadowWidget(QString object,QString field,QWidget * widget,int index=0,double scale=1,bool isLimited=false, QList<int> *defaultReloadGroups=NULL);
void autoLoadWidgets();
@ -111,7 +113,8 @@ void addUAVObjectToWidgetRelation(QString object, QString field, QWidget *widget
void setDirty(bool value);
bool allObjectsUpdated();
void setOutOfLimitsStyle(QString style){outOfLimitsStyle=style;}
void addHelpButton(QPushButton * button,QString url);
public slots:
void onAutopilotDisconnect();
void onAutopilotConnect();
@ -135,13 +138,14 @@ private:
QMap<UAVObject *,bool> objectUpdates;
QMap<int,QList<objectToWidget*> *> defaultReloadGroups;
QMap<QWidget *,objectToWidget*> shadowsList;
QMap<QPushButton *,QString> helpButtonList;
bool dirty;
bool setFieldFromWidget(QWidget *widget, UAVObjectField *field, int index, float scale);
bool setWidgetFromField(QWidget *widget, UAVObjectField *field, int index, float scale, bool hasLimits);
QVariant getVariantFromWidget(QWidget *widget, float scale);
bool setWidgetFromVariant(QWidget *widget,QVariant value,float scale);
bool setFieldFromWidget(QWidget *widget, UAVObjectField *field, int index, double scale);
bool setWidgetFromField(QWidget *widget, UAVObjectField *field, int index, double scale, bool hasLimits);
QVariant getVariantFromWidget(QWidget *widget, double scale);
bool setWidgetFromVariant(QWidget *widget,QVariant value,double scale);
void connectWidgetUpdatesToSlot(QWidget *widget, const char *function);
void loadWidgetLimits(QWidget *widget, UAVObjectField *field, int index, bool hasLimits, float sclale);
void loadWidgetLimits(QWidget *widget, UAVObjectField *field, int index, bool hasLimits, double sclale);
QString outOfLimitsStyle;
protected slots:
virtual void disableObjUpdates();
@ -151,9 +155,10 @@ protected slots:
virtual void populateWidgets();
virtual void refreshWidgetsValues();
virtual void updateObjectsFromWidgets();
virtual void helpButtonPressed();
protected:
virtual void enableControls(bool enable);
void checkWidgetsLimits(QWidget *widget, UAVObjectField *field, int index, bool hasLimits, QVariant value, float scale);
void checkWidgetsLimits(QWidget *widget, UAVObjectField *field, int index, bool hasLimits, QVariant value, double scale);
};
#endif // CONFIGTASKWIDGET_H

22
shared/uavobjectdefinition/stabilizationsettings.xml
View File

@ -1,18 +1,18 @@
<xml>
<object name="StabilizationSettings" singleinstance="true" settings="true">
<description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="55"/>
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="55"/>
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="35"/>
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,150"/>
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300"/>
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="55" limits="%BE:0:180"/>
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="55" limits="%BE:0:180"/>
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="35" limits="%BE:0:180"/>
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,150" limits="%BE:0:500,%BE:0:500,%BE:0:500"/>
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500,%BE:0:500,%BE:0:500"/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.002,0,0,0.3"/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.002,0,0,0.3"/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3"/>
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.002,0,0,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.002,0,0,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,, "/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,, "/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,, "/>
<field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.005"/>