mirror of
https://bitbucket.org/librepilot/librepilot.git
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Merged in alessiomorale/librepilot/amorale/LP-67_full_pid_txtpid (pull request #30)
LP-67 - Allows two txpid controls to manage full pids, using P,I,D factors
This commit is contained in:
Alessio Morale
commit
f6547bfb0a
@ -253,6 +253,16 @@ static void updatePIDs(UAVObjEvent *ev)
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case TXPIDSETTINGS_PIDS_ROLLRATEKP:
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needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
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break;
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case TXPIDSETTINGS_PIDS_ROLLRATEPID:
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needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
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needsUpdateBank |= update(&bank.RollRatePID.Ki, value * inst.PitchRollRateFactors.I);
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needsUpdateBank |= update(&bank.RollRatePID.Kd, value * inst.PitchRollRateFactors.D);
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break;
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case TXPIDSETTINGS_PIDS_PITCHRATEPID:
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needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
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needsUpdateBank |= update(&bank.PitchRatePID.Ki, value * inst.PitchRollRateFactors.I);
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needsUpdateBank |= update(&bank.PitchRatePID.Kd, value * inst.PitchRollRateFactors.D);
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break;
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case TXPIDSETTINGS_PIDS_ROLLRATEKI:
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needsUpdateBank |= update(&bank.RollRatePID.Ki, value);
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break;
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@ -394,13 +404,13 @@ static void updatePIDs(UAVObjEvent *ev)
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needsUpdateBank |= update(&bank.AcroInsanityFactor.Pitch, value);
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break;
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case TXPIDSETTINGS_PIDS_ACCELTAU:
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needsUpdateAtt |= update(&att.AccelTau, value);
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needsUpdateAtt |= update(&att.AccelTau, value);
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break;
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case TXPIDSETTINGS_PIDS_ACCELKP:
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needsUpdateAtt |= update(&att.AccelKp, value);
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needsUpdateAtt |= update(&att.AccelKp, value);
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break;
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case TXPIDSETTINGS_PIDS_ACCELKI:
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needsUpdateAtt |= update(&att.AccelKi, value);
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needsUpdateAtt |= update(&att.AccelKi, value);
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break;
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#ifdef REVOLUTION
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@ -436,6 +446,12 @@ static void updatePIDs(UAVObjEvent *ev)
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AltitudeHoldSettingsSet(&altitude);
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}
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#endif
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if (inst.RatePIDRecalculateYaw != TXPIDSETTINGS_RATEPIDRECALCULATEYAW_FALSE) {
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float newKp = (bank.RollRatePID.Kp + bank.PitchRatePID.Kp) * .5f * inst.YawRateFactors.P;
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needsUpdateBank |= update(&bank.YawRatePID.Kp, newKp);
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needsUpdateBank |= update(&bank.YawRatePID.Ki, newKp * inst.YawRateFactors.I);
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needsUpdateBank |= update(&bank.YawRatePID.Kd, newKp * inst.YawRateFactors.D);
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}
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if (needsUpdateBank) {
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switch (inst.BankNumber) {
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case 0:
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@ -89,8 +89,10 @@ ConfigTxPIDWidget::ConfigTxPIDWidget(QWidget *parent) : ConfigTaskWidget(parent)
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addWidgetBinding("TxPIDSettings", "UpdateMode", m_txpid->UpdateMode);
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addWidget(m_txpid->TxPIDEnable);
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connect(this, SIGNAL(widgetContentsChanged(QWidget *)), this, SLOT(processLinkedWidgets(QWidget *)));
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addWidget(m_txpid->TxPIDEnable);
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addWidget(m_txpid->enableAutoCalcYaw);
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enableControls(false);
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populateWidgets();
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refreshWidgetsValues();
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@ -161,6 +163,18 @@ static bool isExpoOption(int pidOption)
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}
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}
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static bool isFullPIDOption(int pidOption)
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{
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switch (pidOption) {
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case TxPIDSettings::PIDS_ROLLRATEPID:
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case TxPIDSettings::PIDS_PITCHRATEPID:
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return true;
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default:
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return false;
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}
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}
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static bool isAcroPlusFactorOption(int pidOption)
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{
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switch (pidOption) {
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@ -182,9 +196,11 @@ static float defaultValueForPidOption(const StabilizationSettingsBankX *bank, in
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return 0.0f;
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case TxPIDSettings::PIDS_ROLLRATEKP:
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case TxPIDSettings::PIDS_ROLLRATEPID:
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return bank->getRollRatePID_Kp();
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case TxPIDSettings::PIDS_PITCHRATEKP:
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case TxPIDSettings::PIDS_PITCHRATEPID:
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return bank->getPitchRatePID_Kp();
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case TxPIDSettings::PIDS_ROLLPITCHRATEKP:
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@ -300,11 +316,14 @@ static float defaultValueForPidOption(const StabilizationSettingsBankX *bank, in
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case TxPIDSettings::PIDS_YAWEXPO:
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return bank->getStickExpo_Yaw();
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case TxPIDSettings::PIDS_ACROROLLFACTOR:
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case TxPIDSettings::PIDS_ACROROLLPITCHFACTOR:
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return bank->getAcroInsanityFactor_Roll();
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case TxPIDSettings::PIDS_ACROPITCHFACTOR:
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return bank->getAcroInsanityFactor_Pitch();
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case -1: // The PID Option field was uninitialized.
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return 0.0f;
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@ -445,3 +464,23 @@ void ConfigTxPIDWidget::saveSettings()
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UAVObject *obj = HwSettings::GetInstance(getObjectManager());
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saveObjectToSD(obj);
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}
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void ConfigTxPIDWidget::processLinkedWidgets(QWidget *widget)
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{
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Q_UNUSED(widget);
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bool fullPidEnabled =
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isFullPIDOption(m_txpid->PID1->currentIndex()) ||
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isFullPIDOption(m_txpid->PID2->currentIndex()) ||
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isFullPIDOption(m_txpid->PID3->currentIndex());
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bool calcYawEnabled = fullPidEnabled && m_txpid->enableAutoCalcYaw->isChecked();
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m_txpid->fullPID_Y_P_FactorSlider->setEnabled(calcYawEnabled);
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m_txpid->fullPID_Y_P_FactorSpinBox->setEnabled(calcYawEnabled);
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m_txpid->fullPID_Y_I_FactorSpinBox->setEnabled(calcYawEnabled);
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m_txpid->fullPID_Y_D_FactorSpinBox->setEnabled(calcYawEnabled);
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m_txpid->enableAutoCalcYaw->setEnabled(fullPidEnabled);
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m_txpid->fullPID_RP_I_FactorSlider->setEnabled(fullPidEnabled);
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m_txpid->fullPID_RP_I_FactorSpinBox->setEnabled(fullPidEnabled);
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m_txpid->fullPID_RP_D_FactorSpinBox->setEnabled(fullPidEnabled);
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m_txpid->groupBox_FullPids->setEnabled(fullPidEnabled);
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}
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@ -38,8 +38,8 @@ public:
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~ConfigTxPIDWidget();
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private:
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Ui_TxPIDWidget *m_txpid;
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private slots:
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void processLinkedWidgets(QWidget *widget);
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void updateSpinBoxProperties(int selectedPidOption);
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float getDefaultValueForPidOption(int pidOption);
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void refreshValues();
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@ -118,9 +118,9 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<width>753</width>
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<height>475</height>
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<y>-391</y>
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<width>754</width>
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<height>783</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_2">
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@ -196,6 +196,175 @@ Up to 3 separate PID options (or option pairs) can be selected and updated.</str
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<string>Module Settings</string>
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</property>
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<layout class="QGridLayout" name="gridLayout">
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<item row="2" column="3">
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<widget class="QDoubleSpinBox" name="MinPID1">
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<property name="focusPolicy">
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<enum>Qt::StrongFocus</enum>
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</property>
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<property name="toolTip">
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<string>Minimum PID value mapped to Accessory channel = 0 or
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Throttle channel lesser or equal to Throttle Min value.</string>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QComboBox" name="PID2">
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<property name="focusPolicy">
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<enum>Qt::StrongFocus</enum>
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</property>
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<property name="toolTip">
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<string>Select PID option or option pair to update.
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Set to Disabled if not used.</string>
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</property>
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</widget>
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</item>
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<item row="7" column="1">
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<widget class="QDoubleSpinBox" name="ThrottleMin">
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<property name="focusPolicy">
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<enum>Qt::StrongFocus</enum>
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</property>
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<property name="toolTip">
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<string>Throttle channel lower bound mapped to PID Min value</string>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QComboBox" name="PID3">
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<property name="focusPolicy">
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<enum>Qt::StrongFocus</enum>
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</property>
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<property name="toolTip">
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<string>Select PID option or option pair to update.
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Set to Disabled if not used.</string>
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</property>
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</widget>
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</item>
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<item row="5" column="1">
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<spacer name="verticalSpacer_3">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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</property>
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<property name="sizeType">
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<enum>QSizePolicy::Preferred</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>20</width>
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<height>20</height>
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</size>
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</property>
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</spacer>
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</item>
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<item row="4" column="2">
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<widget class="QComboBox" name="Input3">
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<property name="focusPolicy">
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<enum>Qt::StrongFocus</enum>
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</property>
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<property name="toolTip">
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<string>Select input used as a control source for this instance.
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It can be one of Accessory channels or Throttle channel.
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If Accessory channel is chosen then its range [0..1] will be mapped
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to PID range [Min..Max] defined for this instance.
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If Throttle channel is chosen then Throttle range [Min..Max] will
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be mapped to PID range [Min..Max] defined for this instance. If
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Throttle is out of bounds then PID Min and Max values will be used
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accordingly.
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Note that it is possible to set PID Min > Max. In that case increasing
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control input value will decrease the PID option value. This can be
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used, for instance, to decrease PID value when increasing Throttle.</string>
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</property>
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</widget>
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</item>
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<item row="1" column="2">
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<widget class="QLabel" name="label_50">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="minimumSize">
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<size>
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<width>0</width>
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<height>16</height>
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</size>
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</property>
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<property name="styleSheet">
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<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));
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color: rgb(255, 255, 255);
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border-radius: 5;
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margin:1px;
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font:bold;</string>
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</property>
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<property name="text">
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<string>Control Source</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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</widget>
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</item>
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<item row="3" column="3">
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<widget class="QDoubleSpinBox" name="MinPID2">
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<property name="focusPolicy">
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<enum>Qt::StrongFocus</enum>
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</property>
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<property name="toolTip">
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<string>Minimum PID value mapped to Accessory channel = 0 or
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Throttle channel lesser or equal to Throttle Min value.</string>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
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</property>
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</widget>
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</item>
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<item row="6" column="1">
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<widget class="QLabel" name="label_4">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="minimumSize">
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<size>
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<width>0</width>
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<height>16</height>
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</size>
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</property>
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<property name="styleSheet">
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<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));
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color: rgb(255, 255, 255);
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border-radius: 5;
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margin:1px;
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font:bold;</string>
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</property>
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<property name="text">
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<string>Min</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_51">
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<property name="sizePolicy">
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@ -225,8 +394,65 @@ font:bold;</string>
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</property>
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</widget>
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</item>
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<item row="1" column="2">
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<widget class="QLabel" name="label_50">
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<item row="8" column="0">
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<widget class="QLabel" name="label_2">
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<property name="text">
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<string>Update Mode</string>
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</property>
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</widget>
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</item>
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<item row="4" column="4">
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<widget class="QDoubleSpinBox" name="MaxPID3">
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<property name="focusPolicy">
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<enum>Qt::StrongFocus</enum>
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</property>
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<property name="toolTip">
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<string>Maximum PID value mapped to Accessory channel = 1 or
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Throttle channel greater or equal to Throttle Max value.</string>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
|
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</property>
|
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</widget>
|
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</item>
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<item row="0" column="0">
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<widget class="QLabel" name="label_6">
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<property name="text">
|
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<string>PID Bank</string>
|
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</property>
|
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</widget>
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</item>
|
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<item row="7" column="2">
|
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<widget class="QDoubleSpinBox" name="ThrottleMax">
|
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<property name="focusPolicy">
|
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<enum>Qt::StrongFocus</enum>
|
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</property>
|
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<property name="toolTip">
|
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<string>Throttle channel upper bound mapped to PID Max value</string>
|
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</property>
|
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<property name="maximum">
|
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<double>1.000000000000000</double>
|
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</property>
|
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<property name="singleStep">
|
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<double>0.010000000000000</double>
|
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</property>
|
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</widget>
|
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</item>
|
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<item row="0" column="1">
|
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<widget class="QComboBox" name="pidBank"/>
|
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</item>
|
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<item row="4" column="0">
|
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<widget class="QLabel" name="label_52">
|
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<property name="text">
|
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<string>Instance 3</string>
|
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</property>
|
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</widget>
|
||||
</item>
|
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<item row="6" column="2">
|
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<widget class="QLabel" name="label_5">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
|
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<horstretch>0</horstretch>
|
||||
@ -247,7 +473,167 @@ margin:1px;
|
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font:bold;</string>
|
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</property>
|
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<property name="text">
|
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<string>Control Source</string>
|
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<string>Max</string>
|
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</property>
|
||||
<property name="alignment">
|
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<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
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<item row="3" column="0">
|
||||
<widget class="QLabel" name="label_48">
|
||||
<property name="text">
|
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<string>Instance 2</string>
|
||||
</property>
|
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</widget>
|
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</item>
|
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<item row="7" column="0">
|
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<widget class="QLabel" name="label_3">
|
||||
<property name="text">
|
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<string>Throttle Range</string>
|
||||
</property>
|
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</widget>
|
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</item>
|
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<item row="4" column="3">
|
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<widget class="QDoubleSpinBox" name="MinPID3">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Minimum PID value mapped to Accessory channel = 0 or
|
||||
Throttle channel lesser or equal to Throttle Min value.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QComboBox" name="Input1">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Select input used as a control source for this instance.
|
||||
It can be one of Accessory channels or Throttle channel.
|
||||
|
||||
If Accessory channel is chosen then its range [0..1] will be mapped
|
||||
to PID range [Min..Max] defined for this instance.
|
||||
|
||||
If Throttle channel is chosen then Throttle range [Min..Max] will
|
||||
be mapped to PID range [Min..Max] defined for this instance. If
|
||||
Throttle is out of bounds then PID Min and Max values will be used
|
||||
accordingly.
|
||||
|
||||
Note that it is possible to set PID Min > Max. In that case increasing
|
||||
control input value will decrease the PID option value. This can be
|
||||
used, for instance, to decrease PID value when increasing Throttle.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="label_47">
|
||||
<property name="text">
|
||||
<string>Instance 1</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QComboBox" name="PID1">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Select PID option or option pair to update.
|
||||
Set to Disabled if not used.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QComboBox" name="Input2">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Select input used as a control source for this instance.
|
||||
It can be one of Accessory channels or Throttle channel.
|
||||
|
||||
If Accessory channel is chosen then its range [0..1] will be mapped
|
||||
to PID range [Min..Max] defined for this instance.
|
||||
|
||||
If Throttle channel is chosen then Throttle range [Min..Max] will
|
||||
be mapped to PID range [Min..Max] defined for this instance. If
|
||||
Throttle is out of bounds then PID Min and Max values will be used
|
||||
accordingly.
|
||||
|
||||
Note that it is possible to set PID Min > Max. In that case increasing
|
||||
control input value will decrease the PID option value. This can be
|
||||
used, for instance, to decrease PID value when increasing Throttle.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="4">
|
||||
<widget class="QDoubleSpinBox" name="MaxPID2">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Maximum PID value mapped to Accessory channel = 1 or
|
||||
Throttle channel greater or equal to Throttle Max value.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="1">
|
||||
<widget class="QComboBox" name="UpdateMode">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>PID values update mode, which can be set to:
|
||||
- Never: this disables PID updates (but module still will be run if enabled),
|
||||
- When Armed: PID updated only when system is armed,
|
||||
- Always: PID updated always, regardless of arm state.
|
||||
|
||||
Since the GCS updates GUI PID values in real time on change, it could be
|
||||
tricky to change other PID values from the GUI if the module is enabled
|
||||
and constantly updates stabilization settings object. As a workaround,
|
||||
this option can be used to temporarily disable updates or enable them
|
||||
only when system is armed without disabling the module.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="4">
|
||||
<widget class="QLabel" name="label">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>16</height>
|
||||
</size>
|
||||
</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;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Max</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
@ -283,93 +669,6 @@ font:bold;</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="4">
|
||||
<widget class="QLabel" name="label">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>16</height>
|
||||
</size>
|
||||
</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;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Max</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="label_47">
|
||||
<property name="text">
|
||||
<string>Instance 1</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QComboBox" name="PID1">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Select PID option or option pair to update.
|
||||
Set to Disabled if not used.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QComboBox" name="Input1">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Select input used as a control source for this instance.
|
||||
It can be one of Accessory channels or Throttle channel.
|
||||
|
||||
If Accessory channel is chosen then its range [0..1] will be mapped
|
||||
to PID range [Min..Max] defined for this instance.
|
||||
|
||||
If Throttle channel is chosen then Throttle range [Min..Max] will
|
||||
be mapped to PID range [Min..Max] defined for this instance. If
|
||||
Throttle is out of bounds then PID Min and Max values will be used
|
||||
accordingly.
|
||||
|
||||
Note that it is possible to set PID Min > Max. In that case increasing
|
||||
control input value will decrease the PID option value. This can be
|
||||
used, for instance, to decrease PID value when increasing Throttle.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="3">
|
||||
<widget class="QDoubleSpinBox" name="MinPID1">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Minimum PID value mapped to Accessory channel = 0 or
|
||||
Throttle channel lesser or equal to Throttle Min value.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="4">
|
||||
<widget class="QDoubleSpinBox" name="MaxPID1">
|
||||
<property name="focusPolicy">
|
||||
@ -387,223 +686,496 @@ Throttle channel greater or equal to Throttle Max value.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_FullPids">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Minimum">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>FullPID Settings</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_2">
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_53">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>120</width>
|
||||
<height>16</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>120</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</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;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Photographer</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="3">
|
||||
<widget class="QLabel" name="label_54">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>120</width>
|
||||
<height>16</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>120</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</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;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>FPV Racer</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="4">
|
||||
<widget class="QPushButton" name="fullPID_RP_Factor_Reset">
|
||||
<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 Roll/Pitch factors to default values</string>
|
||||
</property>
|
||||
<property name="autoFillBackground">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true"/>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Default</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>button:default</string>
|
||||
<string>buttongroup:10</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="fullPID_RP_I_FactorLabel">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>80</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Roll/Pitch I Factor</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1" colspan="3">
|
||||
<widget class="QSlider" name="fullPID_RP_I_FactorSlider">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>25</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Roll/Pitch I factor for full PID mode</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>25</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>40</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="pageStep">
|
||||
<number>5</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>30</number>
|
||||
</property>
|
||||
<property name="sliderPosition">
|
||||
<number>30</number>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="tickPosition">
|
||||
<enum>QSlider::TicksBelow</enum>
|
||||
</property>
|
||||
<property name="tickInterval">
|
||||
<number>5</number>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:TxPIDSettings</string>
|
||||
<string>fieldname:PitchRollRateFactors</string>
|
||||
<string>scale:0.1</string>
|
||||
<string>element:I</string>
|
||||
<string>buttongroup:10</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="fullPID_RP_I_FactorLabel">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>80</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Roll/Pitch D Factor</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QDoubleSpinBox" name="fullPID_RP_D_FactorSpinBox">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>100</width>
|
||||
<height>22</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>60</width>
|
||||
<height>22</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Roll/Pitch D factor for full PID mode</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>0.090000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000500000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.013500000000000</double>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:TxPIDSettings</string>
|
||||
<string>fieldname:PitchRollRateFactors</string>
|
||||
<string>scale:1</string>
|
||||
<string>element:D</string>
|
||||
<string>buttongroup:10</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QLabel" name="label_48">
|
||||
<widget class="QCheckBox" name="enableAutoCalcYaw">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>27</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Calculate Yaw PIDs based on Roll/Pitch PIDs</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Instance 2</string>
|
||||
<string>AutoCalc Yaw</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:TxPIDSettings</string>
|
||||
<string>fieldname:RatePIDRecalculateYaw</string>
|
||||
<string>buttongroup:11</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QComboBox" name="PID2">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
<item row="5" column="0">
|
||||
<widget class="QLabel" name="fullPID_Y_P_FactorLabel_2">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Select PID option or option pair to update.
|
||||
Set to Disabled if not used.</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>80</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QComboBox" name="Input2">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Select input used as a control source for this instance.
|
||||
It can be one of Accessory channels or Throttle channel.
|
||||
|
||||
If Accessory channel is chosen then its range [0..1] will be mapped
|
||||
to PID range [Min..Max] defined for this instance.
|
||||
|
||||
If Throttle channel is chosen then Throttle range [Min..Max] will
|
||||
be mapped to PID range [Min..Max] defined for this instance. If
|
||||
Throttle is out of bounds then PID Min and Max values will be used
|
||||
accordingly.
|
||||
|
||||
Note that it is possible to set PID Min > Max. In that case increasing
|
||||
control input value will decrease the PID option value. This can be
|
||||
used, for instance, to decrease PID value when increasing Throttle.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="3">
|
||||
<widget class="QDoubleSpinBox" name="MinPID2">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Minimum PID value mapped to Accessory channel = 0 or
|
||||
Throttle channel lesser or equal to Throttle Min value.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="4">
|
||||
<widget class="QDoubleSpinBox" name="MaxPID2">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Maximum PID value mapped to Accessory channel = 1 or
|
||||
Throttle channel greater or equal to Throttle Max value.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QLabel" name="label_52">
|
||||
<property name="text">
|
||||
<string>Instance 3</string>
|
||||
<string>Yaw P Factor</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QComboBox" name="PID3">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
<item row="5" column="1" colspan="3">
|
||||
<widget class="QSlider" name="fullPID_Y_P_FactorSlider">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>25</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Select PID option or option pair to update.
|
||||
Set to Disabled if not used.</string>
|
||||
<string>Yaw P factor for full PID mode</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="2">
|
||||
<widget class="QComboBox" name="Input3">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Select input used as a control source for this instance.
|
||||
It can be one of Accessory channels or Throttle channel.
|
||||
|
||||
If Accessory channel is chosen then its range [0..1] will be mapped
|
||||
to PID range [Min..Max] defined for this instance.
|
||||
|
||||
If Throttle channel is chosen then Throttle range [Min..Max] will
|
||||
be mapped to PID range [Min..Max] defined for this instance. If
|
||||
Throttle is out of bounds then PID Min and Max values will be used
|
||||
accordingly.
|
||||
|
||||
Note that it is possible to set PID Min > Max. In that case increasing
|
||||
control input value will decrease the PID option value. This can be
|
||||
used, for instance, to decrease PID value when increasing Throttle.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="3">
|
||||
<widget class="QDoubleSpinBox" name="MinPID3">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Minimum PID value mapped to Accessory channel = 0 or
|
||||
Throttle channel lesser or equal to Throttle Min value.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="4">
|
||||
<widget class="QDoubleSpinBox" name="MaxPID3">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Maximum PID value mapped to Accessory channel = 1 or
|
||||
Throttle channel greater or equal to Throttle Max value.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<widget class="QLabel" name="label_2">
|
||||
<property name="text">
|
||||
<string>Update Mode</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="1">
|
||||
<widget class="QComboBox" name="UpdateMode">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>PID values update mode which can be set to:
|
||||
- Never: this disables PID updates (but module still will be run if enabled),
|
||||
- When Armed: PID updated only when system is armed,
|
||||
- Always: PID updated always regardless of arm state.
|
||||
|
||||
Since the GCS updates GUI PID values in real time on change, could be
|
||||
tricky to change other PID values from the GUI if the module is enabled
|
||||
and constantly updates stabilization settings object. As a workaround,
|
||||
this option can be used to temporarily disable updates or enable them
|
||||
only when system is armed without disabling the module.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QLabel" name="label_3">
|
||||
<property name="text">
|
||||
<string>Throttle Range</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<widget class="QDoubleSpinBox" name="ThrottleMin">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Throttle channel lower bound mapped to PID Min value</string>
|
||||
<property name="minimum">
|
||||
<number>10</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
<number>25</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="pageStep">
|
||||
<number>5</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>25</number>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="tickPosition">
|
||||
<enum>QSlider::TicksBelow</enum>
|
||||
</property>
|
||||
<property name="tickInterval">
|
||||
<number>5</number>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:TxPIDSettings</string>
|
||||
<string>fieldname:YawRateFactors</string>
|
||||
<string>scale:0.1</string>
|
||||
<string>element:P</string>
|
||||
<string>buttongroup:11</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="2">
|
||||
<widget class="QDoubleSpinBox" name="ThrottleMax">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
<item row="6" column="0">
|
||||
<widget class="QLabel" name="fullPID_Y_I_FactorLabel_3">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Throttle channel upper bound mapped to PID Max value</string>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>80</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
<property name="text">
|
||||
<string>Yaw I Factor</string>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_4">
|
||||
<widget class="QDoubleSpinBox" name="fullPID_Y_I_FactorSpinBox">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>100</width>
|
||||
<height>22</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>60</width>
|
||||
<height>22</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Yaw I factor for full PID mode</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>10.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>1.900000000000000</double>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:TxPIDSettings</string>
|
||||
<string>fieldname:YawRateFactors</string>
|
||||
<string>scale:1</string>
|
||||
<string>element:I</string>
|
||||
<string>buttongroup:11</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QLabel" name="fullPID_Y_D_FactorLabel_4">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>80</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Yaw D Factor</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<widget class="QDoubleSpinBox" name="fullPID_Y_D_FactorSpinBox">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>100</width>
|
||||
<height>22</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>60</width>
|
||||
<height>22</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Yaw D factor for full PID mode</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000500000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.008500000000000</double>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:TxPIDSettings</string>
|
||||
<string>fieldname:YawRateFactors</string>
|
||||
<string>scale:1</string>
|
||||
<string>element:D</string>
|
||||
<string>buttongroup:11</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_55">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
@ -612,10 +1184,16 @@ only when system is armed without disabling the module.</string>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<width>120</width>
|
||||
<height>16</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>120</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</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);
|
||||
@ -624,15 +1202,138 @@ margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Min</string>
|
||||
<string>Soft</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="2">
|
||||
<widget class="QLabel" name="label_5">
|
||||
<item row="4" column="4">
|
||||
<widget class="QPushButton" name="fullPID_Y_Factor_Reset">
|
||||
<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 Yaw factors to default values</string>
|
||||
</property>
|
||||
<property name="autoFillBackground">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true"/>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Default</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>button:default</string>
|
||||
<string>buttongroup:11</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="4">
|
||||
<widget class="QDoubleSpinBox" name="fullPID_Y_P_FactorSpinBox">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>60</width>
|
||||
<height>22</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>60</width>
|
||||
<height>22</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Yaw P factor for full PID mode</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>10.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>2.500000000000000</double>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:TxPIDSettings</string>
|
||||
<string>fieldname:YawRateFactors</string>
|
||||
<string>scale:1</string>
|
||||
<string>element:P</string>
|
||||
<string>buttongroup:11</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="4">
|
||||
<widget class="QDoubleSpinBox" name="fullPID_RP_I_FactorSpinBox">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>60</width>
|
||||
<height>22</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>60</width>
|
||||
<height>22</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Roll/Pitch I factor for full PID mode</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>10.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>4.000000000000000</double>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:TxPIDSettings</string>
|
||||
<string>fieldname:PitchRollRateFactors</string>
|
||||
<string>scale:1</string>
|
||||
<string>element:I</string>
|
||||
<string>buttongroup:10</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="3">
|
||||
<widget class="QLabel" name="label_56">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
@ -641,10 +1342,16 @@ font:bold;</string>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<width>120</width>
|
||||
<height>16</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>120</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</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);
|
||||
@ -653,39 +1360,13 @@ margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Max</string>
|
||||
<string>Aggressive</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<spacer name="verticalSpacer_3">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Preferred</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QLabel" name="label_6">
|
||||
<property name="text">
|
||||
<string>PID Bank</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QComboBox" name="pidBank"/>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
|
||||
@ -7,10 +7,11 @@
|
||||
elementnames="Instance1,Instance2,Instance3"
|
||||
options="Throttle,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5"
|
||||
defaultvalue="Throttle,Accessory0,Accessory1"/>
|
||||
<field name="ThrottleRange" units="%" type="float" elements="2" elementnames="Min,Max" defaultvalue="0.20,0.80"/>
|
||||
<field name="PIDs" units="option" type="enum"
|
||||
<field name="ThrottleRange" units="%" type="float" elements="2" elementnames="Min,Max" defaultvalue="0.20,0.80"/>
|
||||
<field name="PIDs" units="option" type="enum"
|
||||
elementnames="Instance1,Instance2,Instance3"
|
||||
options="Disabled,
|
||||
PitchRatePID,RollRatePID,
|
||||
Roll Rate.Kp, Roll Rate.Ki, Roll Rate.Kd, Roll Rate.ILimit, Roll Rate.Resp,
|
||||
Pitch Rate.Kp, Pitch Rate.Ki, Pitch Rate.Kd, Pitch Rate.ILimit, Pitch Rate.Resp,
|
||||
Roll+Pitch Rate.Kp, Roll+Pitch Rate.Ki, Roll+Pitch Rate.Kd, Roll+Pitch Rate.ILimit, Roll+Pitch Rate.Resp,
|
||||
@ -23,9 +24,14 @@
|
||||
GyroTau,Acro+ Roll Factor,Acro+ Pitch Factor,Acro+ Roll+Pitch Factor,Altitude Pos.Kp,Altitude Velocity.Kp,Altitude Velocity.Ki,Altitude Velocity.Kd,Altitude Velocity.Beta,
|
||||
AccelTau, AccelKp, AccelKi"
|
||||
defaultvalue="Disabled"/>
|
||||
|
||||
<field name="MinPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
|
||||
<field name="MaxPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
|
||||
|
||||
<field name="PitchRollRateFactors" units="" type="float" elementnames="I,D" defaultvalue="3,0.0135"/>
|
||||
<field name="YawRateFactors" units="" type="float" elementnames="P,I,D" defaultvalue="1.5,1.9,0.0085"/>
|
||||
<field name="RatePIDRecalculateYaw" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
|
||||
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user