mirror of
https://bitbucket.org/librepilot/librepilot.git
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Merged in f5soh/librepilot/LP-194_Hidde_Attitude_Yaw (pull request #144)
LP-194 Stabilization tab: Remove Attitude Yaw, Cleanup/rename
This commit is contained in:
Lalanne Laurent
commit
f86152b723
@ -245,8 +245,22 @@ void ConfigStabilizationWidget::refreshWidgetsValues(UAVObject *o)
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updateThrottleCurveFromObject();
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ui->basicResponsivenessCheckBox->setChecked(ui->rateRollKp_3->value() == ui->ratePitchKp_4->value() &&
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ui->rateRollKi_3->value() == ui->ratePitchKi_4->value());
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// Check and update basic/advanced checkboxes only if something connected
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// Jump to advanced tab if something not "basic": Rate value out of slider limits or different Pitch/Roll values
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if (ui->lowThrottleZeroIntegral_8->isEnabled()) {
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if ((ui->attitudeRollResponse->value() == ui->attitudePitchResponse->value()) &&
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(ui->rateRollResponse->value() == ui->ratePitchResponse->value()) &&
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(ui->rateRollResponse->value() <= ui->RateResponsivenessSlider->maximum()) &&
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(ui->ratePitchResponse->value() <= ui->RateResponsivenessSlider->maximum())) {
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ui->basicResponsivenessCheckBox->setChecked(true);
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ui->advancedResponsivenessCheckBox->setChecked(false);
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ui->tabWidget->setCurrentIndex(0);
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} else {
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ui->basicResponsivenessCheckBox->setChecked(false);
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ui->advancedResponsivenessCheckBox->setChecked(true);
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ui->tabWidget->setCurrentIndex(1);
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}
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}
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}
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void ConfigStabilizationWidget::updateObjectsFromWidgets()
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@ -611,9 +625,11 @@ void ConfigStabilizationWidget::processLinkedWidgets(QWidget *widget)
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if (ui->basicResponsivenessCheckBox->isChecked()) {
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if (widget == ui->AttitudeResponsivenessSlider) {
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ui->ratePitchKp_4->setValue(ui->AttitudeResponsivenessSlider->value());
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ui->attitudePitchResponse->setValue(ui->AttitudeResponsivenessSlider->value());
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ui->attitudeRollResponse->setValue(ui->AttitudeResponsivenessSlider->value());
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} else if (widget == ui->RateResponsivenessSlider) {
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ui->ratePitchKi_4->setValue(ui->RateResponsivenessSlider->value());
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ui->ratePitchResponse->setValue(ui->RateResponsivenessSlider->value());
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ui->rateRollResponse->setValue(ui->RateResponsivenessSlider->value());
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}
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}
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if (ui->checkBoxLinkAcroFactors->isChecked()) {
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@ -195,29 +195,28 @@ margin-top: -1px;
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<string>Acro+</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_26">
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<item row="0" column="0">
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<widget class="QCheckBox" name="checkBoxLinkAcroFactors">
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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="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><html><head/><body><p>Link roll &amp; pitch sliders to move together</p></body></html></string>
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</property>
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<property name="styleSheet">
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<string notr="true"/>
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</property>
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<property name="text">
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<string>Link Roll and Pitch</string>
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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="QCheckBox" name="checkBoxLinkAcroFactors">
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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="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><html><head/><body><p>Link roll &amp; pitch sliders to move together</p></body></html></string>
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</property>
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<property name="styleSheet">
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<string notr="true"/>
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</property>
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<property name="text">
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<string>Link Roll and Pitch</string>
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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="QPushButton" name="pushButton_21">
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<property name="sizePolicy">
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@ -1002,7 +1001,7 @@ margin-top: -1px;
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<string>Use Basic Configuration</string>
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</property>
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<property name="checked">
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<bool>true</bool>
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<bool>false</bool>
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</property>
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</widget>
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</item>
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@ -1036,7 +1035,7 @@ margin-top: -1px;
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<number>100</number>
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</property>
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<property name="maximum">
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<number>800</number>
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<number>5000</number>
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</property>
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<property name="value">
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<number>400</number>
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@ -2296,7 +2295,7 @@ border-radius: 5;</string>
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<number>100</number>
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</property>
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<property name="maximum">
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<number>800</number>
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<number>5000</number>
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</property>
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<property name="value">
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<number>400</number>
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@ -9504,7 +9503,7 @@ border-radius: 5;</string>
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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="QDoubleSpinBox" name="ratePitchKp_4">
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<widget class="QDoubleSpinBox" name="attitudePitchResponse">
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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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@ -9584,7 +9583,7 @@ response (deg/s)</string>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QDoubleSpinBox" name="rateRollKi_3">
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<widget class="QDoubleSpinBox" name="rateRollResponse">
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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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@ -9637,7 +9636,7 @@ response (deg/s)</string>
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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="QDoubleSpinBox" name="rateRollILimit_3">
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<widget class="QDoubleSpinBox" name="maxRateRollLimit">
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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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@ -9703,58 +9702,6 @@ response (deg)</string>
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</property>
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</widget>
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</item>
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<item row="1" column="3">
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<widget class="QDoubleSpinBox" name="rateYawKp_3">
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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>22</height>
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</size>
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</property>
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<property name="maximumSize">
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<size>
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<width>16777215</width>
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<height>22</height>
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</size>
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</property>
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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><html><head/><body><p>This sets the maximum deg your vehicle will tilt at full stick input when in Attitude mode.</p></body></html></string>
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</property>
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<property name="styleSheet">
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<string notr="true"/>
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</property>
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<property name="alignment">
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<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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</property>
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<property name="decimals">
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<number>0</number>
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</property>
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<property name="maximum">
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<double>180.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>1.000000000000000</double>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:StabilizationSettingsBankX</string>
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<string>fieldname:YawMax</string>
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<string>haslimits:no</string>
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<string>scale:1</string>
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<string>buttongroup:6,20</string>
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</stringlist>
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</property>
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</widget>
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</item>
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<item row="0" column="2">
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<widget class="QLabel" name="label_37">
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<property name="sizePolicy">
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@ -10306,7 +10253,7 @@ border-radius: 5;</string>
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</widget>
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</item>
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<item row="2" column="3">
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<widget class="QDoubleSpinBox" name="rateYawKi_3">
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<widget class="QDoubleSpinBox" name="rateYawResponse">
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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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@ -10909,7 +10856,7 @@ border-radius: 5;</string>
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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="QDoubleSpinBox" name="rateRollKp_3">
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<widget class="QDoubleSpinBox" name="attitudeRollResponse">
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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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@ -10964,7 +10911,7 @@ border-radius: 5;</string>
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</widget>
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</item>
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<item row="3" column="2">
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<widget class="QDoubleSpinBox" name="ratePitchILimit_4">
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<widget class="QDoubleSpinBox" name="maxRatePitchLimit">
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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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@ -11017,7 +10964,7 @@ border-radius: 5;</string>
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</widget>
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</item>
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<item row="2" column="2">
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<widget class="QDoubleSpinBox" name="ratePitchKi_4">
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<widget class="QDoubleSpinBox" name="ratePitchResponse">
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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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@ -11070,7 +11017,7 @@ border-radius: 5;</string>
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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="rateYawILimit_3">
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<widget class="QDoubleSpinBox" name="maxRateYawLimit">
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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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@ -16169,7 +16116,7 @@ border-radius: 5;</string>
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</disabled>
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</palette>
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</property>
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<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,0,0">
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<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,0">
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<property name="leftMargin">
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<number>0</number>
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</property>
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@ -16229,56 +16176,6 @@ border-radius: 5;</string>
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</property>
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</widget>
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</item>
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<item row="1" column="3">
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<widget class="QDoubleSpinBox" name="AttitudeYawKp">
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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>85</width>
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<height>22</height>
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</size>
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</property>
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<property name="maximumSize">
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<size>
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<width>16777215</width>
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<height>22</height>
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</size>
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</property>
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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><html><head/><body><p>This adjusts how much leveling stability is set into Attitude mode (outer loop). Too much will make your vehicle oscillate in Attitude Mode.</p></body></html></string>
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</property>
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<property name="styleSheet">
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<string notr="true"/>
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</property>
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<property name="alignment">
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<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
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||||
</property>
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||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
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||||
</property>
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||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
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||||
<string>objname:StabilizationSettingsBankX</string>
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||||
<string>fieldname:YawPI</string>
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||||
<string>element:Kp</string>
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||||
<string>haslimits:no</string>
|
||||
<string>scale:1</string>
|
||||
<string>buttongroup:5,20</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
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||||
<item row="1" column="0">
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||||
<widget class="QLabel" name="label_31">
|
||||
<property name="sizePolicy">
|
||||
@ -16904,606 +16801,6 @@ border-radius: 5;</string>
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||||
</property>
|
||||
</widget>
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</item>
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||||
<item row="0" column="3">
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||||
<widget class="QLabel" name="label_29">
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||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="palette">
|
||||
<palette>
|
||||
<active>
|
||||
<colorrole role="WindowText">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="255">
|
||||
<red>255</red>
|
||||
<green>255</green>
|
||||
<blue>255</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
<colorrole role="Button">
|
||||
<brush brushstyle="LinearGradientPattern">
|
||||
<gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
|
||||
<gradientstop position="0.208955000000000">
|
||||
<color alpha="255">
|
||||
<red>74</red>
|
||||
<green>74</green>
|
||||
<blue>74</blue>
|
||||
</color>
|
||||
</gradientstop>
|
||||
<gradientstop position="0.786070000000000">
|
||||
<color alpha="255">
|
||||
<red>36</red>
|
||||
<green>36</green>
|
||||
<blue>36</blue>
|
||||
</color>
|
||||
</gradientstop>
|
||||
</gradient>
|
||||
</brush>
|
||||
</colorrole>
|
||||
<colorrole role="Light">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="255">
|
||||
<red>58</red>
|
||||
<green>58</green>
|
||||
<blue>58</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
<colorrole role="Midlight">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="255">
|
||||
<red>48</red>
|
||||
<green>48</green>
|
||||
<blue>48</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
<colorrole role="Dark">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="255">
|
||||
<red>19</red>
|
||||
<green>19</green>
|
||||
<blue>19</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
<colorrole role="Mid">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="255">
|
||||
<red>26</red>
|
||||
<green>26</green>
|
||||
<blue>26</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
<colorrole role="Text">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="255">
|
||||
<red>255</red>
|
||||
<green>255</green>
|
||||
<blue>255</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
<colorrole role="BrightText">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="255">
|
||||
<red>255</red>
|
||||
<green>255</green>
|
||||
<blue>255</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
<colorrole role="ButtonText">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="255">
|
||||
<red>255</red>
|
||||
<green>255</green>
|
||||
<blue>255</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
<colorrole role="Base">
|
||||
<brush brushstyle="LinearGradientPattern">
|
||||
<gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
|
||||
<gradientstop position="0.208955000000000">
|
||||
<color alpha="255">
|
||||
<red>74</red>
|
||||
<green>74</green>
|
||||
<blue>74</blue>
|
||||
</color>
|
||||
</gradientstop>
|
||||
<gradientstop position="0.786070000000000">
|
||||
<color alpha="255">
|
||||
<red>36</red>
|
||||
<green>36</green>
|
||||
<blue>36</blue>
|
||||
</color>
|
||||
</gradientstop>
|
||||
</gradient>
|
||||
</brush>
|
||||
</colorrole>
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<blue>19</blue>
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||||
<colorrole role="ToolTipBase">
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||||
<red>255</red>
|
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<green>255</green>
|
||||
<blue>220</blue>
|
||||
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<green>255</green>
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<blue>255</blue>
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<blue>74</blue>
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<blue>36</blue>
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<colorrole role="Light">
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<color alpha="255">
|
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<red>58</red>
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<blue>58</blue>
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<color alpha="255">
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<blue>48</blue>
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<brush brushstyle="SolidPattern">
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<color alpha="255">
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<red>19</red>
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<green>19</green>
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<blue>19</blue>
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<green>255</green>
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<blue>255</blue>
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<green>255</green>
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<blue>255</blue>
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<brush brushstyle="SolidPattern">
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<red>255</red>
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<green>255</green>
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<blue>255</blue>
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</property>
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<property name="font">
|
||||
<font>
|
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<weight>75</weight>
|
||||
<bold>true</bold>
|
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|
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</property>
|
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<property name="autoFillBackground">
|
||||
<bool>false</bool>
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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));
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Yaw</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
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|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="3">
|
||||
<widget class="QDoubleSpinBox" name="AttitudeYawKi">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
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|
||||
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|
||||
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|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>22</height>
|
||||
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|
||||
</property>
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Attitude Mode. Adding Ki in Attitude when Ki is present in Rate is not recommended.</p></body></html></string>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true"/>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettingsBankX</string>
|
||||
<string>fieldname:YawPI</string>
|
||||
<string>element:Ki</string>
|
||||
<string>haslimits:no</string>
|
||||
<string>scale:1</string>
|
||||
<string>buttongroup:5,20</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QDoubleSpinBox" name="AttitudePitchKi_2">
|
||||
<property name="sizePolicy">
|
||||
@ -27459,15 +26756,14 @@ Useful if you have accidentally changed some settings.</string>
|
||||
<tabstop>scrollArea_2</tabstop>
|
||||
<tabstop>advancedResponsivenessCheckBox</tabstop>
|
||||
<tabstop>pushButton_3</tabstop>
|
||||
<tabstop>rateRollKp_3</tabstop>
|
||||
<tabstop>ratePitchKp_4</tabstop>
|
||||
<tabstop>rateYawKp_3</tabstop>
|
||||
<tabstop>rateRollKi_3</tabstop>
|
||||
<tabstop>ratePitchKi_4</tabstop>
|
||||
<tabstop>rateYawKi_3</tabstop>
|
||||
<tabstop>rateRollILimit_3</tabstop>
|
||||
<tabstop>ratePitchILimit_4</tabstop>
|
||||
<tabstop>rateYawILimit_3</tabstop>
|
||||
<tabstop>attitudeRollResponse</tabstop>
|
||||
<tabstop>attitudePitchResponse</tabstop>
|
||||
<tabstop>rateRollResponse</tabstop>
|
||||
<tabstop>ratePitchResponse</tabstop>
|
||||
<tabstop>rateYawResponse</tabstop>
|
||||
<tabstop>maxRateRollLimit</tabstop>
|
||||
<tabstop>maxRatePitchLimit</tabstop>
|
||||
<tabstop>maxRateYawLimit</tabstop>
|
||||
<tabstop>enableThrustPIDScalingCheckBox</tabstop>
|
||||
<tabstop>ThrustPIDSource</tabstop>
|
||||
<tabstop>ThrustPIDTarget</tabstop>
|
||||
@ -27488,10 +26784,8 @@ Useful if you have accidentally changed some settings.</string>
|
||||
<tabstop>pushButton_2</tabstop>
|
||||
<tabstop>AttitudeRollKp</tabstop>
|
||||
<tabstop>AttitudePitchKp_2</tabstop>
|
||||
<tabstop>AttitudeYawKp</tabstop>
|
||||
<tabstop>AttitudeRollKi</tabstop>
|
||||
<tabstop>AttitudePitchKi_2</tabstop>
|
||||
<tabstop>AttitudeYawKi</tabstop>
|
||||
<tabstop>enableThrustPIDScalingCheckBox_2</tabstop>
|
||||
<tabstop>pushButton_13</tabstop>
|
||||
<tabstop>realTimeUpdates_12</tabstop>
|
||||
|
||||
Loading…
Reference in New Issue
Block a user