StabilizationWidget 0 0 683 685 0 0 0 240 240 240 255 255 255 247 247 247 120 120 120 160 160 160 0 0 0 255 255 255 0 0 0 255 255 255 240 240 240 0 0 0 247 247 247 255 255 220 0 0 0 0 0 0 240 240 240 255 255 255 247 247 247 120 120 120 160 160 160 0 0 0 255 255 255 0 0 0 255 255 255 240 240 240 0 0 0 247 247 247 255 255 220 0 0 0 120 120 120 240 240 240 255 255 255 247 247 247 120 120 120 160 160 160 120 120 120 255 255 255 120 120 120 240 240 240 240 240 240 0 0 0 240 240 240 255 255 220 0 0 0 Stabilization false 30 30 false 0 0 0 0 Qt::TabFocus true true QTabWidget::North 0 true Basic QFrame::NoFrame 0 true 0 -162 648 802 Qt::Vertical QSizePolicy::Fixed 20 10 Qt::Horizontal QSizePolicy::Fixed 20 10 0 16 9 75 true Rate Stabilization (Inner Loop) 0 0 0 181 16777215 181 0 0 0 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 251 251 251 255 255 220 0 0 0 0 0 0 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 251 251 251 255 255 220 0 0 0 124 124 124 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 124 124 124 255 255 255 124 124 124 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 248 248 248 255 255 220 0 0 0 false #RateStabilizationGroup_15{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255)); border: 1px outset #999; border-radius: 3; } Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter Qt::Horizontal QSizePolicy::Fixed 10 10 0 0 Link Roll and Pitch 0 0 81 28 81 28 false QPushButton { border: 1px outset #999; border-radius: 5; background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255)); } QPushButton:pressed { border-style: inset; background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255)); } QPushButton:hover { border: 1px outset #999; border-color: rgb(83, 83, 83); border-radius: 4; } Default button:default buttongroup:1 0 0 51 28 51 28 false QPushButton { border: 1px outset #999; border-radius: 5; background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255)); } QPushButton:pressed { border-style: inset; background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255)); } QPushButton:hover { border: 1px outset #999; border-color: rgb(83, 83, 83); border-radius: 4; } Wiki button:help url:http://wiki.openpilot.org/display/Doc/Stabilization+panel 0 0 0 131 0 0 0 0 0 0 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 0 0 0 0 0 0 0 0 0 251 251 251 255 255 220 0 0 0 0 0 0 0 0 0 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 0 0 0 0 0 0 0 0 0 251 251 251 255 255 220 0 0 0 124 124 124 0 0 0 255 255 255 251 251 251 124 124 124 165 165 165 124 124 124 255 255 255 124 124 124 0 0 0 0 0 0 0 0 0 248 248 248 255 255 220 0 0 0 false true 0 0 0 16 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 39 39 39 255 255 220 0 0 0 75 true false 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; Roll Qt::AlignCenter 0 0 0 16 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 39 39 39 255 255 220 0 0 0 75 true false 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; Pitch Qt::AlignCenter 0 0 0 16 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 39 39 39 255 255 220 0 0 0 75 true false 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; Yaw Qt::AlignCenter 0 0 69 16 Proportional Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 0 0 25 100 51 51 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:RollRatePID element:Kp haslimits:yes scale:0.0001 buttongroup:1,10 43 22 43 22 200 200 objname:StabilizationSettings fieldname:RollRatePID element:Kp haslimits:yes scale:0.0001 buttongroup:1,10 Qt::Horizontal QSizePolicy::Fixed 3 22 0 0 0 25 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:PitchRatePID element:Kp haslimits:yes scale:0.0001 buttongroup:1,10 43 22 43 22 200 200 objname:StabilizationSettings fieldname:RollRatePID element:Kp haslimits:yes scale:0.0001 buttongroup:1,10 Qt::Horizontal QSizePolicy::Fixed 3 22 0 0 0 25 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:YawRatePID element:Kp haslimits:yes scale:0.0001 buttongroup:1,10 43 22 43 22 200 200 objname:StabilizationSettings fieldname:YawRatePID element:Kp haslimits:yes scale:0.0001 buttongroup:1,10 0 0 Integral Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 0 0 25 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:RollRatePID element:Ki haslimits:yes scale:0.0001 buttongroup:1,10 43 22 43 22 200 200 objname:StabilizationSettings fieldname:RollRatePID element:Ki haslimits:yes scale:0.0001 buttongroup:1,10 0 0 0 25 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:PitchRatePID element:Ki haslimits:yes scale:0.0001 buttongroup:1,10 43 22 43 22 200 200 objname:StabilizationSettings fieldname:PitchRatePID element:Ki haslimits:yes scale:0.0001 buttongroup:1,10 0 0 0 25 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:YawRatePID element:Ki haslimits:yes scale:0.0001 buttongroup:1,10 43 22 43 22 200 200 objname:StabilizationSettings fieldname:YawRatePID element:Ki haslimits:yes scale:0.0001 buttongroup:1,10 Qt::Vertical QSizePolicy::Fixed 20 15 Qt::Horizontal QSizePolicy::Fixed 20 13 0 16 9 75 true Attitude Stabilization (Outer Loop) 0 0 0 181 16777215 181 0 0 0 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 251 251 251 255 255 220 0 0 0 0 0 0 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 251 251 251 255 255 220 0 0 0 124 124 124 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 124 124 124 255 255 255 124 124 124 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 248 248 248 255 255 220 0 0 0 false #RateStabilizationGroup_17{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255)); border: 1px outset #999; border-radius: 3; } Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter Qt::Horizontal QSizePolicy::Fixed 10 10 0 0 Link Roll and Pitch 0 0 81 28 81 28 QPushButton { border: 1px outset #999; border-radius: 5; background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255)); } QPushButton:pressed { border-style: inset; background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255)); } QPushButton:hover { border: 1px outset #999; border-color: rgb(83, 83, 83); border-radius: 4; } Default button:default buttongroup:2 0 0 0 131 0 0 0 0 0 0 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 0 0 0 0 0 0 0 0 0 251 251 251 255 255 220 0 0 0 0 0 0 0 0 0 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 0 0 0 0 0 0 0 0 0 251 251 251 255 255 220 0 0 0 124 124 124 0 0 0 255 255 255 251 251 251 124 124 124 165 165 165 124 124 124 255 255 255 124 124 124 0 0 0 0 0 0 0 0 0 248 248 248 255 255 220 0 0 0 false true 0 0 0 16 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 39 39 39 255 255 220 0 0 0 75 true false 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; Roll Qt::AlignCenter 0 0 0 16 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 39 39 39 255 255 220 0 0 0 75 true false 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; Pitch Qt::AlignCenter 0 0 0 16 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 39 39 39 255 255 220 0 0 0 75 true false 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; Yaw Qt::AlignCenter 0 0 69 16 Proportional Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 0 0 25 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:RollPI element:Kp scale:0.1 haslimits:yes buttongroup:2,10 43 22 43 22 200 200 objname:StabilizationSettings fieldname:RollPI element:Kp scale:0.1 haslimits:yes buttongroup:2,10 Qt::Horizontal QSizePolicy::Fixed 3 22 0 0 0 25 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:PitchPI element:Kp scale:0.1 haslimits:yes buttongroup:2,10 43 22 43 22 200 200 objname:StabilizationSettings fieldname:PitchPI element:Kp scale:0.1 haslimits:yes buttongroup:2,10 Qt::Horizontal QSizePolicy::Fixed 3 22 0 0 0 25 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:YawPI element:Kp scale:0.1 haslimits:yes buttongroup:2,10 43 22 43 22 200 200 objname:StabilizationSettings fieldname:YawPI element:Kp scale:0.1 haslimits:yes buttongroup:2,10 Qt::Horizontal QSizePolicy::Fixed 3 22 0 0 Integral Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 0 0 25 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:RollPI element:Ki scale:0.1 haslimits:yes buttongroup:2,10 43 22 43 22 200 200 objname:StabilizationSettings fieldname:RollPI element:Ki scale:0.1 haslimits:yes buttongroup:2,10 0 0 0 25 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:PitchPI element:Ki scale:0.1 haslimits:yes buttongroup:2,10 43 22 43 22 200 200 objname:StabilizationSettings fieldname:PitchPI element:Ki scale:0.1 haslimits:yes buttongroup:2,10 0 0 0 25 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:YawPI element:Ki scale:0.1 haslimits:yes buttongroup:2,10 43 22 43 22 200 200 objname:StabilizationSettings fieldname:YawPI element:Ki scale:0.1 haslimits:yes buttongroup:2,10 0 0 51 28 51 28 QPushButton { border: 1px outset #999; border-radius: 5; background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255)); } QPushButton:pressed { border-style: inset; background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255)); } QPushButton:hover { border: 1px outset #999; border-color: rgb(83, 83, 83); border-radius: 4; } Wiki button:help url:http://wiki.openpilot.org/display/Doc/Stabilization+panel Qt::Horizontal QSizePolicy::Fixed 2 10 Qt::Vertical QSizePolicy::Fixed 20 15 Qt::Horizontal QSizePolicy::Fixed 20 13 0 16 9 75 true Stick Range and Limits 0 0 0 211 16777215 211 0 0 0 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 251 251 251 255 255 220 0 0 0 0 0 0 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 251 251 251 255 255 220 0 0 0 124 124 124 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 124 124 124 255 255 255 124 124 124 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 248 248 248 255 255 220 0 0 0 false #RateStabilizationGroup_19{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255)); border: 1px outset #999; border-radius: 3; } Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter Qt::Horizontal QSizePolicy::Preferred 10 10 0 0 51 28 51 28 QPushButton { border: 1px outset #999; border-radius: 5; background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255)); } QPushButton:pressed { border-style: inset; background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255)); } QPushButton:hover { border: 1px outset #999; border-color: rgb(83, 83, 83); border-radius: 4; } Wiki button:help url:http://wiki.openpilot.org/display/Doc/Stabilization+panel 0 0 81 28 81 28 QPushButton { border: 1px outset #999; border-radius: 5; background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255)); } QPushButton:pressed { border-style: inset; background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255)); } QPushButton:hover { border: 1px outset #999; border-color: rgb(83, 83, 83); border-radius: 4; } Default button:default buttongroup:3 0 0 0 161 16777215 161 0 0 0 0 0 0 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 0 0 0 0 0 0 0 0 0 251 251 251 255 255 220 0 0 0 0 0 0 0 0 0 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 0 0 0 0 0 0 0 0 0 251 251 251 255 255 220 0 0 0 124 124 124 0 0 0 255 255 255 251 251 251 124 124 124 165 165 165 124 124 124 255 255 255 124 124 124 0 0 0 0 0 0 0 0 0 248 248 248 255 255 220 0 0 0 false true 0 0 0 16 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 39 39 39 255 255 220 0 0 0 75 true false 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; Roll Qt::AlignCenter 0 0 0 16 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 39 39 39 255 255 220 0 0 0 75 true false 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; Pitch Qt::AlignCenter 0 0 0 16 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 39 39 39 255 255 220 0 0 0 75 true false 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; Yaw Qt::AlignCenter 0 0 69 16 Full Stick Angle Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 0 0 25 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:RollMax haslimits:yes scale:1.8 buttongroup:3,10 43 22 43 22 200 200 objname:StabilizationSettings fieldname:RollMax haslimits:yes scale:1.8 buttongroup:3,10 Qt::Horizontal QSizePolicy::Fixed 3 22 0 0 0 25 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:PitchMax haslimits:yes scale:1.8 buttongroup:3,10 43 22 43 22 200 200 objname:StabilizationSettings fieldname:PitchMax haslimits:yes scale:1.8 buttongroup:3,10 Qt::Horizontal QSizePolicy::Fixed 3 22 0 0 0 25 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:YawMax haslimits:yes scale:1.8 buttongroup:3,10 43 22 43 22 200 200 objname:StabilizationSettings fieldname:YawMax haslimits:yes scale:1.8 buttongroup:3,10 0 0 Full Stick Rate Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 0 0 25 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:ManualRate element:Roll haslimits:yes scale:5 buttongroup:3,10 43 22 43 22 200 200 objname:StabilizationSettings fieldname:ManualRate element:Roll haslimits:yes scale:5 buttongroup:3,10 0 0 0 25 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:ManualRate element:Pitch haslimits:yes scale:5 buttongroup:3,10 43 22 43 22 200 200 objname:StabilizationSettings fieldname:ManualRate element:Pitch haslimits:yes scale:5 buttongroup:3,10 0 0 0 25 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:ManualRate element:Yaw haslimits:yes scale:5 buttongroup:3,10 43 22 43 22 200 200 objname:StabilizationSettings fieldname:ManualRate element:Yaw haslimits:yes scale:5 buttongroup:3,10 0 0 Max Rate in Attitude Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 0 0 25 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:MaximumRate element:Roll haslimits:yes scale:5 buttongroup:3,10 43 22 43 22 200 200 objname:StabilizationSettings fieldname:MaximumRate element:Roll haslimits:yes scale:5 buttongroup:3,10 0 0 0 25 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:MaximumRate element:Pitch haslimits:yes scale:5 buttongroup:3,10 43 22 43 22 200 200 objname:StabilizationSettings fieldname:MaximumRate element:Pitch haslimits:yes scale:5 buttongroup:3,10 0 0 0 25 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:MaximumRate element:Yaw haslimits:yes scale:5 buttongroup:3,10 43 22 43 22 200 200 objname:StabilizationSettings fieldname:MaximumRate element:Yaw haslimits:yes scale:5 buttongroup:3,10 Qt::Vertical QSizePolicy::Fixed 20 10 Qt::Vertical QSizePolicy::Preferred 20 180 Qt::Horizontal QSizePolicy::Fixed 2 10 0 0 0 79 16777215 79 0 0 0 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 251 251 251 255 255 220 0 0 0 0 0 0 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 251 251 251 255 255 220 0 0 0 124 124 124 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 124 124 124 255 255 255 124 124 124 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 248 248 248 255 255 220 0 0 0 false #RateStabilizationGroup_21{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255)); border: 1px outset #999; border-radius: 3; } Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter 0 0 239 20 When the throttle is low, zero the intergral term to prevent intergral wind-up Zero the integral when throttle is low objname:StabilizationSettings fieldname:LowThrottleZeroIntegral 0 0 136 20 If you check this, the GCS will udpate the stabilization factors automatically every 300ms, which will help for fast tuning. Update in real time Qt::Horizontal 111 10 0 0 120 28 120 28 8 QPushButton { border: 1px outset #999; border-radius: 5; background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255)); } QPushButton:pressed { border-style: inset; background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255)); } QPushButton:hover { border: 1px outset #999; border-color: rgb(83, 83, 83); border-radius: 4; } Reload Board Data button:reload buttongroup:10 0 0 60 28 60 28 8 Send settings to the board but do not save to the non-volatile memory QPushButton { border: 1px outset #999; border-radius: 5; background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255)); } QPushButton:pressed { border-style: inset; background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255)); } QPushButton:hover { border: 1px outset #999; border-color: rgb(83, 83, 83); border-radius: 4; } Apply button:apply 0 0 60 28 60 28 8 Send settings to the board and save to the non-volatile memory QPushButton { border: 1px outset #999; border-radius: 5; background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255)); } QPushButton:pressed { border-style: inset; background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255)); } QPushButton:hover { border: 1px outset #999; border-color: rgb(83, 83, 83); border-radius: 4; } Save button:save Expert QFrame::NoFrame true 0 -350 648 990 Qt::Vertical QSizePolicy::Fixed 25 10 Qt::Horizontal QSizePolicy::Fixed 20 10 241 16 9 75 true Rate Stabization Coefficients (Inner Loop) 0 0 0 210 16777215 210 0 0 0 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 251 251 251 255 255 220 0 0 0 0 0 0 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 251 251 251 255 255 220 0 0 0 124 124 124 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 124 124 124 255 255 255 124 124 124 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 248 248 248 255 255 220 0 0 0 false #RateStabilizationGroup_8{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255)); border: 1px outset #999; border-radius: 3; } Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter false Qt::Horizontal QSizePolicy::Fixed 10 10 Link Roll and Pitch 0 0 81 28 81 28 QPushButton { border: 1px outset #999; border-radius: 5; background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255)); } QPushButton:pressed { border-style: inset; background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255)); } QPushButton:hover { border: 1px outset #999; border-color: rgb(83, 83, 83); border-radius: 4; } Default objname:StabilizationSettings button:default buttongroup:4 0 0 0 151 0 0 0 0 0 0 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 0 0 0 0 0 0 0 0 0 251 251 251 255 255 220 0 0 0 0 0 0 0 0 0 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 0 0 0 0 0 0 0 0 0 251 251 251 255 255 220 0 0 0 124 124 124 0 0 0 255 255 255 251 251 251 124 124 124 165 165 165 124 124 124 255 255 255 124 124 124 0 0 0 0 0 0 0 0 0 248 248 248 255 255 220 0 0 0 false true 2 Qt::Horizontal QSizePolicy::Fixed 110 13 0 0 0 16 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 39 39 39 255 255 220 0 0 0 75 true false 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; Roll Qt::AlignCenter 0 0 0 16 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 39 39 39 255 255 220 0 0 0 75 true false 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; Pitch Qt::AlignCenter 0 0 0 16 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 39 39 39 255 255 220 0 0 0 75 true false 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; Yaw Qt::AlignCenter 0 0 69 16 Proportional Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 0 0 22 16777215 22 Slowly raise Kp until you start seeing clear oscillations when you fly. Then lower the value by 20% or so. 6 0.000100000000000 objname:StabilizationSettings fieldname:RollRatePID element:Kp haslimits:no scale:1 buttongroup:4,20 0 0 0 22 16777215 22 Slowly raise Kp until you start seeing clear oscillations when you fly. Then lower the value by 20% or so. 6 0.000100000000000 objname:StabilizationSettings fieldname:PitchRatePID element:Kp haslimits:no scale:1 buttongroup:4,20 0 0 0 22 16777215 22 Slowly raise Kp until you start seeing clear oscillations when you fly. Then lower the value by 20% or so. You can usually go for higher values for Yaw factors. 6 0.000100000000000 objname:StabilizationSettings fieldname:YawRatePID element:Kp haslimits:no scale:1 buttongroup:4,20 0 0 Integral Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter Qt::Horizontal QSizePolicy::Fixed 10 10 0 0 0 22 16777215 22 As a rule of thumb, you can set the Ki at roughly the same value as the Kp. 6 0.000100000000000 objname:StabilizationSettings fieldname:RollRatePID element:Ki haslimits:no scale:1 buttongroup:4,20 Qt::Horizontal QSizePolicy::Fixed 10 10 0 0 0 22 16777215 22 As a rule of thumb, you can set the Ki at roughly the same value as the Kp. 6 0.000100000000000 objname:StabilizationSettings fieldname:PitchRatePID element:Ki haslimits:no scale:1 buttongroup:4,20 Qt::Horizontal QSizePolicy::Fixed 10 10 0 0 0 22 16777215 22 As a rule of thumb, you can set the Ki at roughly the same value as the Kp. 6 0.000100000000000 objname:StabilizationSettings fieldname:YawRatePID element:Ki haslimits:no scale:1 buttongroup:4,20 0 0 58 0 16777215 16777215 Derivative Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 0 0 22 16777215 22 6 1.000000000000000 objname:StabilizationSettings fieldname:RollRatePID element:Kd haslimits:no scale:1 buttongroup:4,20 0 0 0 22 16777215 22 6 1.000000000000000 objname:StabilizationSettings fieldname:PitchRatePID element:Kd haslimits:no scale:1 buttongroup:4,20 0 0 0 22 16777215 22 6 1.000000000000000 objname:StabilizationSettings fieldname:YawRatePID element:Kd haslimits:no scale:1 buttongroup:4,20 0 0 50 0 16777215 16777215 ILimit Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 0 0 22 16777215 22 6 1.000000000000000 objname:StabilizationSettings fieldname:RollRatePID element:ILimit haslimits:no scale:1 buttongroup:4,20 0 0 0 22 16777215 22 6 1.000000000000000 objname:StabilizationSettings fieldname:PitchRatePID element:ILimit haslimits:no scale:1 buttongroup:4,20 0 0 0 22 16777215 22 6 1.000000000000000 objname:StabilizationSettings fieldname:YawRatePID element:ILimit haslimits:no scale:1 buttongroup:4,20 Qt::Horizontal QSizePolicy::Fixed 2 10 Qt::Horizontal QSizePolicy::Fixed 2 10 Qt::Vertical QSizePolicy::Fixed 20 15 Qt::Horizontal QSizePolicy::Fixed 20 10 241 16 9 75 true Attitude Stabization Coefficients (Outer Loop) 0 0 0 181 16777215 181 0 0 0 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 251 251 251 255 255 220 0 0 0 0 0 0 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 251 251 251 255 255 220 0 0 0 124 124 124 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 124 124 124 255 255 255 124 124 124 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 248 248 248 255 255 220 0 0 0 false #RateStabilizationGroup_4{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255)); border: 1px outset #999; border-radius: 3; } Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter false Qt::Horizontal QSizePolicy::Fixed 10 10 Link Roll and Pitch 0 0 81 28 81 28 QPushButton { border: 1px outset #999; border-radius: 5; background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255)); } QPushButton:pressed { border-style: inset; background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255)); } QPushButton:hover { border: 1px outset #999; border-color: rgb(83, 83, 83); border-radius: 4; } Default objname:StabilizationSettings button:default buttongroup:5 0 0 0 131 0 0 0 0 0 0 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 0 0 0 0 0 0 0 0 0 251 251 251 255 255 220 0 0 0 0 0 0 0 0 0 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 0 0 0 0 0 0 0 0 0 251 251 251 255 255 220 0 0 0 124 124 124 0 0 0 255 255 255 251 251 251 124 124 124 165 165 165 124 124 124 255 255 255 124 124 124 0 0 0 0 0 0 0 0 0 248 248 248 255 255 220 0 0 0 false true Qt::Horizontal QSizePolicy::Fixed 110 13 0 0 0 16 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 39 39 39 255 255 220 0 0 0 75 true false 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; Roll Qt::AlignCenter 0 0 0 16 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 39 39 39 255 255 220 0 0 0 75 true false 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; Pitch Qt::AlignCenter 0 0 0 16 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 39 39 39 255 255 220 0 0 0 75 true false 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; Yaw Qt::AlignCenter 0 0 69 16 Proportional Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 0 0 22 16777215 22 6 0.100000000000000 objname:StabilizationSettings fieldname:RollPI element:Kp haslimits:no scale:1 buttongroup:5,20 0 0 0 22 16777215 22 6 0.100000000000000 objname:StabilizationSettings fieldname:PitchPI element:Kp haslimits:no scale:1 buttongroup:5,20 0 0 0 22 16777215 22 6 0.100000000000000 objname:StabilizationSettings fieldname:YawPI element:Kp haslimits:no scale:1 buttongroup:5,20 0 0 Integral Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter Qt::Horizontal QSizePolicy::Fixed 10 10 0 0 0 22 16777215 22 6 0.100000000000000 objname:StabilizationSettings fieldname:RollPI element:Ki haslimits:no scale:1 buttongroup:5,20 Qt::Horizontal QSizePolicy::Fixed 10 10 0 0 0 22 16777215 22 6 0.100000000000000 objname:StabilizationSettings fieldname:PitchPI element:Ki haslimits:no scale:1 buttongroup:5,20 Qt::Horizontal QSizePolicy::Fixed 10 10 0 0 0 22 16777215 22 6 0.100000000000000 objname:StabilizationSettings fieldname:YawPI element:Ki haslimits:no scale:1 buttongroup:5,20 0 0 50 0 16777215 16777215 ILimit Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 0 0 22 16777215 22 6 0.100000000000000 objname:StabilizationSettings fieldname:RollPI element:ILimit haslimits:no scale:1 buttongroup:5,20 0 0 0 22 16777215 22 6 0.100000000000000 objname:StabilizationSettings fieldname:PitchPI element:ILimit haslimits:no scale:1 buttongroup:5,20 0 0 0 22 16777215 22 6 0.100000000000000 objname:StabilizationSettings fieldname:YawPI element:ILimit haslimits:no scale:1 buttongroup:5,20 Qt::Vertical QSizePolicy::Fixed 20 15 Qt::Horizontal QSizePolicy::Fixed 20 10 180 16 9 75 true Stick Range and Limits 0 0 0 211 16777215 211 0 0 0 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 251 251 251 255 255 220 0 0 0 0 0 0 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 251 251 251 255 255 220 0 0 0 124 124 124 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 124 124 124 255 255 255 124 124 124 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 248 248 248 255 255 220 0 0 0 false #RateStabilizationGroup_6{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255)); border: 1px outset #999; border-radius: 3; } Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter Qt::Horizontal QSizePolicy::Preferred 10 10 0 0 81 28 81 28 QPushButton { border: 1px outset #999; border-radius: 5; background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255)); } QPushButton:pressed { border-style: inset; background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255)); } QPushButton:hover { border: 1px outset #999; border-color: rgb(83, 83, 83); border-radius: 4; } Default objname:StabilizationSettings button:default buttongroup:6 0 0 0 160 0 0 0 0 0 0 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 0 0 0 0 0 0 0 0 0 251 251 251 255 255 220 0 0 0 0 0 0 0 0 0 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 0 0 0 0 0 0 0 0 0 251 251 251 255 255 220 0 0 0 124 124 124 0 0 0 255 255 255 251 251 251 124 124 124 165 165 165 124 124 124 255 255 255 124 124 124 0 0 0 0 0 0 0 0 0 248 248 248 255 255 220 0 0 0 false true Qt::Horizontal QSizePolicy::Fixed 110 13 0 0 0 16 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 39 39 39 255 255 220 0 0 0 75 true false 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; Roll Qt::AlignCenter 0 0 0 16 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 39 39 39 255 255 220 0 0 0 75 true false 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; Pitch Qt::AlignCenter 0 0 0 16 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 39 39 39 255 255 220 0 0 0 75 true false 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; Yaw Qt::AlignCenter 0 0 69 16 Full stick angle(deg) Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 0 0 22 16777215 22 0 1000000.000000000000000 1.000000000000000 objname:StabilizationSettings fieldname:RollMax haslimits:no scale:1 buttongroup:6,20 0 0 0 22 16777215 22 0 1000000.000000000000000 1.000000000000000 objname:StabilizationSettings fieldname:PitchMax haslimits:no scale:1 buttongroup:6,20 0 0 Full stick rate rate(deg/s) Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter Qt::Horizontal QSizePolicy::Fixed 10 10 0 0 0 22 16777215 22 6 1000000.000000000000000 0.100000000000000 objname:StabilizationSettings fieldname:ManualRate element:Roll haslimits:no scale:1 buttongroup:6,20 Qt::Horizontal QSizePolicy::Fixed 10 10 0 0 0 22 16777215 22 6 1000000.000000000000000 0.100000000000000 objname:StabilizationSettings fieldname:ManualRate element:Pitch haslimits:no scale:1 buttongroup:6,20 Qt::Horizontal QSizePolicy::Fixed 10 10 0 0 0 22 16777215 22 6 1000000.000000000000000 0.100000000000000 objname:StabilizationSettings fieldname:ManualRate element:Yaw haslimits:no scale:1 buttongroup:6,20 0 0 50 0 16777215 16777215 Max rate in attitude mode(deg/s) Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 0 0 22 16777215 22 6 1000000.000000000000000 0.100000000000000 objname:StabilizationSettings fieldname:MaximumRate element:Roll haslimits:no scale:1 buttongroup:6,20 0 0 0 22 16777215 22 6 1000000.000000000000000 0.100000000000000 objname:StabilizationSettings fieldname:MaximumRate element:Pitch haslimits:no scale:1 buttongroup:6,20 0 0 0 22 16777215 22 6 1000000.000000000000000 0.100000000000000 objname:StabilizationSettings fieldname:MaximumRate element:Yaw haslimits:no scale:1 buttongroup:6,20 0 0 0 22 16777215 22 0 1000000.000000000000000 1.000000000000000 objname:StabilizationSettings fieldname:YawMax haslimits:no scale:1 buttongroup:6,20 Qt::Vertical QSizePolicy::Fixed 20 10 Qt::Horizontal QSizePolicy::Fixed 20 10 180 16 9 75 true Sensor Tunning 0 0 0 125 16777215 125 0 0 0 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 251 251 251 255 255 220 0 0 0 0 0 0 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 251 251 251 255 255 220 0 0 0 124 124 124 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 124 124 124 255 255 255 124 124 124 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 248 248 248 255 255 220 0 0 0 false #RateStabilizationGroup_23{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255)); border: 1px outset #999; border-radius: 3; } Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter 2 Qt::Horizontal QSizePolicy::Preferred 459 10 0 0 81 28 81 28 QPushButton { border: 1px outset #999; border-radius: 5; background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255)); } QPushButton:pressed { border-style: inset; background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255)); } QPushButton:hover { border: 1px outset #999; border-color: rgb(83, 83, 83); border-radius: 4; } Default objname:StabilizationSettings button:default buttongroup:8,2 0 0 0 70 16777215 72 0 0 0 0 0 0 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 0 0 0 0 0 0 0 0 0 251 251 251 255 255 220 0 0 0 0 0 0 0 0 0 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 0 0 0 0 0 0 0 0 0 251 251 251 255 255 220 0 0 0 124 124 124 0 0 0 255 255 255 251 251 251 124 124 124 165 165 165 124 124 124 255 255 255 124 124 124 0 0 0 0 0 0 0 0 0 248 248 248 255 255 220 0 0 0 false true 0 0 0 16 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 39 39 39 255 255 220 0 0 0 75 true false 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; GyroTau Qt::AlignCenter 0 0 0 16 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 39 39 39 255 255 220 0 0 0 75 true false 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; AccelKp Qt::AlignCenter 0 0 0 16 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 19 19 19 255 255 220 0 0 0 255 255 255 74 74 74 36 36 36 58 58 58 48 48 48 19 19 19 26 26 26 255 255 255 255 255 255 255 255 255 74 74 74 36 36 36 74 74 74 36 36 36 0 0 0 39 39 39 255 255 220 0 0 0 75 true false 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; AccelKi Qt::AlignCenter 0 0 0 22 16777215 22 GyroTau is a gyro filter, the higher the factor the more filtering is applied to the gyros 0 1000000.000000000000000 1.000000000000000 objname:StabilizationSettings fieldname:GyroTau haslimits:no scale:1 buttongroup:8,20 0 0 0 22 16777215 22 The proportional term for the accelerometer, the higher this term the more weight the accel is given 0 1000000.000000000000000 1.000000000000000 objname:AttitudeSettings fieldname:AccelKp haslimits:no scale:1 buttongroup:8,20 0 0 0 22 16777215 22 The intergral term for the accelerometer within the filter 0 1000000.000000000000000 1.000000000000000 objname:AttitudeSettings fieldname:AccelKi haslimits:no scale:1 buttongroup:8,20 Qt::Vertical QSizePolicy::Fixed 20 10 0 0 0 79 16777215 79 0 0 0 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 251 251 251 255 255 220 0 0 0 0 0 0 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 0 0 0 255 255 255 0 0 0 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 251 251 251 255 255 220 0 0 0 124 124 124 243 243 243 250 250 250 255 255 255 251 251 251 124 124 124 165 165 165 124 124 124 255 255 255 124 124 124 243 243 243 250 250 250 243 243 243 250 250 250 0 0 0 248 248 248 255 255 220 0 0 0 false #RateStabilizationGroup_22{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255)); border: 1px outset #999; border-radius: 3; } Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter 0 0 239 20 When the throttle is low, zero the intergral term to prevent intergral wind-up Zero the integral when throttle is low objname:StabilizationSettings fieldname:LowThrottleZeroIntegral 0 0 9 50 false If you check this, the GCS will udpate the stabilization factors automatically every 300ms, which will help for fast tuning. Update in real time Qt::Horizontal 40 20 0 0 60 28 60 28 8 Send settings to the board but do not save to the non-volatile memory QPushButton { border: 1px outset #999; border-radius: 5; background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255)); } QPushButton:pressed { border-style: inset; background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255)); } QPushButton:hover { border: 1px outset #999; border-color: rgb(83, 83, 83); border-radius: 4; } Apply button:apply 0 0 60 28 60 28 8 Send settings to the board and save to the non-volatile memory QPushButton { border: 1px outset #999; border-radius: 5; background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255)); } QPushButton:pressed { border-style: inset; background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255)); } QPushButton:hover { border: 1px outset #999; border-color: rgb(83, 83, 83); border-radius: 4; } Save button:save