TxPIDWidget 0 0 789 484 TxPID 6 12 0 Tx PID 6 0 255 255 255 232 232 232 255 255 255 232 232 232 232 232 232 232 232 232 QFrame::NoFrame true 0 0 745 469 6 12 Module Control Qt::StrongFocus This module will periodically update values of stabilization PID settings depending on configured input control channels. New values of stabilization settings are not saved to flash, but updated in RAM. It is expected that the module will be enabled only for tuning. When desired values are found, they can be read via GCS and saved permanently. Then this module should be disabled again. Up to 3 separate PID options (or option pairs) can be selected and updated. Enable TxPID module After enabling the module, you must power cycle before using and configuring. true 0 0 0 293 Module Settings 0 0 0 16 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; font: bold 12px; margin:1px; PID option Qt::AlignCenter 0 0 0 16 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; font: bold 12px; margin:1px; Control Source Qt::AlignCenter 0 0 0 16 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; font: bold 12px; margin:1px; Min Qt::AlignCenter 0 0 0 16 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; font: bold 12px; margin:1px; Max Qt::AlignCenter Instance 1 Qt::StrongFocus Select PID option or option pair to update. Set to Disabled if not used. Qt::StrongFocus 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. Qt::StrongFocus Minimum PID value mapped to Accessory channel = 0 or Throttle channel lesser or equal to Throttle Min value. 6 0.000100000000000 Qt::StrongFocus Maximum PID value mapped to Accessory channel = 1 or Throttle channel greater or equal to Throttle Max value. 6 0.000100000000000 Instance 2 Qt::StrongFocus Select PID option or option pair to update. Set to Disabled if not used. Qt::StrongFocus 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. Qt::StrongFocus Minimum PID value mapped to Accessory channel = 0 or Throttle channel lesser or equal to Throttle Min value. 6 0.000100000000000 Qt::StrongFocus Maximum PID value mapped to Accessory channel = 1 or Throttle channel greater or equal to Throttle Max value. 6 0.000100000000000 Instance 3 Qt::StrongFocus Select PID option or option pair to update. Set to Disabled if not used. Qt::StrongFocus 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. Qt::StrongFocus Minimum PID value mapped to Accessory channel = 0 or Throttle channel lesser or equal to Throttle Min value. 6 0.000100000000000 Qt::StrongFocus Maximum PID value mapped to Accessory channel = 1 or Throttle channel greater or equal to Throttle Max value. 6 0.000100000000000 Update Mode Qt::StrongFocus 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. Throttle Range Qt::StrongFocus Throttle channel lower bound mapped to PID Min value 1.000000000000000 0.010000000000000 Qt::StrongFocus Throttle channel upper bound mapped to PID Max value 1.000000000000000 0.010000000000000 0 0 0 16 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; font: bold 12px; margin:1px; Min Qt::AlignCenter 0 0 0 16 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; font: bold 12px; margin:1px; Max Qt::AlignCenter Qt::Vertical QSizePolicy::Preferred 20 20 Messages Qt::Vertical 20 20 4 Qt::Horizontal 570 16 0 0 25 25 25 25 0 0 false :/core/images/helpicon.svg:/core/images/helpicon.svg 25 25 false false true button:help url:http://wiki.openpilot.org/x/DACiAQ 0 0 Send settings to the board but do not save to the non-volatile memory Apply 0 0 Send settings to the board and save to the non-volatile memory Save false Apply Save scrollArea PID1 Input1 MinPID1 MaxPID1 PID2 Input2 MinPID2 MaxPID2 PID3 Input3 MinPID3 MaxPID3 ThrottleMin ThrottleMax UpdateMode