StabilizationWidget 0 0 965 797 0 0 350 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 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 6 12 0 0 0 0 Qt::TabFocus false false QTabWidget::North QTabWidget::Rounded 0 false false Basic 6 0 0 0 0 0 255 255 255 240 240 240 255 255 255 240 240 240 240 240 240 240 240 240 QFrame::NoFrame 0 true 0 0 935 714 12 12 5 12 12 0 0 0 195 16777215 181 Rate Stabilization (Inner Loop) Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter false 12 6 0 0 Qt::StrongFocus Link Roll and Pitch Qt::Horizontal QSizePolicy::Preferred 497 20 0 0 0 0 16777215 16777215 Reset all values to GCS defaults false Default button:default buttongroup:1 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 50 false false true false true Qt::Horizontal 40 20 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 Qt::Horizontal 40 20 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 Qt::Horizontal 40 20 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 Qt::Horizontal 40 20 0 0 78 16 Proportional Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 0 0 25 Qt::StrongFocus Slowly raise Proportional until you start seeing clear oscillations when you fly. Then lower the value by 5 or so. 100 51 51 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:RollRatePID element:Kp haslimits:yes scale:0.0001 buttongroup:1,10 50 22 50 22 Qt::StrongFocus Slowly raise Proportional until you start seeing clear oscillations when you fly. Then lower the value by 5 or so. 200 200 objname:StabilizationSettings fieldname:RollRatePID element:Kp haslimits:yes scale:0.0001 buttongroup:1,10 0 0 0 25 Qt::StrongFocus Slowly raise Proportional until you start seeing clear oscillations when you fly. Then lower the value by 5 or so. 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:PitchRatePID element:Kp haslimits:yes scale:0.0001 buttongroup:1,10 50 22 50 22 Qt::StrongFocus Slowly raise Proportional until you start seeing clear oscillations when you fly. Then lower the value by 5 or so. 200 200 objname:StabilizationSettings fieldname:PitchRatePID element:Kp haslimits:yes scale:0.0001 buttongroup:1,10 0 0 0 25 Qt::StrongFocus Slowly raise Proportional until you start seeing clear oscillations when you fly. Then lower the value by 5 or so. 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:YawRatePID element:Kp haslimits:yes scale:0.0001 buttongroup:1,10 50 22 50 22 Qt::StrongFocus Slowly raise Proportional until you start seeing clear oscillations when you fly. Then lower the value by 5 or so. 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 Qt::StrongFocus As a rule of thumb, you can set the Integral at roughly the same value as the Kp. 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:RollRatePID element:Ki haslimits:yes scale:0.0001 buttongroup:1,10 50 22 50 22 Qt::StrongFocus As a rule of thumb, you can set the Integral at roughly the same value as the Kp. 200 200 objname:StabilizationSettings fieldname:RollRatePID element:Ki haslimits:yes scale:0.0001 buttongroup:1,10 0 0 0 25 Qt::StrongFocus As a rule of thumb, you can set the Integral at roughly the same value as the Kp. 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:PitchRatePID element:Ki haslimits:yes scale:0.0001 buttongroup:1,10 50 22 50 22 Qt::StrongFocus As a rule of thumb, you can set the Integral at roughly the same value as the Kp. 200 200 objname:StabilizationSettings fieldname:PitchRatePID element:Ki haslimits:yes scale:0.0001 buttongroup:1,10 0 0 0 25 Qt::StrongFocus As a rule of thumb, you can set the Integral at roughly the same value as the Kp. 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:YawRatePID element:Ki haslimits:yes scale:0.0001 buttongroup:1,10 50 22 50 22 Qt::StrongFocus As a rule of thumb, you can set the Integral at roughly the same value as the Kp. 200 200 objname:StabilizationSettings fieldname:YawRatePID element:Ki haslimits:yes scale:0.0001 buttongroup:1,10 0 0 0 195 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 Attitude Stabilization (Outer Loop) Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter 12 6 0 0 Qt::StrongFocus Link Roll and Pitch Qt::Horizontal QSizePolicy::Preferred 497 20 0 0 0 0 Reset all values to GCS defaults 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 78 16 Proportional Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 0 0 25 Qt::StrongFocus 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:RollPI element:Kp scale:0.1 haslimits:yes buttongroup:2,10 50 22 50 22 Qt::StrongFocus 200 200 objname:StabilizationSettings fieldname:RollPI element:Kp scale:0.1 haslimits:yes buttongroup:2,10 0 0 0 25 Qt::StrongFocus 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:PitchPI element:Kp scale:0.1 haslimits:yes buttongroup:2,10 50 22 50 22 Qt::StrongFocus 200 200 objname:StabilizationSettings fieldname:PitchPI element:Kp scale:0.1 haslimits:yes buttongroup:2,10 0 0 0 25 Qt::StrongFocus 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:YawPI element:Kp scale:0.1 haslimits:yes buttongroup:2,10 50 22 50 22 Qt::StrongFocus 200 200 objname:StabilizationSettings fieldname:YawPI element:Kp scale:0.1 haslimits:yes buttongroup:2,10 0 0 Integral Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 0 0 25 Qt::StrongFocus 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:RollPI element:Ki scale:0.1 haslimits:yes buttongroup:2,10 50 22 50 22 Qt::StrongFocus 200 200 objname:StabilizationSettings fieldname:RollPI element:Ki scale:0.1 haslimits:yes buttongroup:2,10 0 0 0 25 Qt::StrongFocus 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:PitchPI element:Ki scale:0.1 haslimits:yes buttongroup:2,10 50 22 50 22 Qt::StrongFocus 200 200 objname:StabilizationSettings fieldname:PitchPI element:Ki scale:0.1 haslimits:yes buttongroup:2,10 0 0 0 25 Qt::StrongFocus 100 50 Qt::Horizontal QSlider::TicksBelow 25 objname:StabilizationSettings fieldname:YawPI element:Ki scale:0.1 haslimits:yes buttongroup:2,10 50 22 50 22 Qt::StrongFocus 200 200 objname:StabilizationSettings fieldname:YawPI element:Ki scale:0.1 haslimits:yes buttongroup:2,10 Qt::Horizontal 40 20 Qt::Horizontal 40 20 Qt::Horizontal 40 20 Qt::Horizontal 40 20 0 0 0 62 Integral 12 0 0 300 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 Qt::Vertical QSizePolicy::Expanding 20 40 Advanced 6 0 255 255 255 240 240 240 255 255 255 240 240 240 240 240 240 240 240 240 QFrame::NoFrame 0 true 0 0 935 714 true 6 12 0 0 0 210 16777215 16777215 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 Rate Stabization Coefficients (Inner Loop) Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter false 12 6 Link Roll and Pitch Qt::Horizontal 497 20 0 0 0 0 16777215 16777215 Reset all values to GCS defaults Default objname:StabilizationSettings button:default buttongroup:4 0 0 0 140 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 9 0 0 0 22 16777215 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 6 0.000001000000000 objname:StabilizationSettings fieldname:PitchRatePID element:Kd haslimits:no scale:1 buttongroup:4,20 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 Integral Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 0 0 22 16777215 22 Qt::StrongFocus As a rule of thumb, you can set the Ki at roughly the same value as the Kp. Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 5 0.000100000000000 objname:StabilizationSettings fieldname:YawRatePID element:Ki haslimits:no scale:1 buttongroup:4,20 0 0 0 22 16777215 22 Qt::StrongFocus As a rule of thumb, you can set the Ki at roughly the same value as the Kp. Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 5 0.000100000000000 objname:StabilizationSettings fieldname:PitchRatePID element:Ki haslimits:no scale:1 buttongroup:4,20 0 0 85 22 16777215 22 Qt::StrongFocus 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. Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 5 0.000100000000000 objname:StabilizationSettings fieldname:YawRatePID element:Kp haslimits:no scale:1 buttongroup:4,20 0 0 0 22 16777215 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 6 0.000001000000000 objname:StabilizationSettings fieldname:YawRatePID element:Kd haslimits:no scale:1 buttongroup:4,20 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; Roll Qt::AlignCenter Qt::Horizontal QSizePolicy::Fixed 10 10 0 0 69 16 Proportional Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter Qt::Horizontal QSizePolicy::Fixed 10 10 0 0 85 22 16777215 22 Qt::StrongFocus Slowly raise Kp until you start seeing clear oscillations when you fly. Then lower the value by 20% or so. Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 5 0.000100000000000 objname:StabilizationSettings fieldname:RollRatePID element:Kp haslimits:no scale:1 buttongroup:4,20 Qt::Horizontal QSizePolicy::Fixed 140 13 0 0 0 22 16777215 22 Qt::StrongFocus As a rule of thumb, you can set the Ki at roughly the same value as the Kp. Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 5 0.000100000000000 objname:StabilizationSettings fieldname:RollRatePID element:Ki haslimits:no scale:1 buttongroup:4,20 0 0 58 0 16777215 16777215 Derivative Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 0 85 22 16777215 22 Qt::StrongFocus Slowly raise Kp until you start seeing clear oscillations when you fly. Then lower the value by 20% or so. Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 5 0.000100000000000 objname:StabilizationSettings fieldname:PitchRatePID element:Kp haslimits:no scale:1 buttongroup:4,20 0 0 0 22 16777215 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 6 0.000001000000000 objname:StabilizationSettings fieldname:RollRatePID element:Kd haslimits:no scale:1 buttongroup:4,20 Qt::Horizontal QSizePolicy::Fixed 10 10 Qt::Horizontal 20 20 0 0 0 170 16777215 16777215 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 Attitude Stabization Coefficients (Outer Loop) Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter false 4 12 Link Roll and Pitch Qt::Horizontal 497 20 0 0 0 0 16777215 16777215 Reset all values to GCS defaults Default objname:StabilizationSettings button:default buttongroup:5 0 0 0 110 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 Qt::Horizontal QSizePolicy::Fixed 137 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 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 3 0.100000000000000 objname:StabilizationSettings fieldname:RollPI element:Kp haslimits:no scale:1 buttongroup:5,20 0 0 0 22 16777215 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 3 0.100000000000000 objname:StabilizationSettings fieldname:PitchPI element:Kp haslimits:no scale:1 buttongroup:5,20 0 0 0 22 16777215 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 3 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 13 13 0 0 0 22 16777215 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 3 0.100000000000000 objname:StabilizationSettings fieldname:RollPI element:Ki haslimits:no scale:1 buttongroup:5,20 Qt::Horizontal QSizePolicy::Fixed 13 13 0 0 0 22 16777215 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 3 0.100000000000000 objname:StabilizationSettings fieldname:PitchPI element:Ki haslimits:no scale:1 buttongroup:5,20 Qt::Horizontal QSizePolicy::Fixed 13 13 0 0 0 22 16777215 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 3 0.100000000000000 objname:StabilizationSettings fieldname:YawPI element:Ki haslimits:no scale:1 buttongroup:5,20 Qt::Horizontal 20 20 0 0 0 195 16777215 16777215 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 Stick Range and Limits Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter 12 6 Qt::Horizontal QSizePolicy::Expanding 632 20 0 0 0 0 16777215 16777215 Reset all values to GCS defaults Default objname:StabilizationSettings button:default buttongroup:6 0 0 0 140 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 0 0 22 16777215 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 1000000.000000000000000 1.000000000000000 objname:StabilizationSettings fieldname:PitchMax haslimits:no scale:1 buttongroup:6,20 0 0 128 16 16777215 16777215 Max rate attitude (deg/s) Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 0 0 22 16777215 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 1000000.000000000000000 1.000000000000000 objname:StabilizationSettings fieldname:MaximumRate element:Roll haslimits:no scale:1 buttongroup:6,20 Qt::Horizontal QSizePolicy::Fixed 10 10 0 0 0 22 16777215 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 1000000.000000000000000 1.000000000000000 objname:StabilizationSettings fieldname:ManualRate element:Yaw haslimits:no scale:1 buttongroup:6,20 0 0 0 22 16777215 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 1000000.000000000000000 1.000000000000000 objname:StabilizationSettings fieldname:YawMax haslimits:no scale:1 buttongroup:6,20 0 0 0 22 16777215 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 1000000.000000000000000 1.000000000000000 objname:StabilizationSettings fieldname:MaximumRate element:Pitch haslimits:no scale:1 buttongroup:6,20 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 Qt::Horizontal QSizePolicy::Fixed 10 10 Qt::Horizontal QSizePolicy::Fixed 10 10 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 69 16 Full stick angle (deg) Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 0 0 22 16777215 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 1000000.000000000000000 1.000000000000000 objname:StabilizationSettings fieldname:ManualRate element:Pitch haslimits:no scale:1 buttongroup:6,20 Qt::Horizontal QSizePolicy::Fixed 140 16 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 22 16777215 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 1000000.000000000000000 1.000000000000000 objname:StabilizationSettings fieldname:ManualRate element:Roll haslimits:no scale:1 buttongroup:6,20 0 0 0 22 16777215 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter QAbstractSpinBox::UpDownArrows 0 1000000.000000000000000 1.000000000000000 objname:StabilizationSettings fieldname:RollMax haslimits:no scale:1 buttongroup:6,20 0 0 0 22 16777215 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 1000000.000000000000000 1.000000000000000 objname:StabilizationSettings fieldname:MaximumRate element:Yaw haslimits:no scale:1 buttongroup:6,20 0 0 0 16 Full stick rate (deg/s) Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter Qt::Horizontal 20 20 Qt::Vertical 20 40 Qt::Vertical 20 200 0 0 Expert 6 0 255 255 255 240 240 240 255 255 255 240 240 240 240 240 240 240 240 240 QFrame::NoFrame QFrame::Sunken 0 true 0 0 935 714 6 12 0 0 0 150 false Weak Leveling / Axis Lock 12 Qt::Horizontal 632 20 0 0 0 0 16777215 16777215 Reset all values to GCS defaults Default objname:StabilizationSettings button:default buttongroup:10 true 12 0 0 144 16 175 16777215 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; Weak Leveling Kp Qt::AlignCenter 0 0 144 16 175 16777215 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; Weak Leveling Rate Qt::AlignCenter 0 0 144 16 175 16777215 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; Max Axis Lock Qt::AlignCenter 0 0 144 16 175 16777215 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; Max Axis Lock Rate Qt::AlignCenter Qt::Horizontal QSizePolicy::Fixed 90 11 0 0 5 22 175 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 2 0.010000000000000 360.000000000000000 0.010000000000000 objname:StabilizationSettings fieldname:WeakLevelingKp haslimits:no scale:1 buttongroup:10 Qt::Horizontal 40 20 0 0 25 22 175 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 1.000000000000000 360.000000000000000 1.000000000000000 objname:StabilizationSettings fieldname:MaxWeakLevelingRate haslimits:no scale:1 buttongroup:10 Qt::Horizontal 40 20 0 0 25 22 175 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 0.000000000000000 360.000000000000000 1.000000000000000 1.000000000000000 objname:StabilizationSettings fieldname:MaxAxisLock haslimits:no scale:1 buttongroup:10 Qt::Horizontal 40 20 0 0 25 22 175 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 1.000000000000000 360.000000000000000 1.000000000000000 objname:StabilizationSettings fieldname:MaxAxisLockRate haslimits:no scale:1 buttongroup:10 Qt::Horizontal 40 20 0 0 0 180 Integral Limits 12 6 Qt::Horizontal 632 20 0 0 0 0 16777215 16777215 Reset all values to GCS defaults Default objname:StabilizationSettings button:default buttongroup:13 0 100 0 0 0 255 255 255 255 255 255 125 125 125 166 166 166 0 0 0 0 0 0 0 0 0 69 69 69 255 255 255 255 255 255 125 125 125 166 166 166 69 69 69 0 0 0 0 0 0 125 125 125 255 255 255 255 255 255 125 125 125 166 166 166 125 125 125 125 125 125 0 0 0 true 12 0 0 0 22 16777215 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 4 1.000000000000000 0.001000000000000 objname:StabilizationSettings fieldname:PitchRatePID element:ILimit haslimits:no scale:1 buttongroup:13 0 0 0 22 16777215 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 4 1.000000000000000 0.001000000000000 objname:StabilizationSettings fieldname:RollRatePID element:ILimit haslimits:no scale:1 buttongroup: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; Yaw Qt::AlignCenter 0 0 0 22 16777215 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 2 0.100000000000000 objname:StabilizationSettings fieldname:YawPI element:ILimit haslimits:no scale:1 buttongroup:13 0 0 91 0 16777215 16777215 ILimit Attitude Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 0 0 22 16777215 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 2 0.100000000000000 objname:StabilizationSettings fieldname:PitchPI element:ILimit haslimits:no scale:1 buttongroup:13 Qt::Horizontal 20 20 Qt::Horizontal QSizePolicy::Fixed 91 13 0 0 91 0 16777215 16777215 ILimit Rate Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 0 0 0 22 16777215 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 2 0.100000000000000 objname:StabilizationSettings fieldname:RollPI element:ILimit haslimits:no scale:1 buttongroup:13 Qt::Horizontal 20 20 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 22 16777215 22 Qt::StrongFocus Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 4 1.000000000000000 0.001000000000000 objname:StabilizationSettings fieldname:YawRatePID element:ILimit haslimits:no scale:1 buttongroup:13 Qt::Horizontal 20 20 Qt::Horizontal 1 20 0 0 0 150 16777215 16777215 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 Sensor Tuning Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter 12 Qt::Horizontal QSizePolicy::Expanding 619 20 0 0 0 0 16777215 16777215 Reset all values to GCS defaults Default objname:StabilizationSettings button:default buttongroup:8 0 0 0 60 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 12 Qt::Horizontal 20 20 Qt::Horizontal QSizePolicy::Fixed 102 20 0 0 0 22 16777215 22 Qt::StrongFocus The proportional term for the accelerometer, the higher this term the more weight the accel is given Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 3 1000000.000000000000000 0.010000000000000 objname:AttitudeSettings fieldname:AccelKp haslimits:no scale:1 buttongroup:8,10 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 22 16777215 22 Qt::StrongFocus GyroTau is a gyro filter, the higher the factor the more filtering is applied to the gyros Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 3 1000000.000000000000000 0.001000000000000 objname:StabilizationSettings fieldname:GyroTau haslimits:no scale:1 buttongroup:8,10 Qt::Horizontal 20 20 0 0 90 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 90 22 16777215 22 Qt::StrongFocus The intergral term for the accelerometer within the filter Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter 5 1000000.000000000000000 0.000100000000000 objname:AttitudeSettings fieldname:AccelKi haslimits:no scale:1 buttongroup:8 Qt::Horizontal 20 20 0 0 0 60 Real Time Updates 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::Vertical 20 149 4 Qt::Horizontal 450 16 0 0 0 0 25 25 Takes you to the wiki page :/core/images/helpicon.svg:/core/images/helpicon.svg 25 25 true button:help url:http://wiki.openpilot.org/x/DAO9 0 0 0 0 16777215 16777215 Reloads the saved settings into GCS. Useful if you have accidentally changed some settings. Reload Board Data 16 16 button:reload buttongroup:10 0 0 0 0 16777215 16777215 Send settings to the board but do not save to the non-volatile memory Apply button:apply 0 0 0 0 16777215 16777215 Send settings to the board and save to the non-volatile memory Save button:save stabilizationReloadBoardData_6 saveStabilizationToRAM_6 saveStabilizationToSD_6 pushButton_23 pushButton_20 horizontalSlider_76 spinBox_7 PitchPSlider spinBox_PitchRateP horizontalSlider_78 spinBox_12 horizontalSlider_79 spinBox_8 horizontalSlider_80 spinBox_9 horizontalSlider_81 spinBox_10 pushButton_22 horizontalSlider_82 spinBox_13 horizontalSlider_83 spinBox_14 horizontalSlider_84 spinBox_15 horizontalSlider_85 spinBox_18 horizontalSlider_86 spinBox_19 horizontalSlider_87 spinBox_20 lowThrottleZeroIntegral_8 checkBox_7 checkBox_8 pushButton_4 RateRollKp_2 RatePitchKp RateYawKp RateRollKi_2 RatePitchKi RateYawKi RollRateKd PitchRateKd YawRateKd scrollArea pushButton_2 AttitudeRollKp AttitudePitchKp_2 AttitudeYawKp AttitudeRollKi AttitudePitchKi_2 AttitudeYawKi pushButton_3 rateRollKp_3 ratePitchKp_4 rateYawKp_3 rateRollKi_3 ratePitchKi_4 rateYawKi_3 rateRollILimit_3 ratePitchILimit_4 rateYawILimit_3 checkBox_3 checkBox_2 WeakLevelingKp WeakLevelingRate MaAxisLock MaxAxisLockRate pushButton_9 RateRollILimit_2 RatePitchILimit RateYawILimit AttitudeRollILimit AttitudePitchILimit_2 AttitudeYawILimit pushButton_5 GyroTau AccelKp AccelKi realTimeUpdates_6 scrollArea_3 tabWidget scrollArea_2