Don Gagne
7 years ago
committed by
GitHub
5 changed files with 501 additions and 453 deletions
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/**************************************************************************** |
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* |
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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|
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import QtQuick 2.3 |
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import QtQuick.Controls 1.2 |
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import QtCharts 2.2 |
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import QtQuick.Layouts 1.2 |
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import QGroundControl 1.0 |
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import QGroundControl.Controls 1.0 |
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import QGroundControl.FactSystem 1.0 |
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import QGroundControl.FactControls 1.0 |
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import QGroundControl.ScreenTools 1.0 |
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RowLayout { |
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layoutDirection: Qt.RightToLeft |
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property var tuneList |
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property var params |
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property real _chartHeight: ScreenTools.defaultFontPixelHeight * 20 |
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property real _margins: ScreenTools.defaultFontPixelHeight / 2 |
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property string _currentTuneType: tuneList[0] |
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property real _roll: _activeVehicle.roll.value |
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property real _rollSetpoint: _activeVehicle.setpoint.roll.value |
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property real _rollRate: _activeVehicle.rollRate.value |
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property real _rollRateSetpoint: _activeVehicle.setpoint.rollRate.value |
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property real _pitch: _activeVehicle.pitch.value |
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property real _pitchSetpoint: _activeVehicle.setpoint.pitch.value |
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property real _pitchRate: _activeVehicle.pitchRate.value |
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property real _pitchRateSetpoint: _activeVehicle.setpoint.pitchRate.value |
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property real _yaw: _activeVehicle.heading.value |
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property real _yawSetpoint: _activeVehicle.setpoint.yaw.value |
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property real _yawRate: _activeVehicle.yawRate.value |
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property real _yawRateSetpoint: _activeVehicle.setpoint.yawRate.value |
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property var _valueXAxis: valueXAxis |
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property var _valueRateXAxis: valueRateXAxis |
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property var _valueYAxis: valueYAxis |
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property var _valueRateYAxis: valueRateYAxis |
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property int _msecs: 0 |
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property var _savedTuningParamValues: [ ] |
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// The following are set when getValues is called |
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property real _value |
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property real _valueSetpoint |
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property real _valueRate |
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property real _valueRateSetpoint |
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readonly property int _tickSeparation: 5 |
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readonly property int _maxTickSections: 10 |
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readonly property int _tuneListRollIndex: 0 |
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readonly property int _tuneListPitchIndex: 1 |
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readonly property int _tuneListYawIndex: 2 |
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function adjustYAxisMin(yAxis, newValue) { |
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var newMin = Math.min(yAxis.min, newValue) |
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if (newMin % 5 != 0) { |
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newMin -= 5 |
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newMin = Math.floor(newMin / _tickSeparation) * _tickSeparation |
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} |
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yAxis.min = newMin |
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} |
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function adjustYAxisMax(yAxis, newValue) { |
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var newMax = Math.max(yAxis.max, newValue) |
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if (newMax % 5 != 0) { |
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newMax += 5 |
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newMax = Math.floor(newMax / _tickSeparation) * _tickSeparation |
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} |
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yAxis.max = newMax |
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} |
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function getValues() { |
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if (_currentTuneType === tuneList[_tuneListRollIndex]) { |
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_value = _roll |
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_valueSetpoint = _rollSetpoint |
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_valueRate = _rollRate |
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_valueRateSetpoint = _rollRateSetpoint |
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} else if (_currentTuneType === tuneList[_tuneListPitchIndex]) { |
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_value = _pitch |
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_valueSetpoint = _pitchSetpoint |
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_valueRate = _pitchRate |
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_valueRateSetpoint = _pitchRateSetpoint |
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} else if (_currentTuneType === tuneList[_tuneListYawIndex]) { |
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_value = _yaw |
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_valueSetpoint = _yawSetpoint |
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_valueRate = _yawRate |
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_valueRateSetpoint = _yawRateSetpoint |
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} |
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} |
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function resetGraphs() { |
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valueSeries.removePoints(0, valueSeries.count) |
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valueSetpointSeries.removePoints(0, valueSetpointSeries.count) |
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valueRateSeries.removePoints(0, valueRateSeries.count) |
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valueRateSetpointSeries.removePoints(0, valueRateSetpointSeries.count) |
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_valueXAxis.min = 0 |
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_valueXAxis.max = 0 |
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_valueRateXAxis.min = 0 |
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_valueRateXAxis.max = 0 |
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_valueYAxis.min = 0 |
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_valueYAxis.max = 10 |
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_valueRateYAxis.min = 0 |
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_valueRateYAxis.max = 10 |
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_msecs = 0 |
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} |
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function currentTuneTypeIndex() { |
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if (_currentTuneType === tuneList[_tuneListRollIndex]) { |
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return _tuneListRollIndex |
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} else if (_currentTuneType === tuneList[_tuneListPitchIndex]) { |
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return _tuneListPitchIndex |
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} else if (_currentTuneType === tuneList[_tuneListYawIndex]) { |
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return _tuneListYawIndex |
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} |
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} |
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// Save the current set of tuning values so we can reset to them |
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function saveTuningParamValues() { |
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var tuneTypeIndex = currentTuneTypeIndex() |
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_savedTuningParamValues = [ ] |
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var currentTuneParams = params[tuneTypeIndex] |
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for (var i=0; i<currentTuneParams.length; i++) { |
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_savedTuningParamValues.push(currentTuneParams[i].valueString) |
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} |
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savedRepeater.model = _savedTuningParamValues |
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} |
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function resetToSavedTuningParamValues() { |
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var tuneTypeIndex = currentTuneTypeIndex() |
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for (var i=0; i<_savedTuningParamValues.length; i++) { |
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params[tuneTypeIndex][i].value = _savedTuningParamValues[i] |
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} |
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} |
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Component.onCompleted: { |
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saveTuningParamValues() |
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} |
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on_CurrentTuneTypeChanged: { |
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saveTuningParamValues() |
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resetGraphs() |
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} |
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ExclusiveGroup { |
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id: tuneTypeRadios |
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} |
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ValueAxis { |
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id: valueXAxis |
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min: 0 |
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max: 0 |
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labelFormat: "%d" |
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titleText: "sec" |
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} |
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ValueAxis { |
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id: valueRateXAxis |
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min: 0 |
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max: 0 |
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labelFormat: "%d" |
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titleText: "sec" |
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} |
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ValueAxis { |
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id: valueYAxis |
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min: 0 |
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max: 10 |
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titleText: "deg" |
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tickCount: Math.min(((max - min) / _tickSeparation), _maxTickSections) + 1 |
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} |
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ValueAxis { |
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id: valueRateYAxis |
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min: 0 |
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max: 10 |
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titleText: "deg/s" |
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tickCount: Math.min(((max - min) / _tickSeparation), _maxTickSections) + 1 |
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} |
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Timer { |
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id: dataTimer |
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interval: 10 |
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running: false |
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repeat: true |
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onTriggered: { |
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var seconds = _msecs / 1000 |
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_valueXAxis.max = seconds |
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_valueRateXAxis.max = seconds |
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getValues() |
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valueSeries.append(seconds, _value) |
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adjustYAxisMin(_valueYAxis, _value) |
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adjustYAxisMax(_valueYAxis, _value) |
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valueSetpointSeries.append(seconds, _valueSetpoint) |
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adjustYAxisMin(_valueYAxis, _valueSetpoint) |
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adjustYAxisMax(_valueYAxis, _valueSetpoint) |
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valueRateSeries.append(seconds, _valueRate) |
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adjustYAxisMin(_valueRateYAxis, _valueRate) |
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adjustYAxisMax(_valueRateYAxis, _valueRate) |
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valueRateSetpointSeries.append(seconds, _valueRateSetpoint) |
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adjustYAxisMin(_valueRateYAxis, _valueRateSetpoint) |
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adjustYAxisMax(_valueRateYAxis, _valueRateSetpoint) |
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_msecs += interval |
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/* |
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Testing with just start/stop for now. No time limit. |
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if (valueSeries.count > _maxPointCount) { |
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valueSeries.remove(0) |
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valueSetpointSeries.remove(0) |
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valueRateSeries.remove(0) |
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valueRateSetpointSeries.remove(0) |
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valueXAxis.min = valueSeries.at(0).x |
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valueRateXAxis.min = valueSeries.at(0).x |
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} |
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*/ |
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} |
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property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle |
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property int _maxPointCount: 10000 / interval |
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} |
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Column { |
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spacing: _margins |
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Layout.alignment: Qt.AlignTop |
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QGCLabel { text: qsTr("Tuning Axis:") } |
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RowLayout { |
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spacing: _margins |
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Repeater { |
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model: tuneList |
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QGCRadioButton { |
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text: modelData |
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checked: _currentTuneType === modelData |
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exclusiveGroup: tuneTypeRadios |
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onClicked: _currentTuneType = modelData |
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} |
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} |
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} |
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Item { width: 1; height: 1 } |
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QGCLabel { text: qsTr("Tuning Values:") } |
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GridLayout { |
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rows: factList.length |
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flow: GridLayout.TopToBottom |
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rowSpacing: _margins |
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columnSpacing: _margins |
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property var factList: params[tuneList.indexOf(_currentTuneType)] |
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Repeater { |
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model: parent.factList |
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QGCLabel { text: modelData.name } |
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} |
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Repeater { |
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model: parent.factList |
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QGCButton { |
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text: "-" |
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onClicked: { |
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var value = modelData.value |
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modelData.value -= value * adjustPercentModel.get(adjustPercentCombo.currentIndex).value |
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} |
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} |
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} |
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Repeater { |
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model: parent.factList |
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FactTextField { |
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Layout.fillWidth: true |
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fact: modelData |
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showUnits: false |
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} |
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} |
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Repeater { |
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model: parent.factList |
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QGCButton { |
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text: "+" |
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onClicked: { |
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var value = modelData.value |
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modelData.value += value * adjustPercentModel.get(adjustPercentCombo.currentIndex).value |
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} |
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} |
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} |
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} |
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RowLayout { |
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QGCLabel { text: qsTr("Increment/Decrement %") } |
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QGCComboBox { |
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id: adjustPercentCombo |
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model: ListModel { |
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id: adjustPercentModel |
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ListElement { text: "5"; value: 0.05 } |
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ListElement { text: "10"; value: 0.10 } |
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ListElement { text: "15"; value: 0.15 } |
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ListElement { text: "20"; value: 0.20 } |
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} |
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} |
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} |
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Item { width: 1; height: 1 } |
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QGCLabel { text: qsTr("Saved Tuning Values:") } |
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GridLayout { |
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rows: savedRepeater.model.length |
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flow: GridLayout.TopToBottom |
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rowSpacing: _margins |
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columnSpacing: _margins |
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Repeater { |
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model: params[tuneList.indexOf(_currentTuneType)] |
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QGCLabel { text: modelData.name } |
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} |
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Repeater { |
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id: savedRepeater |
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QGCLabel { text: modelData } |
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} |
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} |
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RowLayout { |
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spacing: _margins |
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QGCButton { |
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text: qsTr("Save Values") |
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onClicked: saveTuningParamValues() |
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} |
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QGCButton { |
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text: qsTr("Reset To Saved Values") |
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onClicked: resetToSavedTuningParamValues() |
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} |
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} |
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Item { width: 1; height: 1 } |
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QGCLabel { text: qsTr("Chart:") } |
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RowLayout { |
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spacing: _margins |
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QGCButton { |
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text: qsTr("Clear") |
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onClicked: resetGraphs() |
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} |
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QGCButton { |
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text: dataTimer.running ? qsTr("Stop") : qsTr("Start") |
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onClicked: dataTimer.running = !dataTimer.running |
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} |
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} |
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} |
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Column { |
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Layout.fillWidth: true |
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ChartView { |
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anchors.left: parent.left |
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anchors.right: parent.right |
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height: availableHeight / 2 |
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title: _currentTuneType |
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antialiasing: true |
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legend.alignment: Qt.AlignRight |
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LineSeries { |
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id: valueSeries |
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name: "Response" |
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axisY: valueYAxis |
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axisX: valueXAxis |
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} |
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LineSeries { |
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id: valueSetpointSeries |
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name: "Command" |
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axisY: valueYAxis |
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axisX: valueXAxis |
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} |
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} |
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ChartView { |
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anchors.left: parent.left |
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anchors.right: parent.right |
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height: availableHeight / 2 |
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title: _currentTuneType + qsTr(" Rate") |
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antialiasing: true |
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legend.alignment: Qt.AlignRight |
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LineSeries { |
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id: valueRateSeries |
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name: "Response" |
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axisY: valueRateYAxis |
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axisX: valueRateXAxis |
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} |
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LineSeries { |
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id: valueRateSetpointSeries |
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name: "Command" |
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axisY: valueRateYAxis |
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axisX: valueRateXAxis |
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} |
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} |
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} |
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} // RowLayout |
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